Added block delete, opt stop, single block mode. New parser state and parameter feedback. Overhauled '$' command.
NOTE: Another incremental update. Likely buggy, still a ways to go before everything is installed, such as startup blocks. - Changed the '$' 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
parent
e0a9054e32
commit
303cf59f52
2
config.h
2
config.h
@ -149,7 +149,7 @@
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// TODO: The following options are set as compile-time options for now, until the next EEPROM
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// settings version has solidified. This is to prevent having to support dozens of different
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// incremental settings versions.
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#define BLOCK_DELETE_ENABLE 0 // Block delete enable/disable flag during g-code parsing
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// -> NOW CODED INTO SETTINGS #define BLOCK_DELETE_ENABLE 0 // Block delete enable/disable flag during g-code parsing
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// This parameter sets the delay time before disabling the steppers after the final block of movement.
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// A short delay ensures the steppers come to a complete stop and the residual inertial force in the
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106
gcode.c
106
gcode.c
@ -34,62 +34,8 @@
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#include "protocol.h"
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#include "report.h"
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// Define modal group internal numbers for checking multiple command violations and tracking the
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// type of command that is called in the block. A modal group is a group of g-code commands that are
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// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
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// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
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// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
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#define MODAL_GROUP_NONE 0
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#define MODAL_GROUP_0 1 // [G4,G10,G28,G30,G53,G92,G92.1] Non-modal
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#define MODAL_GROUP_1 2 // [G0,G1,G2,G3,G80] Motion
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#define MODAL_GROUP_2 3 // [G17,G18,G19] Plane selection
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#define MODAL_GROUP_3 4 // [G90,G91] Distance mode
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#define MODAL_GROUP_4 5 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_5 6 // [G93,G94] Feed rate mode
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#define MODAL_GROUP_6 7 // [G20,G21] Units
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#define MODAL_GROUP_7 8 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
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// internally by the parser to know which command to execute.
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#define MOTION_MODE_SEEK 0 // G0
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#define MOTION_MODE_LINEAR 1 // G1
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#define MOTION_MODE_CW_ARC 2 // G2
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#define MOTION_MODE_CCW_ARC 3 // G3
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#define MOTION_MODE_CANCEL 4 // G80
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#define PROGRAM_FLOW_RUNNING 0
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#define PROGRAM_FLOW_PAUSED 1 // M0, M1
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#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
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#define NON_MODAL_NONE 0
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#define NON_MODAL_DWELL 1 // G4
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#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
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#define NON_MODAL_GO_HOME_0 3 // G28
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#define NON_MODAL_SET_HOME_0 4 // G28.1
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#define NON_MODAL_GO_HOME_1 5 // G30
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#define NON_MODAL_SET_HOME_1 6 // G30.1
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#define NON_MODAL_SET_COORDINATE_OFFSET 7 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 8 //G92.1
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typedef struct {
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uint8_t status_code; // Parser status for current block
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uint8_t motion_mode; // {G0, G1, G2, G3, G80}
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uint8_t inverse_feed_rate_mode; // {G93, G94}
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uint8_t inches_mode; // 0 = millimeter mode, 1 = inches mode {G20, G21}
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uint8_t absolute_mode; // 0 = relative motion, 1 = absolute motion {G90, G91}
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uint8_t program_flow; // {M0, M1, M2, M30}
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int8_t spindle_direction; // 1 = CW, -1 = CCW, 0 = Stop {M3, M4, M5}
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uint8_t coolant_mode; // 0 = Disable, 1 = Flood Enable {M8, M9}
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float feed_rate, seek_rate; // Millimeters/second
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float position[3]; // Where the interpreter considers the tool to be at this point in the code
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uint8_t tool;
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uint16_t spindle_speed; // RPM/100
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uint8_t plane_axis_0,
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plane_axis_1,
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plane_axis_2; // The axes of the selected plane
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} parser_state_t;
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static parser_state_t gc;
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// Declare gc extern struct
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parser_state_t gc;
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#define FAIL(status) gc.status_code = status;
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@ -105,10 +51,15 @@ static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
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void gc_init()
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{
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memset(&gc, 0, sizeof(gc));
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gc.feed_rate = settings.default_feed_rate;
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gc.feed_rate = settings.default_feed_rate; // Should be zero at initialization.
