void planner_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
planner_set_position( CONFIG_X_ORIGIN_OFFSET,
CONFIG_Y_ORIGIN_OFFSET,
CONFIG_Z_ORIGIN_OFFSET );
}
void planner_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
block_buffer_tail_write = 0;
raster_buffer_next = 0;
raster_buffer_count = 0;
clear_vector(position);
planner_set_position( CONFIG_X_ORIGIN_OFFSET,
CONFIG_Y_ORIGIN_OFFSET,
CONFIG_Z_ORIGIN_OFFSET );
position_update_requested = false;
clear_vector_double(previous_unit_vec);
previous_nominal_speed = 0.0;
}
// Add a new linear movement to the buffer. x, y and z is
// the signed, absolute target position in millimeters. Feed rate specifies the speed of the motion.
static void planner_movement(double x, double y, double z,
double feed_rate, double acceleration,
uint8_t nominal_laser_intensity, uint16_t ppi,
raster_t *raster) {
// calculate target position in absolute steps
int32_t target[3];
// Make sure we stay within our limits
#if defined(CONFIG_X_MIN)
x=max(x, CONFIG_X_MIN);
#endif
#if defined(CONFIG_X_MAX)
x=min(x, CONFIG_X_MAX);
#endif
#if defined(CONFIG_Y_MIN)
y=max(y, CONFIG_Y_MIN);
#endif
#if defined(CONFIG_Y_MAX)
y=min(y, CONFIG_Y_MAX);
#endif
#if defined(CONFIG_Z_MIN)
z=max(z, CONFIG_Z_MIN);
#endif
#if defined(CONFIG_Z_MAX)
z=min(z, CONFIG_Z_MAX);
#endif
target[X_AXIS] = lround(x*CONFIG_X_STEPS_PER_MM);
target[Y_AXIS] = lround(y*CONFIG_Y_STEPS_PER_MM);
target[Z_AXIS] = lround(z*CONFIG_Z_STEPS_PER_MM);
// calculate the buffer head and check for space
int next_buffer_head = next_block_index( block_buffer_head );
while(block_buffer_tail == next_buffer_head) { // buffer full condition
// good! We are well ahead of the robot. Rest here until buffer has room.
// sleep_mode();
}
block_buffers_used++;
// handle position update after a stop
if (position_update_requested) {
planner_set_position(stepper_get_position_x(), stepper_get_position_y(), stepper_get_position_z());
position_update_requested = false;
//printString("planner pos update\n"); // debug
}
// prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Setup the block type
if (raster == NULL) {
block->block_type = BLOCK_TYPE_LINE;
} else {
block->block_type = BLOCK_TYPE_RASTER_LINE;
memcpy(&block->raster, raster, sizeof(raster_t));
}
// set nominal laser intensity
block->laser_pwm = nominal_laser_intensity;
// compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<STEP_X_DIR); }
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<STEP_Y_DIR); }
#ifndef MOTOR_Z
if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<STEP_Z_DIR); }
#else
if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= STEP_Z_MASK; }
#endif
// number of steps for each axis
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, block->steps_z));
if (block->step_event_count == 0) { return; }; // bail if this is a zero-length block
// compute path vector in terms of absolute step target and current positions
double delta_mm[3];
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/CONFIG_X_STEPS_PER_MM;
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/CONFIG_Y_STEPS_PER_MM;
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/CONFIG_Z_STEPS_PER_MM;
block->millimeters = sqrt( (delta_mm[X_AXIS]*delta_mm[X_AXIS]) +
(delta_mm[Y_AXIS]*delta_mm[Y_AXIS]) +
(delta_mm[Z_AXIS]*delta_mm[Z_AXIS]) );
double inverse_millimeters = 1.0/block->millimeters; // store for efficency
// calculate nominal_speed (mm/min) and nominal_rate (step/min)
// minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c
double inverse_minute = feed_rate * inverse_millimeters;
block->nominal_speed = block->millimeters * inverse_minute; // always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_minute); // always > 0
block->acceleration = acceleration;
// compute the acceleration rate for this block. (step/min/acceleration_tick)
block->rate_delta = ceil( block->step_event_count * inverse_millimeters
* block->acceleration / (60 * ACCELERATION_TICKS_PER_SECOND) );
// Calculate the ppi steps
block->laser_ppi_steps = 0;
if (ppi > 0) {
block->laser_ppi = ppi; // Only used by LCD output.
