motion/ecmc_plugin_grbl
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First parsed G-code commandgit add .!

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This commit is contained in:
Anders Sandstrom
2022-01-18 15:28:28 +01:00
parent 6ce6b78ebe
commit 6e4bd2410f
7 changed files with 219 additions and 97 deletions
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37
grbl/gcode.c
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@@ -41,6 +41,8 @@ parser_block_t gc_block;
void gc_init()
{
printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);
memset(&gc_state, 0, sizeof(parser_state_t));
// Load default G54 coordinate system.
@@ -54,6 +56,8 @@ void gc_init()
// limit pull-off routines.
void gc_sync_position()
{
printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);
system_convert_array_steps_to_mpos(gc_state.position,sys_position);
}
@@ -65,6 +69,8 @@ void gc_sync_position()
// coordinates, respectively.
uint8_t gc_execute_line(char *line)
{
printf("%s:%s:%d:%s\n",__FILE__,__FUNCTION__,__LINE__,line);
/* -------------------------------------------------------------------------------------
STEP 1: Initialize parser block struct and copy current g-code state modes. The parser
updates these modes and commands as the block line is parser and will only be used and
@@ -115,13 +121,15 @@ uint8_t gc_execute_line(char *line)
else { char_counter = 0; }
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
printf("1\n");
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
letter = line[char_counter];
printf("letter=%c\n", 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]
printf("value=%f\n", 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
// accurate than the NIST gcode requirement of x10 when used for commands, but not quite
@@ -131,6 +139,8 @@ 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.
printf("int_value=%d\n", int_value);
printf("mantissa=%d\n", mantissa);
// 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
@@ -166,6 +176,8 @@ uint8_t gc_execute_line(char *line)
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.
printf("axis_command=%d\n", axis_command);
case 80:
word_bit = MODAL_GROUP_G1;
gc_block.modal.motion = int_value;
@@ -175,7 +187,8 @@ uint8_t gc_execute_line(char *line)
}
gc_block.modal.motion += (mantissa/10)+100;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
}
printf("here!!\n");
break;
case 17: case 18: case 19:
word_bit = MODAL_GROUP_G2;
@@ -232,11 +245,13 @@ uint8_t gc_execute_line(char *line)
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
printf("here 2!!\n");
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); }
command_words |= bit(word_bit);
printf("here 3!!\n");
break;
case 'M':
@@ -282,13 +297,12 @@ uint8_t gc_execute_line(char *line)
#endif
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M 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); }
command_words |= bit(word_bit);
break;
// NOTE: All remaining letters assign values.
default:
@@ -330,8 +344,9 @@ uint8_t gc_execute_line(char *line)
if (value < 0.0) { FAIL(STATUS_NEGATIVE_VALUE); } // [Word value cannot be negative]
}
value_words |= bit(word_bit); // Flag to indicate parameter assigned.
}
printf("%s:%s:%d:\n",__FILE__,__FUNCTION__,__LINE__);
}
// Parsing complete!
@@ -366,15 +381,19 @@ uint8_t gc_execute_line(char *line)
// 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.
printf("%s:%s:%d:axis_words=%d\n",__FILE__,__FUNCTION__,__LINE__,axis_words);
printf("%s:%s:%d:axis_command=%d\n",__FILE__,__FUNCTION__,__LINE__,axis_command);
if (axis_words) {
if (!axis_command) { axis_command = AXIS_COMMAND_MOTION_MODE; } // Assign implicit motion-mode
}
printf("%s:%s:%d:axis_command=%d\n",__FILE__,__FUNCTION__,__LINE__,axis_command);
// 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]
}
printf("%s:%s:%d\n",__FILE__,__FUNCTION__,__LINE__);
// bit_false(value_words,bit(WORD_N)); // NOTE: Single-meaning value word. Set at end of error-checking.
// Track for unused words at the end of error-checking.
@@ -389,10 +408,14 @@ 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.
printf("%s:%s:%d:gc_parser_flags=%d\n",__FILE__,__FUNCTION__,__LINE__,gc_parser_flags);
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 {
printf("%s:%s:%d:gc_block.modal.feed_rate=%d\n",__FILE__,__FUNCTION__,__LINE__,gc_block.modal.feed_rate);
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) {
@@ -418,6 +441,8 @@ uint8_t gc_execute_line(char *line)
if (bit_istrue(value_words,bit(WORD_F))) {
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; }
} else {
printf("%s:%s:%d:gc_state.feed_rate=%f\n",__FILE__,__FUNCTION__,__LINE__,gc_state.feed_rate);
gc_block.values.f = gc_state.feed_rate; // Push last state feed rate
}
} // Else, switching to G94 from G93, so don't push last state feed rate. Its undefined or the passed F word value.