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implement G28/G92 as per casainho- see forum thread

This commit is contained in:
Michael Moon 2010-11-27 09:51:54 +11:00
parent 935eed7f97
commit e991578e10
4 changed files with 109 additions and 92 deletions
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26
gcode_parse.c
View File

@ -87,32 +87,6 @@ int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator)
return r;
}
/*
public functions
*/
void SpecialMoveXY(int32_t x, int32_t y, uint32_t f) {
TARGET t = startpoint;
t.X = x;
t.Y = y;
t.F = f;
enqueue(&t);
}
void SpecialMoveZ(int32_t z, uint32_t f) {
TARGET t = startpoint;
t.Z = z;
t.F = f;
enqueue(&t);
}
void SpecialMoveE(int32_t e, uint32_t f) {
TARGET t = startpoint;
t.E = e;
t.F = f;
enqueue(&t);
}
/****************************************************************************
* *
* Character Received - add it to our command *

5
gcode_parse.h
View File

@ -63,11 +63,6 @@ extern GCODE_COMMAND next_target;
// utility functions
int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator);
// this is where we construct a move without a gcode command, useful for gcodes which require multiple moves eg; homing
void SpecialMoveXY(int32_t x, int32_t y, uint32_t f);
void SpecialMoveZ(int32_t z, uint32_t f);
void SpecialMoveE(int32_t e, uint32_t f);
// accept the next character and process it
void gcode_parse_char(uint8_t c);

165
gcode_process.c
View File

@ -15,6 +15,60 @@
#include "sersendf.h"
#include "pinio.h"
#include "debug.h"
#include "clock.h"
/*
public functions
*/
void zero_x(void) {
TARGET t = startpoint;
t.X = 0;
t.F = SEARCH_FEEDRATE_X;
enqueue(&t);
}
void zero_y(void) {
TARGET t = startpoint;
t.Y = 0;
t.F = SEARCH_FEEDRATE_X;
enqueue(&t);
}
void zero_z(void) {
TARGET t = startpoint;
t.Z = 0;
t.F = SEARCH_FEEDRATE_Z;
enqueue(&t);
}
void zero_e(void) {
TARGET t = startpoint;
t.E = 0;
enqueue(&t);
}
// void SpecialMoveXY(int32_t x, int32_t y, uint32_t f) {
// TARGET t = startpoint;
// t.X = x;
// t.Y = y;
// t.F = f;
// enqueue(&t);
// }
//
// void SpecialMoveZ(int32_t z, uint32_t f) {
// TARGET t = startpoint;
// t.Z = z;
// t.F = f;
// enqueue(&t);
// }
void SpecialMoveE(int32_t e, uint32_t f) {
TARGET t = startpoint;
t.E = e;
t.F = f;
enqueue(&t);
}
/****************************************************************************
* *
@ -38,6 +92,7 @@ void process_gcode_command() {
// moved to dda.c, end of dda_create() and dda_queue.c, next_move()
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
// G0 - rapid, unsynchronised motion
// since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects
@ -62,10 +117,14 @@ void process_gcode_command() {
// G4 - Dwell
case 4:
// wait for all moves to complete
for (;queue_empty() == 0;)
wd_reset();
queue_wait();
// delay
delay_ms(next_target.P);
for (;next_target.P > 0;next_target.P--) {
ifclock(CLOCK_FLAG_10MS) {
clock_10ms();
}
delay_ms(1);
}
break;
// G20 - inches as units
@ -85,61 +144,24 @@ void process_gcode_command() {
// G28 - go home
case 28:
/*
Home XY first
*/
// hit endstops, no acceleration- we don't care about skipped steps
startpoint.F = MAXIMUM_FEEDRATE_X;
SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, MAXIMUM_FEEDRATE_X);
startpoint.X = startpoint.Y = 0;
queue_wait();
// move forward a bit
SpecialMoveXY(5 * STEPS_PER_MM_X, 5 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// move back in to endstops slowly
SpecialMoveXY(-20 * STEPS_PER_MM_X, -20 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// wait for queue to complete
for (;queue_empty() == 0;)
wd_reset();
// this is our home point
startpoint.X = startpoint.Y = current_position.X = current_position.Y = 0;
/*
Home Z
*/
// hit endstop, no acceleration- we don't care about skipped steps
startpoint.F = MAXIMUM_FEEDRATE_Z;
SpecialMoveZ(-250L * STEPS_PER_MM_Z, MAXIMUM_FEEDRATE_Z);
startpoint.Z = 0;
// move forward a bit
SpecialMoveZ(5 * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// move back into endstop slowly
SpecialMoveZ(-20L * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// wait for queue to complete
for (;queue_empty() == 0;)
wd_reset();
// this is our home point
startpoint.Z = current_position.Z = 0;
/*
Home E
*/
// extruder only runs one way and we have no "endstop", just set this point as home
startpoint.E = current_position.E = 0;
/*
Home F
*/
// F has been left at SEARCH_FEEDRATE_Z by the last move, this is a usable "home"
// uncomment the following or substitute if you prefer a different default feedrate
// startpoint.F = SEARCH_FEEDRATE_Z
if (next_target.seen_X) {
zero_x();
axisSelected = 1;
}
if (next_target.seen_Y) {
zero_y();
axisSelected = 1;
}
if (next_target.seen_Z) {
zero_z();
axisSelected = 1;
}
if (next_target.seen_E) {
zero_e();
axisSelected = 1;
}
break;
@ -155,10 +177,31 @@ void process_gcode_command() {
// G92 - set home
case 92:
startpoint.X = startpoint.Y = startpoint.Z = startpoint.E =
current_position.X = current_position.Y = current_position.Z = current_position.E = 0;
startpoint.F =
current_position.F = SEARCH_FEEDRATE_Z;
// wait for queue to empty
queue_wait();
if (next_target.seen_X) {
startpoint.X = current_position.X = next_target.target.X;
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.Y = current_position.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = current_position.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.E = current_position.E = next_target.target.E;
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.X = current_position.X =
startpoint.Y = current_position.Y =
startpoint.Z = current_position.Z =
startpoint.E = current_position.E = 0;
}
break;
// unknown gcode: spit an error

5
gcode_process.h
View File

@ -3,6 +3,11 @@
#include "gcode_parse.h"
// this is where we construct a move without a gcode command, useful for gcodes which require multiple moves eg; homing
void SpecialMoveXY(int32_t x, int32_t y, uint32_t f);
void SpecialMoveZ(int32_t z, uint32_t f);
void SpecialMoveE(int32_t e, uint32_t f);
// when we have a whole line, feed it to this
void process_gcode_command(void);