Merge pull request #112 from jgeisler0303/simulator
Grbl Simulator. Oh yeah.
This commit is contained in:
Sonny Jeon
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sim/HelloWorld.nc
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sim/HelloWorld.nc
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( Made using CamBam - http://www.cambam.co.uk )
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( Untitled 2/13/2012 2:54:50 PM )
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( T0 : 0.0394 )
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( Engrave1 )
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||||||
|
G2 X1.4075 Y-0.3013 I-0.3494 J0.1726
|
||||||
|
G2 X1.1829 Y-0.3581 I-0.2218 J0.4049
|
||||||
|
G2 X1.0618 Y-0.343 I-0.0025 J0.4735
|
||||||
|
G2 X0.9495 Y-0.295 I0.1059 J0.4032
|
||||||
|
G2 X0.7937 Y-0.1227 I0.2106 J0.3471
|
||||||
|
G2 X0.7412 Y0.0837 I0.469 J0.2292
|
||||||
|
G0 Z0.125
|
||||||
|
G0 X0.867 Y0.0872
|
||||||
|
G1 F10.0 Z-0.001
|
||||||
|
G3 F60.0 X0.8863 Y-0.0342 I0.4738 J0.0131
|
||||||
|
G3 X0.9564 Y-0.1574 I0.3033 J0.091
|
||||||
|
G3 X1.1823 Y-0.2533 I0.2187 J0.2012
|
||||||
|
G3 X1.3066 Y-0.2297 I0.004 J0.318
|
||||||
|
G3 X1.4094 Y-0.1562 I-0.1146 J0.269
|
||||||
|
G3 X1.4803 Y-0.0268 I-0.2365 J0.2136
|
||||||
|
G3 X1.499 Y0.1195 I-0.5092 J0.1396
|
||||||
|
G3 X1.4904 Y0.22 I-0.5565 J0.0028
|
||||||
|
G3 X1.4605 Y0.3164 I-0.4006 J-0.0713
|
||||||
|
G3 X1.3489 Y0.447 I-0.2653 J-0.1138
|
||||||
|
G3 X1.1842 Y0.4937 I-0.1607 J-0.2531
|
||||||
|
G3 X0.9602 Y0.4041 I-0.0045 J-0.3134
|
||||||
|
G3 X0.9124 Y0.3396 I0.1696 J-0.1757
|
||||||
|
G3 X0.8761 Y0.2256 I0.3481 J-0.1739
|
||||||
|
G3 X0.8669 Y0.1063 I0.7033 J-0.1142
|
||||||
|
G3 X0.867 Y0.0872 I0.474 J-0.0059
|
||||||
|
G0 Z0.125
|
||||||
|
G0 X1.7691
|
||||||
|
G1 F10.0 Z-0.001
|
||||||
|
G1 F60.0 Y0.5826
|
||||||
|
G1 X1.8826
|
||||||
|
G1 Y0.0552
|
||||||
|
G1 X2.1514 Y0.3277
|
||||||
|
G1 X2.2984
|
||||||
|
G1 X2.0422 Y0.0792
|
||||||
|
G1 X2.3243 Y-0.3423
|
||||||
|
G1 X2.1842
|
||||||
|
G1 X1.9627 Y0.0003
|
||||||
|
G1 X1.8826 Y-0.0767
|
||||||
|
G1 Y-0.3423
|
||||||
|
G1 X1.7691
|
||||||
|
G1 Y0.0872
|
||||||
|
G0 Z0.125
|
||||||
|
G0 X2.3737 Y0.0387
|
||||||
|
G1 F10.0 Z-0.001
|
||||||
|
G2 F60.0 X2.3936 Y0.142 I0.4767 J-0.0383
|
||||||
|
G2 X2.4757 Y0.2684 I0.2668 J-0.0833
|
||||||
|
G2 X2.5741 Y0.3252 I0.1952 J-0.225
|
||||||
|
G2 X2.6864 Y0.3429 I0.109 J-0.3265
|
||||||
|
G2 X2.8089 Y0.3214 I0.0042 J-0.3359
|
||||||
|
G2 X2.9123 Y0.252 I-0.1045 J-0.2674
|
||||||
|
G2 X2.9809 Y0.1358 I-0.2103 J-0.2027
|
||||||
|
G2 X3.0 Y0.0022 I-0.4192 J-0.1278
|
||||||
|
G2 X2.9922 Y-0.102 I-0.6432 J-0.0046
|
||||||
|
G2 X2.9608 Y-0.2016 I-0.3284 J0.0487
|
||||||
|
G2 X2.8479 Y-0.3164 I-0.2422 J0.1253
|
||||||
|
G2 X2.6864 Y-0.3574 I-0.1586 J0.2861
|
||||||
|
G2 X2.563 Y-0.3364 I-0.0045 J0.3461
|
||||||
|
G2 X2.4586 Y-0.2672 I0.1004 J0.2648
|
||||||
|
G2 X2.3902 Y-0.1456 I0.2134 J0.2001
|
||||||
|
G2 X2.3722 Y-0.0073 I0.4726 J0.1318
|
||||||
|
G2 X2.3737 Y0.0387 I0.4782 J0.0077
|
||||||
|
G0 Z0.125
|
||||||
|
G0 X2.4901 Y0.0298
|
||||||
|
G1 F10.0 Z-0.001
|
||||||
|
G3 F60.0 X2.4889 Y-0.0073 I0.4225 J-0.032
|
||||||
|
G3 X2.5 Y-0.1088 I0.4249 J-0.0051
|
||||||
|
G3 X2.5451 Y-0.2003 I0.2117 J0.0474
|
||||||
|
G3 X2.6864 Y-0.2641 I0.1376 J0.1166
|
||||||
|
G3 X2.8271 Y-0.1997 I0.0032 J0.1789
|
||||||
|
G3 X2.8724 Y-0.1065 I-0.1677 J0.1391
|
||||||
|
G3 X2.8832 Y-0.0035 I-0.432 J0.0977
|
||||||
|
G3 X2.8719 Y0.0957 I-0.3951 J0.0049
|
||||||
|
G3 X2.8265 Y0.1845 I-0.2065 J-0.0494
|
||||||
|
G3 X2.6864 Y0.2489 I-0.1372 J-0.1139
|
||||||
|
G3 X2.5451 Y0.1852 I-0.0037 J-0.1803
|
||||||
|
G3 X2.4999 Y0.0939 I0.164 J-0.1379
|
||||||
|
G3 X2.4901 Y0.0298 I0.4127 J-0.0961
|
||||||
|
G0 Z0.125
|
||||||
|
M5
|
||||||
|
M30
|
||||||
47
sim/Makefile
Normal file
47
