--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/planner.h Sat Nov 07 13:23:07 2015 +0100
@@ -0,0 +1,139 @@
+/*
+ planner.h - buffers movement commands and manages the acceleration profile plan
+ Part of Grbl
+
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+ Grbl is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+// This module is to be considered a sub-module of stepper.c. Please don't include
+// this file from any other module.
+
+#ifndef planner_h
+#define planner_h
+
+#include "Marlin.h"
+
+// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
+// the source g-code and may never actually be reached if acceleration management is active.
+typedef struct {
+ // Fields used by the bresenham algorithm for tracing the line
+ long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
+ unsigned long step_event_count; // The number of step events required to complete this block
+ long accelerate_until; // The index of the step event on which to stop acceleration
+ long decelerate_after; // The index of the step event on which to start decelerating
+ long acceleration_rate; // The acceleration rate used for acceleration calculation
+ unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+ unsigned char active_extruder; // Selects the active extruder
+ #ifdef ADVANCE
+ long advance_rate;
+ volatile long initial_advance;
+ volatile long final_advance;
+ float advance;
+ #endif
+
+ // Fields used by the motion planner to manage acceleration
+// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
+ float nominal_speed; // The nominal speed for this block in mm/sec
+ float entry_speed; // Entry speed at previous-current junction in mm/sec
+ float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
+ float millimeters; // The total travel of this block in mm
+ float acceleration; // acceleration mm/sec^2
+ unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
+ unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
+
+ // Settings for the trapezoid generator
+ unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
+ unsigned long initial_rate; // The jerk-adjusted step rate at start of block
+ unsigned long final_rate; // The minimal rate at exit
+ unsigned long acceleration_st; // acceleration steps/sec^2
+ unsigned long fan_speed;
+ volatile char busy;
+} block_t;
+
+// Initialize the motion plan subsystem
+void plan_init();
+
+// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
+// millimaters. Feed rate specifies the speed of the motion.
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
+
+// Set position. Used for G92 instructions.
+void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+void plan_set_e_position(const float &e);
+
+
+
+void check_axes_activity();
+uint8_t movesplanned(); //return the nr of buffered moves
+
+extern unsigned long minsegmenttime;
+extern float max_feedrate[4]; // set the max speeds
+extern float axis_steps_per_unit[4];
+extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+extern float minimumfeedrate;
+extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
+extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
+extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
+extern float max_z_jerk;
+extern float max_e_jerk;
+extern float mintravelfeedrate;
+extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+
+#ifdef AUTOTEMP
+ extern bool autotemp_enabled;
+ extern float autotemp_max;
+ extern float autotemp_min;
+ extern float autotemp_factor;
+#endif
+
+
+
+
+extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
+extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
+extern volatile unsigned char block_buffer_tail;
+// Called when the current block is no longer needed. Discards the block and makes the memory
+// availible for new blocks.
+FORCE_INLINE void plan_discard_current_block()
+{
+ if (block_buffer_head != block_buffer_tail) {
+ block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
+ }
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE block_t *plan_get_current_block()
+{
+ if (block_buffer_head == block_buffer_tail) {
+ return(NULL);
+ }
+ block_t *block = &block_buffer[block_buffer_tail];
+ block->busy = true;
+ return(block);
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE bool blocks_queued()
+{
+ if (block_buffer_head == block_buffer_tail) {
+ return false;
+ }
+ else
+ return true;
+}
+
+void allow_cold_extrudes(bool allow);
+#endif