ManuelW/grbl-LPC-CoreXY
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further refactoring debris extraction

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This commit is contained in:
Simen Svale Skogsrud
2010-03-03 17:52:56 +01:00
parent 9a41b3a4fb
commit 898b4ca99d
10 changed files with 53 additions and 123 deletions
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39
gcode.c
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@ -50,7 +50,6 @@
#include "config.h"
#include "motion_control.h"
#include "spindle_control.h"
#include "geometry.h"
#include "errno.h"
#include "serial_protocol.h"
@ -113,13 +112,29 @@ void gc_init() {
memset(&gc, 0, sizeof(gc));
gc.feed_rate = DEFAULT_FEEDRATE/60;
select_plane(X_AXIS, Y_AXIS, Z_AXIS);
gc.absolute_mode = true;
gc.absolute_mode = TRUE;
}
inline float to_millimeters(double value) {
return(gc.inches_mode ? (value * INCHES_PER_MM) : value);
}
// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis,
// positive to the right.
double theta(double x, double y)
{
double theta = atan(x/fabs(y));
if (y>0) {
return(theta);
} else {
if (theta>0)
{
return(M_PI-theta);
} else {
return(-M_PI-theta);
}
}
}
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floats (no whitespace).
@ -129,9 +144,9 @@ uint8_t gc_execute_line(char *line) {
double value;
double unit_converted_value;
double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
int radius_mode = false;
int radius_mode = FALSE;
uint8_t absolute_override = false; /* 1 = absolute motion for this block only {G53} */
uint8_t absolute_override = FALSE; /* 1 = absolute motion for this block only {G53} */
uint8_t next_action = NEXT_ACTION_DEFAULT; /* One of the NEXT_ACTION_-constants */
double target[3], offset[3];
@ -163,15 +178,15 @@ uint8_t gc_execute_line(char *line) {
case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break;
case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break;
case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;
case 20: gc.inches_mode = true; break;
case 21: gc.inches_mode = false; break;
case 20: gc.inches_mode = TRUE; break;
case 21: gc.inches_mode = FALSE; break;
case 28: case 30: next_action = NEXT_ACTION_GO_HOME; break;
case 53: absolute_override = true; break;
case 53: absolute_override = TRUE; break;
case 80: gc.motion_mode = MOTION_MODE_CANCEL; break;
case 90: gc.absolute_mode = true; break;
case 91: gc.absolute_mode = false; break;
case 93: gc.inverse_feed_rate_mode = true; break;
case 94: gc.inverse_feed_rate_mode = false; break;
case 90: gc.absolute_mode = TRUE; break;
case 91: gc.absolute_mode = FALSE; break;
case 93: gc.inverse_feed_rate_mode = TRUE; break;
case 94: gc.inverse_feed_rate_mode = FALSE; break;
default: FAIL(GCSTATUS_UNSUPPORTED_STATEMENT);
}
break;
@ -212,7 +227,7 @@ uint8_t gc_execute_line(char *line) {
break;
case 'I': case 'J': case 'K': offset[letter-'I'] = unit_converted_value; break;
case 'P': p = value; break;
case 'R': r = unit_converted_value; radius_mode = true; break;
case 'R': r = unit_converted_value; radius_mode = TRUE; break;
case 'S': gc.spindle_speed = value; break;
case 'X': case 'Y': case 'Z':
if (gc.absolute_mode || absolute_override) {