2dc920a8e5
- Improved planner execution speed by 5% or more. Re-factored most of the calculations in terms of the square of velocity. This removed a lot of sqrt() calculations for every planner_recalculate.
86 lines
3.8 KiB
C
86 lines
3.8 KiB
C
/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2012 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef planner_h
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#define planner_h
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// The number of linear motions that can be in the plan at any give time
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#ifndef BLOCK_BUFFER_SIZE
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#define BLOCK_BUFFER_SIZE 18
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#endif
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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int32_t step_event_count; // The number of step events required to complete this block
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// Fields used by the motion planner to manage acceleration
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float nominal_speed_sqr; // The nominal speed for this block in mm/min
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float entry_speed_sqr; // Entry speed at previous-current block junction in mm/min
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float max_entry_speed_sqr; // Maximum allowable junction entry speed in mm/min
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float millimeters; // The total travel of this block in mm
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uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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uint32_t initial_rate; // The step rate at start of block
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int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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uint32_t decelerate_after; // The index of the step event on which to start decelerating
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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uint32_t d_next; // Scaled distance to next step
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} block_t;
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// Initialize the motion plan subsystem
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void plan_init();
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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void plan_buffer_line(float x, float y, float z, float feed_rate, uint8_t invert_feed_rate);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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// Reset the planner position vector (in steps)
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void plan_set_current_position(int32_t x, int32_t y, int32_t z);
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// Reinitialize plan with a partially completed block
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void plan_cycle_reinitialize(int32_t step_events_remaining);
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// Reset buffer
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void plan_reset_buffer();
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// Returns the status of the block ring buffer. True, if buffer is full.
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uint8_t plan_check_full_buffer();
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// Block until all buffered steps are executed
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void plan_synchronize();
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#endif
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