ManuelW/grbl-LPC-CoreXY
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G54 work coordinate support (w/ G10,G92.1). Re-factored g-code parser with error checking. Minor compiler compatibility changes.

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- 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
2012-02-11 11:59:35 -07:00
parent b51e902530
commit 567fbf93ed
15 changed files with 351 additions and 180 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
protocol.c
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@ -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");
}