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select_plane(X_AXIS, Y_AXIS, Z_AXIS);
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gc.absolute_mode = true;
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// Load default G54 coordinate system.
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if (!(settings_read_coord_data(gc.coord_select,gc.coord_system))) {
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report_status_message(STATUS_SETTING_READ_FAIL);
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}
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// protocol_status_message(settings_execute_startup());
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}
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@ -186,9 +137,8 @@ uint8_t gc_execute_line(char *line)
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case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;
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case 20: gc.inches_mode = true; break;
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case 21: gc.inches_mode = false; break;
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// NOTE: G28.1, G30.1 sets home position parameters. Not currently supported.
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case 28: case 30:
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int_value = trunc(10*value); // Multiply by 10 to pick up G92.1
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int_value = trunc(10*value); // Multiply by 10 to pick up Gxx.1
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switch(int_value) {
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case 280: non_modal_action = NON_MODAL_GO_HOME_0; break;
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case 281: non_modal_action = NON_MODAL_SET_HOME_0; break;
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@ -199,7 +149,7 @@ uint8_t gc_execute_line(char *line)
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break;
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case 53: absolute_override = true; break;
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case 54: case 55: case 56: case 57: case 58: case 59:
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sys.coord_select = int_value-54;
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gc.coord_select = int_value-54;
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break;
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case 80: gc.motion_mode = MOTION_MODE_CANCEL; break;
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case 90: gc.absolute_mode = true; break;
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@ -226,10 +176,11 @@ uint8_t gc_execute_line(char *line)
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// Set 'M' commands
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switch(int_value) {
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case 0: gc.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
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case 1: // Program pause with optional stop on
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// if (sys.opt_stop) { // TODO: Add system variable for optional stop.
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gc.program_flow = PROGRAM_FLOW_PAUSED; break;
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// }
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case 1: // Program pause with optional stop on, otherwise do nothing.
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if (bit_istrue(sys.switches,BITFLAG_OPT_STOP)) {
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gc.program_flow = PROGRAM_FLOW_PAUSED;
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}
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break;
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case 2: case 30: gc.program_flow = PROGRAM_FLOW_COMPLETED; break; // Program end and reset
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case 3: gc.spindle_direction = 1; break;
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case 4: gc.spindle_direction = -1; break;
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@ -280,7 +231,8 @@ uint8_t gc_execute_line(char *line)
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case 'R': r = to_millimeters(value); break;
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case 'S':
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if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
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gc.spindle_speed = value;
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// TBD: Spindle speed not supported due to PWM issues, but may come back once resolved.
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// gc.spindle_speed = value;
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break;
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case 'T':
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if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
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@ -304,7 +256,7 @@ uint8_t gc_execute_line(char *line)
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// ([M6]: Tool change should be executed here.)
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// [M3,M4,M5]: Update spindle state
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spindle_run(gc.spindle_direction, gc.spindle_speed);
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spindle_run(gc.spindle_direction); //, gc.spindle_speed);
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// [*M7,M8,M9]: Update coolant state
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coolant_run(gc.coolant_mode);
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@ -312,8 +264,8 @@ uint8_t gc_execute_line(char *line)
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// [G54,G55,...,G59]: Coordinate system selection
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if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_12)) ) { // Check if called in block
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float coord_data[N_AXIS];
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if (!(settings_read_coord_data(sys.coord_select,coord_data))) { return(STATUS_SETTING_READ_FAIL); }
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memcpy(sys.coord_system,coord_data,sizeof(coord_data));
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if (!(settings_read_coord_data(gc.coord_select,coord_data))) { return(STATUS_SETTING_READ_FAIL); }
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memcpy(gc.coord_system,coord_data,sizeof(coord_data));
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}
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// [G4,G10,G28,G30,G92,G92.1]: Perform dwell, set coordinate system data, homing, or set axis offsets.
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@ -338,7 +290,7 @@ uint8_t gc_execute_line(char *line)
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if (l == 20) {
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settings_write_coord_data(int_value,gc.position);
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// Update system coordinate system if currently active.
