mirror of
https://github.com/synthetos/g2.git
synced 2026-09-22 03:08:42 +08:00
Isolated Gcode parser and cleaned it up a bit
This commit is contained in:
Alden Hart
@@ -1139,7 +1139,6 @@ stat_t cm_set_g10_data(const uint8_t P_word, const bool P_flag,
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const uint8_t L_word, const bool L_flag,
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const float offset[], const bool flag[])
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{
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// if (!gp.gf.L_word) {
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if (!L_flag) {
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return (STAT_L_WORD_IS_MISSING);
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}
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@@ -1204,17 +1203,6 @@ stat_t cm_set_g10_data(const uint8_t P_word, const bool P_flag,
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stat_t cm_set_tl_offset(const uint8_t H_word, const bool H_flag, const bool apply_additional)
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{
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uint8_t tool;
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/*
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if (gp.gf.H_word) {
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if (gp.gn.H_word > TOOLS) {
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return (STAT_H_WORD_IS_INVALID);
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}
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if (gp.gn.H_word == 0) { // interpret H0 as "current tool", just like no H at all.
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tool = cm->gm.tool;
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} else {
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tool = gp.gn.H_word;
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}
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*/
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if (H_flag) {
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if (H_word > TOOLS) {
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return (STAT_H_WORD_IS_INVALID);
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@@ -1550,7 +1538,6 @@ stat_t cm_set_path_control(GCodeState_t *gcode_state, const uint8_t mode)
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* cm_arc_feed() - SEE plan_arc.cpp
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*/
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/*
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* cm_dwell() - G4, P parameter (seconds)
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*/
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+1
-1
@@ -198,7 +198,7 @@ typedef enum { // axis modes (ordered: see _cm_get_feed_time())
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* some state elements are necessarily restored from gm.
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*
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* - gf is used by the gcode parser interpreter to hold flags for any data
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* that has changed in gn during the parse. gp.gf.target[] values are also used
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* that has changed in gn during the parse. gf.target[] values are also used
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* by the canonical machine during set_target().
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*
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* - cfg (config struct in config.h) is also used heavily and contains some
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+126
-136
@@ -29,68 +29,63 @@
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// Structures used by Gcode parser
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typedef struct GCodeInput { // Gcode model inputs - meaning depends on context
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typedef struct GCodeInputValue { // Gcode inputs - meaning depends on context
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uint8_t next_action; // handles G modal group 1 moves & non-modals
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cmMotionMode motion_mode; // Group1: G0, G1, G2, G3, G38.2, G80, G81, G82, G83, G84, G85, G86, G87, G88, G89
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uint8_t program_flow; // used only by the gcode_parser
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uint32_t linenum; // N word
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uint8_t next_action; // handles G modal group 1 moves & non-modals
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cmMotionMode motion_mode; // Group1: G0, G1, G2, G3, G38.2, G80, G81, G82
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// G83, G84, G85, G86, G87, G88, G89
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float target[AXES]; // XYZABC where the move should go
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float arc_offset[3]; // IJK - used by arc commands
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float arc_radius; // R - radius value in arc radius mode
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uint8_t program_flow; // used only by the gcode_parser
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uint32_t linenum; // N word
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float target[AXES]; // XYZABC where the move should go
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float F_word; // F - normalized to millimeters/minute
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uint8_t H_word; // H word - used by G43s
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uint8_t L_word; // L word - used by G10s
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float P_word; // P - parameter used for dwell time in seconds, G10 coord select...
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float S_word; // S word - in RPM
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uint8_t H_word; // H word - used by G43s
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uint8_t L_word; // L word - used by G10s
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uint8_t feed_rate_mode; // See cmFeedRateMode for settings
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uint8_t select_plane; // G17,G18,G19 - values to set plane to
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uint8_t units_mode; // G20,G21 - 0=inches (G20), 1 = mm (G21)
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uint8_t coord_system; // G54-G59 - select coordinate system 1-9
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uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
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uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
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uint8_t arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets
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uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode
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uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53)
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uint8_t tool; // Tool after T and M6 (tool_select and tool_change)
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uint8_t tool_select; // T value - T sets this value
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uint8_t tool_change; // M6 tool change flag - moves "tool_select" to "tool"
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uint8_t mist_coolant; // TRUE = mist on (M7), FALSE = off (M9)
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uint8_t flood_coolant; // TRUE = flood on (M8), FALSE = off (M9)
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uint8_t spindle_control; // 0=OFF (M5), 1=CW (M3), 2=CCW (M4)
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float feed_rate; // F - normalized to millimeters/minute
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uint8_t feed_rate_mode; // See cmFeedRateMode for settings
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float parameter; // P - parameter used for dwell time in seconds, G10 coord select...