sim/Makefile
Normal file
@ -0,0 +1,47 @@
|
|||||||
|
# Part of Grbl Simulator
|
||||||
|
#
|
||||||
|
# Copyright (c) 2012 Jens Geisler
|
||||||
|
#
|
||||||
|
# Grbl is free software: you can redistribute it and/or modify
|
||||||
|
# it under the terms of the GNU General Public License as published by
|
||||||
|
# the Free Software Foundation, either version 3 of the License, or
|
||||||
|
# (at your option) any later version.
|
||||||
|
#
|
||||||
|
# Grbl is distributed in the hope that it will be useful,
|
||||||
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
# GNU General Public License for more details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License
|
||||||
|
# along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
|
||||||
|
OBJECTS = main.o simulator.o runtime.o ../protocol.o ../planner.o ../settings.o ../print.o ../nuts_bolts.o eeprom.o serial.o avr\pgmspace.o avr\interrupt.o util\delay.o util\floatunsisf.o ../stepper.o ../gcode.o ../spindle_control.o ../motion_control.o ../limits.o ../report.o ../coolant_control.o
|
||||||
|
|
||||||
|
|
||||||
|
CLOCK = 16000000
|
||||||
|
EXE_NAME= grbl_sim.exe
|
||||||
|
COMPILER= C:\MinGW\bin\gcc.exe
|
||||||
|
COMPILE = $(COMPILER) -Wall -Os -DF_CPU=$(CLOCK) -include config.h -I.
|
||||||
|
|
||||||
|
# symbolic targets:
|
||||||
|
all: main
|
||||||
|
|
||||||
|
new: clean main
|
||||||
|
|
||||||
|
clean:
|
||||||
|
rm -f $(EXE_NAME) $(OBJECTS)
|
||||||
|
|
||||||
|
# file targets:
|
||||||
|
main: $(OBJECTS)
|
||||||
|
$(COMPILE) -o $(EXE_NAME) $(OBJECTS) -lm -Wl,--gc-sections
|
||||||
|
|
||||||
|
%.o: %.c
|
||||||
|
$(COMPILE) -c $< -o $@
|
||||||
|
|
||||||
|
../protocol.o: ../protocol.c
|
||||||
|
$(COMPILE) -include rename_execute_runtime.h -c $< -o $@
|
||||||
|
|
||||||
|
../planner.o: ../planner.c
|
||||||
|
$(COMPILE) -include planner_inject_accessors.c -c $< -o $@
|
||||||
|
|
||||||
|
|
||||||
42
sim/avr/interrupt.c
Normal file
42
sim/avr/interrupt.c
Normal file
@ -0,0 +1,42 @@
|
|||||||
|
/*
|
||||||
|
interrupt.c - replacement for the avr library of the same name to provide
|
||||||
|
dummy register variables
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "interrupt.h"
|
||||||
|
|
||||||
|
// dummy register variables
|
||||||
|
uint16_t timsk0;
|
||||||
|
uint16_t timsk1;
|
||||||
|
uint16_t timsk2;
|
||||||
|
uint16_t ocr1a;
|
||||||
|
uint16_t ocr2a;
|
||||||
|
uint16_t tcnt0;
|
||||||
|
uint16_t tcnt2;
|
||||||
|
uint16_t tccr0b;
|
||||||
|
uint16_t tccr2b;
|
||||||
|
uint16_t tccr1b;
|
||||||
|
uint16_t tccr0a;
|
||||||
|
uint16_t tccr1a;
|
||||||
|
uint16_t tccr2a;
|
||||||
|
uint16_t pcmsk0;
|
||||||
|
uint16_t pcicr;
|
||||||
|
|
||||||
|
void sei() {};
|
||||||
82
sim/avr/interrupt.h
Normal file
82
sim/avr/interrupt.h
Normal file
@ -0,0 +1,82 @@
|
|||||||
|
/*
|
||||||
|
interrupt.h - replacement for the avr include of the same name to provide
|
||||||
|
dummy register variables and macros
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
#ifndef interrupt_h
|
||||||
|
#define interrupt_h
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
|
||||||
|
// dummy register variables
|
||||||
|
extern uint16_t timsk0;
|
||||||
|
extern uint16_t timsk1;
|
||||||
|
extern uint16_t timsk2;
|
||||||
|
extern uint16_t tcnt0;
|
||||||
|
extern uint16_t tcnt2;
|
||||||
|
extern uint16_t tccr0b;
|
||||||
|
extern uint16_t tccr0a;
|
||||||
|
extern uint16_t tccr2a;
|
||||||
|
extern uint16_t tccr2b;
|
||||||
|
extern uint16_t tccr1b;
|
||||||
|
extern uint16_t tccr1a;
|
||||||
|
extern uint16_t ocr1a;
|
||||||
|
extern uint16_t ocr2a;
|
||||||
|
extern uint16_t pcmsk0;
|
||||||
|
extern uint16_t pcicr;
|
||||||
|
|
||||||
|
// macros to turn avr interrupts into regular functions
|
||||||
|
#define TIMER1_COMPA_vect
|
||||||
|
#define ISR(a) void interrupt_ ## a ()
