ManuelW/grbl-LPC-CoreXY
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v1.0 Beta Release.

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- Tons of new stuff in this release, which is fairly stable and well
tested. However, much more is coming soon!

- Real-time parking motion with safety door. When this compile option
is enabled, an opened safety door will cause Grbl to automatically feed
hold, retract, de-energize the spindle/coolant, and parks near Z max.
After the door is closed and resume is commanded, this reverses and the
program continues as if nothing happened. This is also highly
configurable. See config.h for details.

- New spindle max and min rpm ‘$’ settings! This has been requested
often. Grbl will output 5V when commanded to turn on the spindle at its
max rpm, and 0.02V with min rpm. The voltage and the rpm range are
linear to each other. This should help users tweak their settings to
get close to true rpm’s.

- If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the
spindle speed PWM pin will act like a regular on/off spindle enable
pin. On pin D11.

- BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm
settings require a new settings version, so Grbl will automatically
wipe and restore the EEPROM with the new defaults.

- Control pin can now be inverted individually with a
CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users
to need this, but handy to have.

- Fixed bug when Grbl receive too many characters in a line and
overflows. Previously it would respond with an error per overflow
character and another acknowledge upon an EOL character. This broke the
streaming protocol. Now fixed to only respond with an error after an
EOL character.

- Fixed a bug with the safety door during an ALARM mode. You now can’t
home or unlock the axes until the safety door has been closed. This is
for safety reasons (obviously.)

- Tweaked some the Mega2560 cpu_map settings . Increased segment buffer
size and fixed the spindle PWM settings to output at a higher PWM
frequency.

- Generalized the delay function used by G4 delay for use by parking
motion. Allows non-blocking status reports and real-time control during
re-energizing of the spindle and coolant.

- Added spindle rpm max and min defaults to default.h files.

- Added a new print float for rpm values.
This commit is contained in:
Sonny Jeon
2015-08-27 21:37:19 -06:00
parent 3a68c22fab
commit b3a53a4683
36 changed files with 972 additions and 598 deletions
Download Patch File Download Diff File Expand all files Collapse all files

