GRBL学习(六)

GRBL学习

motion_control.c/.h

#ifndef motion_control_h
#define motion_control_h

// System motion commands must have a line number of zero.
#define HOMING_CYCLE_LINE_NUMBER 0
#define PARKING_MOTION_LINE_NUMBER 0

#define HOMING_CYCLE_ALL  0  // Must be zero.
#define HOMING_CYCLE_X    bit(X_AXIS)
#define HOMING_CYCLE_Y    bit(Y_AXIS)
#define HOMING_CYCLE_Z    bit(Z_AXIS)


// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
void mc_line(float *target, plan_line_data_t *pl_data);

// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
  uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);

// Dwell for a specific number of seconds
void mc_dwell(float seconds);

// Perform homing cycle to locate machine zero. Requires limit switches.
void mc_homing_cycle(uint8_t cycle_mask);

// Perform tool length probe cycle. Requires probe switch.
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags);

// Handles updating the override control state.
void mc_override_ctrl_update(uint8_t override_state);

// Plans and executes the single special motion case for parking. Independent of main planner buffer.
void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);

// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset();

这两个文件主要是实现电机运动控制的，头文件中，包含回零设置的宏。

主要来看看这个函数，

void mc_line(float *target, plan_line_data_t *pl_data)
{
  // If enabled, check for soft limit violations. Placed here all line motions are picked up
  // from everywhere in Grbl.
  if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
    // NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
    if (sys.state != STATE_JOG) { limits_soft_check(target); }
  }

  // If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
  if (sys.state == STATE_CHECK_MODE) { return; }
  
  do {
    protocol_execute_realtime(); // Check for any run-time commands
    if (sys.abort) { return; } // Bail, if system abort.
    if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
    else { break; }
  } while (1);

  // Plan and queue motion into planner buffer
  if (plan_buffer_line(target, pl_data) == PLAN_EMPTY_BLOCK) {
    if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
      // Correctly set spindle state, if there is a coincident position passed. Forces a buffer
      // sync while in M3 laser mode only.
      if (pl_data->condition & PL_COND_FLAG_SPINDLE_CW) {
        spindle_sync(PL_COND_FLAG_SPINDLE_CW, pl_data->spindle_speed);
      }
    }
  }
}

这个函数是解析机器走一行的：

• 开始会先检查软限位是不是开了，开了之后会检查是否触发到软限位。
• 检查当前系统状态，当发现系统正在解析东西时，会退出当前工作。
• 开始循环工作，先检测是不是实时指令，是实时指令的先执行实时指令。
• 检查环形缓冲区是否为空，为空就执行protocol_auto_cycle_start，否则退出当前循环。
• 解析完成的指令动作送进planner buffer，并且设置好激光头的当前功率。

这个函数之所以是核心，是因为其实GRBL的运动方式都是基本上就是直线运动，后面的函数如：mc_arc，这就是计算坐标点用的。换句话说，如果有了坐标点，那决定雕刻效果的，是不是就是运动模式了。

void mc_reset()
{
  // Only this function can set the system reset. Helps prevent multiple kill calls.
  if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
    system_set_exec_state_flag(EXEC_RESET);

    // Kill spindle and coolant.
    spindle_stop();
    coolant_stop();

    // Kill steppers only if in any motion state, i.e. cycle, actively holding, or homing.
    // NOTE: If steppers are kept enabled via the step idle delay setting, this also keeps
    // the steppers enabled by avoiding the go_idle call altogether, unless the motion state is
    // violated, by which, all bets are off.
    if ((sys.state & (STATE_CYCLE | STATE_HOMING | STATE_JOG)) ||
    		(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
      if (sys.state == STATE_HOMING) { 
        if (!sys_rt_exec_alarm) {system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
      } else { system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE); }
      st_go_idle(); // Force kill steppers. Position has likely been lost.
    }
  }
}                   

看看机器复位的时候，程序会优先判断标志，然后将激光头和冷却风扇关闭掉。值得一提的是，这并不是整个GRBL系统的复位，这只是一个机器运动的复位，其实说成停掉运动会更符合实际。它多数出现在限位的文件中以及串口的解析的文件中。