Esempio n. 1
0
/*---------------------------------------------------------------------------*/
static void
statement(void)
{
  int token;

  token = tokenizer_token();

  switch(token) {
  case TOKENIZER_PRINT:
    print_statement();
    break;
  case TOKENIZER_IF:
    if_statement();
    break;
  case TOKENIZER_GOTO:
    goto_statement();
    break;
  case TOKENIZER_GOSUB:
    gosub_statement();
    break;
  case TOKENIZER_RETURN:
    return_statement();
    break;
  case TOKENIZER_FOR:
    for_statement();
    break;
  case TOKENIZER_PEEK:
    peek_statement();
    break;
  case TOKENIZER_POKE:
    poke_statement();
    break;
  case TOKENIZER_NEXT:
    next_statement();
    break;
  case TOKENIZER_END:
    end_statement();
    break;
  case TOKENIZER_LET:
    accept(TOKENIZER_LET);
    /* Fall through. */
  case TOKENIZER_VARIABLE:
    let_statement();
    break;
  default:
    DEBUG_PRINTF("ubasic.c: statement(): not implemented %d\n", token);
    exit(1);
  }
}
Esempio n. 2
0
int yyerror(const char *s)
{
// *hack 1.2.9 Interactive mode final error involving "DUD" appears harmless
#ifndef _USRDLL
 if (Input::filename() == "DUD") return 1;
#endif
 cerr << Input::filename() << ' ' << Input::lineno() << ':' << s << endl;
 next_statement();
 // *fix 1.2.8 Insist on only collecting errors w/in the same file
 string old_file = Parser::state.file;
 if (old_file == "" || old_file == Input::filename()) { 
   if (Errors::output_is_redirected() && current_err.length() > 0) current_err += "\n";
   current_err += s;
   Parser::state.file = Input::filename();
   Parser::state.lineno = Input::lineno(); 
 }
 return 1;
}
Esempio n. 3
0
// 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) {
  uint8_t 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;  /* The action that will be taken by the parsed line */
  
  double target[3], offset[3];  
  
  double p = 0, r = 0;
  int int_value;
  
  clear_vector(target);
  clear_vector(offset);

  gc.status_code = STATUS_OK;
  
  // Disregard comments and block delete
  if (line[0] == '(') { return(gc.status_code); }
  if (line[0] == '/') { char_counter++; } // ignore block delete  
  
  // Pass 1: 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;
#ifdef __AVR_ATmega328P__        
        case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break;
        case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break;
#endif        
        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;
        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, we will return right away with the bad news
  if (gc.status_code) { return(gc.status_code); }

  char_counter = 0;
  clear_vector(offset);
  memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position

  // Pass 2: Parameters
  while(next_statement(&letter, &value, line, &char_counter)) {
    int_value = trunc(value);
    unit_converted_value = to_millimeters(value);
    switch(letter) {
      case 'F': 
      if (gc.inverse_feed_rate_mode) {
        inverse_feed_rate = unit_converted_value; // seconds per motion for this motion only
      } else {          
        if (gc.motion_mode == MOTION_MODE_SEEK) {
          gc.seek_rate = unit_converted_value/60;
        } else {
          gc.feed_rate = unit_converted_value/60; // millimeters pr second
        }
      }
      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, we will return right away with 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: mc_go_home(); clear_vector(gc.position); break;												// Go home
    case NEXT_ACTION_DWELL: mc_dwell(trunc(p*1000)); break;   																// Dwell
    case NEXT_ACTION_SET_COORDINATE_OFFSET: 																				// Coordinate System offset
    mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);												
    break;
    case NEXT_ACTION_DEFAULT: 		
    switch (gc.motion_mode) {
      case MOTION_MODE_CANCEL: break;
      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);
      break;
#ifdef __AVR_ATmega328P__
      case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
      if (radius_mode) {
        /* 
          We need to calculate the center of the circle that has the designated radius and passes
          through both the current position and the target position. This method calculates the following
          set of equations where [x,y] is the vector from current to target position, d == magnitude of 
          that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
          the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the 
          length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point 
          [i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
          
          d^2 == x^2 + y^2
          h^2 == r^2 - (d/2)^2
          i == x/2 - y/d*h
          j == y/2 + x/d*h
          
                                                               O <- [i,j]
                                                            -  |
                                                  r      -     |
                                                      -        |
                                                   -           | h
                                                -              |
                                  [0,0] ->  C -----------------+--------------- T  <- [x,y]
                                            | <------ d/2 ---->|
                    
          C - Current position
          T - Target position
          O - center of circle that pass through both C and T
          d - distance from C to T
          r - designated radius
          h - distance from center of CT to O
          
          Expanding the equations:

          d -> sqrt(x^2 + y^2)
          h -> sqrt(4 * r^2 - x^2 - y^2)/2
          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2 
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
         
          Which can be written:
          
          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
          
          Which we for size and speed reasons optimize to:

          h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
          i = (x - (y * h_x2_div_d))/2
          j = (y + (x * h_x2_div_d))/2
          
        */
        
        // 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; }
        
        /* The counter clockwise circle lies to the left of the target direction. When offset is positive,
           the left hand circle will be generated - when it is negative the right hand circle is generated.
           
           
                                                         T  <-- Target position
                                                         
                                                         ^ 
              Clockwise circles with this center         |          Clockwise circles with this center will have
              will have > 180 deg of angular travel      |          < 180 deg of angular travel, which is a good thing!
                                               \         |          /   
  center of arc when h_x2_div_d is positive ->  x <----- | -----> x <- center of arc when h_x2_div_d is negative
                                                         |
                                                         |
                                                         
                                                         C  <-- Current position                                 */
                

        // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!), 
        // even though it is advised against ever generating such circles in a single line of g-code. By 
        // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
        // travel and thus we get the unadvisably long arcs as prescribed.
        if (r < 0) { h_x2_div_d = -h_x2_div_d; }        
        // Complete the operation by calculating the actual center of the arc
        offset[gc.plane_axis_0] = (x-(y*h_x2_div_d))/2;
        offset[gc.plane_axis_1] = (y+(x*h_x2_div_d))/2;
      } 
      
      /*
         This segment sets up an clockwise or counterclockwise arc from the current position to the target position around 
         the center designated by the offset vector. All theta-values measured in radians of deviance from the positive 
         y-axis. 

                            | <- theta == 0
                          * * *                
                        *       *                                               
                      *           *                                             
                      *     O ----T   <- theta_end (e.g. 90 degrees: theta_end == PI/2)                                          
                      *   /                                                     
                        C   <- theta_start (e.g. -145 degrees: theta_start == -PI*(3/4))

      */
            
      // calculate the theta (angle) of the current point
      double theta_start = theta(-offset[gc.plane_axis_0], -offset[gc.plane_axis_1]);
      // calculate the theta (angle) of the target point
      double theta_end = theta(target[gc.plane_axis_0] - offset[gc.plane_axis_0] - gc.position[gc.plane_axis_0], 
         target[gc.plane_axis_1] - offset[gc.plane_axis_1] - gc.position[gc.plane_axis_1]);
      // ensure that the difference is positive so that we have clockwise travel
      if (theta_end < theta_start) { theta_end += 2*M_PI; }
      double angular_travel = theta_end-theta_start;
      // Invert angular motion if the g-code wanted a counterclockwise arc
      if (gc.motion_mode == MOTION_MODE_CCW_ARC) {
        angular_travel = angular_travel-2*M_PI;
      }
      // Find the radius
      double radius = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]);
      // Calculate the motion along the depth axis of the helix
      double depth = target[gc.plane_axis_2]-gc.position[gc.plane_axis_2];
      // Trace the arc
      mc_arc(theta_start, angular_travel, radius, depth, 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,
        gc.position);
      // Finish off with a line to make sure we arrive exactly where we think we are
      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);
      break;
#endif      
    }    
  }
  
  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
  return(gc.status_code);
}
Esempio n. 4
0
File: gcode.c Progetto: ikrase/grbl
// 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
// characters have been removed. All units and positions are converted and exported to grbl's
// internal functions in terms of (mm, mm/min) and absolute machine coordinates, respectively.
uint8_t gc_execute_line(char *line) 
{

  // If in alarm state, don't process. Immediately return with error.
  // NOTE: Might not be right place for this, but also prevents $N storing during alarm.
  if (sys.state == STATE_ALARM) { return(STATUS_ALARM_LOCK); }
 
  uint8_t char_counter = 0;  
  char letter;
  float value;
  int int_value;
  
  uint16_t modal_group_words = 0;  // Bitflag variable to track and check modal group words in block
  uint8_t axis_words = 0;          // Bitflag to track which XYZ(ABC) parameters exist in block

  float inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified
  uint8_t absolute_override = false; // true(1) = absolute motion for this block only {G53}
  uint8_t non_modal_action = NON_MODAL_NONE; // Tracks the actions of modal group 0 (non-modal)
  
  float target[4], offset[4];  
  clear_vector(target); // XYZ(ABC) axes parameters.
  clear_vector(offset); // IJK Arc offsets are incremental. Value of zero indicates no change.
    
  gc.status_code = STATUS_OK;
  