block->laser_ppi_steps = CONFIG_X_STEPS_PER_MM * MM_PER_INCH / ppi;
}
//// acceleeration manager calculations
// Compute path unit vector
double unit_vec[3];
unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
// Compute max junction speed by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
double vmax_junction = ZERO_SPEED; // prime for junctions close to 0 degree
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
// Compute cosine of angle between previous and current path.
// vmax_junction is computed without sin() or acos() by trig half angle identity.
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
if (cos_theta < 0.95) {
// any junction *not* close to 0 degree
vmax_junction = min(previous_nominal_speed, block->nominal_speed); // prime for close to 180
if (cos_theta > -0.95) {
// any junction not close to neither 0 and 180 degree -> compute vmax
double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = min( vmax_junction, sqrt( block->acceleration * CONFIG_JUNCTION_DEVIATION
* sin_theta_d2/(1.0-sin_theta_d2) ) );
}
}
}
block->vmax_junction = vmax_junction;
// Initialize entry_speed. Compute based on deceleration to zero.
// This will be updated in the forward and reverse planner passes.
double v_allowable = max_allowable_speed(-block->acceleration, ZERO_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Set nominal_length_flag for more efficiency.
// If a block can de/ac-celerate from nominal speed to zero within the length of
// the block, then the speed will always be at the the maximum junction speed and
// may always be ignored for any speed reduction checks.
if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
else { block->nominal_length_flag = false; }
block->recalculate_flag = true; // always calculate trapezoid for new block
// update previous unit_vector and nominal speed
memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[]
previous_nominal_speed = block->nominal_speed;
//// end of acceleeration manager calculations
// move buffer head and update position
block_buffer_head = next_buffer_head;
memcpy(position, target, sizeof(target)); // position[] = target[]
planner_recalculate();
// make sure the stepper interrupt is processing
stepper_wake_up();
}
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace). Comments and block delete
// characters have been removed.
uint8_t gcode_execute_line(char *line) {
uint8_t char_counter = 0;
char letter;
double value;
int int_value;
double unit_converted_value;
uint8_t next_action = NEXT_ACTION_NONE;
double target[3];
double p = 0.0;
int cs = 0;
int l = 0;
bool got_actual_line_command = false; // as opposed to just e.g. G1 F1200
gc.status_code = STATUS_OK;
//// Pass 1: Commands
while(next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);
switch(letter) {
case 'G':
switch(int_value) {
case 0: gc.motion_mode = next_action = NEXT_ACTION_SEEK; break;
case 1: gc.motion_mode = next_action = NEXT_ACTION_FEED; break;
case 4: next_action = NEXT_ACTION_DWELL; break;
case 10: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET; break;
case 20: gc.inches_mode = true; break;
case 21: gc.inches_mode = false; break;
case 30: next_action = NEXT_ACTION_HOMING_CYCLE; break;
case 54: gc.offselect = OFFSET_G54; break;
case 55: gc.offselect = OFFSET_G55; break;
case 90: gc.absolute_mode = true; break;
case 91: gc.absolute_mode = false; break;
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
case 'M':
switch(int_value) {
case 7: next_action = NEXT_ACTION_AIR_ENABLE;break;
case 8: next_action = NEXT_ACTION_GAS_ENABLE;break;
case 9: next_action = NEXT_ACTION_AIRGAS_DISABLE;break;
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
}
if (gc.status_code) { break; }
}
// bail when errors
if (gc.status_code) { return gc.status_code; }
char_counter = 0;
memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position
//// Pass 2: Parameters
while(next_statement(&letter, &value, line, &char_counter)) {
if (gc.inches_mode) {
unit_converted_value = value * MM_PER_INCH;
} else {
unit_converted_value = value;
