My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.h 6.7KB

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  1. /*
  2. planner.h - buffers movement commands and manages the acceleration profile plan
  3. Part of Grbl
  4. Copyright (c) 2009-2011 Simen Svale Skogsrud
  5. Grbl is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. Grbl is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. // This module is to be considered a sub-module of stepper.c. Please don't include
  17. // this file from any other module.
  18. #ifndef planner_h
  19. #define planner_h
  20. #include "Marlin.h"
  21. #ifdef ENABLE_AUTO_BED_LEVELING
  22. #include "vector_3.h"
  23. #endif // ENABLE_AUTO_BED_LEVELING
  24. // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
  25. // the source g-code and may never actually be reached if acceleration management is active.
  26. typedef struct {
  27. // Fields used by the bresenham algorithm for tracing the line
  28. long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
  29. unsigned long step_event_count; // The number of step events required to complete this block
  30. long accelerate_until; // The index of the step event on which to stop acceleration
  31. long decelerate_after; // The index of the step event on which to start decelerating
  32. long acceleration_rate; // The acceleration rate used for acceleration calculation
  33. unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  34. unsigned char active_extruder; // Selects the active extruder
  35. #ifdef ADVANCE
  36. long advance_rate;
  37. volatile long initial_advance;
  38. volatile long final_advance;
  39. float advance;
  40. #endif
  41. // Fields used by the motion planner to manage acceleration
  42. // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
  43. float nominal_speed; // The nominal speed for this block in mm/sec
  44. float entry_speed; // Entry speed at previous-current junction in mm/sec
  45. float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
  46. float millimeters; // The total travel of this block in mm
  47. float acceleration; // acceleration mm/sec^2
  48. unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
  49. unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
  50. // Settings for the trapezoid generator
  51. unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
  52. unsigned long initial_rate; // The jerk-adjusted step rate at start of block
  53. unsigned long final_rate; // The minimal rate at exit
  54. unsigned long acceleration_st; // acceleration steps/sec^2
  55. unsigned long fan_speed;
  56. #ifdef BARICUDA
  57. unsigned long valve_pressure;
  58. unsigned long e_to_p_pressure;
  59. #endif
  60. volatile char busy;
  61. } block_t;
  62. #ifdef ENABLE_AUTO_BED_LEVELING
  63. // this holds the required transform to compensate for bed level
  64. extern matrix_3x3 plan_bed_level_matrix;
  65. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  66. // Initialize the motion plan subsystem
  67. void plan_init();
  68. // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
  69. // millimaters. Feed rate specifies the speed of the motion.
  70. #ifdef ENABLE_AUTO_BED_LEVELING
  71. void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
  72. // Get the position applying the bed level matrix if enabled
  73. vector_3 plan_get_position();
  74. #else
  75. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
  76. #endif // ENABLE_AUTO_BED_LEVELING
  77. // Set position. Used for G92 instructions.
  78. #ifdef ENABLE_AUTO_BED_LEVELING
  79. void plan_set_position(float x, float y, float z, const float &e);
  80. #else
  81. void plan_set_position(const float &x, const float &y, const float &z, const float &e);
  82. #endif // ENABLE_AUTO_BED_LEVELING
  83. void plan_set_e_position(const float &e);
  84. void check_axes_activity();
  85. uint8_t movesplanned(); //return the nr of buffered moves
  86. extern unsigned long minsegmenttime;
  87. extern float max_feedrate[4]; // set the max speeds
  88. extern float axis_steps_per_unit[4];
  89. extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
  90. extern float minimumfeedrate;
  91. extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  92. extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  93. extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  94. extern float max_z_jerk;
  95. extern float max_e_jerk;
  96. extern float mintravelfeedrate;
  97. extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  98. #ifdef AUTOTEMP
  99. extern bool autotemp_enabled;
  100. extern float autotemp_max;
  101. extern float autotemp_min;
  102. extern float autotemp_factor;
  103. #endif
  104. extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  105. extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  106. extern volatile unsigned char block_buffer_tail;
  107. // Called when the current block is no longer needed. Discards the block and makes the memory
  108. // availible for new blocks.
  109. FORCE_INLINE void plan_discard_current_block()
  110. {
  111. if (block_buffer_head != block_buffer_tail) {
  112. block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
  113. }
  114. }
  115. // Gets the current block. Returns NULL if buffer empty
  116. FORCE_INLINE block_t *plan_get_current_block()
  117. {
  118. if (block_buffer_head == block_buffer_tail) {
  119. return(NULL);
  120. }
  121. block_t *block = &block_buffer[block_buffer_tail];
  122. block->busy = true;
  123. return(block);
  124. }
  125. // Returns true if the buffer has a queued block, false otherwise
  126. FORCE_INLINE bool blocks_queued()
  127. {
  128. if (block_buffer_head == block_buffer_tail) {
  129. return false;
  130. }
  131. else
  132. return true;
  133. }
  134. #ifdef PREVENT_DANGEROUS_EXTRUDE
  135. void set_extrude_min_temp(float temp);
  136. #endif
  137. void reset_acceleration_rates();
  138. #endif