This version of the famous Grbl adds values in the work-coordinate-system (WCS) to the probing command. See x2grbl why you might want this.

nuts_bolts.c 4.2KB

    /* nuts_bolts.c - Shared functions Part of Grbl v0.9 Copyright (c) 2012-2014 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Grbl is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Grbl. If not, see <http://www.gnu.org/licenses/>. */ /* This file is based on work from Grbl v0.8, distributed under the terms of the MIT-license. See COPYING for more details. Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon */ #include "system.h" #include "print.h" #define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float) // Extracts a floating point value from a string. The following code is based loosely on // the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely // available conversion method examples, but has been highly optimized for Grbl. For known // CNC applications, the typical decimal value is expected to be in the range of E0 to E-4. // Scientific notation is officially not supported by g-code, and the 'E' character may // be a g-code word on some CNC systems. So, 'E' notation will not be recognized. // NOTE: Thanks to Radu-Eosif Mihailescu for identifying the issues with using strtod(). uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr) { char *ptr = line + *char_counter; unsigned char c; // Grab first character and increment pointer. No spaces assumed in line. c = *ptr++; // Capture initial positive/minus character bool isnegative = false; if (c == '-') { isnegative = true; c = *ptr++; } else if (c == '+') { c = *ptr++; } // Extract number into fast integer. Track decimal in terms of exponent value. uint32_t intval = 0; int8_t exp = 0; uint8_t ndigit = 0; bool isdecimal = false; while(1) { c -= '0'; if (c <= 9) { ndigit++; if (ndigit <= MAX_INT_DIGITS) { if (isdecimal) { exp--; } intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c } else { if (!(isdecimal)) { exp++; } // Drop overflow digits } } else if (c == (('.'-'0') & 0xff) && !(isdecimal)) { isdecimal = true; } else { break; } c = *ptr++; } // Return if no digits have been read. if (!ndigit) { return(false); }; // Convert integer into floating point. float fval; fval = (float)intval; // Apply decimal. Should perform no more than two floating point multiplications for the // expected range of E0 to E-4. if (fval != 0) { while (exp <= -2) { fval *= 0.01; exp += 2; } if (exp < 0) { fval *= 0.1; } else if (exp > 0) { do { fval *= 10.0; } while (--exp > 0); } } // Assign floating point value with correct sign. if (isnegative) { *float_ptr = -fval; } else { *float_ptr = fval; } *char_counter = ptr - line - 1; // Set char_counter to next statement return(true); } // Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(), // which only accepts constants in future compiler releases. void delay_ms(uint16_t ms) { while ( ms-- ) { _delay_ms(1); } } // Delays variable defined microseconds. Compiler compatibility fix for _delay_us(), // which only accepts constants in future compiler releases. Written to perform more // efficiently with larger delays, as the counter adds parasitic time in each iteration. void delay_us(uint32_t us) { while (us) { if (us < 10) { _delay_us(1); us--; } else if (us < 100) { _delay_us(10); us -= 10; } else if (us < 1000) { _delay_us(100); us -= 100; } else { _delay_ms(1); us -= 1000; } } } // Simple hypotenuse computation function. float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }