Merge commit 'cd71a90ce8a770e0030ed6c9bac805b89724e275' into dev
Conflicts: limits.c motion_control.c report.c
This commit is contained in:
Robert Grzesek
commit
2307563d8a
4
config.h
4
config.h
@ -28,6 +28,10 @@
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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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14
gcode.c
14
gcode.c
@ -101,6 +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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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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@ -215,7 +216,7 @@ uint8_t gc_execute_line(char *line)
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char_counter = 0;
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while(next_statement(&letter, &value, line, &char_counter)) {
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switch(letter) {
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case 'G': case 'M': case 'N': break; // Ignore command statements and line numbers
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case 'G': case 'M': break; // Ignore command statements and line numbers
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case 'F':
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if (value <= 0) { FAIL(STATUS_INVALID_STATEMENT); } // Must be greater than zero
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if (gc.inverse_feed_rate_mode) {
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@ -226,6 +227,7 @@ uint8_t gc_execute_line(char *line)
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break;
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case 'I': case 'J': case 'K': gc.arc_offset[letter-'I'] = to_millimeters(value); break;
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case 'L': l = trunc(value); break;
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case 'N': line_number = trunc(value); break;
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case 'P': p = value; break;
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case 'R': gc.arc_radius = to_millimeters(value); break;
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case 'S':
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@ -329,7 +331,7 @@ uint8_t gc_execute_line(char *line)
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target[idx] = gc.position[idx];
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}
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}
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mc_line(target, -1.0, false);
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mc_line(target, -1.0, false, line_number);
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}
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// Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
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float coord_data[N_AXIS];
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@ -338,7 +340,7 @@ uint8_t gc_execute_line(char *line)
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} else {
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if (!settings_read_coord_data(SETTING_INDEX_G30,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
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}
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mc_line(coord_data, -1.0, false);
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mc_line(coord_data, -1.0, false, line_number);
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memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[];
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axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
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break;
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@ -409,7 +411,7 @@ uint8_t gc_execute_line(char *line)
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break;
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case MOTION_MODE_SEEK:
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if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
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else { mc_line(target, -1.0, false); }
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else { mc_line(target, -1.0, false, line_number); }
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break;
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case MOTION_MODE_LINEAR:
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// TODO: Inverse time requires F-word with each statement. Need to do a check. Also need
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@ -417,7 +419,7 @@ uint8_t gc_execute_line(char *line)
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// and after an inverse time move and then check for non-zero feed rate each time. This
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// should be efficient and effective.
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if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);}
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else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
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else { mc_line(target, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode, line_number); }
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break;
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case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
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// Check if at least one of the axes of the selected plane has been specified. If in center
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@ -441,7 +443,7 @@ uint8_t gc_execute_line(char *line)
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// Trace the arc
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mc_arc(gc.position, target, gc.arc_offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2,
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(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,
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gc.arc_radius, isclockwise);
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gc.arc_radius, isclockwise, line_number);
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}
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break;
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}
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90
limits.c
90
limits.c
@ -83,13 +83,13 @@ void limits_disable()
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// moves in the planner and serial buffers are all cleared and newly sent blocks will be
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// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
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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 (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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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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@ -102,12 +102,12 @@ 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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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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@ -120,14 +120,14 @@ void limits_disable()
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void limits_go_home(uint8_t cycle_mask)
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{
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if (sys.abort) { return; } // Block if system reset has been issued.
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// Initialize homing in search mode to quickly engage the specified cycle_mask limit switches.
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bool approach = true;
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float homing_rate = settings.homing_seek_rate;
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uint8_t invert_pin, idx;
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uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
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float target[N_AXIS];
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// Determine travel distance to the furthest homing switch based on user max travel settings.
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// NOTE: settings.max_travel[] is stored as a negative value.
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float max_travel = settings.max_travel[X_AXIS];
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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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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); // Bypass mc_line(). Directly plan homing motion.
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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_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(); // Force disable steppers and reset step segment buffer. Ensure homing motion is cleared.
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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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@ -225,7 +225,7 @@ void limits_go_home(uint8_t cycle_mask)
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}
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}
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plan_sync_position(); // Sync planner position to current machine position for pull-off move.
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plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
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plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
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// Initiate pull-off using main motion control routines.
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// TODO : Clean up state routines so that this motion still shows homing state.