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if (sys.coord_select == int_value) { memcpy(sys.coord_system,gc.position,sizeof(gc.position)); }
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if (gc.coord_select == int_value) { memcpy(gc.coord_system,gc.position,sizeof(gc.position)); }
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} else {
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float coord_data[N_AXIS];
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if (!settings_read_coord_data(int_value,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
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@ -349,7 +301,7 @@ uint8_t gc_execute_line(char *line)
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}
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settings_write_coord_data(int_value,coord_data);
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// Update system coordinate system if currently active.
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if (sys.coord_select == int_value) { memcpy(sys.coord_system,coord_data,sizeof(coord_data)); }
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if (gc.coord_select == int_value) { memcpy(gc.coord_system,coord_data,sizeof(coord_data)); }
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}
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}
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axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
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@ -363,7 +315,7 @@ uint8_t gc_execute_line(char *line)
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for (i=0; i<N_AXIS; i++) { // Axes indices are consistent, so loop may be used.
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if ( bit_istrue(axis_words,bit(i)) ) {
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if (gc.absolute_mode) {
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target[i] += sys.coord_system[i] + sys.coord_offset[i];
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target[i] += gc.coord_system[i] + gc.coord_offset[i];
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} else {
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target[i] += gc.position[i];
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}
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@ -395,14 +347,14 @@ uint8_t gc_execute_line(char *line)
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uint8_t i;
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for (i=0; i<=2; i++) { // Axes indices are consistent, so loop may be used.
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if (bit_istrue(axis_words,bit(i)) ) {
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sys.coord_offset[i] = gc.position[i]-sys.coord_system[i]-target[i];
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gc.coord_offset[i] = gc.position[i]-gc.coord_system[i]-target[i];
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}
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}
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}
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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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case NON_MODAL_RESET_COORDINATE_OFFSET:
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clear_vector(sys.coord_offset); // Disable G92 offsets by zeroing offset vector.
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clear_vector(gc.coord_offset); // Disable G92 offsets by zeroing offset vector.
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break;
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}
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@ -432,7 +384,7 @@ uint8_t gc_execute_line(char *line)
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if ( bit_istrue(axis_words,bit(i)) ) {
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if (!absolute_override) { // Do not update target in absolute override mode
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if (gc.absolute_mode) {
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target[i] += sys.coord_system[i] + sys.coord_offset[i]; // Absolute mode
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target[i] += gc.coord_system[i] + gc.coord_offset[i]; // Absolute mode
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} else {
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target[i] += gc.position[i]; // Incremental mode
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}
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@ -585,9 +537,9 @@ uint8_t gc_execute_line(char *line)
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// M0,M1,M2,M30: Perform non-running program flow actions. During a program pause, the buffer may
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// refill and can only be resumed by the cycle start run-time command.
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if (gc.program_flow) {
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if (gc.program_flow || bit_istrue(sys.switches,BITFLAG_SINGLE_BLOCK)) {
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plan_synchronize(); // Finish all remaining buffered motions. Program paused when complete.
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sys.auto_start = false; // Disable auto cycle start.
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sys.auto_start = false; // Disable auto cycle start. Forces pause until cycle start issued.
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// If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9). Otherwise,
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// re-enable program flow after pause complete, where cycle start will resume the program.
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@ -628,7 +580,6 @@ static int next_statement(char *letter, float *float_ptr, char *line, uint8_t *c
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- A,B,C-axes
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- Evaluation of expressions
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- Variables
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- Multiple home locations
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- Probing
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- Override control
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- Tool changes
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@ -639,6 +590,5 @@ static int next_statement(char *letter, float *float_ptr, char *line, uint8_t *c
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group 6 = {M6} (Tool change)
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group 8 = {*M7} enable mist coolant
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group 9 = {M48, M49} enable/disable feed and speed override switches
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group 12 = {*G55, *G56, *G57, *G58, *G59, G59.1, G59.2, G59.3} coordinate system selection
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group 13 = {G61, G61.1, G64} path control mode
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*/
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64
gcode.h
64
gcode.h
@ -19,10 +19,72 @@
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef gcode_h
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#define gcode_h
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#include <avr/io.h>
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#include "nuts_bolts.h"
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// Define modal group internal numbers for checking multiple command violations and tracking the
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// type of command that is called in the block. A modal group is a group of g-code commands that are
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// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
|
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// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
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// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
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#define MODAL_GROUP_NONE 0
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#define MODAL_GROUP_0 1 // [G4,G10,G28,G30,G53,G92,G92.1] Non-modal
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#define MODAL_GROUP_1 2 // [G0,G1,G2,G3,G80] Motion
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#define MODAL_GROUP_2 3 // [G17,G18,G19] Plane selection
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#define MODAL_GROUP_3 4 // [G90,G91] Distance mode
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#define MODAL_GROUP_4 5 // [M0,M1,M2,M30] Stopping
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#define MODAL_GROUP_5 6 // [G93,G94] Feed rate mode
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#define MODAL_GROUP_6 7 // [G20,G21] Units
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#define MODAL_GROUP_7 8 // [M3,M4,M5] Spindle turning
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#define MODAL_GROUP_12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
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// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
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// internally by the parser to know which command to execute.
