ManuelW/grbl-LPC-CoreXY
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cleaned up formatting gcode.c

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Simen Svale Skogsrud 2011-01-31 21:32:36 +01:00
parent 4562ee7fe9
commit bf4f75d632
1 changed files with 16 additions and 17 deletions
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33
gcode.c
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@ -58,17 +58,19 @@
typedef struct {
uint8_t status_code;
uint8_t motion_mode; /* {G0, G1, G2, G3, G80} */
uint8_t inverse_feed_rate_mode; /* G93, G94 */
uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */
uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */
uint8_t motion_mode; /* {G0, G1, G2, G3, G80} */
uint8_t inverse_feed_rate_mode; /* G93, G94 */
uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */
uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */
uint8_t program_flow;
int spindle_direction;
double feed_rate, seek_rate; /* Millimeters/second */
double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
double feed_rate, seek_rate; /* Millimeters/second */
double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
uint8_t tool;
int16_t spindle_speed; /* RPM/100 */
uint8_t plane_axis_0, plane_axis_1, plane_axis_2; // The axes of the selected plane
int16_t spindle_speed; /* RPM/100 */
uint8_t plane_axis_0,
plane_axis_1,
plane_axis_2; // The axes of the selected plane
} parser_state_t;
static parser_state_t gc;
@ -127,7 +129,7 @@ uint8_t gc_execute_line(char *line) {
double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
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; /* The action that will be taken by the parsed line */
double target[3], offset[3];
@ -142,8 +144,7 @@ uint8_t gc_execute_line(char *line) {
// Disregard comments and block delete
if (line[0] == '(') { return(gc.status_code); }
if (line[0] == '/') { char_counter++; } // ignore block delete
if (line[0] == '/') { char_counter++; } // ignore block delete
// If the line starts with an '$' it is a configuration-command
if (line[0] == '$') {
@ -369,7 +370,6 @@ uint8_t gc_execute_line(char *line) {
// calculate the theta (angle) of the target point
double theta_end = theta(target[gc.plane_axis_0] - offset[gc.plane_axis_0] - gc.position[gc.plane_axis_0],
target[gc.plane_axis_1] - offset[gc.plane_axis_1] - gc.position[gc.plane_axis_1]);
// double theta_end = theta(5,0);
// ensure that the difference is positive so that we have clockwise travel
if (theta_end < theta_start) { theta_end += 2*M_PI; }
double angular_travel = theta_end-theta_start;
@ -394,7 +394,7 @@ uint8_t gc_execute_line(char *line) {
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
memcpy(gc.position, target, sizeof(double)*3);
memcpy(gc.position, target, sizeof(double)*3); // equivalent of: gc.position = target;
return(gc.status_code);
}
@ -435,7 +435,9 @@ int read_double(char *line, //!< string: line of RS274/NGC code be
return(1);
}
/* Intentionally not supported:
/*
Intentionally not supported:
- Canned cycles
- Tool radius compensation
- A,B,C-axes
@ -445,10 +447,7 @@ int read_double(char *line, //!< string: line of RS274/NGC code be
- Multiple home locations
- Probing
- Override control
*/
/*
Omitted for the time being:
group 0 = {G10, G28, G30, G92, G92.1, G92.2, G92.3} (Non modal G-codes)
group 8 = {M7, M8, M9} coolant (special case: M7 and M8 may be active at the same time)
group 9 = {M48, M49} enable/disable feed and speed override switches