ManuelW/grbl-LPC-CoreXY
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added counter for planner steps

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Jens Geisler 2013-02-20 15:04:26 +01:00
parent dba26eff91
commit 87864cce19
3 changed files with 8 additions and 1 deletions
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4
planner.c
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@ -34,6 +34,8 @@
#include "protocol.h" #include "protocol.h"
#include "motion_control.h" #include "motion_control.h"
uint32_t planner_steps_counter;
#define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs #define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs
// to be larger than any feasible (mm/min)^2 or mm/sec^2 value. // to be larger than any feasible (mm/min)^2 or mm/sec^2 value.
@ -210,6 +212,7 @@ static uint8_t planner_recalculate()
block_t *curr_block = &block_buffer[current_block_idx]; block_t *curr_block = &block_buffer[current_block_idx];
uint8_t plan_unchanged= 1; uint8_t plan_unchanged= 1;
planner_steps_counter= 0;
if(current_block_idx!=block_buffer_tail) { // we cannot do anything to only one block if(current_block_idx!=block_buffer_tail) { // we cannot do anything to only one block
float max_entry_speed_sqr; float max_entry_speed_sqr;
float next_entry_speed_sqr= 0.0; float next_entry_speed_sqr= 0.0;
@ -219,6 +222,7 @@ static uint8_t planner_recalculate()
planned_block_tail= current_block_idx; planned_block_tail= current_block_idx;
break; break;
} }
planner_steps_counter++;
// TODO: Determine maximum entry speed at junction for feedrate overrides, since they can alter // TODO: Determine maximum entry speed at junction for feedrate overrides, since they can alter
// the planner nominal speeds at any time. This calc could be done in the override handler, but // the planner nominal speeds at any time. This calc could be done in the override handler, but

2
planner.h
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@ -22,6 +22,8 @@
#ifndef planner_h #ifndef planner_h
#define planner_h #define planner_h
extern uint32_t planner_steps_counter;
// The number of linear motions that can be in the plan at any give time // The number of linear motions that can be in the plan at any give time
#ifndef BLOCK_BUFFER_SIZE #ifndef BLOCK_BUFFER_SIZE
#define BLOCK_BUFFER_SIZE 18 #define BLOCK_BUFFER_SIZE 18

3
sim/simulator.c
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@ -157,7 +157,8 @@ void printBlock() {
else block_position[2]+= b->steps_z; else block_position[2]+= b->steps_z;
fprintf(block_out_file,"%d, ", block_position[2]); fprintf(block_out_file,"%d, ", block_position[2]);
fprintf(block_out_file,"%f", b->entry_speed_sqr); fprintf(block_out_file,"%f, ", b->entry_speed_sqr);
fprintf(block_out_file,"%d", planner_steps_counter);
fprintf(block_out_file,"\n"); fprintf(block_out_file,"\n");
last_block= b; last_block= b;