|
||||||
|
|
||||||
|
// enable interrupts does nothing in the simulation environment
|
||||||
|
void sei();
|
||||||
|
|
||||||
|
// dummy macros for interrupt related registers
|
||||||
|
#define TIMSK0 timsk0
|
||||||
|
#define TIMSK1 timsk1
|
||||||
|
#define TIMSK2 timsk2
|
||||||
|
#define OCR1A ocr1a
|
||||||
|
#define OCR2A ocr2a
|
||||||
|
#define OCIE1A 0
|
||||||
|
#define OCIE2A 0
|
||||||
|
#define TCNT0 tcnt0
|
||||||
|
#define TCNT2 tcnt2
|
||||||
|
#define TCCR0B tccr0b
|
||||||
|
#define TCCR0A tccr0a
|
||||||
|
#define TCCR1A tccr1a
|
||||||
|
#define TCCR1B tccr1b
|
||||||
|
#define TCCR2A tccr2a
|
||||||
|
#define TCCR2B tccr2b
|
||||||
|
#define CS21 0
|
||||||
|
#define CS10 0
|
||||||
|
#define WGM13 0
|
||||||
|
#define WGM12 0
|
||||||
|
#define WGM11 0
|
||||||
|
#define WGM10 0
|
||||||
|
#define WGM21 0
|
||||||
|
#define COM1A0 0
|
||||||
|
#define COM1B0 0
|
||||||
|
#define TOIE0 0
|
||||||
|
#define TOIE2 0
|
||||||
|
#define PCICR pcicr
|
||||||
|
|
||||||
|
#endif
|
||||||
21
sim/avr/io.h
Normal file
21
sim/avr/io.h
Normal file
@ -0,0 +1,21 @@
|
|||||||
|
/*
|
||||||
|
io.h - dummy replacement for the avr include of the same name
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
26
sim/avr/pgmspace.c
Normal file
26
sim/avr/pgmspace.c
Normal file
@ -0,0 +1,26 @@
|
|||||||
|
/*
|
||||||
|
pgmspace.c - replacement for the avr library of the same name to provide
|
||||||
|
dummy functions
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// this is not really ever called in the simulation
|
||||||
|
char pgm_read_byte_near(const char* s) {
|
||||||
|
return s[0];
|
||||||
|
}
|
||||||
30
sim/avr/pgmspace.h
Normal file
30
sim/avr/pgmspace.h
Normal file
@ -0,0 +1,30 @@
|
|||||||
|
/*
|
||||||
|
pgmspace.h - replacement for the avr include of the same name to provide
|
||||||
|
dummy functions andd macros
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef pgmspace_h
|
||||||
|
#define pgmspace_h
|
||||||
|
|
||||||
|
#define PSTR(s) s
|
||||||
|
|
||||||
|
char pgm_read_byte_near(const char* s);
|
||||||
|
|
||||||
|
#endif
|
||||||
21
sim/avr/sleep.h
Normal file
21
sim/avr/sleep.h
Normal file
@ -0,0 +1,21 @@
|
|||||||
|
/*
|
||||||
|
sleep.h - dummy replacement for the avr include of the same name
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
117
sim/config.h
Normal file
117
sim/config.h
Normal file
@ -0,0 +1,117 @@
|
|||||||
|
/*
|
||||||
|
config.h - replacement for the include of the same name in grbl
|
||||||
|
to define dummy registers
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef config_h
|
||||||
|
#include "../config.h"
|
||||||
|
#include <inttypes.h>
|
||||||
|
|
||||||
|
|
||||||
|
// dummy register variables implemented in simulator.c
|
||||||
|
extern uint8_t stepping_ddr;
|
||||||
|
extern uint8_t stepping_port;
|
||||||
|
extern uint8_t spindle_ddr;
|
||||||
|
extern uint8_t spindle_port;
|
||||||
|
extern uint8_t limit_ddr;
|
||||||
|
extern uint8_t limit_port;
|
||||||
|
extern uint8_t limit_int_reg;
|
||||||
|
extern uint8_t pinout_ddr;
|
||||||
|
extern uint8_t pinout_port;
|
||||||
|
extern uint8_t pinout_int_reg;
|
||||||
|
extern uint8_t coolant_flood_ddr;
|
||||||
|
extern uint8_t coolant_flood_port;
|
||||||
|
|
||||||
|
// ReDefine pin-assignments
|
||||||
|
#undef STEPPING_DDR
|
||||||
|
#define STEPPING_DDR stepping_ddr
|
||||||
|
#undef STEPPING_PORT
|
||||||
|
#define STEPPING_PORT stepping_port
|
||||||
|
#undef X_STEP_BIT
|
||||||
|
#define X_STEP_BIT 2 // Uno Digital Pin 2
|
||||||
|
#undef Y_STEP_BIT
|
||||||
|
#define Y_STEP_BIT 3 // Uno Digital Pin 3
|
||||||
|
#undef Z_STEP_BIT
|
||||||
|
#define Z_STEP_BIT 4 // Uno Digital Pin 4
|
||||||
|
#undef X_DIRECTION_BIT
|
||||||
|
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
|
||||||
|
#undef Y_DIRECTION_BIT
|
