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Added support for G5.1 (quadratic spline) and multi turn arc option for G2 and G3 via P-word.

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Some additions to data structures used by plugins.
This commit is contained in:
Terje Io
2022-07-19 21:51:46 +02:00
parent 651a2a903b
commit b4c896e2ad
9 changed files with 174 additions and 28 deletions
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gcode.c
+77 -5
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@@ -148,7 +148,7 @@ inline static float hypot_f (float x, float y)
inline static bool motion_is_lasercut (motion_mode_t motion)
{
return motion == MotionMode_Linear || motion == MotionMode_CwArc || motion == MotionMode_CcwArc || motion == MotionMode_CubicSpline;
return motion == MotionMode_Linear || motion == MotionMode_CwArc || motion == MotionMode_CcwArc || motion == MotionMode_CubicSpline || motion == MotionMode_QuadraticSpline;
}
parser_state_t *gc_get_state (void)
@@ -811,7 +811,14 @@ status_code_t gc_execute_block(char *block)
case 80:
word_bit.modal_group.G1 = On;
gc_block.modal.motion = (motion_mode_t)int_value;
if(int_value == 5 && mantissa != 0) {
if(mantissa == 10) {
gc_block.modal.motion = MotionMode_QuadraticSpline;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
} else
FAIL(Status_GcodeUnsupportedCommand);
} else
gc_block.modal.motion = (motion_mode_t)int_value;
gc_block.modal.canned_cycle_active = false;
break;
@@ -2184,7 +2191,7 @@ status_code_t gc_execute_block(char *block)
// [G2/3 Radius-Mode Errors]: No axis words in selected plane. Target point is same as current.
// [G2/3 Offset-Mode Errors]: No axis words and/or offsets in selected plane. The radius to the current
// point and the radius to the target point differs more than 0.002mm (EMC def. 0.5mm OR 0.005mm and 0.1% radius).
// [G2/3 Full-Circle-Mode Errors]: NOT SUPPORTED. Axis words exist. No offsets programmed. P must be an integer.
// [G2/3 Full-Circle-Mode Errors]: Axis words exist. No offsets programmed. P must be an integer.
// NOTE: Both radius and offsets are required for arc tracing and are pre-computed with the error-checking.
if (!axis_words.mask)
@@ -2193,6 +2200,16 @@ status_code_t gc_execute_block(char *block)
if (!(axis_words.mask & (bit(plane.axis_0)|bit(plane.axis_1))))
FAIL(Status_GcodeNoAxisWordsInPlane); // [No axis words in plane]
if (gc_block.words.p) { // Number of turns
if(!isintf(gc_block.values.p))
FAIL(Status_GcodeCommandValueNotInteger); // [P word is not an integer]
gc_block.arc_turns = (uint32_t)truncf(gc_block.values.p);
if(gc_block.arc_turns == 0)
FAIL(Status_GcodeValueOutOfRange); // [P word is 0]
gc_block.words.p = Off;
} else
gc_block.arc_turns = 1;
// Calculate the change in position along each selected axis
float x, y;
x = gc_block.values.xyz[plane.axis_0] - gc_state.position[plane.axis_0]; // Delta x between current position and target
@@ -2397,6 +2414,37 @@ status_code_t gc_execute_block(char *block)
gc_block.words.p = gc_block.words.q = gc_block.words.i = gc_block.words.j = Off;
break;
case MotionMode_QuadraticSpline:
// [G5.1 Errors]: Feed rate undefined.
// [G5.1 Plane Errors]: The active plane is not G17.
// [G5.1 Offset Errors]: Just one of I or J are specified.
// [G5.1 Offset Errors]: I or J are unspecified in the first of a series of G5 commands.
// [G5.1 Axisword Errors]: An axis other than X or Y is specified.
if(gc_block.modal.plane_select != PlaneSelect_XY)
FAIL(Status_GcodeIllegalPlane); // [The active plane is not G17]
if (axis_words.mask & ~(bit(X_AXIS)|bit(Y_AXIS)))
FAIL(Status_GcodeAxisCommandConflict); // [An axis other than X or Y is specified]
if((gc_block.words.mask & ij_words.mask) != ij_words.mask)
FAIL(Status_GcodeValueWordMissing); // [I or J are unspecified]
if(gc_block.values.ijk[I_VALUE] == 0.0f && gc_block.values.ijk[I_VALUE] == 0.0f)
FAIL(Status_GcodeValueOutOfRange); // [I or J are zero]
// Convert I and J values to proper units.
if (gc_block.modal.units_imperial) {
gc_block.values.ijk[I_VALUE] *= MM_PER_INCH;
gc_block.values.ijk[J_VALUE] *= MM_PER_INCH;
}
// Scale values if scaling active
if(gc_state.modal.scaling_active) {
gc_block.values.ijk[I_VALUE] *= scale_factor.ijk[X_AXIS];
gc_block.values.ijk[J_VALUE] *= scale_factor.ijk[Y_AXIS];
}
gc_block.words.i = gc_block.words.j = Off;
break;
case MotionMode_ProbeTowardNoError:
case MotionMode_ProbeAwayNoError:
gc_parser_flags.probe_is_no_error = On;
@@ -2861,11 +2909,35 @@ status_code_t gc_execute_block(char *block)
case MotionMode_CcwArc:
// fail if spindle synchronized motion?
mc_arc(gc_block.values.xyz, &plan_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
plane, gc_parser_flags.arc_is_clockwise);
plane, gc_parser_flags.arc_is_clockwise ? gc_block.arc_turns : - gc_block.arc_turns);
break;
case MotionMode_CubicSpline:
mc_cubic_b_spline(gc_block.values.xyz, &plan_data, gc_state.position, gc_block.values.ijk, gc_state.modal.spline_pq);
{
point_2d cp1 = {
.x = gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS],
.y = gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS]
};
point_2d cp2 = {
.x = gc_block.values.xyz[X_AXIS] + gc_state.modal.spline_pq[X_AXIS],
.y = gc_block.values.xyz[Y_AXIS] + gc_state.modal.spline_pq[Y_AXIS]
};
mc_cubic_b_spline(gc_block.values.xyz, &plan_data, gc_state.position, cp1.values, cp2.values);
}
break;
case MotionMode_QuadraticSpline:
{
point_2d cp1 = {
.x = gc_state.position[X_AXIS] + (gc_block.values.ijk[X_AXIS] * 2.0f) / 3.0f,
.y = gc_state.position[Y_AXIS] + (gc_block.values.ijk[Y_AXIS] * 2.0f) / 3.0f
};
point_2d cp2 = {
.x = gc_block.values.xyz[X_AXIS] + ((gc_state.position[X_AXIS] + gc_block.values.ijk[X_AXIS] - gc_block.values.xyz[X_AXIS]) * 2.0f) / 3.0f,
.y = gc_block.values.xyz[Y_AXIS] + ((gc_state.position[Y_AXIS] + gc_block.values.ijk[Y_AXIS] - gc_block.values.xyz[Y_AXIS]) * 2.0f) / 3.0f
};
mc_cubic_b_spline(gc_block.values.xyz, &plan_data, gc_state.position, cp1.values, cp2.values);
}
break;
case MotionMode_SpindleSynchronized: