ManuelW/grbl-LPC-CoreXY
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Minor bug fixes and updates. Line number tracking.

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- Line number tracking was getting truncated at 255, since it was using
wrong variable type. Fixed it with a trunc().

- Increased the max number line allowed by Grbl to 9999999 from the
g-code standard 99999. The latter seems to be an arbitrary number, so
we are allowing larger ones for at least one known use case scenario.

- Created a new test directory to contain some testing g-code to proof
the firmware. Only got started with one test case so far. More will be
inserted as needed.

- Some other commenting updates to clarify certain aspects of the code.
This commit is contained in:
Sonny Jeon
2014-07-02 08:39:19 -06:00
parent 79e0e45826
commit 1ef5a45479
4 changed files with 56 additions and 15 deletions
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29
gcode.c
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@ -29,7 +29,10 @@
#include "probe.h"
#include "report.h"
#define MAX_LINE_NUMBER 99999
// NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an
// arbitrary value, and some GUIs may require more. So we increased it based on a max safe
// value when converting a float (7.2 digit precision)s to an integer.
#define MAX_LINE_NUMBER 9999999
#define AXIS_COMMAND_NONE 0
#define AXIS_COMMAND_NON_MODAL 1
@ -91,8 +94,8 @@ uint8_t gc_execute_line(char *line)
memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes
uint8_t axis_explicit = AXIS_COMMAND_NONE;
uint8_t axis_0, axis_1, axis_linear;
float coordinate_data[N_AXIS];
float parameter_data[N_AXIS];
float coordinate_data[N_AXIS]; // Multi-use variable to store coordinate data for execution
float parameter_data[N_AXIS]; // Multi-use variable to store parameter data for execution
// Initialize bitflag tracking variables for axis indices compatible operations.
uint8_t axis_words = 0; // XYZ tracking
@ -305,7 +308,7 @@ uint8_t gc_execute_line(char *line)
case 'J': word_bit = WORD_J; gc_block.values.ijk[Y_AXIS] = value; ijk_words |= (1<<Y_AXIS); break;
case 'K': word_bit = WORD_K; gc_block.values.ijk[Z_AXIS] = value; ijk_words |= (1<<Z_AXIS); break;
case 'L': word_bit = WORD_L; gc_block.values.l = int_value; break;
case 'N': word_bit = WORD_N; gc_block.values.n = int_value; break;
case 'N': word_bit = WORD_N; gc_block.values.n = trunc(value); break;
case 'P': word_bit = WORD_P; gc_block.values.p = value; break;
// NOTE: For certain commands, P value must be an integer, but none of these commands are supported.
// case 'Q': // Not supported
@ -737,16 +740,20 @@ uint8_t gc_execute_line(char *line)
if (ijk_words & bit(idx)) { gc_block.values.ijk[idx] *= MM_PER_INCH; }
}
}
// Arc radius from center to target
x -= gc_block.values.ijk[axis_0]; // Delta x between circle center and target
y -= gc_block.values.ijk[axis_1]; // Delta y between circle center and target
float target_r = hypot_f(x,y);
gc_block.values.r = hypot_f(gc_block.values.ijk[axis_0], gc_block.values.ijk[axis_1]); // Compute arc radius for mc_arc
float target_r = hypot_f(x,y);
// Compute arc radius for mc_arc. Defined from current location to center.
gc_block.values.r = hypot_f(gc_block.values.ijk[axis_0], gc_block.values.ijk[axis_1]);
target_r = fabs(target_r-gc_block.values.r);
if (target_r > 0.005) {
if (target_r > 0.5) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error]
if (target_r > 0.001*gc_block.values.r) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error]
// Compute difference between current location and target radii for final error-checks.
float delta_r = fabs(target_r-gc_block.values.r);
if (delta_r > 0.005) {
if (delta_r > 0.5) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.5mm
if (delta_r > (0.001*gc_block.values.r)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.005mm AND 0.1% radius
}
}
break;