My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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. // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
  22. // the source g-code and may never actually be reached if acceleration management is active.
  23. typedef struct {
  24. // Fields used by the bresenham algorithm for tracing the line
  25. long steps[NUM_AXIS]; // Step count along each axis
  26. unsigned long step_event_count; // The number of step events required to complete this block
  27. long accelerate_until; // The index of the step event on which to stop acceleration
  28. long decelerate_after; // The index of the step event on which to start decelerating
  29. long acceleration_rate; // The acceleration rate used for acceleration calculation
  30. unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  31. unsigned char active_extruder; // Selects the active extruder
  32. #if ENABLED(ADVANCE)
  33. long advance_rate;
  34. volatile long initial_advance;
  35. volatile long final_advance;
  36. float advance;
  37. #endif
  38. // Fields used by the motion planner to manage acceleration
  39. // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
  40. float nominal_speed; // The nominal speed for this block in mm/sec
  41. float entry_speed; // Entry speed at previous-current junction in mm/sec
  42. float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
  43. float millimeters; // The total travel of this block in mm
  44. float acceleration; // acceleration mm/sec^2
  45. unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
  46. unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
  47. // Settings for the trapezoid generator
  48. unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
  49. unsigned long initial_rate; // The jerk-adjusted step rate at start of block
  50. unsigned long final_rate; // The minimal rate at exit
  51. unsigned long acceleration_st; // acceleration steps/sec^2
  52. #if FAN_COUNT > 0
  53. unsigned long fan_speed[FAN_COUNT];
  54. #endif
  55. #if ENABLED(BARICUDA)
  56. unsigned long valve_pressure;
  57. unsigned long e_to_p_pressure;
  58. #endif
  59. volatile char busy;
  60. } block_t;
  61. #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
  62. // Initialize the motion plan subsystem
  63. void plan_init();
  64. void check_axes_activity();
  65. // Get the number of buffered moves
  66. extern volatile unsigned char block_buffer_head;
  67. extern volatile unsigned char block_buffer_tail;
  68. FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
  69. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  70. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  71. #include "vector_3.h"
  72. // Transform required to compensate for bed level
  73. extern matrix_3x3 plan_bed_level_matrix;
  74. /**
  75. * Get the position applying the bed level matrix
  76. */
  77. vector_3 plan_get_position();
  78. #endif // AUTO_BED_LEVELING_FEATURE
  79. /**
  80. * Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in
  81. * millimeters. Feed rate specifies the (target) speed of the motion.
  82. */
  83. void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
  84. /**
  85. * Set the planner positions. Used for G92 instructions.
  86. * Multiplies by axis_steps_per_unit[] to set stepper positions.
  87. * Clears previous speed values.
  88. */
  89. void plan_set_position(float x, float y, float z, const float& e);
  90. #else
  91. void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
  92. void plan_set_position(const float& x, const float& y, const float& z, const float& e);
  93. #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
  94. void plan_set_e_position(const float& e);
  95. //===========================================================================
  96. //============================= public variables ============================
  97. //===========================================================================
  98. extern millis_t minsegmenttime;
  99. extern float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
  100. extern float axis_steps_per_unit[NUM_AXIS];
  101. extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
  102. extern float minimumfeedrate;
  103. extern float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  104. extern float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  105. extern float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  106. extern float max_xy_jerk; // The largest speed change requiring no acceleration
  107. extern float max_z_jerk;
  108. extern float max_e_jerk;
  109. extern float mintravelfeedrate;
  110. extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  111. #if ENABLED(AUTOTEMP)
  112. extern bool autotemp_enabled;
  113. extern float autotemp_max;
  114. extern float autotemp_min;
  115. extern float autotemp_factor;
  116. #endif
  117. extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
  118. extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  119. extern volatile unsigned char block_buffer_tail;
  120. // Returns true if the buffer has a queued block, false otherwise
  121. FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
  122. // Called when the current block is no longer needed. Discards
  123. // the block and makes the memory available for new blocks.
  124. FORCE_INLINE void plan_discard_current_block() {
  125. if (blocks_queued())
  126. block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
  127. }
  128. // Gets the current block. Returns NULL if buffer empty
  129. FORCE_INLINE block_t* plan_get_current_block() {
  130. if (blocks_queued()) {
  131. block_t* block = &block_buffer[block_buffer_tail];
  132. block->busy = true;
  133. return block;
  134. }
  135. else
  136. return NULL;
  137. }
  138. void reset_acceleration_rates();
  139. #endif // PLANNER_H