You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
91 lines
4.2 KiB
91 lines
4.2 KiB
13 years ago
|
/*
|
||
|
|
planner.h - buffers movement commands and manages the acceleration profile plan
|
||
|
|
Part of Grbl
|
||
|
|
|
||
|
|
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/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
// This module is to be considered a sub-module of stepper.c. Please don't include
|
||
|
|
// this file from any other module.
|
||
|
|
|
||
|
|
#ifndef planner_h
|
||
|
|
#define planner_h
|
||
|
|
|
||
|
|
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
|
||
|
|
// the source g-code and may never actually be reached if acceleration management is active.
|
||
|
|
typedef struct {
|
||
|
|
// Fields used by the bresenham algorithm for tracing the line
|
||
|
|
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
|
||
|
|
long step_event_count; // The number of step events required to complete this block
|
||
|
|
volatile long accelerate_until; // The index of the step event on which to stop acceleration
|
||
|
|
volatile long decelerate_after; // The index of the step event on which to start decelerating
|
||
|
|
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
|
||
|
|
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
||
|
|
#ifdef ADVANCE
|
||
|
|
long advance_rate;
|
||
|
|
volatile long initial_advance;
|
||
|
|
volatile long final_advance;
|
||
|
|
float advance;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Fields used by the motion planner to manage acceleration
|
||
|
|
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
|
||
|
|
float nominal_speed; // The nominal speed for this block in mm/min
|
||
|
|
float millimeters; // The total travel of this block in mm
|
||
|
|
float entry_speed;
|
||
|
|
float acceleration; // acceleration mm/sec^2
|
||
|
|
|
||
|
|
// Settings for the trapezoid generator
|
||
|
|
long nominal_rate; // The nominal step rate for this block in step_events/sec
|
||
|
|
volatile long initial_rate; // The jerk-adjusted step rate at start of block
|
||
|
|
volatile long final_rate; // The minimal rate at exit
|
||
|
|
long acceleration_st; // acceleration steps/sec^2
|
||
|
|
volatile char busy;
|
||
|
|
} block_t;
|
||
|
|
|
||
|
|
// Initialize the motion plan subsystem
|
||
|
|
void plan_init();
|
||
|
|
|
||
|
|
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
|
||
|
|
// millimaters. Feed rate specifies the speed of the motion.
|
||
|
|
void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
|
||
|
|
|
||
|
|
// Set position. Used for G92 instructions.
|
||
|
|
void plan_set_position(float x, float y, float z, float e);
|
||
|
|
|
||
|
|
// 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 current block. Returns NULL if buffer empty
|
||
|
|
block_t *plan_get_current_block();
|
||
|
|
|
||
|
|
void check_axes_activity();
|
||
|
|
|
||
|
|
extern unsigned long minsegmenttime;
|
||
|
|
extern float max_feedrate[4]; // set the max speeds
|
||
|
|
extern float axis_steps_per_unit[4];
|
||
|
|
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
|
||
|
|
extern float minimumfeedrate;
|
||
|
|
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
|
||
|
|
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
|
||
|
|
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
|
||
|
|
extern float max_z_jerk;
|
||
|
|
extern float mintravelfeedrate;
|
||
|
|
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
|
||
|
|
|
||
|
|
#endif
|