331
grbl/stepper.c
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@ -29,6 +29,10 @@
#define RAMP_CRUISE 1
#define RAMP_DECEL 2
#define PREP_FLAG_RECALCULATE bit(0)
#define PREP_FLAG_HOLD_PARTIAL_BLOCK bit(1)
#define PREP_FLAG_PARKING bit(2)
// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
@ -120,13 +124,21 @@ static st_block_t *st_prep_block; // Pointer to the stepper block data being pr
// based on the current executing planner block.
typedef struct {
uint8_t st_block_index; // Index of stepper common data block being prepped
uint8_t flag_partial_block; // Flag indicating the last block completed. Time to load a new one.
float steps_remaining;
float step_per_mm; // Current planner block step/millimeter conversion scalar
float req_mm_increment;
float dt_remainder;
uint8_t recalculate_flag;
float dt_remainder;
float steps_remaining;
float step_per_mm;
float req_mm_increment;
#ifdef PARKING_ENABLE
uint8_t last_st_block_index;
float last_steps_remaining;
float last_step_per_mm;
float last_req_mm_increment;
float last_dt_remainder;
#endif
uint8_t ramp_type; // Current segment ramp state
float mm_complete; // End of velocity profile from end of current planner block in (mm).
// NOTE: This value must coincide with a step(no mantissa) when converted.
@ -186,7 +198,7 @@ void st_wake_up()
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); }
else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); }
if (sys.state & (STATE_CYCLE | STATE_HOMING)){
// if (sys.state & (STATE_CYCLE | STATE_HOMING)){
// Initialize stepper output bits
st.dir_outbits = dir_port_invert_mask;
st.step_outbits = step_port_invert_mask;
@ -204,7 +216,7 @@ void st_wake_up()
// Enable Stepper Driver Interrupt
TIMSK1 |= (1<<OCIE1A);
}
// }
}
@ -499,13 +511,60 @@ void stepper_init()
void st_update_plan_block_parameters()
{
if (pl_block != NULL) { // Ignore if at start of a new block.
prep.flag_partial_block = true;
prep.recalculate_flag |= PREP_FLAG_RECALCULATE;
pl_block->entry_speed_sqr = prep.current_speed*prep.current_speed; // Update entry speed.
pl_block = NULL; // Flag st_prep_segment() to load new velocity profile.
pl_block = NULL; // Flag st_prep_segment() to load and check active velocity profile.
}
}
// Increments the step segment buffer block data ring buffer.
static uint8_t st_next_block_index(uint8_t block_index)
{
block_index++;
if ( block_index == (SEGMENT_BUFFER_SIZE-1) ) { return(0); }
return(block_index);
}
#ifdef PARKING_ENABLE
// Changes the run state of the step segment buffer to execute the special parking motion.
void st_parking_setup_buffer()
{
// Store step execution data of partially completed block, if necessary.
if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
prep.last_st_block_index = prep.st_block_index;
prep.last_steps_remaining = prep.steps_remaining;
prep.last_dt_remainder = prep.dt_remainder;
prep.last_step_per_mm = prep.step_per_mm;
}
// Set flags to execute a parking motion
prep.recalculate_flag |= PREP_FLAG_PARKING;
prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE);
pl_block = NULL; // Always reset parking motion to reload new block.
}
// Restores the step segment buffer to the normal run state after a parking motion.
// NOTE: This function does not compile if parking is disabled.
void st_parking_restore_buffer()
{
// Restore step execution data and flags of partially completed block, if necessary.
if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
prep.st_block_index = prep.last_st_block_index;
prep.steps_remaining = prep.last_steps_remaining;
prep.dt_remainder = prep.last_dt_remainder;
prep.step_per_mm = prep.last_step_per_mm;
st_prep_block = &st_block_buffer[prep.st_block_index];
prep.recalculate_flag = (PREP_FLAG_HOLD_PARTIAL_BLOCK | PREP_FLAG_RECALCULATE);
} else {
prep.recalculate_flag = false;
}
pl_block = NULL; // Set to reload next block.
}
#endif
/* Prepares step segment buffer. Continuously called from main program.
The segment buffer is an intermediary buffer interface between the execution of steps
@ -521,120 +580,140 @@ void st_update_plan_block_parameters()
*/
void st_prep_buffer()
{
// Block step prep buffer, while in a suspend state and there is no suspend motion to execute.
if (bit_istrue(sys.step_control,STEP_CONTROL_END_MOTION)) { return; }
if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) {
// Check if we still need to generate more segments for a motion suspend.
if (prep.current_speed == 0.0) { return; } // Nothing to do. Bail.
}
while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer.
// Determine if we need to load a new planner block or if the block has been replanned.
// Determine if we need to load a new planner block or if the block needs to be recomputed.
if (pl_block == NULL) {
pl_block = plan_get_current_block(); // Query planner for a queued block
if (pl_block == NULL) { return; } // No planner blocks. Exit.
// Check if the segment buffer completed the last planner block. If so, load the Bresenham
