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topicchi
2023-03-17 11:40:49 +00:00
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trunk/Arduino/GRBL_Adafruit_motor_driverV2/gcode.cpp Normal file
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/**
* gcode.cpp - rs274/ngc parser.
* This code is inspired by the Arduino GCode Interpreter by Mike Ellery and the NIST RS274/NGC Interpreter
* by Kramer, Proctor and Messina.
*/
/**
* Part of Grbl interpreter modified to work with Adafruit Motor Driver V2
* File created by Catalin Vasiliu
* email <vasiliu.catalin.mihai@gmail.com>
*/
#include "gcode.h"
#include <string.h>
#include "nuts_bolts.h"
#include <math.h>
#include "settings.h"
#include "stepper_control.h"
#include "errno.h"
#include "protocol.h"
#include <Arduino.h>
#define MM_PER_INCH (25.4)
#define NEXT_ACTION_DEFAULT 0
#define NEXT_ACTION_DWELL 1
#define NEXT_ACTION_GO_HOME 2
#define NEXT_ACTION_SET_COORDINATE_OFFSET 3
#define NEXT_ACTION_MACHINE_ZERO 4
#define NEXT_ACTION_MACHINE_ZERO_EXCEPT_Z 5
#define NEXT_ACTION_MACHINE_PARK 6
#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
#define MOTION_MODE_CANCEL 4 // G80
#define PROGRAM_FLOW_RUNNING 0
#define PROGRAM_FLOW_PAUSED 1
#define PROGRAM_FLOW_COMPLETED 2
#define SPINDLE_DIRECTION_CW 0
#define SPINDLE_DIRECTION_CCW 1
typedef struct {
uint8_t status_code;
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} */
uint8_t program_flow;
double feed_rate, seek_rate; /* Millimeters/second */
double position[3]; /* Where the interpreter considers the tool to be at this point in the code */
uint8_t tool;
int16_t spindle_speed; /* RPM/100 */
int8_t spindle_direction;
uint8_t plane_axis_0,
plane_axis_1,
plane_axis_2; // The axes of the selected plane
} parser_state_t;
static parser_state_t gc;
#define FAIL(status) gc.status_code = status;
static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter);
static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) {
gc.plane_axis_0 = axis_0;
gc.plane_axis_1 = axis_1;
gc.plane_axis_2 = axis_2;
}
/**
*
*/
void gc_init() {
memset(&gc, 0, sizeof (gc));
gc.feed_rate = settings.default_feed_rate;
gc.seek_rate = settings.default_seek_rate;
select_plane(X_AXIS, Y_AXIS, Z_AXIS);
gc.absolute_mode = true;
gc.spindle_speed = settings.default_spindle_speed;
}
/**
* Convert value from mm to inch if gc.inches_mode is active
*
* @param double value
* @return float converted value
*/
static float to_millimeters(double value) {
return (gc.inches_mode ? (value * MM_PER_INCH) : 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
*
* @param char array
* @return uint8_t status code
*/
uint8_t gc_execute_line(char *line) {
uint8_t char_counter = 0;
char letter;
double value;
double unit_converted_value;
// negative inverse_feed_rate means no inverse_feed_rate specified
double inverse_feed_rate = -1;
uint8_t radius_mode = false;
/* 1 = absolute motion for this block only {G53} */
uint8_t absolute_override = false;
/* The action that will be taken by the parsed line */
uint8_t next_action = NEXT_ACTION_DEFAULT;
double target[3], offset[3];
double p = 0, r = 0;
int int_value;
gc.status_code = STATUS_OK;
//Commands
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_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;
case 4: next_action = NEXT_ACTION_DWELL;
break;
case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS);
break;
case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS);
break;
case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS);
break;
case 20: gc.inches_mode = true;
break;
case 21: gc.inches_mode = false;
break;
case 28: case 30: next_action = NEXT_ACTION_GO_HOME;
break;
case 53: absolute_override = true;
break;
case 80: gc.motion_mode = MOTION_MODE_CANCEL;
break;
case 90: gc.absolute_mode = true;
break;
case 91: gc.absolute_mode = false;
break;
case 92: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET;
break;
case 93: gc.inverse_feed_rate_mode = true;
break;
case 94: gc.inverse_feed_rate_mode = false;
break;
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
case 'M':
switch (int_value) {
case 0: case 1: gc.program_flow = PROGRAM_FLOW_PAUSED;
break;
case 2: case 30: case 60: gc.program_flow = PROGRAM_FLOW_COMPLETED;
break;
case 3: gc.spindle_direction = 1;
break;
case 4: gc.spindle_direction = -1;
break;
case 5: gc.spindle_direction = 0;
break;
//non standard commands implemented to ease the manual controll
//available only with limit switch
case 100: next_action = NEXT_ACTION_MACHINE_ZERO;
break;
//available only with limit switch
case 101: next_action = NEXT_ACTION_MACHINE_ZERO_EXCEPT_Z;
break;
case 102: next_action = NEXT_ACTION_MACHINE_PARK;
break;
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
