* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
-/*
- * See config.h for a Config system overview and a bunch of details.
- */
-
#include "tinyg.h" // #1
#include "config.h" // #2
#include "report.h"
static void _set_defa(nvObj_t *nv);
-/***********************************************************************************
- **** STRUCTURE ALLOCATIONS ********************************************************
- ***********************************************************************************/
-
nvStr_t nvStr;
nvList_t nvl;
*
* nv_set() - Write a value or invoke a function - operates on single valued elements or groups
* nv_get() - Build a nvObj with the values from the target & return the value
- * Populate nv body with single valued elements or groups (iterates)
- * nv_print() - Output a formatted string for the value.
+ * Populate nv body with single valued elements or groups (iterates)
+ * nv_print() - Output a formatted string for the value.
* nv_persist() - persist value to non-volatile storage. Takes special cases into account
*
* !!!! NOTE: nv_persist() cannot be called from an interrupt on the AVR due to the AVR1008 EEPROM workaround
}
-stat_t nv_persist(nvObj_t *nv) { // nv_persist() cannot be called from an interrupt on the AVR due to the AVR1008 EEPROM workaround
+stat_t nv_persist(nvObj_t *nv) { // nv_persist() cannot be called from an interrupt on the AVR due to the AVR1008 EEPROM workaround
if (nv_index_lt_groups(nv->index) == false) return STAT_INTERNAL_RANGE_ERROR;
if (GET_TABLE_BYTE(flags) & F_PERSIST) return write_persistent_value(nv);
/************************************************************************************
- * config_init() - called once on hard reset
+ * Called once on hard reset
*
* Performs one of 2 actions:
* (1) if persistence is set up or out-of-rev load RAM and NVM with settings.h defaults
nvObj_t *nv = nv_reset_nv_list();
config_init_assertions();
- cm_set_units_mode(MILLIMETERS); // must do inits in millimeter mode
- nv->index = 0; // this will read the first record in NVM
+ cm_set_units_mode(MILLIMETERS); // must do inits in millimeter mode
+ nv->index = 0; // this will read the first record in NVM
read_persistent_value(nv);
- if (nv->value != cs.fw_build) // case (1) NVM is not setup or not in revision
- _set_defa(nv);
- else { // case (2) NVM is setup and in revision
+ if (nv->value != cs.fw_build) _set_defa(nv); // case (1) NVM is not setup or not in revision
+
+ else { // case (2) NVM is setup and in revision
rpt_print_loading_configs_message();
- for (nv->index=0; nv_index_is_single(nv->index); nv->index++)
+ for (nv->index = 0; nv_index_is_single(nv->index); nv->index++)
if (GET_TABLE_BYTE(flags) & F_INITIALIZE) {
- strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN); // read the token from the array
+ strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN); // read the token from the array
read_persistent_value(nv);
nv_set(nv);
}
*/
static void _set_defa(nvObj_t *nv) {
cm_set_units_mode(MILLIMETERS); // must do inits in MM mode
- for (nv->index=0; nv_index_is_single(nv->index); nv->index++)
+ for (nv->index = 0; nv_index_is_single(nv->index); nv->index++)
if (GET_TABLE_BYTE(flags) & F_INITIALIZE) {
nv->value = GET_TABLE_FLOAT(def_value);
strncpy_P(nv->token, cfgArray[nv->index].token, TOKEN_LEN);
}
sr_init_status_report(); // reset status reports
- rpt_print_initializing_message(); // don't start TX until all the NVM persistence is done
+ rpt_print_initializing_message(); // don't start TX until all the NVM persistence is done
}
/*
- * ik_kinematics() - wrapper routine for inverse kinematics
+ * Wrapper routine for inverse kinematics
*
* Calls kinematics function(s).
* Performs axis mapping & conversion of length units to steps (and deals with inhibited axes)
* order to get the smoothest possible operation. Steps are passed to the move prep routine
* as floats and converted to fixed-point binary during queue loading. See stepper.c for details.
*/
+void ik_kinematics(const float travel[], float steps[]) {
+ float joint[AXES];
-void ik_kinematics(const float travel[], float steps[])
-{
- float joint[AXES];
+ // _inverse_kinematics(travel, joint); // you can insert inverse kinematics transformations here
+ memcpy(joint, travel, sizeof(float) * AXES); //...or just do a memcpy for Cartesian machines
-// _inverse_kinematics(travel, joint); // you can insert inverse kinematics transformations here
- memcpy(joint, travel, sizeof(float)*AXES); //...or just do a memcpy for Cartesian machines
+ // Map motors to axes and convert length units to steps
+ // Most of the conversion math has already been done in during config in steps_per_unit()
+ // which takes axis travel, step angle and microsteps into account.
