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v1.1e: New laser features. G-code parser refactoring. CoreXY homing fix.

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- Increment to v1.1e due to new laser features.

- After several discussions with some prominent laser people, a few
tweaks to the new laser mode has been installed.

- LASER: M3 behaves in a constant power mode.

- LASER: M4 behaves in a dynamic power mode, where the laser power is
automatically adjusted based on how fast Grbl is moving relative to the
programmed feed rate. This is the same as the  CONSTANT_POWER_PER_RATE
config.h option in the last version. NOTE: When not in motion in M4,
Grbl automatically turns off the laser. Again, it only operates while
moving!

- LASER: Only G1, G2, and G3 motion modes will turn on the laser. So,
this means that G0, G80 motion modes will always keep the laser
disabled. No matter if M3/M4 are active!

- LASER: A spindle stop override is automatically invoked when a laser
is put in a feed hold. This behavior may be disabled by a config.h
option.

- Lots of little tweaks to the g-code parser to help streamline it a
bit. It should no effect how it operates. Generally just added a parser
flag to track and execute certain scenarios a little more clearly.

- Jog motions now allow line numbers to be passed to it and will be
displayed in the status reports.

- Fixed a CoreXY homing bug.

- Fixed an issue when $13 is changed, WCO isn’t sent immediately.

- Altered how spindle PWM is set in the stepper ISR. Updated on a step
segment basis now. May need to change this back if there are any
oddities from doing this.

- Updated some documentation. Clarified why M0 no longer showing up in
$G and why a `1.` floating point values are shown with no decimals,
like so `1`.
This commit is contained in:
Sonny Jeon 2016-12-03 18:02:45 -07:00
parent 998f23b9ce
commit b753c542c7
18 changed files with 219 additions and 145 deletions
Download patch file Download diff file Expand all files Collapse all files

