ManuelW/grbl-LPC-CoreXY
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Various minor g-code parser fixes.

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- Updated the mantissa calculation that checks for non-integer values
and GXX.X commands that aren’t supported. There was a potential uint8
overflow issue.

- Fixed g-code parser bug related to not using the correct modal
struct. G10 P0 not selecting the current coordinate system when a
G55-59 is issued in the same line.

- Fixed g-code parser bug related to not using the correct modal
struct. Target position locations were not computed correctly when
G90/91 distance modes were changed in the same line. It was using the
previous state, rather than the current block.
This commit is contained in:
Sonny Jeon 2014-05-31 21:58:59 -06:00
parent 9439e43975
commit 8ed8005f6c
1 changed files with 18 additions and 13 deletions
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31
gcode.c
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@ -124,9 +124,14 @@ uint8_t gc_execute_line(char *line)
if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value] if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value]
// Convert values to smaller uint8 significand and mantissa values for parsing this word. // Convert values to smaller uint8 significand and mantissa values for parsing this word.
// NOTE: Mantissa is multiplied by 1000 to catch non-integer command values. // NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more
// accurate than the NIST gcode requirement of x10 when used for commands, but not quite
// accurate enough for value words that require integers to within 0.0001. This should be
// a good enough comprimise and catch most all non-integer errors. To make it compliant,
// we would simply need to change the mantissa to int16, but this add compiled flash space.
// Maybe update this later.
int_value = trunc(value); int_value = trunc(value);
mantissa = trunc(1000*(value - int_value)); // Compute mantissa for Gxx.x commands mantissa = trunc(100*(value - int_value)); // Compute mantissa for Gxx.x commands
// Check if the g-code word is supported or errors due to modal group violations or has // Check if the g-code word is supported or errors due to modal group violations or has
// been repeated in the g-code block. If ok, update the command or record its value. // been repeated in the g-code block. If ok, update the command or record its value.
@ -153,7 +158,7 @@ uint8_t gc_execute_line(char *line)
case 28: case 28:
switch(mantissa) { switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_0; break; // G28 case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_0; break; // G28
case 100: gc_block.non_modal_command = NON_MODAL_SET_HOME_0; break; // G28.1 case 10: gc_block.non_modal_command = NON_MODAL_SET_HOME_0; break; // G28.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G28.x command] default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G28.x command]
} }
mantissa = 0; // Set to zero to indicate valid non-integer G command. mantissa = 0; // Set to zero to indicate valid non-integer G command.
@ -161,7 +166,7 @@ uint8_t gc_execute_line(char *line)
case 30: case 30:
switch(mantissa) { switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_1; break; // G30 case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_1; break; // G30
case 100: gc_block.non_modal_command = NON_MODAL_SET_HOME_1; break; // G30.1 case 10: gc_block.non_modal_command = NON_MODAL_SET_HOME_1; break; // G30.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G30.x command] default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G30.x command]
} }
mantissa = 0; // Set to zero to indicate valid non-integer G command. mantissa = 0; // Set to zero to indicate valid non-integer G command.
@ -170,7 +175,7 @@ uint8_t gc_execute_line(char *line)
case 92: case 92:
switch(mantissa) { switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_SET_COORDINATE_OFFSET; break; // G92 case 0: gc_block.non_modal_command = NON_MODAL_SET_COORDINATE_OFFSET; break; // G92
case 100: gc_block.non_modal_command = NON_MODAL_RESET_COORDINATE_OFFSET; break; // G92.1 case 10: gc_block.non_modal_command = NON_MODAL_RESET_COORDINATE_OFFSET; break; // G92.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G92.x command] default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G92.x command]
} }
mantissa = 0; // Set to zero to indicate valid non-integer G command. mantissa = 0; // Set to zero to indicate valid non-integer G command.
@ -191,11 +196,11 @@ uint8_t gc_execute_line(char *line)
case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3 case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3
case 38: case 38:
switch(mantissa) { switch(mantissa) {
case 200: gc_block.modal.motion = MOTION_MODE_PROBE; break; // G38.2 case 20: gc_block.modal.motion = MOTION_MODE_PROBE; break; // G38.2
// NOTE: If G38.3+ are enabled, change mantissa variable type to uint16_t. // NOTE: If G38.3+ are enabled, change mantissa variable type to uint16_t.
// case 300: gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR; break; // G38.3 Not supported. // case 30: gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR; break; // G38.3 Not supported.
// case 400: // Not supported. // case 40: // Not supported.
// case 500: // Not supported. // case 50: // Not supported.
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command] default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
} }
mantissa = 0; // Set to zero to indicate valid non-integer G command. mantissa = 0; // Set to zero to indicate valid non-integer G command.
@ -324,6 +329,7 @@ uint8_t gc_execute_line(char *line)
} }
} }
// Parsing complete!
/* ------------------------------------------------------------------------------------- /* -------------------------------------------------------------------------------------
@ -338,8 +344,7 @@ uint8_t gc_execute_line(char *line)
accurately calculated if we convert these values in conjunction with the error-checking. accurately calculated if we convert these values in conjunction with the error-checking.
This relegates the next execution step as only updating the system g-code modes and This relegates the next execution step as only updating the system g-code modes and
performing the programmed actions in order. The execution step should not require any performing the programmed actions in order. The execution step should not require any
conversion calculations and would only require minimal computations necessary to execute conversion calculations and would only require minimal checks necessary to execute.
the commands.
*/ */
/* NOTE: At this point, the g-code block has been parsed and the block line can be freed. /* NOTE: At this point, the g-code block has been parsed and the block line can be freed.
@ -510,7 +515,7 @@ uint8_t gc_execute_line(char *line)
// Load EEPROM coordinate data and pre-calculate the new coordinate data. // 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. 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 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] if (!settings_read_coord_data(int_value,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. 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. // Update axes defined only in block. Always in machine coordinates. Can change non-active system.
@ -553,7 +558,7 @@ uint8_t gc_execute_line(char *line)
// NOTE: G53 is never active with G28/30 since they are in the same modal group. // NOTE: G53 is never active with G28/30 since they are in the same modal group.
if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) { if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
// Apply coordinate offsets based on distance mode. // Apply coordinate offsets based on distance mode.
if (gc_state.modal.distance == DISTANCE_MODE_ABSOLUTE) { if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
gc_block.values.xyz[idx] += coordinate_data[idx] + gc_state.coord_offset[idx]; gc_block.values.xyz[idx] += coordinate_data[idx] + gc_state.coord_offset[idx];
} else { // Incremental mode } else { // Incremental mode
gc_block.values.xyz[idx] += gc_state.position[idx]; gc_block.values.xyz[idx] += gc_state.position[idx];