9d planner - #3807

Draft

grandixximo wants to merge 125 commits into

LinuxCNC:masterfrom

grandixximo:9d

Commits on Jun 25, 2026

Phase 0: Tormach 9D Architecture Port
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2213a8d
Phase 1: Move Kinematics to Userspace
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8f2ed93
Phase 3: Feed Override and Motion Planning Optimization
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bf01634
Force Kin in Uspace for Planner Type 2
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d7ba515
Fix freezing in place
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63708e1
small cleanup
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d0467ca
Derive feed override deferral timing from servo cycle and scale durations by feed ratio
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87b9e0c
Proper state reset for each run
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cadd242
Chain-based downstream constraints and feed limiting for branch computation
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739bf87
fix end spike
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097a9fa
Fix Profile v0 Mismatch
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0a05e81
Fix Centripetal Acceleration Bound to kink_vel
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480c41e
Fix velocity chain gaps at junctions and improve feed override stability
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5f9f15a
lines get kink vel like arcs
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888eefe
Add alt-entry profiles and fix sub-cycle brake transitions
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4537992
Virtual arc for line-line junctions
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4b2f184
Eliminate stale feed-override profiles with one-shot cursor and v0-aware seeding
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80979f9
Remove the hardcoded kinematics_type_id_t enum that prevented custom
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1e4b7f8
G64 first draft
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cffa9cd
Refactor Kinematics one file per module
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79f68de
refined kins docs
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82931b6
Blending refinements
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f3707b8
Joint-space feedforward via finite differences for planner type 2
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21ec2ea
C2 curvature matching and path deviation for Bezier blends
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0313ea4
Curvature-matched blends and path deviation measurement
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198f9e9
G0/G1 blend guard, kink_vel fix, and tangential jerk budget
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48df81e
Collinear segment consolidation for CAM toolpaths
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15452c4
Queue depth gate: eliminate velocity spike at segment activation
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cea1d44
Fix abort freeze: bypass handoff margin for stop requests in computeBranch
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277db67
Bidirectional reachability cap: eliminate Working profiles from fixup and backtrack passes
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0955f3a
Fix split-cycle elapsed_time advance: prevent velocity dip on short segments
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0053e69
attempt at fixing arm build
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ccbb989
Refactor blend projection calculations in tpSetupBlend9D to normalize by delta magnitude
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202757e
Refactor bezier9PathDeviation to enforce distance to corner for stricter P tolerance compliance
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09427ee
Fix feed override junction velocity mismatches in downstream profile seeding
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63ae4c6
Add near-active v0 reconciliation (Step 4) to fix stale-predecessor junction spikes
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6b3c16b
Fix feed override crash/recovery spikes with alt-entry chain and cleanup debug probes
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3a0c459
Harden split-cycle junction velocity: jerk-based v0 cap, physical clamping, and alt-entry improvements
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41403bb
Fix alt-entry flythrough bail blocking junction segments during feed override
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9e5edc4
Invalidate stale alt-entries at writeAltEntry convergence break
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aad4dde
Fix feed hold spill-over spikes with debounce exemption and branch-aware snap path
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7d4dc0d
fix slowdown
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3b50934
Fix abort spill-over negative velocity with physics-based acceleration clamp
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0a1de5a
rolled back refactor of bezier9
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d1c7366
Fix Bezier 9D tangent weighting, arc-length parameterization, and G0↔G1 transitions
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36c9c32
Cubic Hermite arc-length interpolation for Bezier blends
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a95817b
Reject stale-feed alt-entry profiles at RT junction handoff
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73bb605
spike prediction
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269f585
defer
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1da5b84
startup strategy
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c189668
guard on less than 0.001
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2565247
dynamic debounce
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86f3e8c
accept closer vel
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49a046f
fixed 183 pattern
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cdb580a
before rearch
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496d124
simplified
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f7d215b
fixed feed-override seeding spike
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4715662
new helper fixupPass
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5129353
pause and stop unified
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6496c5d
fix resume spikes: backward fixup end_idx covers full DS range
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de30f5a
refactor
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e9c8101
100% ok
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b1b4f8d
200% ok
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6340d63
fix unable to start
