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061e6097c1
- Removed all of the 328p-related code, which seemed to clean up things quite a bit without all those ifdefs everywhere. - Since the 328p was very memory and flash limited, lots of compile-time options were disabled by default. These have been now been enabled by default. As they are considered generally helpful and does not significantly impact how Grbl runs. - For example, status reports can now report back real time feed rate and line number being executed. Variable spindle is standard with a separate spindle enable pin. Grbl will now check if a user setting has exceeded the maximum step frequency and report an error, if so. And finally, M7 flood coolant is enabled. - In addition, all buffers have been significantly increased to take advantage of the additional memory available. The planner buffer can plan up to 36 motions. The serial buffers have been doubled in size (256/128 bytes RX/TX). And the longest line Grbl can accept is 256 bytes, per the g-code standard (Grbl 328p is limited to 80). - Removed the cpu_map folder, since this version is strictly Mega2560.
95 lines
4.1 KiB
C
95 lines
4.1 KiB
C
/*
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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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Copyright (c) 2011-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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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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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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#ifndef planner_h
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#define planner_h
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// The number of linear motions that can be in the plan at any give time
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#ifndef BLOCK_BUFFER_SIZE
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#define BLOCK_BUFFER_SIZE 36
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#endif
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#define PLAN_OK true
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#define PLAN_EMPTY_BLOCK false
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// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
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// are as specified in the source g-code.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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uint32_t steps[N_AXIS]; // Step count along each axis
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uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
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// Fields used by the motion planner to manage acceleration. Some of these values may be updated
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// by the stepper module during execution of special motion cases for replanning purposes.
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float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
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float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
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// neighboring nominal speeds with overrides in (mm/min)^2
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float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
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float nominal_speed_sqr; // Axis-limit adjusted nominal speed for this block in (mm/min)^2
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float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2)
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float millimeters; // The remaining distance for this block to be executed in (mm)
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// uint8_t max_override; // Maximum override value based on axis speed limits
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int32_t line_number;
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} plan_block_t;
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// Initialize and reset the motion plan subsystem
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void plan_reset();
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// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
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// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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uint8_t plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_parking_motion, int32_t line_number);
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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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// Gets the planner block for the parking special motion case. Parking uses the always available buffer head.
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plan_block_t *plan_get_parking_block();
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// Gets the current block. Returns NULL if buffer empty
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plan_block_t *plan_get_current_block();
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// Called periodically by step segment buffer. Mostly used internally by planner.
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uint8_t plan_next_block_index(uint8_t block_index);
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// Called by step segment buffer when computing executing block velocity profile.
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float plan_get_exec_block_exit_speed();
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// Reset the planner position vector (in steps)
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void plan_sync_position();
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// Reinitialize plan with a partially completed block
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void plan_cycle_reinitialize();
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// Returns the number of active blocks are in the planner buffer.
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uint8_t plan_get_block_buffer_count();
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// Returns the status of the block ring buffer. True, if buffer is full.
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uint8_t plan_check_full_buffer();
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#endif
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