57 lines
2.6 KiB
C
57 lines
2.6 KiB
C
/*
|
|
motion_plan.h - buffers movement commands and manages the acceleration profile plan
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
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 motion_plan_h
|
|
#define motion_plan_h
|
|
|
|
#include <inttypes.h>
|
|
|
|
// Pick a suitable block-buffer size
|
|
#ifdef __AVR_ATmega328P__
|
|
#define BLOCK_BUFFER_SIZE 20 // Atmega 328 has one full kilobyte of extra RAM!
|
|
#else
|
|
#define BLOCK_BUFFER_SIZE 5
|
|
#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.
|
|
struct Block {
|
|
uint32_t steps_x, steps_y, steps_z; // Step count along each axis
|
|
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
|
int32_t step_event_count; // The number of step events required to complete this block
|
|
uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
|
|
// Values used for acceleration management
|
|
double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
|
|
uint32_t initial_rate; // The jerk-adjusted step rate at start of block
|
|
int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
|
|
uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
|
|
uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
|
|
};
|
|
|
|
extern struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
|
|
extern volatile int block_buffer_head; // Index of the next block to be pushed
|
|
extern volatile int block_buffer_tail; // Index of the block to process now
|
|
|
|
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
|
|
// In practice both factors must be in the range 0 ... 1.0
|
|
void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor);
|
|
|
|
#endif |