||||||
|
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
|
||||||
|
#undef Z_DIRECTION_BIT
|
||||||
|
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
|
||||||
|
|
||||||
|
#undef STEPPERS_DISABLE_DDR
|
||||||
|
#define STEPPERS_DISABLE_DDR stepping_ddr
|
||||||
|
#undef STEPPERS_DISABLE_PORT
|
||||||
|
#define STEPPERS_DISABLE_PORT stepping_port
|
||||||
|
#undef STEPPERS_DISABLE_BIT
|
||||||
|
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
|
||||||
|
|
||||||
|
#undef LIMIT_DDR
|
||||||
|
#define LIMIT_DDR limit_ddr
|
||||||
|
#undef LIMIT_PORT
|
||||||
|
#define LIMIT_PORT limit_port
|
||||||
|
#undef LIMIT_PIN
|
||||||
|
#define LIMIT_PIN limit_port
|
||||||
|
#undef X_LIMIT_BIT
|
||||||
|
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
|
||||||
|
#undef Y_LIMIT_BIT
|
||||||
|
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
|
||||||
|
#undef Z_LIMIT_BIT
|
||||||
|
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
|
||||||
|
#undef LIMIT_INT
|
||||||
|
#define LIMIT_INT 0
|
||||||
|
#undef LIMIT_PCMSK
|
||||||
|
#define LIMIT_PCMSK limit_int_reg
|
||||||
|
|
||||||
|
#undef SPINDLE_ENABLE_DDR
|
||||||
|
#define SPINDLE_ENABLE_DDR spindle_ddr
|
||||||
|
#undef SPINDLE_ENABLE_PORT
|
||||||
|
#define SPINDLE_ENABLE_PORT spindle_port
|
||||||
|
#undef SPINDLE_ENABLE_BIT
|
||||||
|
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
|
||||||
|
|
||||||
|
#undef SPINDLE_DIRECTION_DDR
|
||||||
|
#define SPINDLE_DIRECTION_DDR spindle_ddr
|
||||||
|
#undef SPINDLE_DIRECTION_PORT
|
||||||
|
#define SPINDLE_DIRECTION_PORT spindle_port
|
||||||
|
#undef SPINDLE_DIRECTION_BIT
|
||||||
|
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13
|
||||||
|
|
||||||
|
#undef PINOUT_DDR
|
||||||
|
#define PINOUT_DDR pinout_ddr
|
||||||
|
#undef PINOUT_PORT
|
||||||
|
#define PINOUT_PORT pinout_port
|
||||||
|
#undef PINOUT_PIN
|
||||||
|
#define PINOUT_PIN pinout_port
|
||||||
|
#undef PINOUT_PCMSK
|
||||||
|
#define PINOUT_PCMSK pinout_int_reg
|
||||||
|
#undef PINOUT_INT
|
||||||
|
#define PINOUT_INT 0
|
||||||
|
|
||||||
|
#undef COOLANT_FLOOD_DDR
|
||||||
|
#define COOLANT_FLOOD_DDR coolant_flood_ddr
|
||||||
|
#undef COOLANT_FLOOD_PORT
|
||||||
|
#define COOLANT_FLOOD_PORT coolant_flood_port
|
||||||
|
#undef COOLANT_FLOOD_BIT
|
||||||
|
#define COOLANT_FLOOD_BIT 0
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
38
sim/eeprom.c
Normal file
38
sim/eeprom.c
Normal file
@ -0,0 +1,38 @@
|
|||||||
|
/*
|
||||||
|
eeprom.c - replacement for the avr library of the same name to provide
|
||||||
|
dummy functions
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// These are never called in the simulator
|
||||||
|
unsigned char eeprom_get_char( unsigned int addr ) {
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
void eeprom_put_char( unsigned int addr, unsigned char new_value ) {
|
||||||
|
}
|
||||||
|
|
||||||
|
void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size) {
|
||||||
|
}
|
||||||
|
|
||||||
|
int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size) {
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// end of file
|
||||||
6
sim/gnuplot.plt
Normal file
6
sim/gnuplot.plt
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
t_= NaN
|
||||||
|
x_= NaN
|
||||||
|
y_= NaN
|
||||||
|
z_= NaN
|
||||||
|
|
||||||
|
splot 'HelloWorldSteps.dat' u 2:3:4:(dx= $2-x_,x_=$2,dy=$3-y_,y_=$3,dz=$4-z_,z_=$4,dt=$1-t_,t_=$1,sqrt(dx*dx+dy*dy+dz*dz)/(dt<0.01?0.01:dt)) title "Simulated steps with speed dependent coloring" with lines palette
|
||||||
88
sim/main.c
Normal file
88
sim/main.c
Normal file
@ -0,0 +1,88 @@
|
|||||||
|
/*
|
||||||
|
main.c - main grbl simulator program
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include "../planner.h"
|
||||||
|
#include "../stepper.h"
|
||||||
|
#include "../gcode.h"
