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grbl-LPC-CoreXY/motion_control.h

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version 0.1
2009-01-25 00:48:56 +01:00
/*
refactored block buffer into separate module motion_plan pending the addition of the actual look ahead planner
2011-01-14 16:45:18 +01:00
motion_control.h - high level interface for issuing motion commands
version 0.1
2009-01-25 00:48:56 +01:00
Part of Grbl
Minor bug fixes: Homing travel calculations. Cycle resuming after spindle and dwell commands. - Homing travel calculations fixed. It was computing the min travel rather than max. - Auto-start disable and pausing after spindle or dwell commands. Related to plan_synchronize() function call. Now fixed, but still need to work on the system state. - Pushed a fix to make this branch more Arduino IDE compatible. Removed extern call in nuts_bolts.c - Updated the stepper configuration option of enabling or disabling the new Adaptive Multi-Axis Step Smoothing Algorithm. Now works either way. - Updated some copyright info.
2013-12-31 06:02:05 +01:00
Copyright (c) 2011-2014 Sungeun K. Jeon
refactored block buffer into separate module motion_plan pending the addition of the actual look ahead planner
2011-01-14 16:45:18 +01:00
Copyright (c) 2009-2011 Simen Svale Skogsrud
Optimized planner re-write. Significantly faster. Full arc support enabled by rotation matrix approach. - Significant improvements in the planner. Removed or reordered repetitive and expensive calculations by order of importance: recalculating unchanged blocks, trig functions [sin(), cos(), tan()], sqrt(), divides, and multiplications. Blocks long enough for nominal speed to be guaranteed to be reached ignored by planner. Done by introducing two uint8_t flags per block. Reduced computational overhead by an order of magnitude. - Arc motion generation completely re-written and optimized. Now runs with acceleration planner. Removed all but one trig function (atan2) from initialization. Streamlined computations. Segment target locations generated by vector transformation and small angle approximation. Arc path correction implemented for accumulated error of approximation and single precision calculation of Arduino. Bug fix in message passing.
2011-09-07 03:39:14 +02:00
version 0.1
2009-01-25 00:48:56 +01:00
Grbl 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.
Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef motion_control_h
eliminated the mc_line-method and replaced it with a macro forwarding calls directly to the planner (untested)
2011-02-11 00:53:00 +01:00
#define motion_control_h
version 0.1
2009-01-25 00:48:56 +01:00
Minor updates to line number feature. - Changed line number integer types from unsigned to signed int32. G-code mandates values cannot exceed 99999. Negative values can be used to indicate certain modes. - Homing cycle line number changed to -1, as an indicator. - Fixed a reporting define for the spindle states that was broken by the last merge.
2014-02-19 15:48:09 +01:00
#define HOMING_CYCLE_LINE_NUMBER -1
support for helical motion
2009-02-11 00:37:33 +01:00
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
further refactoring debris extraction
2010-03-03 17:52:56 +01:00
// (1 minute)/feed_rate time.
Added grbl planner Matlab simulator for test reference. Updated line number compile-time option. - Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
2014-02-26 20:10:07 +01:00
#ifdef USE_LINE_NUMBERS
Minor updates to line number feature. - Changed line number integer types from unsigned to signed int32. G-code mandates values cannot exceed 99999. Negative values can be used to indicate certain modes. - Homing cycle line number changed to -1, as an indicator. - Fixed a reporting define for the spindle states that was broken by the last merge.
2014-02-19 15:48:09 +01:00
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
Added grbl planner Matlab simulator for test reference. Updated line number compile-time option. - Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
2014-02-26 20:10:07 +01:00
#else
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
#endif
result of G92 also affects planner
2011-02-21 22:32:42 +01:00
Optimized planner re-write. Significantly faster. Full arc support enabled by rotation matrix approach. - Significant improvements in the planner. Removed or reordered repetitive and expensive calculations by order of importance: recalculating unchanged blocks, trig functions [sin(), cos(), tan()], sqrt(), divides, and multiplications. Blocks long enough for nominal speed to be guaranteed to be reached ignored by planner. Done by introducing two uint8_t flags per block. Reduced computational overhead by an order of magnitude. - Arc motion generation completely re-written and optimized. Now runs with acceleration planner. Removed all but one trig function (atan2) from initialization. Streamlined computations. Segment target locations generated by vector transformation and small angle approximation. Arc path correction implemented for accumulated error of approximation and single precision calculation of Arduino. Bug fix in message passing.
2011-09-07 03:39:14 +02:00
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
More '%' modulo opertor removals and some housecleaning. - Serial functions contained quite a few modulo operations that would be executed with high frequency when streaming. AVR processors are very slow when operating these. In one test on the Arduino forums, it showed about a 15x slow down compared to a simple if-then statement. - Clarified some variable names and types and comments.
