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/*
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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_x, steps_y, steps_z, steps_e; // 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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#ifdef 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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unsigned long valve_pressure;
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unsigned long e_to_p_pressure;
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volatile char busy;
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} block_t;
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// Initialize the motion plan subsystem
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void plan_init();
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion.
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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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// Set position. Used for G92 instructions.
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void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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void plan_set_e_position(const float &e);
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void check_axes_activity();
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uint8_t movesplanned(); //return the nr of buffered moves
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extern unsigned long minsegmenttime;
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extern float max_feedrate[4]; // set the max speeds
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extern float axis_steps_per_unit[4];
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extern unsigned long max_acceleration_units_per_sq_second[4]; // 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 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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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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extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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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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#ifdef 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 instfructions
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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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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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FORCE_INLINE void plan_discard_current_block()
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{
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
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}
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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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{
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if (block_buffer_head == block_buffer_tail) {
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return(NULL);
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}
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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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// Gets the current block. Returns NULL if buffer empty
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FORCE_INLINE bool blocks_queued()
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{
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if (block_buffer_head == block_buffer_tail) {
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return false;
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}
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else
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return true;
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}
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void allow_cold_extrudes(bool allow);
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Allow Edit menu to call fn after edit; Fix PID Ki and Kd display in menus; Actually use changed PID and Max Accel values
Add new 'callback' edit-menu types that call a function after the edit is done. Use this to display and edit Ki and Kd correctly (removing the scaling first and reapplying it after). Also use it to reset maximum stepwise acceleration rates, after updating mm/s^2 rates via menus. (Previously, changes did nothing to affect planner unless saved back to EEPROM, and the machine reset).
Add calls to updatePID() so that PID loop uses updated values whether set by gcode (it already did this), or by restoring defaults, or loading from EEPROM (it didn't do those last two). Similarly, update the maximum step/s^2 accel rates when the mm/s^2 values are changed - whether by menu edits, restore defaults, or EEPROM read.
Refactor the acceleration rate update logic, and the PID scaling logic, into new functions that can be called from wherever, including the callbacks.
Add menu items to allow the z jerk and e jerk to be viewed/edited in the Control->Motion menu, as per xy jerk.
Conflicts:
Marlin/language.h
12 years ago
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void reset_acceleration_rates();
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#endif
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