|
||||||
|
#include "../protocol.h"
|
||||||
|
#include "../nuts_bolts.h"
|
||||||
|
#include "../settings.h"
|
||||||
|
#include "../spindle_control.h"
|
||||||
|
#include "../limits.h"
|
||||||
|
#include "../coolant_control.h"
|
||||||
|
#include "simulator.h"
|
||||||
|
|
||||||
|
|
||||||
|
int main(int argc, char *argv[]) {
|
||||||
|
// Get the minimum time step for printing stepper values.
|
||||||
|
// If not given or the command line cannot be parsed to a float than
|
||||||
|
// step_time= 0.0; This means to not print stepper values at all
|
||||||
|
if(argc>1) {
|
||||||
|
argv++;
|
||||||
|
step_time= atof(*argv);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Setup output file handles. Block info goes to stdout. Stepper values go to stderr.
|
||||||
|
block_out_file= stdout;
|
||||||
|
step_out_file= stderr;
|
||||||
|
// Make sure the output streams are flushed immediately.
|
||||||
|
// This is important when using the simulator inside another application in parallel
|
||||||
|
// to the real grbl.
|
||||||
|
// Theoretically flushing could be limited to complete lines. Unfortunately Windows
|
||||||
|
// does not know line buffered streams. So for now we stick to flushing every character.
|
||||||
|
//setvbuf(stdout, NULL, _IONBF, 1);
|
||||||
|
//setvbuf(stderr, NULL, _IONBF, 1);
|
||||||
|
|
||||||
|
st_init(); // Setup stepper pins and interrupt timers
|
||||||
|
memset(&sys, 0, sizeof(sys)); // Clear all system variables
|
||||||
|
//settings_reset(); TODO: implement read_settings from eeprom
|
||||||
|
settings_init();
|
||||||
|
protocol_init(); // Clear incoming line data
|
||||||
|
//printf("plan_init():\n");
|
||||||
|
plan_init(); // Clear block buffer and planner variables
|
||||||
|
//printf("gc_init():\n");
|
||||||
|
gc_init(); // Set g-code parser to default state
|
||||||
|
//printf("spindle_init():\n");
|
||||||
|
spindle_init();
|
||||||
|
//printf("limits_init():\n");
|
||||||
|
limits_init();
|
||||||
|
//printf("coolant_init():\n");
|
||||||
|
coolant_init();
|
||||||
|
//printf("st_reset():\n");
|
||||||
|
st_reset(); // Clear stepper subsystem variables.
|
||||||
|
sys.auto_start = true; // runtime commands are not processed. We start to simulate immediately
|
||||||
|
|
||||||
|
// Main loop of command processing until EOF is encountered
|
||||||
|
//printf("protocol_process():\n");
|
||||||
|
protocol_process();
|
||||||
|
|
||||||
|
// flush the block buffer and print stepper info on any pending blocks
|
||||||
|
plan_synchronize();
|
||||||
|
|
||||||
|
// Graceful exit
|
||||||
|
fclose(block_out_file);
|
||||||
|
fclose(step_out_file);
|
||||||
|
|
||||||
|
exit(EXIT_SUCCESS);
|
||||||
|
}
|
||||||
10
sim/planner_inject_accessors.c
Normal file
10
sim/planner_inject_accessors.c
Normal file
@ -0,0 +1,10 @@
|
|||||||
|
#include "../planner.h"
|
||||||
|
|
||||||
|
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
|
||||||
|
block_t *get_block_buffer() { return block_buffer; }
|
||||||
|
|
||||||
|
static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
|
||||||
|
uint8_t get_block_buffer_head() { return block_buffer_head; }
|
||||||
|
|
||||||
|
static volatile uint8_t block_buffer_tail; // Index of the next block to be pushed
|
||||||
|
uint8_t get_block_buffer_tail() { return block_buffer_tail; }
|
||||||
2
sim/rename_execute_runtime.h
Normal file
2
sim/rename_execute_runtime.h
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
#define protocol_execute_runtime orig_protocol_execute_runtime
|
||||||
|
//void __attribute__((weak)) protocol_execute_runtime(void);
|
||||||
38
sim/runtime.c
Normal file
38
sim/runtime.c
Normal file
@ -0,0 +1,38 @@
|
|||||||
|
/*
|
||||||
|
runtime.c - replacement for the modul of the same name in grbl
|
||||||
|
Run time commands are not processed in the simulator.
