805f0f219c
Development push. Lots still broken. - Protected planner concept works! This is a critical precursor to enabling feedrate overrides in allowing the planner buffer and the stepper execution operate atomically. This is done through a intermediary segment buffer. - Still lots of work to be done, as this was a complete overhaul of the planner and stepper subsystems. The code can be cleaned up quite a bit, re-enabling some of the broken features like feed holds, and finishing up some of the concepts - Pushed some of the fixes from the master and edge branch to here, as this will likely replace the edge branch when done.
86 lines
3.7 KiB
C
86 lines
3.7 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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// NOTE: Do not change any of these values once set. The stepper algorithm uses them to execute the block correctly.
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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 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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} 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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float plan_calculate_velocity_profile(uint8_t block_index);
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// void plan_update_partial_block(uint8_t block_index, float millimeters_remaining, uint8_t is_decelerating);
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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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