  /* Pass 1: Commands and set all modes. Check for modal group violations.
     NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
  uint8_t group_number = MODAL_GROUP_NONE;
  while(next_statement(&letter, &value, line, &char_counter)) {
    int_value = trunc(value);
    switch(letter) {
      case 'G':
        // Set modal group values
        switch(int_value) {
          case 4: case 10: case 28: case 30: case 53: case 92: group_number = MODAL_GROUP_0; break;
          case 0: case 1: case 2: case 3: case 80: group_number = MODAL_GROUP_1; break;
          case 17: case 18: case 19: group_number = MODAL_GROUP_2; break;
          case 90: case 91: group_number = MODAL_GROUP_3; break;
          case 93: case 94: group_number = MODAL_GROUP_5; break;
          case 20: case 21: group_number = MODAL_GROUP_6; break;
          case 54: case 55: case 56: case 57: case 58: case 59: group_number = MODAL_GROUP_12; break;
        }          
        // Set 'G' commands
        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: non_modal_action = NON_MODAL_DWELL; break;
          case 10: non_modal_action = NON_MODAL_SET_COORDINATE_DATA; 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: 
            int_value = trunc(10*value); // Multiply by 10 to pick up Gxx.1
            switch(int_value) {
              case 280: non_modal_action = NON_MODAL_GO_HOME_0; break;
              case 281: non_modal_action = NON_MODAL_SET_HOME_0; break;
              case 300: non_modal_action = NON_MODAL_GO_HOME_1; break;
              case 301: non_modal_action = NON_MODAL_SET_HOME_1; break;
              default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
            }
            break;
          case 53: absolute_override = true; break;
          case 54: case 55: case 56: case 57: case 58: case 59:
            gc.coord_select = int_value-54;
            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: 
            int_value = trunc(10*value); // Multiply by 10 to pick up G92.1
            switch(int_value) {
              case 920: non_modal_action = NON_MODAL_SET_COORDINATE_OFFSET; break;        
              case 921: non_modal_action = NON_MODAL_RESET_COORDINATE_OFFSET; break;
              default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
            }
            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':
        // Set modal group values
        switch(int_value) {
          case 0: case 1: case 2: case 30: group_number = MODAL_GROUP_4; break;
          case 3: case 4: case 5: group_number = MODAL_GROUP_7; break;
        }        
        // Set 'M' commands
        switch(int_value) {
          case 0: gc.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
          case 1: break; // Optional stop not supported. Ignore.
          case 2: case 30: gc.program_flow = PROGRAM_FLOW_COMPLETED; break; // Program end and reset 
          case 3: gc.spindle_direction = 1; break;
          case 4: gc.spindle_direction = -1; break;
          case 5: gc.spindle_direction = 0; break;
          #ifdef ENABLE_M7
            case 7: gc.coolant_mode = COOLANT_MIST_ENABLE; break;
          #endif
          case 8: gc.coolant_mode = COOLANT_FLOOD_ENABLE; break;
          case 9: gc.coolant_mode = COOLANT_DISABLE; break;
          default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
        }            
        break;
    }    
    // Check for modal group multiple command violations in the current block
    if (group_number) {
      if ( bit_istrue(modal_group_words,bit(group_number)) ) {
        FAIL(STATUS_MODAL_GROUP_VIOLATION);
      } else {
        bit_true(modal_group_words,bit(group_number));
      }
      group_number = MODAL_GROUP_NONE; // Reset for next command.
    }
  } 

  // 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); }
  
  /* Pass 2: Parameters. All units converted according to current block commands. Position 
     parameters are converted and flagged to indicate a change. These can have multiple connotations
     for different commands. Each will be converted to their proper value upon execution. */
  float p = 0, r = 0;
  uint8_t l = 0;
  char_counter = 0;
  while(next_statement(&letter, &value, line, &char_counter)) {
    switch(letter) {
      case 'G': case 'M': case 'N': break; // Ignore command statements and line numbers
      case 'F': 
        if (value <= 0) { FAIL(STATUS_INVALID_STATEMENT); } // Must be greater than zero
        if (gc.inverse_feed_rate_mode) {
          inverse_feed_rate = to_millimeters(value); // seconds per motion for this motion only
        } else {          
          gc.feed_rate = to_millimeters(value); // millimeters per minute
        }
        break;
      case 'I': case 'J': case 'K': offset[letter-'I'] = to_millimeters(value); break;
      case 'L': l = trunc(value); break;
      case 'P': p = value; break;                    
      case 'R': r = to_millimeters(value); break;
      case 'S': 
        if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
        // TBD: Spindle speed not supported due to PWM issues, but may come back once resolved.
        // gc.spindle_speed = value;
        break;
      case 'T': 
        if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
        gc.tool = trunc(value); 
        break;
      case 'X': target[X_AXIS] = to_millimeters(value); bit_true(axis_words,bit(X_AXIS)); break;
      case 'Y': target[Y_AXIS] = to_millimeters(value); bit_true(axis_words,bit(Y_AXIS)); break;
      case 'Z': target[Z_AXIS] = to_millimeters(value); bit_true(axis_words,bit(Z_AXIS)); break;
      case 'C': target[C_AXIS] = to_millimeters(value); bit_true(axis_wors,bit(C_AXIS)); break;
      default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
    }
  }
  
  // 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); }
  
  
  /* Execute Commands: Perform by order of execution defined in NIST RS274-NGC.v3, Table 8, pg.41.
     NOTE: Independent non-motion/settings parameters are set out of this order for code efficiency 
     and simplicity purposes, but this should not affect proper g-code execution. */
  
  // ([F]: Set feed and seek rates.)
  // TODO: Seek rates can change depending on the direction and maximum speeds of each axes. When
  // max axis speed is installed, the calculation can be performed here, or maybe in the planner.
    
  if (sys.state != STATE_CHECK_MODE) { 
    //  ([M6]: Tool change should be executed here.)

    // [M3,M4,M5]: Update spindle state
    spindle_run(gc.spindle_direction);
  
    // [*M7,M8,M9]: Update coolant state
    coolant_run(gc.coolant_mode);
  }
  
  // [G54,G55,...,G59]: Coordinate system selection
  if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_12)) ) { // Check if called in block
    float coord_data[N_AXIS];
    if (!(settings_read_coord_data(gc.coord_select,coord_data))) { return(STATUS_SETTING_READ_FAIL); } 
    memcpy(gc.coord_system,coord_data,sizeof(coord_data));
  }
  
