mirror
/
GRBL-Advanced
kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
1
0
Forkuj 0
Kod Zgłoszenia Packages Projekty Wydania Wiki Aktywność

Code formating

pull/89/head
Patrick Felixberger 2021-01-19 09:45:27 +01:00
rodzic 03926b5a3b
commit e50fcc46d0
48 zmienionych plików z 7047 dodań i 6018 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

13
GRBL_Advanced_F411RE.elay
Wyświetl plik

@ -1,9 +1,14 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<EmBitz_layout_file>
<ActiveTarget name="Release" />
<File name="grbl\Config.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<File name="grbl\Config.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1831" topLine="36" />
<Cursor1 position="1922" topLine="21" />
</Cursor>
</File>
<File name="grbl\defaults.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="0" topLine="0" />
</Cursor>
</File>
<File name="grbl\Nvm.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -13,7 +18,7 @@
</File>
<File name="grbl\Settings.c" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="6104" topLine="204" />
<Cursor1 position="2819" topLine="75" />
</Cursor>
</File>
<File name="grbl\SpindleControl.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -53,7 +58,7 @@
</File>
<File name="main.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1190" topLine="0" />
<Cursor1 position="0" topLine="0" />
</Cursor>
</File>
<File name="Src\Platform.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">

43
GRBL_Advanced_F446RE.elay
Wyświetl plik

@ -1,11 +1,16 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<EmBitz_layout_file>
<ActiveTarget name="Release" />
<File name="grbl\Config.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<File name="grbl\Config.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1842" topLine="12" />
</Cursor>
</File>
<File name="grbl\defaults.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="0" topLine="0" />
</Cursor>
</File>
<File name="grbl\Nvm.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1004" topLine="3" />
@ -33,12 +38,12 @@
</File>
<File name="HAL\STM32\stm32f4xx.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="7912" topLine="125" />
<Cursor1 position="7911" topLine="125" />
</Cursor>
</File>
<File name="HAL\STM32\system_stm32f4xx.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="8151" topLine="148" />
<Cursor1 position="8208" topLine="148" />
</Cursor>
</File>
<File name="HAL\TIM\TIM.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -46,39 +51,9 @@
<Cursor1 position="844" topLine="24" />
</Cursor>
</File>
<File name="HAL\USART\USART.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="3724" topLine="78" />
</Cursor>
</File>
<File name="main.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2440" topLine="48" />
</Cursor>
</File>
<File name="SPL\inc\stm32f4xx_flash.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1099" topLine="453" />
</Cursor>
</File>
<File name="SPL\src\stm32f4xx_flash.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1049" topLine="669" />
</Cursor>
</File>
<File name="SPL\src\stm32f4xx_pwr.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="42659" topLine="1003" />
</Cursor>
</File>
<File name="SPL\src\stm32f4xx_rcc.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="63062" topLine="1319" />
</Cursor>
</File>
<File name="SPL\src\stm32f4xx_usart.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="12891" topLine="290" />
<Cursor1 position="2685" topLine="12" />
</Cursor>
</File>
<File name="Src\Platform.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">

6
HAL/FLASH/eeprom.h
Wyświetl plik

@ -23,7 +23,11 @@
#include "stm32f4xx.h"
#define EEPROM_SIZE 1024
#ifdef USE_EXT_EEPROM
#define EEPROM_SIZE 1
#else
#define EEPROM_SIZE 1024
#endif
/* Device voltage range supposed to be [2.7V to 3.6V], the operation will be done by word */
#define VOLTAGE_RANGE (uint8_t)VoltageRange_3

32
HAL/System32.c
Wyświetl plik

@ -2,7 +2,7 @@
System32.c - System Implementation
Part of STM32F4_HAL
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
STM32F4_HAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -20,32 +20,32 @@
void SysTick_Init(void)
{
RCC_ClocksTypeDef RCC_Clocks;
RCC_ClocksTypeDef RCC_Clocks;
/* SysTick end of count event each 1ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
/* SysTick end of count event each 1ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 1000);
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 5, 5));
NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 5, 5));
}
// for 100 MHz STM32F411
#define COUNTS_PER_MICROSECOND 33
#define COUNTS_PER_MICROSECOND 33
void Delay_us(volatile uint32_t us)
{
volatile uint32_t count = us * COUNTS_PER_MICROSECOND - 2;
__asm volatile(" mov r0, %[count] \n\t"
"1: subs r0, #1 \n\t"
" bhi 1b \n\t"
:
: [count] "r" (count)
: "r0");
volatile uint32_t count = us * COUNTS_PER_MICROSECOND - 2;
__asm volatile(" mov r0, %[count] \n\t"
"1: subs r0, #1 \n\t"
" bhi 1b \n\t"
:
: [count] "r" (count)
: "r0");
}
void Delay_ms(volatile uint32_t ms)
{
while(ms--)
Delay_us(999);
while(ms--)
Delay_us(999);
}

20
HAL/System32.h
Wyświetl plik

@ -2,7 +2,7 @@
System32.h - System Header
Part of STM32F4_HAL
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
STM32F4_HAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -27,16 +27,18 @@ extern "C" {
#endif
typedef struct {
uint8_t Hours;
uint8_t Minutes;
uint8_t Seconds;
typedef struct
{
uint8_t Hours;
uint8_t Minutes;
uint8_t Seconds;
} Time_t;
typedef struct {
uint16_t Year;
uint8_t Month;
uint8_t Day;
typedef struct
{
uint16_t Year;
uint8_t Month;
uint8_t Day;
} Date_t;

2
HAL/TIM/TIM.c
Wyświetl plik

@ -97,7 +97,7 @@ void TIM3_Init(void)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Connect TIM pins to AF2 */

236
Libraries/CRC/CRC.c
Wyświetl plik

@ -30,162 +30,162 @@ static uint32_t CRC_ReverseBitOrder32(uint32_t value);
#if (CRC_8_MODE == TABLE)
static uint8_t CRC8Table[256u];
static uint8_t CRC8Table[256u];
#endif
#if (CRC_16_MODE == TABLE)
static uint16_t CRC16Table[256u];
static uint16_t CRC16Table[256u];
#endif
#if (CRC_32_MODE == TABLE)
static uint32_t CRC32Table[256u];
static uint32_t CRC32Table[256u];
#endif
void CRC_Init(void)
{
CRC_CalculateCRC8Table();
CRC_CalculateCRC16Table();
CRC_CalculateCRC32Table();
CRC_CalculateCRC8Table();
CRC_CalculateCRC16Table();
CRC_CalculateCRC32Table();
}
uint8_t CRC_CalculateCRC8(const uint8_t *Buffer, uint16_t Length)
{
uint8_t retVal = 0u;
uint16_t byteIndex = 0u;
uint8_t retVal = 0u;
uint16_t byteIndex = 0u;
if(Buffer != NULL)
if(Buffer != NULL)
{
#if (CRC_8_MODE == RUNTTIME)
uint8_t bitIndex = 0u;
uint8_t bitIndex = 0u;
retVal = CRC_8_INIT_VALUE;
retVal = CRC_8_INIT_VALUE;
/* Do calculation procedure for each byte */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
/* Do calculation procedure for each byte */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
{
/* XOR new byte with temp result */
retVal ^= (Buffer[byteIndex] << (CRC_8_RESULT_WIDTH - 8u));
/* XOR new byte with temp result */
retVal ^= (Buffer[byteIndex] << (CRC_8_RESULT_WIDTH - 8u));
/* Do calculation for current data */
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
/* Do calculation for current data */
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
{
if(retVal & (1u << (CRC_8_RESULT_WIDTH - 1u)))
if(retVal & (1u << (CRC_8_RESULT_WIDTH - 1u)))
{
retVal = (retVal << 1u) ^ CRC_8_POLYNOMIAL;
}
else
retVal = (retVal << 1u) ^ CRC_8_POLYNOMIAL;
}
else
{
retVal = (retVal << 1u);
}
}
}
retVal = (retVal << 1u);
}
}
}
/* XOR result with specified value */
retVal ^= CRC_8_XOR_VALUE;
/* XOR result with specified value */
retVal ^= CRC_8_XOR_VALUE;
#elif (CRC_8_MODE == TABLE)
retVal = CRC_8_INIT_VALUE;
retVal = CRC_8_INIT_VALUE;
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
{
retVal = CRC8Table[(retVal) ^ Buffer[byteIndex]];
}
retVal = CRC8Table[(retVal) ^ Buffer[byteIndex]];
}
/* XOR result with specified value */
retVal ^= CRC_8_XOR_VALUE;
/* XOR result with specified value */
retVal ^= CRC_8_XOR_VALUE;
#else
/* Mode not implemented */
retVal = 0x00u;
/* Mode not implemented */
retVal = 0x00u;
#endif
}
}
return retVal;
return retVal;
}
uint16_t CRC_CalculateCRC16(const uint8_t *Buffer, uint16_t Length)
{
uint16_t retVal = 0u;
uint16_t byteIndex = 0u;
uint16_t retVal = 0u;
uint16_t byteIndex = 0u;
if(Buffer != NULL)
{
#if (CRC_16_MODE==RUNTTIME)
retVal = CRC_16_INIT_VALUE;
retVal = CRC_16_INIT_VALUE;
/* Do calculation procedure for each byte */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
/* Do calculation procedure for each byte */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
{
/* XOR new byte with temp result */
retVal ^= (Buffer[byteIndex] << (CRC_16_RESULT_WIDTH - 8u));
/* XOR new byte with temp result */
retVal ^= (Buffer[byteIndex] << (CRC_16_RESULT_WIDTH - 8u));
uint8_t bitIndex = 0u;
/* Do calculation for current data */
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
/* Do calculation for current data */
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
{
if(retVal & (1u << (CRC_16_RESULT_WIDTH - 1u)))
if(retVal & (1u << (CRC_16_RESULT_WIDTH - 1u)))
{
retVal = (retVal << 1u) ^ CRC_16_POLYNOMIAL;
}
else
retVal = (retVal << 1u) ^ CRC_16_POLYNOMIAL;
}
else
{
retVal = (retVal << 1u);
}
}
}
retVal = (retVal << 1u);
}
}
}
/* XOR result with specified value */
retVal ^= CRC_16_XOR_VALUE;
/* XOR result with specified value */
retVal ^= CRC_16_XOR_VALUE;
#elif (CRC_16_MODE==TABLE)
retVal = CRC_16_INIT_VALUE;
retVal = CRC_16_INIT_VALUE;
/* Update the CRC using the data */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
/* Update the CRC using the data */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
{
retVal = (retVal << 8u) ^ CRC16Table[(retVal >> 8u) ^ Buffer[byteIndex]];
}
retVal = (retVal << 8u) ^ CRC16Table[(retVal >> 8u) ^ Buffer[byteIndex]];
}
/* XOR result with specified value */
retVal ^= CRC_16_XOR_VALUE;
/* XOR result with specified value */
retVal ^= CRC_16_XOR_VALUE;
#else
/* Mode not implemented */
retVal = 0x0000u;
/* Mode not implemented */
retVal = 0x0000u;
#endif
}
}
return retVal;
return retVal;
}
uint32_t CRC_CalculateCRC32(const uint8_t *Buffer, uint16_t Length)
{
uint32_t retVal = 0u;
uint16_t byteIndex = 0u;
uint32_t retVal = 0u;
uint16_t byteIndex = 0u;
if(Buffer != NULL)
if(Buffer != NULL)
{
#if (CRC_32_MODE==RUNTTIME)
retVal = CRC_32_INIT_VALUE;
retVal = CRC_32_INIT_VALUE;
/* Do calculation procedure for each byte */
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
for(byteIndex = 0u; byteIndex < Length; byteIndex++)
{
/* XOR new byte with temp result */
retVal ^= (CRC_ReverseBitOrder8(Buffer[byteIndex]) << (CRC_32_RESULT_WIDTH - 8u));
uint8_t bitIndex = 0u;
/* Do calculation for current data */
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
for(bitIndex = 0u; bitIndex < 8u; bitIndex++)
{
if(retVal & (1u << (CRC_32_RESULT_WIDTH - 1u)))
{
@ -199,59 +199,59 @@ uint32_t CRC_CalculateCRC32(const uint8_t *Buffer, uint16_t Length)
}
/* XOR result with specified value */
retVal ^= CRC_32_XOR_VALUE;
retVal ^= CRC_32_XOR_VALUE;
#elif (CRC_32_MODE==TABLE)
uint8_t data = 0u;
retVal = CRC_32_INIT_VALUE;
retVal = CRC_32_INIT_VALUE;
for(byteIndex = 0u; byteIndex < Length; ++byteIndex)
for(byteIndex = 0u; byteIndex < Length; ++byteIndex)
{
data = CRC_ReverseBitOrder8(Buffer[byteIndex]) ^ (retVal >> (CRC_32_RESULT_WIDTH - 8u));
retVal = CRC32Table[data] ^ (retVal << 8u);
}
/* XOR result with specified value */
retVal ^= CRC_32_XOR_VALUE;
/* XOR result with specified value */
retVal ^= CRC_32_XOR_VALUE;
#else
/* Mode not implemented */
retVal = 0x00000000u;
/* Mode not implemented */
retVal = 0x00000000u;
#endif
}
}
/* Reflect result */
retVal = CRC_ReverseBitOrder32(retVal);
return retVal;
return retVal;
}
static void CRC_CalculateCRC8Table(void)
{
#if (CRC_8_MODE==TABLE)
uint16_t i = 0u, j = 0u;
uint16_t i = 0u, j = 0u;
for(i = 0u; i < 256u; ++i)
{
uint8_t curr = i;
for(i = 0u; i < 256u; ++i)
{
uint8_t curr = i;
for(j = 0u; j < 8u; ++j)
{
if((curr & 0x80u) != 0u)
{
curr = (curr << 1u) ^ CRC_8_POLYNOMIAL;
}
else
{
curr <<= 1u;
}
}
for(j = 0u; j < 8u; ++j)
{
if((curr & 0x80u) != 0u)
{
curr = (curr << 1u) ^ CRC_8_POLYNOMIAL;
}
else
{
curr <<= 1u;
}
}
CRC8Table[i] = curr;
}
CRC8Table[i] = curr;
}
#endif
}
@ -259,29 +259,29 @@ static void CRC_CalculateCRC8Table(void)
static void CRC_CalculateCRC16Table(void)
{
#if (CRC_16_MODE==TABLE)
uint16_t i = 0u, j = 0u;
uint16_t result = 0u;
uint16_t xor_flag = 0u;
uint16_t i = 0u, j = 0u;
uint16_t result = 0u;
uint16_t xor_flag = 0u;
for(i = 0u; i < 256u; i++)
{
result = i << 8u;
for(i = 0u; i < 256u; i++)
{
result = i << 8u;
for(j = 0u; j < 8u; j++)
{
/* Flag for XOR if leftmost bit is set */
xor_flag = result & 0x8000u;
for(j = 0u; j < 8u; j++)
{
/* Flag for XOR if leftmost bit is set */
xor_flag = result & 0x8000u;
/* Shift CRC */
result <<= 1u;
/* Shift CRC */
result <<= 1u;
/* Perform the XOR */
if(xor_flag != 0u)
result ^= CRC_16_POLYNOMIAL;
}
/* Perform the XOR */
if(xor_flag != 0u)
result ^= CRC_16_POLYNOMIAL;
}
CRC16Table[i] = result;
}
CRC16Table[i] = result;
}
#endif
}
@ -331,7 +331,7 @@ static uint32_t CRC_ReverseBitOrder32(uint32_t value)
{
reversed |= (value & 1u) << i;
value >>= 1u;
-- i;
--i;
}
return reversed;

18
Libraries/CRC/CRC.h
Wyświetl plik

@ -27,31 +27,31 @@ extern "C" {
#endif
#define RUNTTIME 0
#define TABLE 1
#define HARDWARE 2
#define RUNTTIME 0
#define TABLE 1
#define HARDWARE 2
/* ---------- Defines for 8-bit SAE J1850 CRC calculation (Not reflected) ------------------------------------------------------- */
/* ---------- Defines for 8-bit SAE J1850 CRC calculation (Not reflected) ------------------------------------------------------- */
#define CRC_8_RESULT_WIDTH 8u
#define CRC_8_POLYNOMIAL 0x1Du
#define CRC_8_INIT_VALUE 0xFFu
#define CRC_8_XOR_VALUE 0xFFu
#define CRC_8_MODE TABLE
#define CRC_8_MODE TABLE
/* ---------- Defines for 16-bit CCITT CRC calculation (Not reflected) ---------------------------------------------------------- */
/* ---------- Defines for 16-bit CCITT CRC calculation (Not reflected) ---------------------------------------------------------- */
#define CRC_16_RESULT_WIDTH 16u
#define CRC_16_POLYNOMIAL 0x1021u
#define CRC_16_INIT_VALUE 0xFFFFu
#define CRC_16_XOR_VALUE 0x0000u
#define CRC_16_MODE RUNTTIME
#define CRC_16_MODE RUNTTIME
/* ---------- Defines for 32-bit CCITT CRC calculation (Reflected) -------------------------------------------------------------- */
/* ---------- Defines for 32-bit CCITT CRC calculation (Reflected) -------------------------------------------------------------- */
#define CRC_32_RESULT_WIDTH 32u
#define CRC_32_POLYNOMIAL 0x04C11DB7u
#define CRC_32_INIT_VALUE 0xFFFFFFFFu
#define CRC_32_XOR_VALUE 0xFFFFFFFFu
#define CRC_32_MODE RUNTTIME
#define CRC_32_MODE RUNTTIME

14
Src/M24C0X.c
Wyświetl plik

@ -38,14 +38,14 @@ void M24C0X_Init(void)
// Initialize write protection pin
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Enable write protection
GPIO_SetBits(GPIOB, GPIO_Pin_12);
GPIO_SetBits(GPIOB, GPIO_Pin_12);
I2C_Mode_t mode = {I2C_SPEED, I2C_Mode_I2C, I2C_Ack_Enable};
I2C_Initialize(M24C0X_I2C, &mode);
@ -170,7 +170,7 @@ uint8_t M24C0X_WriteByteArray(uint16_t addr, uint8_t *pData, uint16_t len)
static void M24C0X_WriteProtection(uint8_t enable)
{
__ASM("nop");
__ASM("nop");
if(enable)
{

26
Src/Platform.h
Wyświetl plik

@ -6,41 +6,41 @@
//---- I2C ----//
#define EEPROM_I2C I2C1
#define EEPROM_I2C I2C1
//---- SPI ----//
#define SPI_W5500 SPI3
#define SPI_W5500 SPI3
//---- USART ----//
// Number of used USARTs on this device
//#define USART_NUM 2
//#define USART_NUM 2
// Numerate available USARTs in ascending order
//#define USART1_NUM 0
//#define USART2_NUM 1
//#define USART6_NUM 2
//#define USART1_NUM 0
//#define USART2_NUM 1
//#define USART6_NUM 2
// USART used for Printf(...)
#define STDOUT USART2
#define STDOUT_NUM USART2_NUM
//#define STDOUT_BAUD 115200
#define STDOUT USART2
#define STDOUT_NUM USART2_NUM
//#define STDOUT_BAUD 115200
//---- Defines ----//
// Direction definitions
#define FIFO_DIR_RX 0
#define FIFO_DIR_TX 1
#define FIFO_DIR_RX 0
#define FIFO_DIR_TX 1
// Communication interface
// Comment out to use serial interface
//#define ETH_IF
#define ETH_SOCK 0
#define ETH_PORT 30501
#define ETH_SOCK 0
#define ETH_PORT 30501
#endif /* PLATFORM_H_INCLUDED */