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float arc_radius; // R - radius value in arc radius mode
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float arc_offset[3]; // IJK - used by arc commands
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bool m48_enable; // M48/M49 input (enables for feed and spindle)
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bool mfo_control; // M50 feedrate override control
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bool mto_control; // M50.1 traverse override control
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bool sso_control; // M51 spindle speed override control
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} GCodeValue_t;
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bool m48_enable; // M48/M49 input (enables for feed and spindle)
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bool mfo_control; // M50 feedrate override control
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bool mto_control; // M50.1 traverse override control
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bool sso_control; // M51 spindle speed override control
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typedef struct GCodeFlags { // Gcode input flags
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uint8_t select_plane; // G17,G18,G19 - values to set plane to
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uint8_t units_mode; // G20,G21 - 0=inches (G20), 1 = mm (G21)
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uint8_t coord_system; // G54-G59 - select coordinate system 1-9
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uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
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uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
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uint8_t arc_distance_mode; // G90.1=use absolute IJK offsets, G91.1=incremental IJK offsets
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uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode
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uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53)
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uint8_t tool; // Tool after T and M6 (tool_select and tool_change)
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uint8_t tool_select; // T value - T sets this value
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uint8_t tool_change; // M6 tool change flag - moves "tool_select" to "tool"
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uint8_t mist_coolant; // TRUE = mist on (M7), FALSE = off (M9)
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uint8_t flood_coolant; // TRUE = flood on (M8), FALSE = off (M9)
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uint8_t spindle_control; // 0=OFF (M5), 1=CW (M3), 2=CCW (M4)
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float spindle_speed; // in RPM
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float spindle_override_factor; // 1.0000 x S spindle speed. Go up or down from there
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uint8_t spindle_override_enable; // TRUE = override enabled
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} GCodeInput_t;
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typedef struct GCodeFlags { // Gcode model input flags
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bool next_action;
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bool motion_mode;
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bool modals[MODAL_GROUP_COUNT];
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bool program_flow;
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bool linenum;
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bool target[AXES];
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bool target[AXES];
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bool arc_offset[3];
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bool arc_radius;
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bool F_word;
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bool H_word;
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bool L_word;
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bool feed_rate;
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bool P_word;
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bool S_word;
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bool feed_rate_mode;
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bool m48_enable;
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bool mfo_control;
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bool mto_control;
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bool sso_control;
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bool select_plane;
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bool units_mode;
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bool coord_system;
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@@ -104,24 +99,21 @@ typedef struct GCodeFlags { // Gcode model input flags
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bool tool_change;
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bool mist_coolant;
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bool flood_coolant;
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bool spindle_control;
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bool spindle_speed;
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bool spindle_override_factor;
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bool spindle_override_enable;
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bool parameter;
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bool arc_radius;
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bool arc_offset[3];
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} GCodeFlags_t;
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bool m48_enable;
