planner.h

Thu, 07 Jul 2016 12:23:34 +0200

author
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date
Thu, 07 Jul 2016 12:23:34 +0200
changeset 2
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parent 1
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permissions
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added missing sanguino files

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1 /*
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2 planner.h - buffers movement commands and manages the acceleration profile plan
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3 Part of Grbl
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4
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5 Copyright (c) 2009-2011 Simen Svale Skogsrud
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6
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7 Grbl is free software: you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License as published by
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9 the Free Software Foundation, either version 3 of the License, or
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10 (at your option) any later version.
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11
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12 Grbl is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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16
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17 You should have received a copy of the GNU General Public License
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18 along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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19 */
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20
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21 // This module is to be considered a sub-module of stepper.c. Please don't include
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22 // this file from any other module.
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23
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24 #ifndef planner_h
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25 #define planner_h
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26
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27 #include "Marlin.h"
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28
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29 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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30 // the source g-code and may never actually be reached if acceleration management is active.
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31 typedef struct {
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32 // Fields used by the bresenham algorithm for tracing the line
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33 long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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34 unsigned long step_event_count; // The number of step events required to complete this block
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35 long accelerate_until; // The index of the step event on which to stop acceleration
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36 long decelerate_after; // The index of the step event on which to start decelerating
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37 long acceleration_rate; // The acceleration rate used for acceleration calculation
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38 unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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39 unsigned char active_extruder; // Selects the active extruder
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40 #ifdef ADVANCE
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41 long advance_rate;
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42 volatile long initial_advance;
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43 volatile long final_advance;
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44 float advance;
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45 #endif
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46
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47 // Fields used by the motion planner to manage acceleration
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48 // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
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49 float nominal_speed; // The nominal speed for this block in mm/sec
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50 float entry_speed; // Entry speed at previous-current junction in mm/sec
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51 float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
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52 float millimeters; // The total travel of this block in mm
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53 float acceleration; // acceleration mm/sec^2
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54 unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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55 unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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56
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57 // Settings for the trapezoid generator
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58 unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
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59 unsigned long initial_rate; // The jerk-adjusted step rate at start of block
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60 unsigned long final_rate; // The minimal rate at exit
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61 unsigned long acceleration_st; // acceleration steps/sec^2
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62 unsigned long fan_speed;
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63 volatile char busy;
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64
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65 bool laser_on;
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66 } block_t;
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67
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68 // Initialize the motion plan subsystem
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69 void plan_init();
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70
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71 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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72 // millimaters. Feed rate specifies the speed of the motion.
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73 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder, bool laser_on);
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74
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75 // Set position. Used for G92 instructions.
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76 void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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77 void plan_set_e_position(const float &e);
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78
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79
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80
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81 void check_axes_activity();
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82 uint8_t movesplanned(); //return the nr of buffered moves
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83
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84 extern unsigned long minsegmenttime;
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85 extern float max_feedrate[4]; // set the max speeds
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86 extern float axis_steps_per_unit[4];
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87 extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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88 extern float minimumfeedrate;
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89 extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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90 extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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91 extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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92 extern float max_z_jerk;
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93 extern float max_e_jerk;
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94 extern float mintravelfeedrate;
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95 extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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96
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97 #ifdef AUTOTEMP
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98 extern bool autotemp_enabled;
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99 extern float autotemp_max;
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100 extern float autotemp_min;
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101 extern float autotemp_factor;
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102 #endif
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103
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104
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105
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106
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107 extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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108 extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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109 extern volatile unsigned char block_buffer_tail;
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110 // Called when the current block is no longer needed. Discards the block and makes the memory
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111 // availible for new blocks.
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112 FORCE_INLINE void plan_discard_current_block()
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113 {
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114 if (block_buffer_head != block_buffer_tail) {
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115 block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
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116 }
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117 }
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118
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119 // Gets the current block. Returns NULL if buffer empty
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120 FORCE_INLINE block_t *plan_get_current_block()
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121 {
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122 if (block_buffer_head == block_buffer_tail) {
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123 return(NULL);
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124 }
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125 block_t *block = &block_buffer[block_buffer_tail];
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126 block->busy = true;
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127 return(block);
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128 }
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129
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130 // Gets the current block. Returns NULL if buffer empty
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131 FORCE_INLINE bool blocks_queued()
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132 {
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133 if (block_buffer_head == block_buffer_tail) {
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134 return false;
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135 }
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136 else
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137 return true;
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138 }
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139
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140 void allow_cold_extrudes(bool allow);
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141 #endif

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