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Changed axis mode get/set functions to work with multiple machine models; Simplified some of the Gcode status code defines (internal only); Added system state model Graffle to Resources/Documentation

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This commit is contained in:
Alden Hart
2016-12-09 08:48:59 -05:00
parent 2f0ee56ecb
commit 03f725ae4a
6 changed files with 31 additions and 41 deletions
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Resources/Documentation/SystemStates.graffle
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g2core/canonical_machine.cpp
+11 -20
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@@ -1323,7 +1323,7 @@ stat_t cm_set_feed_rate(const float feed_rate)
{
if (cm->gm.feed_rate_mode == INVERSE_TIME_MODE) {
if (fp_ZERO(feed_rate)) {
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
return (STAT_FEEDRATE_NOT_SPECIFIED);
}
cm->gm.feed_rate = 1/feed_rate; // normalize to minutes (NB: active for this gcode block only)
} else {
@@ -1382,7 +1382,7 @@ stat_t cm_straight_feed(const float target[], const bool flags[])
{
// trap zero feed rate condition
if (fp_ZERO(cm->gm.feed_rate)) {
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
return (STAT_FEEDRATE_NOT_SPECIFIED);
}
cm->gm.motion_mode = MOTION_MODE_STRAIGHT_FEED;
@@ -2251,35 +2251,26 @@ stat_t cm_get_ofs(nvObj_t *nv)
* cm_set_hi() - set homing input
*/
stat_t cm_get_am(nvObj_t *nv)
{
get_ui8(nv);
return(_get_msg_helper(nv, msg_am, nv->value));
}
#pragma GCC push_options
#pragma GCC optimize ("O0")
stat_t cm_get_am(nvObj_t *nv)
{
int8_t axis = _get_axis(nv->index);
nv->value = (float)cm->a[axis].axis_mode;
return(_get_msg_helper(nv, msg_am, nv->value));
}
stat_t cm_set_am(nvObj_t *nv) // axis mode
{
nv->valuetype = TYPE_INT;
if (_get_axis_type(nv->index) == AXIS_TYPE_LINEAR) {
if (nv->value > AXIS_MODE_LINEAR_MAX) { return (STAT_INPUT_VALUE_RANGE_ERROR);}
} else {
if (nv->value > AXIS_MODE_ROTARY_MAX) { return (STAT_INPUT_VALUE_RANGE_ERROR);}
}
cmAxisMode *am = (cmAxisMode *)cfgArray[nv->index].target;
void *p = (cfgArray[nv->index].target);
cmAxisMode a = *((cmAxisMode *)cfgArray[nv->index].target);
// *((uint8_t *)cfgArray[nv->index].target) = nv->value;
// cmAxisMode a = (cmAxisMode)nv->value;
// *am = (cmAxisMode)nv->value;
*am = a;
return(STAT_OK);
// set_ui8(nv);
// return(STAT_OK);
cm->a[_get_axis(nv->index)].axis_mode = (cmAxisMode)nv->value;
return(STAT_OK);
}
#pragma GCC reset_options
g2core/canonical_machine.h
+1 -1
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@@ -515,7 +515,7 @@ typedef struct cmAxis {
float zero_backoff; // backoff from switches for machine zero
} cfgAxis_t;
typedef struct cmSingleton { // struct to manage cm globals and cycles
typedef struct cmMachine { // struct to manage canonical machine globals and state
magic_t magic_start; // magic number to test memory integrity
/**** Config variables (PUBLIC) ****/
g2core/config_app.cpp
+5 -6
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@@ -268,7 +268,6 @@ const cfgItem_t cfgArray[] = {
#endif
// Axis parameters
{ "x","xam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, X_AXIS_MODE },
// { "x","xam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_X].axis_mode, X_AXIS_MODE },
{ "x","xvm",_fipc, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_X].velocity_max, X_VELOCITY_MAX },
{ "x","xfr",_fipc, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_X].feedrate_max, X_FEEDRATE_MAX },
{ "x","xtn",_fipc, 3, cm_print_tn, get_flt, set_flu, (float *)&cm->a[AXIS_X].travel_min, X_TRAVEL_MIN },
@@ -282,7 +281,7 @@ const cfgItem_t cfgArray[] = {
{ "x","xlb",_fipc, 3, cm_print_lb, get_flt, set_flu, (float *)&cm->a[AXIS_X].latch_backoff, X_LATCH_BACKOFF },
{ "x","xzb",_fipc, 3, cm_print_zb, get_flt, set_flu, (float *)&cm->a[AXIS_X].zero_backoff, X_ZERO_BACKOFF },
{ "y","yam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_Y].axis_mode, Y_AXIS_MODE },
{ "y","yam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, Y_AXIS_MODE },
{ "y","yvm",_fipc, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_Y].velocity_max, Y_VELOCITY_MAX },
{ "y","yfr",_fipc, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_Y].feedrate_max, Y_FEEDRATE_MAX },
{ "y","ytn",_fipc, 3, cm_print_tn, get_flt, set_flu, (float *)&cm->a[AXIS_Y].travel_min, Y_TRAVEL_MIN },
@@ -296,7 +295,7 @@ const cfgItem_t cfgArray[] = {
{ "y","ylb",_fipc, 3, cm_print_lb, get_flt, set_flu, (float *)&cm->a[AXIS_Y].latch_backoff, Y_LATCH_BACKOFF },
{ "y","yzb",_fipc, 3, cm_print_zb, get_flt, set_flu, (float *)&cm->a[AXIS_Y].zero_backoff, Y_ZERO_BACKOFF },
{ "z","zam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_Z].axis_mode, Z_AXIS_MODE },
{ "z","zam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, Z_AXIS_MODE },
{ "z","zvm",_fipc, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_Z].velocity_max, Z_VELOCITY_MAX },
{ "z","zfr",_fipc, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_Z].feedrate_max, Z_FEEDRATE_MAX },
{ "z","ztn",_fipc, 3, cm_print_tn, get_flt, set_flu, (float *)&cm->a[AXIS_Z].travel_min, Z_TRAVEL_MIN },
@@ -310,7 +309,7 @@ const cfgItem_t cfgArray[] = {
{ "z","zlb",_fipc, 3, cm_print_lb, get_flt, set_flu, (float *)&cm->a[AXIS_Z].latch_backoff, Z_LATCH_BACKOFF },
{ "z","zzb",_fipc, 3, cm_print_zb, get_flt, set_flu, (float *)&cm->a[AXIS_Z].zero_backoff, Z_ZERO_BACKOFF },
{ "a","aam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_A].axis_mode, A_AXIS_MODE },
{ "a","aam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, A_AXIS_MODE },
{ "a","avm",_fip, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_A].velocity_max, A_VELOCITY_MAX },
{ "a","afr",_fip, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_A].feedrate_max, A_FEEDRATE_MAX },
{ "a","atn",_fip, 3, cm_print_tn, get_flt, set_flt, (float *)&cm->a[AXIS_A].travel_min, A_TRAVEL_MIN },
@@ -325,7 +324,7 @@ const cfgItem_t cfgArray[] = {
{ "a","alb",_fip, 3, cm_print_lb, get_flt, set_flt, (float *)&cm->a[AXIS_A].latch_backoff, A_LATCH_BACKOFF },
{ "a","azb",_fip, 3, cm_print_zb, get_flt, set_flt, (float *)&cm->a[AXIS_A].zero_backoff, A_ZERO_BACKOFF },
{ "b","bam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_B].axis_mode, B_AXIS_MODE },
{ "b","bam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, B_AXIS_MODE },
{ "b","bvm",_fip, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_B].velocity_max, B_VELOCITY_MAX },
{ "b","bfr",_fip, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_B].feedrate_max, B_FEEDRATE_MAX },
{ "b","btn",_fip, 3, cm_print_tn, get_flt, set_flt, (float *)&cm->a[AXIS_B].travel_min, B_TRAVEL_MIN },
@@ -340,7 +339,7 @@ const cfgItem_t cfgArray[] = {
{ "b","blb",_fip, 3, cm_print_lb, get_flt, set_flt, (float *)&cm->a[AXIS_B].latch_backoff, B_LATCH_BACKOFF },
{ "b","bzb",_fip, 3, cm_print_zb, get_flt, set_flt, (float *)&cm->a[AXIS_B].zero_backoff, B_ZERO_BACKOFF },
{ "c","cam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cm->a[AXIS_C].axis_mode, C_AXIS_MODE },
{ "c","cam",_fip, 0, cm_print_am, cm_get_am, cm_set_am, (float *)&cs.null, C_AXIS_MODE },
