This version of the famous Grbl adds values in the work-coordinate-system (WCS) to the probing command. See x2grbl why you might want this.

planner.h 4.2KB

    /* planner.h - buffers movement commands and manages the acceleration profile plan Part of Grbl v0.9 Copyright (c) 2012-2014 Sungeun K. Jeon 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 <>. */ /* This file is based on work from Grbl v0.8, distributed under the terms of the MIT-license. See COPYING for more details. Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon */ #ifndef planner_h #define planner_h // The number of linear motions that can be in the plan at any give time #ifndef BLOCK_BUFFER_SIZE #ifdef USE_LINE_NUMBERS #define BLOCK_BUFFER_SIZE 16 #else #define BLOCK_BUFFER_SIZE 18 #endif #endif // This struct stores a linear movement of a g-code block motion with its critical "nominal" values // are as specified in the source g-code. typedef struct { // Fields used by the bresenham algorithm for tracing the line // NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values. uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) uint32_t steps[N_AXIS]; // Step count along each axis uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block. // Fields used by the motion planner to manage acceleration 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 max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2 float nominal_speed_sqr; // Axis-limit adjusted nominal speed for this block in (mm/min)^2 float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2) float millimeters; // The remaining distance for this block to be executed in (mm) // uint8_t max_override; // Maximum override value based on axis speed limits #ifdef USE_LINE_NUMBERS int32_t line_number; #endif } plan_block_t; // Initialize and reset the motion plan subsystem void plan_reset(); // Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position // 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. #ifdef USE_LINE_NUMBERS void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number); #else void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate); #endif // Called when the current block is no longer needed. Discards the block and makes the memory // availible for new blocks. void plan_discard_current_block(); // Gets the current block. Returns NULL if buffer empty plan_block_t *plan_get_current_block(); // Called periodically by step segment buffer. Mostly used internally by planner. uint8_t plan_next_block_index(uint8_t block_index); // Called by step segment buffer when computing executing block velocity profile. float plan_get_exec_block_exit_speed(); // Reset the planner position vector (in steps) void plan_sync_position(); // Reinitialize plan with a partially completed block void plan_cycle_reinitialize(); // Returns the number of active blocks are in the planner buffer. uint8_t plan_get_block_buffer_count(); // Returns the status of the block ring buffer. True, if buffer is full. uint8_t plan_check_full_buffer(); #endif