ManuelW/grbl-LPC-CoreXY
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Pushed limits active high option. Updated defaults.h. Misc bug fixes. Cleaned up codebase.

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- Pushed limit switch active high option (i.e. NC switches).

- Updated defaults.h to be in-line with the new settings.

- Refactored feed hold handling and step segment buffer to be more
generalized in effort to make adding feedrate overrides easier in the
future. Also made it a little more clean.

- Fixed G18 plane select issue. Now ZX-plane, rather than XZ-plane, per
right hand rule.

- Cleaned some of the system settings by more accurately renaming some
of the variables and removing old obsolete ones.

- Declared serial.c rx_buffer_tail to be volatile. No effect, since
avr-gcc automatically does this during compilation. Helps with porting
when using other compilers.

- Updated version number to v0.9b.

- Updates to README.md
This commit is contained in:
Sonny Jeon
2013-12-07 08:40:25 -07:00
parent 2f6663a0b9
commit a87f25773c
22 changed files with 220 additions and 6101 deletions
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14
planner.c
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@ -35,10 +35,10 @@
// to be larger than any feasible (mm/min)^2 or mm/sec^2 value.
static plan_block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static uint8_t block_buffer_tail; // Index of the block to process now
static uint8_t block_buffer_head; // Index of the next block to be pushed
static uint8_t next_buffer_head; // Index of the next buffer head
static uint8_t block_buffer_planned; // Index of the optimally planned block
static uint8_t block_buffer_tail; // Index of the block to process now
static uint8_t block_buffer_head; // Index of the next block to be pushed
static uint8_t next_buffer_head; // Index of the next buffer head
static uint8_t block_buffer_planned; // Index of the optimally planned block
// Define planner variables
typedef struct {
@ -127,7 +127,7 @@ static uint8_t plan_prev_block_index(uint8_t block_index)
decelerate to a complete stop at the end of the buffer, as stated by the guidelines. If this happens and
becomes an annoyance, there are a few simple solutions: (1) Maximize the machine acceleration. The planner
will be able to compute higher velocity profiles within the same combined distance. (2) Maximize line
segment(s) distance per block to a desired tolerance. The more combined distance the planner has to use,
motion(s) distance per block to a desired tolerance. The more combined distance the planner has to use,
the faster it can go. (3) Maximize the planner buffer size. This also will increase the combined distance
for the planner to compute over. It also increases the number of computations the planner has to perform
to compute an optimal plan, so select carefully. The Arduino 328p memory is already maxed out, but future
@ -329,7 +329,7 @@ void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate)
inverse_unit_vec_value = abs(1.0/unit_vec[idx]); // Inverse to remove multiple float divides.
// Check and limit feed rate against max individual axis velocities and accelerations
feed_rate = min(feed_rate,settings.max_velocity[idx]*inverse_unit_vec_value);
feed_rate = min(feed_rate,settings.max_rate[idx]*inverse_unit_vec_value);
block->acceleration = min(block->acceleration,settings.acceleration[idx]*inverse_unit_vec_value);
// Incrementally compute cosine of angle between previous and current path. Cos(theta) of the junction
@ -417,7 +417,7 @@ void plan_sync_position()
void plan_cycle_reinitialize()
{
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
// st_update_plan_block_parameters();
st_update_plan_block_parameters();
block_buffer_planned = block_buffer_tail;
planner_recalculate();
}