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2a2a24f
feed override struct
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5d35044
fix backward/forward velocity inconsistency at v_f≈0 junctions
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57e15d5
fix abort rogue segment: reset compressor before stop branch
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7cc8c30
fix feed-override velocity oscillation: remove self-reinforcing min caps
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4970634
remove backward pass depth limit: fix feed-change spikes on deep queues
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6746547
gate-based feed coalescing: eliminate cross-feed frontier spikes
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a774492
better fail handling, better 10%
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b30e2fc
drop feed to 10% ok
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246394d
90 and 100% ok
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2c0425b
fix STOP/EXACT spike
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a74b1ab
cleanup some debug
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addf680
fixed some spikes due to wrong capping
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1278f1c
fix bidir spikes
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8a4fe06
fixed corridor-kink pattern spikes
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f68a5f1
better 0%
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a3c67a0
removed debug
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549a247
fixed freezing up on non-tangent
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ed787b9
FINALIZED gate: prevent segment activation before boundaries known
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2dc0e22
removed spike debug
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f8e4fe7
chain-split: fix short-segment lost-time jerk spikes
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399c8e8
reinstated cubic for planner type 2
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69922ec
fix C1 discontinuity from collinear consolidation after blend trim
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ac101d2
fix premature FINALIZED gate on G-code mode change
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ac8e58b
fix include paths after upstream rebase (relative paths for non-INCLUDES dirs)
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c19ae47
fix ARM build: remove spurious SRCHEADERS (tp/kinematics headers covered by EXTRA_CFLAGS -I paths)
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a2b00ed
fix initraj.cc: use qualified motion/motion.h path for ini/ directory
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406adf7
fix include paths in motion_planning: use relative ../tp/ and motion/ prefixes
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ebe08c3
fix remaining flat includes in motion_planning: blendmath.h and motion_types.h
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1d982c6
convert all kinematics modules to nonrt_attach architecture
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99f44fa
replace hal_priv.h/SHMOFF/self_offset with hal_struct_newf/attach API
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27c873f
refactor hal_struct to use a dedicated namespace
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3a59f24
fix hal_struct: indentation, comp->ready check, duplicate/detach errors
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c5b5bdd
hal_struct: add man3 pages and halcmd show/list struct support
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b567d1f
hal_struct: fix man page: use AsciiDoc source, not hand-written troff
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207e7f9
fix velocity spikes at segment junctions under feed override
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fb7fec8
hal_struct man page: add volatile to example, ignore generated .3 files
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f85a0e1
Add comp_kins_uspace.h glue for .comp kinematics planner type 2 support
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b6d2161
Fix header-sanity: align with bertho's include isolation model
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0d07c0d
fix blend jerk overshoot: partition tangential+centripetal budget per joint
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e17cc0a
port TP2 userspace planner from C++ Ruckig to cruckig
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ca71459
Build warning fix, and cruckig compatibility fix
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b2575db
Register motion_planning public headers with HEADERS for make clean
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5de22f3
Bezier tolerance to match TP0 distance from corners and not just entities
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a27aef6
Fast bezier init for blend optimizer + skip RT ack for planner type 2
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7b35219
Fix uninitialized read in bezier9MaxCurvature when called via bezier9InitFast
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c1878ff
TP2: short-segment blend guard fix + blend sizing improvements
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c1ff6a2
Move comp_kins_uspace.h from include/ to src/emc/kinematics/
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b48d7e9
Fix author signatures: aitekcnc → LinuxCNC
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0770336
Fix backward pass using wrong kink_vel junction — tc exit kink leaked to entry
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7124d30
Add standalone TP2 jerk analysis tests
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10df744
Fix blend velocity mismatch on short segments + simulator improvements
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a51b517
Fix bezier blend maxvel exceeding curvature-jerk budget
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e90cd80
Fix build: don't wrap motion.h in extern "C" (pulls in <atomic>)
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e2befbd
Fix -Werror build failures exposed by CI
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f57e152
Fix RT kernel-module build: drop userspace <string.h> from kinematics
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c12c247
Fix RTAI build and emcmot-error-mpsc test
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e7a7b56
Fix RTAI cbrt and cppcheck redundant null-check warnings
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6020ee3
Zero-init planner structs via value-init instead of memset
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21adb91

Commits on Jun 26, 2026

check_ini: allow PLANNER_TYPE=2 (9D planner)
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eb172d4

Commits

Commits on Jun 25, 2026

Commits on Jun 26, 2026

Commits on Jul 5, 2026