286 lines
11 KiB
C
286 lines
11 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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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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#endif // ENABLE_AUTO_BED_LEVELING
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enum BlockFlag {
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// Planner flag to recalculate trapezoids on entry junction.
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// This flag has an optimization purpose only.
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BLOCK_FLAG_RECALCULATE = 1,
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// Planner flag for nominal speed always reached. That means, the segment is long enough, that the nominal speed
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// may be reached if accelerating from a safe speed (in the regard of jerking from zero speed).
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BLOCK_FLAG_NOMINAL_LENGTH = 2,
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// If set, the machine will start from a halt at the start of this block,
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// respecting the maximum allowed jerk.
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BLOCK_FLAG_START_FROM_FULL_HALT = 4,
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// If set, the stepper interrupt expects, that the number of steps to tick will be lower
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// than 32767, therefore the DDA algorithm may run with 16bit resolution only.
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// In addition, the stepper routine will not do any end stop checking for higher performance.
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BLOCK_FLAG_DDA_LOWRES = 8,
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// Block starts with Zeroed E counter
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BLOCK_FLAG_E_RESET = 16,
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};
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union dda_isteps_t
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{
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int32_t wide;
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struct {
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int16_t lo;
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int16_t hi;
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};
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};
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union dda_usteps_t
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{
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uint32_t wide;
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struct {
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uint16_t lo;
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uint16_t hi;
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};
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};
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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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// steps_x.y,z, step_event_count, acceleration_rate, direction_bits and active_extruder are set by plan_buffer_line().
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dda_isteps_t steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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dda_usteps_t step_event_count; // The number of step events required to complete this block
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uint32_t 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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// accelerate_until and decelerate_after are set by calculate_trapezoid_for_block() and they need to be synchronized with the stepper interrupt controller.
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uint32_t accelerate_until; // The index of the step event on which to stop acceleration
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uint32_t decelerate_after; // The index of the step event on which to start decelerating
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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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// The nominal speed for this block in mm/sec.
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// This speed may or may not be reached due to the jerk and acceleration limits.
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float nominal_speed;
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// Entry speed at previous-current junction in mm/sec, respecting the acceleration and jerk limits.
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// The entry speed limit of the current block equals the exit speed of the preceding block.
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float entry_speed;
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// Maximum allowable junction entry speed in mm/sec. This value is also a maximum exit speed of the previous block.
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float max_entry_speed;
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// The total travel of this block in mm
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float millimeters;
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// acceleration mm/sec^2
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float acceleration;
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// Bit flags defined by the BlockFlag enum.
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uint8_t flag;
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// Settings for the trapezoid generator (runs inside an interrupt handler).
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// Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.
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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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//FIXME does it have to be int? Probably uint8_t would be just fine. Need to change in other places as well
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int fan_speed;
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volatile char busy;
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// Pre-calculated division for the calculate_trapezoid_for_block() routine to run faster.
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float speed_factor;
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#ifdef LIN_ADVANCE
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bool use_advance_lead; // Whether the current block uses LA
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uint16_t advance_rate, // Step-rate for extruder speed
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max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!)
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final_adv_steps; // advance steps due to exit speed
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uint8_t advance_step_loops; // Number of stepper ticks for each advance isr
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float adv_comp; // Precomputed E compression factor
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#endif
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// Save/recovery state data
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float gcode_target[NUM_AXIS]; // Target (abs mm) of the original Gcode instruction
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uint16_t gcode_feedrate; // Default and/or move feedrate
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uint16_t sdlen; // Length of the Gcode instruction
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} block_t;
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#ifdef LIN_ADVANCE
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extern float extruder_advance_K; // Linear-advance K factor
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#endif
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#ifdef ENABLE_AUTO_BED_LEVELING
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// this holds the required transform to compensate for bed level
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extern matrix_3x3 plan_bed_level_matrix;
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#endif // #ifdef ENABLE_AUTO_BED_LEVELING
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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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#ifdef ENABLE_AUTO_BED_LEVELING
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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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// Get the position applying the bed level matrix if enabled
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vector_3 plan_get_position();
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#else
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/// Extracting common call of
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/// plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], ...
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/// saves almost 5KB.
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/// The performance penalty is negligible, since these planned lines are usually maintenance moves with the extruder.
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void plan_buffer_line_curposXYZE(float feed_rate);
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void plan_buffer_line_destinationXYZE(float feed_rate);
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void plan_set_position_curposXYZE();
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void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, uint8_t extruder, const float* gcode_target = NULL);
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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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#endif // ENABLE_AUTO_BED_LEVELING
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// Set position. Used for G92 instructions.
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//#ifdef ENABLE_AUTO_BED_LEVELING
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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_set_position(const float &x, const float &y, const float &z, const float &e);
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//#endif // ENABLE_AUTO_BED_LEVELING
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void plan_set_z_position(const float &z);
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void plan_set_e_position(const float &e);
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// Reset the E position to zero at the start of the next segment
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void plan_reset_next_e();
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inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
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inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
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extern bool e_active();
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void check_axes_activity();
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// Use M203 to override by software
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extern float* max_feedrate;
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// Use M201 to override by software
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extern unsigned long* max_acceleration_units_per_sq_second;
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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extern long position[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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// Check for BLOCK_BUFFER_SIZE requirements
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static_assert(!(BLOCK_BUFFER_SIZE & (BLOCK_BUFFER_SIZE - 1)),
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"BLOCK_BUFFER_SIZE must be a power of two");
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static_assert(BLOCK_BUFFER_SIZE <= (UINT8_MAX>>1),
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"BLOCK_BUFFER_SIZE too large for uint8_t");
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extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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// Index of the next block to be pushed into the planner queue.
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extern volatile uint8_t block_buffer_head;
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// Index of the first block in the planner queue.
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// This is the block, which is being currently processed by the stepper routine,
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// or which is first to be processed by the stepper routine.
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extern volatile uint8_t 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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// available 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. This is the block to be exectuted by the stepper routine.
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// Mark this block as busy, so its velocities and acceperations will be no more recalculated
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// by the planner routine.
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// 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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// Returns true if the buffer has a queued block, false otherwise
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FORCE_INLINE bool blocks_queued() {
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return (block_buffer_head != block_buffer_tail);
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}
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//return the nr of buffered moves
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FORCE_INLINE uint8_t moves_planned() {
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return (block_buffer_head + BLOCK_BUFFER_SIZE - block_buffer_tail) & (BLOCK_BUFFER_SIZE - 1);
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}
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FORCE_INLINE bool planner_queue_full() {
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uint8_t next_block_index = block_buffer_head;
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if (++ next_block_index == BLOCK_BUFFER_SIZE)
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next_block_index = 0;
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return block_buffer_tail == next_block_index;
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}
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// Abort the stepper routine, clean up the block queue,
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// wait for the steppers to stop,
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// update planner's current position and the current_position of the front end.
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extern void planner_abort_hard();
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extern bool waiting_inside_plan_buffer_line_print_aborted;
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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void set_extrude_min_temp(float temp);
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#endif
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void reset_acceleration_rates();
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#endif
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void update_mode_profile();
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uint8_t number_of_blocks();
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// #define PLANNER_DIAGNOSTICS
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#ifdef PLANNER_DIAGNOSTICS
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// Diagnostic functions to display planner buffer underflow on the display.
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extern uint8_t planner_queue_min();
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// Diagnostic function: Reset the minimum planner segments.
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extern void planner_queue_min_reset();
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#endif /* PLANNER_DIAGNOSTICS */
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extern void planner_add_sd_length(uint16_t sdlen);
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extern uint16_t planner_calc_sd_length();
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