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#define MOTION_MODE_SEEK 0 // G0
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#define MOTION_MODE_LINEAR 1 // G1
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#define MOTION_MODE_CW_ARC 2 // G2
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#define MOTION_MODE_CCW_ARC 3 // G3
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#define MOTION_MODE_CANCEL 4 // G80
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#define PROGRAM_FLOW_RUNNING 0
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#define PROGRAM_FLOW_PAUSED 1 // M0, M1
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#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
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#define NON_MODAL_NONE 0
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#define NON_MODAL_DWELL 1 // G4
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#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
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#define NON_MODAL_GO_HOME_0 3 // G28
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#define NON_MODAL_SET_HOME_0 4 // G28.1
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#define NON_MODAL_GO_HOME_1 5 // G30
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#define NON_MODAL_SET_HOME_1 6 // G30.1
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#define NON_MODAL_SET_COORDINATE_OFFSET 7 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 8 //G92.1
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typedef struct {
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uint8_t status_code; // Parser status for current block
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uint8_t motion_mode; // {G0, G1, G2, G3, G80}
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uint8_t inverse_feed_rate_mode; // {G93, G94}
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uint8_t inches_mode; // 0 = millimeter mode, 1 = inches mode {G20, G21}
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uint8_t absolute_mode; // 0 = relative motion, 1 = absolute motion {G90, G91}
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uint8_t program_flow; // {M0, M1, M2, M30}
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int8_t spindle_direction; // 1 = CW, -1 = CCW, 0 = Stop {M3, M4, M5}
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uint8_t coolant_mode; // 0 = Disable, 1 = Flood Enable {M8, M9}
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float feed_rate; // Millimeters/min
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float position[3]; // Where the interpreter considers the tool to be at this point in the code
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uint8_t tool;
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// uint16_t spindle_speed; // RPM/100
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uint8_t plane_axis_0,
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plane_axis_1,
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plane_axis_2; // The axes of the selected plane
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uint8_t coord_select; // Active work coordinate system number. Default: 0=G54.
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float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
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// position in mm. Loaded from EEPROM when called.
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float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
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// machine zero in mm. Non-persistent. Cleared upon reset and boot.
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} parser_state_t;
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extern parser_state_t gc;
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// Initialize the parser
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void gc_init();
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22
nuts_bolts.h
22
nuts_bolts.h
@ -35,12 +35,12 @@
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define MM_PER_INCH (25.4)
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#define INCH_PER_MM (0.03937)
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#define MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.0393701)
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// Useful macros
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*3)
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#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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@ -86,20 +86,16 @@ typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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||||
uint8_t feed_hold; // Feed hold flag. Held true during feed hold. Released when ready to resume.
|
||||
uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
|
||||
// uint8_t switches; // Switches state bitflag variable. For settings not governed by g-code.
|
||||
uint8_t switches; // Switches state bitflag variable. For features not governed by g-code.
|
||||
|
||||
int32_t position[3]; // Real-time machine (aka home) position vector in steps.
|
||||
// NOTE: This may need to be a volatile variable, if problems arise.
|
||||
|
||||
uint8_t coord_select; // Active work coordinate system number. Default: 0=G54.
|
||||
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
|
||||
// position in mm. Loaded from EEPROM when called.
|
||||
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
|
||||
// machine zero in mm.
|
||||
// uint8_t state; // Tracks the current state of Grbl.
|
||||
// TODO: This may replace the functionality of the feed_hold and cycle_start variables. Need to
|
||||
// make sure that overall processes don't change.
|
||||
|
||||
volatile uint8_t cycle_start; // Cycle start flag. Set by stepper subsystem or main program.
