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Merge pull request #135 from bdring/Devt

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Devt
This commit is contained in:
bdring
2019-05-01 16:35:07 -05:00
committed by GitHub
parent c5f52c8052 a7b71d25d3
commit caf21d9f15
6 changed files with 1350 additions and 1073 deletions
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20
Grbl_Esp32/cpu_map.h
View File

@@ -45,6 +45,8 @@
// won't affect operation except that there will be no output
// form the pins. Grbl will virtually move the axis. This could
// be handy if you are using a servo, etc. for another axis.
#define CPU_MAP_NAME "CPU_MAP_ESP32"
#define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_26
#define X_RMT_CHANNEL 0
@@ -112,6 +114,8 @@
// For laser mode, you do not need to change anything
// Note: You can use all 3 modes at the same time if you want
#define CPU_MAP_NAME "CPU_MAP_PEN_LASER"
// Pick a board version
//#define PEN_LASER_V1
#define PEN_LASER_V2
@@ -209,6 +213,9 @@
#endif
#ifdef CPU_MAP_MIDTBOT // Buildlog.net midtbot
#define CPU_MAP_NAME "CPU_MAP_MIDTBOT"
#define X_STEP_PIN GPIO_NUM_12
#define Y_STEP_PIN GPIO_NUM_14
#define X_DIRECTION_PIN GPIO_NUM_26
@@ -326,6 +333,8 @@
#endif
#ifdef CPU_MAP_POLAR_COASTER // The Buildlog.net pen polar coaster controller V1
#define CPU_MAP_NAME "CPU_MAP_POLAR_COASTER"
#define X_STEP_PIN GPIO_NUM_15
#define Y_STEP_PIN GPIO_NUM_2
#define X_DIRECTION_PIN GPIO_NUM_25
@@ -432,6 +441,8 @@
// For laser mode, you do not need to change anything
// Note: You can use all 3 modes at the same time if you want
#define CPU_MAP_NAME "CPU_MAP_SERVO_AXIS"
// Pick a board version
//#define PEN_LASER_V1
#define PEN_LASER_V2
@@ -665,6 +676,8 @@
#ifdef CPU_MAP_MPCNC
// This is the CPU Map for the Buildlog.net MPCNC controller
#define CPU_MAP_NAME "CPU_MAP_MPCNC"
// switch to the correct default settings
#ifdef DEFAULTS_GENERIC
#undef DEFAULTS_GENERIC
@@ -744,10 +757,12 @@
#endif
#ifdef CPU_MAP_LOWRIDER
#ifdef CPU_MAP_LOWRIDER // !!!!!!!!!!!!!!!!! Warning: Untested !!!!!!!!!!!!!!!!! //
// This is the CPU Map for the Buildlog.net MPCNC controller
// used in lowrider mode. Low rider has (2) Z and one each of X and Y
// These will not match the silkscreen or schematic descriptions
#define CPU_MAP_NAME "CPU_MAP_LOWRIDER"
#define USE_GANGED_AXES // allow two motors on an axis
@@ -759,7 +774,7 @@
#define Z_STEP_PIN GPIO_NUM_12
#define Z_STEP_B_PIN GPIO_NUM_22
#define Y_AXIS_SQUARING
#define Z_AXIS_SQUARING
#define X_DIRECTION_PIN GPIO_NUM_33 // use Z labeled connector
#define Y_DIRECTION_PIN GPIO_NUM_25
@@ -821,6 +836,7 @@
#endif
// ================= common to all machines ================================
// These are some ESP32 CPU Settings that the program needs, but are generally not changed

522
Grbl_Esp32/gcode.cpp
View File

@@ -97,9 +97,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
gc_parser_flags |= GC_PARSER_JOG_MOTION;
gc_block.modal.motion = MOTION_MODE_LINEAR;
gc_block.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN;
#ifdef USE_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
gc_block.values.n = JOG_LINE_NUMBER; // Initialize default line number reported during jog.
#endif
#endif
}
/* -------------------------------------------------------------------------------------
@@ -114,16 +114,23 @@ uint8_t gc_execute_line(char *line, uint8_t client)
float value;
uint8_t int_value = 0;
uint16_t mantissa = 0;
if (gc_parser_flags & GC_PARSER_JOG_MOTION) { char_counter = 3; } // Start parsing after `$J=`
else { char_counter = 0; }
if (gc_parser_flags & GC_PARSER_JOG_MOTION) {
char_counter = 3; // Start parsing after `$J=`
} else {
char_counter = 0;
}
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
letter = line[char_counter];
if((letter < 'A') || (letter > 'Z')) { FAIL(STATUS_EXPECTED_COMMAND_LETTER); } // [Expected word letter]
if((letter < 'A') || (letter > 'Z')) {
FAIL(STATUS_EXPECTED_COMMAND_LETTER); // [Expected word letter]
}
char_counter++;
if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value]
if (!read_float(line, &char_counter, &value)) {
FAIL(STATUS_BAD_NUMBER_FORMAT); // [Expected word value]
}
// Convert values to smaller uint8 significand and mantissa values for parsing this word.
// NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more
@@ -146,36 +153,49 @@ uint8_t gc_execute_line(char *line, uint8_t client)
case 'G':
// Determine 'G' command and its modal group
switch(int_value) {
case 10: case 28: case 30: case 92:
case 10:
case 28:
case 30:
case 92:
// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
if (axis_command) {
FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); // [Axis word/command conflict]
}
axis_command = AXIS_COMMAND_NON_MODAL;
}
// No break. Continues to next line.
case 4: case 53:
case 4:
case 53:
word_bit = MODAL_GROUP_G0;
gc_block.non_modal_command = int_value;
if ((int_value == 28) || (int_value == 30) || (int_value == 92)) {
if (!((mantissa == 0) || (mantissa == 10))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); }
if (!((mantissa == 0) || (mantissa == 10))) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
}
gc_block.non_modal_command += mantissa;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 0: case 1: case 2: case 3:
case 0:
case 1:
case 2:
case 3:
#ifdef PROBE_PIN //only allow G38 "Probe" commands if a probe pin is defined.
case 38:
#endif
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
if (axis_command) {
FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); // [Axis word/command conflict]
}
axis_command = AXIS_COMMAND_MOTION_MODE;
// No break. Continues to next line.
case 80:
word_bit = MODAL_GROUP_G1;
gc_block.modal.motion = int_value;
if (int_value == 38){
if (int_value == 38) {
if (!((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
@@ -183,26 +203,33 @@ uint8_t gc_execute_line(char *line, uint8_t client)
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 17: case 18: case 19:
case 17:
case 18:
case 19:
word_bit = MODAL_GROUP_G2;
gc_block.modal.plane_select = int_value - 17;
break;
case 90: case 91:
case 90:
case 91:
if (mantissa == 0) {
word_bit = MODAL_GROUP_G3;
gc_block.modal.distance = int_value - 90;
} else {
word_bit = MODAL_GROUP_G4;
if ((mantissa != 10) || (int_value == 90)) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported]
if ((mantissa != 10) || (int_value == 90)) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [G90.1 not supported]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
// Otherwise, arc IJK incremental mode is default. G91.1 does nothing.
}
break;
case 93: case 94:
case 93:
case 94:
word_bit = MODAL_GROUP_G5;
gc_block.modal.feed_rate = 94 - int_value;
break;
case 20: case 21:
case 20:
case 21:
word_bit = MODAL_GROUP_G6;
gc_block.modal.units = 21 - int_value;
break;
@@ -212,84 +239,125 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// to support G40 commands that often appear in g-code program headers to setup defaults.
// gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
break;
case 43: case 49:
case 43:
case 49:
word_bit = MODAL_GROUP_G8;
// NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
// there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
// all are explicit axis commands, regardless if they require axis words or not.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] }
if (axis_command) {
FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT);
} // [Axis word/command conflict] }
axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET;
if (int_value == 49) { // G49
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
} else if (mantissa == 10) { // G43.1
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC;
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command]
} else {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G43.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 54: case 55: case 56: case 57: case 58: case 59:
case 54:
case 55:
case 56:
case 57:
case 58:
case 59:
// NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)
word_bit = MODAL_GROUP_G12;
gc_block.modal.coord_select = int_value - 54; // Shift to array indexing.
break;
case 61:
word_bit = MODAL_GROUP_G13;
if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported]
if (mantissa != 0) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [G61.1 not supported]
}
// gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
default:
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
if (mantissa > 0) {
FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); // [Unsupported or invalid Gxx.x command]
}
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
if ( bit_istrue(command_words,bit(word_bit)) ) {
FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION);
}
command_words |= bit(word_bit);
break;
case 'M':
// Determine 'M' command and its modal group
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [No Mxx.x commands]
if (mantissa > 0) {
FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); // [No Mxx.x commands]
}
switch(int_value) {
case 0: case 1: case 2: case 30:
case 0:
case 1:
case 2:
case 30:
word_bit = MODAL_GROUP_M4;
switch(int_value) {
case 0: gc_block.modal.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
case 1: break; // Optional stop not supported. Ignore.
default: gc_block.modal.program_flow = int_value; // Program end and reset
case 0:
gc_block.modal.program_flow = PROGRAM_FLOW_PAUSED;
break; // Program pause
case 1:
break; // Optional stop not supported. Ignore.
default:
gc_block.modal.program_flow = int_value; // Program end and reset
}
break;
case 3: case 4: case 5:
case 3:
case 4:
case 5:
word_bit = MODAL_GROUP_M7;
switch(int_value) {
case 3:
gc_block.modal.spindle = SPINDLE_ENABLE_CW;
break;
case 4: // Supported if SPINDLE_DIR_PIN is defined or laser mode is on.
#ifndef SPINDLE_DIR_PIN
#ifndef SPINDLE_DIR_PIN
// if laser mode is not on then this is an unsupported command
if bit_isfalse(settings.flags,BITFLAG_LASER_MODE) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
break;
}
#endif
#endif
gc_block.modal.spindle = SPINDLE_ENABLE_CCW;
break;
case 5:
gc_block.modal.spindle = SPINDLE_DISABLE; break;
gc_block.modal.spindle = SPINDLE_DISABLE;
break;
}
break;
case 7: case 8: case 9:
case 6: // too change
grbl_send(CLIENT_ALL, "[MSG:Tool Change]\r\n");
break;
case 7:
case 8:
case 9:
word_bit = MODAL_GROUP_M8;
switch(int_value) {
#ifdef COOLANT_MIST_PIN
case 7: gc_block.modal.coolant = COOLANT_MIST_ENABLE; break;
#endif
#ifdef COOLANT_FLOOD_PIN
case 8: gc_block.modal.coolant = COOLANT_FLOOD_ENABLE; break;
#endif
case 9: gc_block.modal.coolant = COOLANT_DISABLE; break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
#ifdef COOLANT_MIST_PIN
case 7:
gc_block.modal.coolant = COOLANT_MIST_ENABLE;
break;
#endif
#ifdef COOLANT_FLOOD_PIN
case 8:
gc_block.modal.coolant = COOLANT_FLOOD_ENABLE;
break;
#endif
case 9:
gc_block.modal.coolant = COOLANT_DISABLE;
break;
default:
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
}
break;
default:
@@ -298,7 +366,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
if ( bit_istrue(command_words,bit(word_bit)) ) {
FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION);
}
command_words |= bit(word_bit);
break;
@@ -308,45 +378,108 @@ uint8_t gc_execute_line(char *line, uint8_t client)
/* Non-Command Words: This initial parsing phase only checks for repeats of the remaining
legal g-code words and stores their value. Error-checking is performed later since some
words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
switch(letter){
#ifdef A_AXIS
case 'A': word_bit = WORD_A; gc_block.values.xyz[A_AXIS] = value; axis_words |= (1<<A_AXIS); break;
#endif
#ifdef B_AXIS
case 'B': word_bit = WORD_B; gc_block.values.xyz[B_AXIS] = value; axis_words |= (1<<B_AXIS); break;
#endif
#ifdef C_AXIS
case 'C': word_bit = WORD_C; gc_block.values.xyz[C_AXIS] = value; axis_words |= (1<<C_AXIS); break;
#endif
switch(letter) {
#ifdef A_AXIS
case 'A':
word_bit = WORD_A;
gc_block.values.xyz[A_AXIS] = value;
axis_words |= (1<<A_AXIS);
break;
#endif
#ifdef B_AXIS
case 'B':
word_bit = WORD_B;
gc_block.values.xyz[B_AXIS] = value;
axis_words |= (1<<B_AXIS);
break;
#endif
#ifdef C_AXIS
case 'C':
word_bit = WORD_C;
gc_block.values.xyz[C_AXIS] = value;
axis_words |= (1<<C_AXIS);
break;
#endif
// case 'D': // Not supported
case 'F': word_bit = WORD_F; gc_block.values.f = value; break;
case 'F':
word_bit = WORD_F;
gc_block.values.f = value;
break;
// case 'H': // Not supported
case 'I': word_bit = WORD_I; gc_block.values.ijk[X_AXIS] = value; ijk_words |= (1<<X_AXIS); break;
case 'J': word_bit = WORD_J; gc_block.values.ijk[Y_AXIS] = value; ijk_words |= (1<<Y_AXIS); break;
case 'K': word_bit = WORD_K; gc_block.values.ijk[Z_AXIS] = value; ijk_words |= (1<<Z_AXIS); break;
case 'L': word_bit = WORD_L; gc_block.values.l = int_value; break;
case 'N': word_bit = WORD_N; gc_block.values.n = trunc(value); break;
case 'P': word_bit = WORD_P; gc_block.values.p = value; break;
case 'I':
word_bit = WORD_I;
gc_block.values.ijk[X_AXIS] = value;
ijk_words |= (1<<X_AXIS);
break;
case 'J':
word_bit = WORD_J;
gc_block.values.ijk[Y_AXIS] = value;
ijk_words |= (1<<Y_AXIS);
break;
case 'K':
word_bit = WORD_K;
gc_block.values.ijk[Z_AXIS] = value;
ijk_words |= (1<<Z_AXIS);
break;
case 'L':
word_bit = WORD_L;
gc_block.values.l = int_value;
break;
case 'N':
word_bit = WORD_N;
gc_block.values.n = trunc(value);
break;
case 'P':
word_bit = WORD_P;
gc_block.values.p = value;
break;
// NOTE: For certain commands, P value must be an integer, but none of these commands are supported.
