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G6 Direct Stepping (#17853)

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This commit is contained in:
Colin Godsey
2020-05-11 18:22:41 -06:00
committed by GitHub
parent 174e41c17d
commit 8a22ef0c83
17 changed files with 859 additions and 64 deletions
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40
Marlin/src/module/planner.h
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@ -66,6 +66,13 @@
#include "../feature/spindle_laser_types.h"
#endif
#if ENABLED(DIRECT_STEPPING)
#include "../feature/direct_stepping.h"
#define IS_PAGE(B) TEST(B->flag, BLOCK_BIT_IS_PAGE)
#else
#define IS_PAGE(B) false
#endif
// Feedrate for manual moves
#ifdef MANUAL_FEEDRATE
constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE,
@ -90,13 +97,21 @@ enum BlockFlagBit : char {
// Sync the stepper counts from the block
BLOCK_BIT_SYNC_POSITION
// Direct stepping page
#if ENABLED(DIRECT_STEPPING)
, BLOCK_BIT_IS_PAGE
#endif
};
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)
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)
#if ENABLED(DIRECT_STEPPING)
, BLOCK_FLAG_IS_PAGE = _BV(BLOCK_BIT_IS_PAGE)
#endif
};
#if ENABLED(LASER_POWER_INLINE)
@ -180,6 +195,10 @@ typedef struct block_t {
final_rate, // The minimal rate at exit
acceleration_steps_per_s2; // acceleration steps/sec^2
#if ENABLED(DIRECT_STEPPING)
page_idx_t page_idx; // Page index used for direct stepping
#endif
#if HAS_CUTTER
cutter_power_t cutter_power; // Power level for Spindle, Laser, etc.
#endif
@ -296,6 +315,11 @@ class Planner {
static uint8_t last_extruder; // Respond to extruder change
#endif
#if ENABLED(DIRECT_STEPPING)
static uint32_t last_page_step_rate; // Last page step rate given
static xyze_bool_t last_page_dir; // Last page direction given
#endif
#if EXTRUDERS
static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
static float e_factor[EXTRUDERS]; // The flow percentage and volumetric multiplier combine to scale E movement
@ -726,6 +750,10 @@ class Planner {
);
}
#if ENABLED(DIRECT_STEPPING)
static void buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps);
#endif
/**
* Set the planner.position and individual stepper positions.
* Used by G92, G28, G29, and other procedures.
@ -811,10 +839,10 @@ class Planner {
static block_t* get_current_block();
/**
* "Discard" the block and "release" the memory.
* "Release" the current block so its slot can be reused.
* Called when the current block is no longer needed.
*/
FORCE_INLINE static void discard_current_block() {
FORCE_INLINE static void release_current_block() {
if (has_blocks_queued())
block_buffer_tail = next_block_index(block_buffer_tail);
}