3D打印运动控制系统源码分享

typedef struct {

  // Fields used by the bresenham algorithm for tracing the line

  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis

  unsigned long step_event_count;           // The number of step events required to complete this block

  long accelerate_until;                    // The index of the step event on which to stop acceleration

  long decelerate_after;                    // The index of the step event on which to start decelerating

  long acceleration_rate;                   // The acceleration rate used for acceleration calculation

  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)

  float nominal_speed;                               // The nominal speed for this block in mm/sec 

  float entry_speed;                                 // Entry speed at previous-current junction in mm/sec

  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/sec

  float millimeters;                                 // The total travel of this block in mm

  float acceleration;                                // acceleration mm/sec^2

  unsigned char recalculate_flag;                    // Planner flag to recalculate trapezoids on entry junction

  unsigned char nominal_length_flag;                 // Planner flag for nominal speed always reached

 

  // Settings for the trapezoid generator

  unsigned long nominal_rate;                        // The nominal step rate for this block in step_events/sec 

  unsigned long initial_rate;                        // The jerk-adjusted step rate at start of block  

  unsigned long final_rate;                          // The minimal rate at exit

  unsigned long acceleration_st;                     // acceleration steps/sec^2

  unsigned long fan_speed;

  #ifdef BARICUDA

  unsigned long valve_pressure;

  unsigned long e_to_p_pressure;

  #endif

  volatile char busy;

} block_t;leibRamp Algorithm

 

block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions

volatile unsigned char block_buffer_head;           // Index of the next block to be pushed

volatile unsigned char block_buffer_tail;