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.)
59 lines
1.7 KiB
C
59 lines
1.7 KiB
C
/*
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stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2013 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 stepper_h
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#define stepper_h
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#include <avr/io.h>
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#ifndef SEGMENT_BUFFER_SIZE
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#define SEGMENT_BUFFER_SIZE 7
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#endif
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// Initialize and setup the stepper motor subsystem
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void st_init();
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// Enable steppers, but cycle does not start unless called by motion control or runtime command.
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void st_wake_up();
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// Immediately disables steppers
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void st_go_idle();
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// Reset the stepper subsystem variables
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void st_reset();
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// Notify the stepper subsystem to start executing the g-code program in buffer.
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void st_cycle_start();
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// Reinitializes the buffer after a feed hold for a resume.
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void st_cycle_reinitialize();
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// Initiates a feed hold of the running program
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void st_feed_hold();
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// Reloads step segment buffer. Called continuously by runtime execution protocol.
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void st_prep_buffer();
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// Called by planner_recalculate() when the executing block is updated by the new plan.
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void st_update_plan_block_parameters();
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#endif
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