// data for the block. If not, we are still mid-block and the velocity profile was updated.
if (prep.flag_partial_block) {
prep.flag_partial_block = false; // Reset flag
#ifdef PARKING_ENABLE
// Query planner for a queued block
if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) { pl_block = plan_get_parking_block(); }
else { pl_block = plan_get_current_block(); }
if (pl_block == NULL) { return; } // No planner blocks. Exit.
// Check if we need to only recompute the velocity profile or load a new block.
if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
if (prep.recalculate_flag & PREP_FLAG_PARKING) { prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE); }
else { prep.recalculate_flag = false; }
#else
// Query planner for a queued block
pl_block = plan_get_current_block();
if (pl_block == NULL) { return; } // No planner blocks. Exit.
// Check if we need to only recompute the velocity profile or load a new block.
if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
prep.recalculate_flag = false;
#endif
} else {
// Increment stepper common data index to store new planner block data.
if ( ++prep.st_block_index == (SEGMENT_BUFFER_SIZE-1) ) { prep.st_block_index = 0; }
// Load the Bresenham stepping data for the block.
prep.st_block_index = st_next_block_index(prep.st_block_index);
// Prepare and copy Bresenham algorithm segment data from the new planner block, so that
// when the segment buffer completes the planner block, it may be discarded when the
// segment buffer finishes the prepped block, but the stepper ISR is still executing it.
st_prep_block = &st_block_buffer[prep.st_block_index];
st_prep_block->direction_bits = pl_block->direction_bits;
uint8_t idx;
#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS];
st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS];
st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS];
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = pl_block->steps[idx]; }
st_prep_block->step_event_count = pl_block->step_event_count;
#else
// With AMASS enabled, simply bit-shift multiply all Bresenham data by the max AMASS
// level, such that we never divide beyond the original data anywhere in the algorithm.
// If the original data is divided, we can lose a step from integer roundoff.
st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS] << MAX_AMASS_LEVEL;
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = pl_block->steps[idx] << MAX_AMASS_LEVEL; }
st_prep_block->step_event_count = pl_block->step_event_count << MAX_AMASS_LEVEL;
#endif
// Initialize segment buffer data for generating the segments.
prep.steps_remaining = pl_block->step_event_count;
prep.steps_remaining = (float)pl_block->step_event_count;
prep.step_per_mm = prep.steps_remaining/pl_block->millimeters;
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm;
prep.dt_remainder = 0.0; // Reset for new planner block
prep.dt_remainder = 0.0; // Reset for new segment block
if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) {
// Override planner block entry speed and enforce deceleration during feed hold.
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
// New block loaded mid-hold. Override planner block entry speed to enforce deceleration.
prep.current_speed = prep.exit_speed;
pl_block->entry_speed_sqr = prep.exit_speed*prep.exit_speed;
pl_block->entry_speed_sqr = prep.exit_speed*prep.exit_speed;
} else {
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
}
else { prep.current_speed = sqrt(pl_block->entry_speed_sqr); }
}
/* ---------------------------------------------------------------------------------
Compute the velocity profile of a new planner block based on its entry and exit
speeds, or recompute the profile of a partially-completed planner block if the
planner has updated it. For a commanded forced-deceleration, such as from a feed
hold, override the planner velocities and decelerate to the target exit speed.
*/
prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block.
float inv_2_accel = 0.5/pl_block->acceleration;
if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) { // [Forced Deceleration to Zero Velocity]
// Compute velocity profile parameters for a feed hold in-progress. This profile overrides
// the planner block profile, enforcing a deceleration to zero speed.
prep.ramp_type = RAMP_DECEL;
// Compute decelerate distance relative to end of block.
float decel_dist = pl_block->millimeters - inv_2_accel*pl_block->entry_speed_sqr;
if (decel_dist < 0.0) {
// Deceleration through entire planner block. End of feed hold is not in this block.
prep.exit_speed = sqrt(pl_block->entry_speed_sqr-2*pl_block->acceleration*pl_block->millimeters);
} else {
prep.mm_complete = decel_dist; // End of feed hold.
prep.exit_speed = 0.0;
}
} else { // [Normal Operation]
// Compute or recompute velocity profile parameters of the prepped planner block.
prep.ramp_type = RAMP_ACCEL; // Initialize as acceleration ramp.