131
Src/Print.c
Wyświetl plik

@ -20,20 +20,20 @@ static uint16_t buf_idx = 0;
void Print_Init(void)
{
Usart_Init(STDOUT, BAUD_RATE);
Usart_Init(STDOUT, BAUD_RATE);
}
int Printf(const char *str, ...)
{
char buffer[MAX_BUFFER_SIZE];
uint8_t idx = 0;
char buffer[MAX_BUFFER_SIZE];
uint8_t idx = 0;
va_list vl;
va_start(vl, str);
int i = vsnprintf(buffer, MAX_BUFFER_SIZE, str, vl);
va_list vl;
va_start(vl, str);
int i = vsnprintf(buffer, MAX_BUFFER_SIZE, str, vl);
if(i > MAX_BUFFER_SIZE)
if(i > MAX_BUFFER_SIZE)
{
i = MAX_BUFFER_SIZE;
}
@ -48,17 +48,18 @@ int Printf(const char *str, ...)
va_end(vl);
// Return number of sent bytes
return idx;
return idx;
}
int8_t Getc(char *c)
{
if(FifoUsart_Get(STDOUT_NUM, USART_DIR_RX, c) == 0) {
return 0;
}
if(FifoUsart_Get(STDOUT_NUM, USART_DIR_RX, c) == 0)
{
return 0;
}
return -1;
return -1;
}
@ -67,7 +68,7 @@ int Putc(const char c)
buf[buf_idx++] = c;
//Usart_Put(STDOUT, false, c);
return 0;
return 0;
}
@ -103,48 +104,56 @@ void Print_Flush(void)
// techniques are actually just slightly slower. Found this out the hard way.
void PrintFloat(float n, uint8_t decimal_places)
{
if(n < 0) {
Putc('-');
n = -n;
}
if(n < 0)
{
Putc('-');
n = -n;
}
uint8_t decimals = decimal_places;
uint8_t decimals = decimal_places;
while(decimals >= 2) { // Quickly convert values expected to be E0 to E-4.
n *= 100;
decimals -= 2;
}
while(decimals >= 2) // Quickly convert values expected to be E0 to E-4.
{
n *= 100;
decimals -= 2;
}
if(decimals) {
n *= 10;
}
n += 0.5; // Add rounding factor. Ensures carryover through entire value.
if(decimals)
{
n *= 10;
}
n += 0.5; // Add rounding factor. Ensures carryover through entire value.
// Generate digits backwards and store in string.
unsigned char buf[13];
uint8_t i = 0;
uint32_t a = (long)n;
// Generate digits backwards and store in string.
unsigned char buf[13];
uint8_t i = 0;
uint32_t a = (long)n;
while(a > 0) {
buf[i++] = (a % 10) + '0'; // Get digit
a /= 10;
}
while(a > 0)
{
buf[i++] = (a % 10) + '0'; // Get digit
a /= 10;
}
while(i < decimal_places) {
buf[i++] = '0'; // Fill in zeros to decimal point for (n < 1)
}
while(i < decimal_places)
{
buf[i++] = '0'; // Fill in zeros to decimal point for (n < 1)
}
if(i == decimal_places) { // Fill in leading zero, if needed.
buf[i++] = '0';
}
if(i == decimal_places) // Fill in leading zero, if needed.
{
buf[i++] = '0';
}
// Print the generated string.
for(; i > 0; i--) {
if(i == decimal_places) {
Putc('.');
} // Insert decimal point in right place.
Putc(buf[i-1]);
}
// Print the generated string.
for(; i > 0; i--)
{
if(i == decimal_places)
{
Putc('.');
} // Insert decimal point in right place.
Putc(buf[i-1]);
}
}
@ -154,21 +163,25 @@ void PrintFloat(float n, uint8_t decimal_places)
// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
void PrintFloat_CoordValue(float n)
{
if(BIT_IS_TRUE(settings.flags, BITFLAG_REPORT_INCHES)) {
PrintFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH);
}
else {
PrintFloat(n, N_DECIMAL_COORDVALUE_MM);
}
if(BIT_IS_TRUE(settings.flags, BITFLAG_REPORT_INCHES))
{
PrintFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH);
}
else
{
PrintFloat(n, N_DECIMAL_COORDVALUE_MM);
}
}
void PrintFloat_RateValue(float n)
{
if(BIT_IS_TRUE(settings.flags, BITFLAG_REPORT_INCHES)) {
PrintFloat(n*INCH_PER_MM,N_DECIMAL_RATEVALUE_INCH);
}
else {
PrintFloat(n, N_DECIMAL_RATEVALUE_MM);
}
if(BIT_IS_TRUE(settings.flags, BITFLAG_REPORT_INCHES))
{
PrintFloat(n*INCH_PER_MM,N_DECIMAL_RATEVALUE_INCH);
}
else
{
PrintFloat(n, N_DECIMAL_RATEVALUE_MM);
}
}