  // [G4,G10,G28,G30,G92,G92.1]: Perform dwell, set coordinate system data, homing, or set axis offsets.
  // NOTE: These commands are in the same modal group, hence are mutually exclusive. G53 is in this
  // modal group and do not effect these actions.
  switch (non_modal_action) {
    case NON_MODAL_DWELL:
      if (p < 0) { // Time cannot be negative.
        FAIL(STATUS_INVALID_STATEMENT); 
      } else {
        // Ignore dwell in check gcode modes
        if (sys.state != STATE_CHECK_MODE) { mc_dwell(p); }
      }
      break;
    case NON_MODAL_SET_COORDINATE_DATA:
      int_value = trunc(p); // Convert p value to int.
      if ((l != 2 && l != 20) || (int_value < 0 || int_value > N_COORDINATE_SYSTEM)) { // L2 and L20. P1=G54, P2=G55, ... 
        FAIL(STATUS_UNSUPPORTED_STATEMENT); 
      } else if (!axis_words && l==2) { // No axis words.
        FAIL(STATUS_INVALID_STATEMENT);
      } else {
        if (int_value > 0) { int_value--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
        else { int_value = gc.coord_select; } // Index P0 as the active coordinate system
        float coord_data[N_AXIS];
        if (!settings_read_coord_data(int_value,coord_data)) { return(STATUS_SETTING_READ_FAIL); }
        uint8_t i;
        // Update axes defined only in block. Always in machine coordinates. Can change non-active system.
        for (i=0; i<N_AXIS; i++) { // Axes indices are consistent, so loop may be used.
          if (bit_istrue(axis_words,bit(i)) ) {
            if (l == 20) {
              coord_data[i] = gc.position[i]-target[i]; // L20: Update axis current position to target
            } else {
              coord_data[i] = target[i]; // L2: Update coordinate system axis
            }
          }
        }
        settings_write_coord_data(int_value,coord_data);
        // Update system coordinate system if currently active.
        if (gc.coord_select == int_value) { memcpy(gc.coord_system,coord_data,sizeof(coord_data)); }
      }
      axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
      break;
    case NON_MODAL_GO_HOME_0: case NON_MODAL_GO_HOME_1: 
      // Move to intermediate position before going home. Obeys current coordinate system and offsets 
      // and absolute and incremental modes.
      if (axis_words) {
        // Apply absolute mode coordinate offsets or incremental mode offsets.
        uint8_t i;
        for (i=0; i<N_AXIS; i++) { // Axes indices are consistent, so loop may be used.
          if ( bit_istrue(axis_words,bit(i)) ) {
            if (gc.absolute_mode) {
              target[i] += gc.coord_system[i] + gc.coord_offset[i];
            } else {
              target[i] += gc.position[i];
            }
          } else {
            target[i] = gc.position[i];
          }
        }
        mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[C_AXIS], settings.default_seek_rate, false);
      }
      // Retreive G28/30 go-home position data (in machine coordinates) from EEPROM
      float coord_data[N_AXIS];
      if (non_modal_action == NON_MODAL_GO_HOME_1) { 
        if (!settings_read_coord_data(SETTING_INDEX_G30 ,coord_data)) { return(STATUS_SETTING_READ_FAIL); }     
      } else {
        if (!settings_read_coord_data(SETTING_INDEX_G28 ,coord_data)) { return(STATUS_SETTING_READ_FAIL); }     
      }      
      mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], coord_data[C_AXIS], settings.default_seek_rate, false); 
      memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[];
      axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
      break;
    case NON_MODAL_SET_HOME_0: case NON_MODAL_SET_HOME_1:
      if (non_modal_action == NON_MODAL_SET_HOME_1) { 
        settings_write_coord_data(SETTING_INDEX_G30,gc.position);
      } else {
        settings_write_coord_data(SETTING_INDEX_G28,gc.position);
      }
      break;    
    case NON_MODAL_SET_COORDINATE_OFFSET:
      if (!axis_words) { // No axis words
        FAIL(STATUS_INVALID_STATEMENT);
      } else {
        // Update axes defined only in block. Offsets current system to defined value. Does not update when
        // active coordinate system is selected, but is still active unless G92.1 disables it. 
        uint8_t i;
        for (i=0; i<=2; i++) { // Axes indices are consistent, so loop may be used.
          if (bit_istrue(axis_words,bit(i)) ) {
            gc.coord_offset[i] = gc.position[i]-gc.coord_system[i]-target[i];
          }
        }
      }
      axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags.
      break;
    case NON_MODAL_RESET_COORDINATE_OFFSET: 
      clear_vector(gc.coord_offset); // Disable G92 offsets by zeroing offset vector.
      break;
  }

  // [G0,G1,G2,G3,G80]: Perform motion modes. 
  // NOTE: Commands G10,G28,G30,G92 lock out and prevent axis words from use in motion modes. 
  // Enter motion modes only if there are axis words or a motion mode command word in the block.
  if ( bit_istrue(modal_group_words,bit(MODAL_GROUP_1)) || axis_words ) {

    // G1,G2,G3 require F word in inverse time mode.  
    if ( gc.inverse_feed_rate_mode ) { 
      if (inverse_feed_rate < 0 && gc.motion_mode != MOTION_MODE_CANCEL) {
        FAIL(STATUS_INVALID_STATEMENT);
      }
    }
    // Absolute override G53 only valid with G0 and G1 active.
    if ( absolute_override && !(gc.motion_mode == MOTION_MODE_SEEK || gc.motion_mode == MOTION_MODE_LINEAR)) {
      FAIL(STATUS_INVALID_STATEMENT);
    }
    // Report any errors.  
    if (gc.status_code) { return(gc.status_code); }

