planner.h

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/*
  planner.h - buffers movement commands and manages the acceleration profile plan
  Part of Grbl

  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
  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/>.
*/

#ifndef planner_h
#define planner_h

#ifndef BLOCK_BUFFER_SIZE
  #define BLOCK_BUFFER_SIZE 36
#endif
#define PLAN_OK true
#define PLAN_EMPTY_BLOCK false
#define PL_COND_FLAG_RAPID_MOTION      bit(0)
#define PL_COND_FLAG_SYSTEM_MOTION     bit(1) 
#define PL_COND_FLAG_NO_FEED_OVERRIDE  bit(2) 
#define PL_COND_FLAG_INVERSE_TIME      bit(3) 
#define PL_COND_FLAG_SPINDLE_CW        bit(4)
#define PL_COND_FLAG_SPINDLE_CCW       bit(5)
#define PL_COND_FLAG_COOLANT_FLOOD     bit(6)
#define PL_COND_FLAG_COOLANT_MIST      bit(7)
#define PL_COND_MOTION_MASK    (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)

// are as specified in the source g-code.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
// 
  uint32_t steps[N_AXIS];    
  uint32_t step_event_count; 
  uint8_t direction_bits;    

// Block condition data to ensure correct execution depending on states and overrides.
  uint8_t condition;      
  int32_t line_number;  

// 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;     
  float max_entry_speed_sqr; 
//   neighboring nominal speeds with overrides in (mm/min)^2
  float acceleration;        
  float millimeters;         
// 

// Stored rate limiting data used by planner when changes occur.
  float max_junction_speed_sqr; 
  float rapid_rate;             
  float programmed_rate;        

// Stored spindle speed data used by spindle overrides and resuming methods.
  float spindle_speed;    
} plan_block_t;

typedef struct {
  float feed_rate;          
  float spindle_speed;      
  int32_t line_number;    
  uint8_t condition;        
} plan_line_data_t;

void plan_reset(); 
void plan_reset_buffer(); 
// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data);
// availible for new blocks.
void plan_discard_current_block();
plan_block_t *plan_get_system_motion_block();
plan_block_t *plan_get_current_block();
uint8_t plan_next_block_index(uint8_t block_index);
float plan_get_exec_block_exit_speed_sqr();
float plan_compute_profile_nominal_speed(plan_block_t *block);
void plan_update_velocity_profile_parameters();
void plan_sync_position();
void plan_cycle_reinitialize();
uint8_t plan_get_block_buffer_available();
// 
uint8_t plan_get_block_buffer_count();
uint8_t plan_check_full_buffer();

void plan_get_planner_mpos(float *target);


#endif