179
grbl/Config.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -28,8 +28,8 @@
#define CONFIG_H
#define GRBL_VERSION "1.1"
#define GRBL_VERSION_BUILD __DATE__
#define GRBL_VERSION "1.1i"
#define GRBL_VERSION_BUILD __DATE__
// Define CPU pin map and default settings.
@ -38,10 +38,9 @@
// If doing so, simply comment out these two defines and see instructions below.
#define DEFAULTS_GENERIC
// Serial baud rate
#define BAUD_RATE 115200
//#define BAUD_RATE 230400
#define BAUD_RATE 115200
//#define BAUD_RATE 230400
// Uncomment to use external I2C EEPROM
@ -57,12 +56,12 @@
// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
// g-code programs, maybe selected for interface programs.
// NOTE: If changed, manually update help message in report.c.
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_RESET_HARD 0x19 // ctrl-y.
#define CMD_STATUS_REPORT '?'
#define CMD_CYCLE_START '~'
#define CMD_FEED_HOLD '!'
#define CMD_STEPPER_DISABLE 0x17
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_RESET_HARD 0x19 // ctrl-y.
#define CMD_STATUS_REPORT '?'
#define CMD_CYCLE_START '~'
#define CMD_FEED_HOLD '!'
#define CMD_STEPPER_DISABLE 0x17
// NOTE: All override realtime commands must be in the extended ASCII character set, starting
@ -73,32 +72,32 @@
// #define CMD_STATUS_REPORT 0x81
// #define CMD_CYCLE_START 0x82
// #define CMD_FEED_HOLD 0x83
#define CMD_SAFETY_DOOR 0x84
#define CMD_JOG_CANCEL 0x85
#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
#define CMD_FEED_OVR_RESET 0x90 // Restores feed override value to 100%.
#define CMD_FEED_OVR_COARSE_PLUS 0x91
#define CMD_FEED_OVR_COARSE_MINUS 0x92
#define CMD_FEED_OVR_FINE_PLUS 0x93
#define CMD_FEED_OVR_FINE_MINUS 0x94
#define CMD_RAPID_OVR_RESET 0x95 // Restores rapid override value to 100%.
#define CMD_RAPID_OVR_MEDIUM 0x96
#define CMD_RAPID_OVR_LOW 0x97
//#define CMD_RAPID_OVR_EXTRA_LOW 0x98 // *NOT SUPPORTED*
#define CMD_SPINDLE_OVR_RESET 0x99 // Restores spindle override value to 100%.
#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A
#define CMD_SPINDLE_OVR_COARSE_MINUS 0x9B
#define CMD_SPINDLE_OVR_FINE_PLUS 0x9C
#define CMD_SPINDLE_OVR_FINE_MINUS 0x9D
#define CMD_SPINDLE_OVR_STOP 0x9E
#define CMD_COOLANT_FLOOD_OVR_TOGGLE 0xA0
#define CMD_COOLANT_MIST_OVR_TOGGLE 0xA1
#define CMD_SAFETY_DOOR 0x84
#define CMD_JOG_CANCEL 0x85
#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
#define CMD_FEED_OVR_RESET 0x90 // Restores feed override value to 100%.
#define CMD_FEED_OVR_COARSE_PLUS 0x91
#define CMD_FEED_OVR_COARSE_MINUS 0x92
#define CMD_FEED_OVR_FINE_PLUS 0x93
#define CMD_FEED_OVR_FINE_MINUS 0x94
#define CMD_RAPID_OVR_RESET 0x95 // Restores rapid override value to 100%.
#define CMD_RAPID_OVR_MEDIUM 0x96
#define CMD_RAPID_OVR_LOW 0x97
//#define CMD_RAPID_OVR_EXTRA_LOW 0x98 // *NOT SUPPORTED*
#define CMD_SPINDLE_OVR_RESET 0x99 // Restores spindle override value to 100%.
#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A
#define CMD_SPINDLE_OVR_COARSE_MINUS 0x9B
#define CMD_SPINDLE_OVR_FINE_PLUS 0x9C
#define CMD_SPINDLE_OVR_FINE_MINUS 0x9D
#define CMD_SPINDLE_OVR_STOP 0x9E
#define CMD_COOLANT_FLOOD_OVR_TOGGLE 0xA0
#define CMD_COOLANT_MIST_OVR_TOGGLE 0xA1
// If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
// the user to perform the homing cycle (or override the locks) before doing anything else. This is
// mainly a safety feature to remind the user to home, since position is unknown to Grbl.
#define HOMING_INIT_LOCK // Comment to disable
#define HOMING_INIT_LOCK // Comment to disable
// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
@ -116,21 +115,21 @@
// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
// will not be affected by pin sharing.
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
// NOTE: The following are two examples to setup homing for 2-axis machines.
//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS)) // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle.
//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS)) // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle.
//#define HOMING_CYCLE_0 (1<<X_AXIS) // COREXY COMPATIBLE: First home X
//#define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
//#define HOMING_CYCLE_0 (1<<X_AXIS) // COREXY COMPATIBLE: First home X
//#define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
// Number of homing cycles performed after when the machine initially jogs to limit switches.
// This help in preventing overshoot and should improve repeatability. This value should be one or
// greater.
#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
// Enables single axis homing commands. $HX, $HY, and $HZ for X, Y, and Z-axis homing. The full homing
@ -148,8 +147,8 @@
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
// parser state depending on user preferences.
#define N_STARTUP_LINE 0 // Integer (1-2)
#define STARTUP_LINE_LEN 80
#define N_STARTUP_LINE 0 // Integer (1-2)
#define STARTUP_LINE_LEN 80
// Number of floating decimal points printed by Grbl for certain value types. These settings are
@ -157,12 +156,12 @@
// values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
// precise this. So, there is likely no need to change these, but you can if you need to here.
// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values
#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min.
#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values
#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min.
// If your machine has two limits switches wired in parallel to one axis, you will need to enable
@ -188,8 +187,8 @@
// After the safety door switch has been toggled and restored, this setting sets the power-up delay
// between restoring the spindle and coolant and resuming the cycle.
#define SAFETY_DOOR_SPINDLE_DELAY 2.0 // Float (seconds)
#define SAFETY_DOOR_COOLANT_DELAY 1.0 // Float (seconds)
#define SAFETY_DOOR_SPINDLE_DELAY 2.0 // Float (seconds)
#define SAFETY_DOOR_COOLANT_DELAY 1.0 // Float (seconds)
// Enable CoreXY kinematics. Use ONLY with CoreXY machines.
@ -208,7 +207,7 @@
// will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
// normally-open(NO) and normally-closed(NC) switches installed on their machine.
// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
//#define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
//#define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
@ -247,22 +246,22 @@
// Configure rapid, feed, and spindle override settings. These values define the max and min
// allowable override values and the coarse and fine increments per command received. Please
// note the allowable values in the descriptions following each define.
#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-255). Usually 120% or 200%
#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-255). Usually 120% or 200%
#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
//#define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
//#define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
#define DEFAULT_SPINDLE_SPEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_SPINDLE_SPEED_OVERRIDE 200 // Percent of programmed spindle speed (100-255). Usually 200%.
#define MIN_SPINDLE_SPEED_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_SPINDLE_SPEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_SPINDLE_SPEED_OVERRIDE 200 // Percent of programmed spindle speed (100-255). Usually 200%.
#define MIN_SPINDLE_SPEED_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
// When a M2 or M30 program end command is executed, most g-code states are restored to their defaults.
@ -294,10 +293,10 @@
// refreshes more often when its not doing anything important. With a good GUI, this data doesn't need
// to be refreshed very often, on the order of a several seconds.
// NOTE: WCO refresh must be 2 or greater. OVR refresh must be 1 or greater.
#define REPORT_OVR_REFRESH_BUSY_COUNT 20 // (1-255)
#define REPORT_OVR_REFRESH_IDLE_COUNT 10 // (1-255) Must be less than or equal to the busy count
#define REPORT_WCO_REFRESH_BUSY_COUNT 30 // (2-255)
#define REPORT_WCO_REFRESH_IDLE_COUNT 10 // (2-255) Must be less than or equal to the busy count
#define REPORT_OVR_REFRESH_BUSY_COUNT 20 // (1-255)
#define REPORT_OVR_REFRESH_IDLE_COUNT 10 // (1-255) Must be less than or equal to the busy count
#define REPORT_WCO_REFRESH_BUSY_COUNT 30 // (2-255)
#define REPORT_WCO_REFRESH_IDLE_COUNT 10 // (2-255) Must be less than or equal to the busy count
// The temporal resolution of the acceleration management subsystem. A higher number gives smoother
@ -307,14 +306,14 @@
// NOTE: Changing this value also changes the execution time of a segment in the step segment buffer.
// When increasing this value, this stores less overall time in the segment buffer and vice versa. Make
// certain the step segment buffer is increased/decreased to account for these changes.
#define ACCELERATION_TICKS_PER_SECOND 210
#define ACCELERATION_TICKS_PER_SECOND 210
// Sets the maximum step rate allowed to be written as a Grbl setting. This option enables an error
// check in the settings module to prevent settings values that will exceed this limitation. The maximum
// step rate is strictly limited by the CPU speed and will change if something other than an AVR running
// at 16MHz is used.
#define MAX_STEP_RATE_HZ 120000 // Hz
#define MAX_STEP_RATE_HZ 120000 // Hz
// By default, Grbl sets all input pins to normal-high operation with their internal pull-up resistors
@ -338,7 +337,7 @@
// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
// the selected axis with the tool oriented toward the negative direction. In other words, a positive
// tool length offset value is subtracted from the current location.
#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
// Enables variable spindle output voltage for different RPM values. On the Arduino Uno, the spindle
@ -385,21 +384,21 @@
// limits or angle between neighboring block line move directions. This is useful for machines that can't
// tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value
// should not be much greater than zero or to the minimum value necessary for the machine to work.
#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
// Sets the minimum feed rate the planner will allow. Any value below it will be set to this minimum
// value. This also ensures that a planned motion always completes and accounts for any floating-point
// round-off errors. Although not recommended, a lower value than 1.0 mm/min will likely work in smaller
// machines, perhaps to 0.1mm/min, but your success may vary based on multiple factors.
#define MINIMUM_FEED_RATE 1.0 // (mm/min)
#define MINIMUM_FEED_RATE 1.0 // (mm/min)
// Number of arc generation iterations by small angle approximation before exact arc trajectory
// correction with expensive sin() and cos() calcualtions. This parameter maybe decreased if there
// are issues with the accuracy of the arc generations, or increased if arc execution is getting
// bogged down by too many trig calculations.
#define N_ARC_CORRECTION 4 // Integer (1-255)
#define N_ARC_CORRECTION 4 // Integer (1-255)
// The arc G2/3 g-code standard is problematic by definition. Radius-based arcs have horrible numerical
@ -410,7 +409,7 @@
// This define value sets the machine epsilon cutoff to determine if the arc is a full-circle or not.
// NOTE: Be very careful when adjusting this value. It should always be greater than 1.2e-7 but not too
// much greater than this. The default setting should capture most, if not all, full arc error situations.
#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
// Time delay increments performed during a dwell. The default value is set at 50ms, which provides
@ -418,7 +417,7 @@
// this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of
// run-time command executions, like status reports, since these are performed between each dwell
// time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
// The number of linear motions in the planner buffer to be planned at any give time. The vast
@ -426,7 +425,7 @@
// available RAM, like when re-compiling for a Mega2560. Or decrease if the Arduino begins to
// crash due to the lack of available RAM or if the CPU is having trouble keeping up with planning
// new incoming motions as they are executed.
#define BLOCK_BUFFER_SIZE 64 // Uncomment to override default in planner.h.
#define BLOCK_BUFFER_SIZE 64 // Uncomment to override default in planner.h.
// Governs the size of the intermediary step segment buffer between the step execution algorithm
@ -435,7 +434,7 @@
// block velocity profile is traced exactly. The size of this buffer governs how much step
// execution lead time there is for other Grbl processes have to compute and do their thing
// before having to come back and refill this buffer, currently at ~50msec of step moves.
#define SEGMENT_BUFFER_SIZE 32 // Uncomment to override default in stepper.h.
#define SEGMENT_BUFFER_SIZE 32 // Uncomment to override default in stepper.h.
// Line buffer size from the serial input stream to be executed. Also, governs the size of
@ -446,7 +445,7 @@
// can be too small and g-code blocks can get truncated. Officially, the g-code standards
// support up to 256 characters. In future versions, this default will be increased, when
// we know how much extra memory space we can re-invest into this.
#define LINE_BUFFER_SIZE 200 // Uncomment to override default in protocol.h
#define LINE_BUFFER_SIZE 200 // Uncomment to override default in protocol.h
// Serial send and receive buffer size. The receive buffer is often used as another streaming
@ -459,8 +458,8 @@
// 115200 will take 5 msec to transmit a typical 55 character report. Worst case reports are
// around 90-100 characters. As long as the serial TX buffer doesn't get continually maxed, Grbl
// will continue operating efficiently. Size the TX buffer around the size of a worst-case report.
//#define RX_BUFFER_SIZE 128 // (1-254) Uncomment to override defaults in serial.h
//#define TX_BUFFER_SIZE 100 // (1-254)
//#define RX_BUFFER_SIZE 128 // (1-254) Uncomment to override defaults in serial.h
//#define TX_BUFFER_SIZE 100 // (1-254)
// Configures the position after a probing cycle during Grbl's check mode. Disabled sets
@ -486,8 +485,8 @@
// uses the homing pull-off distance setting times the LOCATE_SCALAR to pull-off and re-engage
// the limit switch.
// NOTE: Both of these values must be greater than 1.0 to ensure proper function.
//#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Uncomment to override defaults in limits.c.
//#define HOMING_AXIS_LOCATE_SCALAR 10.0 // Uncomment to override defaults in limits.c.
//#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Uncomment to override defaults in limits.c.
//#define HOMING_AXIS_LOCATE_SCALAR 10.0 // Uncomment to override defaults in limits.c.
// Enable the '$RST=*', '$RST=$', and '$RST=#' eeprom restore commands. There are cases where
@ -505,7 +504,7 @@
// written into the Arduino EEPROM via a seperate .INO sketch to contain product data. Altering this
// macro to not restore the build info EEPROM will ensure this data is retained after firmware upgrades.
// NOTE: Uncomment to override defaults in settings.h
//#define SETTINGS_RESTORE_ALL (SETTINGS_RESTORE_DEFAULTS | SETTINGS_RESTORE_PARAMETERS | SETTINGS_RESTORE_STARTUP_LINES | SETTINGS_RESTORE_BUILD_INFO)
//#define SETTINGS_RESTORE_ALL (SETTINGS_RESTORE_DEFAULTS | SETTINGS_RESTORE_PARAMETERS | SETTINGS_RESTORE_STARTUP_LINES | SETTINGS_RESTORE_BUILD_INFO)
// Enable the '$I=(string)' build info write command. If disabled, any existing build info data must
@ -566,12 +565,12 @@
// Configure options for the parking motion, if enabled.
#define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
// Must be positive value or equal to zero.
#define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
// Must be positive value or equal to zero.
// Enables a special set of M-code commands that enables and disables the parking motion.