{ "c","cvm",_fip, 0, cm_print_vm, get_flt, cm_set_vm, (float *)&cm->a[AXIS_C].velocity_max, C_VELOCITY_MAX },
{ "c","cfr",_fip, 0, cm_print_fr, get_flt, cm_set_fr, (float *)&cm->a[AXIS_C].feedrate_max, C_FEEDRATE_MAX },
{ "c","ctn",_fip, 3, cm_print_tn, get_flt, set_flt, (float *)&cm->a[AXIS_C].travel_min, C_TRAVEL_MIN },
g2core/cycle_probing.cpp
+2 -2
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@@ -140,12 +140,12 @@ static stat_t _set_pb_func(uint8_t (*func)()) {
uint8_t cm_straight_probe(float target[], bool flags[], bool failure_is_fatal, bool moving_toward_switch) {
// trap zero feed rate condition
if (fp_ZERO(cm->gm.feed_rate)) {
return (STAT_GCODE_FEEDRATE_NOT_SPECIFIED);
return (STAT_FEEDRATE_NOT_SPECIFIED);
}
// error if no axes specified
if (!flags[AXIS_X] && !flags[AXIS_Y] && !flags[AXIS_Z]) {
return (STAT_GCODE_AXIS_IS_MISSING);
return (STAT_AXIS_IS_MISSING);
}
pb.failure_is_fatal = failure_is_fatal;
g2core/error.h
+12 -12
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@@ -226,19 +226,19 @@ char *get_status_message(stat_t status);
#define STAT_GCODE_COMMAND_UNSUPPORTED 131 // G command is not supported
#define STAT_MCODE_COMMAND_UNSUPPORTED 132 // M command is not supported
#define STAT_GCODE_MODAL_GROUP_VIOLATION 133 // gcode modal group error
#define STAT_GCODE_AXIS_IS_MISSING 134 // command requires at least one axis present
#define STAT_GCODE_AXIS_CANNOT_BE_PRESENT 135 // error if G80 has axis words
#define STAT_GCODE_AXIS_IS_INVALID 136 // an axis is specified that is illegal for the command
#define STAT_GCODE_AXIS_IS_NOT_CONFIGURED 137 // WARNING: attempt to program an axis that is disabled
#define STAT_GCODE_AXIS_NUMBER_IS_MISSING 138 // axis word is missing its value
#define STAT_GCODE_AXIS_NUMBER_IS_INVALID 139 // axis word value is illegal
#define STAT_AXIS_IS_MISSING 134 // command requires at least one axis present
#define STAT_AXIS_CANNOT_BE_PRESENT 135 // error if G80 has axis words
#define STAT_AXIS_IS_INVALID 136 // an axis is specified that is illegal for the command
#define STAT_AXIS_IS_NOT_CONFIGURED 137 // WARNING: attempt to program an axis that is disabled
#define STAT_AXIS_NUMBER_IS_MISSING 138 // axis word is missing its value
#define STAT_AXIS_NUMBER_IS_INVALID 139 // axis word value is illegal
#define STAT_GCODE_ACTIVE_PLANE_IS_MISSING 140 // active plane is not programmed
#define STAT_GCODE_ACTIVE_PLANE_IS_INVALID 141 // active plane selected is not valid for this command
#define STAT_GCODE_FEEDRATE_NOT_SPECIFIED 142 // move has no feedrate
#define STAT_GCODE_INVERSE_TIME_MODE_CANNOT_BE_USED 143 // G38.2 and some canned cycles cannot accept inverse time mode
#define STAT_GCODE_ROTARY_AXIS_CANNOT_BE_USED 144 // G38.2 and some other commands cannot have rotary axes
#define STAT_GCODE_G53_WITHOUT_G0_OR_G1 145 // G0 or G1 must be active for G53
#define STAT_ACTIVE_PLANE_IS_MISSING 140 // active plane is not programmed
#define STAT_ACTIVE_PLANE_IS_INVALID 141 // active plane selected is not valid for this command
#define STAT_FEEDRATE_NOT_SPECIFIED 142 // move has no feedrate
#define STAT_INVERSE_TIME_MODE_CANNOT_BE_USED 143 // G38.2 and some canned cycles cannot accept inverse time mode
#define STAT_ROTARY_AXIS_CANNOT_BE_USED 144 // G38.2 and some other commands cannot have rotary axes
#define STAT_GCODE_G53_WITHOUT_G0_OR_G1 145 // G0 or G1 must be active for G53
#define STAT_REQUESTED_VELOCITY_EXCEEDS_LIMITS 146
#define STAT_CUTTER_COMPENSATION_CANNOT_BE_ENABLED 147
#define STAT_PROGRAMMED_POINT_SAME_AS_CURRENT_POINT 148