+ for (uint8_t axis = 0; axis < AXES; axis++) {
+ if (cm.a[axis].axis_mode == AXIS_INHIBITED) joint[axis] = 0;
- // Map motors to axes and convert length units to steps
- // Most of the conversion math has already been done in during config in steps_per_unit()
- // which takes axis travel, step angle and microsteps into account.
- for (uint8_t axis=0; axis<AXES; axis++) {
- if (cm.a[axis].axis_mode == AXIS_INHIBITED) { joint[axis] = 0;}
- if (st_cfg.mot[MOTOR_1].motor_map == axis) { steps[MOTOR_1] = joint[axis] * st_cfg.mot[MOTOR_1].steps_per_unit;}
- if (st_cfg.mot[MOTOR_2].motor_map == axis) { steps[MOTOR_2] = joint[axis] * st_cfg.mot[MOTOR_2].steps_per_unit;}
- if (st_cfg.mot[MOTOR_3].motor_map == axis) { steps[MOTOR_3] = joint[axis] * st_cfg.mot[MOTOR_3].steps_per_unit;}
- if (st_cfg.mot[MOTOR_4].motor_map == axis) { steps[MOTOR_4] = joint[axis] * st_cfg.mot[MOTOR_4].steps_per_unit;}
-#if (MOTORS >= 5)
- if (st_cfg.mot[MOTOR_5].motor_map == axis) { steps[MOTOR_5] = joint[axis] * st_cfg.mot[MOTOR_5].steps_per_unit;}
-#endif
-#if (MOTORS >= 6)
- if (st_cfg.mot[MOTOR_6].motor_map == axis) { steps[MOTOR_6] = joint[axis] * st_cfg.mot[MOTOR_6].steps_per_unit;}
-#endif
- }
+ for (int i = 0; i < MOTORS; i++)
+ if (st_cfg.mot[i].motor_map == axis)
+ steps[i] = joint[axis] * st_cfg.mot[i].steps_per_unit;
+ }
}
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
-/* Is this code over documented? Possibly.
- * We try to follow this (at least we are evolving to it). It's worth a read.
- * ftp://ftp.idsoftware.com/idstuff/doom3/source/CodeStyleConventions.doc
- */
-/* Xmega project setup notes:
- * from: http://www.avrfreaks.net/index.php?name=PNphpBB2&file=viewtopic&t=117023
- * "Yes it's definitely worth making WinAVR work. To install WinAVR for the project use
- * Project-Configuration Options and under Custom Options untick the "Use toolchain" box
- * then set the top one to \winavr\bin\avr-gcc.exe (C:\WinAVR-20100110\bin\avr-gcc.exe)
- * and the lower one to \winavr\utils\bin\make.exe (C:\WinAVR-20100110\utils\bin\make.exe)"
- */
#ifndef TINYG_H_ONCE
#define TINYG_H_ONCE
#include <string.h>
#include <math.h>
-/****** REVISIONS ******/
-
+// Revisions
#ifndef TINYG_FIRMWARE_BUILD
#define TINYG_FIRMWARE_BUILD 440.20 // arc test
#endif
-#define TINYG_FIRMWARE_VERSION 0.97 // firmware major version
-#define TINYG_HARDWARE_PLATFORM HW_PLATFORM_TINYG_XMEGA // see hardware.h
-#define TINYG_HARDWARE_VERSION HW_VERSION_TINYGV8 // see hardware.h
-#define TINYG_HARDWARE_VERSION_MAX TINYG_HARDWARE_VERSION
-
-/****** COMPILE-TIME SETTINGS ******/
+#define TINYG_FIRMWARE_VERSION 0.97 // firmware major version
+#define TINYG_HARDWARE_PLATFORM HW_PLATFORM_TINYG_XMEGA // see hardware.h
+#define TINYG_HARDWARE_VERSION HW_VERSION_TINYGV8 // see hardware.h
+#define TINYG_HARDWARE_VERSION_MAX TINYG_HARDWARE_VERSION
+// Compile-time settings
#define __STEP_CORRECTION
-//#define __JERK_EXEC // Use computed jerk (versus forward difference based exec)
-//#define __KAHAN // Use Kahan summation in aline exec functions
+//#define __JERK_EXEC // Use computed jerk (versus forward difference based exec)
+//#define __KAHAN // Use Kahan summation in aline exec functions
-#define __TEXT_MODE // enables text mode (~10Kb)
+#define __TEXT_MODE // enables text mode (~10Kb)
#define __HELP_SCREENS // enables help screens (~3.5Kb)
-//#define __CANNED_TESTS // enables $tests (~12Kb)
-//#define __TEST_99 // enables diagnostic test 99 (independent of other tests)
+//#define __CANNED_TESTS // enables $tests (~12Kb)
+//#define __TEST_99 // enables diagnostic test 99 (independent of other tests)
-/****** DEVELOPMENT SETTINGS ******/
-
-#define __DIAGNOSTIC_PARAMETERS // enables system diagnostic parameters (_xx) in config_app
+// Development settings
+#define __DIAGNOSTIC_PARAMETERS // enables system diagnostic parameters (_xx) in config_app
