b36e30de2e
- Overhauled the stepper algorithm and planner again. This time concentrating on the decoupling of the stepper ISR completely. It is now dumb, relying on the segment generator to provide the number of steps to execute and how fast it needs to go. This freed up lots of memory as well because it made a lot tracked variables obsolete. - The segment generator now computes the velocity profile of the executing planner block on the fly in floating point math, instead of allowing the stepper algorithm to govern accelerations in the previous code. What this accomplishes is the ability and framework to (somewhat) easily install a different physics model for generating a velocity profile, i.e. s-curves. - Made some more planner enhancements and increased efficiency a bit. - The changes also did not increase the compiled size of Grbl, but decreased it slightly as well. - Cleaned up a lot of the commenting. - Still much to do, but this push works and still is missing feedholds (coming next.)
84 lines
3.6 KiB
C
84 lines
3.6 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 17
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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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uint32_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 millimeters; // The total travel of this block in mm
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float acceleration; // Axes-limit adjusted line acceleration in mm/min^2
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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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int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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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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uint32_t d_next; // Scaled distance to next step
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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. 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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block_t *plan_get_current_block();
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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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