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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)
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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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{
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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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@ -68,7 +68,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
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else { break; }
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} while (1);
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plan_buffer_line(target, feed_rate, invert_feed_rate);
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plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
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// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
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// start. Otherwise ignore and continue on.
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@ -84,7 +84,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
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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)
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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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{
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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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@ -180,14 +180,14 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
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arc_target[axis_0] = center_axis0 + r_axis0;
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arc_target[axis_1] = center_axis1 + r_axis1;
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arc_target[axis_linear] += linear_per_segment;
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mc_line(arc_target, feed_rate, invert_feed_rate);
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mc_line(arc_target, feed_rate, invert_feed_rate, line_number);
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// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
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if (sys.abort) { return; }
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}
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}
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// Ensure last segment arrives at target location.
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mc_line(target, feed_rate, invert_feed_rate);
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mc_line(target, feed_rate, invert_feed_rate, line_number);
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}
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@ -225,16 +225,16 @@ void mc_homing_cycle()
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#ifdef HOMING_CYCLE_2
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limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
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#endif
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protocol_execute_runtime(); // Check for reset and set system abort.
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if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
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// Homing cycle complete! Setup system for normal operation.
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// -------------------------------------------------------------------------------------
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// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
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gc_sync_position();
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// Set idle state after homing completes and before returning to main program.
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sys.state = STATE_IDLE;
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st_go_idle(); // Set idle state after homing completes
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@ -22,18 +22,19 @@
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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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// 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);
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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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// 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);
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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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// 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)
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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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{
|
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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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@ -267,7 +267,9 @@ 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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|
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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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|
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11
planner.h
11
planner.h
@ -26,7 +26,11 @@
|
||||
|
||||
// The number of linear motions that can be in the plan at any give time
|
||||
#ifndef BLOCK_BUFFER_SIZE
|
||||
#define BLOCK_BUFFER_SIZE 18
|
||||
#ifdef USE_LINE_NUMBERS
|
||||
#define BLOCK_BUFFER_SIZE 16
|
||||
#else
|
||||
#define BLOCK_BUFFER_SIZE 18
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
|
||||
@ -47,6 +51,9 @@ typedef struct {
|
||||
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2)
|
||||
float millimeters; // The remaining distance for this block to be executed in (mm)
|
||||
// uint8_t max_override; // Maximum override value based on axis speed limits
|
||||
#ifdef USE_LINE_NUMBERS
|
||||
uint32_t line_number;
|
||||
#endif
|
||||
} plan_block_t;
|
||||
|
||||
|
||||
@ -56,7 +63,7 @@ void plan_reset();
|
||||
// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
|
||||
// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
|
||||
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
|
||||
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate);
|
||||
void plan_buffer_line(float *target, float feed_rate, uint8_t invert_feed_rate, uint32_t line_number);
|
||||
|
||||
// Called when the current block is no longer needed. Discards the block and makes the memory
|
||||
// availible for new blocks.
|
||||
|
||||
19
report.c
19
report.c
@ -32,6 +32,7 @@
|
||||
#include "settings.h"
|
||||
#include "gcode.h"
|
||||
#include "coolant_control.h"
|
||||
#include "planner.h"
|
||||
#include "spindle_control.h"
|
||||
|
||||
|
||||
@ -261,9 +262,9 @@ void report_gcode_modes()
|
||||
}
|
||||
|
||||
switch (gc.spindle_direction) {
|
||||
case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break;
|
||||
case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break;
|
||||
case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break;
|
||||
case 1 : printPgmString(PSTR(" M3")); break;
|
||||
case -1 : printPgmString(PSTR(" M4")); break;
|
||||
case 0 : printPgmString(PSTR(" M5")); break;
|
||||
}
|
||||
|
||||
switch (gc.coolant_mode) {
|
||||
@ -350,5 +351,17 @@ void report_realtime_status()
|
||||
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
||||
}
|
||||
|
||||
#ifdef USE_LINE_NUMBERS
|
||||
// Report current line number
|
||||
printPgmString(PSTR(","));
|
||||
printPgmString(PSTR("Ln:"));
|
||||
uint32_t ln=0;
|
||||
plan_block_t * pb = plan_get_current_block();
|
||||
if(pb != NULL) {
|
||||
ln = pb->line_number;
|
||||
}
|
||||
printInteger(ln);
|
||||
#endif
|
||||
|
||||
printPgmString(PSTR(">\r\n"));
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user