//#define __DEBUG_SETTINGS // special settings. See settings.h
//#define __CANNED_STARTUP // run any canned startup moves
// gets rely on nv->index having been set
#define GET_TABLE_WORD(a) pgm_read_word(&cfgArray[nv->index].a) // get word value from cfgArray
#define GET_TABLE_BYTE(a) pgm_read_byte(&cfgArray[nv->index].a) // get byte value from cfgArray
-#define GET_TABLE_FLOAT(a) pgm_read_float(&cfgArray[nv->index].a) // get float value from cfgArray
+#define GET_TABLE_FLOAT(a) pgm_read_float(&cfgArray[nv->index].a) // get float value from cfgArray
#define GET_TOKEN_BYTE(a) (char_t)pgm_read_byte(&cfgArray[i].a) // get token byte value from cfgArray
// populate the shared buffer with the token string given the index
// String compatibility
#define strtof strtod // strtof is not in the AVR lib
-/******************************************************************************
- ***** TINYG APPLICATION DEFINITIONS ******************************************
- ******************************************************************************/
typedef uint16_t magic_t; // magic number size
#define MAGICNUM 0x12EF // used for memory integrity assertions
#define AXIS_A 3
#define AXIS_B 4
#define AXIS_C 5
-#define AXIS_U 6 // reserved
-#define AXIS_V 7 // reserved
-#define AXIS_W 8 // reserved
+#define AXIS_U 6 // reserved
+#define AXIS_V 7 // reserved
+#define AXIS_W 8 // reserved
-#define MOTOR_1 0 // define motor numbers and array indexes
-#define MOTOR_2 1 // must be defines. enums don't work
+#define MOTOR_1 0 // define motor numbers and array indexes
+#define MOTOR_2 1 // must be defines. enums don't work
#define MOTOR_3 2
#define MOTOR_4 3
#define MOTOR_5 4
#define PWM_1 0
#define PWM_2 1
+
/************************************************************************************
* STATUS CODES
*
*
* Ranges are:
*
- * 0 - 19 OS, communications and low-level status
+ * 0 - 19 OS, communications and low-level status
*
- * 20 - 99 Generic internal and application errors. Internal errors start at 20 and work up,
- * Assertion failures start at 99 and work down.
+ * 20 - 99 Generic internal and application errors. Internal errors start at 20 and work up,
+ * Assertion failures start at 99 and work down.
*
* 100 - 129 Generic data and input errors - not specific to Gcode or TinyG
*
// Gcode errors and warnings (Most originate from NIST - by concept, not number)
// Fascinating: http://www.cncalarms.com/
-#define STAT_GCODE_GENERIC_INPUT_ERROR 130 // generic error for gcode input
-#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_GENERIC_INPUT_ERROR 130 // generic error for gcode input
+#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_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_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_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_REQUESTED_VELOCITY_EXCEEDS_LIMITS 146
#define STAT_CUTTER_COMPENSATION_CANNOT_BE_ENABLED 147
#define STAT_PROGRAMMED_POINT_SAME_AS_CURRENT_POINT 148
#define STAT_ARC_RADIUS_OUT_OF_TOLERANCE 158 // WARNING - radius arc is too small or too large - accuracy in question
#define STAT_ARC_ENDPOINT_IS_STARTING_POINT 159
-#define STAT_P_WORD_IS_MISSING 160 // P must be present for dwells and other functions
-#define STAT_P_WORD_IS_INVALID 161 // generic P value error
+#define STAT_P_WORD_IS_MISSING 160 // P must be present for dwells and other functions
+#define STAT_P_WORD_IS_INVALID 161 // generic P value error
#define STAT_P_WORD_IS_ZERO 162
-#define STAT_P_WORD_IS_NEGATIVE 163 // dwells require positive P values
-#define STAT_P_WORD_IS_NOT_AN_INTEGER 164 // G10s and other commands require integer P numbers
+#define STAT_P_WORD_IS_NEGATIVE 163 // dwells require positive P values
+#define STAT_P_WORD_IS_NOT_AN_INTEGER 164 // G10s and other commands require integer P numbers