}
break;
case 'T': gc.tool = trunc(value);
break;
}
if (gc.status_code) {
break;
}
}
// If there were any errors parsing this line, return the bad news
if (gc.status_code) {
return (gc.status_code);
}
char_counter = 0;
clear_vector_double(target);
clear_vector_double(offset);
//i.e. target = gc.position
memcpy(target, gc.position, sizeof (target));
//Parameters
while (next_statement(&letter, &value, line, &char_counter)) {
int_value = trunc(value);
unit_converted_value = to_millimeters(value);
switch (letter) {
case 'F':
// Must be greater than zero
if (unit_converted_value <= 0) {
FAIL(STATUS_BAD_NUMBER_FORMAT);
}
if (gc.inverse_feed_rate_mode) {
// seconds per motion for this motion only
inverse_feed_rate = unit_converted_value;
} else {
if (gc.motion_mode == MOTION_MODE_SEEK) {
// millimeters or inch per minute
gc.seek_rate = unit_converted_value;
} else {
gc.feed_rate = unit_converted_value;
}
}
break;
case 'I': case 'J': case 'K': offset[letter - 'I'] = unit_converted_value;
break;
case 'P': p = value;
break;
case 'R': r = unit_converted_value;
radius_mode = true;
break;
case 'S': gc.spindle_speed = value;
break;
case 'X': case 'Y': case 'Z':
if (gc.absolute_mode || absolute_override) {
target[letter - 'X'] = unit_converted_value;
} else {
target[letter - 'X'] += unit_converted_value;
}
break;
}
}
// If there were any errors parsing this line, return the bad news
if (gc.status_code) {
return (gc.status_code);
}
// Update spindle state
spindle_run(gc.spindle_direction, gc.spindle_speed);
// Perform any physical actions
switch (next_action) {
case NEXT_ACTION_GO_HOME:
st_go_home(gc.position);
// clear_vector_double(target);
break;
case NEXT_ACTION_DWELL:
st_dwell(p);
break;
case NEXT_ACTION_SET_COORDINATE_OFFSET:
gc.position[X_AXIS] = target[X_AXIS];
gc.position[Y_AXIS] = target[Y_AXIS];
gc.position[Z_AXIS] = target[Z_AXIS];
clear_vector_double(target);
break;
case NEXT_ACTION_MACHINE_ZERO:
st_go_to_zero(true);
gc.position[X_AXIS] = 0;
gc.position[Y_AXIS] = 0;
gc.position[Z_AXIS] = 0;
break;
case NEXT_ACTION_MACHINE_ZERO_EXCEPT_Z:
st_go_to_zero(false);
gc.position[X_AXIS] = 0;
gc.position[Y_AXIS] = 0;
// gc.position[Z_AXIS] = 0;
break;
case NEXT_ACTION_MACHINE_PARK :
st_machine_park();
break;
case NEXT_ACTION_DEFAULT:
switch (gc.motion_mode) {
case MOTION_MODE_CANCEL: break;
case MOTION_MODE_SEEK:
gc.status_code = st_line(gc.position, target[X_AXIS],
target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false);
break;
case MOTION_MODE_LINEAR:
gc.status_code = st_line(gc.position, 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);
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
if (radius_mode) {
// Calculate the change in position along each selected axis
double x = target[gc.plane_axis_0] - gc.position[gc.plane_axis_0];
double y = target[gc.plane_axis_1] - gc.position[gc.plane_axis_1];
clear_vector(offset);
double h_x2_div_d = -sqrt(4 * r * r - x * x - y * y) / hypot(x, y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if (isnan(h_x2_div_d)) {
FAIL(STATUS_FLOATING_POINT_ERROR);
return (gc.status_code);
}
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (gc.motion_mode == MOTION_MODE_CCW_ARC) {
h_x2_div_d = -h_x2_div_d;
}
if (r < 0) {
h_x2_div_d = -h_x2_div_d;
r = -r; // Finished with r. Set to positive for mc_arc
}
// Complete the operation by calculating the actual center of the arc
offset[gc.plane_axis_0] = 0.5 * (x - (y * h_x2_div_d));
offset[gc.plane_axis_1] = 0.5 * (y + (x * h_x2_div_d));
} else {
// Offset mode specific computations
// Compute arc radius for mc_arc
r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]);
}
// Set clockwise/counter-clockwise sign for st_arc computations
uint8_t isclockwise = false;
if (gc.motion_mode == MOTION_MODE_CW_ARC) {
isclockwise = true;
}
// Trace the arc
gc.status_code = st_arc(gc.position, target, offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2,
(gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode,
r, isclockwise);
break;
}
}
//gc.position[] = target[];
memcpy(gc.position, target, sizeof (double)*3);
clear_vector_double(target);
clear_vector_double(offset);
return (gc.status_code);
}
/**
* 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).
*
* @param char letter
* @param double double_ptr
* @param char array line
* @param uint8_t char_counter
* @return int
*/
static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) {
if (line[*char_counter] == 0) {
return (0); // No more statements
}
*letter = line[*char_counter];
if ((*letter < 'A') || (*letter > 'Z')) {
FAIL(STATUS_EXPECTED_COMMAND_LETTER);
return (0);
}
(*char_counter)++;
if (!read_double(line, char_counter, double_ptr)) {
FAIL(STATUS_BAD_NUMBER_FORMAT);
return (0);
};
return (1);
}