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axes are moving nicely, relative mode works, fixed a ton of bugs, still playing with XON/XOFF

This commit is contained in:
Michael Moon 2010-02-01 19:55:06 +11:00
parent 980f39a2c3
commit 5e0f5a6c87
2 changed files with 29 additions and 14 deletions
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35
mendel/gcode.c
View File

@ -9,12 +9,13 @@
#include "timer.h" #include "timer.h"
uint8_t option_bitfield; uint8_t option_bitfield;
#define OPTION_COMMENT 128
decfloat read_digit; decfloat read_digit;
const char alphabet[] = "GMXYZEFSP"; const char alphabet[] = "GMXYZEFSP";
GCODE_COMMAND next_target = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, { 0, 0, 0, 0, 0 } }; GCODE_COMMAND next_target = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, { 0, 0, 0, 0, 0 } };
/* /*
utility functions utility functions
@ -233,8 +234,8 @@ void scan_char(uint8_t c) {
process_gcode_command(&next_target); process_gcode_command(&next_target);
// save options // save options
option_bitfield = next_target.option; // option_bitfield = next_target.option;
// option_bitfield &= ~OPTION_COMMENT; option_bitfield &= ~OPTION_COMMENT;
// reset variables // reset variables
next_target.seen_X = next_target.seen_Y = next_target.seen_Z = next_target.seen_E = next_target.seen_F = next_target.seen_S = next_target.seen_P = 0; next_target.seen_X = next_target.seen_Y = next_target.seen_Z = next_target.seen_E = next_target.seen_F = next_target.seen_S = next_target.seen_P = 0;
@ -248,13 +249,27 @@ void scan_char(uint8_t c) {
} }
void process_gcode_command(GCODE_COMMAND *gcmd) { void process_gcode_command(GCODE_COMMAND *gcmd) {
if (gcmd->option & OPTION_RELATIVE) {
// convert relative to absolute
if (gcmd->option_relative) {
gcmd->target.X += startpoint.X; gcmd->target.X += startpoint.X;
gcmd->target.Y += startpoint.Y; gcmd->target.Y += startpoint.Y;
gcmd->target.Z += startpoint.Z; gcmd->target.Z += startpoint.Z;
gcmd->target.E += startpoint.E; gcmd->target.E += startpoint.E;
} }
// explicitly make unseen values equal to startpoint, otherwise relative position mode is a clusterfuck and who knows what other bugs could occur?
if (gcmd->seen_X == 0)
gcmd->target.X = startpoint.X;
if (gcmd->seen_Y == 0)
gcmd->target.Y = startpoint.Y;
if (gcmd->seen_Z == 0)
gcmd->target.Z = startpoint.Z;
if (gcmd->seen_E == 0)
gcmd->target.E = startpoint.E;
if (gcmd->seen_F == 0)
gcmd->target.F = startpoint.F;
if (gcmd->seen_G) { if (gcmd->seen_G) {
switch (gcmd->G) { switch (gcmd->G) {
// G0 - rapid, unsynchronised motion // G0 - rapid, unsynchronised motion
@ -275,17 +290,19 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// G4 - Dwell // G4 - Dwell
case 4: case 4:
xoff();
delay_ms(gcmd->P); delay_ms(gcmd->P);
xon();
break; break;
// G20 - inches as units // G20 - inches as units
case 20: case 20:
gcmd->option |= OPTION_UNIT_INCHES; gcmd->option_inches = 1;
break; break;
// G21 - mm as units // G21 - mm as units
case 21: case 21:
gcmd->option &= ~OPTION_UNIT_INCHES; gcmd->option_inches = 0;
break; break;
// G30 - go home via point // G30 - go home via point
@ -341,17 +358,17 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// G90 - absolute positioning // G90 - absolute positioning
case 90: case 90:
gcmd->option &= ~OPTION_RELATIVE; gcmd->option_relative = 0;
break; break;
// G91 - relative positioning // G91 - relative positioning
case 91: case 91:
gcmd->option |= OPTION_RELATIVE; gcmd->option_relative = 1;
break; break;
// G92 - set home // G92 - set home
case 92: case 92:
startpoint.X = startpoint.Y = startpoint.Z = 0; startpoint.X = startpoint.Y = startpoint.Z = startpoint.E = 0;
break; break;
// TODO: spit an error // TODO: spit an error

8
mendel/gcode.h
View File

@ -22,11 +22,9 @@ typedef struct {
uint8_t seen_S :1; uint8_t seen_S :1;
uint8_t seen_P :1; uint8_t seen_P :1;
uint8_t option; uint8_t option_relative :1;
#define OPTION_RELATIVE 1 uint8_t option_inches :1;
#define OPTION_SYNCHRONISE 2 // uint8_t option_synchronise :1;
#define OPTION_UNIT_INCHES 4
#define OPTION_COMMENT 128
uint8_t G; uint8_t G;
uint8_t M; uint8_t M;