7a175bd2db
- **NON-FUNCTIONAL** - Contains an old draft of separating the stepper driver direct access to the planner buffer. This is designed to keep the stepper and planner modules independent and prevent overwriting or other complications. In this way, feedrate override should be able to be installed as well. - A number of planner optimizations are installed too. - Not sure where the bugs are. Either in the new planner optimizations, new stepper module updates, or in both. Or it just could be that the Arduino AVR is choking with the new things it has to do.
84 lines
3.4 KiB
C
84 lines
3.4 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) 2011-2013 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 "nuts_bolts.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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int32_t steps[N_AXIS]; // 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; // Axis-limit adjusted nominal speed for this block in (mm/min)^2
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float entry_speed_sqr; // Entry speed at previous-current block junction in (mm/min)^2
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float max_entry_speed_sqr; // Maximum allowable junction entry speed in (mm/min)^2
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float acceleration; // Axes-limit adjusted line acceleration in mm/min^2
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float millimeters; // The total travel for this block to be executed in mm
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// Settings for the trapezoid generator
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// int32_t decelerate_after; // The index of the step event on which to start decelerating
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} plan_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. 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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plan_block_t *plan_get_block_by_index(uint8_t block_index);
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int32_t calculate_trapezoid_for_block(uint8_t block_index);
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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(int32_t step_events_remaining);
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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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