mirror of
https://github.com/grblHAL/core.git
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720f6bd552
Fixed handling of NVS buffer allocation, size was not increased as expected when physical NVS is capable of holding more than 2 Kbytes. This could lead to POS failure or plugins not initializing when a large tool table is configured.
204 lines
8.9 KiB
C
204 lines
8.9 KiB
C
/*
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planner.h - buffers movement commands and manages the acceleration profile plan
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Part of grblHAL
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Copyright (c) 2019-2025 Terje Io
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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grblHAL 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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grblHAL 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 grblHAL. 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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typedef union {
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uint32_t value;
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struct {
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uint16_t rapid_motion :1,
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system_motion :1,
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jog_motion :1,
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backlash_motion :1,
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no_feed_override :1,
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inverse_time :1,
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units_per_rev :1,
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is_rpm_rate_adjusted :1,
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is_laser_ppi_mode :1,
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target_valid :1,
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target_validated :1,
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probing_toolsetter :1,
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unassigned :4;
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coolant_state_t coolant;
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};
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} planner_cond_t;
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typedef union {
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uint32_t value[N_AXIS];
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struct {
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uint32_t x;
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uint32_t y;
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uint32_t z;
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#ifdef A_AXIS
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uint32_t a;
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#endif
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#ifdef B_AXIS
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uint32_t b;
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#endif
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#ifdef C_AXIS
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uint32_t c;
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#endif
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#ifdef U_AXIS
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uint32_t u;
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#endif
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#ifdef V_AXIS
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uint32_t v;
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#endif
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};
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} steps_t;
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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 plan_block {
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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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steps_t steps; // 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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axes_signals_t direction; // The direction bit set for this block (refers to *_DIRECTION_PIN in config.h)
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offset_id_t offset_id;
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// Block condition data to ensure correct execution depending on states and overrides.
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gc_override_flags_t overrides; // Block bitfield variable for overrides
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planner_cond_t condition; // Block bitfield variable defining block run conditions. Copied from pl_line_data.
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int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
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float target_mm[N_AXIS]; // Block target end location in mm for real-time reporting of distance to go.
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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 acceleration; // Effective acceleration over plannerblock calculated from trapezoidal movement plan. Does not change in trapezoidal mode.
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#if ENABLE_JERK_ACCELERATION
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float max_acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
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float jerk; // Axis-limit adjusted jerk value in (mm/min^3). Does not change.
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#endif
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float millimeters; // The remaining distance for this block to be executed in (mm).
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// NOTE: This value may be altered by stepper algorithm during execution.
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// Stored rate limiting data used by planner when changes occur.
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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 rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
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float programmed_rate; // Programmed rate of this block (mm/min).
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#ifdef KINEMATICS_API
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float rate_multiplier; // Rate multiplier of this block.
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#endif
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#if ENABLE_ACCELERATION_PROFILES
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float acceleration_factor; // Stores the currently used acceleration factor.
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#endif
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// Stored spindle speed data used by spindle overrides and resuming methods.
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spindle_t spindle; // Block spindle parameters. Copied from pl_line_data.
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char *message; // Message to be displayed when block is executed.
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output_command_t *output_commands;
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struct plan_block *prev, *next; // Linked list pointers, DO NOT MOVE - these MUST be the last elements in the struct!
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} plan_block_t;
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// Planner data prototype. Must be used when passing new motions to the planner.
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typedef struct {
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float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
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#ifdef KINEMATICS_API
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float rate_multiplier; // Feed rate multiplier.
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#endif
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#if ENABLE_ACCELERATION_PROFILES
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float acceleration_factor; // Stores the currently used acceleration factor.
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#endif
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#if ENABLE_PATH_BLENDING
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float path_tolerance; //!< Path blending tolerance.
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float cam_tolerance; //!< Naive CAM tolerance.
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#endif
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spindle_t spindle; // Desired spindle parameters, such as RPM, through line motion.
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planner_cond_t condition; // Bitfield variable to indicate planner conditions. See defines above.
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gc_override_flags_t overrides; // Block bitfield variable for overrides
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offset_id_t offset_id;
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int32_t line_number; // Desired line number to report when executing.
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// void *parameters; // TODO: pointer to extra parameters, for canned cycles and threading?
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char *message; // Message to be displayed when block is executed.
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output_command_t *output_commands;
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} plan_line_data_t;
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// Define planner variables
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typedef struct {
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int32_t position[N_AXIS]; // The planner position of the tool in absolute steps. Kept separate
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// from g-code position for movements requiring multiple line motions,
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// i.e. arcs, canned cycles, and backlash compensation.
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float previous_unit_vec[N_AXIS]; // Unit vector of previous path line segment
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float previous_nominal_speed; // Nominal speed of previous path line segment
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float actual_rpm; // Updated when in units per revolution blocks (G95) mode.
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} planner_t;
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// Initialize and reset the motion plan subsystem
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bool plan_reset (void); // Reset all
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uint_fast16_t plan_get_buffer_size (void);
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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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bool plan_buffer_line (float *target, plan_line_data_t *pl_data);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// available for new blocks.
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void plan_discard_current_block (void);
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// Gets the planner block for the special system motion cases. (Parking/Homing)
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plan_block_t *plan_get_system_motion_block (void);
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// Gets the current block. Returns NULL if buffer empty
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plan_block_t *plan_get_current_block (void);
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// Gets last added block. Returns NULL if buffer empty
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plan_block_t *plan_get_recent_block (void);
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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_sqr (void);
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// Called by main program during planner calculations and step segment buffer during initialization.
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float plan_compute_profile_nominal_speed (plan_block_t *block);
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// Get the planner position vectors.
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float *plan_get_position (void);
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// Reset the planner position vector (in steps)
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void plan_sync_position (void);
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// Reinitialize plan with a partially completed block
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void plan_cycle_reinitialize (void);
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// Returns the number of available blocks in the planner buffer.
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uint_fast16_t plan_get_block_buffer_available (void);
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// Returns the status of the block ring buffer. True, if buffer is full.
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bool plan_check_full_buffer (void);
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void plan_feed_override (override_t feed_override, override_t rapid_override);
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void plan_data_init (plan_line_data_t *plan_data);
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void plan_sync_velocity (void *block);
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#endif
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