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bool mfo_control;
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bool mto_control;
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bool sso_control;
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} GCodeFlag_t;
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typedef struct GCodeParser {
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GCodeInput_t gn; // gcode input values - transient
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GCodeFlags_t gf; // gcode input flags - transient
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bool modals[MODAL_GROUP_COUNT];
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} GCodeParser_t;
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//extern GCodeParser_t gp;
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GCodeParser gp;
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GCodeParser_t gp; // main parser struct
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GCodeValue_t gv; // gcode input values
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GCodeFlag_t gf; // gcode input flags
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// local helper functions and macros
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static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *block_delete_flag);
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@@ -131,9 +123,9 @@ static stat_t _validate_gcode_block(char *active_comment);
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static stat_t _parse_gcode_block(char *line, char *active_comment); // Parse the block into the GN/GF structs
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static stat_t _execute_gcode_block(char *active_comment); // Execute the gcode block
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#define SET_MODAL(m,parm,val) ({gp.gn.parm=val; gp.gf.parm=true; gp.gf.modals[m]=true; break;})
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#define SET_NON_MODAL(parm,val) ({gp.gn.parm=val; gp.gf.parm=true; break;})
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#define EXEC_FUNC(f,v) if(gp.gf.v) { status=f(gp.gn.v);}
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#define SET_MODAL(m,parm,val) ({gv.parm=val; gf.parm=true; gp.modals[m]=true; break;})
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#define SET_NON_MODAL(parm,val) ({gv.parm=val; gf.parm=true; break;})
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#define EXEC_FUNC(f,v) if(gf.v) { status=f(gv.v);}
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/*
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* gcode_parser_init()
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@@ -141,8 +133,8 @@ static stat_t _execute_gcode_block(char *active_comment); // Execute t
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void gcode_parser_init()
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{
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memset(&gp.gn, 0, sizeof(GCodeInput_t)); // reset the Gcode inputs
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memset(&gp.gf, 0, sizeof(GCodeFlags_t));
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memset(&gv, 0, sizeof(GCodeValue_t));
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memset(&gf, 0, sizeof(GCodeFlag_t));
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}
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/*
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@@ -222,7 +214,7 @@ static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *bl
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char *gc_rd = str; // read pointer
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char *gc_wr = _normalize_scratch; // write pointer
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char *ac_rd = str; // read pointer
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char *ac_rd = str; // Active Comment read pointer
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char *ac_wr = _normalize_scratch; // Active Comment write pointer
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bool last_char_was_digit = false; // used for octal stripping
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@@ -317,7 +309,6 @@ static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *bl
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ac_wr++; // move the ac start position
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}
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}
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gc_rd++;
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}
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@@ -420,7 +411,6 @@ static void _normalize_gcode_block(char *str, char **active_comment, uint8_t *bl
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break;
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}
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}
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ac_rd++;
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}
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}
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@@ -493,12 +483,12 @@ static stat_t _validate_gcode_block(char *active_comment)
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// uses axis words appears on the line, the activity of the group 1 G-code is suspended
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// for that line. The axis word-using G-codes from group 0 are G10, G28, G30, and G92"
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// if ((gp.gn.modals[MODAL_GROUP_G0] == true) && (gp.gn.modals[MODAL_GROUP_G1] == true)) {
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// if ((gp.modals[MODAL_GROUP_G0] == true) && (gp.modals[MODAL_GROUP_G1] == true)) {
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// return (STAT_MODAL_GROUP_VIOLATION);
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// }
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// look for commands that require an axis word to be present
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// if ((gp.gn.modals[MODAL_GROUP_G0] == true) || (gp.gn.modals[MODAL_GROUP_G1] == true)) {
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// if ((gp.modals[MODAL_GROUP_G0] == true) || (gp.modals[MODAL_GROUP_G1] == true)) {
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// if (_axis_changed() == false)
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// return (STAT_GCODE_AXIS_IS_MISSING);
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// }
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@@ -515,22 +505,22 @@ static stat_t _validate_gcode_block(char *active_comment)
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static stat_t _parse_gcode_block(char *buf, char *active_comment)
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{
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char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words
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char letter; // parsed letter, eg.g. G or X or Y
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float value = 0; // value parsed from letter (e.g. 2 for G2)
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char *pstr = (char *)buf; // persistent pointer into gcode block for parsing words
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char letter; // parsed letter, eg.g. G or X or Y
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float value = 0; // value parsed from letter (e.g. 2 for G2)
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stat_t status = STAT_OK;
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// set initial state for new move
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memset(&gp.gn, 0, sizeof(GCodeInput_t)); // clear all next-state values
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memset(&gp.gf, 0, sizeof(GCodeFlags_t)); // clear all next-state flags
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gp.gn.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
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memset(&gv, 0, sizeof(GCodeValue_t)); // clear all next-state values
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memset(&gf, 0, sizeof(GCodeFlag_t)); // clear all next-state flags
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gv.motion_mode = cm_get_motion_mode(MODEL); // get motion mode from previous block
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// Causes a later exception if
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// (1) INVERSE_TIME_MODE is active and a feed rate is not provided or
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// (2) INVERSE_TIME_MODE is changed to UNITS_PER_MINUTE and a new feed rate is missing
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if (cm->gm.feed_rate_mode == INVERSE_TIME_MODE) {// new feed rate req'd when in INV_TIME_MODE
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gp.gn.feed_rate = 0;
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gp.gf.feed_rate = true;
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gv.F_word = 0;
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gf.F_word = true;
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}
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// extract commands and parameters
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@@ -659,8 +649,7 @@ static stat_t _parse_gcode_block(char *buf, char *active_comment)
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case 1: SET_MODAL (MODAL_GROUP_M9, mto_control, true);
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default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
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}
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break;
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// case 50: SET_MODAL (MODAL_GROUP_M9, mfo_control, true);
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break;
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case 51: SET_MODAL (MODAL_GROUP_M9, sso_control, true);
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case 100: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_COMMAND_SYNC);
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case 101: SET_NON_MODAL (next_action, NEXT_ACTION_JSON_WAIT);
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@@ -669,9 +658,9 @@ static stat_t _parse_gcode_block(char *buf, char *active_comment)
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break;
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case 'T': SET_NON_MODAL (tool_select, (uint8_t)trunc(value));
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case 'F': SET_NON_MODAL (feed_rate, value);
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case 'P': SET_NON_MODAL (parameter, value); // used for dwell time, G10 coord select
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case 'S': SET_NON_MODAL (spindle_speed, value);
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case 'F': SET_NON_MODAL (F_word, value);
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case 'P': SET_NON_MODAL (P_word, value); // used for dwell time, G10 coord select
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case 'S': SET_NON_MODAL (S_word, value);
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case 'X': SET_NON_MODAL (target[AXIS_X], value);
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case 'Y': SET_NON_MODAL (target[AXIS_Y], value);
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case 'Z': SET_NON_MODAL (target[AXIS_Z], value);
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@@ -741,12 +730,12 @@ static stat_t _execute_gcode_block(char *active_comment)
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{
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stat_t status = STAT_OK;
