From a9d41c6c646d68f9b91d0bfda72deca2faf3c258 Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Thu, 29 Jan 2009 09:58:29 +0100 Subject: [PATCH] tweaks and bugfixes --- Makefile | 16 ++++++++-------- gcode.c | 4 ++-- motion_control.c | 8 +++++++- readme.txt | 6 ++++-- serial_protocol.c | 13 ++++++------- stepper.c | 33 ++++++++++++++++++--------------- stepper.h | 8 ++++---- todo.txt | 3 +++ wiring_serial.c | 46 +++++++++++++++++++++++----------------------- 9 files changed, 75 insertions(+), 62 deletions(-) diff --git a/Makefile b/Makefile index cc53371..3dd6068 100644 --- a/Makefile +++ b/Makefile @@ -39,7 +39,7 @@ AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) -B 10 COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. # symbolic targets: -all: main.hex +all: grbl.hex .c.o: $(COMPILE) -c $< -o $@ @@ -55,7 +55,7 @@ all: main.hex $(COMPILE) -S $< -o $@ flash: all - $(AVRDUDE) -U flash:w:main.hex:i + $(AVRDUDE) -U flash:w:grbl.hex:i fuse: $(AVRDUDE) $(FUSES) @@ -65,19 +65,19 @@ install: flash fuse # if you use a bootloader, change the command below appropriately: load: all - bootloadHID main.hex + bootloadHID grbl.hex clean: - rm -f main.hex main.elf $(OBJECTS) + rm -f grbl.hex main.elf $(OBJECTS) # file targets: main.elf: $(OBJECTS) $(COMPILE) -o main.elf $(OBJECTS) -lm -main.hex: main.elf - rm -f main.hex - avr-objcopy -j .text -j .data -O ihex main.elf main.hex - avr-size main.hex *.o +grbl.hex: main.elf + rm -f grbl.hex + avr-objcopy -j .text -j .data -O ihex main.elf grbl.hex + avr-size grbl.hex *.o # If you have an EEPROM section, you must also create a hex file for the # EEPROM and add it to the "flash" target. diff --git a/gcode.c b/gcode.c index f8d1ba2..62e0a06 100644 --- a/gcode.c +++ b/gcode.c @@ -30,12 +30,12 @@ - Variables - Multiple home locations - Probing - - Spindle direction - Override control */ /* Omitted for the time being: + - Spindle direction group 0 = {G10, G28, G30, G53, G92, G92.1, G92.2, G92.3} (Non modal G-codes) group 5 = {G93, G94} feed rate mode @@ -126,7 +126,7 @@ uint8_t gc_execute_line(char *line) { double unit_converted_value; double inverse_feed_rate; - uint8_t absolute_mode = 0; /* 0 = relative motion, 1 = absolute motion {G90, G91} */ + uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */ uint8_t next_action = NEXT_ACTION_DEFAULT; /* One of the NEXT_ACTION_-constants */ double target[3], offset[3]; diff --git a/motion_control.c b/motion_control.c index 447ee57..8ec2322 100644 --- a/motion_control.c +++ b/motion_control.c @@ -18,7 +18,13 @@ along with Grbl. If not, see . */ -/* This code was inspired by the Arduino GCode_Interpreter by Mike Ellery. */ +/* The structure of this module was inspired by the Arduino GCode_Interpreter by Mike Ellery. The arc + interpolator written from the information provided in the Wikipedia article 'Midpoint circle algorithm' + and the lecture 'Circle Drawing Algorithms' by Leonard McMillan. + + http://en.wikipedia.org/wiki/Midpoint_circle_algorithm + http://www.cs.unc.edu/~mcmillan/comp136/Lecture7/circle.html +*/ #include #include "config.h" diff --git a/readme.txt b/readme.txt index 2b13899..2753c52 100644 --- a/readme.txt +++ b/readme.txt @@ -2,7 +2,9 @@ Grbl - An embedded rs274/ngc (g-code) interpreter, CNC controller, readout and e Inspired by the Arduino GCode Interpreter by Mike Ellery Status: -* Linear interpolation machine control complete (No arcs yet) +* Linear interpolation machine control complete (Arc support in embryonic state) +* Buffered, non blocking, asynchronous stepping so the rest of the system is free to generate new steps and parse + g-code while the steppers are still steppin' * GCode interpreter complete * Basic serial protocol complete * As of yet completely untested in a real environemnt. Still waiting for my micRo kit from Lumenlab.com @@ -18,7 +20,7 @@ Goals: Limitations: * Limited GCode-support. Focus on the kind of GCode produced by CAM tools. Leave human GCoders frustrated. -* No rotation axes, only x,y and z. +* No rotation axes, only x, y and z. diff --git a/serial_protocol.c b/serial_protocol.c index b704686..2a6894e 100644 --- a/serial_protocol.c +++ b/serial_protocol.c @@ -40,15 +40,14 @@ void print_result() { int inches_mode; uint8_t status_code; uint32_t line_number; + int i; // loop variable gc_get_status(position, &status_code, &inches_mode, &line_number); - printByte('['); - printInteger(trunc(position[X_AXIS]*100)); - printByte(','); - printInteger(trunc(position[Y_AXIS]*100)); - printByte(','); - printInteger(trunc(position[Z_AXIS]*100)); + printString("[ "); + for(i=X_AXIS; i<=Z_AXIS; i++) { + printInteger(trunc(position[i]*100)); + printByte(' '); + } printByte(']'); - printByte(' '); printByte('@'); printInteger(line_number); printByte(':'); diff --git a/stepper.c b/stepper.c index 21fe403..d17fd24 100644 --- a/stepper.c +++ b/stepper.c @@ -18,6 +18,9 @@ along with Grbl. If not, see . */ +/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith + and Philipp Tiefenbacher. The circle buffer implementation by the wiring_serial library by David A. Mellis */ + #include "stepper.h" #include "config.h" #include "nuts_bolts.h" @@ -30,7 +33,7 @@ volatile uint8_t step_buffer[STEP_BUFFER_SIZE]; // A buffer for step instruction volatile int step_buffer_head = 0; volatile int step_buffer_tail = 0; -uint8_t state = STEPPER_STATE_STOPPED; +uint8_t stepper_mode = STEPPER_MODE_STOPPED; // This timer interrupt is executed at the pace set with set_pace. It pops one instruction from // the step_buffer, executes it. Then it starts timer2 in order to reset the motor port after @@ -77,7 +80,7 @@ void st_init() // Configure Timer 2 TCCR2A = 0; // Normal operation - TCCT2B = 1< #include -#define STEPPER_STATE_STOPPED 0 -#define STEPPER_STATE_RUNNING 1 -#define STEPPER_STATE_LIMIT_OVERRUN 2 -#define STEPPER_STATE_HOMING 3 +#define STEPPER_MODE_STOPPED 0 +#define STEPPER_MODE_RUNNING 1 +#define STEPPER_MODE_LIMIT_OVERRUN 2 +#define STEPPER_MODE_HOMING 3 // Initialize and start the stepper motor subsystem void st_init(); diff --git a/todo.txt b/todo.txt index e2aace7..a30e13d 100644 --- a/todo.txt +++ b/todo.txt @@ -1,3 +1,6 @@ +* Implement homing cycle in stepper.c +* Implement limit switch support in stepper.c (use port-triggered interrupts?) +* How to implement st_set_pace? Consider synchronizing when pace is changed * Eliminate need for circle_x and circle_y in step_arc_along… * Use timer interrupts to drive steppers * Tool table diff --git a/wiring_serial.c b/wiring_serial.c index 9392a09..c7a4397 100644 --- a/wiring_serial.c +++ b/wiring_serial.c @@ -128,21 +128,21 @@ SIGNAL(SIG_UART_RECV) } } -void printMode(int mode) -{ - // do nothing, we only support serial printing, not lcd. -} +// void printMode(int mode) +// { +// // do nothing, we only support serial printing, not lcd. +// } void printByte(unsigned char c) { serialWrite(c); } -void printNewline() -{ - printByte('\n'); -} - +// void printNewline() +// { +// printByte('\n'); +// } +// void printString(const char *s) { while (*s) @@ -180,20 +180,20 @@ void printInteger(long n) printIntegerInBase(n, 10); } -void printHex(unsigned long n) -{ - printIntegerInBase(n, 16); -} - -void printOctal(unsigned long n) -{ - printIntegerInBase(n, 8); -} - -void printBinary(unsigned long n) -{ - printIntegerInBase(n, 2); -} +// void printHex(unsigned long n) +// { +// printIntegerInBase(n, 16); +// } +// +// void printOctal(unsigned long n) +// { +// printIntegerInBase(n, 8); +// } +// +// void printBinary(unsigned long n) +// { +// printIntegerInBase(n, 2); +// } /* Including print() adds approximately 1500 bytes to the binary size, * so we replace it with the smaller and less-confusing printString(),