    // Convert all target position data to machine coordinates for executing motion. Apply
    // absolute mode coordinate offsets or incremental mode offsets.
    // NOTE: Tool offsets may be appended to these conversions when/if this feature is added.
    uint8_t i;
    for (i=0; i<=3; i++) { // Axes indices are consistent, so loop may be used to save flash space.
      if ( bit_istrue(axis_words,bit(i)) ) {
        if (!absolute_override) { // Do not update target in absolute override mode
          if (gc.absolute_mode) {
            target[i] += gc.coord_system[i] + gc.coord_offset[i]; // Absolute mode
          } else {
            target[i] += gc.position[i]; // Incremental mode
          }
        }
      } else {
        target[i] = gc.position[i]; // No axis word in block. Keep same axis position.
      }
    }
  
    switch (gc.motion_mode) {
      case MOTION_MODE_CANCEL: 
        if (axis_words) { FAIL(STATUS_INVALID_STATEMENT); } // No axis words allowed while active.
        break;
      case MOTION_MODE_SEEK:
        if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);} 
        else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[C_AXIS], settings.default_seek_rate, false); }
        break;
      case MOTION_MODE_LINEAR:
        // TODO: Inverse time requires F-word with each statement. Need to do a check. Also need
        // to check for initial F-word upon startup. Maybe just set to zero upon initialization
        // and after an inverse time move and then check for non-zero feed rate each time. This
        // should be efficient and effective.
        if (!axis_words) { FAIL(STATUS_INVALID_STATEMENT);} 
        else { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[C_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:
        // Check if at least one of the axes of the selected plane has been specified. If in center 
        // format arc mode, also check for at least one of the IJK axes of the selected plane was sent.
        if ( !( bit_false(axis_words,bit(gc.plane_axis_2)) ) || 
             ( !r && !offset[gc.plane_axis_0] && !offset[gc.plane_axis_1] ) ) { 
          FAIL(STATUS_INVALID_STATEMENT);
        } else {
          if (r != 0) { // Arc Radius Mode
            /* 
              We need to calculate the center of the circle that has the designated radius and passes
              through both the current position and the target position. This method calculates the following
              set of equations where [x,y] is the vector from current to target position, d == magnitude of 
              that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
              the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the 
              length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point 
              [i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
              
              d^2 == x^2 + y^2
              h^2 == r^2 - (d/2)^2
              i == x/2 - y/d*h
              j == y/2 + x/d*h
              
                                                                   O <- [i,j]
                                                                -  |
                                                      r      -     |
                                                          -        |
                                                       -           | h
                                                    -              |
                                      [0,0] ->  C -----------------+--------------- T  <- [x,y]
                                                | <------ d/2 ---->|
                        
              C - Current position
              T - Target position
              O - center of circle that pass through both C and T
              d - distance from C to T
              r - designated radius
              h - distance from center of CT to O
              
              Expanding the equations:
    
              d -> sqrt(x^2 + y^2)
              h -> sqrt(4 * r^2 - x^2 - y^2)/2
              i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2 
              j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
             
              Which can be written:
              
              i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
              j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
              
              Which we for size and speed reasons optimize to:
    
              h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
              i = (x - (y * h_x2_div_d))/2
              j = (y + (x * h_x2_div_d))/2
              
            */
            
            // Calculate the change in position along each selected axis
            float x = target[gc.plane_axis_0]-gc.position[gc.plane_axis_0];
            float y = target[gc.plane_axis_1]-gc.position[gc.plane_axis_1];
            
            clear_vector(offset);
            // First, use h_x2_div_d to compute 4*h^2 to check if it is negative or r is smaller
            // than d. If so, the sqrt of a negative number is complex and error out.
            float h_x2_div_d = 4 * r*r - x*x - y*y;
            if (h_x2_div_d < 0) { FAIL(STATUS_ARC_RADIUS_ERROR); return(gc.status_code); }
            // Finish computing h_x2_div_d.
            h_x2_div_d = -sqrt(h_x2_div_d)/hypot(x,y); // == -(h * 2 / d)
            // 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; }
            
            /* The counter clockwise circle lies to the left of the target direction. When offset is positive,
               the left hand circle will be generated - when it is negative the right hand circle is generated.
               
               
                                                             T  <-- Target position
                                                             
                                                             ^ 
                  Clockwise circles with this center         |          Clockwise circles with this center will have
                  will have > 180 deg of angular travel      |          < 180 deg of angular travel, which is a good thing!
                                                   \         |          /   
      center of arc when h_x2_div_d is positive ->  x <----- | -----> x <- center of arc when h_x2_div_d is negative
                                                             |
                                                             |
                                                             
                                                             C  <-- Current position                                 */
                    
    
            // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!), 
            // even though it is advised against ever generating such circles in a single line of g-code. By 
            // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
            // travel and thus we get the unadvisably long arcs as prescribed.
            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 { // Arc Center Format Offset Mode            
            r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); // Compute arc radius for mc_arc
          }
          
          // Set clockwise/counter-clockwise sign for mc_arc computations
          uint8_t isclockwise = false;
          if (gc.motion_mode == MOTION_MODE_CW_ARC) { isclockwise = true; }
    
          // Trace the arc
          mc_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;
    }
    
    // Report any errors.
    if (gc.status_code) { return(gc.status_code); }    
    
    // As far as the parser is concerned, the position is now == target. In reality the
    // motion control system might still be processing the action and the real tool position
    // in any intermediate location.
    memcpy(gc.position, target, sizeof(target)); // gc.position[] = target[];
  }
  
  // M0,M1,M2,M30: Perform non-running program flow actions. During a program pause, the buffer may 
  // refill and can only be resumed by the cycle start run-time command.
  if (gc.program_flow) {
    plan_synchronize(); // Finish all remaining buffered motions. Program paused when complete.
    sys.auto_start = false; // Disable auto cycle start. Forces pause until cycle start issued.
    