88
grbl/CoolantControl.c
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -28,8 +28,8 @@
void Coolant_Init(void)
{
GPIO_InitGPIO(GPIO_COOLANT);
Coolant_Stop();
GPIO_InitGPIO(GPIO_COOLANT);
Coolant_Stop();
}
@ -38,17 +38,17 @@ void Coolant_Init(void)
void Coolant_Stop(void)
{
#ifdef INVERT_COOLANT_FLOOD_PIN
GPIO_SetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
GPIO_SetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
#else
GPIO_ResetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
GPIO_ResetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
#endif
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
GPIO_SetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#else
GPIO_ResetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#endif
#ifdef INVERT_COOLANT_MIST_PIN
GPIO_SetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#else
GPIO_ResetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#endif
#endif
}
@ -56,27 +56,32 @@ void Coolant_Stop(void)
// Returns current coolant output state. Overrides may alter it from programmed state.
uint8_t Coolant_GetState(void)
{
uint8_t cl_state = COOLANT_STATE_DISABLE;
// TODO: Check if reading works
uint8_t cl_state = COOLANT_STATE_DISABLE;
// TODO: Check if reading works
#ifdef INVERT_COOLANT_FLOOD_PIN
if(!GPIO_ReadInputDataBit(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN)) {
if(!GPIO_ReadInputDataBit(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN))
{
#else
if(GPIO_ReadInputDataBit(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN)) {
if(GPIO_ReadInputDataBit(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN))
{
#endif
cl_state |= COOLANT_STATE_FLOOD;
}
cl_state |= COOLANT_STATE_FLOOD;
}
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
if(!GPIO_ReadInputDataBit(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN)) {
#else
if(GPIO_ReadInputDataBit(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN)) {
#endif
cl_state |= COOLANT_STATE_MIST;
}
#ifdef INVERT_COOLANT_MIST_PIN
if(!GPIO_ReadInputDataBit(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN))
{
#else
if(GPIO_ReadInputDataBit(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN))
{
#endif
cl_state |= COOLANT_STATE_MIST;
}
#endif
return cl_state;
return cl_state;
}
@ -86,19 +91,22 @@ uint8_t Coolant_GetState(void)
// parser program end, and g-code parser coolant_sync().
void Coolant_SetState(uint8_t mode)
{
if(sys.abort) {
// Block during abort.
return;
}
if(sys.abort)
{
// Block during abort.
return;
}
if (mode & COOLANT_FLOOD_ENABLE) {
if (mode & COOLANT_FLOOD_ENABLE)
{
#ifdef INVERT_COOLANT_FLOOD_PIN
GPIO_ResetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
#else
GPIO_SetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
#endif
}
else {
else
{
#ifdef INVERT_COOLANT_FLOOD_PIN
GPIO_SetBits(GPIO_COOL_FLOOD_PORT, GPIO_COOL_FLOOD_PIN);
#else
@ -107,13 +115,16 @@ void Coolant_SetState(uint8_t mode)
}
#ifdef ENABLE_M7
if (mode & COOLANT_MIST_ENABLE) {
if (mode & COOLANT_MIST_ENABLE)
{
#ifdef INVERT_COOLANT_MIST_PIN
GPIO_ResetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#else
GPIO_SetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#endif
} else {
}
else
{
#ifdef INVERT_COOLANT_MIST_PIN
GPIO_SetBits(GPIO_COOL_MIST_PORT, GPIO_COOL_MIST_PIN);
#else
@ -122,7 +133,7 @@ void Coolant_SetState(uint8_t mode)
}
#endif
sys.report_ovr_counter = 0; // Set to report change immediately
sys.report_ovr_counter = 0; // Set to report change immediately
}
@ -130,10 +141,11 @@ void Coolant_SetState(uint8_t mode)
// if an abort or check-mode is active.
void Coolant_Sync(uint8_t mode)
{
if(sys.state == STATE_CHECK_MODE) {
return;
}
if(sys.state == STATE_CHECK_MODE)
{
return;
}
Protocol_BufferSynchronize(); // Ensure coolant turns on when specified in program.
Coolant_SetState(mode);
Protocol_BufferSynchronize(); // Ensure coolant turns on when specified in program.
Coolant_SetState(mode);
}

12
grbl/CoolantControl.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -25,12 +25,12 @@
#include <stdint.h>
#define COOLANT_NO_SYNC false
#define COOLANT_FORCE_SYNC true
#define COOLANT_NO_SYNC false
#define COOLANT_FORCE_SYNC true
#define COOLANT_STATE_DISABLE 0 // Must be zero
#define COOLANT_STATE_FLOOD BIT(0)
#define COOLANT_STATE_MIST BIT(1)
#define COOLANT_STATE_DISABLE 0 // Must be zero
#define COOLANT_STATE_FLOOD BIT(0)
#define COOLANT_STATE_MIST BIT(1)
// Initializes coolant control pins.

2809
grbl/GCode.c
Wyświetl plik

Plik diff jest za duży Load Diff

248
grbl/GCode.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -33,26 +33,26 @@
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
// NOTE: Modal group define values must be sequential and starting from zero.
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G33,G38.2,G38.3,G38.4,G38.5,G76,G80,G81,G82,G83] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 6 // [G20,G21] Units
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_G13 10 // [G61] Control mode
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G33,G38.2,G38.3,G38.4,G38.5,G76,G80,G81,G82,G83] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 6 // [G20,G21] Units
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_G13 10 // [G61] Control mode
#define MODAL_GROUP_G10 11 // [G98, G99] Canned Cycles Return Mode
#define MODAL_GROUP_G14 12 // [G96, G97] Spindle Speed Mode
#define MODAL_GROUP_G15 13 // [G7, G8] Lathe Diameter Mode
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
#define MODAL_GROUP_M9 14 // [M56] Override control
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
#define MODAL_GROUP_M9 14 // [M56] Override control
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
@ -63,28 +63,28 @@
// to see how they are used, if you need to alter them.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
#define MOTION_MODE_DRILL 81 // G81
#define MOTION_MODE_DRILL_DWELL 82 // G82
#define MOTION_MODE_DRILL_PECK 83 // G83
@ -92,55 +92,55 @@
#define MOTION_MODE_THREADING 76 // G76
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
// Modal Group G4: Arc IJK distance mode
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
// Modal Group M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
// Modal Group G5: Feed rate mode
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
// Modal Group G7: Cutter radius compensation mode
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
// Modal Group G10: Canned Cycle Return Level
#define RETRACT_OLD_Z 0 // G98 (Default: Must be zero)
#define RETRACT_SPECIFIED_R 1
// Modal Group G13: Control mode
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
// Modal Group M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
// Modal Group G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
// Modal Group G12: Active work coordinate system
// N/A: Stores coordinate system value (54-59) to change to.
@ -155,19 +155,19 @@
// Define parameter word mapping.
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_Q 13
#define WORD_A 14
#define WORD_B 15
@ -176,20 +176,20 @@
#define WORD_E 18
// Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
// Define probe cycle exit states and assign proper position updating.
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#ifdef SET_CHECK_MODE_PROBE_TO_START
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#else
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#endif
@ -208,23 +208,23 @@
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct
{
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
uint8_t retract; // {G98,G99}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
uint8_t override; // {M56}
uint8_t lathe_mode; // {G7,G8}
uint8_t spindle_mode; // {G96,G97}
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
uint8_t retract; // {G98,G99}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
uint8_t override; // {M56}
uint8_t lathe_mode; // {G7,G8}
uint8_t spindle_mode; // {G96,G97}
} GC_Modal_t;
@ -233,43 +233,43 @@ typedef struct
uint16_t d;
uint8_t h;
float e;
float f; // Feed
float ijk[N_AXIS]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
int32_t n; // Line number
float p; // G10 or dwell parameters
float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
float f; // Feed
float ijk[N_AXIS]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
int32_t n; // Line number
float p; // G10 or dwell parameters
float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
} GC_Values_t;
typedef struct
{
GC_Modal_t modal;
GC_Modal_t modal;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number.
int32_t line_number; // Last line number sent
float spindle_limit;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number.
int32_t line_number; // Last line number sent
float spindle_limit;
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} Parser_State_t;
typedef struct
{
uint8_t non_modal_command;
GC_Modal_t modal;
GC_Values_t values;
uint8_t non_modal_command;
GC_Modal_t modal;
GC_Values_t values;
} Parser_Block_t;
extern Parser_State_t gc_state;

46
grbl/Jog.c
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -30,27 +30,31 @@
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t Jog_Execute(Planner_LineData_t *pl_data, Parser_Block_t *gc_block)
{
// Initialize planner data struct for jogging motions.
// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
pl_data->feed_rate = gc_block->values.f;
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
pl_data->line_number = gc_block->values.n;
// Initialize planner data struct for jogging motions.
// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
pl_data->feed_rate = gc_block->values.f;
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
pl_data->line_number = gc_block->values.n;
if(BIT_IS_TRUE(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE)) {
if(System_CheckTravelLimits(gc_block->values.xyz)) {
return STATUS_TRAVEL_EXCEEDED;
}
}
if(BIT_IS_TRUE(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE))
{
if(System_CheckTravelLimits(gc_block->values.xyz))
{
return STATUS_TRAVEL_EXCEEDED;
}
}
// Valid jog command. Plan, set state, and execute.
MC_Line(gc_block->values.xyz, pl_data);
if(sys.state == STATE_IDLE) {
if (Planner_GetCurrentBlock() != 0) { // Check if there is a block to execute.
sys.state = STATE_JOG;
Stepper_PrepareBuffer();
Stepper_WakeUp(); // NOTE: Manual start. No state machine required.
}
}
// Valid jog command. Plan, set state, and execute.
MC_Line(gc_block->values.xyz, pl_data);
if(sys.state == STATE_IDLE)
{
if (Planner_GetCurrentBlock() != 0) // Check if there is a block to execute.
{
sys.state = STATE_JOG;
Stepper_PrepareBuffer();
Stepper_WakeUp(); // NOTE: Manual start. No state machine required.
}
}
return STATUS_OK;
return STATUS_OK;
}

4
grbl/Jog.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -27,7 +27,7 @@
// System motion line numbers must be zero.
#define JOG_LINE_NUMBER 0
#define JOG_LINE_NUMBER 0
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.

