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Minor updates to code and commenting.

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commit 08baabc63cd74ba18ca633a58c482934c4b305cc 1 parent 49f703b
@chamnit chamnit authored
Showing with 30 additions and 28 deletions.
  1. +9 −7 gcode.c
  2. +8 −14 limits.c
  3. +10 −3 motion_control.c
  4. +3 −4 stepper.c
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16 gcode.c
@@ -77,8 +77,9 @@ static float to_millimeters(float value)
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace). Comments and block delete
-// characters have been removed. All units and positions are converted and exported to grbl's
-// internal functions in terms of (mm, mm/min) and absolute machine coordinates, respectively.
+// characters have been removed. In this function, all units and positions are converted and
+// exported to grbl's internal functions in terms of (mm, mm/min) and absolute machine
+// coordinates, respectively.
uint8_t gc_execute_line(char *line)
{
@@ -203,7 +204,10 @@ uint8_t gc_execute_line(char *line)
/* Pass 2: Parameters. All units converted according to current block commands. Position
parameters are converted and flagged to indicate a change. These can have multiple connotations
- for different commands. Each will be converted to their proper value upon execution. */
+ for different commands. Each will be converted to their proper value upon execution.
+ NOTE: Grbl unconventionally pre-converts these parameter values based on the block G and M
+ commands. This is set out of the order of execution defined by NIST only for code efficiency/size
+ purposes, but should not affect proper g-code execution. */
float p = 0, r = 0;
uint8_t l = 0;
char_counter = 0;
@@ -242,10 +246,8 @@ uint8_t gc_execute_line(char *line)
if (gc.status_code) { return(gc.status_code); }
- /* Execute Commands: Perform by order of execution defined in NIST RS274-NGC.v3, Table 8, pg.41.
- NOTE: Independent non-motion/settings parameters are set out of this order for code efficiency
- and simplicity purposes, but this should not affect proper g-code execution. */
-
+ /* Execute Commands: Perform by order of execution defined in NIST RS274-NGC.v3, Table 8, pg.41. */
+
// ([F]: Set feed rate.)
if (sys.state != STATE_CHECK_MODE) {
View
22 limits.c
@@ -96,22 +96,16 @@ static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, fl
// and speedy homing routine.
// NOTE: For each axes enabled, the following calculations assume they physically move
// an equal distance over each time step until they hit a limit switch, aka dogleg.
- uint32_t steps[N_AXIS];
- uint8_t dist = 0;
+ uint32_t step_event_count, steps[N_AXIS];
+ uint8_t i, dist = 0;
clear_vector(steps);
- if (cycle_mask & (1<<X_AXIS)) {
- dist++;
- steps[X_AXIS] = lround(settings.steps_per_mm[X_AXIS]);
- }
- if (cycle_mask & (1<<Y_AXIS)) {
- dist++;
- steps[Y_AXIS] = lround(settings.steps_per_mm[Y_AXIS]);
- }
- if (cycle_mask & (1<<Z_AXIS)) {
- dist++;
- steps[Z_AXIS] = lround(settings.steps_per_mm[Z_AXIS]);
+ for (i=0; i<N_AXIS; i++) {
+ if (cycle_mask & (1<<i)) {
+ dist++;
+ steps[i] = lround(settings.steps_per_mm[i]);
+ }
}
- uint32_t step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));
+ step_event_count = max(steps[X_AXIS], max(steps[Y_AXIS], steps[Z_AXIS]));
// To ensure global acceleration is not exceeded, reduce the governing axes nominal rate
// by adjusting the actual axes distance traveled per step. This is the same procedure
View
13 motion_control.c
@@ -58,6 +58,10 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
// backlash steps will need to be also tracked. Not sure what the best strategy is for this,
// i.e. keep the planner independent and do the computations in the status reporting, or let
// the planner handle the position corrections. The latter may get complicated.
+ // TODO: Backlash comp positioning values may need to be kept at a system level, i.e. tracking
+ // true position after a feed hold in the middle of a backlash move. The difficulty is in making
+ // sure that the stepper subsystem and planner are working in sync, and the status report
+ // position also takes this into account.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
@@ -229,8 +233,11 @@ void mc_go_home()
float pulloff_target[N_AXIS];
clear_vector_float(pulloff_target); // Zero pulloff target.
clear_vector_long(sys.position); // Zero current position for now.
+ uint8_t dir_mask[N_AXIS];
+ dir_mask[X_AXIS] = (1<<X_DIRECTION_BIT);
+ dir_mask[Y_AXIS] = (1<<Y_DIRECTION_BIT);
+ dir_mask[Z_AXIS] = (1<<Z_DIRECTION_BIT);
uint8_t i;
- uint8_t dir_mask[N_AXIS] = { bit(X_DIRECTION_BIT),bit(Y_DIRECTION_BIT),bit(Z_DIRECTION_BIT) };
for (i=0; i<N_AXIS; i++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
@@ -266,8 +273,8 @@ void mc_go_home()
// operation of cycle start is manually issuing a cycle start command whenever the user is
// ready and there is a valid motion command in the planner queue.
// NOTE: This function is called from the main loop and mc_line() only and executes when one of
-// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished),
-// or the planner buffer is full and ready to go.
+// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished,
+// single commands), or the planner buffer is full and ready to go.
void mc_auto_cycle_start() { if (sys.auto_start) { st_cycle_start(); } }
View
7 stepper.c
@@ -2,7 +2,7 @@
stepper.c - stepper motor driver: executes motion plans using stepper motors
Part of Grbl
- Copyright (c) 2011-2012 Sungeun K. Jeon
+ Copyright (c) 2011-2013 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
@@ -107,6 +107,7 @@ void st_go_idle()
// Disable stepper driver interrupt. Allow Timer0 to finish. It will disable itself.
TIMSK2 &= ~(1<<OCIE2A); // Disable Timer2 interrupt
TCCR2B = 0; // Disable Timer2
+ busy = false;
// Disable steppers only upon system alarm activated or by user setting to not be kept enabled.
if ((settings.stepper_idle_lock_time != 0xff) || bit_istrue(sys.execute,EXEC_ALARM)) {
@@ -193,7 +194,6 @@ ISR(TIMER2_COMPA_vect)
} else {
st_go_idle();
bit_true(sys.execute,EXEC_CYCLE_STOP); // Flag main program for cycle end
- busy = false;
return; // Nothing to do but exit.
}
}
@@ -237,7 +237,6 @@ ISR(TIMER2_COMPA_vect)
if (st.delta_d <= current_block->rate_delta) {
st_go_idle();
bit_true(sys.execute,EXEC_CYCLE_STOP);
- busy = false;
return;
}
}
@@ -330,7 +329,7 @@ void st_init()
TCNT2 = 0; // Clear Timer2 counter
TCCR2A = (1<<WGM21); // Set CTC mode
OCR2A = (F_CPU/ISR_TICKS_PER_SECOND)/8 - 1; // Set Timer2 CTC rate
-
+
// Configure Timer 0
TIMSK0 &= ~(1<<TOIE0);
TCCR0A = 0; // Normal operation
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