Ciao pippo72 e grazie mille per la risposta :), non lo sapevo pensavo che modificando il programma in c si potesse fare.
Beh grazie ancora sei stato gentilissimo.
Senti ti posso chiedere anche un parere? io essendo agli inizi sto facendo vari esperimenti per imparare a fare determinate cose, più nel dettaglio sto cambiato il codice per quando faccio l'homing per il singolo asse, in sostanza dopo aver effettuato l'homing per quell'asse, vorrei eseguire anche un movimento lineare, per esempio scrivendo la seguente sintassi $H X G01 Y-10, vorrei che il programma esegue l'homing sull'asse x e poi esegue il movimento lineare di arretrare y di 10.
Attraverso un file di testo è facilissimo basta inserire la sequenza di comandi ma via software mi sapresti dare un consiglio?
Io attualmente sto procedendo cercando i codici che permettono i comandi G e metterli dove mi servono, l'ho fatto ma come mi aspettavo sono usciti una valanga di errori.
I codici che ho trovato sono questi
uint8_t word_bit;
uint8_t char_counter;
char letter;
float value;
uint8_t int_value = 0;
uint16_t mantissa = 0;
if (gc_parser_flags & GC_PARSER_JOG_MOTION) { char_counter = 3; } // Start parsing after `$J=`
else { char_counter = 0; }
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
letter = line[char_counter];
if((letter < 'A') || (letter > 'Z')) { FAIL(STATUS_EXPECTED_COMMAND_LETTER); } // [Expected word letter]
char_counter++;
if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value]
int_value = trunc(value);
mantissa = round(100*(value - int_value)); // Compute mantissa for Gxx.x commands.
switch(letter) {
/* 'G' and 'M' Command Words: Parse commands and check for modal group violations.
NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
case 'G':
// Determine 'G' command and its modal group
switch(int_value) {
case 10: case 28: case 30: case 92:
// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_NON_MODAL;
}
// No break. Continues to next line.
case 4: case 53:
word_bit = MODAL_GROUP_G0;
gc_block.non_modal_command = int_value;
if ((int_value == 28) || (int_value == 30) || (int_value == 92)) {
if (!((mantissa == 0) || (mantissa == 10))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); }
gc_block.non_modal_command += mantissa;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 0: case 1: case 2: case 3: case 38:
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_MOTION_MODE;
// No break. Continues to next line.
case 80:
word_bit = MODAL_GROUP_G1;
gc_block.modal.motion = int_value;
if (int_value == 38){
if (!((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))) {
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
gc_block.modal.motion += (mantissa/10)+100;
mantissa = 0; // Set to zero to indicate valid non-integer G command.
}
break;
case 17: case 18: case 19:
word_bit = MODAL_GROUP_G2;
gc_block.modal.plane_select = int_value - 17;
break;
case 90: case 91:
if (mantissa == 0) {
word_bit = MODAL_GROUP_G3;
gc_block.modal.distance = int_value - 90;
} else {
word_bit = MODAL_GROUP_G4;
if ((mantissa != 10) || (int_value == 90)) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
// Otherwise, arc IJK incremental mode is default. G91.1 does nothing.
}
break;
case 93: case 94:
word_bit = MODAL_GROUP_G5;
gc_block.modal.feed_rate = 94 - int_value;
break;
case 20: case 21:
word_bit = MODAL_GROUP_G6;
gc_block.modal.units = 21 - int_value;
break;
case 40:
word_bit = MODAL_GROUP_G7;
// NOTE: Not required since cutter radius compensation is always disabled. Only here
// to support G40 commands that often appear in g-code program headers to setup defaults.
// gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
break;
case 43: case 49:
word_bit = MODAL_GROUP_G8;
// NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
// there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
// all are explicit axis commands, regardless if they require axis words or not.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] }
axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET;
if (int_value == 49) { // G49
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
} else if (mantissa == 10) { // G43.1
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC;
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 54: case 55: case 56: case 57: case 58: case 59:
// NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)
word_bit = MODAL_GROUP_G12;
gc_block.modal.coord_select = int_value - 54; // Shift to array indexing.
break;
case 61:
word_bit = MODAL_GROUP_G13;
if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported]
// gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
command_words |= bit(word_bit);
break;
Ora questi codici servono per generare i comandi G e fare determinate cose, ma non ci sta un comando software che mi permette di usarli?
Nicola