529
grbl/Limits.c
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -35,31 +35,33 @@
// Homing axis search distance multiplier. Computed by this value times the cycle travel.
#ifndef HOMING_AXIS_SEARCH_SCALAR
#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Must be > 1 to ensure limit switch will be engaged.
#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Must be > 1 to ensure limit switch will be engaged.
#endif
#ifndef HOMING_AXIS_LOCATE_SCALAR
#define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#endif
void Limits_Init(void)
{
GPIO_InitGPIO(GPIO_LIMIT);
GPIO_InitGPIO(GPIO_LIMIT);
// TODO: Hard limits via interrupt
if(BIT_IS_TRUE(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
settings.system_flags |= BITFLAG_ENABLE_LIMITS;
}
else {
Limits_Disable();
}
// TODO: Hard limits via interrupt
if(BIT_IS_TRUE(settings.flags, BITFLAG_HARD_LIMIT_ENABLE))
{
settings.system_flags |= BITFLAG_ENABLE_LIMITS;
}
else
{
Limits_Disable();
}
}
// Disables hard limits.
void Limits_Disable(void)
{
settings.system_flags &= ~BITFLAG_ENABLE_LIMITS;
settings.system_flags &= ~BITFLAG_ENABLE_LIMITS;
}
@ -68,17 +70,18 @@ void Limits_Disable(void)
// number in bit position, i.e. Z_AXIS is (1<<2) or bit 2, and Y_AXIS is (1<<1) or bit 1.
uint8_t Limits_GetState(void)
{
uint8_t limit_state = 0;
uint8_t limit_state = 0;
limit_state = (GPIO_ReadInputDataBit(GPIO_LIM_X_PORT, GPIO_LIM_X_PIN)<<X_LIMIT_BIT);
limit_state |= (GPIO_ReadInputDataBit(GPIO_LIM_Y_PORT, GPIO_LIM_Y_PIN)<<Y_LIMIT_BIT);
limit_state |= (GPIO_ReadInputDataBit(GPIO_LIM_Z_PORT, GPIO_LIM_Z_PIN)<<Z_LIMIT_BIT);
limit_state = (GPIO_ReadInputDataBit(GPIO_LIM_X_PORT, GPIO_LIM_X_PIN)<<X1_LIMIT_BIT);
limit_state |= (GPIO_ReadInputDataBit(GPIO_LIM_Y_PORT, GPIO_LIM_Y_PIN)<<Y1_LIMIT_BIT);
limit_state |= (GPIO_ReadInputDataBit(GPIO_LIM_Z_PORT, GPIO_LIM_Z_PIN)<<Z1_LIMIT_BIT);
if(BIT_IS_FALSE(settings.flags, BITFLAG_INVERT_LIMIT_PINS)) {
limit_state ^= LIMIT_MASK;
}
if(BIT_IS_FALSE(settings.flags, BITFLAG_INVERT_LIMIT_PINS))
{
limit_state ^= LIMIT_MASK;
}
return limit_state;
return limit_state;
}
@ -100,20 +103,25 @@ void Limit_PinChangeISR(void) // DEFAULT: Limit pin change interrupt process.
// moves in the planner and serial buffers are all cleared and newly sent blocks will be
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
if(sys.state != STATE_ALARM) {
if(!(sys_rt_exec_alarm)) {
if(settings.system_flags & BITFLAG_FORCE_HARD_LIMIT_CHECK) {
// Check limit pin state.
if(Limits_GetState()) {
MC_Reset(); // Initiate system kill.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
}
else {
MC_Reset(); // Initiate system kill.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
}
if(sys.state != STATE_ALARM)
{
if(!(sys_rt_exec_alarm))
{
if(settings.system_flags & BITFLAG_FORCE_HARD_LIMIT_CHECK)
{
// Check limit pin state.
if(Limits_GetState())
{
MC_Reset(); // Initiate system kill.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
}
else
{
MC_Reset(); // Initiate system kill.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
}
}
}
@ -127,231 +135,275 @@ void Limit_PinChangeISR(void) // DEFAULT: Limit pin change interrupt process.
// TODO: Move limit pin-specific calls to a general function for portability.
void Limits_GoHome(uint8_t cycle_mask)
{
if(sys.abort)
if(sys.abort)
{
// Block if system reset has been issued.
return;
}
// Block if system reset has been issued.
return;
}
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
Planner_LineData_t plan_data;
Planner_LineData_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(Planner_LineData_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->line_number = HOMING_CYCLE_LINE_NUMBER;
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
Planner_LineData_t plan_data;
Planner_LineData_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(Planner_LineData_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->line_number = HOMING_CYCLE_LINE_NUMBER;
// Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint8_t step_pin[N_AXIS];
float target[N_AXIS];
float max_travel = 0.0;
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++) {
// Initialize step pin masks
step_pin[idx] = Settings_GetStepPinMask(idx);
// Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint8_t step_pin[N_AXIS];
float target[N_AXIS];
float max_travel = 0.0;
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++)
{
// Initialize step pin masks
step_pin[idx] = Settings_GetStepPinMask(idx);
#ifdef COREXY
if((idx == A_MOTOR) || (idx == B_MOTOR)) {
step_pin[idx] = (Settings_GetStepPinMask(X_AXIS) | Settings_GetStepPinMask(Y_AXIS));
}
if((idx == A_MOTOR) || (idx == B_MOTOR))
{
step_pin[idx] = (Settings_GetStepPinMask(X_AXIS) | Settings_GetStepPinMask(Y_AXIS));
}
#endif
if(BIT_IS_TRUE(cycle_mask, BIT(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
}
}
if(BIT_IS_TRUE(cycle_mask, BIT(idx)))
{
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
}
}
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
uint8_t limit_state, axislock, n_active_axis;
do {
System_ConvertArraySteps2Mpos(target,sys_position);
uint8_t limit_state, axislock, n_active_axis;
do
{
System_ConvertArraySteps2Mpos(target,sys_position);
// Initialize and declare variables needed for homing routine.
axislock = 0;
n_active_axis = 0;
for(idx = 0; idx < N_AXIS; idx++) {
// Set target location for active axes and setup computation for homing rate.
if(BIT_IS_TRUE(cycle_mask,BIT(idx))) {
n_active_axis++;
// Initialize and declare variables needed for homing routine.
axislock = 0;
n_active_axis = 0;
for(idx = 0; idx < N_AXIS; idx++)
{
// Set target location for active axes and setup computation for homing rate.
if(BIT_IS_TRUE(cycle_mask,BIT(idx)))
{
n_active_axis++;
#ifdef COREXY
if(idx == X_AXIS) {
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = axis_position;
sys_position[B_MOTOR] = -axis_position;
}
else if (idx == Y_AXIS) {
int32_t axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = sys_position[B_MOTOR] = axis_position;
}
else {
sys_position[Z_AXIS] = 0;
}
if(idx == X_AXIS)
{
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = axis_position;
sys_position[B_MOTOR] = -axis_position;
}
else if (idx == Y_AXIS)
{
int32_t axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = sys_position[B_MOTOR] = axis_position;
}
else
{
sys_position[Z_AXIS] = 0;
}
#else
sys_position[idx] = 0;
sys_position[idx] = 0;
#endif
// Set target direction based on cycle mask and homing cycle approach state.
// NOTE: This happens to compile smaller than any other implementation tried.
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx))) {
if (approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
}
else {
if(approach) {
target[idx] = max_travel;
}
else {
target[idx] = -max_travel;
}
}
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
}
// Set target direction based on cycle mask and homing cycle approach state.
// NOTE: This happens to compile smaller than any other implementation tried.
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx)))
{
if (approach)
{
target[idx] = -max_travel;
}
else
{
target[idx] = max_travel;
}
}
else
{
if(approach)
{
target[idx] = max_travel;
}
else
{
target[idx] = -max_travel;
}
}
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
}
}
}
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
pl_data->feed_rate = homing_rate; // Set current homing rate.
Planner_BufferLine(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
pl_data->feed_rate = homing_rate; // Set current homing rate.
Planner_BufferLine(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION; // Set to execute homing motion and clear existing flags.
Stepper_PrepareBuffer(); // Prep and fill segment buffer from newly planned block.
Stepper_WakeUp(); // Initiate motion
sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION; // Set to execute homing motion and clear existing flags.
Stepper_PrepareBuffer(); // Prep and fill segment buffer from newly planned block.
Stepper_WakeUp(); // Initiate motion
do {
if(approach) {
// Check limit state. Lock out cycle axes when they change.