2011-09-16 04:32:15 +02:00
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
Optimized planner re-write. Significantly faster. Full arc support enabled by rotation matrix approach. - Significant improvements in the planner. Removed or reordered repetitive and expensive calculations by order of importance: recalculating unchanged blocks, trig functions [sin(), cos(), tan()], sqrt(), divides, and multiplications. Blocks long enough for nominal speed to be guaranteed to be reached ignored by planner. Done by introducing two uint8_t flags per block. Reduced computational overhead by an order of magnitude. - Arc motion generation completely re-written and optimized. Now runs with acceleration planner. Removed all but one trig function (atan2) from initialization. Streamlined computations. Segment target locations generated by vector transformation and small angle approximation. Arc path correction implemented for accumulated error of approximation and single precision calculation of Arduino. Bug fix in message passing.
2011-09-07 03:39:14 +02:00
// for vector transformation direction.
Added grbl planner Matlab simulator for test reference. Updated line number compile-time option. - Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
2014-02-26 20:10:07 +01:00
#ifdef USE_LINE_NUMBERS
Major g-code parser overhaul. 100%* compliant. Other related updates. - Completely overhauled the g-code parser. It’s now 100%* compliant. (* may have some bugs). Being compliant, here are some of the major differences. - SMALLER and JUST AS FAST! A number of optimizations were found that sped things up and allowed for the more thorough error-checking to be installed without a speed hit. Trimmed a lot of ‘fat’ in the parser and still was able to make it significantly smaller than it was. - No default feed rate setting! Removed completely! This doesn’t exist in the g-code standard. So, it now errors out whenever it’s undefined for motions that require it (G1/2/3/38.2). - Any g-code parser error expunges the ENTIRE block. This means all information is lost and not passed on to the running state. Before some of the states would remain, which could have led to some problems. - If the g-code block passes all of the error-checks, the g-code state is updated and all motions are executed according to the order of execution. - Changes in spindle speed, when already running, will update the output pin accordingly. This fixes a bug, where it wouldn’t update the speed. - Update g-code parser error reporting. Errors now return detailed information of what exact went wrong. The most common errors return a short text description. For less common errors, the parser reports ‘Invalid gcode ID:20’, where 20 is a error ID. A list of error code IDs and their descriptions will be documented for user reference elsewhere to save flash space. - Other notable changes: - Added a print integer routine for uint8 variables. This saved significant flash space by switching from a heavier universal print integer routine. - Saved some flash space with our own short hypotenuse calculation - Some arc computation flash and memory optimizations.
2014-05-26 00:05:28 +02:00
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number);
Added grbl planner Matlab simulator for test reference. Updated line number compile-time option. - Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
2014-02-26 20:10:07 +01:00
#else
Major g-code parser overhaul. 100%* compliant. Other related updates. - Completely overhauled the g-code parser. It’s now 100%* compliant. (* may have some bugs). Being compliant, here are some of the major differences. - SMALLER and JUST AS FAST! A number of optimizations were found that sped things up and allowed for the more thorough error-checking to be installed without a speed hit. Trimmed a lot of ‘fat’ in the parser and still was able to make it significantly smaller than it was. - No default feed rate setting! Removed completely! This doesn’t exist in the g-code standard. So, it now errors out whenever it’s undefined for motions that require it (G1/2/3/38.2). - Any g-code parser error expunges the ENTIRE block. This means all information is lost and not passed on to the running state. Before some of the states would remain, which could have led to some problems. - If the g-code block passes all of the error-checks, the g-code state is updated and all motions are executed according to the order of execution. - Changes in spindle speed, when already running, will update the output pin accordingly. This fixes a bug, where it wouldn’t update the speed. - Update g-code parser error reporting. Errors now return detailed information of what exact went wrong. The most common errors return a short text description. For less common errors, the parser reports ‘Invalid gcode ID:20’, where 20 is a error ID. A list of error code IDs and their descriptions will be documented for user reference elsewhere to save flash space. - Other notable changes: - Added a print integer routine for uint8 variables. This saved significant flash space by switching from a heavier universal print integer routine. - Saved some flash space with our own short hypotenuse calculation - Some arc computation flash and memory optimizations.
2014-05-26 00:05:28 +02:00
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear);
Added grbl planner Matlab simulator for test reference. Updated line number compile-time option. - Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
2014-02-26 20:10:07 +01:00
#endif
eliminated an abstraction violation where motion_control needed position information from the planner (untested)
2011-02-11 23:01:16 +01:00
Fixed minor bugs in planner. Increased max dwell time. Long slope bug stop-gap solution note. - Fixed the planner TODO regarding minimum nominal speeds. Re-arranged calculations to be both more efficient and guaranteed to be greater than zero. - Missed a parenthesis location on the rate_delta calculation. Should fix a nearly in-perceptible issue with incorrect acceleration ramping in diagonal directions. - Increased maximum dwell time from 6.5sec to an 18hour max. A crazy amount more, but that's how the math works out. - Converted the internal feedrate values to mm/min only, as it was switching between mm/min to mm/sec and back to mm/min. Also added a feedrate > 0 check in gcode.c. - Identified the long slope at the end of rapid de/ac-celerations noted by stephanix. Problem with the numerical integration truncation error between the exact solution of estimate_acceleration_distance and how grbl actually performs the acceleration ramps discretely. Increasing the ACCELERATION_TICKS_PER_SECOND in config.h helps fix this problem. Investigating further.
