G54 work coordinate support (w/ G10,G92.1). Re-factored g-code parser with error checking. Minor compiler compatibility changes.
- G54 work coordinate system support. Up to 6 work coordinate systems (G54-G59) available as a compile-time option. - G10 command added to set work coordinate offsets from machine position. - G92/G92.1 position offsets and cancellation support. Properly follows NIST standard rules with other systems. - G53 absolute override now works correctly with new coordinate systems. - Revamped g-code parser with robust error checking. Providing user feedback with bad commands. Follows NIST standards. - Planner module slightly changed to only expected position movements in terms of machine coordinates only. This was to simplify coordinate system handling, which is done solely by the g-code parser. - Upon grbl system abort, machine position and work positions are retained, while G92 offsets are reset per NIST standards. - Compiler compatibility update for _delay_us(). - Updated README.
This commit is contained in:
Sonny Jeon
parent
b51e902530
commit
567fbf93ed
4
config.h
4
config.h
@ -65,6 +65,10 @@
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#define CMD_CYCLE_START '~'
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#define CMD_RESET 0x18 // ctrl-x
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// Specifies the number of work coordinate systems grbl will support (G54 - G59).
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// This parameter must be one or greater, currently supporting up to a value of 6.
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#define N_COORDINATE_SYSTEM 1
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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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// CNC axes don't cause the axes to drift off position. This is particularly important when manually
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413
gcode.c
413
gcode.c
@ -32,42 +32,53 @@
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#include "errno.h"
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#include "protocol.h"
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#define NEXT_ACTION_DEFAULT 0
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#define NEXT_ACTION_DWELL 1
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#define NEXT_ACTION_GO_HOME 2
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#define NEXT_ACTION_SET_COORDINATE_OFFSET 3
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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 PATH_CONTROL_MODE_EXACT_PATH 0
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#define PATH_CONTROL_MODE_EXACT_STOP 1
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#define PATH_CONTROL_MODE_CONTINOUS 2
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#define PROGRAM_FLOW_RUNNING 0
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#define PROGRAM_FLOW_PAUSED 1
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#define PROGRAM_FLOW_OPT_PAUSED 2
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#define PROGRAM_FLOW_COMPLETED 3
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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 SPINDLE_DIRECTION_CW 0
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#define SPINDLE_DIRECTION_CCW 1
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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 3 // G28,G30
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#define NON_MODAL_SET_COORDINATE_OFFSET 4 // G92
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#define NON_MODAL_RESET_COORDINATE_OFFSET 5 //G92.1
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typedef struct {
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uint8_t status_code;
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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;
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int8_t spindle_direction;
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double feed_rate, seek_rate; /* Millimeters/second */
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double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
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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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double feed_rate, seek_rate; // Millimeters/second
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double 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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int16_t spindle_speed; /* RPM/100 */
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int16_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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@ -89,12 +100,11 @@ 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.seek_rate = settings.default_seek_rate;
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select_plane(X_AXIS, Y_AXIS, Z_AXIS);
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gc.absolute_mode = true;
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}
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// Set g-code parser position. Input in steps.
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// Sets g-code parser position in mm. Input in steps. Called by the system abort routine.
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void gc_set_current_position(int32_t x, int32_t y, int32_t z)
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{
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gc.position[X_AXIS] = x/settings.steps_per_mm[X_AXIS];
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@ -102,63 +112,104 @@ void gc_set_current_position(int32_t x, int32_t y, int32_t z)
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gc.position[Z_AXIS] = z/settings.steps_per_mm[Z_AXIS];
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}
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static float to_millimeters(double value) {
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static float to_millimeters(double value)
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{
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return(gc.inches_mode ? (value * MM_PER_INCH) : value);
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}
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// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
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// characters and signed floating point values (no whitespace). Comments and block delete
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// characters have been removed.
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// characters have been removed. All units and positions are converted and exported to grbl's
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// internal functions in terms of (mm, mm/min) and absolute machine coordinates, respectively.
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uint8_t gc_execute_line(char *line)
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{
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uint8_t char_counter = 0;
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char letter;
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double value;
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double unit_converted_value;
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double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
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uint8_t radius_mode = false;
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int int_value;
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uint8_t absolute_override = false; /* 1 = absolute motion for this block only {G53} */
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uint8_t next_action = NEXT_ACTION_DEFAULT; /* The action that will be taken by the parsed line */
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uint16_t modal_group_words = 0; // Bitflag variable to track and check modal group words in block
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uint8_t axis_words = 0; // Bitflag to track which XYZ(ABC) parameters exist in block
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double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
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uint8_t absolute_override = false; // true(1) = absolute motion for this block only {G53}
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uint8_t non_modal_action = NON_MODAL_NONE; // Tracks the actions of modal group 0 (non-modal)
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double target[3], offset[3];
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double p = 0, r = 0;
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int int_value;
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clear_vector(target); // XYZ(ABC) axes parameters.
