170 lines
7.2 KiB
C
170 lines
7.2 KiB
C
/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// this file from any other module.
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#ifndef PLANNER_H
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#define PLANNER_H
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#include "Marlin.h"
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps[NUM_AXIS]; // Step count along each axis
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unsigned long step_event_count; // The number of step events required to complete this block
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long accelerate_until; // The index of the step event on which to stop acceleration
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long decelerate_after; // The index of the step event on which to start decelerating
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long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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unsigned char active_extruder; // Selects the active extruder
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#if ENABLED(ADVANCE)
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long advance_rate;
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volatile long initial_advance;
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volatile long final_advance;
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float advance;
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#endif
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// Fields used by the motion planner to manage acceleration
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
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float nominal_speed; // The nominal speed for this block in mm/sec
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float entry_speed; // Entry speed at previous-current junction in mm/sec
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float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
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float millimeters; // The total travel of this block in mm
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float acceleration; // acceleration mm/sec^2
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unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
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unsigned long initial_rate; // The jerk-adjusted step rate at start of block
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unsigned long final_rate; // The minimal rate at exit
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unsigned long acceleration_st; // acceleration steps/sec^2
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unsigned long fan_speed;
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#if ENABLED(BARICUDA)
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unsigned long valve_pressure;
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unsigned long e_to_p_pressure;
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#endif
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volatile char busy;
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} block_t;
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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// Initialize the motion plan subsystem
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void plan_init();
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void check_axes_activity();
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// Get the number of buffered moves
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extern volatile unsigned char block_buffer_head;
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extern volatile unsigned char block_buffer_tail;
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FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
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#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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#include "vector_3.h"
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// Transform required to compensate for bed level
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extern matrix_3x3 plan_bed_level_matrix;
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/**
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* Get the position applying the bed level matrix
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*/
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vector_3 plan_get_position();
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#endif // AUTO_BED_LEVELING_FEATURE
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/**
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* Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in
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* millimeters. Feed rate specifies the (target) speed of the motion.
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*/
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void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
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/**
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* Set the planner positions. Used for G92 instructions.
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* Multiplies by axis_steps_per_unit[] to set stepper positions.
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* Clears previous speed values.
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*/
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void plan_set_position(float x, float y, float z, const float& e);
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#else
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void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
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void plan_set_position(const float& x, const float& y, const float& z, const float& e);
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#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
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void plan_set_e_position(const float& e);
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//===========================================================================
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//============================= public variables ============================
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//===========================================================================
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extern millis_t minsegmenttime;
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extern float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
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extern float axis_steps_per_unit[NUM_AXIS];
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extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
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extern float minimumfeedrate;
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extern float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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extern float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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extern float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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extern float max_xy_jerk; // The largest speed change requiring no acceleration
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extern float max_z_jerk;
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extern float max_e_jerk;
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extern float mintravelfeedrate;
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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#if ENABLED(AUTOTEMP)
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extern bool autotemp_enabled;
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extern float autotemp_max;
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extern float autotemp_min;
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extern float autotemp_factor;
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#endif
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extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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extern volatile unsigned char block_buffer_tail;
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// Returns true if the buffer has a queued block, false otherwise
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FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
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// Called when the current block is no longer needed. Discards
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// the block and makes the memory available for new blocks.
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FORCE_INLINE void plan_discard_current_block() {
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if (blocks_queued())
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block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
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}
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// Gets the current block. Returns NULL if buffer empty
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FORCE_INLINE block_t* plan_get_current_block() {
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if (blocks_queued()) {
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block_t* block = &block_buffer[block_buffer_tail];
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block->busy = true;
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return block;
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}
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else
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return NULL;
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}
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void reset_acceleration_rates();
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#endif // PLANNER_H
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