1fa3dad206
- Increased g-code parser line buffer to 70 characters (from 50) to prevent some long arc commands from getting truncated. - Decreased planner buffer from 18 to 17 blocks to free up memory for line buffer. - Added a line buffer overflow feedback error (Thanks @BHSPitMonkey!)
83 lines
3.6 KiB
C
83 lines
3.6 KiB
C
/*
|
|
planner.h - buffers movement commands and manages the acceleration profile plan
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
Copyright (c) 2011-2013 Sungeun K. Jeon
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef planner_h
|
|
#define planner_h
|
|
|
|
// The number of linear motions that can be in the plan at any give time
|
|
#ifndef BLOCK_BUFFER_SIZE
|
|
#define BLOCK_BUFFER_SIZE 17
|
|
#endif
|
|
|
|
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
|
|
// the source g-code and may never actually be reached if acceleration management is active.
|
|
typedef struct {
|
|
|
|
// Fields used by the bresenham algorithm for tracing the line
|
|
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
|
uint32_t steps_x, steps_y, steps_z; // Step count along each axis
|
|
int32_t step_event_count; // The number of step events required to complete this block
|
|
|
|
// Fields used by the motion planner to manage acceleration
|
|
float nominal_speed_sqr; // The nominal speed for this block in mm/min
|
|
float entry_speed_sqr; // Entry speed at previous-current block junction in mm/min
|
|
float max_entry_speed_sqr; // Maximum allowable junction entry speed in mm/min
|
|
float millimeters; // The total travel of this block in mm
|
|
float acceleration;
|
|
uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
|
|
|
|
// Settings for the trapezoid generator
|
|
uint32_t initial_rate; // The step rate at start of block
|
|
int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
|
|
uint32_t decelerate_after; // The index of the step event on which to start decelerating
|
|
uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
|
|
uint32_t d_next; // Scaled distance to next step
|
|
} block_t;
|
|
|
|
// Initialize the motion plan subsystem
|
|
void plan_init();
|
|
|
|
// 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(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate);
|
|
|
|
// Called when the current block is no longer needed. Discards the block and makes the memory
|
|
// availible for new blocks.
|
|
void plan_discard_current_block();
|
|
|
|
// Gets the current block. Returns NULL if buffer empty
|
|
block_t *plan_get_current_block();
|
|
|
|
// Reset the planner position vector (in steps)
|
|
void plan_set_current_position(int32_t x, int32_t y, int32_t z);
|
|
|
|
// Reinitialize plan with a partially completed block
|
|
void plan_cycle_reinitialize(int32_t step_events_remaining);
|
|
|
|
// Returns the status of the block ring buffer. True, if buffer is full.
|
|
uint8_t plan_check_full_buffer();
|
|
|
|
// Block until all buffered steps are executed
|
|
void plan_synchronize();
|
|
|
|
#endif
|