// case 'Q': // Not supported
case 'R': word_bit = WORD_R; gc_block.values.r = value; break;
case 'S': word_bit = WORD_S; gc_block.values.s = value; break;
case 'T': word_bit = WORD_T;
if(value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); }
case 'R':
word_bit = WORD_R;
gc_block.values.r = value;
break;
case 'S':
word_bit = WORD_S;
gc_block.values.s = value;
break;
case 'T':
word_bit = WORD_T;
if(value > MAX_TOOL_NUMBER) {
FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED);
}
grbl_sendf(CLIENT_ALL, "[MSG:Tool No: %d]\r\n", int_value);
gc_block.values.t = int_value;
break;
case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
case 'X':
word_bit = WORD_X;
gc_block.values.xyz[X_AXIS] = value;
axis_words |= (1<<X_AXIS);
break;
case 'Y':
word_bit = WORD_Y;
gc_block.values.xyz[Y_AXIS] = value;
axis_words |= (1<<Y_AXIS);
break;
case 'Z':
word_bit = WORD_Z;
gc_block.values.xyz[Z_AXIS] = value;
axis_words |= (1<<Z_AXIS);
break;
default:
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
}
// NOTE: Variable 'word_bit' is always assigned, if the non-command letter is valid.
if (bit_istrue(value_words,bit(word_bit))) { FAIL(STATUS_GCODE_WORD_REPEATED); } // [Word repeated]
if (bit_istrue(value_words,bit(word_bit))) {
FAIL(STATUS_GCODE_WORD_REPEATED); // [Word repeated]
}
// Check for invalid negative values for words F, N, P, T, and S.
// NOTE: Negative value check is done here simply for code-efficiency.
if ( bit(word_bit) & (bit(WORD_F)|bit(WORD_N)|bit(WORD_P)|bit(WORD_T)|bit(WORD_S)) ) {
if (value < 0.0) { FAIL(STATUS_NEGATIVE_VALUE); } // [Word value cannot be negative]
if (value < 0.0) {
FAIL(STATUS_NEGATIVE_VALUE); // [Word value cannot be negative]
}
}
value_words |= bit(word_bit); // Flag to indicate parameter assigned.
@@ -386,13 +519,17 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// Determine implicit axis command conditions. Axis words have been passed, but no explicit axis
// command has been sent. If so, set axis command to current motion mode.
if (axis_words) {
if (!axis_command) { axis_command = AXIS_COMMAND_MOTION_MODE; } // Assign implicit motion-mode
if (!axis_command) {
axis_command = AXIS_COMMAND_MOTION_MODE; // Assign implicit motion-mode
}
}
// Check for valid line number N value.
if (bit_istrue(value_words,bit(WORD_N))) {
// Line number value cannot be less than zero (done) or greater than max line number.
if (gc_block.values.n > MAX_LINE_NUMBER) { FAIL(STATUS_GCODE_INVALID_LINE_NUMBER); } // [Exceeds max line number]
if (gc_block.values.n > MAX_LINE_NUMBER) {
FAIL(STATUS_GCODE_INVALID_LINE_NUMBER); // [Exceeds max line number]
}
}
// bit_false(value_words,bit(WORD_N)); // NOTE: Single-meaning value word. Set at end of error-checking.
@@ -409,14 +546,20 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// is not defined after switching to G94 from G93.
// NOTE: For jogging, ignore prior feed rate mode. Enforce G94 and check for required F word.
if (gc_parser_flags & GC_PARSER_JOG_MOTION) {
if (bit_isfalse(value_words,bit(WORD_F))) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); }
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; }
if (bit_isfalse(value_words,bit(WORD_F))) {
FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE);
}
if (gc_block.modal.units == UNITS_MODE_INCHES) {
gc_block.values.f *= MM_PER_INCH;
}
} else {
if (gc_block.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { // = G93
// NOTE: G38 can also operate in inverse time, but is undefined as an error. Missing F word check added here.
if (axis_command == AXIS_COMMAND_MOTION_MODE) {
if ((gc_block.modal.motion != MOTION_MODE_NONE) || (gc_block.modal.motion != MOTION_MODE_SEEK)) {
if (bit_isfalse(value_words,bit(WORD_F))) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [F word missing]
if (bit_isfalse(value_words,bit(WORD_F))) {
FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); // [F word missing]
}
}
}
// NOTE: It seems redundant to check for an F word to be passed after switching from G94 to G93. We would
@@ -435,7 +578,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// - In units per mm mode: If F word passed, ensure value is in mm/min, otherwise push last state value.
if (gc_state.modal.feed_rate == FEED_RATE_MODE_UNITS_PER_MIN) { // Last state is also G94
if (bit_istrue(value_words,bit(WORD_F))) {
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; }
if (gc_block.modal.units == UNITS_MODE_INCHES) {
gc_block.values.f *= MM_PER_INCH;
}
} else {
gc_block.values.f = gc_state.feed_rate; // Push last state feed rate
}
@@ -445,7 +590,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// bit_false(value_words,bit(WORD_F)); // NOTE: Single-meaning value word. Set at end of error-checking.
// [4. Set spindle speed ]: S is negative (done.)
if (bit_isfalse(value_words,bit(WORD_S))) { gc_block.values.s = gc_state.spindle_speed; }
if (bit_isfalse(value_words,bit(WORD_S))) {
gc_block.values.s = gc_state.spindle_speed;
}
// bit_false(value_words,bit(WORD_S)); // NOTE: Single-meaning value word. Set at end of error-checking.
// [5. Select tool ]: NOT SUPPORTED. Only tracks value. T is negative (done.) Not an integer. Greater than max tool value.
@@ -458,7 +605,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// [10. Dwell ]: P value missing. P is negative (done.) NOTE: See below.
if (gc_block.non_modal_command == NON_MODAL_DWELL) {
if (bit_isfalse(value_words,bit(WORD_P))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P word missing]
if (bit_isfalse(value_words,bit(WORD_P))) {
FAIL(STATUS_GCODE_VALUE_WORD_MISSING); // [P word missing]
}
bit_false(value_words,bit(WORD_P));
}
@@ -503,7 +652,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// is absent or if any of the other axis words are present.
if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates called in block.
if (gc_block.modal.tool_length == TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC) {
if (axis_words ^ (1<<TOOL_LENGTH_OFFSET_AXIS)) { FAIL(STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR); }
if (axis_words ^ (1<<TOOL_LENGTH_OFFSET_AXIS)) {
FAIL(STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR);
}
}
}
@@ -515,9 +666,13 @@ uint8_t gc_execute_line(char *line, uint8_t client)
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_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,block_coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); }
if (!(settings_read_coord_data(gc_block.modal.coord_select,block_coord_system))) {
FAIL(STATUS_SETTING_READ_FAIL);
}
}
}
@@ -535,24 +690,39 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// [G10 Errors]: L missing and is not 2 or 20. P word missing. (Negative P value done.)
// [G10 L2 Errors]: R word NOT SUPPORTED. P value not 0 to nCoordSys(max 9). Axis words missing.
// [G10 L20 Errors]: P must be 0 to nCoordSys(max 9). Axis words missing.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS) }; // [No axis words]
if (bit_isfalse(value_words,((1<<WORD_P)|(1<<WORD_L)))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P/L word missing]
if (!axis_words) {
FAIL(STATUS_GCODE_NO_AXIS_WORDS)
}; // [No axis words]
if (bit_isfalse(value_words,((1<<WORD_P)|(1<<WORD_L)))) {
FAIL(STATUS_GCODE_VALUE_WORD_MISSING); // [P/L word missing]
}
coord_select = trunc(gc_block.values.p); // Convert p value to int.
if (coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
if (coord_select > N_COORDINATE_SYSTEM) {
FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); // [Greater than N sys]
}
if (gc_block.values.l != 20) {
if (gc_block.values.l == 2) {
if (bit_istrue(value_words,bit(WORD_R))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G10 L2 R not supported]
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported L]
if (bit_istrue(value_words,bit(WORD_R))) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [G10 L2 R not supported]
}
} else {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported L]
}
}
bit_false(value_words,(bit(WORD_L)|bit(WORD_P)));
// 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 (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
}
// NOTE: Store parameter data in IJK values. By rule, they are not in use with this command.
// FIXME: Instead of IJK, we'd better use: float vector[N_AXIS]; // [DG]
if (!settings_read_coord_data(coord_select,gc_block.values.ijk)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
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.
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
@@ -562,7 +732,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// L20: Update coordinate system axis at current position (with modifiers) with programmed value
// 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; }
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.
gc_block.values.ijk[idx] = gc_block.values.xyz[idx];
@@ -572,7 +744,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
break;
case NON_MODAL_SET_COORDINATE_OFFSET:
// [G92 Errors]: No axis words.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (!axis_words) {
FAIL(STATUS_GCODE_NO_AXIS_WORDS); // [No axis words]
}
// Update axes defined only in block. Offsets current system to defined value. Does not update when
// active coordinate system is selected, but is still active unless G92.1 disables it.
@@ -580,7 +754,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if (bit_istrue(axis_words,bit(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; }
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];
}
@@ -605,7 +781,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// Apply coordinate offsets based on distance mode.
if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
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; }
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];
}
@@ -623,14 +801,20 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// 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,gc_block.values.ijk)) { 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,gc_block.values.ijk)) { 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))) { gc_block.values.ijk[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.
@@ -658,7 +842,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if (gc_block.modal.motion == MOTION_MODE_NONE) {
// [G80 Errors]: Axis word are programmed while G80 is active.
// NOTE: Even non-modal commands or TLO that use axis words will throw this strict error.
if (axis_words) { FAIL(STATUS_GCODE_AXIS_WORDS_EXIST); } // [No axis words allowed]
if (axis_words) {
FAIL(STATUS_GCODE_AXIS_WORDS_EXIST); // [No axis words allowed]
}
// Check remaining motion modes, if axis word are implicit (exist and not used by G10/28/30/92), or
// was explicitly commanded in the g-code block.
@@ -667,19 +853,25 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if (gc_block.modal.motion == MOTION_MODE_SEEK) {
// [G0 Errors]: Axis letter not configured or without real value (done.)
// Axis words are optional. If missing, set axis command flag to ignore execution.
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; }
if (!axis_words) {
axis_command = AXIS_COMMAND_NONE;
}
// All remaining motion modes (all but G0 and G80), require a valid feed rate value. In units per mm mode,
// the value must be positive. In inverse time mode, a positive value must be passed with each block.
} else {
// Check if feed rate is defined for the motion modes that require it.
if (gc_block.values.f == 0.0) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [Feed rate undefined]
if (gc_block.values.f == 0.0) {
FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); // [Feed rate undefined]
}
switch (gc_block.modal.motion) {
case MOTION_MODE_LINEAR:
// [G1 Errors]: Feed rate undefined. Axis letter not configured or without real value.
// Axis words are optional. If missing, set axis command flag to ignore execution.
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; }
if (!axis_words) {
axis_command = AXIS_COMMAND_NONE;
}
break;
case MOTION_MODE_CW_ARC:
gc_parser_flags |= GC_PARSER_ARC_IS_CLOCKWISE; // No break intentional.
@@ -691,8 +883,12 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// [G2/3 Full-Circle-Mode Errors]: NOT SUPPORTED. Axis words exist. No offsets programmed. P must be an integer.
// NOTE: Both radius and offsets are required for arc tracing and are pre-computed with the error-checking.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (!(axis_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE); } // [No axis words in plane]
if (!axis_words) {
FAIL(STATUS_GCODE_NO_AXIS_WORDS); // [No axis words]
}
if (!(axis_words & (bit(axis_0)|bit(axis_1)))) {
FAIL(STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE); // [No axis words in plane]
}
// Calculate the change in position along each selected axis
float x,y;
@@ -701,10 +897,14 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if (value_words & bit(WORD_R)) { // Arc Radius Mode
bit_false(value_words,bit(WORD_R));
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) {
FAIL(STATUS_GCODE_INVALID_TARGET); // [Invalid target]
}
// Convert radius value to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; }
if (gc_block.modal.units == UNITS_MODE_INCHES) {
gc_block.values.r *= MM_PER_INCH;
}
/* We need to calculate the center of the circle that has the designated radius and passes
through both the current position and the target position. This method calculates the following
set of equations where [x,y] is the vector from current to target position, d == magnitude of
@@ -757,12 +957,16 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// than d. If so, the sqrt of a negative number is complex and error out.
float h_x2_div_d = 4.0 * gc_block.values.r*gc_block.values.r - x*x - y*y;
if (h_x2_div_d < 0) { FAIL(STATUS_GCODE_ARC_RADIUS_ERROR); } // [Arc radius error]
if (h_x2_div_d < 0) {
FAIL(STATUS_GCODE_ARC_RADIUS_ERROR); // [Arc radius error]
}
// Finish computing h_x2_div_d.
h_x2_div_d = -sqrt(h_x2_div_d)/hypot_f(x,y); // == -(h * 2 / d)
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (gc_block.modal.motion == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }
if (gc_block.modal.motion == MOTION_MODE_CCW_ARC) {
h_x2_div_d = -h_x2_div_d;
}
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
the left hand circle will be generated - when it is negative the right hand circle is generated.
@@ -792,13 +996,17 @@ uint8_t gc_execute_line(char *line, uint8_t client)
gc_block.values.ijk[axis_1] = 0.5*(y+(x*h_x2_div_d));
} else { // Arc Center Format Offset Mode
if (!(ijk_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_OFFSETS_IN_PLANE); } // [No offsets in plane]
if (!(ijk_words & (bit(axis_0)|bit(axis_1)))) {
FAIL(STATUS_GCODE_NO_OFFSETS_IN_PLANE); // [No offsets in plane]
}
bit_false(value_words,(bit(WORD_I)|bit(WORD_J)|bit(WORD_K)));
// Convert IJK values to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
if (ijk_words & bit(idx)) { gc_block.values.ijk[idx] *= MM_PER_INCH; }
if (ijk_words & bit(idx)) {
gc_block.values.ijk[idx] *= MM_PER_INCH;
}
}
}
@@ -813,22 +1021,34 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// Compute difference between current location and target radii for final error-checks.
float delta_r = fabs(target_r-gc_block.values.r);
if (delta_r > 0.005) {
if (delta_r > 0.5) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.5mm
if (delta_r > (0.001*gc_block.values.r)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.005mm AND 0.1% radius
if (delta_r > 0.5) {
FAIL(STATUS_GCODE_INVALID_TARGET); // [Arc definition error] > 0.5mm
}
if (delta_r > (0.001*gc_block.values.r)) {
FAIL(STATUS_GCODE_INVALID_TARGET); // [Arc definition error] > 0.005mm AND 0.1% radius
}
}
}
break;
case MOTION_MODE_PROBE_TOWARD_NO_ERROR: case MOTION_MODE_PROBE_AWAY_NO_ERROR:
case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
case MOTION_MODE_PROBE_AWAY_NO_ERROR:
gc_parser_flags |= GC_PARSER_PROBE_IS_NO_ERROR; // No break intentional.
case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_AWAY:
case MOTION_MODE_PROBE_TOWARD:
case MOTION_MODE_PROBE_AWAY:
if ((gc_block.modal.motion == MOTION_MODE_PROBE_AWAY) ||
(gc_block.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) { gc_parser_flags |= GC_PARSER_PROBE_IS_AWAY; }
(gc_block.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) {
gc_parser_flags |= GC_PARSER_PROBE_IS_AWAY;
}
// [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate
// is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning
// an error, it issues an alarm to prevent further motion to the probe. It's also done there to
// allow the planner buffer to empty and move off the probe trigger before another probing cycle.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
if (!axis_words) {
FAIL(STATUS_GCODE_NO_AXIS_WORDS); // [No axis words]
}
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) {
FAIL(STATUS_GCODE_INVALID_TARGET); // [Invalid target]
}
break;
}
}
@@ -845,8 +1065,12 @@ uint8_t gc_execute_line(char *line, uint8_t client)
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
}
if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z)|bit(WORD_A)|bit(WORD_B)|bit(WORD_C))); } // Remove axis words.
if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]
if (axis_command) {
bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z)|bit(WORD_A)|bit(WORD_B)|bit(WORD_C))); // Remove axis words.
}
if (value_words) {
FAIL(STATUS_GCODE_UNUSED_WORDS); // [Unused words]
}
/* -------------------------------------------------------------------------------------
STEP 4: EXECUTE!!
@@ -866,15 +1090,21 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if (gc_parser_flags & GC_PARSER_JOG_MOTION) {
// Only distance and unit modal commands and G53 absolute override command are allowed.
// NOTE: Feed rate word and axis word checks have already been performed in STEP 3.
if (command_words & ~(bit(MODAL_GROUP_G3) | bit(MODAL_GROUP_G6) | bit(MODAL_GROUP_G0)) ) { FAIL(STATUS_INVALID_JOG_COMMAND) };
if (!(gc_block.non_modal_command == NON_MODAL_ABSOLUTE_OVERRIDE || gc_block.non_modal_command == NON_MODAL_NO_ACTION)) { FAIL(STATUS_INVALID_JOG_COMMAND); }
if (command_words & ~(bit(MODAL_GROUP_G3) | bit(MODAL_GROUP_G6) | bit(MODAL_GROUP_G0)) ) {
FAIL(STATUS_INVALID_JOG_COMMAND)
};
if (!(gc_block.non_modal_command == NON_MODAL_ABSOLUTE_OVERRIDE || gc_block.non_modal_command == NON_MODAL_NO_ACTION)) {
FAIL(STATUS_INVALID_JOG_COMMAND);
}
// Initialize planner data to current spindle and coolant modal state.
pl_data->spindle_speed = gc_state.spindle_speed;
plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant);
uint8_t status = jog_execute(&plan_data, &gc_block);
if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); }
if (status == STATUS_OK) {
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz));
}
return(status);
}
@@ -912,15 +1142,17 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// [0. Non-specific/common error-checks and miscellaneous setup]:
// NOTE: If no line number is present, the value is zero.
gc_state.line_number = gc_block.values.n;
#ifdef USE_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
pl_data->line_number = gc_state.line_number; // Record data for planner use.
#endif
#endif
// [1. Comments feedback ]: NOT SUPPORTED
// [2. Set feed rate mode ]:
gc_state.modal.feed_rate = gc_block.modal.feed_rate;
if (gc_state.modal.feed_rate) { pl_data->condition |= PL_COND_FLAG_INVERSE_TIME; } // Set condition flag for planner use.
if (gc_state.modal.feed_rate) {
pl_data->condition |= PL_COND_FLAG_INVERSE_TIME; // Set condition flag for planner use.
}
// [3. Set feed rate ]:
gc_state.feed_rate = gc_block.values.f; // Always copy this value. See feed rate error-checking.
@@ -929,15 +1161,17 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// [4. Set spindle speed ]:
if ((gc_state.spindle_speed != gc_block.values.s) || bit_istrue(gc_parser_flags,GC_PARSER_LASER_FORCE_SYNC)) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
if (bit_isfalse(gc_parser_flags,GC_PARSER_LASER_ISMOTION)) {
if (bit_istrue(gc_parser_flags,GC_PARSER_LASER_DISABLE)) {
spindle_sync(gc_state.modal.spindle, 0.0);
} else { spindle_sync(gc_state.modal.spindle, gc_block.values.s); }
} else {
spindle_sync(gc_state.modal.spindle, gc_block.values.s);
}
#else
}
#else
spindle_sync(gc_state.modal.spindle, 0.0);
#endif
#endif
}
gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state.
}
@@ -966,15 +1200,20 @@ uint8_t gc_execute_line(char *line, uint8_t client)
// NOTE: Coolant M-codes are modal. Only one command per line is allowed. But, multiple states
// can exist at the same time, while coolant disable clears all states.
coolant_sync(gc_block.modal.coolant);
if (gc_block.modal.coolant == COOLANT_DISABLE) { gc_state.modal.coolant = COOLANT_DISABLE; }
else { gc_state.modal.coolant |= gc_block.modal.coolant; }
if (gc_block.modal.coolant == COOLANT_DISABLE) {
gc_state.modal.coolant = COOLANT_DISABLE;
} else {
gc_state.modal.coolant |= gc_block.modal.coolant;
}
}
pl_data->condition |= gc_state.modal.coolant; // Set condition flag for planner use.
// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED. Always enabled.
