532c359a11
- Completely overhauled the g-code parser. It’s now 100%* compliant. (* may have some bugs). Being compliant, here are some of the major differences. - SMALLER and JUST AS FAST! A number of optimizations were found that sped things up and allowed for the more thorough error-checking to be installed without a speed hit. Trimmed a lot of ‘fat’ in the parser and still was able to make it significantly smaller than it was. - No default feed rate setting! Removed completely! This doesn’t exist in the g-code standard. So, it now errors out whenever it’s undefined for motions that require it (G1/2/3/38.2). - Any g-code parser error expunges the ENTIRE block. This means all information is lost and not passed on to the running state. Before some of the states would remain, which could have led to some problems. - If the g-code block passes all of the error-checks, the g-code state is updated and all motions are executed according to the order of execution. - Changes in spindle speed, when already running, will update the output pin accordingly. This fixes a bug, where it wouldn’t update the speed. - Update g-code parser error reporting. Errors now return detailed information of what exact went wrong. The most common errors return a short text description. For less common errors, the parser reports ‘Invalid gcode ID:20’, where 20 is a error ID. A list of error code IDs and their descriptions will be documented for user reference elsewhere to save flash space. - Other notable changes: - Added a print integer routine for uint8 variables. This saved significant flash space by switching from a heavier universal print integer routine. - Saved some flash space with our own short hypotenuse calculation - Some arc computation flash and memory optimizations.
65 lines
2.5 KiB
C
65 lines
2.5 KiB
C
/*
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motion_control.h - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2011-2014 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef motion_control_h
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#define motion_control_h
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#define HOMING_CYCLE_LINE_NUMBER -1
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// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
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// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
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// (1 minute)/feed_rate time.
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#ifdef USE_LINE_NUMBERS
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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#else
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void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate);
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#endif
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// Execute an arc in offset mode format. position == current xyz, target == target xyz,
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// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
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// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
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// for vector transformation direction.
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#ifdef USE_LINE_NUMBERS
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number);
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#else
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void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
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uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear);
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#endif
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// Dwell for a specific number of seconds
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void mc_dwell(float seconds);
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// Perform homing cycle to locate machine zero. Requires limit switches.
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void mc_homing_cycle();
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// Perform tool length probe cycle. Requires probe switch.
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#ifdef USE_LINE_NUMBERS
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number);
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#else
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void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate);
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#endif
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// Performs system reset. If in motion state, kills all motion and sets system alarm.
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void mc_reset();
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#endif
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