|
||||||
|
Instead, the execute_runtime() is used as a hook to handle stepper simulation
|
||||||
|
and printing of simulation results.
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "simulator.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
void orig_protocol_execute_runtime(void);
|
||||||
|
|
||||||
|
// replacement for original execute_runtime as a hook to print blocks as they are generated
|
||||||
|
// and to control simulation of buffered blocks
|
||||||
|
void protocol_execute_runtime(void) {
|
||||||
|
orig_protocol_execute_runtime();
|
||||||
|
//printf("printBlock():\n");
|
||||||
|
printBlock();
|
||||||
|
//printf("handle_buffer():\n");
|
||||||
|
handle_buffer();
|
||||||
|
}
|
||||||
53
sim/serial.c
Normal file
53
sim/serial.c
Normal file
@ -0,0 +1,53 @@
|
|||||||
|
/*
|
||||||
|
serial.c - replacement for the modul of the same name in grbl
|
||||||
|
Make sure the simulator reads from stdin and writes to stdout.
|
||||||
|
Also print info about the last buffered block.
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "../serial.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "simulator.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
void serial_write(uint8_t data) {
|
||||||
|
printBlock();
|
||||||
|
if(print_comment && data!='\n' && data!='\r') {
|
||||||
|
fprintf(block_out_file, "# ");
|
||||||
|
print_comment= 0;
|
||||||
|
}
|
||||||
|
if(data=='\n' || data=='\r')
|
||||||
|
print_comment= 1;
|
||||||
|
|
||||||
|
fprintf(block_out_file, "%c", data);
|
||||||
|
|
||||||
|
// Indicate the end of processing a command. See simulator.c for details
|
||||||
|
runtime_second_call= 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
uint8_t serial_read() {
|
||||||
|
int c;
|
||||||
|
if((c = fgetc(stdin)) != EOF) {
|
||||||
|
serial_write(c);
|
||||||
|
return c;
|
||||||
|
}
|
||||||
|
|
||||||
|
return SERIAL_NO_DATA;
|
||||||
|
}
|
||||||
1
sim/sim.bat
Normal file
1
sim/sim.bat
Normal file
@ -0,0 +1 @@
|
|||||||
|
grbl_sim.exe 0.01 <HelloWorld.nc >HelloWorld.dat 2> HelloWorldSteps.dat
|
||||||
217
sim/simulator.c
Normal file
217
sim/simulator.c
Normal file
@ -0,0 +1,217 @@
|
|||||||
|
/*
|
||||||
|
simulator.c - functions to simulate how the buffer is emptied and the
|
||||||
|
stepper interrupt is called
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <avr/interrupt.h>
|
||||||
|
#include <inttypes.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "../stepper.h"
|
||||||
|
#include "../planner.h"
|
||||||
|
#include "../nuts_bolts.h"
|
||||||
|
#include "simulator.h"
|
||||||
|
|
||||||
|
// This variable is needed to determine if execute_runtime() is called in a loop
|
||||||
|
// waiting for the buffer to empty, as in plan_synchronize()
|
||||||
|
// it is reset in serial_write() because this is certainly called at the end of
|
||||||
|
// every command processing
|
||||||
|
int runtime_second_call= 0;
|
||||||
|
|
||||||
|
|
||||||
|
// Current time of the stepper simulation
|
||||||
|
double sim_time= 0.0;
|
||||||
|
// Next time the status of stepper values should be printed
|
||||||
|
double next_print_time= 0.0;
|
||||||
|
// Minimum time step for printing stepper values. Given by user via command line
|
||||||
|
double step_time= 0.0;
|
||||||
|
|
||||||
|
// global system variable structure for position etc.
