50fbc6e297
WARNING: There are still some bugs to be worked out. Please use caution if you test this firmware. - Feed holds work much better, but there are still some failure conditions that need to be worked out. This is the being worked on currently and a fix is planned to be pushed next. - Homing cycle refactoring: Slight adjustment of the homing cycle to allow for limit pins to be shared by different axes, as long as the shared limit pins are not homed on the same cycle. Also, removed the LOCATE_CYCLE portion of the homing cycle configuration. It was redundant. - Limit pin sharing: (See above). To clear up one or two limit pins for other IO, limit pins can now be shared. For example, the Z-limit can be shared with either X or Y limit pins, because it’s on a separate homing cycle. Hard limit will still work exactly as before. - Spindle pin output fixed. The pins weren’t getting initialized correctly. - Fixed a cycle issue where streaming was working almost like a single block mode. This was caused by a problem with the spindle_run() and coolant_run() commands and issuing an unintended planner buffer sync. - Refactored the cycle_start, feed_hold, and other runtime routines into the runtime command module, where they should be handled here only. These were redundant. - Moved some function calls around into more appropriate source code modules. - Fixed the reporting of spindle state.
84 lines
3.6 KiB
C
84 lines
3.6 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) 2011-2014 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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#include "system.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 stores a linear movement of a g-code block motion with its critical "nominal" values
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// are as specified in the source g-code.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
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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[N_AXIS]; // Step count along each axis
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uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
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// Fields used by the motion planner to manage acceleration
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float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
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float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
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// neighboring nominal speeds with overrides in (mm/min)^2
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float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
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float nominal_speed_sqr; // Axis-limit adjusted nominal speed for this block in (mm/min)^2
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float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2)
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float millimeters; // The remaining distance for this block to be executed in (mm)
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// uint8_t max_override; // Maximum override value based on axis speed limits
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} plan_block_t;
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// Initialize and reset the motion plan subsystem
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void plan_reset();
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// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
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// in millimeters. 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 *target, 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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plan_block_t *plan_get_current_block();
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// Called periodically by step segment buffer. Mostly used internally by planner.
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uint8_t plan_next_block_index(uint8_t block_index);
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// Called by step segment buffer when computing executing block velocity profile.
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float plan_get_exec_block_exit_speed();
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// Reset the planner position vector (in steps)
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void plan_sync_position();
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// Reinitialize plan with a partially completed block
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void plan_cycle_reinitialize();
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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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#endif
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