#define STAT_P_WORD_IS_NOT_VALID_TOOL_NUMBER 165
#define STAT_D_WORD_IS_MISSING 166
#define STAT_D_WORD_IS_INVALID 167
#define STAT_T_WORD_IS_MISSING 178
#define STAT_T_WORD_IS_INVALID 179
-#define STAT_ERROR_180 180 // reserved for Gcode errors
+#define STAT_ERROR_180 180 // reserved for Gcode errors
#define STAT_ERROR_181 181
#define STAT_ERROR_182 182
#define STAT_ERROR_183 183
#define STAT_ERROR_199 199
// TinyG errors and warnings
-
#define STAT_GENERIC_ERROR 200
#define STAT_MINIMUM_LENGTH_MOVE 201 // move is less than minimum length
-#define STAT_MINIMUM_TIME_MOVE 202 // move is less than minimum time
+#define STAT_MINIMUM_TIME_MOVE 202 // move is less than minimum time
#define STAT_MACHINE_ALARMED 203 // machine is alarmed. Command not processed
-#define STAT_LIMIT_SWITCH_HIT 204 // a limit switch was hit causing shutdown
-#define STAT_PLANNER_FAILED_TO_CONVERGE 205 // trapezoid generator can through this exception
+#define STAT_LIMIT_SWITCH_HIT 204 // a limit switch was hit causing shutdown
+#define STAT_PLANNER_FAILED_TO_CONVERGE 205 // trapezoid generator can through this exception
#define STAT_ERROR_206 206
#define STAT_ERROR_207 207
#define STAT_ERROR_208 208
#define STAT_ERROR_219 219
#define STAT_SOFT_LIMIT_EXCEEDED 220 // soft limit error - axis unspecified
-#define STAT_SOFT_LIMIT_EXCEEDED_XMIN 221 // soft limit error - X minimum
-#define STAT_SOFT_LIMIT_EXCEEDED_XMAX 222 // soft limit error - X maximum
-#define STAT_SOFT_LIMIT_EXCEEDED_YMIN 223 // soft limit error - Y minimum
-#define STAT_SOFT_LIMIT_EXCEEDED_YMAX 224 // soft limit error - Y maximum
-#define STAT_SOFT_LIMIT_EXCEEDED_ZMIN 225 // soft limit error - Z minimum
-#define STAT_SOFT_LIMIT_EXCEEDED_ZMAX 226 // soft limit error - Z maximum
-#define STAT_SOFT_LIMIT_EXCEEDED_AMIN 227 // soft limit error - A minimum
-#define STAT_SOFT_LIMIT_EXCEEDED_AMAX 228 // soft limit error - A maximum
-#define STAT_SOFT_LIMIT_EXCEEDED_BMIN 229 // soft limit error - B minimum
-
-#define STAT_SOFT_LIMIT_EXCEEDED_BMAX 220 // soft limit error - B maximum
-#define STAT_SOFT_LIMIT_EXCEEDED_CMIN 231 // soft limit error - C minimum
-#define STAT_SOFT_LIMIT_EXCEEDED_CMAX 232 // soft limit error - C maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_XMIN 221 // soft limit error - X minimum
+#define STAT_SOFT_LIMIT_EXCEEDED_XMAX 222 // soft limit error - X maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_YMIN 223 // soft limit error - Y minimum
+#define STAT_SOFT_LIMIT_EXCEEDED_YMAX 224 // soft limit error - Y maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_ZMIN 225 // soft limit error - Z minimum
+#define STAT_SOFT_LIMIT_EXCEEDED_ZMAX 226 // soft limit error - Z maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_AMIN 227 // soft limit error - A minimum
+#define STAT_SOFT_LIMIT_EXCEEDED_AMAX 228 // soft limit error - A maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_BMIN 229 // soft limit error - B minimum
+
+#define STAT_SOFT_LIMIT_EXCEEDED_BMAX 220 // soft limit error - B maximum
+#define STAT_SOFT_LIMIT_EXCEEDED_CMIN 231 // soft limit error - C minimum
+#define STAT_SOFT_LIMIT_EXCEEDED_CMAX 232 // soft limit error - C maximum
#define STAT_ERROR_233 233
#define STAT_ERROR_234 234
#define STAT_ERROR_235 235
#define STAT_ERROR_248 248
#define STAT_ERROR_249 249
-#define STAT_PROBE_CYCLE_FAILED 250 // probing cycle did not complete
+#define STAT_PROBE_CYCLE_FAILED 250 // probing cycle did not complete
#define STAT_PROBE_ENDPOINT_IS_STARTING_POINT 251
-#define STAT_JOGGING_CYCLE_FAILED 252 // jogging cycle did not complete
+#define STAT_JOGGING_CYCLE_FAILED 252 // jogging cycle did not complete
// !!! Do not exceed 255 without also changing stat_t typedef
-#endif // End of include guard: TINYG2_H_ONCE
+#endif // TINYG2_H_ONCE
projects / bbctrl-firmware / commitdiff