limit_state = Limits_GetState();
for(idx = 0; idx < N_AXIS; idx++) {
if(axislock & step_pin[idx]) {
if(limit_state & (1 << idx)) {
do
{
if(approach)
{
// Check limit state. Lock out cycle axes when they change.
limit_state = Limits_GetState();
for(idx = 0; idx < N_AXIS; idx++)
{
if(axislock & step_pin[idx])
{
if(limit_state & (1 << idx))
{
#ifdef COREXY
if(idx == Z_AXIS) {
axislock &= ~(step_pin[Z_AXIS]);
}
else {
axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]);
}
if(idx == Z_AXIS)
{
axislock &= ~(step_pin[Z_AXIS]);
}
else
{
axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]);
}
#else
axislock &= ~(step_pin[idx]);
axislock &= ~(step_pin[idx]);
#endif
}
}
}
}
}
}
sys.homing_axis_lock = axislock;
}
sys.homing_axis_lock = axislock;
}
Stepper_PrepareBuffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
Stepper_PrepareBuffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Exit routines: No time to run protocol_execute_realtime() in this loop.
if(sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
uint16_t rt_exec = sys_rt_exec_state;
// Exit routines: No time to run protocol_execute_realtime() in this loop.
if(sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP))
{
uint16_t rt_exec = sys_rt_exec_state;
// Homing failure condition: Reset issued during cycle.
if(rt_exec & EXEC_RESET) {
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
// Homing failure condition: Safety door was opened.
if(rt_exec & EXEC_SAFETY_DOOR) {
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_DOOR);
}
// Homing failure condition: Limit switch still engaged after pull-off motion
if(!approach && (Limits_GetState() & cycle_mask)) {
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_PULLOFF);
}
// Homing failure condition: Limit switch not found during approach.
if(approach && (rt_exec & EXEC_CYCLE_STOP)) {
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_APPROACH);
}
if(sys_rt_exec_alarm) {
MC_Reset(); // Stop motors, if they are running.
Protocol_ExecuteRealtime();
// Homing failure condition: Reset issued during cycle.
if(rt_exec & EXEC_RESET)
{
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
// Homing failure condition: Safety door was opened.
if(rt_exec & EXEC_SAFETY_DOOR)
{
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_DOOR);
}
// Homing failure condition: Limit switch still engaged after pull-off motion
if(!approach && (Limits_GetState() & cycle_mask))
{
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_PULLOFF);
}
// Homing failure condition: Limit switch not found during approach.
if(approach && (rt_exec & EXEC_CYCLE_STOP))
{
System_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_APPROACH);
}
if(sys_rt_exec_alarm)
{
MC_Reset(); // Stop motors, if they are running.
Protocol_ExecuteRealtime();
return;
}
else {
// Pull-off motion complete. Disable CYCLE_STOP from executing.
System_ClearExecStateFlag(EXEC_CYCLE_STOP);
break;
}
}
// TODO:
} while(0x07 & axislock);
return;
}
else
{
// Pull-off motion complete. Disable CYCLE_STOP from executing.
System_ClearExecStateFlag(EXEC_CYCLE_STOP);
break;
}
}
// TODO:
}
while(0x3F & axislock);
Stepper_Reset(); // Immediately force kill steppers and reset step segment buffer.
Delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
Stepper_Reset(); // Immediately force kill steppers and reset step segment buffer.
Delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
// Reverse direction and reset homing rate for locate cycle(s).
approach = !approach;
// Reverse direction and reset homing rate for locate cycle(s).
approach = !approach;
// After first cycle, homing enters locating phase. Shorten search to pull-off distance.
if(approach) {
max_travel = settings.homing_pulloff*HOMING_AXIS_LOCATE_SCALAR;
homing_rate = settings.homing_feed_rate;
}
else {
max_travel = settings.homing_pulloff;
homing_rate = settings.homing_seek_rate;
}
// After first cycle, homing enters locating phase. Shorten search to pull-off distance.
if(approach)
{
max_travel = settings.homing_pulloff*HOMING_AXIS_LOCATE_SCALAR;
homing_rate = settings.homing_feed_rate;
}
else
{
max_travel = settings.homing_pulloff;
homing_rate = settings.homing_seek_rate;
}
} while(n_cycle-- > 0);
}
while(n_cycle-- > 0);
// The active cycle axes should now be homed and machine limits have been located. By
// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set axes machine zero appropriately. Also,
// set up pull-off maneuver from axes limit switches that have been homed. This provides
// some initial clearance off the switches and should also help prevent them from falsely
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
for(idx = 0; idx < N_AXIS; idx++) {
// NOTE: settings.max_travel[] is stored as a negative value.
if(cycle_mask & BIT(idx)) {
// The active cycle axes should now be homed and machine limits have been located. By
// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set axes machine zero appropriately. Also,
// set up pull-off maneuver from axes limit switches that have been homed. This provides
// some initial clearance off the switches and should also help prevent them from falsely
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
for(idx = 0; idx < N_AXIS; idx++)
{
// NOTE: settings.max_travel[] is stored as a negative value.
if(cycle_mask & BIT(idx))
{
#ifdef HOMING_FORCE_SET_ORIGIN
set_axis_position = 0;
set_axis_position = 0;
#else
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx))) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
}
else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
}
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx)))
{
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
}
else
{
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
}
#endif
#ifdef COREXY
if(idx == X_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
}
else if(idx == Y_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
}
else {
sys_position[idx] = set_axis_position;
}
if(idx == X_AXIS)
{
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
}
else if(idx == Y_AXIS)
{
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
}
else
{
sys_position[idx] = set_axis_position;
}
#else
sys_position[idx] = set_axis_position;
sys_position[idx] = set_axis_position;
#endif
}
}
}
}
// Necessary for backlash compensation
MC_Init();
MC_Init();
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
sys.is_homed = 1; // Machine is homed and knows its position
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
sys.is_homed = 1; // Machine is homed and knows its position
}
@ -360,27 +412,32 @@ void Limits_GoHome(uint8_t cycle_mask)
// NOTE: Used by jogging to limit travel within soft-limit volume.
void Limits_SoftCheck(float *target)
{
if(System_CheckTravelLimits(target)) {
sys.soft_limit = true;
if(System_CheckTravelLimits(target))
{
sys.soft_limit = true;
// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
// workspace volume so just come to a controlled stop so position is not lost. When complete
// enter alarm mode.
if(sys.state == STATE_CYCLE) {
System_SetExecStateFlag(EXEC_FEED_HOLD);
do {
Protocol_ExecuteRealtime();
// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
// workspace volume so just come to a controlled stop so position is not lost. When complete
// enter alarm mode.
if(sys.state == STATE_CYCLE)
{
System_SetExecStateFlag(EXEC_FEED_HOLD);
do
{
Protocol_ExecuteRealtime();
if(sys.abort) {
return;
}
} while(sys.state != STATE_IDLE);
}
if(sys.abort)
{
return;
}
}
while(sys.state != STATE_IDLE);
}
MC_Reset(); // Issue system reset and ensure spindle and coolant are shutdown.
System_SetExecAlarm(EXEC_ALARM_SOFT_LIMIT); // Indicate soft limit critical event
Protocol_ExecuteRealtime(); // Execute to enter critical event loop and system abort
MC_Reset(); // Issue system reset and ensure spindle and coolant are shutdown.
System_SetExecAlarm(EXEC_ALARM_SOFT_LIMIT); // Indicate soft limit critical event
Protocol_ExecuteRealtime(); // Execute to enter critical event loop and system abort
return;
}
return;
}
}