|
||||
volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
|
||||
|
||||
int32_t position[3]; // Real-time machine (aka home) position vector in steps.
|
||||
// NOTE: This may need to be a volatile variable, if problems arise.
|
||||
} system_t;
|
||||
extern system_t sys;
|
||||
|
||||
|
||||
129
protocol.c
129
protocol.c
@ -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, ¶meter)) { 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, ¶meter)) {
|
||||
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, ¶meter)) { 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, ¶meter)) { 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;
|
||||
|
||||
154
report.c
154
report.c
@ -34,6 +34,8 @@
|
||||
#include <avr/pgmspace.h>
|
||||
#include "report.h"
|
||||
#include "protocol.h"
|
||||
#include "gcode.h"
|
||||
#include "coolant_control.h"
|
||||
|
||||
|
||||
// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
|
||||
@ -82,12 +84,12 @@ void report_status_message(uint8_t status_code)
|
||||
// Prints feedback messages. This serves as a centralized method to provide additional
|
||||
// user feedback for things that are not of the status message response protocol. These
|
||||
// are messages such as setup warnings and how to exit alarms.
|
||||
// NOTE: For interfaces, messages are always placed within parentheses. And if silent mode
|
||||
// is installed, the message codes are less than zero.
|
||||
// NOTE: For interfaces, messages are always placed within chevrons. And if silent mode
|
||||
// is installed, the message number codes are less than zero.
|
||||
// TODO: Install silence feedback messages option in settings
|
||||
void report_feedback_message(int8_t message_code)
|
||||
{
|
||||
printPgmString(PSTR("("));
|
||||
printPgmString(PSTR("<"));
|
||||
switch(message_code) {
|
||||
case MESSAGE_SYSTEM_ALARM:
|
||||
printPgmString(PSTR("ALARM: Check and reset Grbl")); break;
|
||||
@ -95,20 +97,37 @@ void report_feedback_message(int8_t message_code)
|
||||
printPgmString(PSTR("warning: Position may be lost")); break;
|
||||
case MESSAGE_HOMING_ENABLE:
|
||||
printPgmString(PSTR("'$H' to home. Ensure all limit switches are installed")); break;
|
||||
case MESSAGE_SWITCH_ON:
|
||||
printPgmString(PSTR("Switch enabled")); break;
|
||||
case MESSAGE_SWITCH_OFF:
|
||||
printPgmString(PSTR("Switch disabled")); break;
|
||||
}
|
||||
printPgmString(PSTR(")\r\n"));
|
||||
printPgmString(PSTR(">\r\n"));
|
||||
}
|
||||
|
||||
// Welcome message
|
||||
void report_init_message()
|
||||
{
|
||||
// Print grbl initialization message
|
||||
printPgmString(PSTR("\r\nGrbl " GRBL_VERSION));
|
||||
printPgmString(PSTR("\r\n'$' for help and to view settings\r\n"));
|
||||
printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
|
||||
}
|
||||
|
||||
|
||||
void report_grbl_help() {
|
||||
// char st_line[LINE_BUFFER_SIZE];
|
||||
// printPgmString(PSTR("\r\n\r\n Startup\r\n$100 = ")); printString(settings_read_startup(st_line,0));
|
||||
// printPgmString(PSTR("\r\n$101 = ")); printString(settings_read_startup(st_line,1));
|
||||
|
||||
// char buf[4];
|
||||
// settings_startup_string((char *)buf);
|
||||
// printPgmString(PSTR("\r\n Startup: ")); printString(buf);
|
||||
|
||||
printPgmString(PSTR("$ (help)\r\n$$ (print Grbl settings)\r\n$# (print gcode parameters)\r\n$G (print gcode parser state)"));
|
||||
printPgmString(PSTR("\r\n$x=value (store Grbl setting)\r\n$Nx=line (store startup block)\r\n$H (run homing cycle, if enabled)"));
|
||||
printPgmString(PSTR("\r\n$B (toggle block delete)\r\n$S (toggle single block mode)\r\n$O (toggle opt stop)"));
|
||||
