8c0106c247
- Added a purge buffer (and lock) command. This is an advanced option to clear any queued blocks in the buffer in the event of system position being lost or homed. These queued blocks will likely not move correctly if not purged. In typical use, the purging command releases the homing axes lock in case a user need to move the axes off their hard limit switches, but position is not guaranteed. Homing is advised immediately after. - Created a system-wide sync current position function. Cleans up some of the repetitive tasks in various places in the code that do the same thing. - Removed the clear all switches command '$S'. Not really needed and helped clean up a sync call. - Other minor tweaks. Readme updated slightly..
86 lines
3.8 KiB
C
Executable File
86 lines
3.8 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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// 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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