71f333ddca
This is likely the last major change to the v0.9 code base before push to master. Only two minor things remain on the agenda (CoreXY support, force clear EEPROM, and an extremely low federate bug). - NEW! Grbl is now compile-able and may be flashed directly through the Arduino IDE. Only minor changes were required for this compatibility. See the Wiki to learn how to do it. - New status reporting mask to turn on and off what Grbl sends back. This includes machine coordinates, work coordinates, serial RX buffer usage, and planner buffer usage. Expandable to more information on user request, but that’s it for now. - Settings have been completely renumbered to allow for future new settings to be installed without having to constantly reshuffle and renumber all of the settings every time. - All settings masks have been standardized to mean bit 0 = X, bit 1 = Y, and bit 2 = Z, to reduce confusion on how they work. The invert masks used by the internal Grbl system were updated to accommodate this change as well. - New invert probe pin setting, which does what it sounds like. - Fixed a probing cycle bug, where it would freeze intermittently, and removed some redundant code. - Homing may now be set to the origin wherever the limit switches are. Traditionally machine coordinates should always be in negative space, but when limit switches on are on the opposite side, the machine coordinate would be set to -max_travel for the axis. Now you can always make it [0,0,0] via a compile-time option in config.h. (Soft limits routine was updated to account for this as well.) - Probe coordinate message immediately after a probing cycle may now be turned off via a compile-time option in config.h. By default the probing location is always reported. - Reduced the N_ARC_CORRECTION default value to reflect the changes in how circles are generated by an arc tolerance, rather than a fixed arc segment setting. - Increased the incoming line buffer limit from 70 to 80 characters. Had some extra memory space to invest into this. - Fixed a bug where tool number T was not being tracked and reported correctly. - Added a print free memory function for debugging purposes. Not used otherwise. - Realtime rate report should now work during feed holds, but it hasn’t been tested yet. - Updated the streaming scripts with MIT-license and added the simple streaming to the main stream.py script to allow for settings to be sent. - Some minor code refactoring to improve flash efficiency. Reduced the flash by several hundred KB, which was re-invested in some of these new features.
98 lines
4.0 KiB
C
98 lines
4.0 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) 2011-2014 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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// 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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#ifdef USE_LINE_NUMBERS
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#define BLOCK_BUFFER_SIZE 16
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#else
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#define BLOCK_BUFFER_SIZE 18
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#endif
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#endif
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// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
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// are as specified in the source g-code.
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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: Used by stepper algorithm to execute the block correctly. Do not alter these values.
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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[N_AXIS]; // Step count along each axis
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uint32_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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// uint8_t max_override; // Maximum override value based on axis speed limits
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#ifdef USE_LINE_NUMBERS
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int32_t line_number;
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#endif
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} plan_block_t;
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// Initialize and reset the motion plan subsystem
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void plan_reset();
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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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#ifdef USE_LINE_NUMBERS
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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#else
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate);
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#endif
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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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// Called periodically by step segment buffer. Mostly used internally by planner.
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uint8_t plan_next_block_index(uint8_t block_index);
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// Called by step segment buffer when computing executing block velocity profile.
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float plan_get_exec_block_exit_speed();
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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();
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// Returns the number of active blocks are in the planner buffer.
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uint8_t plan_get_block_buffer_count();
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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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#endif
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