printPgmString(PSTR("\r\n~ (cycle start)\r\n! (feed hold)\r\n? (current position)\r\n^x (reset Grbl)\r\n"));
|
||||
}
|
||||
|
||||
void report_grbl_settings() {
|
||||
printPgmString(PSTR("$0 = ")); printFloat(settings.steps_per_mm[X_AXIS]);
|
||||
printPgmString(PSTR(" (x axis, steps/mm)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
|
||||
printPgmString(PSTR(" (y axis, steps/mm)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
|
||||
@ -134,29 +153,108 @@ void report_grbl_help() {
|
||||
printPgmString(PSTR(" (homing pull-off travel, mm)\r\n$20 = ")); printInteger(settings.stepper_idle_lock_time);
|
||||
printPgmString(PSTR(" (stepper idle lock time, msec)\r\n$21 = ")); printInteger(settings.decimal_places);
|
||||
printPgmString(PSTR(" (decimal places, int)\r\n$22 = ")); printInteger(settings.n_arc_correction);
|
||||
// char st_line[LINE_BUFFER_SIZE];
|
||||
// printPgmString(PSTR("\r\n\r\n Startup\r\n$100 = ")); printString(settings_read_startup(st_line,0));
|
||||
// printPgmString(PSTR("\r\n$101 = ")); printString(settings_read_startup(st_line,1));
|
||||
|
||||
// char buf[4];
|
||||
// settings_startup_string((char *)buf);
|
||||
// printPgmString(PSTR("\r\n Startup: ")); printString(buf);
|
||||
|
||||
printPgmString(PSTR("\r\n'$x=value' to store setting"));
|
||||
// printPgmString(PSTR("\r\n'$Sx' to toggle switch\r\n"));
|
||||
printPgmString(PSTR(" (n arc correction, int)\r\n"));
|
||||
}
|
||||
|
||||
void report_gcode_parameters()
|
||||
{
|
||||
float coord_data[N_AXIS];
|
||||
uint8_t coord_select, i;
|
||||
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
|
||||
if (!(settings_read_coord_data(coord_select,coord_data))) {
|
||||
report_status_message(STATUS_SETTING_READ_FAIL);
|
||||
return;
|
||||
}
|
||||
switch (coord_select) {
|
||||
case 0: printPgmString(PSTR("G54")); break;
|
||||
case 1: printPgmString(PSTR("G55")); break;
|
||||
case 2: printPgmString(PSTR("G56")); break;
|
||||
case 3: printPgmString(PSTR("G57")); break;
|
||||
case 4: printPgmString(PSTR("G58")); break;
|
||||
case 5: printPgmString(PSTR("G59")); break;
|
||||
case 6: printPgmString(PSTR("G28")); break;
|
||||
case 7: printPgmString(PSTR("G30")); break;
|
||||
// case 8: printPgmString(PSTR("G92")); break; // G92.2, G92.3 currently not supported.
|
||||
}
|
||||
printPgmString(PSTR(":["));
|
||||
for (i=0; i<N_AXIS; i++) {
|
||||
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(coord_data[i]*INCH_PER_MM); }
|
||||
else { printFloat(coord_data[i]); }
|
||||
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
||||
else { printPgmString(PSTR("]\r\n")); }
|
||||
}
|
||||
}
|
||||
printPgmString(PSTR("G92:[")); // Print G92,G92.1 which are not persistent in memory
|
||||
for (i=0; i<N_AXIS; i++) {
|
||||
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) { printFloat(gc.coord_offset[i]*INCH_PER_MM); }
|
||||
else { printFloat(gc.coord_offset[i]); }
|
||||
if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); }
|
||||
else { printPgmString(PSTR("]\r\n")); }
|
||||
}
|
||||
}
|
||||
|
||||
void report_gcode_modes()
|
||||
{
|
||||
switch (gc.motion_mode) {
|
||||
case MOTION_MODE_SEEK : printPgmString(PSTR("G0")); break;
|
||||
case MOTION_MODE_LINEAR : printPgmString(PSTR("G1")); break;
|
||||
case MOTION_MODE_CW_ARC : printPgmString(PSTR("G2")); break;
|
||||
case MOTION_MODE_CCW_ARC : printPgmString(PSTR("G3")); break;
|
||||
case MOTION_MODE_CANCEL : printPgmString(PSTR("G80")); break;
|
||||
}
|
||||
|
||||
// void report_gcode_status()
|
||||
// {
|
||||
// // Print gcode parser state
|
||||
// }
|
||||
//
|
||||
// void report_gcode_parameters()
|
||||
// {
|
||||
// // Print gcode work coordinate offsets?
