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commit for testing before edge merge
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@aldenhart
aldenhart committed Aug 1, 2015
1 parent 1117898 commit b969965
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Showing 7 changed files with 4,606 additions and 4,608 deletions.
9,110 changes: 4,564 additions & 4,546 deletions firmware/tinyg/Debug/tinyg.hex
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2 changes: 2 additions & 0 deletions firmware/tinyg/canonical_machine.h
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,7 @@ typedef struct GCodeState { // Gcode model state - used by model, planning an
uint8_t absolute_override; // G53 TRUE = move using machine coordinates - this block only (G53)
uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
uint8_t arc_distance_mode; // G91.1 0=use absolute coords(G90), 1=incremental movement
uint8_t tool; // M6 tool change - moves "tool_select" to "tool"
uint8_t tool_select; // T value - T sets this value
uint8_t mist_coolant; // TRUE = mist on (M7), FALSE = off (M9)
Expand Down Expand Up @@ -163,6 +164,7 @@ typedef struct GCodeInput { // Gcode model inputs - meaning depends on contex
uint8_t origin_offset_mode; // G92...TRUE=in origin offset mode
uint8_t path_control; // G61... EXACT_PATH, EXACT_STOP, CONTINUOUS
uint8_t distance_mode; // G91 0=use absolute coords(G90), 1=incremental movement
uint8_t arc_distance_mode; // G91.1 0=use absolute coords(G90), 1=incremental movement

uint8_t tool; // Tool after T and M6 (tool_select and tool_change)
uint8_t tool_select; // T value - T sets this value
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20 changes: 18 additions & 2 deletions firmware/tinyg/gcode_parser.c
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Expand Up @@ -313,8 +313,24 @@ static stat_t _parse_gcode_block(char_t *buf)
}
case 64: SET_MODAL (MODAL_GROUP_G13,path_control, PATH_CONTINUOUS);
case 80: SET_MODAL (MODAL_GROUP_G1, motion_mode, MOTION_MODE_CANCEL_MOTION_MODE);
case 90: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
case 91: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
// case 90: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
// case 91: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
case 90: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, ABSOLUTE_MODE);
case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, ABSOLUTE_MODE);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 91: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G3, distance_mode, INCREMENTAL_MODE);
case 1: SET_MODAL (MODAL_GROUP_G3, arc_distance_mode, INCREMENTAL_MODE);
default: status = STAT_GCODE_COMMAND_UNSUPPORTED;
}
break;
}
case 92: {
switch (_point(value)) {
case 0: SET_MODAL (MODAL_GROUP_G0, next_action, NEXT_ACTION_SET_ORIGIN_OFFSETS);
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74 changes: 19 additions & 55 deletions firmware/tinyg/plan_arc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,6 @@ arc_t arc;
static stat_t _compute_arc(void);
static stat_t _compute_arc_offsets_from_radius(void);
static void _estimate_arc_time(void);
//static float _get_theta(const float x, const float y);
//static stat_t _test_arc_soft_limits(void);

/*****************************************************************************
Expand Down Expand Up @@ -166,7 +165,6 @@ stat_t cm_arc_feed(float target[], float flags[], // arc endpoints
// compute arc runtime values
ritorno(_compute_arc());

// if (arc.length < cm.arc_segment_len) {
if (fp_ZERO(arc.length)) {
return (STAT_MINIMUM_LENGTH_MOVE); // trap zero length arcs that _compute_arc can throw
}
Expand Down Expand Up @@ -246,12 +244,6 @@ void cm_abort_arc()

static stat_t _compute_arc()
{
/*
if (cm.gm.linenum == 163) {
cm_spindle_control(SPINDLE_CW);
}
*/

// Compute radius. A non-zero radius value indicates a radius arc
if (fp_NOT_ZERO(arc.radius)) { // indicates a radius arc
_compute_arc_offsets_from_radius();
Expand All @@ -269,53 +261,47 @@ static stat_t _compute_arc()
float end_0 = arc.gm.target[arc.plane_axis_0] - arc.position[arc.plane_axis_0] - arc.offset[arc.plane_axis_0];
float end_1 = arc.gm.target[arc.plane_axis_1] - arc.position[arc.plane_axis_1] - arc.offset[arc.plane_axis_1];
float err = fabs(hypotf(end_0, end_1) - arc.radius); // end radius - start radius
if ((err > ARC_RADIUS_ERROR_MAX) || ((err > ARC_RADIUS_ERROR_MIN) &&
(err > arc.radius * ARC_RADIUS_TOLERANCE))) {
if ( (err > ARC_RADIUS_ERROR_MAX) ||
((err > ARC_RADIUS_ERROR_MIN) && (err > arc.radius * ARC_RADIUS_TOLERANCE)) ) {
// return (STAT_ARC_HAS_IMPOSSIBLE_CENTER_POINT);
return (STAT_ARC_SPECIFICATION_ERROR);
}

// Calculate the theta (angle) of the current point (position)
// arc.theta is starting point for theta (is also needed for calculating center point)
// arc.theta is angular starting point for the arc (is also needed for calculating center point)
arc.theta = atan2(-arc.offset[arc.plane_axis_0], -arc.offset[arc.plane_axis_1]);

