planner.h

00001 /*
00002   planner.h - buffers movement commands and manages the acceleration profile plan
00003   Part of Grbl
00004 
00005   Copyright (c) 2009-2011 Simen Svale Skogsrud
00006   Copyright (c) 2011 Sungeun K. Jeon  
00007 
00008   Grbl is free software: you can redistribute it and/or modify
00009   it under the terms of the GNU General Public License as published by
00010   the Free Software Foundation, either version 3 of the License, or
00011   (at your option) any later version.
00012 
00013   Grbl is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016   GNU General Public License for more details.
00017 
00018   You should have received a copy of the GNU General Public License
00019   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
00020 */
00021 
00022 #ifndef planner_h
00023 #define planner_h
00024                  
00025 #include <inttypes.h>
00026 
00027 typedef enum {
00028   AT_MOVE,         // move with laser off
00029   AT_LASER,        // move with laser on
00030   AT_BITMAP,       // move with laser modulated by bitmap
00031   AT_MOVE_ENDSTOP, // move to endstops
00032   AT_WAIT,         // Dwell
00033 } eActionType;
00034         
00035 typedef  struct {
00036   float  x;
00037   float  y;
00038   float  z;
00039   float  e;
00040   float  feed_rate;
00041 } tTarget;
00042 
00043 // options for the action
00044 #define OPT_LASER_ON  1 // switch laser on
00045 #define OPT_WAIT      2 // wait at end of move
00046 #define OPT_HOME_X    4 // stop on x switch
00047 #define OPT_HOME_Y    8
00048 #define OPT_HOME_Z   16
00049 #define OPT_HOME_E   32
00050 #define OPT_BITMAP   64 // bitmap mark a line
00051 
00052 
00053 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
00054 // the source g-code and may never actually be reached if acceleration management is active.
00055 typedef struct 
00056 {
00057   eActionType action_type;
00058   
00059   // Fields used by the bresenham algorithm for tracing the line
00060   uint32_t steps_x, steps_y, steps_z; // Step count along each axis
00061   uint32_t steps_e; 
00062   uint32_t direction_bits;            // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
00063   int32_t  step_event_count;          // The number of step events required to complete this block
00064   uint32_t nominal_rate;              // The nominal step rate for this block in step_events/minute
00065   
00066   // Fields used by the motion planner to manage acceleration
00067   float nominal_speed;               // The nominal speed for this block in mm/min  
00068   float entry_speed;                 // Entry speed at previous-current junction in mm/min
00069   float max_entry_speed;             // Maximum allowable junction entry speed in mm/min
00070   float millimeters;                 // The total travel of this block in mm
00071   uint8_t recalculate_flag;           // Planner flag to recalculate trapezoids on entry junction
00072   uint8_t nominal_length_flag;        // Planner flag for nominal speed always reached
00073 
00074   // Settings for the trapezoid generator
00075   uint32_t initial_rate;              // The jerk-adjusted step rate at start of block  
00076   uint32_t final_rate;                // The minimal rate at exit
00077   int32_t rate_delta;                 // The steps/minute to add or subtract when changing speed (must be positive)
00078   uint32_t accelerate_until;          // The index of the step event on which to stop acceleration
00079   uint32_t decelerate_after;          // The index of the step event on which to start decelerating
00080   
00081   // extra
00082   uint8_t check_endstops; // for homing moves
00083   uint8_t options; // for further options (e.g. laser on/off, homing on axis, dwell, etc)  
00084   uint16_t power; // laser power setpoint
00085 } block_t;
00086 
00087 // This defines an action to enque, with its target position
00088 typedef struct {
00089   eActionType ActionType;
00090   tTarget     target;  
00091   uint16_t    param; // argument for the action
00092 } tActionRequest;
00093 
00094 
00095 
00096 extern tTarget startpoint;
00097       
00098 // Initialize the motion plan subsystem      
00099 void plan_init();
00100 
00101 // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in 
00102 // millimeters. Feed rate specifies the speed of the motion. (in mm/min) 
00103 void plan_buffer_line (tActionRequest *pAction);
00104 
00105 void plan_buffer_action(tActionRequest *pAction);
00106 
00107 // Called when the current block is no longer needed. Discards the block and makes the memory
00108 // availible for new blocks.
00109 void plan_discard_current_block();
00110 
00111 // Gets the current block. Returns NULL if buffer empty
00112 block_t *plan_get_current_block();
00113 
00114 // Enables or disables acceleration-management for upcoming blocks
00115 void plan_set_acceleration_manager_enabled(uint8_t enabled);
00116 
00117 // Is acceleration-management currently enabled?
00118 int plan_is_acceleration_manager_enabled();
00119 
00120 // Reset the position vector
00121 void plan_set_current_position(tTarget *new_position); 
00122 
00123 void plan_set_current_position_xyz(float x, float y, float z); 
00124 void plan_get_current_position_xyz(float *x, float *y, float *z); 
00125 
00126 void plan_set_feed_rate (tTarget *new_position);
00127 
00128 uint8_t plan_queue_full (void);
00129 
00130 uint8_t plan_queue_empty(void);
00131 
00132 uint8_t plan_queue_items(void) ;
00133 
00134 #endif