ManuelW/grbl-LPC-CoreXY
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Incomplete push but working. Lots more stuff. More to come.

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- NEW! An active multi-axis step smoothing algorithm that automatically
adjusts dependent on step frequency. This solves the long standing
issue to aliasing when moving with multiple axes. Similar in scheme to
Smoothieware, but more advanced in ensuring a more consistent CPU
overhead throughout all frequencies while maintaining step exactness.

- Switched from Timer2 to Timer0 for the Step Port Reset Interrupt.
Mainly to free up hardware PWM pins.

- Seperated the direction and step pin assignments, so we can now move
them to seperate ports. This means that we can more easily support 4+
axes in the future.

- Added a setting for inverting the limit pins, as so many users have
request. Better late than never.

- Bug fix related to EEPROM calls when in cycle. The EEPROM would kill
the stepper motion. Now protocol mandates that the system be either in
IDLE or ALARM to access or change any settings.

- Bug fix related to resuming the cycle after a spindle or dwell
command if auto start has been disabled. This fix is somewhat temporary
or more of a patch. Doesn’t work with a straight call-response
streaming protocol, but works fine with serial buffer pre-filling
streaming that most clients use.

- Renamed the pin_map.h to cpu_map.h to more accurately describe what
the file is.

- Pushed an auto start bug fix upon re-initialization.

- Much more polishing to do!
This commit is contained in:
Sonny Jeon
2013-12-30 18:44:46 -07:00
parent 5ab2bb7767
commit 47cd40c8dc
14 changed files with 348 additions and 272 deletions
Download Patch File Download Diff File Expand all files Collapse all files

144
protocol.c
View File

@ -192,16 +192,10 @@ uint8_t protocol_execute_line(char *line)
{
// Grbl internal command and parameter lines are of the form '$4=374.3' or '$' for help
if(line[0] == '$') {
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case '$' : // 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(); }
@ -210,37 +204,6 @@ uint8_t protocol_execute_line(char *line)
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
else { report_gcode_modes(); }
break;
case 'C' : // Set check g-code mode
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); }
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
}
break;
case 'H' : // Perform homing cycle
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Only perform homing if Grbl is idle or lost.
if ( sys.state == STATE_IDLE || sys.state == STATE_ALARM ) {
mc_homing_cycle();
if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
} else { return(STATUS_IDLE_ERROR); }
} 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
@ -252,42 +215,81 @@ uint8_t protocol_execute_line(char *line)
// 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' : // Startup lines.
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
// on its own carefully. This approach could be effective and possibly size/memory efficient.
default :
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
switch( line[char_counter] ) {
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 'C' : // Set check g-code mode
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
report_startup_line(helper_var,line);
if (sys.state) { return(STATUS_IDLE_ERROR); }
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
}
break;
} else { // Store startup line
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods
if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
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));
}
break;
case 'X' : // Disable alarm lock
if ( line[++char_counter] != 0 ) { return(STATUS_UNSUPPORTED_STATEMENT); }
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
}
break;
case 'H' : // Perform homing cycle
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) {
// Only perform homing if Grbl is idle or lost.
mc_homing_cycle();
if (!sys.abort) { protocol_execute_startup(); } // Execute startup scripts after successful homing.
} else { return(STATUS_SETTING_DISABLED); }
break;
case 'N' : // Startup lines.
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
}
}
break;
} else { // Store startup line
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods
if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_UNSUPPORTED_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
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.