Merge branch 'dev_2' into dev

Conflicts:
README.md
gcode.c
motion_control.c
planner.c
planner.h
protocol.c
report.c
settings.c
settings.h
stepper.c
stepper.h

planner.h

@@ -2,8 +2,8 @@
   planner.h - buffers movement commands and manages the acceleration profile plan
   Part of Grbl
 
+  Copyright (c) 2011-2013 Sungeun K. Jeon 
   Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c) 2011-2012 Sungeun K. Jeon  
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -21,7 +21,8 @@
 
 #ifndef planner_h
 #define planner_h
-                 
+#include "nuts_bolts.h"
+
 // The number of linear motions that can be in the plan at any give time
 #ifndef BLOCK_BUFFER_SIZE
   #define BLOCK_BUFFER_SIZE 18
@@ -32,43 +33,47 @@
 typedef struct {
 
   // Fields used by the bresenham algorithm for tracing the line
-  uint8_t  direction_bits;            // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
-  uint32_t steps_x, steps_y, steps_z; // Step count along each axis
-  int32_t  step_event_count;          // The number of step events required to complete this block
+  // NOTE: Do not change any of these values once set. The stepper algorithm uses them to execute the block correctly.
+  uint8_t direction_bits;            // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+  int32_t steps[N_AXIS];             // Step count along each axis
+  int32_t step_event_count;          // The maximum step axis count and number of steps required to complete this block. 
 
   // Fields used by the motion planner to manage acceleration
-  float nominal_speed_sqr;           // The nominal speed for this block in mm/min  
-  float entry_speed_sqr;             // Entry speed at previous-current block junction in mm/min
-  float max_entry_speed_sqr;         // Maximum allowable junction entry speed in mm/min
-  float new_entry_speed_sqr;         // Temporary entry speed used by the planner
-  float millimeters;                 // The total travel of this block in mm
-  float acceleration;
-
-  // Settings for the trapezoid generator
-  uint32_t initial_rate;              // The step rate at start of block  
-  int32_t rate_delta;                 // The steps/minute to add or subtract when changing speed (must be positive)
-  uint32_t decelerate_after;          // The index of the step event on which to start decelerating
-  uint32_t nominal_rate;              // The nominal step rate for this block in step_events/minute
-  uint32_t d_next;                    // Scaled distance to next step
-} block_t;
+  float entry_speed_sqr;             // The current planned entry speed at block junction in (mm/min)^2
+  float max_entry_speed_sqr;         // Maximum allowable entry speed based on the minimum of junction limit and 
+                                     //   neighboring nominal speeds with overrides in (mm/min)^2
+  float max_junction_speed_sqr;      // Junction entry speed limit based on direction vectors in (mm/min)^2
+  float nominal_speed_sqr;           // Axis-limit adjusted nominal speed for this block in (mm/min)^2
+  float acceleration;                // Axis-limit adjusted line acceleration in mm/min^2
+  float millimeters;                 // The remaining distance for this block to be executed in mm
+  
+} plan_block_t;
       
-// Initialize the motion plan subsystem      
+// Initialize the motion plan subsystem
 void plan_init();
 
-// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
-// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
+// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position 
+// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
 // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
-void plan_buffer_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate);
+void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate);
 
 // Called when the current block is no longer needed. Discards the block and makes the memory
 // availible for new blocks.
 void plan_discard_current_block();
 
 // Gets the current block. Returns NULL if buffer empty
-block_t *plan_get_current_block();
+plan_block_t *plan_get_current_block();
+
+uint8_t plan_next_block_index(uint8_t block_index);
+
+plan_block_t *plan_get_block_by_index(uint8_t block_index);
+
+float plan_calculate_velocity_profile(uint8_t block_index);
+
+// void plan_update_partial_block(uint8_t block_index, float millimeters_remaining, uint8_t is_decelerating);
 
 // Reset the planner position vector (in steps)
-void plan_set_current_position(int32_t x, int32_t y, int32_t z);
+void plan_sync_position();
 
 // Reinitialize plan with a partially completed block
 void plan_cycle_reinitialize(int32_t step_events_remaining);