ManuelW/grbl-LPC-CoreXY
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Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command.

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NOTE: Another incremental update. Likely buggy, still a ways to go
before everything is installed, such as startup blocks.

- Changed the '$' command to print help. '$$' now prints Grbl settings.
The help now instructs the user of runtime commands, switch toggling,
homing, etc. Jogging will be added to these in v0.9.

- Added switches: block delete, opt stop, and single block mode.

- Now can print the g-code parser state and persistent parameters
(coord sys) to view what Grbl has internally.

- Made the gc struct in the g-code parser global to be able to print
the states. Also moved coordinate system tracking from sys to gc struct.

- Changed up the welcome flag and updated version to v0.8c.

- Removed spindle speed from gcode parser. Not used.
This commit is contained in:
Sonny Jeon
2012-11-01 19:48:55 -06:00
parent e0a9054e32
commit 303cf59f52
11 changed files with 570 additions and 448 deletions
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106
gcode.c
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@@ -34,62 +34,8 @@
#include "protocol.h"
#include "report.h"
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
#define MODAL_GROUP_NONE 0
#define MODAL_GROUP_0 1 // [G4,G10,G28,G30,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_1 2 // [G0,G1,G2,G3,G80] Motion
#define MODAL_GROUP_2 3 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_3 4 // [G90,G91] Distance mode
#define MODAL_GROUP_4 5 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_5 6 // [G93,G94] Feed rate mode
#define MODAL_GROUP_6 7 // [G20,G21] Units
#define MODAL_GROUP_7 8 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
#define MOTION_MODE_SEEK 0 // G0
#define MOTION_MODE_LINEAR 1 // G1
#define MOTION_MODE_CW_ARC 2 // G2
#define MOTION_MODE_CCW_ARC 3 // G3
#define MOTION_MODE_CANCEL 4 // G80
#define PROGRAM_FLOW_RUNNING 0
#define PROGRAM_FLOW_PAUSED 1 // M0, M1
#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
#define NON_MODAL_NONE 0
#define NON_MODAL_DWELL 1 // G4
#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
#define NON_MODAL_GO_HOME_0 3 // G28
#define NON_MODAL_SET_HOME_0 4 // G28.1
#define NON_MODAL_GO_HOME_1 5 // G30
#define NON_MODAL_SET_HOME_1 6 // G30.1
#define NON_MODAL_SET_COORDINATE_OFFSET 7 // G92
#define NON_MODAL_RESET_COORDINATE_OFFSET 8 //G92.1
typedef struct {
uint8_t status_code; // Parser status for current block
uint8_t motion_mode; // {G0, G1, G2, G3, G80}
uint8_t inverse_feed_rate_mode; // {G93, G94}
uint8_t inches_mode; // 0 = millimeter mode, 1 = inches mode {G20, G21}
uint8_t absolute_mode; // 0 = relative motion, 1 = absolute motion {G90, G91}
uint8_t program_flow; // {M0, M1, M2, M30}
int8_t spindle_direction; // 1 = CW, -1 = CCW, 0 = Stop {M3, M4, M5}
uint8_t coolant_mode; // 0 = Disable, 1 = Flood Enable {M8, M9}
float feed_rate, seek_rate; // Millimeters/second
float position[3]; // Where the interpreter considers the tool to be at this point in the code
uint8_t tool;
uint16_t spindle_speed; // RPM/100
uint8_t plane_axis_0,
plane_axis_1,
plane_axis_2; // The axes of the selected plane
} parser_state_t;
static parser_state_t gc;
// Declare gc extern struct
parser_state_t gc;
#define FAIL(status) gc.status_code = status;
@@ -105,10 +51,15 @@ static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
void gc_init()
{
memset(&gc, 0, sizeof(gc));
gc.feed_rate = settings.default_feed_rate;
gc.feed_rate = settings.default_feed_rate; // Should be zero at initialization.
select_plane(X_AXIS, Y_AXIS, Z_AXIS);
gc.absolute_mode = true;
// Load default G54 coordinate system.
if (!(settings_read_coord_data(gc.coord_select,gc.coord_system))) {
report_status_message(STATUS_SETTING_READ_FAIL);
}
// protocol_status_message(settings_execute_startup());
}
@@ -186,9 +137,8 @@ uint8_t gc_execute_line(char *line)
case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;
case 20: gc.inches_mode = true; break;
case 21: gc.inches_mode = false; break;
// NOTE: G28.1, G30.1 sets home position parameters. Not currently supported.
case 28: case 30:
int_value = trunc(10*value); // Multiply by 10 to pick up G92.1
int_value = trunc(10*value); // Multiply by 10 to pick up Gxx.1
switch(int_value) {
case 280: non_modal_action = NON_MODAL_GO_HOME_0; break;
case 281: non_modal_action = NON_MODAL_SET_HOME_0; break;
@@ -199,7 +149,7 @@ uint8_t gc_execute_line(char *line)
break;
case 53: absolute_override = true; break;
case 54: case 55: case 56: case 57: case 58: case 59:
sys.coord_select = int_value-54;
gc.coord_select = int_value-54;
break;
case 80: gc.motion_mode = MOTION_MODE_CANCEL; break;
case 90: gc.absolute_mode = true; break;
@@ -226,10 +176,11 @@ uint8_t gc_execute_line(char *line)
// Set 'M' commands
switch(int_value) {
case 0: gc.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
case 1: // Program pause with optional stop on
// if (sys.opt_stop) { // TODO: Add system variable for optional stop.
gc.program_flow = PROGRAM_FLOW_PAUSED; break;
// }