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clear_vector(offset); // IJK Arc offsets are incremental. Value of zero indicates no change.
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gc.status_code = STATUS_OK;
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// Pass 1: Commands
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/* Pass 1: Commands and set all modes. Check for modal group violations.
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NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
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uint8_t group_number = MODAL_GROUP_NONE;
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while(next_statement(&letter, &value, line, &char_counter)) {
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int_value = trunc(value);
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switch(letter) {
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case 'G':
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// Set modal group values
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switch(int_value) {
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case 4: case 10: case 28: case 30: case 53: case 92: group_number = MODAL_GROUP_0; break;
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case 0: case 1: case 2: case 3: case 80: group_number = MODAL_GROUP_1; break;
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case 17: case 18: case 19: group_number = MODAL_GROUP_2; break;
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case 90: case 91: group_number = MODAL_GROUP_3; break;
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case 93: case 94: group_number = MODAL_GROUP_5; break;
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case 20: case 21: group_number = MODAL_GROUP_6; break;
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case 54: case 55: case 56: case 57: case 58: case 59: group_number = MODAL_GROUP_12; break;
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}
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// Set 'G' commands
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switch(int_value) {
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case 0: gc.motion_mode = MOTION_MODE_SEEK; break;
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case 1: gc.motion_mode = MOTION_MODE_LINEAR; break;
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case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break;
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case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break;
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case 4: next_action = NEXT_ACTION_DWELL; break;
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case 4: non_modal_action = NON_MODAL_DWELL; break;
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case 10: non_modal_action = NON_MODAL_SET_COORDINATE_DATA; break;
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case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break;
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case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break;
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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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case 28: case 30: next_action = NEXT_ACTION_GO_HOME; break;
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case 28: case 30: non_modal_action = NON_MODAL_GO_HOME; break;
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case 53: absolute_override = true; break;
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case 80: gc.motion_mode = MOTION_MODE_CANCEL; break;
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case 54: case 55: case 56: case 57: case 58: case 59:
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int_value -= 54; // Compute coordinate system row index (0=G54,1=G55,...)
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if (int_value < N_COORDINATE_SYSTEM) {
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sys.coord_select = int_value;
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} else {
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FAIL(STATUS_UNSUPPORTED_STATEMENT);
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}
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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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case 91: gc.absolute_mode = false; break;
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case 92: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET; break;
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case 92:
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int_value = trunc(10*value); // Multiply by 10 to pick up G92.1
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switch(int_value) {
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case 920: non_modal_action = NON_MODAL_SET_COORDINATE_OFFSET; break;
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case 921: non_modal_action = NON_MODAL_RESET_COORDINATE_OFFSET; break;
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default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
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}
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break;
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case 93: gc.inverse_feed_rate_mode = true; break;
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case 94: gc.inverse_feed_rate_mode = false; break;
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default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
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}
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break;
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break;
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case 'M':
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// Set modal group values
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switch(int_value) {
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case 0: case 60: gc.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
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case 1: gc.program_flow = PROGRAM_FLOW_OPT_PAUSED; break; // Program pause with optional stop on
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case 0: case 1: case 2: case 30: group_number = MODAL_GROUP_4; break;
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case 3: case 4: case 5: group_number = MODAL_GROUP_7; break;
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}
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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 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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@ -166,75 +217,197 @@ uint8_t gc_execute_line(char *line)
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default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
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}
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break;
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case 'T': gc.tool = trunc(value); break;
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}
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// Check for modal group multiple command violations in the current block
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if (group_number) {
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if ( bit_istrue(modal_group_words,bit(group_number)) ) {
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FAIL(STATUS_MODAL_GROUP_VIOLATION);
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} else {
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bit_true(modal_group_words,bit(group_number));
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}
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group_number = MODAL_GROUP_NONE; // Reset for next command.