2011-09-18 13:36:55 +02:00
// Dwell for a specific number of seconds
Limit pin internal pull-resistors enabled. Re-wrote read_double() function. Correctly changed all 'double's to 'float's. - Limit pin internal pull-resistors now enabled. Normal high operation. This will be the standard going forward. - Updated all of the 'double' variable types to 'float' to reflect what happens when compiled for the Arduino. Also done for compatibility reasons to @jgeisler0303 's Grbl simulator code. - G-code parser will now ignore 'E' exponent values, since they are reserved g-code characters for some machines. Thanks @csdexter! - The read_double() function was re-written and optimized for use in Grbl. The strtod() avr lib was removed.
2012-10-08 23:57:58 +02:00
void mc_dwell(float seconds);
added buffered stepping support and the rudiments of the arc-interpolator
2009-01-28 23:48:21 +01:00
New startup script setting. New dry run, check gcode switches. New system state variable. Lots of reorganizing. (All v0.8 features installed. Still likely buggy, but now thourough testing will need to start to squash them all. As soon as we're done, this will be pushed to master and v0.9 development will be started. Please report ANY issues to us so we can get this rolled out ASAP.) - User startup script! A user can now save one (up to 5 as compile-time option) block of g-code in EEPROM memory. This will be run everytime Grbl resets. Mainly to be used as a way to set your preferences, like G21, G54, etc. - New dry run and check g-code switches. Dry run moves ALL motions at rapids rate ignoring spindle, coolant, and dwell commands. For rapid physical proofing of your code. The check g-code switch ignores all motion and provides the user a way to check if there are any errors in their program that Grbl may not like. - Program restart! (sort of). Program restart is typically an advanced feature that allows users to restart a program mid-stream. The check g-code switch can perform this feature by enabling the switch at the start of the program, and disabling it at the desired point with some minimal changes. - New system state variable. This state variable tracks all of the different state processes that Grbl performs, i.e. cycle start, feed hold, homing, etc. This is mainly for making managing of these task easier and more clear. - Position lost state variable. Only when homing is enabled, Grbl will refuse to move until homing is completed and position is known. This is mainly for safety. Otherwise, it will let users fend for themselves. - Moved the default settings defines into config.h. The plan is to eventually create a set of config.h's for particular as-built machines to help users from doing it themselves. - Moved around misc defines into .h files. And lots of other little things.
2012-11-03 18:32:23 +01:00
// Perform homing cycle to locate machine zero. Requires limit switches.
Merge branch 'dev' of https://github.com/grbl/grbl into dev Conflicts: limits.c
2013-12-30 04:34:51 +01:00
void mc_homing_cycle();
added buffered stepping support and the rudiments of the arc-interpolator
2009-01-28 23:48:21 +01:00
Minimal probing cycle working. Supports both G38.2 for error and G38.3 when no errors are desired.
2014-02-25 21:19:52 +01:00
// Perform tool length probe cycle. Requires probe switch.
Probe cycle line numbers ifdef fixes to get it to compile. - Updated some of the ifdefs when disabling line numbers feature. Getting messy with this compile-time option. This will likely get cleaned up later. - This is just a push to get the new probing code to compile. Testing and optimization of the code will soon follow and be pushed next.
2014-02-28 06:30:24 +01:00
#ifdef USE_LINE_NUMBERS
G38.2 probe feature rough draft installed. Working but needs testing. - G38.2 straight probe now supported. Rough draft. May be tweaked more as testing ramps up. - G38.2 requires at least one axis word. Multiple axis words work too. When commanded, the probe cycle will move at the last ‘F’ feed rate specified in a straight line. - During a probe cycle: If the probe pin goes low (normal high), Grbl will record that immediate position and engage a feed hold. Meaning that the CNC machine will move a little past the probe switch point, so keep federates low to stop sooner. Once stopped, Grbl will issue a move to go back to the recorded probe trigger point. - During a probe cycle: If the probe switch does not engage by the time the machine has traveled to its target coordinates, Grbl will issue an ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe without error isn’t supported, but would be easy to implement later.) - After a successful probe, Grbl will send a feedback message containing the recorded probe coordinates in the machine coordinate system. This is as the g-code standard on probe parameters specifies. - The recorded probe parameters are retained in Grbl memory and can be viewed with the ‘$#’ print parameters command. Upon a power-cycle, not a soft-reset, Grbl will re-zero these values. - Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses EEPROM to fetch the coordinate system offsets. - Updated the Grbl version to v0.9d. - The probe cycle is subject to change upon testing or user-feedback.
