Update 2020-07-10

Author: HuttonGe

README.md

@@ -1,10 +1,12 @@
 # Swift Pro Firmware V4.6.0 (Base on [Grbl v0.9j](https://github.com/grbl/grbl) )
 
 ----------
-## Update Summary for v4.6.0
-
-* Fixed air pump control delay problem
+## Update Summary for v4.7.0
 
+* Add M2211 cmd to read external EEPROM
+* Add M2212 cmd to write external EEPROM
+* Add P2244 cmd to get the communication status of AS5600
+* Fix read bug of work mode
 
 ## Caution
 #### The current firmware is not perfect and will be updated periodically

doc/uArm Swift Pro Protocol V4.0.4_cn.pdf

@@ -118,7 +118,6 @@ uint8_t gc_execute_line(char *line)
     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]
-
     // Convert values to smaller uint8 significand and mantissa values for parsing this word.
     // NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more 
     // accurate than the NIST gcode requirement of x10 when used for commands, but not quite
@@ -371,7 +370,8 @@ uint8_t gc_execute_line(char *line)
           case 'T': word_bit = WORD_T; break; // gc.values.t = int_value;
           case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
           case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
-          case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
+          case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); 
+						break;
           default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
         } 
 
@@ -626,8 +626,8 @@ uint8_t gc_execute_line(char *line)
               if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
                 // Apply coordinate offsets based on distance mode.
                 if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
-                  gc_block.values.xyz[idx] += coordinate_data[idx] + gc_state.coord_offset[idx];
-                  if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }
+//                  gc_block.values.xyz[idx] += coordinate_data[idx] + gc_state.coord_offset[idx];
+                  if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }										
                 } else {  // Incremental mode
                   gc_block.values.xyz[idx] += gc_state.position[idx];
                 }
@@ -985,11 +985,11 @@ uint8_t gc_execute_line(char *line)
   if (gc_state.modal.motion != MOTION_MODE_NONE) {
     if (axis_command == AXIS_COMMAND_MOTION_MODE) {
       switch (gc_state.modal.motion) {
-        case MOTION_MODE_SEEK:
+        case MOTION_MODE_SEEK:;
           #ifdef USE_LINE_NUMBERS
             rtn_res = (uint8_t)mc_line(MOTION_MODE_SEEK, gc_block.values.xyz, gc_state.feed_rate, false, gc_state.line_number);
-          #else
-            rtn_res = (uint8_t)mc_line(MOTION_MODE_SEEK, gc_block.values.xyz, gc_state.feed_rate, false);
+          #else					
+            rtn_res = (uint8_t)mc_line(MOTION_MODE_SEEK, gc_block.values.xyz, gc_state.feed_rate, false);						
           #endif
           break;
         case MOTION_MODE_LINEAR:

doc/uArm Swift Pro Protocol V4.0.4_en.pdf

@@ -71,13 +71,13 @@
 	coord_effect2arm( &x, &y, &z );                               // calculate the arm current coord
 	coord_to_angle( x, y, z,																			
 									&final_angle[X_AXIS], &final_angle[Y_AXIS], &final_angle[Z_AXIS] ); // calculate final angle
-/*
-	char l_str[20], r_str[20], b_str[20];
-	dtostrf( final_angle[X_AXIS], 5, 4, l_str );
-	dtostrf( final_angle[Y_AXIS], 5, 4, r_str );
-	dtostrf( final_angle[Z_AXIS], 5, 4, b_str );
 
-	DB_PRINT_STR( "final_angle: %s, %s, %s\r\n", l_str, r_str, b_str );*/
+//	char l_str[20], r_str[20], b_str[20];
+//	dtostrf( final_angle[X_AXIS], 5, 4, l_str );
+//	dtostrf( final_angle[Y_AXIS], 5, 4, r_str );
+//	dtostrf( final_angle[Z_AXIS], 5, 4, b_str );
+
+//	DB_PRINT_STR( "final_angle: B%s L%s R%s\r\n", b_str, l_str, r_str );
 //	final_angle[X_AXIS] += 0.15;
 //	final_angle[Y_AXIS] -= 0.15;
 

doc/uArm Swift Pro Protocol V4.0.5_cn .pdf

@@ -86,10 +86,12 @@ void report_status_message(uint8_t status_code)
         case STATUS_GCODE_UNDEFINED_FEED_RATE:
         printPgmString(PSTR("Undefined feed rate")); break;
 
-				case STATUS_UARM_ERROR:
-					printString( "E21\n" );
-					break;
-					
+		case STATUS_UARM_ERROR:
+			printString( "E21\n" );
+		break;
+		case STATUS_ENCODER_ERROR:
+			printString("E26\n");
+		break;			
         default:
           // Remaining g-code parser errors with error codes
           printPgmString(PSTR("Invalid gcode ID:"));