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}
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if(gc.status_code) { break; }
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}
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}
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// If there were any errors parsing this line, we will return right away with the bad news
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if (gc.status_code) { return(gc.status_code); }
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/* Pass 2: Parameters. All units converted according to current block commands. Position
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parameters are converted and flagged to indicate a change. These can have multiple connotations
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for different commands. Each will be converted to their proper value upon execution. */
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double p = 0, r = 0;
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uint8_t l = 0;
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char_counter = 0;
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clear_vector(target);
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clear_vector(offset);
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memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position
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// Pass 2: Parameters
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while(next_statement(&letter, &value, line, &char_counter)) {
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int_value = trunc(value);
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unit_converted_value = to_millimeters(value);
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switch(letter) {
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case 'F':
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if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // Must be greater than zero
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if (value <= 0) { FAIL(STATUS_INVALID_COMMAND); } // Must be greater than zero
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if (gc.inverse_feed_rate_mode) {
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inverse_feed_rate = unit_converted_value; // seconds per motion for this motion only
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inverse_feed_rate = to_millimeters(value); // seconds per motion for this motion only
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} else {
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if (gc.motion_mode == MOTION_MODE_SEEK) {
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gc.seek_rate = unit_converted_value;
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} else {
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gc.feed_rate = unit_converted_value; // millimeters per minute
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}
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gc.feed_rate = to_millimeters(value); // millimeters per minute
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}
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break;
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case 'I': case 'J': case 'K': offset[letter-'I'] = unit_converted_value; break;
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case 'P': p = value; break;
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case 'R': r = unit_converted_value; radius_mode = true; break;
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case 'S': gc.spindle_speed = value; break;
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case 'X': case 'Y': case 'Z':
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if (gc.absolute_mode || absolute_override) {
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target[letter - 'X'] = unit_converted_value;
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} else {
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target[letter - 'X'] += unit_converted_value;
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}
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case 'I': case 'J': case 'K': offset[letter-'I'] = to_millimeters(value); break;
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case 'L': l = trunc(value); break;
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case 'P': p = value; break;
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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_COMMAND); } // Cannot be negative
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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_COMMAND); } // Cannot be negative
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gc.tool = trunc(value);
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break;
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case 'X': target[X_AXIS] = to_millimeters(value); bit_true(axis_words,bit(X_AXIS)); break;
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case 'Y': target[Y_AXIS] = to_millimeters(value); bit_true(axis_words,bit(Y_AXIS)); break;
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case 'Z': target[Z_AXIS] = to_millimeters(value); bit_true(axis_words,bit(Z_AXIS)); break;
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}
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}
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// If there were any errors parsing this line, we will return right away with the bad news
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if (gc.status_code) { return(gc.status_code); }
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// Update spindle state
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/* Execute Commands: Perform by order of execution defined in NIST RS274-NGC.v3, Table 8, pg.41.
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NOTE: Independent non-motion/settings parameters are set out of this order for code efficiency
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and simplicity purposes, but this should not affect proper g-code execution. */
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// ([M6]: Tool change execution 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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// Perform any physical actions
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switch (next_action) {
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case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector_double(target); break;
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case NEXT_ACTION_DWELL: mc_dwell(p); break;
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case NEXT_ACTION_SET_COORDINATE_OFFSET:
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mc_set_coordinate_offset(target[X_AXIS],target[Y_AXIS],target[Z_AXIS]);
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// ([M7,M8,M9]: Coolant state should be executed here.)
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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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// NOTE: These commands are in the same modal group, hence are mutually exclusive. G53 is in this
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// modal group and do not effect these actions.
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switch (non_modal_action) {
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case NON_MODAL_DWELL:
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if (p < 0) { // Time cannot be negative.
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FAIL(STATUS_INVALID_COMMAND);
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} else {
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mc_dwell(p);
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}
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break;
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case NEXT_ACTION_DEFAULT:
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switch (gc.motion_mode) {
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case MOTION_MODE_CANCEL: break;
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case MOTION_MODE_SEEK:
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mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false);
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break;
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case MOTION_MODE_LINEAR:
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mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],
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(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode);
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break;
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case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
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if (radius_mode) {
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case NON_MODAL_SET_COORDINATE_DATA:
|
||||
int_value = trunc(p); // Convert p value to int.
|
||||
if (l != 2 || (int_value < 1 || int_value > N_COORDINATE_SYSTEM)) { // L2 only. P1=G54, P2=G55, ...
|
||||
FAIL(STATUS_UNSUPPORTED_STATEMENT);
|
||||
} else if (!axis_words) { // No axis words.
|
||||
FAIL(STATUS_INVALID_COMMAND);
|
||||
} else {
|
||||
int_value--; // Adjust p to be inline with row array index.
|
||||
// Update axes defined only in block. Always in machine coordinates. Can change non-active system.
|
||||
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_system[int_value][i] = target[i]; }
|
||||
}
|
||||
}
|
||||
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
|
||||
break;
|
||||
case NON_MODAL_GO_HOME:
|
||||
// Move to intermediate position before going home. Obeys current coordinate system and offsets
|
||||
// and absolute and incremental modes.
|
||||
if (axis_words) {
|
||||
// Apply absolute mode coordinate offsets or incremental mode offsets.