    // If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9). Otherwise,
    // re-enable program flow after pause complete, where cycle start will resume the program.
    if (gc.program_flow == PROGRAM_FLOW_COMPLETED) { mc_reset(); }
    else { gc.program_flow = PROGRAM_FLOW_RUNNING; }
  }    
  
  return(gc.status_code);
}
Esempio n. 5
0
// 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
// characters have been removed.
uint8_t gcode_execute_line(char *line) {
  uint8_t char_counter = 0;  
  char letter;
  double value;
  int int_value;
  double unit_converted_value;  
  uint8_t next_action = NEXT_ACTION_NONE;
  double target[3];
  double p = 0.0;
  int cs = 0;
  int l = 0;
  bool got_actual_line_command = false;  // as opposed to just e.g. G1 F1200
  gc.status_code = STATUS_OK;
    
  //// Pass 1: 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 = next_action = NEXT_ACTION_SEEK; break;
          case 1: gc.motion_mode = next_action = NEXT_ACTION_FEED; break;
          case 4: next_action = NEXT_ACTION_DWELL; break;
          case 10: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET; break;
          case 20: gc.inches_mode = true; break;
          case 21: gc.inches_mode = false; break;
          case 30: next_action = NEXT_ACTION_HOMING_CYCLE; break;
          case 54: gc.offselect = OFFSET_G54; break;
          case 55: gc.offselect = OFFSET_G55; break;
          case 90: gc.absolute_mode = true; break;
          case 91: gc.absolute_mode = false; break;
          default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
        }
        break;
      case 'M':
        switch(int_value) {
          case 7: next_action = NEXT_ACTION_AIR_ENABLE;break;
          case 8: next_action = NEXT_ACTION_GAS_ENABLE;break;
          case 9: next_action = NEXT_ACTION_AIRGAS_DISABLE;break;
          default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
        }            
        break;
    }
    if (gc.status_code) { break; }
  }
  
  // bail when errors
  if (gc.status_code) { return gc.status_code; }

  char_counter = 0;
  memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position

  //// Pass 2: Parameters
  while(next_statement(&letter, &value, line, &char_counter)) {
    if (gc.inches_mode) {
      unit_converted_value = value * MM_PER_INCH;
    } else {
      unit_converted_value = value;
    }
    switch(letter) {
      case 'F':
        if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); }
        if (gc.motion_mode == NEXT_ACTION_SEEK) {
          gc.seek_rate = unit_converted_value;
        } else {
          gc.feed_rate = unit_converted_value;
        }
        break;
      case 'X': case 'Y': case 'Z':
        if (gc.absolute_mode) {
          target[letter - 'X'] = unit_converted_value;
        } else {
          target[letter - 'X'] += unit_converted_value;
        }
        got_actual_line_command = true;
        break;        
      case 'P':  // dwelling seconds or CS selector
        if (next_action == NEXT_ACTION_SET_COORDINATE_OFFSET) {
          cs = trunc(value);
        } else {
          p = value;
        }
        break;
      case 'S':
        gc.nominal_laser_intensity = value;
        break; 
      case 'L':  // G10 qualifier 
      l = trunc(value);
        break;
    }
  }
  
  // bail when error
  if (gc.status_code) { return(gc.status_code); }
      
  //// Perform any physical actions
  switch (next_action) {
    case NEXT_ACTION_SEEK:
      if (got_actual_line_command) {
        planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS], 
                      target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS], 
                      target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS], 
                      gc.seek_rate, 0 );
      }
      break;   
    case NEXT_ACTION_FEED:
      if (got_actual_line_command) {
        planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS], 
                      target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS], 
                      target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS], 
                      gc.feed_rate, gc.nominal_laser_intensity );                   
      }
      break; 
    case NEXT_ACTION_DWELL:
      planner_dwell(p, gc.nominal_laser_intensity);
      break;
    // case NEXT_ACTION_STOP:
    //   planner_stop();  // stop and cancel the remaining program
    //   gc.position[X_AXIS] = stepper_get_position_x();
    //   gc.position[Y_AXIS] = stepper_get_position_y();
    //   gc.position[Z_AXIS] = stepper_get_position_z();
    //   planner_set_position(gc.position[X_AXIS], gc.position[Y_AXIS], gc.position[Z_AXIS]);
    //   // move to table origin
    //   target[X_AXIS] = 0;
    //   target[Y_AXIS] = 0;
    //   target[Z_AXIS] = 0;         
    //   planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS], 
    //                 target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS], 
    //                 target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS], 
    //                 gc.seek_rate, 0 );
    //   break;
    case NEXT_ACTION_HOMING_CYCLE:
      stepper_homing_cycle();
      // now that we are at the physical home
      // zero all the position vectors
      clear_vector(gc.position);
      clear_vector(target);
      planner_set_position(0.0, 0.0, 0.0);
      // move head to g54 offset
      gc.offselect = OFFSET_G54;
      target[X_AXIS] = 0;
      target[Y_AXIS] = 0;
      target[Z_AXIS] = 0;         
      planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS], 
                    target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS], 
                    target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS], 
                    gc.seek_rate, 0 );
      break;
    case NEXT_ACTION_SET_COORDINATE_OFFSET:
      if (cs == OFFSET_G54 || cs == OFFSET_G55) {
        if (l == 2) {
          //set offset to target, eg: G10 L2 P1 X15 Y15 Z0
          gc.offsets[3*cs+X_AXIS] = target[X_AXIS];
          gc.offsets[3*cs+Y_AXIS] = target[Y_AXIS];
          gc.offsets[3*cs+Z_AXIS] = target[Z_AXIS];
          // Set target in ref to new coord system so subsequent moves are calculated correctly.
          target[X_AXIS] = (gc.position[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS]) - gc.offsets[3*cs+X_AXIS];
          target[Y_AXIS] = (gc.position[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS]) - gc.offsets[3*cs+Y_AXIS];
          target[Z_AXIS] = (gc.position[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS]) - gc.offsets[3*cs+Z_AXIS];
          