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cm_set_model_linenum(gp.gn.linenum);
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cm_set_model_linenum(gv.linenum);
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EXEC_FUNC(cm_set_feed_rate_mode, feed_rate_mode); // G93, G94
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EXEC_FUNC(cm_set_feed_rate, feed_rate); // F
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EXEC_FUNC(cm_set_spindle_speed, spindle_speed); // S
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if (gp.gf.sso_control) { // spindle speed override
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ritorno(cm_sso_control(gp.gn.parameter, gp.gf.parameter));
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EXEC_FUNC(cm_set_feed_rate, F_word); // F
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EXEC_FUNC(cm_set_spindle_speed, S_word); // S
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if (gf.sso_control) { // spindle speed override
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ritorno(cm_sso_control(gv.P_word, gf.P_word));
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}
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EXEC_FUNC(cm_select_tool, tool_select); // tool_select is where it's written
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@@ -757,27 +746,27 @@ static stat_t _execute_gcode_block(char *active_comment)
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EXEC_FUNC(cm_flood_coolant_control, flood_coolant); // M8, M9 also disables mist coolant if OFF
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EXEC_FUNC(cm_m48_enable, m48_enable);
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if (gp.gf.mfo_control) { // manual feedrate override
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ritorno(cm_mfo_control(gp.gn.parameter, gp.gf.parameter));
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if (gf.mfo_control) { // manual feedrate override
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ritorno(cm_mfo_control(gv.P_word, gf.P_word));
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}
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if (gp.gf.mto_control) { // manual traverse override
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ritorno(cm_mto_control(gp.gn.parameter, gp.gf.parameter));
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if (gf.mto_control) { // manual traverse override
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ritorno(cm_mto_control(gv.P_word, gf.P_word));
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}
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if (gp.gn.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
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ritorno(cm_dwell(gp.gn.parameter)); // return if error, otherwise complete the block
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if (gv.next_action == NEXT_ACTION_DWELL) { // G4 - dwell
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ritorno(cm_dwell(gv.P_word)); // return if error, otherwise complete the block
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}
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EXEC_FUNC(cm_select_plane, select_plane); // G17, G18, G19
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EXEC_FUNC(cm_set_units_mode, units_mode); // G20, G21
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//--> cutter radius compensation goes here
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switch (gp.gn.next_action) { // Tool length offsets
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switch (gv.next_action) { // Tool length offsets
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case NEXT_ACTION_SET_TL_OFFSET: { // G43
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ritorno(cm_set_tl_offset(gp.gn.H_word, gp.gf.H_word, false));
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ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, false));
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break;
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}
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case NEXT_ACTION_SET_ADDITIONAL_TL_OFFSET: { // G43.2
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ritorno(cm_set_tl_offset(gp.gn.H_word, gp.gf.H_word, true));
|
||||
ritorno(cm_set_tl_offset(gv.H_word, gf.H_word, true));
|
||||
break;
|
||||
}
|
||||
case NEXT_ACTION_CANCEL_TL_OFFSET: { // G49
|
||||
@@ -787,55 +776,56 @@ static stat_t _execute_gcode_block(char *active_comment)
|
||||
}
|
||||
|
||||
EXEC_FUNC(cm_set_coord_system, coord_system); // G54, G55, G56, G57, G58, G59
|
||||
if (gp.gf.path_control) { // G61, G61.1, G64
|
||||
status = cm_set_path_control(MODEL, gp.gn.path_control);
|
||||
|
||||
if (gf.path_control) { // G61, G61.1, G64
|
||||
status = cm_set_path_control(MODEL, gv.path_control);
|
||||
}
|
||||
|
||||
EXEC_FUNC(cm_set_distance_mode, distance_mode); // G90, G91
|
||||
EXEC_FUNC(cm_set_arc_distance_mode, arc_distance_mode); // G90.1, G91.1
|
||||
//--> set retract mode goes here
|
||||
|
||||
switch (gp.gn.next_action) {
|
||||
case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1
|
||||
case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(gp.gn.target, gp.gf.target); break;} // G28
|
||||
case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
|
||||
case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gp.gn.target, gp.gf.target); break;} // G30
|
||||
switch (gv.next_action) {
|
||||
case NEXT_ACTION_SET_G28_POSITION: { status = cm_set_g28_position(); break;} // G28.1
|
||||
case NEXT_ACTION_GOTO_G28_POSITION: { status = cm_goto_g28_position(gv.target, gf.target); break;} // G28
|
||||
case NEXT_ACTION_SET_G30_POSITION: { status = cm_set_g30_position(); break;} // G30.1
|
||||
case NEXT_ACTION_GOTO_G30_POSITION: { status = cm_goto_g30_position(gv.target, gf.target); break;} // G30
|
||||
|
||||
