Updated variable spindle and new probing. Minor bug fixes.
- Minor bug fix for variable spindle PWM output. Values smaller than the minimum RPM for the spindle would overflow the PWM value. Thanks Rob! - Created an optional minimum spindle PWM low-mark value as a compile-time option. This is for special circumstances when the PWM has to be at a certain level to be read by the spindle controller. - Refactored the new probing commands (G38.3, G38.4, G38.5) code to work better with the rest of Grbl’s systems. - Refactored mc_probe() and mc_arc() to accept the mode of the command, i.e. clockwise vs counter, toward vs away, etc. This is to make these functions independent of gcode state variables. - Removed the pull off motion in the probing cycle. This is not an official operation and was added for user simplicity, but wrongly did so. So bye bye. - Created a configure probe invert mask function to handle the different probe pin setting and probing cycle modes with a single mask. - Minor bug fix with reporting motion modes via $G. G38.2 wasn’t showing up. It now does, along with the other new probing commands. - Refactored some of the new pin configurations for the future of Grbl. -
This commit is contained in:
Sonny Jeon
81
gcode.c
81
gcode.c
@ -123,8 +123,7 @@ uint8_t gc_execute_line(char *line)
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char letter;
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float value;
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uint8_t int_value = 0;
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uint16_t mantissa = 0; // NOTE: For mantissa values > 255, variable type must be changed to uint16_t.
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uint8_t probe_mode = 0;
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uint16_t mantissa = 0;
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while (line[char_counter] != 0) { // Loop until no more g-code words in line.
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@ -210,22 +209,10 @@ uint8_t gc_execute_line(char *line)
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case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3
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case 38:
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switch(mantissa) {
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case 20: // G38.2
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gc_block.modal.motion = MOTION_MODE_PROBE;
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break;
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case 30: // G38.3
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gc_block.modal.motion = MOTION_MODE_PROBE;
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probe_mode = PROBE_NO_ERROR;
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break;
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case 40: // G38.4
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gc_block.modal.motion = MOTION_MODE_PROBE;
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probe_mode = PROBE_AWAY;
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break;
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case 50: // G38.5
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gc_block.modal.motion = MOTION_MODE_PROBE;
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probe_mode = PROBE_AWAY | PROBE_NO_ERROR;
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break;
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case 20: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD; break; // G38.2
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case 30: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD_NO_ERROR; break; // G38.3
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case 40: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY; break; // G38.4
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case 50: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY_NO_ERROR; break; // G38.5
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default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
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}
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mantissa = 0; // Set to zero to indicate valid non-integer G command.
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@ -811,7 +798,8 @@ uint8_t gc_execute_line(char *line)
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}
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}
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break;
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case MOTION_MODE_PROBE:
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case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
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case MOTION_MODE_PROBE_AWAY: case MOTION_MODE_PROBE_AWAY_NO_ERROR:
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// [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate
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// is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning
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// an error, it issues an alarm to prevent further motion to the probe. It's also done there to
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@ -838,6 +826,9 @@ uint8_t gc_execute_line(char *line)
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need to update the state and execute the block according to the order-of-execution.
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*/
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// [0. Non-specific/common error-checks and miscellaneous setup]:
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gc_state.line_number = gc_block.values.n;
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// [1. Comments feedback ]: NOT SUPPORTED
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// [2. Set feed rate mode ]:
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@ -923,13 +914,13 @@ uint8_t gc_execute_line(char *line)
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// and absolute and incremental modes.
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if (axis_command) {
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#ifdef USE_LINE_NUMBERS
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mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
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mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number);
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#else
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mc_line(gc_block.values.xyz, -1.0, false);
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#endif
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}
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#ifdef USE_LINE_NUMBERS
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mc_line(parameter_data, -1.0, false, gc_block.values.n);
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mc_line(parameter_data, -1.0, false, gc_state.line_number);
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#else
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mc_line(parameter_data, -1.0, false);
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#endif
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@ -959,41 +950,71 @@ uint8_t gc_execute_line(char *line)
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switch (gc_state.modal.motion) {
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case MOTION_MODE_SEEK:
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#ifdef USE_LINE_NUMBERS
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mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n);
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mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number);
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#else
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mc_line(gc_block.values.xyz, -1.0, false);
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#endif
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break;
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case MOTION_MODE_LINEAR:
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#ifdef USE_LINE_NUMBERS
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mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n);
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mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_state.line_number);
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#else
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mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
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#endif
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break;
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case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
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case MOTION_MODE_CW_ARC:
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#ifdef USE_LINE_NUMBERS
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mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, gc_block.values.n);
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true, gc_state.line_number);
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#else
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mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear);
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true);
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#endif
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break;
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case MOTION_MODE_CCW_ARC:
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#ifdef USE_LINE_NUMBERS
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mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false, gc_state.line_number);
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#else
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mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
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gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false);
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#endif
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break;
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case MOTION_MODE_PROBE:
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case MOTION_MODE_PROBE_TOWARD:
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// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
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// upon a successful probing cycle, the machine position and the returned value should be the same.
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#ifdef USE_LINE_NUMBERS
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, probe_mode, gc_block.values.n);
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false, gc_state.line_number);
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#else
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, probe_mode);
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false);
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#endif
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break;
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case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
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#ifdef USE_LINE_NUMBERS
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true, gc_state.line_number);
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#else
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true);
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#endif
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break;
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case MOTION_MODE_PROBE_AWAY:
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#ifdef USE_LINE_NUMBERS
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false, gc_state.line_number);
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#else
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false);
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#endif
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break;
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case MOTION_MODE_PROBE_AWAY_NO_ERROR:
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#ifdef USE_LINE_NUMBERS
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true, gc_state.line_number);
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#else
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mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true);
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#endif
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}
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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// in any intermediate location.
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memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc.position[] = target[];
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memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[]
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}
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}
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