163
grbl/gcode.c
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@ -82,17 +82,20 @@ uint8_t gc_execute_line(char *line)
uint8_t axis_words = 0; // XYZ tracking
uint8_t ijk_words = 0; // IJK tracking
// Initialize command and value words variables. Tracks words contained in this block.
uint16_t command_words = 0; // G and M command words. Also used for modal group violations.
uint16_t value_words = 0; // Value words.
// Initialize command and value words and parser flags variables.
uint16_t command_words = 0; // Tracks G and M command words. Also used for modal group violations.
uint16_t value_words = 0; // Tracks value words.
uint8_t gc_parser_flags = GC_PARSER_NONE;
// Determine if the line is a jogging motion or a normal g-code block.
uint8_t is_jog_motion = false;
if (line[0] == '$') { // NOTE: `$J=` already parsed when passed to this function.
// Set G1 and G94 enforced modes to ensure accurate error checks.
is_jog_motion = true;
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
gc_block.values.n = JOG_LINE_NUMBER; // Initialize default line number reported during jog.
#endif
}
/* -------------------------------------------------------------------------------------
@ -107,7 +110,7 @@ uint8_t gc_execute_line(char *line)
float value;
uint8_t int_value = 0;
uint16_t mantissa = 0;
if (is_jog_motion) { char_counter = 3; } // Start parsing after `$J=`
if (gc_parser_flags & GC_PARSER_JOG_MOTION) { char_counter = 3; } // Start parsing after `$J=`
else { char_counter = 0; }
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
@ -127,7 +130,7 @@ uint8_t gc_execute_line(char *line)
// Maybe update this later.
int_value = trunc(value);
mantissa = round(100*(value - int_value)); // Compute mantissa for Gxx.x commands.
// NOTE: Rounding must be used to catch small floating point errors.
// NOTE: Rounding must be used to catch small floating point errors.
// Check if the g-code word is supported or errors due to modal group violations or has
// been repeated in the g-code block. If ok, update the command or record its value.
@ -381,7 +384,7 @@ uint8_t gc_execute_line(char *line)
// [2. Set feed rate mode ]: G93 F word missing with G1,G2/3 active, implicitly or explicitly. Feed rate
// 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 (is_jog_motion) {
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; }
} else {
@ -653,9 +656,10 @@ uint8_t gc_execute_line(char *line)
// [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; }
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
case MOTION_MODE_CW_ARC:
gc_parser_flags |= GC_PARSER_ARC_IS_CLOCKWISE; // No break intentional.
case MOTION_MODE_CCW_ARC:
// [G2/3 Errors All-Modes]: Feed rate undefined.
// [G2/3 Radius-Mode Errors]: No axis words in selected plane. Target point is same as current.
// [G2/3 Offset-Mode Errors]: No axis words and/or offsets in selected plane. The radius to the current
@ -790,8 +794,11 @@ uint8_t gc_execute_line(char *line)
}
}
break;
case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
case MOTION_MODE_PROBE_AWAY: 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:
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; }
// [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
@ -807,29 +814,15 @@ uint8_t gc_execute_line(char *line)
// [0. Non-specific error-checks]: Complete unused value words check, i.e. IJK used when in arc
// radius mode, or axis words that aren't used in the block.
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
if (gc_parser_flags & GC_PARSER_JOG_MOTION) {
// Jogging only uses the F feed rate and XYZ value words. N is valid, but S and T are invalid.
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)));
} else {
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))); } // Remove axis words.
if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]
/* -------------------------------------------------------------------------------------
STEP 3.5ish : EXECUTE JOG!!
Intercept jog commands and complete error checking for valid jog commands and execute.
NOTE: G-code parser state is not updated, except the position to ensure sequential jog
targets are computed correctly. The final parser position after a jog is updated in
protocol_execute_realtime() when jogging completes or is canceled.
*/
if (is_jog_motion) {
// Only distance and unit modal commands and G53 absolute override command are allowed.
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); }
// NOTE: Feed rate word and axis word checks have already been performed in STEP 3.
uint8_t status = jog_execute(&gc_block);
if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); }
return(status);
}
/* -------------------------------------------------------------------------------------
STEP 4: EXECUTE!!
Assumes that all error-checking has been completed and no failure modes exist. We just
@ -841,6 +834,60 @@ uint8_t gc_execute_line(char *line)
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t)); // Zero pl_data struct
// Intercept jog commands and complete error checking for valid jog commands and execute.
// NOTE: G-code parser state is not updated, except the position to ensure sequential jog
// targets are computed correctly. The final parser position after a jog is updated in
// protocol_execute_realtime() when jogging completes or is canceled.
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); }
// 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)); }
return(status);
}
// If in laser mode, setup laser power based on current and past parser conditions.
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
if ( !((gc_block.modal.motion == MOTION_MODE_LINEAR) || (gc_block.modal.motion == MOTION_MODE_CW_ARC)
|| (gc_block.modal.motion == MOTION_MODE_CCW_ARC)) ) {
gc_parser_flags |= GC_PARSER_LASER_DISABLE;
}
// M3 constant power laser requires planner syncs to update the laser in certain conditions.
// certain conditions.
if (gc_state.modal.spindle == SPINDLE_ENABLE_CW) {
if ((gc_state.modal.motion == MOTION_MODE_LINEAR) || (gc_state.modal.motion == MOTION_MODE_CW_ARC)
|| (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) {
if (gc_parser_flags & GC_PARSER_LASER_DISABLE) {
gc_parser_flags |= GC_PARSER_LASER_FORCE_SYNC; // Change from G1/2/3 motion mode.
} else {
// Any non-motion block with M3 enabled and G1/2/3 modal state requires a sync when
// the spindle speed changes. It is otherwise passed onto the planner.
if (gc_state.spindle_speed != gc_block.values.s) {
// NOTE: A G1/2/3 motion will always have axis words and be in AXIS_COMMAND_MOTION_MODE.
// A non-motion G1 or any non-modal command using axis words will alter axis_command.
if (!(axis_words) || (axis_command != AXIS_COMMAND_MOTION_MODE )) {
gc_parser_flags |= GC_PARSER_LASER_FORCE_SYNC;
}
}
}
} else {
// When changing to a G1 motion mode without axis words from a non-G1/2/3 motion mode.
if (bit_isfalse(gc_parser_flags,GC_PARSER_LASER_DISABLE)) {
if (!(axis_words) || (axis_command != AXIS_COMMAND_MOTION_MODE )) {
gc_parser_flags |= GC_PARSER_LASER_FORCE_SYNC;
}
}
}
}
}
// [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;
@ -859,25 +906,23 @@ uint8_t gc_execute_line(char *line)
pl_data->feed_rate = gc_state.feed_rate; // Record data for planner use.
// [4. Set spindle speed ]:
if (gc_state.spindle_speed != gc_block.values.s) {
#ifdef VARIABLE_SPINDLE
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
if ( bit_istrue(settings.flags, BITFLAG_LASER_MODE) ) {
// Do not stop motion if in laser mode and a G1, G2, or G3 motion is being executed.
if (!( (axis_command == AXIS_COMMAND_MOTION_MODE) && ((gc_block.modal.motion == MOTION_MODE_LINEAR ) || (gc_block.modal.motion == MOTION_MODE_CW_ARC) || (gc_block.modal.motion == MOTION_MODE_CCW_ARC)) ) ) {
spindle_sync(gc_state.modal.spindle, gc_block.values.s);
}
} else {
spindle_sync(gc_state.modal.spindle, gc_block.values.s);
}
}
#else
if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_sync(gc_state.modal.spindle, 0.0); }
#endif
gc_state.spindle_speed = gc_block.values.s;
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
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, 0.0);
#endif
}
gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state.
}
pl_data->spindle_speed = gc_state.spindle_speed; // Record data for planner use.
// NOTE: Pass zero spindle speed for all restricted laser motions.
if (bit_isfalse(gc_parser_flags,GC_PARSER_LASER_DISABLE)) {
pl_data->spindle_speed = gc_state.spindle_speed; // Record data for planner use.
} // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already.
// [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
gc_state.tool = gc_block.values.t;
@ -886,7 +931,9 @@ uint8_t gc_execute_line(char *line)
// [7. Spindle control ]:
if (gc_state.modal.spindle != gc_block.modal.spindle) {
// Update spindle control and apply spindle speed when enabling it in this block.
spindle_sync(gc_block.modal.spindle, gc_state.spindle_speed);
// NOTE: All spindle state changes are synced, even in laser mode. Also, pl_data,
// rather than gc_state, is used to manage laser state for non-laser motions.
spindle_sync(gc_block.modal.spindle, pl_data->spindle_speed);
gc_state.modal.spindle = gc_block.modal.spindle;
}
pl_data->condition |= gc_state.modal.spindle; // Set condition flag for planner use.
@ -993,23 +1040,16 @@ uint8_t gc_execute_line(char *line)
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
mc_line(gc_block.values.xyz, pl_data);
} else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) {
uint8_t is_clockwise_arc;
if (gc_state.modal.motion == MOTION_MODE_CW_ARC) { is_clockwise_arc = true; }
else { is_clockwise_arc = false; }
mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
axis_0, axis_1, axis_linear, is_clockwise_arc);
axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE));
} 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
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#endif
uint8_t is_probe_away = false;
uint8_t is_no_error = false;
if ((gc_state.modal.motion == MOTION_MODE_PROBE_AWAY) || (gc_state.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) { is_probe_away = true; }
if ((gc_state.modal.motion == MOTION_MODE_PROBE_TOWARD_NO_ERROR) || (gc_state.modal.motion == MOTION_MODE_PROBE_AWAY_NO_ERROR)) { is_no_error = true; }
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, is_probe_away, is_no_error);
}
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
}
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
@ -1020,7 +1060,6 @@ uint8_t gc_execute_line(char *line)
gc_sync_position(); // gc_state.position[] = sys_position
} // == GC_UPDATE_POS_NONE
}
}
// [21. Program flow ]: