configurations and adjustments to protocol

config.h

@@ -23,9 +23,9 @@
 
 #define VERSION "0.0"
 
-#define X_STEPS_PER_MM 10.0
-#define Y_STEPS_PER_MM 10.0
-#define Z_STEPS_PER_MM 10.0
+#define X_STEPS_PER_MM 1.0
+#define Y_STEPS_PER_MM 1.0
+#define Z_STEPS_PER_MM 1.0
 
 #define INCHES_PER_MM 25.4
 #define X_STEPS_PER_INCH X_STEPS_PER_MM*INCHES_PER_MM

gcode.c

@@ -23,7 +23,7 @@
 
 /* Intentionally not supported:
   - Canned cycles
-  - Tool radius compensatino
+  - Tool radius compensation
   - A,B,C-axes
   - Multiple coordinate systems
   - Evaluation of expressions
@@ -35,7 +35,7 @@
 
 /* 
    Omitted for the time being:
-   group 0 = {G10, G28, G30, G53, G92, G92.1, G92.2, G92.3} (Non modal G-codes)
+   group 0 = {G10, G28, G30, G92, G92.1, G92.2, G92.3} (Non modal G-codes)
    group 8 = {M7, M8, M9} coolant (special case: M7 and M8 may be active at the same time)
    group 9 = {M48, M49} enable/disable feed and speed override switches
    group 12 = {G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection
@@ -114,6 +114,7 @@ void gc_init() {
   memset(&gc, 0, sizeof(gc));
   gc.feed_rate = DEFAULT_FEEDRATE;
   select_plane(X_AXIS, Y_AXIS, Z_AXIS);
+  gc.absolute_mode = true;
 }
 
 inline float to_millimeters(double value) {
@@ -180,7 +181,7 @@ uint8_t gc_execute_line(char *line) {
       case 'M':
       switch(int_value) {
         case 0: case 1: gc.program_flow = PROGRAM_FLOW_PAUSED; break;
-        case 2: gc.program_flow = PROGRAM_FLOW_COMPLETED; break;
+        case 2: case 30: case 60: gc.program_flow = PROGRAM_FLOW_COMPLETED; break;
         case 3: gc.spindle_direction = 1; break;
         case 4: gc.spindle_direction = -1; break;
         case 5: gc.spindle_direction = 0; break;

motion_control.c

@@ -65,7 +65,7 @@ void mc_dwell(uint32_t milliseconds)
 
 // Calculate the microseconds between steps that we should wait in order to travel the 
 // designated amount of millimeters in the amount of steps we are going to generate
-void set_step_pace(double feed_rate, double millimeters_of_travel, uint32_t steps, int invert) {
+void compute_and_set_step_pace(double feed_rate, double millimeters_of_travel, uint32_t steps, int invert) {
   int32_t pace;
   if (invert) {
     pace = round(ONE_MINUTE_OF_MICROSECONDS/feed_rate/steps);
@@ -113,11 +113,11 @@ void mc_line(double x, double y, double z, float feed_rate, int invert_feed_rate
 
 	// Ask old Phytagoras to estimate how many mm our next move is going to take us
 	double millimeters_of_travel = 
-    sqrt(pow(X_STEPS_PER_MM*step_count[X_AXIS],2) + 
-        pow(Y_STEPS_PER_MM*step_count[Y_AXIS],2) + 
-        pow(Z_STEPS_PER_MM*step_count[Z_AXIS],2));
+    sqrt(square(X_STEPS_PER_MM*step_count[X_AXIS]) + 
+        square(Y_STEPS_PER_MM*step_count[Y_AXIS]) + 
+        square(Z_STEPS_PER_MM*step_count[Z_AXIS]));
   // And set the step pace
-  set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
+  compute_and_set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
   
   // Execution -----------------------------------------------------------------------------------------------
 
@@ -247,10 +247,10 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
   // Calculate feed rate -------------------------------------------------------------------------------------
   
   // We then calculate the millimeters of helical travel
-  double millimeters_of_travel = sqrt(pow(angular_travel*radius,2)+pow(abs(linear_travel),2));
+  double millimeters_of_travel = hypot(angular_travel*radius, abs(linear_travel));
   // Then we calculate the microseconds between each step as if we will trace the full circle.
   // It doesn't matter what fraction of the circle we are actually going to trace. The pace is the same.
-  set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
+  compute_and_set_step_pace(feed_rate, millimeters_of_travel, maximum_steps, invert_feed_rate);
 
   // Execution -----------------------------------------------------------------------------------------------
 

readme.txt

@@ -14,7 +14,7 @@ Status:
 * Runs on atmega168/arduino.
 * GCode interpreter complete
 * Linear interpolation machine control complete
-* Arcs complete (no helices yet)
+* Arcs and helical interpolation complete
 * Buffered, non blocking, asynchronous stepping so the rest of the system is free to generate new steps and parse 
   g-code while the steppers are still steppin' 
 * Basic serial protocol complete

serial_protocol.c

@@ -32,7 +32,7 @@ char line[BLOCK_BUFFER_SIZE];
 uint8_t line_counter;
 
 void prompt() {
-  printString(PROMPT);
+  printString("\r\n@");
   line_counter = 0;
 }
 
@@ -74,7 +74,7 @@ void sp_init()
   
   printString("\r\nGrbl ");
   printString(VERSION);
-  printByte('\r');  
+  printString("\r\n");  
   prompt();
 }
 
@@ -85,9 +85,12 @@ void sp_process()
   {
     if((c < 32)) {  // Line is complete. Then execute!
       line[line_counter] = 0;
+      // printByte('"');
+      // printString(line);
+      // printByte('"');
       gc_execute_line(line);
       line_counter = 0;
-      print_result();
+      //print_result();
       prompt();
     } else if (c == ' ' || c == '\t') { // Throw away whitepace
     } else if (c >= 'a' && c <= 'z') { // Upcase lowercase