|
||||||
|
system_t sys;
|
||||||
|
int block_position[]= {0,0,0};
|
||||||
|
uint8_t print_comment= 1;
|
||||||
|
uint8_t end_of_block= 1;
|
||||||
|
uint32_t block_number= 0;
|
||||||
|
|
||||||
|
// Output file handles set by main program
|
||||||
|
FILE *block_out_file;
|
||||||
|
FILE *step_out_file;
|
||||||
|
|
||||||
|
// dummy port variables
|
||||||
|
uint8_t stepping_ddr;
|
||||||
|
uint8_t stepping_port;
|
||||||
|
uint8_t spindle_ddr;
|
||||||
|
uint8_t spindle_port;
|
||||||
|
uint8_t limit_ddr;
|
||||||
|
uint8_t limit_port;
|
||||||
|
uint8_t limit_int_reg;
|
||||||
|
uint8_t pinout_ddr;
|
||||||
|
uint8_t pinout_port;
|
||||||
|
uint8_t pinout_int_reg;
|
||||||
|
uint8_t coolant_flood_ddr;
|
||||||
|
uint8_t coolant_flood_port;
|
||||||
|
|
||||||
|
extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
|
||||||
|
extern uint8_t block_buffer_head; // Index of the next block to be pushed
|
||||||
|
extern uint8_t block_buffer_tail; // Index of the block to process now
|
||||||
|
|
||||||
|
|
||||||
|
// Stub of the timer interrupt function from stepper.c
|
||||||
|
void interrupt_TIMER2_COMPA_vect();
|
||||||
|
|
||||||
|
// Call the stepper interrupt until one block is finished
|
||||||
|
void sim_stepper() {
|
||||||
|
//printf("sim_stepper()\n");
|
||||||
|
block_t *current_block= plan_get_current_block();
|
||||||
|
|
||||||
|
// If the block buffer is empty, call the stepper interrupt one last time
|
||||||
|
// to let it handle sys.cycle_start etc.
|
||||||
|
if(current_block==NULL) {
|
||||||
|
interrupt_TIMER2_COMPA_vect();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
while(current_block==plan_get_current_block()) {
|
||||||
|
sim_time+= get_step_time();
|
||||||
|
interrupt_TIMER2_COMPA_vect();
|
||||||
|
|
||||||
|
// Check to see if we should print some info
|
||||||
|
if(step_time>0.0) {
|
||||||
|
if(sim_time>=next_print_time) {
|
||||||
|
if(end_of_block) {
|
||||||
|
end_of_block= 0;
|
||||||
|
fprintf(step_out_file, "# block number %d\n", block_number);
|
||||||
|
}
|
||||||
|
fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||||
|
|
||||||
|
// Make sure the simulation time doesn't get ahead of next_print_time
|
||||||
|
while(next_print_time<sim_time) next_print_time+= step_time;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
// always print stepper values at the end of a block
|
||||||
|
if(step_time>0.0) {
|
||||||
|
fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||||
|
end_of_block= 1;
|
||||||
|
block_number++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Returns the index of the previous block in the ring buffer
|
||||||
|
uint8_t prev_block_index(uint8_t block_index)
|
||||||
|
{
|
||||||
|
if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
|
||||||
|
block_index--;
|
||||||
|
return(block_index);
|
||||||
|
}
|
||||||
|
|
||||||
|
block_t *get_block_buffer();
|
||||||
|
uint8_t get_block_buffer_head();
|
||||||
|
uint8_t get_block_buffer_tail();
|
||||||
|
|
||||||
|
block_t *plan_get_recent_block() {
|
||||||
|
if (get_block_buffer_head() == get_block_buffer_tail()) { return(NULL); }
|
||||||
|
return(get_block_buffer()+prev_block_index(get_block_buffer_head()));
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// Print information about the most recently inserted block
|
||||||
|
// but only once!
|
||||||
|
void printBlock() {
|
||||||
|
block_t *b;
|
||||||
|
static block_t *last_block;
|
||||||
|
|
||||||
|
//printf("printBlock()\n");
|
||||||
|
|
||||||
|
b= plan_get_recent_block();
|
||||||
|
if(b!=last_block && b!=NULL) {
|
||||||
|
//fprintf(block_out_file,"%s\n", line);
|
||||||
|
//fprintf(block_out_file," block: ");
|
||||||
|
if(b->direction_bits & (1<<X_DIRECTION_BIT)) block_position[0]-= b->steps_x;
|
||||||
|
else block_position[0]+= b->steps_x;
|
||||||
|
fprintf(block_out_file,"%d, ", block_position[0]);
|
||||||
|
|
||||||
|
if(b->direction_bits & (1<<Y_DIRECTION_BIT)) block_position[1]-= b->steps_y;
|
||||||
|
else block_position[1]+= b->steps_y;
|
||||||
|
fprintf(block_out_file,"%d, ", block_position[1]);
|
||||||
|
|
||||||
|
if(b->direction_bits & (1<<Z_DIRECTION_BIT)) block_position[2]-= b->steps_z;
|
||||||
|
else block_position[2]+= b->steps_z;
|
||||||
|
fprintf(block_out_file,"%d, ", block_position[2]);
|
||||||
|
|
||||||
|
fprintf(block_out_file,"%f", b->entry_speed_sqr);
|
||||||
|
fprintf(block_out_file,"\n");
|
||||||
|
|
||||||
|
last_block= b;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// The simulator assumes that grbl is fast enough to keep the buffer full.
|
||||||
|
// Thus, the stepper interrupt is only called when the buffer is full and then only to
|
||||||
|
// finish one block.
|
||||||
|
// Only when plan_synchronize() wait for the whole buffer to clear, the stepper interrupt
|
||||||
|
// to finish all pending moves.
|
||||||
|
void handle_buffer() {
|
||||||
|
// runtime_second_call is reset by serial_write() after every command.