|
||||
// }
|
||||
printPgmString(PSTR(" G"));
|
||||
printInteger(gc.coord_select+54);
|
||||
|
||||
if (gc.plane_axis_0 == X_AXIS) {
|
||||
if (gc.plane_axis_1 == Y_AXIS) { printPgmString(PSTR(" G17")); }
|
||||
else { printPgmString(PSTR(" G18")); }
|
||||
} else { printPgmString(PSTR(" G19")); }
|
||||
|
||||
if (gc.inches_mode) { printPgmString(PSTR(" G20")); }
|
||||
else { printPgmString(PSTR(" G21")); }
|
||||
|
||||
if (gc.absolute_mode) { printPgmString(PSTR(" G90")); }
|
||||
else { printPgmString(PSTR(" G91")); }
|
||||
|
||||
if (gc.inverse_feed_rate_mode) { printPgmString(PSTR(" G93")); }
|
||||
else { printPgmString(PSTR(" G94")); }
|
||||
|
||||
// TODO: Check if G92 needs to be here. If so, how to track it.
|
||||
|
||||
switch (gc.program_flow) {
|
||||
case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
|
||||
case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
|
||||
case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
|
||||
}
|
||||
|
||||
switch (gc.spindle_direction) {
|
||||
case 1 : printPgmString(PSTR(" M3")); break;
|
||||
case -1 : printPgmString(PSTR(" M4")); break;
|
||||
case 0 : printPgmString(PSTR(" M5")); break;
|
||||
}
|
||||
|
||||
switch (gc.coolant_mode) {
|
||||
case COOLANT_DISABLE : printPgmString(PSTR(" M9")); break;
|
||||
case COOLANT_FLOOD_ENABLE : printPgmString(PSTR(" M8")); break;
|
||||
// case COOLANT_MIST_ENABLE : printPgmString(PSTR(" M7")); break;
|
||||
}
|
||||
|
||||
printPgmString(PSTR(" T"));
|
||||
printInteger(gc.tool);
|
||||
|
||||
printPgmString(PSTR(" F"));
|
||||
if (gc.inches_mode) { printFloat(gc.feed_rate*INCH_PER_MM); }
|
||||
else { printFloat(gc.feed_rate); }
|
||||
|
||||
if (sys.switches) {
|
||||
if (bit_istrue(sys.switches,BITFLAG_BLOCK_DELETE)) { printPgmString(PSTR(" $B")); }
|
||||
if (bit_istrue(sys.switches,BITFLAG_SINGLE_BLOCK)) { printPgmString(PSTR(" $S")); }
|
||||
if (bit_istrue(sys.switches,BITFLAG_OPT_STOP)) { printPgmString(PSTR(" $O")); }
|
||||
}
|
||||
|
||||
printPgmString(PSTR("\r\n"));
|
||||
}
|
||||
|
||||
|
||||
void report_realtime_status()
|
||||
@ -198,9 +296,9 @@ void report_realtime_status()
|
||||
printPgmString(PSTR(",WPos:["));
|
||||
for (i=0; i<= 2; i++) {
|
||||
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
|
||||
print_position[i] -= (sys.coord_system[i]+sys.coord_offset[i])*INCH_PER_MM;
|
||||
print_position[i] -= (gc.coord_system[i]+gc.coord_offset[i])*INCH_PER_MM;
|
||||
} else {
|
||||
print_position[i] -= sys.coord_system[i]+sys.coord_offset[i];
|
||||
print_position[i] -= gc.coord_system[i]+gc.coord_offset[i];
|
||||
}
|
||||
printFloat(print_position[i]);
|
||||
if (i < 2) { printPgmString(PSTR(",")); }
|
||||
|
||||
10
report.h
10
report.h
@ -39,7 +39,8 @@
|
||||
#define MESSAGE_SYSTEM_ALARM -1
|
||||
#define MESSAGE_POSITION_LOST -2
|
||||
#define MESSAGE_HOMING_ENABLE -3
|
||||
|
||||
#define MESSAGE_SWITCH_ON -4
|
||||
#define MESSAGE_SWITCH_OFF -5
|
||||
|
||||
// Prints system status messages.