        } else if (l == 20) {
          // set offset to current pos, eg: G10 L20 P2
          gc.offsets[3*cs+X_AXIS] = gc.position[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS];
          gc.offsets[3*cs+Y_AXIS] = gc.position[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS];
          gc.offsets[3*cs+Z_AXIS] = gc.position[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS];
          target[X_AXIS] = 0;
          target[Y_AXIS] = 0;
          target[Z_AXIS] = 0;                 
        }
      }
      break;
    case NEXT_ACTION_AIRGAS_DISABLE:
      planner_control_airgas_disable();
      break;
    case NEXT_ACTION_AIR_ENABLE:
      planner_control_air_enable();
      break;
    case NEXT_ACTION_GAS_ENABLE:
      planner_control_gas_enable();
      break;
  }
  
  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
  return gc.status_code;
}
Esempio n. 6
0
// 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
// characters have been removed.
uint8_t gc_execute_line(char *line) {
  uint8_t 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
  uint8_t radius_mode = false;
  
  uint8_t absolute_override = false;          /* 1 = absolute motion for this block only {G53} */
  uint8_t next_action = NEXT_ACTION_DEFAULT;  /* The action that will be taken by the parsed line */
  
  double target[3], offset[3];  
  
  double p = 0, r = 0;
  int int_value;

  gc.status_code = STATUS_OK;
  
  // Pass 1: 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.laser_enable = 1; break;
        case 4: gc.laser_enable = 1; break;
        case 5: gc.laser_enable = 0; break;        
        case 112: next_action = NEXT_ACTION_CANCEL; 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, we will return right away with the bad news
  if (gc.status_code) { return(gc.status_code); }

  char_counter = 0;
  clear_vector(target);
  clear_vector(offset);
  memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position

  // Pass 2: Parameters
  while(next_statement(&letter, &value, line, &char_counter)) {
    int_value = trunc(value);
    unit_converted_value = to_millimeters(value);
    switch(letter) {
      case 'F': 
      if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // Must be greater than zero
      if (gc.inverse_feed_rate_mode) {
        inverse_feed_rate = unit_converted_value; // seconds per motion for this motion only
      } else {          
        if (gc.motion_mode == MOTION_MODE_SEEK) {
          gc.seek_rate = unit_converted_value;
        } else {
          gc.feed_rate = unit_converted_value; // millimeters per minute
        }
      }
      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.nominal_laser_intensity = 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, we will return right away with the bad news
  if (gc.status_code) { return(gc.status_code); }
      
  // Perform any physical actions
  switch (next_action) {
    case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector(gc.position); break;
    case NEXT_ACTION_DWELL: mc_dwell(p); break;   
    case NEXT_ACTION_SET_COORDINATE_OFFSET: 
    mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]);
    break;
    case NEXT_ACTION_CANCEL:
    //mc_emergency_stop();
    // captain, we have a new target!
    //st_get_position(&gc.position[X_AXIS], &gc.position[Y_AXIS], &gc.position[Z_AXIS]);
    //mc_set_current_position(gc.position[X_AXIS], gc.position[Y_AXIS], gc.position[Z_AXIS]);
    mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false, LASER_OFF);
    //return;  // totally bail
    break;
    case NEXT_ACTION_DEFAULT: 
    switch (gc.motion_mode) {
      case MOTION_MODE_CANCEL: break;
      case MOTION_MODE_SEEK:
      mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false, LASER_OFF);
      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,
        gc.nominal_laser_intensity);
      break;
      case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
      if (radius_mode) {
        /* 
          We need to calculate the center of the circle that has the designated radius and passes
          through both the current position and the target position. This method calculates the following
          set of equations where [x,y] is the vector from current to target position, d == magnitude of 
          that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
          the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the 
          length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point 
          [i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
          
          d^2 == x^2 + y^2
          h^2 == r^2 - (d/2)^2
          i == x/2 - y/d*h
          j == y/2 + x/d*h
          
                                                               O <- [i,j]
                                                            -  |
                                                  r      -     |
                                                      -        |
                                                   -           | h
                                                -              |
                                  [0,0] ->  C -----------------+--------------- T  <- [x,y]
                                            | <------ d/2 ---->|
                    
          C - Current position
          T - Target position
          O - center of circle that pass through both C and T
          d - distance from C to T
          r - designated radius
          h - distance from center of CT to O
          
          Expanding the equations:

          d -> sqrt(x^2 + y^2)
          h -> sqrt(4 * r^2 - x^2 - y^2)/2
          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2 
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
         
          Which can be written:
          
          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
          
          Which we for size and speed reasons optimize to:

          h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
          i = (x - (y * h_x2_div_d))/2
          j = (y + (x * h_x2_div_d))/2
          
        */
        
        // 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; }
        
        /* The counter clockwise circle lies to the left of the target direction. When offset is positive,
           the left hand circle will be generated - when it is negative the right hand circle is generated.
           
