96 lines
4.4 KiB
C
96 lines
4.4 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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The MIT License (MIT)
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GRBL(tm) - Embedded CNC g-code interpreter and motion-controller
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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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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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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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#define BLOCK_BUFFER_SIZE 18
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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_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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