|
||||
void report_status_message(uint8_t status_code);
|
||||
@ -53,7 +54,14 @@ void report_init_message();
|
||||
// Prints Grbl help and current global settings
|
||||
void report_grbl_help();
|
||||
|
||||
void report_grbl_settings();
|
||||
|
||||
// Prints realtime status report
|
||||
void report_realtime_status();
|
||||
|
||||
// Prints Grbl persistent coordinate parameters
|
||||
void report_gcode_parameters();
|
||||
|
||||
void report_gcode_modes();
|
||||
|
||||
#endif
|
||||
|
||||
@ -164,7 +164,7 @@ uint8_t read_global_settings() {
|
||||
// should be re-written to the default value, if the developmental version number changed.
|
||||
|
||||
// Grab settings regardless of error.
|
||||
memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v4_t));
|
||||
memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t));
|
||||
settings_reset(false);
|
||||
} else {
|
||||
return(false);
|
||||
|
||||
12
settings.h
12
settings.h
@ -26,7 +26,7 @@
|
||||
#include <inttypes.h>
|
||||
#include "nuts_bolts.h"
|
||||
|
||||
#define GRBL_VERSION "0.8b"
|
||||
#define GRBL_VERSION "0.8c"
|
||||
|
||||
// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
|
||||
// when firmware is upgraded. Always stored in byte 0 of eeprom
|
||||
@ -39,18 +39,21 @@
|
||||
#define BITFLAG_HARD_LIMIT_ENABLE bit(3)
|
||||
#define BITFLAG_HOMING_ENABLE bit(4)
|
||||
|
||||
// Define EEPROM memory address location values for on-demand settings and parameters
|
||||
// Define EEPROM memory address location values for Grbl settings and parameters
|
||||
// NOTE: The Atmega328p has 1KB EEPROM. The upper half is reserved for parameters and
|
||||
// the startup script. The lower half contains the global settings and space for future
|
||||
// developments.
|
||||
#define EEPROM_ADDR_GLOBAL 1
|
||||
#define EEPROM_ADDR_PARAMETERS 512
|
||||
#define EEPROM_ADDR_STARTUP_SCRIPT 768
|
||||
|
||||
// Define EEPROM address indexing for coordinate parameters
|
||||
#define N_COORDINATE_SYSTEM 6 // Number of supported work coordinate systems (from index 1)
|
||||
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+2 // Total number of system stored (from index 0)
|
||||
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+1 // Total number of system stored (from index 0)
|
||||
// NOTE: Work coordinate indices are (0=G54, 1=G55, ... , 6=G59)
|
||||
#define SETTING_INDEX_G28 N_COORDINATE_SYSTEM // Home position 1
|
||||
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM+1 // Home position 2
|
||||
#define SETTING_INDEX_G92 N_COORDINATE_SYSTEM+2 // Coordinate offset
|
||||
// #define SETTING_INDEX_G92 N_COORDINATE_SYSTEM+2 // Coordinate offset (G92.2,G92.3 not supported)
|
||||
|
||||
// Global persistent settings (Stored from byte EEPROM_ADDR_GLOBAL onwards)
|
||||
typedef struct {
|
||||
@ -72,6 +75,7 @@ typedef struct {
|
||||
uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
|
||||
uint8_t decimal_places;
|
||||
uint8_t n_arc_correction;
|
||||
// uint8_t status_report_mask; // Mask to indicate desired report data.
|
||||
} settings_t;
|
||||
extern settings_t settings;
|
||||
|
||||
|
||||
@ -43,7 +43,7 @@ void spindle_stop()
|
||||
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
|
||||
}
|
||||
|
||||
void spindle_run(int8_t direction, uint16_t rpm)
|
||||
void spindle_run(int8_t direction) //, uint16_t rpm)
|
||||
{
|
||||
if (direction != current_direction) {
|
||||
plan_synchronize();
|
||||
|
||||
@ -3,6 +3,7 @@
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
Copyright (c) 2012 Sungeun K. Jeon
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@ -24,7 +25,7 @@
|
||||
#include <avr/io.h>
|
||||
|
||||
void spindle_init();
|
||||
void spindle_run(int8_t direction, uint16_t rpm);
|
||||
void spindle_run(int8_t direction); //, uint16_t rpm);
|
||||
void spindle_stop();
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user