2014-03-01 06:03:26 +01:00
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
Probe cycle line numbers ifdef fixes to get it to compile. - Updated some of the ifdefs when disabling line numbers feature. Getting messy with this compile-time option. This will likely get cleaned up later. - This is just a push to get the new probing code to compile. Testing and optimization of the code will soon follow and be pushed next.
2014-02-28 06:30:24 +01:00
#else
G38.2 probe feature rough draft installed. Working but needs testing. - G38.2 straight probe now supported. Rough draft. May be tweaked more as testing ramps up. - G38.2 requires at least one axis word. Multiple axis words work too. When commanded, the probe cycle will move at the last ‘F’ feed rate specified in a straight line. - During a probe cycle: If the probe pin goes low (normal high), Grbl will record that immediate position and engage a feed hold. Meaning that the CNC machine will move a little past the probe switch point, so keep federates low to stop sooner. Once stopped, Grbl will issue a move to go back to the recorded probe trigger point. - During a probe cycle: If the probe switch does not engage by the time the machine has traveled to its target coordinates, Grbl will issue an ALARM and the user will be forced to reset Grbl. (Currently G38.3 probe without error isn’t supported, but would be easy to implement later.) - After a successful probe, Grbl will send a feedback message containing the recorded probe coordinates in the machine coordinate system. This is as the g-code standard on probe parameters specifies. - The recorded probe parameters are retained in Grbl memory and can be viewed with the ‘$#’ print parameters command. Upon a power-cycle, not a soft-reset, Grbl will re-zero these values. - Moved ‘$#’ command to require IDLE or ALARM mode, because it accesses EEPROM to fetch the coordinate system offsets. - Updated the Grbl version to v0.9d. - The probe cycle is subject to change upon testing or user-feedback.
2014-03-01 06:03:26 +01:00
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate);
Probe cycle line numbers ifdef fixes to get it to compile. - Updated some of the ifdefs when disabling line numbers feature. Getting messy with this compile-time option. This will likely get cleaned up later. - This is just a push to get the new probing code to compile. Testing and optimization of the code will soon follow and be pushed next.
2014-02-28 06:30:24 +01:00
#endif
Minimal probing cycle working. Supports both G38.2 for error and G38.3 when no errors are desired.
2014-02-25 21:19:52 +01:00
Re-factored system states and alarm management. Serial baud support greater than 57600. - Refactored system states to be more clear and concise. Alarm locks processes when position is unknown to indicate to user something has gone wrong. - Changed mc_alarm to mc_reset, which now manages the system reset function. Centralizes it. - Renamed '$X' kill homing lock to kill alarm lock. - Created an alarm error reporting method to clear up what is an alarm: message vs a status error: message. For GUIs mainly. Alarm codes are negative. Status codes are positive. - Serial baud support upto 115200. Previous baudrate calc was unstable for 57600 and above. - Alarm state locks out all g-code blocks, including startup scripts, but allows user to access settings and internal commands. For example, to disable hard limits, if they are problematic. - Hard limits do not respond in an alarm state. - Fixed a problem with the hard limit interrupt during the homing cycle. The interrupt register is still active during the homing cycle and still signal the interrupt to trigger when re-enabled. Instead, just disabled the register. - Homing rate adjusted. All axes move at homing seek rate, regardless of how many axes move at the same time. This is unlike how the stepper module does it as a point to point rate. - New config.h settings to disable the homing rate adjustment and the force homing upon powerup. - Reduced the number of startup lines back down to 2 from 3. This discourages users from placing motion block in there, which can be very dangerous. - Startup blocks now run only after an alarm-free reset or after a homing cycle. Does not run when $X kill is called. For satefy reasons
2012-11-15 01:36:29 +01:00
// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset();
New alarm method. Re(re)organized status messages. - Installed a new 'alarm' method to centralize motion kills across alarm or reset events. Right now, this is controlled by system abort and hard limits. But, in the future, a g-code parser error may call this too as a safety feature. - Re(re)organized status messages to just print all errors, regardless from where it was called. This centralizes them into one place. - Misc messages method installed for any user feedback that is not a confirmation or error. Mainly so that there is a place to perform warnings and such. - New stuff installed and still made the flash size smaller by saving flash space from clearing out repeated '\r\n' pgmstrings. - Fixed a bug where hard limits message would print everytime a system abort was sent.
2012-10-22 03:18:24 +02:00
version 0.1
2009-01-25 00:48:56 +01:00
#endif
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