69 lines
3.2 KiB
C
69 lines
3.2 KiB
C
/*
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motion_plan.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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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 motion_plan_h
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#define motion_plan_h
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#include <inttypes.h>
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// Pick a suitable block-buffer size
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#ifdef __AVR_ATmega328P__
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#define BLOCK_BUFFER_SIZE 20 // Atmega 328 has one full kilobyte of extra RAM!
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#else
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#define BLOCK_BUFFER_SIZE 5
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#endif
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// This struct is used when buffering the setup for each linear movement
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// "nominal" values are as specified in the source g-code and may never
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// actually be reached if acceleration management is active.
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struct Block {
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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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 step_event_count; // The number of step events required to complete this block
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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// Values used for acceleration management
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double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
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uint32_t initial_rate; // The jerk-adjusted step rate at start of block
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int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
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uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
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};
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extern struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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extern volatile int block_buffer_head; // Index of the next block to be pushed
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extern volatile int block_buffer_tail; // Index of the block to process now
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// Initialize the motion plan subsystem
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void mp_init();
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// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
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// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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// calculation the caller must also provide the physical length of the line in millimeters.
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// Do not call directly unless you are writing a motor driver. In current iteration this is called by
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// st_buffer_line which also wakes up the stepper subsystem.
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void mp_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters);
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// Enables acceleration-management for upcoming blocks
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void mp_enable_acceleration_management();
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// Disables acceleration-management for upcoming blocks
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void mp_disable_acceleration_management();
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#endif |