           
                                                         T  <-- Target position
                                                         
                                                         ^ 
              Clockwise circles with this center         |          Clockwise circles with this center will have
              will have > 180 deg of angular travel      |          < 180 deg of angular travel, which is a good thing!
                                               \         |          /   
  center of arc when h_x2_div_d is positive ->  x <----- | -----> x <- center of arc when h_x2_div_d is negative
                                                         |
                                                         |
                                                         
                                                         C  <-- Current position                                 */
                

        // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!), 
        // even though it is advised against ever generating such circles in a single line of g-code. By 
        // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
        // travel and thus we get the unadvisably long arcs as prescribed.
        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

        r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); // Compute arc radius for mc_arc

      }
      
      // Set clockwise/counter-clockwise sign for mc_arc computations
      uint8_t isclockwise = false;
      if (gc.motion_mode == MOTION_MODE_CW_ARC) { isclockwise = true; }

      // Trace the arc
      mc_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, gc.nominal_laser_intensity);
        
      break;
    }    
  }
  
  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
  return(gc.status_code);
}
Esempio n. 7
0
/*---------------------------------------------------------------------------*/
static uint8_t statement(void)
{
  int token;

  string_temp_free();

  token = current_token;
  /* LET may be omitted.. */
  if (token != TOKENIZER_INTVAR && token != TOKENIZER_STRINGVAR)
    accept_tok(token);

  switch(token) {
  case TOKENIZER_QUESTION:
  case TOKENIZER_PRINT:
    print_statement();
    break;
  case TOKENIZER_IF:
    if_statement();
    break;
  case TOKENIZER_GO:
    go_statement();
    return 0;
  case TOKENIZER_RETURN:
    return_statement();
    break;
  case TOKENIZER_FOR:
    for_statement();
    break;
  case TOKENIZER_POKE:
    poke_statement();
    break;
  case TOKENIZER_NEXT:
    next_statement();
    break;
  case TOKENIZER_STOP:
    stop_statement();
    break;
  case TOKENIZER_REM:
    rem_statement();
    break;
  case TOKENIZER_DATA:
    data_statement();
    break;
  case TOKENIZER_RANDOMIZE:
    randomize_statement();
    break;
  case TOKENIZER_OPTION:
    option_statement();
    break;
  case TOKENIZER_INPUT:
    input_statement();
    break;
  case TOKENIZER_RESTORE:
    restore_statement();
    break;
  case TOKENIZER_DIM:
    dim_statement();
    break;
  case TOKENIZER_CLS:
    cls_statement();
    break;
  case TOKENIZER_LET:
  case TOKENIZER_STRINGVAR:
  case TOKENIZER_INTVAR:
    let_statement();
    break;
  default:
    DEBUG_PRINTF("ubasic.c: statement(): not implemented %d\n", token);
    syntax_error();
  }
  return 1;
}
Esempio n. 8
0
//static void statement(void)
void statement(void)
{
	int token;
	token = tokenizer_token();

	switch(token) {
		case TOKENIZER_PRINT:
			print_statement();
			break;
		case TOKENIZER_IF:
			if_statement();
			break;
		case TOKENIZER_GOTO:
			goto_statement();
			break;
		case TOKENIZER_GOSUB:
			gosub_statement();
			break;
		case TOKENIZER_RETURN:
			return_statement();
			break;
		case TOKENIZER_FOR:
			for_statement();
			break;
		case TOKENIZER_NEXT:
			next_statement();
			break;
		case TOKENIZER_END:
			end_statement();
			break;
		case TOKENIZER_PSET:
			pset_statement();
			break;
		case TOKENIZER_CLS:
			cls_statement();
			break;
		case TOKENIZER_REFRESH:
			refresh_statement();
			break;
		case TOKENIZER_LIST:
			list_statement();
			break;
		case TOKENIZER_LOAD:
			load_statement();
			break;
		case TOKENIZER_SAVE:
			save_statement();
			break;
		case TOKENIZER_FILES:
			files_statement();
			break;
		case TOKENIZER_PEEK:
			peek_statement();
			break;
		case TOKENIZER_POKE:
			poke_statement();
			break;
		case TOKENIZER_WAIT:
			wait_statement();
			break;
		case TOKENIZER_INPUT:
			input_statement();
			break;
		case TOKENIZER_INP:
			inp_statement();
			break;
		case TOKENIZER_INR:
			inr_statement();
			break;
		case TOKENIZER_INA:
			ina_statement();
			break;
		case TOKENIZER_REM:
			rem_statement();
			break;
		case TOKENIZER_RUN:
			run_statement();
			break;
		case TOKENIZER_ERROR:
			tokenizer_error_print();
			ended = 1;
			glcd_DrawCursor();
			break;
		case TOKENIZER_LET:
			accept(TOKENIZER_LET);
			accept(TOKENIZER_VARIABLE);
			accept(TOKENIZER_CR);
			break;
			/* Fall through. */
		case TOKENIZER_VARIABLE:
			let_statement();
			break;
		default:
			exit(1);
	}
}