|
||||
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)) ) {
|
||||
if (gc.absolute_mode) {
|
||||
target[i] += sys.coord_system[sys.coord_select][i] + sys.coord_offset[i];
|
||||
} else {
|
||||
target[i] += gc.position[i];
|
||||
}
|
||||
} else {
|
||||
target[i] = gc.position[i];
|
||||
}
|
||||
}
|
||||
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], settings.default_seek_rate, false);
|
||||
}
|
||||
mc_go_home();
|
||||
clear_vector(gc.position); // Assumes home is at [0,0,0]
|
||||
axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
|
||||
break;
|
||||
case NON_MODAL_SET_COORDINATE_OFFSET:
|
||||
if (!axis_words) { // No axis words
|
||||
FAIL(STATUS_INVALID_COMMAND);
|
||||
} else {
|
||||
// Update axes defined only in block. Offsets current system to defined value. Does not update when
|
||||
// active coordinate system is selected, but is still active unless G92.1 disables it.
|
||||
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[sys.coord_select][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.
|
||||
break;
|
||||
}
|
||||
|
||||
// [G0,G1,G2,G3,G80]: Perform motion modes.
|
||||
// NOTE: Commands G10,G28,G30,G92 lock out and prevent axis words from use in motion modes.
|
||||
// Enter motion modes only if there are axis words or a motion mode command word in the block.
|
||||
if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_1)) || axis_words ) {
|
||||
|
||||
// G1,G2,G3 require F word in inverse time mode.
|
||||
if ( gc.inverse_feed_rate_mode ) {
|
||||
if (inverse_feed_rate < 0 && gc.motion_mode != MOTION_MODE_CANCEL) {
|
||||
FAIL(STATUS_INVALID_COMMAND);
|
||||
}
|
||||
}
|
||||
// Absolute override G53 only valid with G0 and G1 active.
|
||||
if ( absolute_override && !(gc.motion_mode == MOTION_MODE_SEEK || gc.motion_mode == MOTION_MODE_LINEAR)) {
|
||||
FAIL(STATUS_INVALID_COMMAND);
|
||||
}
|
||||
// Report any errors.
|
||||
if (gc.status_code) { return(gc.status_code); }
|
||||
|
||||
// Convert all target position data to machine coordinates for executing motion. Apply
|
||||
// absolute mode coordinate offsets or incremental mode offsets.
|
||||
// NOTE: Tool offsets may be appended to these conversions when/if this feature is added.
|
||||
uint8_t i;
|
||||
for (i=0; i<=2; i++) { // Axes indices are consistent, so loop may be used to save flash space.
|
||||
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[sys.coord_select][i] + sys.coord_offset[i]; // Absolute mode
|
||||
} else {
|
||||
target[i] += gc.position[i]; // Incremental mode
|
||||
}
|
||||
}
|
||||
} else {
|
||||
target[i] = gc.position[i]; // No axis word in block. Keep same axis position.
|
||||
}
|
||||
}
|
||||
|
||||
switch (gc.motion_mode) {
|
||||
case MOTION_MODE_CANCEL:
|
||||
if (axis_words) { FAIL(STATUS_INVALID_COMMAND); } // No axis words allowed while active.
|
||||
break;
|
||||
case MOTION_MODE_SEEK:
|
||||
if (!axis_words) { FAIL(STATUS_INVALID_COMMAND);}
|
||||
else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], settings.default_seek_rate, false); }
|
||||
break;
|
||||
case MOTION_MODE_LINEAR:
|
||||
if (!axis_words) { FAIL(STATUS_INVALID_COMMAND);}
|
||||
else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],
|
||||
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); }
|
||||
break;
|
||||
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
|
||||
// Check if at least one of the axes of the selected plane has been specified. If in center
|
||||
// format arc mode, also check for at least one of the IJK axes of the selected plane was sent.
|
||||
if ( !( bit_false(axis_words,bit(gc.plane_axis_2)) ) ||
|
||||
( !r && !offset[gc.plane_axis_0] && !offset[gc.plane_axis_1] ) ) {
|
||||
FAIL(STATUS_INVALID_COMMAND);
|
||||
} else {
|
||||
if (r != 0) { // Arc Radius Mode
|
||||
/*
|
||||
We need to calculate the center of the circle that has the designated radius and passes
|
||||
through both the current position and the target position. This method calculates the following
|
||||
@ -325,11 +498,9 @@ uint8_t gc_execute_line(char *line)
|
||||
// Complete the operation by calculating the actual center of the arc
|
||||
offset[gc.plane_axis_0] = 0.5*(x-(y*h_x2_div_d));
|
||||
offset[gc.plane_axis_1] = 0.5*(y+(x*h_x2_div_d));
|
||||
|
||||
} else { // Offset mode specific computations
|
||||
|
||||
|
||||
} else { // Arc Center Format Offset Mode
|
||||
r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); // Compute arc radius for mc_arc
|
||||
|
||||
}
|
||||
|
||||
// Set clockwise/counter-clockwise sign for mc_arc computations
|
||||
@ -340,29 +511,28 @@ uint8_t gc_execute_line(char *line)
|
||||
mc_arc(gc.position, target, offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2,
|
||||
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,
|
||||
r, isclockwise);
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
// Report any errors.
|
||||
if (gc.status_code) { return(gc.status_code); }
|
||||
|
||||
// As far as the parser is concerned, the position is now == target. In reality the
|
||||
// motion control system might still be processing the action and the real tool position
|
||||
// in any intermediate location.
|
||||
memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
|
||||
}
|
||||
|
||||
// As far as the parser is concerned, the position is now == target. In reality the
|
||||
// motion control system might still be processing the action and the real tool position
|
||||
// in any intermediate location.
|
||||
memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
|
||||
|
||||
// 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.
|
||||
// TODO: Install optional stop setting and re-factor program flow actions.
|
||||
// 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) {
|
||||
plan_synchronize(); // Finish all remaining buffered motions. Program paused when complete.
|
||||
sys.auto_start = false; // Disable auto cycle start.
|
||||
switch (gc.program_flow) {
|
||||
case PROGRAM_FLOW_PAUSED: case PROGRAM_FLOW_OPT_PAUSED:
|
||||
gc.program_flow = PROGRAM_FLOW_RUNNING; // Re-enable program flow after pause complete.
|
||||
break;
|
||||
// Reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9)
|
||||
case PROGRAM_FLOW_COMPLETED: sys.abort = true; break;
|
||||
}
|
||||
gc.program_flow = PROGRAM_FLOW_RUNNING; // Re-enable program flow after pause complete.
|
||||
|
||||
// If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9)
|
||||
if (gc.program_flow == PROGRAM_FLOW_COMPLETED) { sys.abort = true; }
|
||||
}
|
||||
|
||||
return(gc.status_code);
|
||||
@ -391,21 +561,24 @@ static int next_statement(char *letter, double *double_ptr, char *line, uint8_t
|
||||
}
|
||||
|
||||
/*
|
||||
Intentionally not supported:
|
||||
Not supported:
|
||||
|
||||
- Canned cycles
|
||||
- Tool radius compensation
|
||||
- A,B,C-axes
|
||||
- Multiple coordinate systems
|
||||
- Evaluation of expressions
|
||||
- Variables
|
||||
- Multiple home locations
|
||||
- Multiple coordinate systems (May be added in the future)
|
||||
- Probing
|
||||
- Override control
|
||||
- Tool changes
|
||||
|
||||
group 0 = {G10, G28, G30, G92.1, G92.2, G92.3} (Non modal G-codes)
|
||||
group 0 = {G92.2, G92.3} (Non modal: Cancel and re-enable G92 offsets)
|
||||
group 1 = {G38.2, G81 - G89} (Motion modes: straight probe, canned cycles)
|
||||
group 6 = {M6} (Tool change)
|
||||
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
|
||||
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
|
||||
*/
|
||||
|
||||
3
gcode.h
3
gcode.h
@ -3,7 +3,8 @@
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Copyright (c) 2011-2012 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
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
|
||||
4
limits.c
4
limits.c
@ -76,9 +76,9 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_dir
|
||||
// Check if we are done
|
||||
if(!(x_axis || y_axis || z_axis)) { return; }
|
||||
STEPPING_PORT |= out_bits & STEP_MASK;
|
||||
_delay_us(settings.pulse_microseconds);
|
||||
delay_us(settings.pulse_microseconds);
|
||||
STEPPING_PORT ^= out_bits & STEP_MASK;
|
||||
_delay_us(step_delay);
|
||||
delay_us(step_delay);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
16
main.c
16
main.c
@ -53,15 +53,17 @@ int main(void)
|
||||
// reset to finish the initialization process.
|
||||
if (sys.abort) {
|
||||
|
||||
// Retain last known machine position. If the system abort occurred while in motion, machine
|
||||
// position is not guaranteed, since a hard stop can cause the steppers to lose steps. Always
|
||||
// perform a feedhold before an abort, if maintaining accurate machine position is required.
|
||||
// Retain last known machine position and work coordinate offset(s). If the system abort
|
||||
// occurred while in motion, machine position is not guaranteed, since a hard stop can cause
|
||||
// the steppers to lose steps. Always perform a feedhold before an abort, if maintaining
|
||||
// accurate machine position is required.
|
||||
// TODO: Report last position and coordinate offset to users to help relocate origins. Future
|
||||
// releases will auto-reset the machine position back to [0,0,0] if an abort is used while
|
||||
// grbl is moving the machine.
|
||||
int32_t last_position[3]; // last_coord_offset[3];
|
||||
int32_t last_position[3];
|
||||
double last_coord_system[N_COORDINATE_SYSTEM][3];
|
||||
memcpy(last_position, sys.position, sizeof(sys.position)); // last_position[] = sys.position[]
|
||||
// memcpy(last_coord_offset, sys.coord_offset, sizeof(sys.coord_offset)); // last_coord_offset[] = sys.coord_offset[]
|
||||
memcpy(last_coord_system, sys.coord_system, sizeof(sys.coord_system)); // last_coord_system[] = sys.coord_system[]
|
||||
|
||||
// Reset system.
