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Large spindle handling refactoring and enhancement++, see the changelog for more.

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Terje Io
2023-02-13 22:14:48 +01:00
parent e2ba6db69c
commit 04ce2c5c8c
33 changed files with 1430 additions and 604 deletions
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32
planner.h
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@@ -3,7 +3,7 @@
Part of grblHAL
Copyright (c) 2019-2022 Terje Io
Copyright (c) 2019-2023 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -34,10 +34,8 @@ typedef union {
no_feed_override :1,
inverse_time :1,
is_rpm_rate_adjusted :1,
is_rpm_pos_adjusted :1,
is_laser_ppi_mode :1,
unassigned :7;
spindle_state_t spindle;
unassigned :8;
coolant_state_t coolant;
};
} planner_cond_t;
@@ -58,22 +56,22 @@ typedef struct plan_block {
// 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.
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).
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).
// Stored spindle speed data used by spindle overrides and resuming methods.
spindle_t spindle; // Block spindle speed. Copied from pl_line_data.
spindle_t spindle; // Block spindle parameters. Copied from pl_line_data.
char *message; // Message to be displayed when block is executed.
char *message; // Message to be displayed when block is executed.
output_command_t *output_commands;
struct plan_block *prev, *next; // Linked list pointers, DO NOT MOVE - these MUST be the last elements in the struct!
} plan_block_t;
@@ -83,7 +81,7 @@ typedef struct plan_block {
typedef struct {
float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
// float blending_tolerance; // Motion blending tolerance
spindle_t spindle; // Desired spindle speed through line motion.
spindle_t spindle; // Desired spindle parameters, such as RPM, through line motion.
planner_cond_t condition; // Bitfield variable to indicate planner conditions. See defines above.
gc_override_flags_t overrides; // Block bitfield variable for overrides
int32_t line_number; // Desired line number to report when executing.
@@ -143,6 +141,6 @@ uint_fast16_t plan_get_block_buffer_available (void);
// Returns the status of the block ring buffer. True, if buffer is full.
bool plan_check_full_buffer (void);
void plan_feed_override (uint_fast8_t feed_override, uint_fast8_t rapid_override);
void plan_feed_override (override_t feed_override, override_t rapid_override);
#endif