planner.h File Reference

#include "../Marlin.h"
#include "motion.h"
#include "../gcode/queue.h"
#include "../libs/vector_3.h"
#include "../feature/spindle_laser.h"

Go to the source code of this file.

Classes
struct	block_t
struct	planner_settings_t
struct	skew_factor_t
class	Planner

Macros
#define	HAS_POSITION_FLOAT   ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX)
#define	BLOCK_MOD(n)   ((n)&(BLOCK_BUFFER_SIZE-1))
#define	PLANNER_XY_FEEDRATE()   (_MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]))

Typedefs
typedef struct block_t	block_t

Enumerations
enum	BlockFlagBit : char { BLOCK_BIT_RECALCULATE, BLOCK_BIT_NOMINAL_LENGTH, BLOCK_BIT_CONTINUED, BLOCK_BIT_SYNC_POSITION }
enum	BlockFlag : char { BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE), BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH), BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED), BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION) }

Variables
Planner	planner

Macro Definition Documentation

HAS_POSITION_FLOAT

#define HAS_POSITION_FLOAT   ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX)

BLOCK_MOD

#define BLOCK_MOD

(

n

)

((n)&(BLOCK_BUFFER_SIZE-1))

PLANNER_XY_FEEDRATE

#define PLANNER_XY_FEEDRATE

(

)

(_MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]))

Typedef Documentation

block_t

typedef struct block_t block_t

struct block_t

A single entry in the planner buffer. Tracks linear movement over multiple axes.

The "nominal" values are as-specified by gcode, and may never actually be reached due to acceleration limits.

Enumeration Type Documentation

BlockFlagBit

enum BlockFlagBit : char

Marlin 3D Printer Firmware Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]

Based on Sprinter and grbl. Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm

This program 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.

This program 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 this program. If not, see http://www.gnu.org/licenses/. planner.h

Buffer movement commands and manage the acceleration profile plan

Derived from Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud

Enumerator
BLOCK_BIT_RECALCULATE
BLOCK_BIT_NOMINAL_LENGTH
BLOCK_BIT_CONTINUED
BLOCK_BIT_SYNC_POSITION

                  : char {
  // Recalculate trapezoids on entry junction. For optimization.
  BLOCK_BIT_RECALCULATE,
 
  // Nominal speed always reached.
  // i.e., The segment is long enough, so the nominal speed is reachable if accelerating
  // from a safe speed (in consideration of jerking from zero speed).
  BLOCK_BIT_NOMINAL_LENGTH,
 
  // The block is segment 2+ of a longer move
  BLOCK_BIT_CONTINUED,
 
  // Sync the stepper counts from the block
  BLOCK_BIT_SYNC_POSITION
};

BlockFlag

enum BlockFlag : char

Enumerator
BLOCK_FLAG_RECALCULATE
BLOCK_FLAG_NOMINAL_LENGTH
BLOCK_FLAG_CONTINUED
BLOCK_FLAG_SYNC_POSITION

               : char {
  BLOCK_FLAG_RECALCULATE          = _BV(BLOCK_BIT_RECALCULATE),
  BLOCK_FLAG_NOMINAL_LENGTH       = _BV(BLOCK_BIT_NOMINAL_LENGTH),
  BLOCK_FLAG_CONTINUED            = _BV(BLOCK_BIT_CONTINUED),
  BLOCK_FLAG_SYNC_POSITION        = _BV(BLOCK_BIT_SYNC_POSITION)
};

Variable Documentation

planner

Planner planner