|
||||
memset(&sys, 0, sizeof(sys)); // Clear all system variables
|
||||
@ -74,8 +76,9 @@ int main(void)
|
||||
limits_init();
|
||||
st_reset(); // Clear stepper subsystem variables.
|
||||
|
||||
// Reload last known machine position. Coordinate offsets are reset per NIST RS274-NGC protocol.
|
||||
// Reload last known machine position and work systems. G92 coordinate offsets are reset.
|
||||
memcpy(sys.position, last_position, sizeof(last_position)); // sys.position[] = last_position[]
|
||||
memcpy(sys.coord_system, last_coord_system, sizeof(last_coord_system)); // sys.coord_system[] = last_coord_system[]
|
||||
gc_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
|
||||
plan_set_current_position(last_position[X_AXIS],last_position[Y_AXIS],last_position[Z_AXIS]);
|
||||
|
||||
@ -85,6 +88,7 @@ int main(void)
|
||||
#ifdef CYCLE_AUTO_START
|
||||
sys.auto_start = true;
|
||||
#endif
|
||||
// TODO: Install G20/G21 unit default into settings and load appropriate settings.
|
||||
}
|
||||
|
||||
protocol_execute_runtime();
|
||||
|
||||
@ -25,10 +25,6 @@
|
||||
#include <avr/io.h>
|
||||
#include "planner.h"
|
||||
|
||||
// NOTE: Although the following function structurally belongs in this module, there is nothing to do but
|
||||
// to forward the request to the planner.
|
||||
#define mc_set_coordinate_offset(x, y, z) plan_set_coordinate_offset(x, y, z)
|
||||
|
||||
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
|
||||
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
|
||||
// (1 minute)/feed_rate time.
|
||||
|
||||
@ -44,3 +44,10 @@ void delay_ms(uint16_t ms)
|
||||
{
|
||||
while ( ms-- ) { _delay_ms(1); }
|
||||
}
|
||||
|
||||
// Delays variable defined microseconds. Compiler compatibility fix for _delay_us(),
|
||||
// which only accepts constants in future compiler releases.
|
||||
void delay_us(uint16_t us)
|
||||
{
|
||||
while ( us-- ) { _delay_us(1); }
|
||||
}
|
||||
|
||||
13
nuts_bolts.h
13
nuts_bolts.h
@ -21,6 +21,7 @@
|
||||
|
||||
#ifndef nuts_bolts_h
|
||||
#define nuts_bolts_h
|
||||
#include <config.h>
|
||||
#include <string.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
@ -70,8 +71,13 @@ typedef struct {
|
||||
|
||||
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.
|
||||
int32_t coord_offset[3]; // Retains the G92 coordinate offset (work coordinates) relative to
|
||||
// machine zero in steps.
|
||||
|
||||
uint8_t coord_select; // Active work coordinate system number. Default: 0=G54.
|
||||
double coord_system[N_COORDINATE_SYSTEM][3]; // Work coordinate systems (G54+). Stores offset from
|
||||
// absolute machine position in mm.
|
||||
// Rows: Work system number (0=G54,1=G55,...5=G59), Columns: XYZ Offsets
|
||||
double coord_offset[3]; // Retains the G92 coordinate offset (work coordinates) relative to
|
||||
// machine zero in mm.
|
||||
|
||||
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.
|
||||
@ -86,4 +92,7 @@ int read_double(char *line, uint8_t *char_counter, double *double_ptr);
|
||||
// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
|
||||
void delay_ms(uint16_t ms);
|
||||
|
||||
// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
|
||||
void delay_us(uint16_t us);
|
||||
|
||||
#endif
|
||||
|
||||
33
planner.c
33
planner.c
@ -344,6 +344,8 @@ void plan_synchronize()
|
||||
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
|
||||
// millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
|
||||
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
|
||||
// All position data passed to the planner must be in terms of machine position to keep the planner
|
||||
// independent of any coordinate system changes and offsets, which are handled by the g-code parser.
|
||||
// NOTE: Assumes buffer is available. Buffer checks are handled at a higher level by motion_control.
|
||||
void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate)
|
||||
{
|
||||
@ -471,36 +473,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
|
||||
planner_recalculate();
|
||||
}
|
||||
|
||||
// Apply G92 coordinate offsets and update planner position vector.
|
||||
void plan_set_coordinate_offset(double x, double y, double z)
|
||||
{
|
||||
// To correlate status reporting work position correctly, the planner must force the steppers to
|
||||
// empty the block buffer and synchronize with the planner, as the real-time machine position and
|
||||
// the planner position at the end of the buffer can be and are usually different. This function is
|
||||
// only called with a G92, which typically is used only at the beginning of a g-code program or
|
||||
// between different operations.