prep.accelerate_until = pl_block->millimeters;
prep.exit_speed = plan_get_exec_block_exit_speed();
float exit_speed_sqr = prep.exit_speed*prep.exit_speed;
float intersect_distance =
0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr));
if (intersect_distance > 0.0) {
if (intersect_distance < pl_block->millimeters) { // Either trapezoid or triangle types
// NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0.
prep.decelerate_after = inv_2_accel*(pl_block->nominal_speed_sqr-exit_speed_sqr);
if (prep.decelerate_after < intersect_distance) { // Trapezoid type
prep.maximum_speed = sqrt(pl_block->nominal_speed_sqr);
if (pl_block->entry_speed_sqr == pl_block->nominal_speed_sqr) {
// Cruise-deceleration or cruise-only type.
prep.ramp_type = RAMP_CRUISE;
} else {
// Full-trapezoid or acceleration-cruise types
prep.accelerate_until -= inv_2_accel*(pl_block->nominal_speed_sqr-pl_block->entry_speed_sqr);
}
} else { // Triangle type
prep.accelerate_until = intersect_distance;
prep.decelerate_after = intersect_distance;
prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr);
}
} else { // Deceleration-only type
prep.ramp_type = RAMP_DECEL;
// prep.decelerate_after = pl_block->millimeters;
prep.maximum_speed = prep.current_speed;
}
} else { // Acceleration-only type
prep.accelerate_until = 0.0;
// prep.decelerate_after = 0.0;
prep.maximum_speed = prep.exit_speed;
}
}
/* ---------------------------------------------------------------------------------
Compute the velocity profile of a new planner block based on its entry and exit
speeds, or recompute the profile of a partially-completed planner block if the
planner has updated it. For a commanded forced-deceleration, such as from a feed
hold, override the planner velocities and decelerate to the target exit speed.
*/
prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block.
float inv_2_accel = 0.5/pl_block->acceleration;
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { // [Forced Deceleration to Zero Velocity]
// Compute velocity profile parameters for a feed hold in-progress. This profile overrides
// the planner block profile, enforcing a deceleration to zero speed.
prep.ramp_type = RAMP_DECEL;
// Compute decelerate distance relative to end of block.
float decel_dist = pl_block->millimeters - inv_2_accel*pl_block->entry_speed_sqr;
if (decel_dist < 0.0) {
// Deceleration through entire planner block. End of feed hold is not in this block.
prep.exit_speed = sqrt(pl_block->entry_speed_sqr-2*pl_block->acceleration*pl_block->millimeters);
} else {
prep.mm_complete = decel_dist; // End of feed hold.
prep.exit_speed = 0.0;
}
} else { // [Normal Operation]
// Compute or recompute velocity profile parameters of the prepped planner block.
prep.ramp_type = RAMP_ACCEL; // Initialize as acceleration ramp.
prep.accelerate_until = pl_block->millimeters;
#ifdef PARKING_ENABLE
if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) { prep.exit_speed = 0.0; }
else { prep.exit_speed = plan_get_exec_block_exit_speed(); }
#else
prep.exit_speed = plan_get_exec_block_exit_speed();
#endif
float exit_speed_sqr = prep.exit_speed*prep.exit_speed;
float intersect_distance =
0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr));
if (intersect_distance > 0.0) {
if (intersect_distance < pl_block->millimeters) { // Either trapezoid or triangle types
// NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0.
prep.decelerate_after = inv_2_accel*(pl_block->nominal_speed_sqr-exit_speed_sqr);
if (prep.decelerate_after < intersect_distance) { // Trapezoid type
prep.maximum_speed = sqrt(pl_block->nominal_speed_sqr);
if (pl_block->entry_speed_sqr == pl_block->nominal_speed_sqr) {
// Cruise-deceleration or cruise-only type.
prep.ramp_type = RAMP_CRUISE;
} else {
// Full-trapezoid or acceleration-cruise types
prep.accelerate_until -= inv_2_accel*(pl_block->nominal_speed_sqr-pl_block->entry_speed_sqr);
}
} else { // Triangle type
prep.accelerate_until = intersect_distance;
prep.decelerate_after = intersect_distance;
prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr);
}
} else { // Deceleration-only type
prep.ramp_type = RAMP_DECEL;
// prep.decelerate_after = pl_block->millimeters;
// prep.maximum_speed = prep.current_speed;
}
} else { // Acceleration-only type
prep.accelerate_until = 0.0;
// prep.decelerate_after = 0.0;
prep.maximum_speed = prep.exit_speed;
}
}
}
// Initialize new segment
@ -703,14 +782,16 @@ void st_prep_buffer()
if (prep.current_speed > speed_var) { // Check if at or below zero speed.
// Compute distance from end of segment to end of block.
mm_var = mm_remaining - time_var*(prep.current_speed - 0.5*speed_var); // (mm)
if (mm_var > prep.mm_complete) { // Deceleration only.
if (mm_var > prep.mm_complete) { // Typical case. In deceleration ramp.
mm_remaining = mm_var;
prep.current_speed -= speed_var;
break; // Segment complete. Exit switch-case statement. Continue do-while loop.
}
