planner.h

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

  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2011 Sungeun K. Jeon
  Copyright (c) 2011 Stefan Hechenberger

  LasaurGrbl 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.

  LasaurGrbl 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.
*/


#ifndef planner_h
#define planner_h
                 
#include "config.h"


// Command types the planner and stepper can schedule for execution 
#define TYPE_LINE 0
#define TYPE_AIR_ASSIST_ENABLE 1
#define TYPE_AIR_ASSIST_DISABLE 2
#define TYPE_AUX1_ASSIST_ENABLE 3
#define TYPE_AUX1_ASSIST_DISABLE 4
#define TYPE_AUX2_ASSIST_ENABLE 5
#define TYPE_AUX2_ASSIST_DISABLE 6

#define planner_control_air_assist_enable() planner_command(TYPE_AIR_ASSIST_ENABLE)
#define planner_control_air_assist_disable() planner_command(TYPE_AIR_ASSIST_DISABLE)
#define planner_control_aux1_assist_enable() planner_command(TYPE_AUX1_ASSIST_ENABLE)
#define planner_control_aux1_assist_disable() planner_command(TYPE_AUX1_ASSIST_DISABLE)
#ifdef DRIVEBOARD
  #define planner_control_aux2_assist_enable() planner_command(TYPE_AUX2_ASSIST_ENABLE)
  #define planner_control_aux2_assist_disable() planner_command(TYPE_AUX2_ASSIST_DISABLE)
#endif

// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
  uint8_t type;                       // Type of command, eg: TYPE_LINE, TYPE_AIR_ASSIST_ENABLE
  // Fields used by the bresenham algorithm for tracing the line
  uint32_t steps_x, steps_y, steps_z; // Step count along each axis
  uint8_t  direction_bits;            // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  int32_t  step_event_count;          // The number of step events required to complete this block
  uint32_t nominal_rate;              // The nominal step rate for this block in step_events/minute
  // Fields used by the motion planner to manage acceleration
  double nominal_speed;               // The nominal speed for this block in mm/min  
  double entry_speed;                 // Entry speed at previous-current junction in mm/min
  double vmax_junction;               // max junction speed (mm/min) based on angle between segments, accel and deviation settings
  double millimeters;                 // The total travel of this block in mm
  uint8_t nominal_laser_intensity;    // 0-255 is 0-100% percentage
  bool recalculate_flag;              // Planner flag to recalculate trapezoids on entry junction
  bool nominal_length_flag;           // Planner flag for nominal speed always reached
  // Settings for the trapezoid generator
  uint32_t initial_rate;              // The jerk-adjusted step rate at start of block  
  uint32_t final_rate;                // The minimal rate at exit
  int32_t rate_delta;                 // The steps/minute to add or subtract when changing speed (must be positive)
  uint32_t accelerate_until;          // The index of the step event on which to stop acceleration
  uint32_t decelerate_after;          // The index of the step event on which to start decelerating

} block_t;
      
// Initialize the motion plan subsystem      
void planner_init();

// Add a new linear movement to the buffer.
// x, y and z is the signed, absolute target position in millimaters.
// Feed rate specifies the speed of the motion.
void planner_line(double x, double y, double z, double feed_rate, uint8_t nominal_laser_intensity);

// Add a new piercing action, lasing at one spot.
void planner_dwell(double seconds, uint8_t nominal_laser_intensity);

// Add a non-motion command to the queue.
// Typical types are: TYPE_AIR_ASSIST_ENABLE, TYPE_AIR_ASSIST_DISABLE, ...
// This call is blocking when the block buffer is full.
void planner_command(uint8_t type);


bool planner_blocks_available();

// Gets the current block. Returns NULL if buffer empty
block_t *planner_get_current_block();

// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
void planner_discard_current_block();

// purge all command in the buffer
void planner_reset_block_buffer();


// Reset the position vector
void planner_set_position(double x, double y, double z);

// update to stepper position when steppers have been stopped
// called from the stepper code that executes the stop
void planner_request_position_update();

#endif