|
||||
// TODO: Find a robust way to avoid a planner synchronize, but this may require a bit of ingenuity.
|
||||
plan_synchronize();
|
||||
|
||||
// Update the system coordinate offsets from machine zero
|
||||
sys.coord_offset[X_AXIS] += pl.position[X_AXIS];
|
||||
sys.coord_offset[Y_AXIS] += pl.position[Y_AXIS];
|
||||
sys.coord_offset[Z_AXIS] += pl.position[Z_AXIS];
|
||||
|
||||
memset(&pl, 0, sizeof(pl)); // Clear planner variables. Assume start from rest.
|
||||
|
||||
// Update planner position and coordinate offset vectors
|
||||
int32_t new_position[3];
|
||||
new_position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
|
||||
new_position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]);
|
||||
new_position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
|
||||
plan_set_current_position(new_position[X_AXIS],new_position[Y_AXIS],new_position[Z_AXIS]);
|
||||
sys.coord_offset[X_AXIS] -= pl.position[X_AXIS];
|
||||
sys.coord_offset[Y_AXIS] -= pl.position[Y_AXIS];
|
||||
sys.coord_offset[Z_AXIS] -= pl.position[Z_AXIS];
|
||||
}
|
||||
|
||||
// Reset the planner position vector (in steps)
|
||||
// Reset the planner position vector (in steps). Called by the system abort routine.
|
||||
void plan_set_current_position(int32_t x, int32_t y, int32_t z)
|
||||
{
|
||||
pl.position[X_AXIS] = x;
|
||||
|
||||
@ -69,9 +69,6 @@ block_t *plan_get_current_block();
|
||||
// Reset the planner position vector (in steps)
|
||||
void plan_set_current_position(int32_t x, int32_t y, int32_t z);
|
||||
|
||||
// Apply G92 coordinate offsets and update planner position vector. Called by g-code parser.
|
||||
void plan_set_coordinate_offset(double x, double y, double z);
|
||||
|
||||
// Reinitialize plan with a partially completed block
|
||||
void plan_cycle_reinitialize(int32_t step_events_remaining);
|
||||
|
||||
|
||||
18
protocol.c
18
protocol.c
@ -53,6 +53,10 @@ static void status_message(int status_code)
|
||||
printPgmString(PSTR("Unsupported statement\r\n")); break;
|
||||
case STATUS_FLOATING_POINT_ERROR:
|
||||
printPgmString(PSTR("Floating point error\r\n")); break;
|
||||
case STATUS_MODAL_GROUP_VIOLATION:
|
||||
printPgmString(PSTR("Modal group violation\r\n")); break;
|
||||
case STATUS_INVALID_COMMAND:
|
||||
printPgmString(PSTR("Invalid command\r\n")); break;
|
||||
default:
|
||||
printInteger(status_code);
|
||||
printPgmString(PSTR("\r\n"));
|
||||
@ -74,7 +78,7 @@ void protocol_status_report()
|
||||
// short line segments and interface setups that require real-time status reports (5-20Hz).
|
||||
|
||||
// **Under construction** Bare-bones status report. Provides real-time machine position relative to
|
||||
// the system power on location (0,0,0) and work coordinate position, updatable by the G92 command.
|
||||
// the system power on location (0,0,0) and work coordinate position (G54 and G92 applied).