|
||||||
|
// Only when execute_runtime() is called repeatedly by plan_synchronize()
|
||||||
|
// runtime_second_call will be incremented above 2
|
||||||
|
//printf("handle_buffer()\n");
|
||||||
|
if(plan_check_full_buffer() || runtime_second_call>2) {
|
||||||
|
sim_stepper(step_out_file);
|
||||||
|
} else {
|
||||||
|
runtime_second_call++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
double get_step_time() {
|
||||||
|
/* code for the old stepper algorithm
|
||||||
|
uint16_t ceiling;
|
||||||
|
uint16_t prescaler;
|
||||||
|
uint32_t actual_cycles;
|
||||||
|
uint8_t invalid_prescaler= 0;
|
||||||
|
|
||||||
|
prescaler= ((TCCR1B>>CS10) & 0x07) - 1;
|
||||||
|
ceiling= OCR1A;
|
||||||
|
|
||||||
|
switch(prescaler) {
|
||||||
|
case 0:
|
||||||
|
actual_cycles= ceiling;
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
actual_cycles= ceiling * 8L;
|
||||||
|
break;
|
||||||
|
case 2:
|
||||||
|
actual_cycles = ceiling * 64L;
|
||||||
|
break;
|
||||||
|
case 3:
|
||||||
|
actual_cycles = ceiling * 256L;
|
||||||
|
break;
|
||||||
|
case 4:
|
||||||
|
actual_cycles = ceiling * 1024L;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
invalid_prescaler= 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(invalid_prescaler) return 12345.0;
|
||||||
|
else return (double)actual_cycles/F_CPU;*/
|
||||||
|
return (double)((ocr2a+1)*8)/(double)(F_CPU);
|
||||||
|
}
|
||||||
60
sim/simulator.h
Normal file
60
sim/simulator.h
Normal file
@ -0,0 +1,60 @@
|
|||||||
|
/*
|
||||||
|
simulator.h - functions to simulate how the buffer is emptied and the
|
||||||
|
stepper interrupt is called
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef simulator_h
|
||||||
|
#define simulator_h
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "../nuts_bolts.h"
|
||||||
|
|
||||||
|
// Output file handles
|
||||||
|
extern FILE *block_out_file;
|
||||||
|
extern FILE *step_out_file;
|
||||||
|
|
||||||
|
// This variable is needed to determine if execute_runtime() is called in a loop
|
||||||
|
// waiting for the buffer to empty, as in plan_synchronize()
|
||||||
|
extern int runtime_second_call;
|
||||||
|
|
||||||
|
// Minimum time step for printing stepper values. Given by user via command line
|
||||||
|
extern double step_time;
|
||||||
|
|
||||||
|
// global system variable structure for position etc.
|
||||||
|
extern system_t sys;
|
||||||
|
extern uint8_t print_comment;
|
||||||
|
|
||||||
|
|
||||||
|
// Call the stepper interrupt until one block is finished
|
||||||
|
void sim_stepper();
|
||||||
|
|
||||||
|
// Check if buffer is full or if plan_synchronize() wants to clear the buffer
|
||||||
|
void handle_buffer();
|
||||||
|
|
||||||
|
// Print information about the most recently inserted block
|
||||||
|
void printBlock();
|
||||||
|
|
||||||
|
// Calculate the time between stepper interrupt calls from TCCR1B and OCR1A AVR registers
|
||||||
|
// which are set in config_step_timer in stepper.c
|
||||||
|
// This reconstructs the stepper-internal value of variable st.cycles_per_step_event
|
||||||
|
// The reconstruction is done to truely decouple the simulator from the actual grbl code
|
||||||
|
double get_step_time();
|
||||||
|
|
||||||
|
#endif
|
||||||
27
sim/util/delay.c
Normal file
27
sim/util/delay.c
Normal file
@ -0,0 +1,27 @@
|
|||||||
|
/*
|
||||||
|
delay.c - replacement for the avr library of the same name to provide
|
||||||
|
dummy functions
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// TODO: the simulation time should reflect when grbl dwells
|
||||||
|
// Maybe this becomes a no-issue when dwell is executed in a buffered block
|
||||||
|
void _delay_ms(int i) {}
|
||||||
|
|
||||||
|
void _delay_us(int i) {}
|
||||||
29
sim/util/delay.h
Normal file
29
sim/util/delay.h
Normal file
@ -0,0 +1,29 @@
|
|||||||
|
/*
|
||||||
|
delay.h - replacement for the avr include of the same name to provide
|
||||||
|
dummy functions
|
||||||
|
|
||||||
|
Part of Grbl Simulator
|
||||||
|
|
||||||
|
Copyright (c) 2012 Jens Geisler
|
||||||
|
|
||||||
|
Grbl is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
Grbl is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef delay_h
|
||||||
|
#define delay_h
|
||||||
|
|
||||||
|
void _delay_ms(int i);
|
||||||
|
void _delay_us(int i);
|
||||||
|
|
||||||
|
#endif
|
||||||
3
sim/util/floatunsisf.c
Normal file
3
sim/util/floatunsisf.c
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
float __floatunsisf (unsigned long v) {
|
||||||
|
return v;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user