}
switch(letter) {
case 'F':
if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); }
if (gc.motion_mode == NEXT_ACTION_SEEK) {
gc.seek_rate = unit_converted_value;
} else {
gc.feed_rate = unit_converted_value;
}
break;
case 'X': case 'Y': case 'Z':
if (gc.absolute_mode) {
target[letter - 'X'] = unit_converted_value;
} else {
target[letter - 'X'] += unit_converted_value;
}
got_actual_line_command = true;
break;
case 'P': // dwelling seconds or CS selector
if (next_action == NEXT_ACTION_SET_COORDINATE_OFFSET) {
cs = trunc(value);
} else {
p = value;
}
break;
case 'S':
gc.nominal_laser_intensity = value;
break;
case 'L': // G10 qualifier
l = trunc(value);
break;
}
}
// bail when error
if (gc.status_code) { return(gc.status_code); }
//// Perform any physical actions
switch (next_action) {
case NEXT_ACTION_SEEK:
if (got_actual_line_command) {
planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS],
target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS],
target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS],
gc.seek_rate, 0 );
}
break;
case NEXT_ACTION_FEED:
if (got_actual_line_command) {
planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS],
target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS],
target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS],
gc.feed_rate, gc.nominal_laser_intensity );
}
break;
case NEXT_ACTION_DWELL:
planner_dwell(p, gc.nominal_laser_intensity);
break;
// case NEXT_ACTION_STOP:
// planner_stop(); // stop and cancel the remaining program
// gc.position[X_AXIS] = stepper_get_position_x();
// gc.position[Y_AXIS] = stepper_get_position_y();
// gc.position[Z_AXIS] = stepper_get_position_z();
// planner_set_position(gc.position[X_AXIS], gc.position[Y_AXIS], gc.position[Z_AXIS]);
// // move to table origin
// target[X_AXIS] = 0;
// target[Y_AXIS] = 0;
// target[Z_AXIS] = 0;
// planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS],
// target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS],
// target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS],
// gc.seek_rate, 0 );
// break;
case NEXT_ACTION_HOMING_CYCLE:
stepper_homing_cycle();
// now that we are at the physical home
// zero all the position vectors
clear_vector(gc.position);
clear_vector(target);
planner_set_position(0.0, 0.0, 0.0);
// move head to g54 offset
gc.offselect = OFFSET_G54;
target[X_AXIS] = 0;
target[Y_AXIS] = 0;
target[Z_AXIS] = 0;
planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS],
target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS],
target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS],
gc.seek_rate, 0 );
break;
case NEXT_ACTION_SET_COORDINATE_OFFSET:
if (cs == OFFSET_G54 || cs == OFFSET_G55) {
if (l == 2) {
//set offset to target, eg: G10 L2 P1 X15 Y15 Z0
gc.offsets[3*cs+X_AXIS] = target[X_AXIS];
gc.offsets[3*cs+Y_AXIS] = target[Y_AXIS];
gc.offsets[3*cs+Z_AXIS] = target[Z_AXIS];
// Set target in ref to new coord system so subsequent moves are calculated correctly.
target[X_AXIS] = (gc.position[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS]) - gc.offsets[3*cs+X_AXIS];
target[Y_AXIS] = (gc.position[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS]) - gc.offsets[3*cs+Y_AXIS];
target[Z_AXIS] = (gc.position[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS]) - gc.offsets[3*cs+Z_AXIS];
} else if (l == 20) {
// set offset to current pos, eg: G10 L20 P2
gc.offsets[3*cs+X_AXIS] = gc.position[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS];
gc.offsets[3*cs+Y_AXIS] = gc.position[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS];
gc.offsets[3*cs+Z_AXIS] = gc.position[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS];
target[X_AXIS] = 0;
target[Y_AXIS] = 0;
target[Z_AXIS] = 0;
}
}
break;
case NEXT_ACTION_AIRGAS_DISABLE:
planner_control_airgas_disable();
break;
case NEXT_ACTION_AIR_ENABLE:
planner_control_air_enable();
break;
case NEXT_ACTION_GAS_ENABLE:
planner_control_gas_enable();
break;
}
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
return gc.status_code;
}