|
||||
// The following are still needed: user setting of output units (mm|inch), compressed (non-human
|
||||
// readable) data for interfaces?, save last known position in EEPROM?, code optimizations, solidify
|
||||
// the reporting schemes, move to a separate .c file for easy user accessibility, and setting the
|
||||
@ -87,16 +91,16 @@ void protocol_status_report()
|
||||
printString("MPos:["); printFloat(print_position[X_AXIS]/(settings.steps_per_mm[X_AXIS]*MM_PER_INCH));
|
||||
printString(","); printFloat(print_position[Y_AXIS]/(settings.steps_per_mm[Y_AXIS]*MM_PER_INCH));
|
||||
printString(","); printFloat(print_position[Z_AXIS]/(settings.steps_per_mm[Z_AXIS]*MM_PER_INCH));
|
||||
printString("],WPos:["); printFloat((print_position[X_AXIS]-sys.coord_offset[X_AXIS])/(settings.steps_per_mm[X_AXIS]*MM_PER_INCH));
|
||||
printString(","); printFloat((print_position[Y_AXIS]-sys.coord_offset[Y_AXIS])/(settings.steps_per_mm[Y_AXIS]*MM_PER_INCH));
|
||||
printString(","); printFloat((print_position[Z_AXIS]-sys.coord_offset[Z_AXIS])/(settings.steps_per_mm[Z_AXIS]*MM_PER_INCH));
|
||||
printString("],WPos:["); printFloat((print_position[X_AXIS]/settings.steps_per_mm[X_AXIS]-sys.coord_system[sys.coord_select][X_AXIS]-sys.coord_offset[X_AXIS])/MM_PER_INCH);
|
||||
printString(","); printFloat((print_position[Y_AXIS]/settings.steps_per_mm[Y_AXIS]-sys.coord_system[sys.coord_select][Y_AXIS]-sys.coord_offset[Y_AXIS])/MM_PER_INCH);
|
||||
printString(","); printFloat((print_position[Z_AXIS]/settings.steps_per_mm[Z_AXIS]-sys.coord_system[sys.coord_select][Z_AXIS]-sys.coord_offset[Z_AXIS])/MM_PER_INCH);
|
||||
#else
|
||||
printString("MPos:["); printFloat(print_position[X_AXIS]/(settings.steps_per_mm[X_AXIS]));
|
||||
printString(","); printFloat(print_position[Y_AXIS]/(settings.steps_per_mm[Y_AXIS]));
|
||||
printString(","); printFloat(print_position[Z_AXIS]/(settings.steps_per_mm[Z_AXIS]));
|
||||
printString("],WPos:["); printFloat((print_position[X_AXIS]-sys.coord_offset[X_AXIS])/(settings.steps_per_mm[X_AXIS]));
|
||||
printString(","); printFloat((print_position[Y_AXIS]-sys.coord_offset[Y_AXIS])/(settings.steps_per_mm[Y_AXIS]));
|
||||
printString(","); printFloat((print_position[Z_AXIS]-sys.coord_offset[Z_AXIS])/(settings.steps_per_mm[Z_AXIS]));
|
||||
printString("],WPos:["); printFloat(print_position[X_AXIS]/settings.steps_per_mm[X_AXIS]-sys.coord_system[sys.coord_select][X_AXIS]-sys.coord_offset[X_AXIS]);
|
||||
printString(","); printFloat(print_position[Y_AXIS]/settings.steps_per_mm[Y_AXIS]-sys.coord_system[sys.coord_select][Y_AXIS]-sys.coord_offset[Y_AXIS]);
|
||||
printString(","); printFloat(print_position[Z_AXIS]/settings.steps_per_mm[Z_AXIS]-sys.coord_system[sys.coord_select][Z_AXIS]-sys.coord_offset[Z_AXIS]);
|
||||
#endif
|
||||
printString("]\r\n");
|
||||
}
|
||||
|
||||
@ -26,6 +26,8 @@
|
||||
#define STATUS_EXPECTED_COMMAND_LETTER 2
|
||||
#define STATUS_UNSUPPORTED_STATEMENT 3
|
||||
#define STATUS_FLOATING_POINT_ERROR 4
|
||||
#define STATUS_MODAL_GROUP_VIOLATION 5
|
||||
#define STATUS_INVALID_COMMAND 6
|
||||
|
||||
// Initialize the serial protocol
|
||||
void protocol_init();
|
||||
|
||||
@ -14,9 +14,10 @@ Grbl includes full acceleration management with look ahead. That means the contr
|
||||
- New run-time command control: Feed hold (pause), Cycle start (resume), Reset (abort), Status reporting
|
||||
- Controlled feed hold with deceleration to ensure no skipped steps and loss of location.
|
||||
- After feed hold, cycle accelerations are re-planned and may be resumed.
|
||||
- Work offset(G92) and machine coordinate system support.
|
||||
- Program stop(M0,M1*,M2,M30) initial support. Pallet shuttle not supported.
|
||||
- System reset re-initializes grbl without resetting the Arduino and retains machine/home position.
|
||||
- Re-factored g-code parser with robust error-checking.
|
||||
- Work coordinate system (G54), offsets(G92), and machine coordinate system support. G10 work coordinate settings support. (Up to 6 work coordinate systems(G54-G59) available as a compile-time option.)
|
||||
- Program stop(M0,M1*,M2,M30) initial support. Optional stop to do.
|
||||
- System reset re-initializes grbl without resetting the Arduino and retains machine/home position and work coordinates.
|
||||
- Restructured planner and stepper modules to become independent and ready for future features.
|
||||
- Planned features: Jog mode, status reporting, runtime settings such as toggling block delete, XON/XOFF flow control.
|
||||
- Reduce serial read buffer to 128 characters and increased write buffer to 64 characters.
|
||||
|
||||
2
serial.h
2
serial.h
@ -3,7 +3,7 @@
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
Copyright (c) 2011 Sungeun K. Jeon
|
||||
Copyright (c) 2011-2012 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 +24,7 @@
|
||||
#include "config.h"
|
||||
#include "planner.h"
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <stdint.h>
|
||||
|
||||
// TODO: Deprecated. Need to update for new version.
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user