ManuelW/grbl-LPC-CoreXY
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Revert ea5b8942db2616e93fc0478922010c3bab7c0481^..HEAD

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This commit is contained in:
Sonny J 2011-08-15 19:37:22 -06:00
parent 896a6b9199
commit ed5e5d1181
3 changed files with 55 additions and 75 deletions
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7
gcode.c
View File

@ -117,8 +117,7 @@ static double theta(double x, double y)
#endif
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace). Comments and block delete
// characters have been removed.
// characters and signed floating point values (no whitespace).
uint8_t gc_execute_line(char *line) {
uint8_t char_counter = 0;
char letter;
@ -140,6 +139,10 @@ uint8_t gc_execute_line(char *line) {
gc.status_code = STATUS_OK;
// Disregard comments and block delete
if (line[0] == '(') { return(gc.status_code); }
if (line[0] == '/') { char_counter++; } // ignore block delete
// Pass 1: Commands
while(next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);

77
planner.c
View File

@ -79,43 +79,7 @@ static double intersection_distance(double initial_rate, double final_rate, doub
(4*acceleration)
);
}
/*
+--------+ <- nominal_rate
/ \
nominal_rate*entry_factor -> + \
| + <- nominal_rate*exit_factor
+-------------+
time -->
*/
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// The factors represent a factor of braking and must be in the range 0.0-1.0.
static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_factor);
block->final_rate = ceil(block->nominal_rate*exit_factor);
int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0;
int32_t accelerate_steps =
ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute));
int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(
intersection_distance(block->initial_rate, block->final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = 0;
}
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
@ -146,6 +110,7 @@ static double factor_for_safe_speed(block_t *block) {
}
}
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { return; }
@ -235,6 +200,42 @@ static void planner_forward_pass() {
planner_forward_pass_kernel(block[1], block[2], NULL);
}
/*
+--------+ <- nominal_rate
/ \
nominal_rate*entry_factor -> + \
| + <- nominal_rate*exit_factor
+-------------+
time -->
*/
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// The factors represent a factor of braking and must be in the range 0.0-1.0.
static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
block->initial_rate = ceil(block->nominal_rate*entry_factor);
block->final_rate = ceil(block->nominal_rate*exit_factor);
int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0;
int32_t accelerate_steps =
ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute));
int32_t decelerate_steps =
floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute));
// Calculate the size of Plateau of Nominal Rate.
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(
intersection_distance(block->initial_rate, block->final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = 0;
}
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
}
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks.
@ -269,7 +270,7 @@ static void planner_recalculate_trapezoids() {
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
// 3. Recalculate trapezoids for all blocks using the recently updated factors
static void planner_recalculate() {
planner_reverse_pass();

46
protocol.c
View File

@ -72,44 +72,20 @@ uint8_t protocol_execute_line(char *line) {
void protocol_process()
{
char c;
uint8_t iscomment = false;
while((c = serial_read()) != SERIAL_NO_DATA)
{
if ((c == '\n') || (c == '\r')) { // End of block reached
if (char_counter > 0) {// Line is complete. Then execute!
line[char_counter] = 0; // terminate string
status_message(protocol_execute_line(line));
} else {
// Empty or comment line. Skip block.
status_message(STATUS_OK); // Send status message for syncing purposes.
}
char_counter = 0; // Reset line buffer index
iscomment = false; // Reset comment flag
if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute!
line[char_counter] = 0; // treminate string
status_message(protocol_execute_line(line));
char_counter = 0; // reset line buffer index
} else if (c <= ' ') {
// Throw away whitepace and control characters
} else if (char_counter >= LINE_BUFFER_SIZE-1) {
// Throw away any characters beyond the end of the line buffer
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
if (iscomment) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line.
iscomment = false;
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Disable block delete and throw away character
// To enable block delete, uncomment following line. Will ignore until EOL.
// iscomment = true;
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
iscomment = true;
} else if (char_counter >= LINE_BUFFER_SIZE-1) {
// Throw away any characters beyond the end of the line buffer
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
line[char_counter++] = c;
}
}
}