//// compute the angular travel ////
// Compute the angular travel
float g18_correction = 1;
if (cm.gm.select_plane == CANON_PLANE_XZ) { // used to invert G18 XZ plane arcs for proper CW orientation
g18_correction = -1;
}
if (arc.full_circle) { // if full circle you can skip the stuff in the else clause
arc.angular_travel = 0; // angular travel always starts as zero for full circles
if (fp_ZERO(arc.rotations)) arc.rotations = 1.0; // handle the valid case of a full circle arc w/P=0

if (fp_ZERO(arc.rotations)) { // handle the valid case of a full circle arc w/P=0
arc.rotations = 1.0;
}
} else { // ... it's not a full circle
arc.theta_end = atan2(end_0, end_1);
if (arc.theta_end <= arc.theta) { // make the difference positive so we have clockwise travel
arc.theta_end += 2*M_PI;
arc.theta_end += 2*M_PI * g18_correction; // NB: MUST be <= in (arc.theta_end <= arc.theta) or PartKam arcs will fail
}
arc.angular_travel = arc.theta_end - arc.theta; // compute positive angular travel
if (cm.gm.motion_mode == MOTION_MODE_CCW_ARC) { // reverse travel direction if it's CCW arc
arc.angular_travel -= 2*M_PI;
arc.angular_travel -= 2*M_PI * g18_correction;
}
}

if (cm.gm.motion_mode == MOTION_MODE_CW_ARC) { // add in travel for rotations
arc.angular_travel += 2*M_PI * arc.rotations;
arc.angular_travel += 2*M_PI * arc.rotations * g18_correction;
} else {
arc.angular_travel -= 2*M_PI * arc.rotations;
arc.angular_travel -= 2*M_PI * arc.rotations * g18_correction;
}
if (cm.gm.select_plane == CANON_PLANE_XZ) { // invert G18 XZ plane arcs for proper CW orientation
arc.angular_travel *= -1;
}
if (cm.gm.select_plane == CANON_PLANE_XZ) { // Invert G18 XZ plane arcs for proper CW orientation
arc.angular_travel *= -1;
}

// Find the radius, calculate travel in the depth axis of the helix
// and compute the time it should take to perform the move
// Length is the total mm of travel of the helix (or just a planar arc)
// Calculate travel in the depth axis of the helix and compute the time it should take to perform the move
// arc.length is the total mm of travel of the helix (or just a planar arc)
arc.linear_travel = arc.gm.target[arc.linear_axis] - arc.position[arc.linear_axis];
arc.planar_travel = arc.angular_travel * arc.radius;
arc.length = hypot(arc.planar_travel, fabs(arc.linear_travel));

// length is the total mm of travel of the helix (or just a planar arc)
arc.length = hypot(arc.angular_travel * arc.radius, fabs(arc.linear_travel));
arc.length = hypotf(arc.planar_travel, arc.linear_travel); // NB: hypot is insensitive to +/- signs
_estimate_arc_time(); // get an estimate of execution time to inform arc_segment calculation

// Find the minimum number of arc_segments that meets these constraints...
Expand Down Expand Up @@ -432,7 +418,7 @@ static stat_t _compute_arc_offsets_from_radius()
float disc = 4 * square(arc.radius) - (square(x) + square(y));

// h_x2_div_d == -(h * 2 / d)
float h_x2_div_d = (disc > 0) ? -sqrt(disc) / hypot(x,y) : 0;
float h_x2_div_d = (disc > 0) ? -sqrt(disc) / hypotf(x,y) : 0;

// Invert the sign of h_x2_div_d if circle is counter clockwise (see header notes)
if (cm.gm.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d;}
Expand Down Expand Up @@ -480,28 +466,6 @@ static void _estimate_arc_time ()
}
}

/*
* _get_theta(float x, float y)
*
* Find the angle in radians of deviance from the positive y axis
* negative angles to the left of y-axis, positive to the right.
*/
/*
static float _get_theta(const float x, const float y)
{
float theta = atan(x/fabs(y));
if (y>0) {
return (theta);
} else {
if (theta>0) {
return ( M_PI-theta);
} else {
return (-M_PI-theta);
}
}
}
*/
/*
* _test_arc_soft_limits() - return error status if soft limit is exceeded
*
Expand Down
3 changes: 0 additions & 3 deletions firmware/tinyg/plan_arc.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,10 +40,7 @@ typedef struct arArcSingleton { // persistent planner and runtime variables
float offset[3]; // IJK offsets

float length; // length of line or helix in mm
// float theta2; // total angle specified by arc
float theta; // total angle specified by arc
// float theta_end2;
// float theta_end_;
float theta_end;
float radius; // Raw R value, or computed via offsets
float angular_travel; // travel along the arc
Expand Down
3 changes: 2 additions & 1 deletion firmware/tinyg/settings/settings_shapeoko2.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,8 @@
#define M4_TRAVEL_PER_REV 2.1166
#define M4_MICROSTEPS 8
#define M4_POLARITY 1
#define M4_POWER_MODE 0
#define M4_POWER_MODE 2

#define M5_MOTOR_MAP AXIS_B
#define M5_STEP_ANGLE 1.8
#define M5_TRAVEL_PER_REV 180 // degrees per motor rev - 1:2 gearing
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2 changes: 1 addition & 1 deletion firmware/tinyg/tinyg.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@
/****** REVISIONS ******/

#ifndef TINYG_FIRMWARE_BUILD
#define TINYG_FIRMWARE_BUILD 440.18 // master candidate (4); fixed arc specification bug
#define TINYG_FIRMWARE_BUILD 440.18 // fixed arc specification bug

#endif
#define TINYG_FIRMWARE_VERSION 0.97 // firmware major version
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