ManuelW/grbl-LPC-CoreXY
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Limit pin internal pull-resistors enabled. Re-wrote read_double() function. Correctly changed all 'double's to 'float's.

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- Limit pin internal pull-resistors now enabled. Normal high operation.
This will be the standard going forward.

- Updated all of the 'double' variable types to 'float' to reflect what
happens when compiled for the Arduino. Also done for compatibility
reasons to @jgeisler0303 's Grbl simulator code.

- G-code parser will now ignore 'E' exponent values, since they are
reserved g-code characters for some machines. Thanks @csdexter!

- The read_double() function was re-written and optimized for use in
Grbl. The strtod() avr lib was removed.
This commit is contained in:
Sonny Jeon
2012-10-08 15:57:58 -06:00
parent d30cb906f8
commit ff82489da7
16 changed files with 183 additions and 110 deletions
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32
planner.c
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@ -46,8 +46,8 @@ typedef struct {
int32_t position[3]; // The planner position of the tool in absolute steps. Kept separate
// from g-code position for movements requiring multiple line motions,
// i.e. arcs, canned cycles, and backlash compensation.
double previous_unit_vec[3]; // Unit vector of previous path line segment
double previous_nominal_speed; // Nominal speed of previous path line segment
float previous_unit_vec[3]; // Unit vector of previous path line segment
float previous_nominal_speed; // Nominal speed of previous path line segment
} planner_t;
static planner_t pl;
@ -72,7 +72,7 @@ static uint8_t prev_block_index(uint8_t block_index)
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration)
static float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
{
return( (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration) );
}
@ -91,7 +91,7 @@ static double estimate_acceleration_distance(double initial_rate, double target_
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance)
static float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
{
return( (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration) );
}
@ -102,7 +102,7 @@ static double intersection_distance(double initial_rate, double final_rate, doub
// NOTE: sqrt() reimplimented here from prior version due to improved planner logic. Increases speed
// in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed
// BLOCK_BUFFER_SIZE calls per planner cycle.
static double max_allowable_speed(double acceleration, double target_velocity, double distance)
static float max_allowable_speed(float acceleration, float target_velocity, float distance)
{
return( sqrt(target_velocity*target_velocity-2*acceleration*distance) );
}
@ -162,7 +162,7 @@ static void planner_forward_pass_kernel(block_t *previous, block_t *current, blo
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
if (!previous->nominal_length_flag) {
if (previous->entry_speed < current->entry_speed) {
double entry_speed = min( current->entry_speed,
float entry_speed = min( current->entry_speed,
max_allowable_speed(-settings.acceleration,previous->entry_speed,previous->millimeters) );
// Check for junction speed change
@ -205,7 +205,7 @@ static void planner_forward_pass()
// The factors represent a factor of braking and must be in the range 0.0-1.0.
// This converts the planner parameters to the data required by the stepper controller.
// NOTE: Final rates must be computed in terms of their respective blocks.
static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor)
static void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor)
{
block->initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
block->final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
@ -347,7 +347,7 @@ void plan_synchronize()
// All position data passed to the planner must be in terms of machine position to keep the planner
// independent of any coordinate system changes and offsets, which are handled by the g-code parser.
// NOTE: Assumes buffer is available. Buffer checks are handled at a higher level by motion_control.
void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate)
void plan_buffer_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate)
{
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
@ -374,17 +374,17 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
if (block->step_event_count == 0) { return; };
// Compute path vector in terms of absolute step target and current positions
double delta_mm[3];
float delta_mm[3];
delta_mm[X_AXIS] = (target[X_AXIS]-pl.position[X_AXIS])/settings.steps_per_mm[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-pl.position[Y_AXIS])/settings.steps_per_mm[Y_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-pl.position[Z_AXIS])/settings.steps_per_mm[Z_AXIS];
block->millimeters = sqrt(delta_mm[X_AXIS]*delta_mm[X_AXIS] + delta_mm[Y_AXIS]*delta_mm[Y_AXIS] +
delta_mm[Z_AXIS]*delta_mm[Z_AXIS]);
double inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/minute for each axis. No divide by zero due to previous checks.
// NOTE: Minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c
double inverse_minute;
float inverse_minute;
if (!invert_feed_rate) {
inverse_minute = feed_rate * inverse_millimeters;
} else {
@ -404,7 +404,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
settings.acceleration / (60 * ACCELERATION_TICKS_PER_SECOND )); // (step/min/acceleration_tick)
// Compute path unit vector
double unit_vec[3];
float unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
@ -419,13 +419,13 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
float vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if ((block_buffer_head != block_buffer_tail) && (pl.previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
double cos_theta = - pl.previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
float cos_theta = - pl.previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- pl.previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- pl.previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
@ -435,7 +435,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
float sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min(vmax_junction,
sqrt(settings.acceleration * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
}
@ -444,7 +444,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
double v_allowable = max_allowable_speed(-settings.acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
float v_allowable = max_allowable_speed(-settings.acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags