ManuelW/grbl-LPC-CoreXY
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Settings refactoring. Bug fixes. Misc new features.

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This is likely the last major change to the v0.9 code base before push
to master. Only two minor things remain on the agenda (CoreXY support,
force clear EEPROM, and an extremely low federate bug).

- NEW! Grbl is now compile-able and may be flashed directly through the
Arduino IDE. Only minor changes were required for this compatibility.
See the Wiki to learn how to do it.

- New status reporting mask to turn on and off what Grbl sends back.
This includes machine coordinates, work coordinates, serial RX buffer
usage, and planner buffer usage. Expandable to more information on user
request, but that’s it for now.

- Settings have been completely renumbered to allow for future new
settings to be installed without having to constantly reshuffle and
renumber all of the settings every time.

- All settings masks have been standardized to mean bit 0 = X, bit 1 =
Y, and bit 2 = Z, to reduce confusion on how they work. The invert
masks used by the internal Grbl system were updated to accommodate this
change as well.

- New invert probe pin setting, which does what it sounds like.

- Fixed a probing cycle bug, where it would freeze intermittently, and
removed some redundant code.

- Homing may now be set to the origin wherever the limit switches are.
Traditionally machine coordinates should always be in negative space,
but when limit switches on are on the opposite side, the machine
coordinate would be set to -max_travel for the axis. Now you can always
make it [0,0,0] via a compile-time option in config.h. (Soft limits
routine was updated to account for this as well.)

 - Probe coordinate message immediately after a probing cycle may now
be turned off via a compile-time option in config.h. By default the
probing location is always reported.

- Reduced the N_ARC_CORRECTION default value to reflect the changes in
how circles are generated by an arc tolerance, rather than a fixed arc
segment setting.

- Increased the incoming line buffer limit from 70 to 80 characters.
Had some extra memory space to invest into this.

- Fixed a bug where tool number T was not being tracked and reported
correctly.

- Added a print free memory function for debugging purposes. Not used
otherwise.

- Realtime rate report should now work during feed holds, but it hasn’t
been tested yet.

- Updated the streaming scripts with MIT-license and added the simple
streaming to the main stream.py script to allow for settings to be sent.

- Some minor code refactoring to improve flash efficiency. Reduced the
flash by several hundred KB, which was re-invested in some of these new
features.
This commit is contained in:
Sonny Jeon
2014-07-26 15:01:34 -06:00
parent 1c74be0625
commit 71f333ddca
34 changed files with 5686 additions and 562 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
gcode.c
View File

@ -95,6 +95,7 @@ uint8_t gc_execute_line(char *line)
memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes
uint8_t axis_command = AXIS_COMMAND_NONE;
uint8_t axis_0, axis_1, axis_linear;
uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution
float coordinate_data[N_AXIS]; // Multi-use variable to store coordinate data for execution
float parameter_data[N_AXIS]; // Multi-use variable to store parameter data for execution
@ -526,19 +527,21 @@ uint8_t gc_execute_line(char *line)
// [G10 L20 Errors]: P must be 0 to nCoordSys(max 9). Axis words missing.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS) }; // [No axis words]
if (bit_isfalse(value_words,((1<<WORD_P)|(1<<WORD_L)))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P/L word missing]
int_value = trunc(gc_block.values.p); // Convert p value to int.
if (int_value > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
coord_select = trunc(gc_block.values.p); // Convert p value to int.
if (coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
if (gc_block.values.l != 20) {
if (gc_block.values.l == 2) {
if (bit_istrue(value_words,bit(WORD_R))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G10 L2 R not supported]
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported L]
}
bit_false(value_words,(bit(WORD_L)|bit(WORD_P)));
// Determine coordinate system to change and try to load from EEPROM.
if (coord_select > 0) { coord_select--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
else { coord_select = gc_block.modal.coord_select; } // Index P0 as the active coordinate system
if (!settings_read_coord_data(coord_select,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
// Load EEPROM coordinate data and pre-calculate the new coordinate data.
if (int_value > 0) { int_value--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
else { int_value = gc_block.modal.coord_select; } // Index P0 as the active coordinate system
if (!settings_read_coord_data(int_value,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
// Pre-calculate the coordinate data changes. NOTE: Uses parameter_data since coordinate_data may be in use by G54-59.
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
// Update axes defined only in block. Always in machine coordinates. Can change non-active system.
if (bit_istrue(axis_words,bit(idx)) ) {
@ -801,7 +804,7 @@ uint8_t gc_execute_line(char *line)
}
}
// [21. Program flow ]: No error check required.
// [21. Program flow ]: No error checks required.
// [0. Non-specific error-checks]: Complete unused value words check, i.e. IJK used when in arc
// radius mode, or axis words that aren't used in the block.
@ -832,7 +835,8 @@ uint8_t gc_execute_line(char *line)
if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_state.spindle_speed); }
}
// [5. Select tool ]: NOT SUPPORTED
// [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
gc_state.tool = gc_block.values.t;
// [6. Change tool ]: NOT SUPPORTED
@ -890,31 +894,25 @@ uint8_t gc_execute_line(char *line)
// [19. Go to predefined position, Set G10, or Set axis offsets ]:
switch(gc_block.non_modal_command) {
case NON_MODAL_SET_COORDINATE_DATA:
// TODO: See if I can clean up this int_value.
int_value = trunc(gc_block.values.p); // Convert p value to int.
if (int_value > 0) { int_value--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
else { int_value = gc_state.modal.coord_select; } // Index P0 as the active coordinate system
settings_write_coord_data(int_value,parameter_data);
case NON_MODAL_SET_COORDINATE_DATA:
settings_write_coord_data(coord_select,parameter_data);
// Update system coordinate system if currently active.
if (gc_state.modal.coord_select == int_value) { memcpy(gc_state.coord_system,parameter_data,sizeof(parameter_data)); }
if (gc_state.modal.coord_select == coord_select) { memcpy(gc_state.coord_system,parameter_data,sizeof(parameter_data)); }
break;
case NON_MODAL_GO_HOME_0: case NON_MODAL_GO_HOME_1:
// Move to intermediate position before going home. Obeys current coordinate system and offsets
// and absolute and incremental modes.
if (axis_command) {
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
#else
mc_line(gc_block.values.xyz, -1.0, false);
mc_line(gc_block.values.xyz, -1.0, false);
#endif
}
#ifdef USE_LINE_NUMBERS
mc_line(parameter_data, -1.0, false, gc_block.values.n);
mc_line(parameter_data, -1.0, false, gc_block.values.n);
#else
mc_line(parameter_data, -1.0, false);
mc_line(parameter_data, -1.0, false);
#endif
memcpy(gc_state.position, parameter_data, sizeof(parameter_data));
break;
@ -942,32 +940,34 @@ uint8_t gc_execute_line(char *line)
switch (gc_state.modal.motion) {
case MOTION_MODE_SEEK:
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
#else
mc_line(gc_block.values.xyz, -1.0, false);
mc_line(gc_block.values.xyz, -1.0, false);
#endif
break;
case MOTION_MODE_LINEAR:
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
#else
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
#endif
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
#ifdef USE_LINE_NUMBERS
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, gc_block.values.n);
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, gc_block.values.n);
#else
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear);
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear);
#endif
break;
case MOTION_MODE_PROBE:
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
#endif
}
@ -992,7 +992,7 @@ uint8_t gc_execute_line(char *line)
else { gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; }
}
// TBD: % to denote start of program. Sets auto cycle start?
// TODO: % to denote start of program. Sets auto cycle start?
return(STATUS_OK);
}