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@@ -1,93 +1,96 @@
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-/*
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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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-
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- Copyright (c) 2009-2011 Simen Svale Skogsrud
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-
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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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-
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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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-
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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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-
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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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-
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-#ifndef planner_h
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-#define planner_h
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-
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-#include "Configuration.h"
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-
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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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- 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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- 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 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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- #ifdef ADVANCE
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- long advance_rate;
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- volatile long initial_advance;
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- volatile long final_advance;
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- float advance;
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- #endif
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-
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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 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;
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- float acceleration; // acceleration mm/sec^2
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-
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- // Settings for the trapezoid generator
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- long nominal_rate; // The nominal step rate for this block in step_events/sec
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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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- long acceleration_st; // acceleration steps/sec^2
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- volatile char busy;
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-} block_t;
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-
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-// Initialize the motion plan subsystem
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-void plan_init();
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-
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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.
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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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-
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-// Set position. Used for G92 instructions.
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-void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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-
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-
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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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-
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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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-
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-void check_axes_activity();
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-
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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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-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 float minimumfeedrate;
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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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87
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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 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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-
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1
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+/*
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2
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+ planner.h - buffers movement commands and manages the acceleration profile plan
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3
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+ Part of Grbl
|
|
|
4
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+
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|
5
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+ Copyright (c) 2009-2011 Simen Svale Skogsrud
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|
6
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+
|
|
|
7
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+ Grbl is free software: you can redistribute it and/or modify
|
|
|
8
|
+ it under the terms of the GNU General Public License as published by
|
|
|
9
|
+ the Free Software Foundation, either version 3 of the License, or
|
|
|
10
|
+ (at your option) any later version.
|
|
|
11
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+
|
|
|
12
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+ Grbl is distributed in the hope that it will be useful,
|
|
|
13
|
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
14
|
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
15
|
+ GNU General Public License for more details.
|
|
|
16
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+
|
|
|
17
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+ You should have received a copy of the GNU General Public License
|
|
|
18
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+ along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
|
19
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+*/
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|
|
20
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+
|
|
|
21
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+// This module is to be considered a sub-module of stepper.c. Please don't include
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|
|
22
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+// this file from any other module.
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|
23
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+
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24
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+#ifndef planner_h
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25
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+#define planner_h
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+
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27
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+#include "Configuration.h"
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28
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+
|
|
|
29
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+// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
|
|
|
30
|
+// the source g-code and may never actually be reached if acceleration management is active.
|
|
|
31
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+typedef struct {
|
|
|
32
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+ // Fields used by the bresenham algorithm for tracing the line
|
|
|
33
|
+ long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
|
|
|
34
|
+ long step_event_count; // The number of step events required to complete this block
|
|
|
35
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+ volatile long accelerate_until; // The index of the step event on which to stop acceleration
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|
|
36
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+ volatile long decelerate_after; // The index of the step event on which to start decelerating
|
|
|
37
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+ volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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|
|
38
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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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39
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+ #ifdef ADVANCE
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|
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40
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+// long advance_rate;
|
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|
41
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+// volatile long initial_advance;
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|
|
42
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+// volatile long final_advance;
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|
43
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+// float advance;
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44
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+ #endif
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|
45
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+
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|
46
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+ // Fields used by the motion planner to manage acceleration
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|
|
47
|
+// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
|
|
|
48
|
+ float nominal_speed; // The nominal speed for this block in mm/min
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49
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+ float entry_speed; // Entry speed at previous-current 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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+ float acceleration; // acceleration mm/sec^2
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+ unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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+ unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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55
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+
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56
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+ // Settings for the trapezoid generator
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|
57
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+ long nominal_rate; // The nominal step rate for this block in step_events/sec
|
|
|
58
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+ volatile long initial_rate; // The jerk-adjusted step rate at start of block
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|
|
59
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+ volatile long final_rate; // The minimal rate at exit
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60
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+ long acceleration_st; // acceleration steps/sec^2
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61
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+ volatile char busy;
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+} block_t;
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63
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+
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64
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+// Initialize the motion plan subsystem
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|
65
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+void plan_init();
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|
66
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+
|
|
|
67
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+// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
|
|
|
68
|
+// millimaters. Feed rate specifies the speed of the motion.
|
|
|
69
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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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70
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+
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71
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+// Set position. Used for G92 instructions.
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72
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+void plan_set_position(const float &x, const float &y, const float &z, const float &e);
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73
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+
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74
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+
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75
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+// Called when the current block is no longer needed. Discards the block and makes the memory
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|
76
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+// availible for new blocks.
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77
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+void plan_discard_current_block();
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78
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+
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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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81
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+
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82
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+void check_axes_activity();
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83
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+
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84
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+extern unsigned long minsegmenttime;
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85
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+extern float max_feedrate[4]; // set the max speeds
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86
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+extern float axis_steps_per_unit[4];
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87
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+extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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88
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+extern float minimumfeedrate;
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89
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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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|
|
90
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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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|
|
91
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+extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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92
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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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+
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#endif
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Erik van der Zalm
13 years ago