ManuelW/grbl-LPC-CoreXY
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Refactored g-code parser. Saved 60bytes flash and some ram. Edited Readme.

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- Freed up another 60 bytes of flash and 12-24 bytes of stack RAM by
using the pre-allocated IJK arc offset vector that is guaranteed to be
not in use. Only G10 and G28/30 require fetching from EEPROM and
retaining extra data. Both commands use axis words, which rules out
G2/3 arcs using IJK offsets existing in same block. Not ideal, but
every byte helps.

- Edited README.
This commit is contained in:
Sonny Jeon
2016-09-27 23:05:43 -06:00
parent 669735bea9
commit bf5fc48074
4 changed files with 36 additions and 27 deletions
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47
grbl/gcode.c
View File

@ -77,8 +77,6 @@ uint8_t gc_execute_line(char *line)
uint8_t axis_command = AXIS_COMMAND_NONE;
uint8_t axis_0, axis_1, axis_linear;
uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution
float coordinate_data[N_AXIS]; // Multi-use variable to store coordinate data for execution
float parameter_data[N_AXIS]; // Multi-use variable to store parameter data for execution
// Initialize bitflag tracking variables for axis indices compatible operations.
uint8_t axis_words = 0; // XYZ tracking
@ -526,11 +524,12 @@ uint8_t gc_execute_line(char *line)
// is active. The read pauses the processor temporarily and may cause a rare crash. For
// future versions on processors with enough memory, all coordinate data should be stored
// in memory and written to EEPROM only when there is not a cycle active.
memcpy(coordinate_data,gc_state.coord_system,sizeof(gc_state.coord_system));
float block_coord_system[N_AXIS];
memcpy(block_coord_system,gc_state.coord_system,sizeof(gc_state.coord_system));
if ( bit_istrue(command_words,bit(MODAL_GROUP_G12)) ) { // Check if called in block
if (gc_block.modal.coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
if (gc_state.modal.coord_select != gc_block.modal.coord_select) {
if (!(settings_read_coord_data(gc_block.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); }
if (!(settings_read_coord_data(gc_block.modal.coord_select,block_coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); }
}
}
@ -562,21 +561,24 @@ uint8_t gc_execute_line(char *line)
// Determine coordinate system to change and try to load from EEPROM.
if (coord_select > 0) { coord_select--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
else { coord_select = gc_block.modal.coord_select; } // Index P0 as the active coordinate system
if (!settings_read_coord_data(coord_select,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
// NOTE: Store parameter data in IJK values. By rule, they are not in use with this command.
if (!settings_read_coord_data(coord_select,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
// Pre-calculate the coordinate data changes. NOTE: Uses parameter_data since coordinate_data may be in use by G54-59.
// Pre-calculate the coordinate data changes.
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.
if (bit_istrue(axis_words,bit(idx)) ) {
if (gc_block.values.l == 20) {
// L20: Update coordinate system axis at current position (with modifiers) with programmed value
parameter_data[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { parameter_data[idx] -= gc_state.tool_length_offset; }
// WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos
gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; }
} else {
// L2: Update coordinate system axis to programmed value.
parameter_data[idx] = gc_block.values.xyz[idx];
gc_block.values.ijk[idx] = gc_block.values.xyz[idx];
}
}
} // Else, keep current stored value.
}
break;
case NON_MODAL_SET_COORDINATE_OFFSET:
@ -587,7 +589,8 @@ uint8_t gc_execute_line(char *line)
// active coordinate system is selected, but is still active unless G92.1 disables it.
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] = gc_state.position[idx]-coordinate_data[idx]-gc_block.values.xyz[idx];
// WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos
gc_block.values.xyz[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; }
} else {
gc_block.values.xyz[idx] = gc_state.coord_offset[idx];
@ -612,7 +615,7 @@ uint8_t gc_execute_line(char *line)
if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
// Apply coordinate offsets based on distance mode.
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] += block_coord_system[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }
} else { // Incremental mode
gc_block.values.xyz[idx] += gc_state.position[idx];
@ -629,15 +632,16 @@ uint8_t gc_execute_line(char *line)
case NON_MODAL_GO_HOME_1: // G30
// [G28/30 Errors]: Cutter compensation is enabled.
// Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
// NOTE: Store parameter data in IJK values. By rule, they are not in use with this command.
if (gc_block.non_modal_command == NON_MODAL_GO_HOME_0) {
if (!settings_read_coord_data(SETTING_INDEX_G28,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
if (!settings_read_coord_data(SETTING_INDEX_G28,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); }
} else { // == NON_MODAL_GO_HOME_1
if (!settings_read_coord_data(SETTING_INDEX_G30,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
if (!settings_read_coord_data(SETTING_INDEX_G30,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); }
}
if (axis_words) {
// Move only the axes specified in secondary move.
for (idx=0; idx<N_AXIS; idx++) {
if (!(axis_words & (1<<idx))) { parameter_data[idx] = gc_state.position[idx]; }
if (!(axis_words & (1<<idx))) { gc_block.values.ijk[idx] = gc_state.position[idx]; }
}
} else {
axis_command = AXIS_COMMAND_NONE; // Set to none if no intermediate motion.
@ -964,7 +968,7 @@ uint8_t gc_execute_line(char *line)
// [15. Coordinate system selection ]:
if (gc_state.modal.coord_select != gc_block.modal.coord_select) {
gc_state.modal.coord_select = gc_block.modal.coord_select;
memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
memcpy(gc_state.coord_system,block_coord_system,N_AXIS*sizeof(float));
system_flag_wco_change();
}
@ -979,10 +983,10 @@ uint8_t gc_execute_line(char *line)
// [19. Go to predefined position, Set G10, or Set axis offsets ]:
switch(gc_block.non_modal_command) {
case NON_MODAL_SET_COORDINATE_DATA:
settings_write_coord_data(coord_select,parameter_data);
settings_write_coord_data(coord_select,gc_block.values.xyz);
// Update system coordinate system if currently active.
if (gc_state.modal.coord_select == coord_select) {
memcpy(gc_state.coord_system,parameter_data,sizeof(parameter_data));
memcpy(gc_state.coord_system,gc_block.values.xyz,N_AXIS*sizeof(float));
system_flag_wco_change();
}
break;
@ -991,8 +995,8 @@ uint8_t gc_execute_line(char *line)
// and absolute and incremental modes.
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
if (axis_command) { mc_line(gc_block.values.xyz, pl_data); }
mc_line(parameter_data, pl_data);
memcpy(gc_state.position, parameter_data, sizeof(parameter_data));
mc_line(gc_block.values.ijk, pl_data);
memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
break;
case NON_MODAL_SET_HOME_0:
settings_write_coord_data(SETTING_INDEX_G28,gc_state.position);
@ -1085,8 +1089,7 @@ uint8_t gc_execute_line(char *line)
// Execute coordinate change and spindle/coolant stop.
if (sys.state != STATE_CHECK_MODE) {
if (!(settings_read_coord_data(gc_state.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); }
memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); }
system_flag_wco_change(); // Set to refresh immediately just in case something altered.
spindle_stop();
coolant_set_state(COOLANT_DISABLE);

2
grbl/grbl.h
View File

@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1b"
#define GRBL_VERSION_BUILD "20160926"
#define GRBL_VERSION_BUILD "20160927"
// Define standard libraries used by Grbl.
#include <avr/io.h>