Diff: grbl/planner.h.bak
- Revision:
- 0:8f0d870509fe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/grbl/planner.h.bak Mon Sep 04 12:04:13 2017 +0000
@@ -0,0 +1,149 @@
+/*
+ planner.h - buffers movement commands and manages the acceleration profile plan
+ Part of Grbl
+
+ Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+ Grbl is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef planner_h
+#define planner_h
+
+
+// The number of linear motions that can be in the plan at any give time
+#ifndef BLOCK_BUFFER_SIZE
+ #ifdef USE_LINE_NUMBERS
+ #define BLOCK_BUFFER_SIZE 15
+ #else
+ #define BLOCK_BUFFER_SIZE 16
+ #endif
+#endif
+
+// Returned status message from planner.
+#define PLAN_OK true
+#define PLAN_EMPTY_BLOCK false
+
+// Define planner data condition flags. Used to denote running conditions of a block.
+#define PL_COND_FLAG_RAPID_MOTION bit(0)
+#define PL_COND_FLAG_SYSTEM_MOTION bit(1) // Single motion. Circumvents planner state. Used by home/park.
+#define PL_COND_FLAG_NO_FEED_OVERRIDE bit(2) // Motion does not honor feed override.
+#define PL_COND_FLAG_INVERSE_TIME bit(3) // Interprets feed rate value as inverse time when set.
+#define PL_COND_FLAG_SPINDLE_CW bit(4)
+#define PL_COND_FLAG_SPINDLE_CCW bit(5)
+#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
+#define PL_COND_FLAG_COOLANT_MIST bit(7)
+#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
+#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
+
+
+// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
+// are as specified in the source g-code.
+typedef struct {
+ // Fields used by the bresenham algorithm for tracing the line
+ // NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
+ uint32_t steps[N_AXIS]; // Step count along each axis
+ uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
+ uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+
+ // Block condition data to ensure correct execution depending on states and overrides.
+ uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
+ #ifdef USE_LINE_NUMBERS
+ int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
+ #endif
+
+ // Fields used by the motion planner to manage acceleration. Some of these values may be updated
+ // by the stepper module during execution of special motion cases for replanning purposes.
+ float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
+ float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
+ // neighboring nominal speeds with overrides in (mm/min)^2
+ float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
+ float millimeters; // The remaining distance for this block to be executed in (mm).
+ // NOTE: This value may be altered by stepper algorithm during execution.
+
+ // Stored rate limiting data used by planner when changes occur.
+ float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
+ float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
+ float programmed_rate; // Programmed rate of this block (mm/min).
+
+ #ifdef VARIABLE_SPINDLE
+ // Stored spindle speed data used by spindle overrides and resuming methods.
+ float spindle_speed; // Block spindle speed. Copied from pl_line_data.
+ #endif
+} plan_block_t;
+
+
+// Planner data prototype. Must be used when passing new motions to the planner.
+typedef struct {
+ float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
+ float spindle_speed; // Desired spindle speed through line motion.
+ uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
+ #ifdef USE_LINE_NUMBERS
+ int32_t line_number; // Desired line number to report when executing.
+ #endif
+} plan_line_data_t;
+
+
+// Initialize and reset the motion plan subsystem
+void plan_reset(); // Reset all
+void plan_reset_buffer(); // Reset buffer only.
+
+// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
+// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
+// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
+uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data);
+
+// Called when the current block is no longer needed. Discards the block and makes the memory
+// availible for new blocks.
+void plan_discard_current_block();
+
+// Gets the planner block for the special system motion cases. (Parking/Homing)
+plan_block_t *plan_get_system_motion_block();
+
+// Gets the current block. Returns NULL if buffer empty
+plan_block_t *plan_get_current_block();
+
+// Called periodically by step segment buffer. Mostly used internally by planner.
+uint8_t plan_next_block_index(uint8_t block_index);
+
+// Called by step segment buffer when computing executing block velocity profile.
+float plan_get_exec_block_exit_speed_sqr();
+
+// Called by main program during planner calculations and step segment buffer during initialization.
+float plan_compute_profile_nominal_speed(plan_block_t *block);
+
+// Re-calculates buffered motions profile parameters upon a motion-based override change.
+void plan_update_velocity_profile_parameters();
+
+// Reset the planner position vector (in steps)
+void plan_sync_position();
+
+// Reinitialize plan with a partially completed block
+void plan_cycle_reinitialize();
+
+// Returns the number of available blocks are in the planner buffer.
+uint8_t plan_get_block_buffer_available();
+
+// Returns the number of active blocks are in the planner buffer.
+// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h
+uint8_t plan_get_block_buffer_count();
+
+// Returns the status of the block ring buffer. True, if buffer is full.
+uint8_t plan_check_full_buffer();
+
+void plan_get_planner_mpos(float *target);
+
+
+#endif