// [10. Dwell ]:
if (gc_block.non_modal_command == NON_MODAL_DWELL) { mc_dwell(gc_block.values.p); }
if (gc_block.non_modal_command == NON_MODAL_DWELL) {
mc_dwell(gc_block.values.p);
}
// [11. Set active plane ]:
gc_state.modal.plane_select = gc_block.modal.plane_select;
@@ -1025,11 +1264,14 @@ uint8_t gc_execute_line(char *line, uint8_t client)
system_flag_wco_change();
}
break;
case NON_MODAL_GO_HOME_0: case NON_MODAL_GO_HOME_1:
case NON_MODAL_GO_HOME_0:
case NON_MODAL_GO_HOME_1:
// Move to intermediate position before going home. Obeys current coordinate system and offsets
// 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); }
if (axis_command) {
mc_line(gc_block.values.xyz, pl_data);
}
mc_line(gc_block.values.ijk, pl_data);
memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
break;
@@ -1068,9 +1310,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
} else {
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
#ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#endif
#endif
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
}
@@ -1111,15 +1353,17 @@ uint8_t gc_execute_line(char *line, uint8_t client)
gc_state.modal.coolant = COOLANT_DISABLE;
// gc_state.modal.override = OVERRIDE_DISABLE; // Not supported.
#ifdef RESTORE_OVERRIDES_AFTER_PROGRAM_END
#ifdef RESTORE_OVERRIDES_AFTER_PROGRAM_END
sys.f_override = DEFAULT_FEED_OVERRIDE;
sys.r_override = DEFAULT_RAPID_OVERRIDE;
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE;
#endif
#endif
// Execute coordinate change and spindle/coolant stop.
if (sys.state != STATE_CHECK_MODE) {
if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { FAIL(STATUS_SETTING_READ_FAIL); }
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_set_state(SPINDLE_DISABLE,0.0);
coolant_set_state(COOLANT_DISABLE);

2
Grbl_Esp32/grbl_sd.cpp
View File

@@ -132,6 +132,8 @@ boolean readFileLine(char *line)
if (!(line_flags & LINE_FLAG_COMMENT_PARENTHESES)) { // semi colon inside parentheses do not mean anything
line_flags |= LINE_FLAG_COMMENT_SEMICOLON;
}
} else if (c == '%') {
// discard this character
} else if (c == '\n') { // found the newline, so mark the end and return true
line[index] = '\0';
return true;

3
Grbl_Esp32/protocol.cpp
View File

@@ -97,7 +97,6 @@ void protocol_main_loop()
sd_get_current_filename(temp);
grbl_notifyf("SD print done", "%s print is successful", temp);
closeFile(); // close file and clear SD ready/running flags
}
}
#endif
@@ -186,7 +185,7 @@ void protocol_main_loop()
line[char_counter++] = c; // capture this character
// TODO: Install '%' feature
// } else if (c == '%') {
} else if (c == '%') {
// Program start-end percent sign NOT SUPPORTED.
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
// where, during a program, the system auto-cycle start will continue to execute

10
Grbl_Esp32/report.cpp
View File

@@ -197,9 +197,16 @@ void report_status_message(uint8_t status_code, uint8_t client)
#ifdef ENABLE_SD_CARD
// do we need to stop a running SD job?
if (get_sd_state(false) == SDCARD_BUSY_PRINTING) {
if (status_code == STATUS_GCODE_UNSUPPORTED_COMMAND) {
grbl_sendf(client, "error:%d\r\n", status_code); // most senders seem to tolerate this error and keep on going
grbl_sendf(CLIENT_ALL, "error:%d in SD file at line %d\r\n", status_code, sd_get_current_line_number());
// don't close file
}
else {
grbl_notifyf("SD print error", "Error:%d during SD file at line: %d", status_code, sd_get_current_line_number());
grbl_sendf(CLIENT_ALL, "error:%d in SD file at line %d\r\n", status_code, sd_get_current_line_number());
closeFile();
}
return;
}
#endif
@@ -259,6 +266,9 @@ void report_feedback_message(uint8_t message_code) // OK to send to all clients
void report_init_message(uint8_t client)
{
grbl_send(client,"\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n");
#ifdef CPU_MAP_NAME
grbl_send(client,"[MSG:Using cpu_map..." CPU_MAP_NAME "]\r\n");
#endif
}
// Grbl help message

8
Grbl_Esp32/stepper.cpp
View File

@@ -261,10 +261,13 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
// Segment buffer empty. Shutdown.
st_go_idle();
#ifdef VARIABLE_SPINDLE
if (!(sys.state & STATE_JOG)) { // added to prevent ... jog after probing crash
// Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) {
spindle_set_speed(SPINDLE_PWM_OFF_VALUE);
}
}
#endif
system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
return; // Nothing to do but exit.
@@ -431,6 +434,7 @@ void stepper_init()
}
#ifdef USE_RMT_STEPS
void initRMT()
{
rmt_item32_t rmtItem[2];
@@ -514,6 +518,7 @@ void initRMT()
}
#endif
// enabled. Startup init and limits call this function but shouldn't start the cycle.
void st_wake_up()
@@ -649,7 +654,7 @@ void set_stepper_pins_on(uint8_t onMask)
}
#endif
#ifdef USE_RMT_STEPS
// Set stepper pulse output pins
inline IRAM_ATTR static void stepperRMT_Outputs()
{
@@ -698,6 +703,7 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
}
#endif
}
#endif
// Stepper shutdown
void st_go_idle()