Permalink
Browse files

merged master

  • Loading branch information...
2 parents f5cf319 + b33cf8b commit 4562ee7fe91a0eb0ad203d061b27f672b77cf1ca @simen simen committed Jan 31, 2011
Showing with 70 additions and 67 deletions.
  1. +1 −1 .gitignore
  2. +2 −0 Makefile
  3. +0 −2 config.h
  4. +64 −55 gcode.c
  5. +0 −1 script/console
  6. +1 −1 script/stream
  7. +0 −1 script/stream.rb
  8. +1 −1 serial_protocol.c
  9. +1 −5 serial_protocol.h
View
@@ -1,4 +1,4 @@
*.hex
*.o
*.elf
-.DS_Store
+*.DS_Store
View
@@ -34,6 +34,8 @@ OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o s
eeprom.o config.o stepper_plan.o
# FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
+# update that line with this when programmer is back up:
+# FUSES = -U hfuse:w:0xd7:m -U lfuse:w:0xff:m
# Tune the lines below only if you know what you are doing:
View
@@ -118,6 +118,4 @@ void store_setting(int parameter, double value);
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
-#define INCHES_PER_MM (1.0/25.4) // A conversion rate
-
#endif
View
119 gcode.c
@@ -21,27 +21,6 @@
/* This code is inspired by the Arduino GCode Interpreter by Mike Ellery and the NIST RS274/NGC Interpreter
by Kramer, Proctor and Messina. */
-/* Intentionally not supported:
- - Canned cycles
- - Tool radius compensation
- - A,B,C-axes
- - Multiple coordinate systems
- - Evaluation of expressions
- - Variables
- - Multiple home locations
- - Probing
- - Override control
-*/
-
-/*
- Omitted for the time being:
- group 0 = {G10, G28, G30, G92, G92.1, G92.2, G92.3} (Non modal G-codes)
- group 8 = {M7, M8, M9} coolant (special case: M7 and M8 may be active at the same time)
- group 9 = {M48, M49} enable/disable feed and speed override switches
- group 12 = {G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection
- group 13 = {G61, G61.1, G64} path control mode
-*/
-
#include "gcode.h"
#include <stdlib.h>
#include <string.h>
@@ -53,11 +32,13 @@
#include "errno.h"
#include "serial_protocol.h"
+#define MM_PER_INCH (25.4)
+
#define NEXT_ACTION_DEFAULT 0
#define NEXT_ACTION_DWELL 1
#define NEXT_ACTION_GO_HOME 2
-#define MOTION_MODE_RAPID_LINEAR 0 // G0
+#define MOTION_MODE_SEEK 0 // G0
#define MOTION_MODE_LINEAR 1 // G1
#define MOTION_MODE_CW_ARC 2 // G2
#define MOTION_MODE_CCW_ARC 3 // G3
@@ -77,7 +58,7 @@
typedef struct {
uint8_t status_code;
- uint8_t motion_mode; /* {G0, G1, G2, G3, G38.2, G80, G81, G82, G83, G84, G85, G86, G87, G88, G89} */
+ uint8_t motion_mode; /* {G0, G1, G2, G3, G80} */
uint8_t inverse_feed_rate_mode; /* G93, G94 */
uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */
uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */
@@ -94,10 +75,10 @@ static parser_state_t gc;
#define FAIL(status) gc.status_code = status;
int read_double(char *line, // <- string: line of RS274/NGC code being processed
- int *counter, // <- pointer to a counter for position on the line
+ int *char_counter, // <- pointer to a counter for position on the line
double *double_ptr); // <- pointer to double to be read
-int next_statement(char *letter, double *double_ptr, char *line, int *counter);
+int next_statement(char *letter, double *double_ptr, char *line, int *char_counter);
void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2)
@@ -115,8 +96,8 @@ void gc_init() {
gc.absolute_mode = TRUE;
}
-inline double to_millimeters(double value) {
- return(gc.inches_mode ? (value * INCHES_PER_MM) : value);
+inline float to_millimeters(double value) {
+ return(gc.inches_mode ? (value * MM_PER_INCH) : value);
}
// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis,
@@ -139,15 +120,15 @@ double theta(double x, double y)
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace).
uint8_t gc_execute_line(char *line) {
- int counter = 0;
+ int char_counter = 0;
char letter;
double value;
double unit_converted_value;
double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
int radius_mode = FALSE;
uint8_t absolute_override = FALSE; /* 1 = absolute motion for this block only {G53} */
- uint8_t next_action = NEXT_ACTION_DEFAULT; /* One of the NEXT_ACTION_-constants */
+ uint8_t next_action = NEXT_ACTION_DEFAULT; /* The action that will be taken by the parsed line */
double target[3], offset[3];
@@ -159,28 +140,32 @@ uint8_t gc_execute_line(char *line) {
gc.status_code = GCSTATUS_OK;
- /* First: parse all statements */
-
+ // Disregard comments and block delete
if (line[0] == '(') { return(gc.status_code); }
- if (line[0] == '/') { counter++; } // ignore block delete
- if (line[0] == '$') { // This is a parameter line intended to change EEPROM-settings
+ if (line[0] == '/') { char_counter++; } // ignore block delete
+
+
+ // If the line starts with an '$' it is a configuration-command
+ if (line[0] == '$') {
// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
- counter = 1;
- if(line[counter] == 0) { dump_settings(); return(GCSTATUS_OK); }
- read_double(line, &counter, &p);
- if(line[counter++] != '=') { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
- read_double(line, &counter, &value);
- if(line[counter] != 0) { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
+ char_counter = 1;
+ if(line[char_counter] == 0) { dump_settings(); return(GCSTATUS_OK); }
+ read_double(line, &char_counter, &p);
+ if(line[char_counter++] != '=') { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
+ read_double(line, &char_counter, &value);
+ if(line[char_counter] != 0) { return(GCSTATUS_UNSUPPORTED_STATEMENT); }
store_setting(p, value);
}
+ /* We'll handle this as g-code. First: parse all statements */
+
// Pass 1: Commands
- while(next_statement(&letter, &value, line, &counter)) {
+ while(next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);
switch(letter) {
case 'G':
switch(int_value) {
- case 0: gc.motion_mode = MOTION_MODE_RAPID_LINEAR; break;
+ case 0: gc.motion_mode = MOTION_MODE_SEEK; break;
case 1: gc.motion_mode = MOTION_MODE_LINEAR; break;
case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break;
case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break;
@@ -219,12 +204,12 @@ uint8_t gc_execute_line(char *line) {
// If there were any errors parsing this line, we will return right away with the bad news
if (gc.status_code) { return(gc.status_code); }
- counter = 0;
+ char_counter = 0;
clear_vector(offset);
- memcpy(target, gc.position, sizeof(target)); // target = gc.position
+ memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position
// Pass 2: Parameters
- while(next_statement(&letter, &value, line, &counter)) {
+ while(next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);
unit_converted_value = to_millimeters(value);
switch(letter) {
@@ -266,7 +251,9 @@ uint8_t gc_execute_line(char *line) {
case NEXT_ACTION_DEFAULT:
switch (gc.motion_mode) {
case MOTION_MODE_CANCEL: break;
- case MOTION_MODE_RAPID_LINEAR:
+ case MOTION_MODE_SEEK:
+ mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, FALSE);
+ break;
case MOTION_MODE_LINEAR:
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS],
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode);
@@ -414,28 +401,28 @@ uint8_t gc_execute_line(char *line) {
// Parses the next statement and leaves the counter on the first character following
// the statement. Returns 1 if there was a statements, 0 if end of string was reached
// or there was an error (check state.status_code).
-int next_statement(char *letter, double *double_ptr, char *line, int *counter) {
- if (line[*counter] == 0) {
+int next_statement(char *letter, double *double_ptr, char *line, int *char_counter) {
+ if (line[*char_counter] == 0) {
return(0); // No more statements
}
- *letter = line[*counter];
+ *letter = line[*char_counter];
if((*letter < 'A') || (*letter > 'Z')) {
FAIL(GCSTATUS_EXPECTED_COMMAND_LETTER);
return(0);
}
- (*counter)++;
- if (!read_double(line, counter, double_ptr)) {
+ (*char_counter)++;
+ if (!read_double(line, char_counter, double_ptr)) {
return(0);
};
return(1);
}
-int read_double(char *line, //!< string: line of RS274/NGC code being processed
- int *counter, //!< pointer to a counter for position on the line
- double *double_ptr) //!< pointer to double to be read
+int read_double(char *line, //!< string: line of RS274/NGC code being processed
+ int *char_counter, //!< pointer to a counter for position on the line
+ double *double_ptr) //!< pointer to double to be read
{
- char *start = line + *counter;
+ char *start = line + *char_counter;
char *end;
*double_ptr = strtod(start, &end);
@@ -444,6 +431,28 @@ int read_double(char *line, //!< string: line of RS274/NGC code being processed
return(0);
};
- *counter = end - line;
+ *char_counter = end - line;
return(1);
}
+
+/* Intentionally not supported:
+ - Canned cycles
+ - Tool radius compensation
+ - A,B,C-axes
+ - Multiple coordinate systems
+ - Evaluation of expressions
+ - Variables
+ - Multiple home locations
+ - Probing
+ - Override control
+*/
+
+/*
+ Omitted for the time being:
+ group 0 = {G10, G28, G30, G92, G92.1, G92.2, G92.3} (Non modal G-codes)
+ group 8 = {M7, M8, M9} coolant (special case: M7 and M8 may be active at the same time)
+ group 9 = {M48, M49} enable/disable feed and speed override switches
+ group 12 = {G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection
+ group 13 = {G61, G61.1, G64} path control mode
+*/
+
View
@@ -2,4 +2,3 @@ socat -d -d READLINE /dev/tty.usbmodem26221,nonblock=1,clocal=1
socat -d -d READLINE /dev/tty.usbserial-A9007QcR,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
#socat -d -d READLINE /dev/tty.FireFly-A964-SPP-1,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
-
View
@@ -1,2 +1,2 @@
-#!/opt/local/bin/ruby
+#!/usr/bin/ruby
require 'script/stream'
View
@@ -26,7 +26,6 @@
# SerialPort.open('/dev/tty.FireFly-A964-SPP-1', 115200) do |sp|
SerialPort.open('/dev/tty.usbserial-A700e0GO', 9600) do |sp|
-
sp.write("\r\n\r\n");
sleep 1
ARGV.each do |file|
View
@@ -49,7 +49,7 @@ void sp_process()
char c;
while((c = serialRead()) != -1)
{
- if((c == '\n')) { // Line is complete. Then execute!
+ if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute!
line[char_counter] = 0;
printString(line); printPgmString(PSTR("\r\n"));
gc_execute_line(line);
View
@@ -20,13 +20,9 @@
#ifndef serial_h
#define serial_h
-// A string to let the client know we are ready for a new command
-#define PROMPT "\r\n>>>"
-// A character to acknowledge that the execution has started
-#define EXECUTION_MARKER '~'
-
// Initialize the serial protocol
void sp_init();
+
// Read command lines from the serial port and execute them as they
// come in. Blocks until the serial buffer is emptied.
void sp_process();

0 comments on commit 4562ee7

Please sign in to comment.