Minor updates to line number feature.
- Changed line number integer types from unsigned to signed int32. G-code mandates values cannot exceed 99999. Negative values can be used to indicate certain modes. - Homing cycle line number changed to -1, as an indicator. - Fixed a reporting define for the spindle states that was broken by the last merge.
This commit is contained in:
Sonny Jeon
parent
9c95c1439f
commit
1fd45791a5
8
config.h
8
config.h
@ -28,10 +28,6 @@
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#ifndef config_h
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#define config_h
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// Allows GRBL to tranck and report gcode line numbers. Enabling this means that the planning buffer
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// goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct
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#define USE_LINE_NUMBERS
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// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
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#define DEFAULTS_SHERLINE_5400
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@ -88,6 +84,10 @@
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// parser state depending on user preferences.
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#define N_STARTUP_LINE 2 // Integer (1-3)
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// Allows GRBL to tranck and report gcode line numbers. Enabling this means that the planning buffer
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// goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct
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// #define USE_LINE_NUMBERS
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// Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
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// analog pin 5. Only use this option if you require a second coolant control pin.
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// NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless.
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2
gcode.c
2
gcode.c
@ -101,7 +101,7 @@ uint8_t gc_execute_line(char *line)
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float target[N_AXIS];
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clear_vector(target); // XYZ(ABC) axes parameters.
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uint32_t line_number = 0;
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int32_t line_number = 0;
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gc.arc_radius = 0;
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clear_vector(gc.arc_offset); // IJK Arc offsets are incremental. Value of zero indicates no change.
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92
limits.c
92
limits.c
@ -85,11 +85,11 @@ void limits_disable()
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// limit setting if their limits are constantly triggering after a reset and move their axes.
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if (sys.state != STATE_ALARM) {
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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}
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#else // OPTIONAL: Software debounce limit pin routine.
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// Upon limit pin change, enable watchdog timer to create a short delay.
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ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
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@ -102,11 +102,11 @@ void limits_disable()
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// Check limit pin state.
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
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if (bits & LIMIT_MASK) {
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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}
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#endif
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@ -142,58 +142,58 @@ void limits_go_home(uint8_t cycle_mask)
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { invert_pin = approach; }
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else { invert_pin = !approach; }
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// Set target location and rate for active axes.
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uint8_t n_active_axis = 0;
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// Set target location and rate for active axes.
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uint8_t n_active_axis = 0;
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for (idx=0; idx<N_AXIS; idx++) {
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if (bit_istrue(cycle_mask,bit(idx))) {
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n_active_axis++;
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n_active_axis++;
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if (!approach) { target[idx] = -max_travel; }
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else { target[idx] = max_travel; }
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} else {
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} else {
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target[idx] = 0.0;
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}
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}
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if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
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if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
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if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
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}
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}
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if (bit_istrue(settings.homing_dir_mask,(1<<X_DIRECTION_BIT))) { target[X_AXIS] = -target[X_AXIS]; }
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if (bit_istrue(settings.homing_dir_mask,(1<<Y_DIRECTION_BIT))) { target[Y_AXIS] = -target[Y_AXIS]; }
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if (bit_istrue(settings.homing_dir_mask,(1<<Z_DIRECTION_BIT))) { target[Z_AXIS] = -target[Z_AXIS]; }
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homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
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homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
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// Reset homing axis locks based on cycle mask.
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uint8_t axislock = 0;
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if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
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if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
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if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
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sys.homing_axis_lock = axislock;
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// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
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uint8_t limit_state;
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plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
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st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
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st_wake_up(); // Initiate motion
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do {
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// Check limit state. Lock out cycle axes when they change.
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limit_state = LIMIT_PIN;
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if (invert_pin) { limit_state ^= LIMIT_MASK; }
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if (axislock & (1<<X_STEP_BIT)) {
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if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
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}
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if (axislock & (1<<Y_STEP_BIT)) {
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if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
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}
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if (axislock & (1<<Z_STEP_BIT)) {
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if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
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}
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// Reset homing axis locks based on cycle mask.
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uint8_t axislock = 0;
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if (bit_istrue(cycle_mask,bit(X_AXIS))) { axislock |= (1<<X_STEP_BIT); }
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if (bit_istrue(cycle_mask,bit(Y_AXIS))) { axislock |= (1<<Y_STEP_BIT); }
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if (bit_istrue(cycle_mask,bit(Z_AXIS))) { axislock |= (1<<Z_STEP_BIT); }
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sys.homing_axis_lock = axislock;
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// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
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uint8_t limit_state;
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plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
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st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
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st_wake_up(); // Initiate motion
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do {
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// Check limit state. Lock out cycle axes when they change.
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limit_state = LIMIT_PIN;
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if (invert_pin) { limit_state ^= LIMIT_MASK; }
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if (axislock & (1<<X_STEP_BIT)) {
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if (limit_state & (1<<X_LIMIT_BIT)) { axislock &= ~(1<<X_STEP_BIT); }
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}
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if (axislock & (1<<Y_STEP_BIT)) {
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if (limit_state & (1<<Y_LIMIT_BIT)) { axislock &= ~(1<<Y_STEP_BIT); }
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}
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if (axislock & (1<<Z_STEP_BIT)) {
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if (limit_state & (1<<Z_LIMIT_BIT)) { axislock &= ~(1<<Z_STEP_BIT); }
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}
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sys.homing_axis_lock = axislock;
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st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
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// Check only for user reset. No time to run protocol_execute_runtime() in this loop.
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if (sys.execute & EXEC_RESET) { protocol_execute_runtime(); return; }
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} while (STEP_MASK & axislock);
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} while (STEP_MASK & axislock);
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st_reset(); // Immediately force kill steppers and reset step segment buffer.
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plan_reset(); // Reset planner buffer. Zero planner positions. Ensure homing motion is cleared.
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delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
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delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
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// Reverse direction and reset homing rate for locate cycle(s).
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homing_rate = settings.homing_feed_rate;
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@ -39,7 +39,7 @@
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// segments, must pass through this routine before being passed to the planner. The seperation of
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// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
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// in the planner and to let backlash compensation or canned cycle integration simple and direct.
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number)
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
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{
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// If enabled, check for soft limit violations. Placed here all line motions are picked up
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// from everywhere in Grbl.
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@ -87,7 +87,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t
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// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
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// distance from segment to the circle when the end points both lie on the circle.
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void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, uint32_t line_number)
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uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, int32_t line_number)
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{
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float center_axis0 = position[axis_0] + offset[axis_0];
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float center_axis1 = position[axis_1] + offset[axis_1];
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@ -22,19 +22,20 @@
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#ifndef motion_control_h
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#define motion_control_h
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#define HOMING_CYCLE_LINE_NUMBER 1000000000
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#define HOMING_CYCLE_LINE_NUMBER -1
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// (1 minute)/feed_rate time.
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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// Execute an arc in offset mode format. position == current xyz, target == target xyz,
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// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
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// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
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// for vector transformation direction.
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void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, uint32_t line_number);
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uint8_t axis_linear, float feed_rate, uint8_t invert_feed_rate, float radius, uint8_t isclockwise, int32_t line_number);
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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@ -259,7 +259,7 @@ uint8_t plan_check_full_buffer()
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is used in three ways: as a normal feed rate if invert_feed_rate is false, as inverse time if
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invert_feed_rate is true, or as seek/rapids rate if the feed_rate value is negative (and
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invert_feed_rate always false). */
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number)
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
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{
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// Prepare and initialize new block
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plan_block_t *block = &block_buffer[block_buffer_head];
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@ -267,9 +267,10 @@ void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate,
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block->millimeters = 0;
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block->direction_bits = 0;
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block->acceleration = SOME_LARGE_VALUE; // Scaled down to maximum acceleration later
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#ifdef USE_LINE_NUMBERS
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block->line_number = line_number;
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#endif
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#ifdef USE_LINE_NUMBERS
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block->line_number = line_number;
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#endif
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// Compute and store initial move distance data.
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// TODO: After this for-loop, we don't touch the stepper algorithm data. Might be a good idea
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// to try to keep these types of things completely separate from the planner for portability.
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@ -51,9 +51,10 @@ typedef struct {
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float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2)
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float millimeters; // The remaining distance for this block to be executed in (mm)
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// uint8_t max_override; // Maximum override value based on axis speed limits
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#ifdef USE_LINE_NUMBERS
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uint32_t line_number;
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#endif
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#ifdef USE_LINE_NUMBERS
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int32_t line_number;
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#endif
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} plan_block_t;
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@ -63,7 +64,7 @@ void plan_reset();
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// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
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// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
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void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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// Called when the current block is no longer needed. Discards the block and makes the memory
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// availible for new blocks.
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11
report.c
11
report.c
@ -262,9 +262,9 @@ void report_gcode_modes()
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}
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switch (gc.spindle_direction) {
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case 1 : printPgmString(PSTR(" M3")); break;
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case -1 : printPgmString(PSTR(" M4")); break;
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case 0 : printPgmString(PSTR(" M5")); break;
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case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break;
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case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break;
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case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break;
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}
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switch (gc.coolant_mode) {
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@ -353,9 +353,8 @@ void report_realtime_status()
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#ifdef USE_LINE_NUMBERS
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// Report current line number
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printPgmString(PSTR(","));
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printPgmString(PSTR("Ln:"));
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uint32_t ln=0;
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printPgmString(PSTR(",Ln:"));
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int32_t ln=0;
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plan_block_t * pb = plan_get_current_block();
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if(pb != NULL) {
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ln = pb->line_number;
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