9d planner#3807

Draft

grandixximo wants to merge 46 commits intoLinuxCNC:masterfrom

Commits on Feb 20, 2026

Phase 0: Tormach 9D Architecture Port
Luca Toniolo
committed
Phase 1: Move Kinematics to Userspace
Luca Toniolo
committed
Phase 3: Feed Override and Motion Planning Optimization
Luca Toniolo
committed
Force Kin in Uspace for Planner Type 2
Luca Toniolo
committed
Fix freezing in place
Luca Toniolo
committed
small cleanup
Luca Toniolo
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Derive feed override deferral timing from servo cycle and scale durations by feed ratio
Luca Toniolo
committed
Proper state reset for each run
Luca Toniolo
committed
Chain-based downstream constraints and feed limiting for branch computation
Luca Toniolo
committed
fix end spike
Luca Toniolo
committed
Fix Profile v0 Mismatch
Luca Toniolo
committed
Fix Centripetal Acceleration Bound to kink_vel
Luca Toniolo
committed
Fix velocity chain gaps at junctions and improve feed override stability
Luca Toniolo
committed
lines get kink vel like arcs
Luca Toniolo
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Add alt-entry profiles and fix sub-cycle brake transitions
Luca Toniolo
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Virtual arc for line-line junctions
Luca Toniolo
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Eliminate stale feed-override profiles with one-shot cursor and v0-aware seeding
Luca Toniolo
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Remove the hardcoded kinematics_type_id_t enum that prevented custom
Luca Toniolo
committed
G64 first draft
Luca Toniolo
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Refactor Kinematics one file per module
Luca Toniolo
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refined kins docs
Luca Toniolo
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Blending refinements
Luca Toniolo
committed
Joint-space feedforward via finite differences for planner type 2
Luca Toniolo
committed
Reset canon length units on program open
Luca Toniolo
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C2 curvature matching and path deviation for Bezier blends
Luca Toniolo
committed
Curvature-matched blends and path deviation measurement
Luca Toniolo
committed
G0/G1 blend guard, kink_vel fix, and tangential jerk budget
Luca Toniolo
committed
Collinear segment consolidation for CAM toolpaths
Luca Toniolo
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Queue depth gate: eliminate velocity spike at segment activation
Luca Toniolo
committed

Commits on Feb 21, 2026

Fix abort freeze: bypass handoff margin for stop requests in computeBranch
Luca Toniolo
committed
Bidirectional reachability cap: eliminate Working profiles from fixup and backtrack passes
Luca Toniolo
committed
Fix split-cycle elapsed_time advance: prevent velocity dip on short segments
Luca Toniolo
committed
attempt at fixing arm build
Luca Toniolo
committed
Refactor blend projection calculations in tpSetupBlend9D to normalize by delta magnitude
Luca Toniolo
committed
Refactor bezier9PathDeviation to enforce distance to corner for stricter P tolerance compliance
Luca Toniolo
committed

Commits on Feb 22, 2026

Fix feed override junction velocity mismatches in downstream profile seeding
Luca Toniolo
committed

Commits on Feb 23, 2026

Add near-active v0 reconciliation (Step 4) to fix stale-predecessor junction spikes
Luca Toniolo
committed
Fix feed override crash/recovery spikes with alt-entry chain and cleanup debug probes
Luca Toniolo
committed
Harden split-cycle junction velocity: jerk-based v0 cap, physical clamping, and alt-entry improvements
Luca Toniolo
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Fix alt-entry flythrough bail blocking junction segments during feed override
Luca Toniolo
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Invalidate stale alt-entries at writeAltEntry convergence break
Luca Toniolo
committed

Commits on Feb 24, 2026

Fix feed hold spill-over spikes with debounce exemption and branch-aware snap path
Luca Toniolo
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fix slowdown
Luca Toniolo
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Fix abort spill-over negative velocity with physics-based acceleration clamp
Luca Toniolo
committed
rolled back refactor of bezier9
Luca Toniolo
committed

Commits on Feb 25, 2026

Fix Bezier 9D tangent weighting, arc-length parameterization, and G0↔G1 transitions
Luca Toniolo
committed