ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

129
protocol.c
View File

@ -135,77 +135,80 @@ uint8_t protocol_execute_line(char *line)
uint8_t char_counter = 1;
float parameter, value;
switch( line[char_counter] ) {
case 0 :
report_grbl_help();
return(STATUS_OK);
case 0 : report_grbl_help(); break;
case '$' : // Prints Grbl settings
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_grbl_settings(); }
break;
case '#' : // Print gcode parameters
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_parameters(); }
break;
case 'G' : // Prints gcode parser state
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_modes(); }
break;
// case '#' :
// if ( line[++char_counter] == 0 ) {
// // Print all parameters
// return(STATUS_OK);
// } else {
// return(STATUS_UNSUPPORTED_STATEMENT);
// }
// case 'G' : // Start up blocks
// if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
// if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
// // Extract startup block, execute, and store.
// for (char_counter = 0; char_counter < LINE_BUFFER_SIZE-3; char_counter++) {
// line[char_counter] = line[char_counter+3];
// }
// uint8_t status = gc_execute_line(line);
// if (status) { return(status); }
// else { settings_store_startup_block(line); }
// break;
case 'H' : // Perform homing cycle
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
mc_go_home();
return(STATUS_OK);
} else {
return(STATUS_SETTING_DISABLED);
}
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { mc_go_home(); }
else { return(STATUS_SETTING_DISABLED); }
break;
// // case 'J' : break; // Jogging methods
// // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
// // susceptible to other runtime commands except for e-stop. The jogging function is intended to
// // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
// // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
// // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
// // motion by repeatedly toggling to slow the motion to the desired location. Location data would
// // need to be updated real-time and supplied to the user through status queries.
// // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
// // handled by the planner. It would be possible for the jog subprogram to insert blocks into the
// // block buffer without having the planner plan them. It would need to manage de/ac-celerations
// // on its own carefully. This approach could be effective and possibly size/memory efficient.
// case 'P' : // Print g-code parameters and parser state
// if(line[char_counter] != 0) { return(STATUS_UNSUPPORTED_STATEMENT); }
//
// break;
// case 'S' : // Switch methods
// // Opt stop and block delete are referred to as switches.
// // How to store home position and work offsets real-time??
// break;
// // Parse $parameter=value settings
default :
if(!read_float(line, &char_counter, &parameter)) {
return(STATUS_BAD_NUMBER_FORMAT);
}
if(line[char_counter++] != '=') {
return(STATUS_UNSUPPORTED_STATEMENT);
}
if(!read_float(line, &char_counter, &value)) {
return(STATUS_BAD_NUMBER_FORMAT);
}
if(line[char_counter] != 0) {
return(STATUS_UNSUPPORTED_STATEMENT);
}
// case 'J' : break; // Jogging methods
// TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be
// susceptible to other runtime commands except for e-stop. The jogging function is intended to
// be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped
// steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would
// start motion and toggle off would initiate a deceleration to stop. One could 'feather' the
// motion by repeatedly toggling to slow the motion to the desired location. Location data would
// need to be updated real-time and supplied to the user through status queries.
// More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are
// handled by the planner. It would be possible for the jog subprogram to insert blocks into the
// block buffer without having the planner plan them. It would need to manage de/ac-celerations
// on its own carefully. This approach could be effective and possibly size/memory efficient.
// case 'N' : // Start up blocks
// if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
// if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
// // Extract startup block, execute, and store.
// for (char_counter = 0; char_counter < LINE_BUFFER_SIZE-3; char_counter++) {
// line[char_counter] = line[char_counter+3];
// }
// uint8_t status = gc_execute_line(line);
// if (status) { return(status); }
// else { settings_store_startup_block(line); }
// break;
case 'B' : // Toggle block delete
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
sys.switches ^= BITFLAG_BLOCK_DELETE;
if (bit_istrue(sys.switches,BITFLAG_BLOCK_DELETE)) { report_feedback_message(MESSAGE_SWITCH_ON); }
else { report_feedback_message(MESSAGE_SWITCH_OFF); }
break;
case 'S' : // Toggle single block mode
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
sys.switches ^= BITFLAG_SINGLE_BLOCK;
if (bit_istrue(sys.switches,BITFLAG_SINGLE_BLOCK)) { report_feedback_message(MESSAGE_SWITCH_ON); }
else { report_feedback_message(MESSAGE_SWITCH_OFF); }
break;
case 'O' : // Toggle optional stop
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
sys.switches ^= BITFLAG_OPT_STOP;
if (bit_istrue(sys.switches,BITFLAG_OPT_STOP)) { report_feedback_message(MESSAGE_SWITCH_ON); }
else { report_feedback_message(MESSAGE_SWITCH_OFF); }
break;
default : // Store global setting
if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter] != 0) { return(STATUS_UNSUPPORTED_STATEMENT); }
return(settings_store_global_setting(parameter, value));
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
} else {
return(gc_execute_line(line)); // Everything else is gcode
// TODO: Install option to set system alarm upon any error code received back from the
// the g-code parser. This is a common safety feature on CNCs to help prevent crashes
// if the g-code doesn't perform as intended.
}
}
@ -246,9 +249,9 @@ void protocol_process()
// Throw away whitepace and control characters
} else if (c == '/') {
// Disable block delete and throw away characters. Will ignore until EOL.
#if BLOCK_DELETE_ENABLE
if (bit_istrue(sys.switches,BITFLAG_BLOCK_DELETE)) {
iscomment = true;
#endif
}
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
iscomment = true;