Erik van der Zalm
13 years ago
7 changed files with 2019 additions and 1877 deletions
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/*
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/*
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planner.h - buffers movement commands and manages the acceleration profile plan |
planner.h - buffers movement commands and manages the acceleration profile plan |
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Part of Grbl |
Part of Grbl |
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Copyright (c) 2009-2011 Simen Svale Skogsrud |
Copyright (c) 2009-2011 Simen Svale Skogsrud |
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Grbl is free software: you can redistribute it and/or modify |
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 |
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 |
the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
(at your option) any later version. |
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Grbl is distributed in the hope that it will be useful, |
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 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/ |
*/ |
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// This module is to be considered a sub-module of stepper.c. Please don't include
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// this file from any other module.
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// this file from any other module.
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#ifndef planner_h |
#ifndef planner_h |
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#define planner_h |
#define planner_h |
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#include "Configuration.h" |
#include "Configuration.h" |
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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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// 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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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct { |
typedef struct { |
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// Fields used by the bresenham algorithm for tracing the line
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long step_event_count; // The number of step events required to complete this block
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long step_event_count; // The number of step events required to complete this block
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE |
#ifdef ADVANCE |
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long advance_rate; |
// long advance_rate;
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volatile long initial_advance; |
// volatile long initial_advance;
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volatile long final_advance; |
// volatile long final_advance;
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float advance; |
// float advance;
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#endif |
#endif |
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// Fields used by the motion planner to manage acceleration
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// Fields used by the motion planner to manage acceleration
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float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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float nominal_speed; // The nominal speed for this block in mm/min
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float nominal_speed; // The nominal speed for this block in mm/min
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float millimeters; // The total travel of this block in mm
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float entry_speed; // Entry speed at previous-current junction in mm/min
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float entry_speed; |
float max_entry_speed; // Maximum allowable junction entry speed in mm/min
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float acceleration; // acceleration mm/sec^2
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float millimeters; // The total travel of this block in mm
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float acceleration; // acceleration mm/sec^2
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// Settings for the trapezoid generator
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unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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volatile long initial_rate; // The jerk-adjusted step rate at start of block
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volatile long final_rate; // The minimal rate at exit
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// Settings for the trapezoid generator
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long acceleration_st; // acceleration steps/sec^2
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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volatile char busy; |
volatile long initial_rate; // The jerk-adjusted step rate at start of block
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} block_t; |
volatile long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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// Initialize the motion plan subsystem
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volatile char busy; |
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void plan_init(); |
} block_t; |
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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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// Initialize the motion plan subsystem
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// millimaters. Feed rate specifies the speed of the motion.
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void plan_init(); |
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void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate); |
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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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// Set position. Used for G92 instructions.
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// millimaters. Feed rate specifies the speed of the motion.
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void plan_set_position(const float &x, const float &y, const float &z, const float &e); |
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate); |
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// Set position. Used for G92 instructions.
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// Called when the current block is no longer needed. Discards the block and makes the memory
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void plan_set_position(const float &x, const float &y, const float &z, const float &e); |
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// availible for new blocks.
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void plan_discard_current_block(); |
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// Gets the current block. Returns NULL if buffer empty
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// availible for new blocks.
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block_t *plan_get_current_block(); |
void plan_discard_current_block(); |
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void check_axes_activity(); |
// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block(); |
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extern unsigned long minsegmenttime; |
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extern float max_feedrate[4]; // set the max speeds
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void check_axes_activity(); |
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extern float axis_steps_per_unit[4]; |
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extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern unsigned long minsegmenttime; |
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extern float minimumfeedrate; |
extern float max_feedrate[4]; // set the max speeds
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extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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extern float axis_steps_per_unit[4]; |
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extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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extern float minimumfeedrate; |
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extern float max_z_jerk; |
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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extern float mintravelfeedrate; |
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; |
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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extern float max_z_jerk; |
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extern float mintravelfeedrate; |
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extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; |
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#endif |
#endif |
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File diff suppressed because it is too large
File diff suppressed because it is too large
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