} // End of block or end of forced-deceleration.
}
// Otherwise, at end of block or end of forced-deceleration.
time_var = 2.0*(mm_remaining-prep.mm_complete)/(prep.current_speed+prep.exit_speed);
mm_remaining = prep.mm_complete;
prep.current_speed = prep.exit_speed;
}
dt += time_var; // Add computed ramp time to total segment time.
if (dt < dt_max) { time_var = dt_max - dt; } // **Incomplete** At ramp junction.
@ -737,21 +818,20 @@ void st_prep_buffer()
Fortunately, this scenario is highly unlikely and unrealistic in CNC machines
supported by Grbl (i.e. exceeding 10 meters axis travel at 200 step/mm).
*/
float steps_remaining = prep.step_per_mm*mm_remaining; // Convert mm_remaining to steps
float n_steps_remaining = ceil(steps_remaining); // Round-up current steps remaining
float step_dist_remaining = prep.step_per_mm*mm_remaining; // Convert mm_remaining to steps
float n_steps_remaining = ceil(step_dist_remaining); // Round-up current steps remaining
float last_n_steps_remaining = ceil(prep.steps_remaining); // Round-up last steps remaining
prep_segment->n_step = last_n_steps_remaining-n_steps_remaining; // Compute number of steps to execute.
// Bail if we are at the end of a feed hold and don't have a step to execute.
if (prep_segment->n_step == 0) {
if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) {
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
// Less than one step to decelerate to zero speed, but already very close. AMASS
// requires full steps to execute. So, just bail.
prep.current_speed = 0.0; // NOTE: (=0.0) Used to indicate completed segment calcs for hold.
prep.dt_remainder = 0.0;
prep.steps_remaining = n_steps_remaining;
pl_block->millimeters = prep.steps_remaining/prep.step_per_mm; // Update with full steps.
plan_cycle_reinitialize();
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
#ifdef PARKING_ENABLE
if (!(prep.recalculate_flag & PREP_FLAG_PARKING)) { prep.recalculate_flag |= PREP_FLAG_HOLD_PARTIAL_BLOCK; }
#endif
return; // Segment not generated, but current step data still retained.
}
}
@ -765,8 +845,7 @@ void st_prep_buffer()
// typically very small and do not adversely effect performance, but ensures that Grbl
// outputs the exact acceleration and velocity profiles as computed by the planner.
dt += prep.dt_remainder; // Apply previous segment partial step execute time
float inv_rate = dt/(last_n_steps_remaining - steps_remaining); // Compute adjusted step rate inverse
prep.dt_remainder = (n_steps_remaining - steps_remaining)*inv_rate; // Update segment partial step time
float inv_rate = dt/(last_n_steps_remaining - step_dist_remaining); // Compute adjusted step rate inverse
// Compute CPU cycles per step for the prepped segment.
uint32_t cycles = ceil( (TICKS_PER_MICROSECOND*1000000*60)*inv_rate ); // (cycles/step)
@ -802,29 +881,35 @@ void st_prep_buffer()
}
#endif
// Segment complete! Increment segment buffer indices.
// Segment complete! Increment segment buffer indices, so stepper ISR can immediately execute it.
segment_buffer_head = segment_next_head;
if ( ++segment_next_head == SEGMENT_BUFFER_SIZE ) { segment_next_head = 0; }
// Setup initial conditions for next segment.
if (mm_remaining > prep.mm_complete) {
// Normal operation. Block incomplete. Distance remaining in block to be executed.
pl_block->millimeters = mm_remaining;
prep.steps_remaining = steps_remaining;
} else {
// Update the appropriate planner and segment data.
pl_block->millimeters = mm_remaining;
prep.steps_remaining = n_steps_remaining;
prep.dt_remainder = (n_steps_remaining - step_dist_remaining)*inv_rate;
// Check for exit conditions and flag to load next planner block.
if (mm_remaining == prep.mm_complete) {
// End of planner block or forced-termination. No more distance to be executed.
if (mm_remaining > 0.0) { // At end of forced-termination.
// Reset prep parameters for resuming and then bail. Allow the stepper ISR to complete
// the segment queue, where realtime protocol will set new state upon receiving the
// cycle stop flag from the ISR. Prep_segment is blocked until then.
prep.current_speed = 0.0; // NOTE: (=0.0) Used to indicate completed segment calcs for hold.
prep.dt_remainder = 0.0;
prep.steps_remaining = ceil(steps_remaining);
pl_block->millimeters = prep.steps_remaining/prep.step_per_mm; // Update with full steps.
plan_cycle_reinitialize();
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
#ifdef PARKING_ENABLE
if (!(prep.recalculate_flag & PREP_FLAG_PARKING)) { prep.recalculate_flag |= PREP_FLAG_HOLD_PARTIAL_BLOCK; }
#endif
return; // Bail!
} else { // End of planner block
// The planner block is complete. All steps are set to be executed in the segment buffer.
#ifdef PARKING_ENABLE
if (sys.step_control & STEP_CONTROL_EXECUTE_PARK) {
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
return;
}
#endif
pl_block = NULL; // Set pointer to indicate check and load next planner block.
plan_discard_current_block();
}