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(gp.gn.target, gp.gf.target); break;} // G28.2
|
||||
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gp.gn.target, gp.gf.target); break;}// G28.3
|
||||
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(gp.gn.target, gp.gf.target); break;} // G28.4
|
||||
case NEXT_ACTION_SEARCH_HOME: { status = cm_homing_cycle_start(gv.target, gf.target); break;} // G28.2
|
||||
case NEXT_ACTION_SET_ABSOLUTE_ORIGIN: { status = cm_set_absolute_origin(gv.target, gf.target); break;} // G28.3
|
||||
case NEXT_ACTION_HOMING_NO_SET: { status = cm_homing_cycle_start_no_set(gv.target, gf.target); break;} // G28.4
|
||||
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(gp.gn.target, gp.gf.target, true, true); break;} // G38.2
|
||||
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(gp.gn.target, gp.gf.target, false, true); break;} // G38.3
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(gp.gn.target, gp.gf.target, true, false); break;} // G38.4
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(gp.gn.target, gp.gf.target, false, false); break;} // G38.5
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_ERR: { status = cm_straight_probe(gv.target, gf.target, true, true); break;} // G38.2
|
||||
case NEXT_ACTION_STRAIGHT_PROBE: { status = cm_straight_probe(gv.target, gf.target, false, true); break;} // G38.3
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_AWAY_ERR:{ status = cm_straight_probe(gv.target, gf.target, true, false); break;} // G38.4
|
||||
case NEXT_ACTION_STRAIGHT_PROBE_AWAY: { status = cm_straight_probe(gv.target, gf.target, false, false); break;}// G38.5
|
||||
|
||||
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gp.gn.parameter, gp.gf.parameter,
|
||||
gp.gn.L_word, gp.gf.L_word,
|
||||
gp.gn.target, gp.gf.target); break;}
|
||||
case NEXT_ACTION_SET_G10_DATA: { status = cm_set_g10_data(gv.P_word, gf.P_word,
|
||||
gv.L_word, gf.L_word,
|
||||
gv.target, gf.target); break;}
|
||||
|
||||
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gp.gn.target, gp.gf.target); break;}// G92
|
||||
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;} // G92.1
|
||||
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;} // G92.2
|
||||
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;} // G92.3
|
||||
case NEXT_ACTION_SET_ORIGIN_OFFSETS: { status = cm_set_origin_offsets(gv.target, gf.target); break;}// G92
|
||||
case NEXT_ACTION_RESET_ORIGIN_OFFSETS: { status = cm_reset_origin_offsets(); break;} // G92.1
|
||||
case NEXT_ACTION_SUSPEND_ORIGIN_OFFSETS: { status = cm_suspend_origin_offsets(); break;} // G92.2
|
||||
case NEXT_ACTION_RESUME_ORIGIN_OFFSETS: { status = cm_resume_origin_offsets(); break;} // G92.3
|
||||
|
||||
case NEXT_ACTION_JSON_COMMAND_SYNC: { status = cm_json_command(active_comment); break;} // M100
|
||||
case NEXT_ACTION_JSON_WAIT: { status = cm_json_wait(active_comment); break;} // M101
|
||||
// case NEXT_ACTION_JSON_COMMAND_IMMEDIATE: { status = mp_json_command_immediate(active_comment); break;} // M102
|
||||
case NEXT_ACTION_JSON_COMMAND_SYNC: { status = cm_json_command(active_comment); break;} // M100
|
||||
case NEXT_ACTION_JSON_WAIT: { status = cm_json_wait(active_comment); break;} // M101
|
||||
// case NEXT_ACTION_JSON_COMMAND_IMMEDIATE: { status = mp_json_command_immediate(active_comment); break;} // M102
|
||||
|
||||
case NEXT_ACTION_DEFAULT: {
|
||||
cm_set_absolute_override(MODEL, gp.gn.absolute_override); // apply absolute override
|
||||
switch (gp.gn.motion_mode) {
|
||||
case MOTION_MODE_CANCEL_MOTION_MODE: { cm->gm.motion_mode = gp.gn.motion_mode; break;} // G80
|
||||
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gp.gn.target, gp.gf.target); break;} // G0
|
||||
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gp.gn.target, gp.gf.target); break;} // G1
|
||||
case MOTION_MODE_CW_ARC: // G2
|
||||
case MOTION_MODE_CCW_ARC: { status = cm_arc_feed(gp.gn.target, gp.gf.target, // G3
|
||||
gp.gn.arc_offset, gp.gf.arc_offset,
|
||||
gp.gn.arc_radius, gp.gf.arc_radius,
|
||||
gp.gn.parameter, gp.gf.parameter,
|
||||
gp.gf.modals[MODAL_GROUP_G1],
|
||||
gp.gn.motion_mode);
|
||||
cm_set_absolute_override(MODEL, gv.absolute_override); // apply absolute override
|
||||
switch (gv.motion_mode) {
|
||||
case MOTION_MODE_CANCEL_MOTION_MODE: { cm->gm.motion_mode = gv.motion_mode; break;} // G80
|
||||
case MOTION_MODE_STRAIGHT_TRAVERSE: { status = cm_straight_traverse(gv.target, gf.target); break;} // G0
|
||||
case MOTION_MODE_STRAIGHT_FEED: { status = cm_straight_feed(gv.target, gf.target); break;} // G1
|
||||
case MOTION_MODE_CW_ARC: // G2
|
||||
case MOTION_MODE_CCW_ARC: { status = cm_arc_feed(gv.target, gf.target, // G3
|
||||
gv.arc_offset, gf.arc_offset,
|
||||
gv.arc_radius, gf.arc_radius,
|
||||
gv.P_word, gf.P_word,
|
||||
gp.modals[MODAL_GROUP_G1],
|
||||
gv.motion_mode);
|
||||
break;
|
||||
}
|
||||
default: break;
|
||||
@@ -845,8 +835,8 @@ static stat_t _execute_gcode_block(char *active_comment)
|
||||
}
|
||||
|
||||
// do the program stops and ends : M0, M1, M2, M30, M60
|
||||
if (gp.gf.program_flow == true) {
|
||||
if (gp.gn.program_flow == PROGRAM_STOP) {
|
||||
if (gf.program_flow == true) {
|
||||
if (gv.program_flow == PROGRAM_STOP) {
|
||||
cm_program_stop();
|
||||
} else {
|
||||
cm_program_end();
|
||||
|
||||
@@ -239,19 +239,6 @@ void cm_end_spindle_override(const float ramp_time)
|
||||
|
||||
stat_t cm_sso_control(const float P_word, const bool P_flag) // M51
|
||||
{
|
||||
/*
|
||||
if (fp_TRUE(gp.gf.parameter) && fp_ZERO(gp.gn.parameter)) {
|
||||
spindle.override_enable = false;
|
||||
} else {
|
||||
spindle.override_enable = true;
|
||||
}
|
||||
return (STAT_OK);
|
||||
|
||||
spindle.override_enable = ;
|
||||
spindle.override_factor = gp.gn.parameter;
|
||||
// change spindle speed
|
||||
return (STAT_OK);
|
||||
*/
|
||||
bool new_enable = true;
|
||||
bool new_override = false;
|
||||
if (P_flag) { // if parameter is present in Gcode block
|
||||
|
||||
Reference in New Issue
Block a user