- Implement Plannercode from Marlin V1 --> big thanks to Erik

  - Stepper interrupt with Step loops
  - Stepperfrequenz 30 Khz
  - New Command
    * M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
    * M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2
    * M205 - advanced settings:  minimum travel speed S=while printing T=travel only,  X= maximum xy jerk, Z=maximum Z jerk
  - Remove unused Variables
  - Check Uart Puffer while circle processing (CMD: G2 / G3)
  - Fast Xfer Function --> move Text to Flash
  - Option to deaktivate ARC (G2/G3) function (save flash)
  - Removed modulo (%) operator, which uses an expensive divide

1 files changed, 21 insertions, 10 deletions

diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h
index 844fc34..b70d1fd 100644
--- a/Sprinter/Sprinter.h
+++ b/Sprinter/Sprinter.h
@@ -1,10 +1,18 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
-#include <WProgram.h>
+
+//Check Version of Arduino and then include the right libraries
+#if defined(ARDUINO) && ARDUINO >= 100
+  #include "Arduino.h"
+#else
+  #include <WProgram.h>  
+#endif
+
 #include "fastio.h"
 
 extern "C" void __cxa_pure_virtual();
 
+#define  FORCE_INLINE __attribute__((always_inline)) inline
 
 #if X_ENABLE_PIN > -1
 #define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
@@ -47,10 +55,10 @@ 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
 
-  long step_event_count;                    // The number of step events required to complete this block
-  volatile long accelerate_until;           // The index of the step event on which to stop acceleration
-  volatile long decelerate_after;           // The index of the step event on which to start decelerating
-  volatile long acceleration_rate;          // The acceleration rate used for acceleration calculation
+  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)
 
   #ifdef ADVANCE
@@ -61,16 +69,20 @@ typedef struct {
   #endif
 
   // Fields used by the motion planner to manage acceleration
-  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
+//  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
   float nominal_speed;                               // The nominal speed for this block in mm/min  
+  float entry_speed;                                 // Entry speed at previous-current junction in mm/min
+  float max_entry_speed;                             // Maximum allowable junction entry speed in mm/min
   float millimeters;                                 // The total travel of this block in mm
-  float entry_speed;
   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
   long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
-  volatile long initial_rate;                        // The jerk-adjusted step rate at start of block  
-  volatile long final_rate;                          // The minimal rate at exit
+  long initial_rate;                        // The jerk-adjusted step rate at start of block  
+  long final_rate;                          // The minimal rate at exit
   long acceleration_st;                              // acceleration steps/sec^2
   volatile char busy;
 } block_t;
@@ -87,7 +99,6 @@ void manage_inactivity(byte debug);
 void get_coordinates();
 void prepare_move();
 void prepare_arc_move(char isclockwise);
-void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
 
 void kill(byte debug);