refactored stepper_plan -> planner (untested)

Makefile

@@ -31,7 +31,7 @@ DEVICE     = atmega328p
 CLOCK      = 16000000
 PROGRAMMER = -c avrisp2 -P usb
 OBJECTS    = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o serial_protocol.o stepper.o \
-             eeprom.o settings.o stepper_plan.o
+             eeprom.o settings.o planner.o
 # FUSES      = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
 FUSES      = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
 # update that line with this when programmer is back up: 

main.c

@@ -21,7 +21,7 @@
 #include <avr/io.h>
 #include <avr/sleep.h>
 #include <util/delay.h>
-#include "stepper_plan.h"
+#include "planner.h"
 #include "stepper.h"
 #include "spindle_control.h"
 #include "motion_control.h"

motion_control.c

@@ -26,7 +26,7 @@
 #include <stdlib.h>
 #include "nuts_bolts.h"
 #include "stepper.h"
-#include "stepper_plan.h"
+#include "planner.h"
 #include "wiring_serial.h"
 
 
@@ -41,7 +41,7 @@ void mc_dwell(uint32_t milliseconds)
 // 1/feed_rate minutes.
 void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rate)
 {
-  st_buffer_line(x, y, z, feed_rate, invert_feed_rate);
+  plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
 }
 
 // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc,

planner.c

@@ -1,5 +1,5 @@
 /*
-  stepper_plan.c - buffers movement commands and manages the acceleration profile plan
+  planner.c - buffers movement commands and manages the acceleration profile plan
   Part of Grbl
 
   Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -54,7 +54,7 @@
 #include <math.h>       
 #include <stdlib.h>
 
-#include "stepper_plan.h"
+#include "planner.h"
 #include "nuts_bolts.h"
 #include "stepper.h"
 #include "settings.h"
@@ -404,5 +404,6 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert
   memcpy(position, target, sizeof(target)); // position[] = target[]
   
   if (acceleration_manager_enabled) { planner_recalculate(); }  
+  st_wake_up();
 }
 

planner.h

@@ -1,5 +1,5 @@
 /*
-  stepper_plan.h - buffers movement commands and manages the acceleration profile plan
+  planner.h - buffers movement commands and manages the acceleration profile plan
   Part of Grbl
 
   Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -21,8 +21,8 @@
 // This module is to be considered a sub-module of stepper.c. Please don't include 
 // this file from any other module.
 
-#ifndef stepper_plan_h
-#define stepper_plan_h
+#ifndef planner_h
+#define planner_h
                  
 #include <inttypes.h>
 
@@ -59,11 +59,9 @@ extern int32_t position[3];
 // Initialize the motion plan subsystem      
 void plan_init();
 
-// Do not call directly unless you are writing a motor driver. In current iteration this is called by 
-// st_buffer_line which also wakes up the stepper subsystem.
-// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
-// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
-// calculation the caller must also provide the physical length of the line in millimeters.
+// 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
+// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
 void plan_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate);
 
 // Call when the current block is no longer needed. Discards the block and makes the memory

stepper.c

@@ -30,7 +30,7 @@
 #include <util/delay.h>
 #include "nuts_bolts.h"
 #include <avr/interrupt.h>
-#include "stepper_plan.h"
+#include "planner.h"
 #include "wiring_serial.h"
 
 
@@ -40,13 +40,14 @@
 #define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
 #define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
 
-#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
 #define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
 
+#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
+
 #define ENABLE_STEPPER_DRIVER_INTERRUPT()  TIMSK1 |= (1<<OCIE1A)
 #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
 
-static block_t *current_block;  // A convenience pointer to the block currently being traced
+static block_t *current_block;  // A pointer to the block currently being traced
 
 // Variables used by The Stepper Driver Interrupt
 static uint8_t out_bits;        // The next stepping-bits to be output
@@ -81,6 +82,10 @@ static uint32_t trapezoid_adjusted_rate;      // The current rate of step_events
 
 void set_step_events_per_minute(uint32_t steps_per_minute);
 
+void st_wake_up() {
+  ENABLE_STEPPER_DRIVER_INTERRUPT();  
+}
+
 // Initializes the trapezoid generator from the current block. Called whenever a new 
 // block begins.
 inline void trapezoid_generator_reset() {
@@ -107,15 +112,6 @@ inline void trapezoid_generator_tick() {
   }
 }
 
-// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
-// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
-// calculation the caller must also provide the physical length of the line in millimeters.
-void st_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate) {
-  plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
-  // Ensure that block processing is running by enabling The Stepper Driver Interrupt
-  ENABLE_STEPPER_DRIVER_INTERRUPT();
-}
-
 void st_get_position_steps(int32_t (*vector)[3]) {
   memcpy(vector, position, sizeof(position)); // vector[] = position[]
 }

stepper.h

@@ -1,5 +1,5 @@
 /*
-  stepper.h - stepper motor driver: executes motion plans using stepper motors
+  stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
   Part of Grbl
 
   Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -27,10 +27,6 @@
 // Initialize and start the stepper motor subsystem
 void st_init();
 
-// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in 
-// steps. Microseconds specify how many microseconds the move should take to perform.
-void st_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate);
-
 // Copy the current absolute position in steps into the provided vector
 void st_get_position_steps(int32_t (*vector)[3]);
 
@@ -40,4 +36,8 @@ void st_synchronize();
 // Execute the homing cycle
 void st_go_home();
              
+// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
+// to notify the subsystem that it is time to go to work.
+void st_wake_up();
+
 #endif