case 1: // Program pause with optional stop on, otherwise do nothing.
if (bit_istrue(sys.switches,BITFLAG_OPT_STOP)) {
gc.program_flow = PROGRAM_FLOW_PAUSED;
}
break;
case 2: case 30: gc.program_flow = PROGRAM_FLOW_COMPLETED; break; // Program end and reset
case 3: gc.spindle_direction = 1; break;
case 4: gc.spindle_direction = -1; break;
@@ -280,7 +231,8 @@ uint8_t gc_execute_line(char *line)
case 'R': r = to_millimeters(value); break;
case 'S':
if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
gc.spindle_speed = value;
// TBD: Spindle speed not supported due to PWM issues, but may come back once resolved.
// gc.spindle_speed = value;
break;
case 'T':
if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
@@ -304,7 +256,7 @@ uint8_t gc_execute_line(char *line)
// ([M6]: Tool change should be executed here.)
// [M3,M4,M5]: Update spindle state
spindle_run(gc.spindle_direction, gc.spindle_speed);
spindle_run(gc.spindle_direction); //, gc.spindle_speed);
// [*M7,M8,M9]: Update coolant state
coolant_run(gc.coolant_mode);
@@ -312,8 +264,8 @@ uint8_t gc_execute_line(char *line)
// [G54,G55,...,G59]: Coordinate system selection
if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_12)) ) { // Check if called in block
float coord_data[N_AXIS];
if (!(settings_read_coord_data(sys.coord_select,coord_data))) { return(STATUS_SETTING_READ_FAIL); }
memcpy(sys.coord_system,coord_data,sizeof(coord_data));
if (!(settings_read_coord_data(gc.coord_select,coord_data))) { return(STATUS_SETTING_READ_FAIL); }
memcpy(gc.coord_system,coord_data,sizeof(coord_data));
}
// [G4,G10,G28,G30,G92,G92.1]: Perform dwell, set coordinate system data, homing, or set axis offsets.
@@ -338,7 +290,7 @@ uint8_t gc_execute_line(char *line)
if (l == 20) {
settings_write_coord_data(int_value,gc.position);
// Update system coordinate system if currently active.
if (sys.coord_select == int_value) { memcpy(sys.coord_system,gc.position,sizeof(gc.position)); }
if (gc.coord_select == int_value) { memcpy(gc.coord_system,gc.position,sizeof(gc.position)); }
} else {
float coord_data[N_AXIS];
if (!settings_read_coord_data(int_value,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
@@ -349,7 +301,7 @@ uint8_t gc_execute_line(char *line)
}
settings_write_coord_data(int_value,coord_data);
// Update system coordinate system if currently active.
if (sys.coord_select == int_value) { memcpy(sys.coord_system,coord_data,sizeof(coord_data)); }
if (gc.coord_select == int_value) { memcpy(gc.coord_system,coord_data,sizeof(coord_data)); }
}
}
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
@@ -363,7 +315,7 @@ uint8_t gc_execute_line(char *line)
for (i=0; i<N_AXIS; i++) { // Axes indices are consistent, so loop may be used.
if ( bit_istrue(axis_words,bit(i)) ) {
if (gc.absolute_mode) {
target[i] += sys.coord_system[i] + sys.coord_offset[i];
target[i] += gc.coord_system[i] + gc.coord_offset[i];
} else {
target[i] += gc.position[i];
}
@@ -395,14 +347,14 @@ uint8_t gc_execute_line(char *line)
uint8_t i;
for (i=0; i<=2; i++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(i)) ) {
sys.coord_offset[i] = gc.position[i]-sys.coord_system[i]-target[i];
gc.coord_offset[i] = gc.position[i]-gc.coord_system[i]-target[i];
}
}
}
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
break;
case NON_MODAL_RESET_COORDINATE_OFFSET:
clear_vector(sys.coord_offset); // Disable G92 offsets by zeroing offset vector.
clear_vector(gc.coord_offset); // Disable G92 offsets by zeroing offset vector.
break;
}
@@ -432,7 +384,7 @@ uint8_t gc_execute_line(char *line)
if ( bit_istrue(axis_words,bit(i)) ) {
if (!absolute_override) { // Do not update target in absolute override mode
if (gc.absolute_mode) {
target[i] += sys.coord_system[i] + sys.coord_offset[i]; // Absolute mode
target[i] += gc.coord_system[i] + gc.coord_offset[i]; // Absolute mode
} else {
target[i] += gc.position[i]; // Incremental mode
}
@@ -585,9 +537,9 @@ uint8_t gc_execute_line(char *line)
// M0,M1,M2,M30: Perform non-running program flow actions. During a program pause, the buffer may
// refill and can only be resumed by the cycle start run-time command.
if (gc.program_flow) {
if (gc.program_flow || bit_istrue(sys.switches,BITFLAG_SINGLE_BLOCK)) {
plan_synchronize(); // Finish all remaining buffered motions. Program paused when complete.
sys.auto_start = false; // Disable auto cycle start.
sys.auto_start = false; // Disable auto cycle start. Forces pause until cycle start issued.
// If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9). Otherwise,
// re-enable program flow after pause complete, where cycle start will resume the program.
@@ -628,7 +580,6 @@ static int next_statement(char *letter, float *float_ptr, char *line, uint8_t *c
- A,B,C-axes
- Evaluation of expressions
- Variables
- Multiple home locations
- Probing
- Override control
- Tool changes
@@ -639,6 +590,5 @@ static int next_statement(char *letter, float *float_ptr, char *line, uint8_t *c
group 6 = {M6} (Tool change)
group 8 = {*M7} enable mist coolant
group 9 = {M48, M49} enable/disable feed and speed override switches
group 12 = {*G55, *G56, *G57, *G58, *G59, G59.1, G59.2, G59.3} coordinate system selection
group 13 = {G61, G61.1, G64} path control mode
*/