4c711a4af7
(All v0.8 features installed. Still likely buggy, but now thourough testing will need to start to squash them all. As soon as we're done, this will be pushed to master and v0.9 development will be started. Please report ANY issues to us so we can get this rolled out ASAP.) - User startup script! A user can now save one (up to 5 as compile-time option) block of g-code in EEPROM memory. This will be run everytime Grbl resets. Mainly to be used as a way to set your preferences, like G21, G54, etc. - New dry run and check g-code switches. Dry run moves ALL motions at rapids rate ignoring spindle, coolant, and dwell commands. For rapid physical proofing of your code. The check g-code switch ignores all motion and provides the user a way to check if there are any errors in their program that Grbl may not like. - Program restart! (sort of). Program restart is typically an advanced feature that allows users to restart a program mid-stream. The check g-code switch can perform this feature by enabling the switch at the start of the program, and disabling it at the desired point with some minimal changes. - New system state variable. This state variable tracks all of the different state processes that Grbl performs, i.e. cycle start, feed hold, homing, etc. This is mainly for making managing of these task easier and more clear. - Position lost state variable. Only when homing is enabled, Grbl will refuse to move until homing is completed and position is known. This is mainly for safety. Otherwise, it will let users fend for themselves. - Moved the default settings defines into config.h. The plan is to eventually create a set of config.h's for particular as-built machines to help users from doing it themselves. - Moved around misc defines into .h files. And lots of other little things.
89 lines
3.9 KiB
C
Executable File
89 lines
3.9 KiB
C
Executable File
/*
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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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#define BLOCK_BUFFER_SIZE 18
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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; // The nominal speed for this block in mm/min
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float entry_speed; // Entry speed at previous-current block junction in mm/min
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float max_entry_speed; // 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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uint32_t final_rate; // The step rate at end 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 accelerate_until; // The index of the step event on which to stop acceleration
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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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} 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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// Clear the planner position vector
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void plan_clear_position();
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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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