ManuelW/grbl-LPC-CoreXY
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Added grbl planner Matlab simulator for test reference. Updated line number compile-time option.

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- 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.
This commit is contained in:
Sonny Jeon
2014-02-26 12:10:07 -07:00
parent 1fd45791a5
commit 8f8d8e2887
11 changed files with 5549 additions and 39 deletions
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24
motion_control.c
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@ -39,7 +39,11 @@
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
#ifdef USE_LINE_NUMBERS
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
#else
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
#endif
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
@ -71,8 +75,12 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t l
else { break; }
} while (1);
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
#else
plan_buffer_line(target, feed_rate, invert_feed_rate);
#endif
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
if (!sys.state) { sys.state = STATE_QUEUED; }
@ -86,8 +94,13 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t l
// The arc is approximated by generating a huge number of tiny, linear segments. The chordal tolerance
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
#ifdef USE_LINE_NUMBERS
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, int32_t line_number)
#else
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise)
#endif
{
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
@ -183,14 +196,23 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
#ifdef USE_LINE_NUMBERS
mc_line(arc_target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(arc_target, feed_rate, invert_feed_rate);
#endif
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) { return; }
}
}
// Ensure last segment arrives at target location.
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
}