2
grbl/Limits.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

701
grbl/MotionControl.c
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -53,21 +53,21 @@ void MC_Init(void)
MC_SyncBacklashPosition();
for(uint8_t i = 0; i < N_AXIS; i++)
{
// Don't do backlash move, if all axis are 0.0
if(settings.backlash[i] > 0.0001)
{
backlash_enable = 1;
}
}
for(uint8_t i = 0; i < N_AXIS; i++)
{
// Don't do backlash move, if all axis are 0.0
if(settings.backlash[i] > 0.0001)
{
backlash_enable = 1;
}
}
}
void MC_SyncBacklashPosition(void)
{
// Update target_prev
System_ConvertArraySteps2Mpos(target_prev, sys_position);
// Update target_prev
System_ConvertArraySteps2Mpos(target_prev, sys_position);
}
@ -89,59 +89,66 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
pl_backlash.feed_rate = pl_data->feed_rate;
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if(BIT_IS_TRUE(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_SoftCheck(target);
}
}
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if(BIT_IS_TRUE(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_SoftCheck(target);
}
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if(sys.state == STATE_CHECK_MODE) {
return;
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if(sys.state == STATE_CHECK_MODE)
{
return;
}
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
Protocol_ExecuteRealtime(); // Check for any run-time commands
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do
{
Protocol_ExecuteRealtime(); // Check for any run-time commands
if(sys.abort) {
// Bail, if system abort.
return;
}
if(sys.abort)
{
// Bail, if system abort.
return;
}
if(Planner_CheckBufferFull()) {
// Auto-cycle start when buffer is full.
Protocol_AutoCycleStart();
}
else {
break;
}
} while(1);
if(Planner_CheckBufferFull())
{
// Auto-cycle start when buffer is full.
Protocol_AutoCycleStart();
}
else
{
break;
}
} while(1);
#ifdef ENABLE_BACKLASH_COMPENSATION
pl_backlash.backlash_motion = 1;
pl_backlash.condition = PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
// Backlash compensation (not for A & B)
// Backlash compensation (not for A & B)
for(uint8_t i = 0; i < N_LINEAR_AXIS; i++)
{
// Move positive?
@ -179,37 +186,44 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
memcpy(target_prev, target, N_AXIS*sizeof(float));
// Backlash move needs a slot in planner buffer, so we have to check again, if planner is free
do {
Protocol_ExecuteRealtime(); // Check for any run-time commands
do
{
Protocol_ExecuteRealtime(); // Check for any run-time commands
if(sys.abort) {
// Bail, if system abort.
return;
}
if(sys.abort)
{
// Bail, if system abort.
return;
}
if(Planner_CheckBufferFull()) {
// Auto-cycle start when buffer is full.
Protocol_AutoCycleStart();
}
else {
break;
}
} while(1);
if(Planner_CheckBufferFull())
{
// Auto-cycle start when buffer is full.
Protocol_AutoCycleStart();
}
else
{
break;
}
} while(1);
#else
(void)backlash_update;
(void)pl_backlash;
(void)backlash_update;
(void)pl_backlash;
#endif
// Plan and queue motion into planner buffer
if(Planner_BufferLine(target, pl_data) == PLAN_EMPTY_BLOCK) {
if(BIT_IS_TRUE(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);
}
}
}
// Plan and queue motion into planner buffer
if(Planner_BufferLine(target, pl_data) == PLAN_EMPTY_BLOCK)
{
if(BIT_IS_TRUE(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);
}
}
}
}
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
@ -220,129 +234,140 @@ void MC_Line(float *target, Planner_LineData_t *pl_data)
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void MC_Arc(float *target, Planner_LineData_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)
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc)
{
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if(is_clockwise_arc) { // Correct atan2 output per direction
if(angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) {
angular_travel -= 2*M_PI;
}
}
else {
if(angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) {
angular_travel += 2*M_PI;
}
}
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if(is_clockwise_arc) // Correct atan2 output per direction
{
if(angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON)
{
angular_travel -= 2*M_PI;
}
}
else
{
if(angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON)
{
angular_travel += 2*M_PI;
}
}
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) settings.arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5*angular_travel*radius) / sqrt(settings.arc_tolerance*(2*radius - settings.arc_tolerance)));
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) settings.arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5*angular_travel*radius) / sqrt(settings.arc_tolerance*(2*radius - settings.arc_tolerance)));
if(segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME) {
pl_data->feed_rate *= segments;
BIT_FALSE(pl_data->condition, PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
}
if(segments)
{
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME)
{
pl_data->feed_rate *= segments;
BIT_FALSE(pl_data->condition, PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
}
float theta_per_segment = angular_travel / segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear])/segments;
float theta_per_segment = angular_travel / segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear])/segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. Single precision values can accumulate error greater than tool precision in rare
cases. So, exact arc path correction is implemented. This approach avoids the problem of too many very
expensive trig operations [sin(),cos(),tan()] which can take 100-200 usec each to compute.
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. Single precision values can accumulate error greater than tool precision in rare
cases. So, exact arc path correction is implemented. This approach avoids the problem of too many very
expensive trig operations [sin(),cos(),tan()] which can take 100-200 usec each to compute.
Small angle approximation may be used to reduce computation overhead further. A third-order approximation
(second order sin() has too much error) holds for most, if not, all CNC applications. Note that this
approximation will begin to accumulate a numerical drift error when theta_per_segment is greater than
~0.25 rad(14 deg) AND the approximation is successively used without correction several dozen times. This
scenario is extremely unlikely, since segment lengths and theta_per_segment are automatically generated
and scaled by the arc tolerance setting. Only a very large arc tolerance setting, unrealistic for CNC
applications, would cause this numerical drift error. However, it is best to set N_ARC_CORRECTION from a
low of ~4 to a high of ~20 or so to avoid trig operations while keeping arc generation accurate.
Small angle approximation may be used to reduce computation overhead further. A third-order approximation
(second order sin() has too much error) holds for most, if not, all CNC applications. Note that this
approximation will begin to accumulate a numerical drift error when theta_per_segment is greater than
~0.25 rad(14 deg) AND the approximation is successively used without correction several dozen times. This
scenario is extremely unlikely, since segment lengths and theta_per_segment are automatically generated
and scaled by the arc tolerance setting. Only a very large arc tolerance setting, unrealistic for CNC
applications, would cause this numerical drift error. However, it is best to set N_ARC_CORRECTION from a
low of ~4 to a high of ~20 or so to avoid trig operations while keeping arc generation accurate.
This approximation also allows mc_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
This is important when there are successive arc motions.
*/
// Computes: cos_T = 1 - theta_per_segment^2/2, sin_T = theta_per_segment - theta_per_segment^3/6) in ~52usec
float cos_T = 2.0 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4.0);
cos_T *= 0.5;
This approximation also allows mc_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
This is important when there are successive arc motions.
*/
// Computes: cos_T = 1 - theta_per_segment^2/2, sin_T = theta_per_segment - theta_per_segment^3/6) in ~52usec
float cos_T = 2.0 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4.0);
cos_T *= 0.5;
float sin_Ti;
float cos_Ti;
float r_axisi;
uint16_t i;
uint8_t count = 0;
float sin_Ti;
float cos_Ti;
float r_axisi;
uint16_t i;
uint8_t count = 0;
for(i = 1; i < segments; i++) { // Increment (segments-1).
if(count < N_ARC_CORRECTION) {
// Apply vector rotation matrix. ~40 usec
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
r_axis1 = r_axisi;
count++;
}
else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
count = 0;
}
for(i = 1; i < segments; i++) // Increment (segments-1).
{
if(count < N_ARC_CORRECTION)
{
// Apply vector rotation matrix. ~40 usec
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
r_axis1 = r_axisi;
count++;
}
else
{
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
count = 0;
}
// Update arc_target location
position[axis_0] = center_axis0 + r_axis0;
position[axis_1] = center_axis1 + r_axis1;
position[axis_linear] += linear_per_segment;
// Update arc_target location
position[axis_0] = center_axis0 + r_axis0;
position[axis_1] = center_axis1 + r_axis1;
position[axis_linear] += linear_per_segment;
MC_Line(position, pl_data);
MC_Line(position, pl_data);
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if(sys.abort) {
return;
}
}
}
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if(sys.abort)
{
return;
}
}
}
// Ensure last segment arrives at target location.
MC_Line(target, pl_data);
// Ensure last segment arrives at target location.
MC_Line(target, pl_data);
}
// Execute dwell in seconds.
void MC_Dwell(float seconds)
{
if(sys.state == STATE_CHECK_MODE) {
return;
}
if(sys.state == STATE_CHECK_MODE)
{
return;
}
// TODO: DWELL sys.state
Protocol_BufferSynchronize();
Delay_sec(seconds, DELAY_MODE_DWELL);
Protocol_BufferSynchronize();
Delay_sec(seconds, DELAY_MODE_DWELL);
}
@ -353,58 +378,61 @@ void MC_HomigCycle(uint8_t cycle_mask)
{
Stepper_WakeUp();
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if(Limits_GetState()) {
MC_Reset(); // Issue system reset and ensure spindle and coolant are shutdown.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT);
if(Limits_GetState())
{
MC_Reset(); // Issue system reset and ensure spindle and coolant are shutdown.
System_SetExecAlarm(EXEC_ALARM_HARD_LIMIT);
return;
}
return;
}
#endif
Limits_Disable(); // Disable hard limits pin change register for cycle duration
Limits_Disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if(cycle_mask) {
// Perform homing cycle based on mask.
Limits_GoHome(cycle_mask);
}
else
if(cycle_mask)
{
// Perform homing cycle based on mask.
Limits_GoHome(cycle_mask);
}
else
#endif
{
(void)cycle_mask;
// Search to engage all axes limit switches at faster homing seek rate.
Limits_GoHome(HOMING_CYCLE_0); // Homing cycle 0
{
(void)cycle_mask;
// Search to engage all axes limit switches at faster homing seek rate.
Limits_GoHome(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
Limits_GoHome(HOMING_CYCLE_1); // Homing cycle 1
Limits_GoHome(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
Limits_GoHome(HOMING_CYCLE_2); // Homing cycle 2
Limits_GoHome(HOMING_CYCLE_2); // Homing cycle 2
#endif
}
}
Protocol_ExecuteRealtime(); // Check for reset and set system abort.
if(sys.abort) {
// Did not complete. Alarm state set by mc_alarm.
return;
}
Protocol_ExecuteRealtime(); // Check for reset and set system abort.
if(sys.abort)
{
// Did not complete. Alarm state set by mc_alarm.
return;
}
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Sync gcode parser and planner positions to homed position.
GC_SyncPosition();
Planner_SyncPosition();
// Sync gcode parser and planner positions to homed position.
GC_SyncPosition();
Planner_SyncPosition();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
Limits_Init();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
Limits_Init();
}
@ -412,89 +440,100 @@ void MC_HomigCycle(uint8_t cycle_mask)
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
uint8_t MC_ProbeCycle(float *target, Planner_LineData_t *pl_data, uint8_t parser_flags)
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if(sys.state == STATE_CHECK_MODE) {
return GC_PROBE_CHECK_MODE;
}
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if(sys.state == STATE_CHECK_MODE)
{
return GC_PROBE_CHECK_MODE;
}
// Finish all queued commands and empty planner buffer before starting probe cycle.
Protocol_BufferSynchronize();
if(sys.abort) {
// Return if system reset has been issued.
return GC_PROBE_ABORT;
}
// Finish all queued commands and empty planner buffer before starting probe cycle.
Protocol_BufferSynchronize();
if(sys.abort)
{
// Return if system reset has been issued.
return GC_PROBE_ABORT;
}
// Initialize probing control variables
uint8_t is_probe_away = BIT_IS_TRUE(parser_flags,GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = BIT_IS_TRUE(parser_flags,GC_PARSER_PROBE_IS_NO_ERROR);
// Initialize probing control variables
uint8_t is_probe_away = BIT_IS_TRUE(parser_flags,GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = BIT_IS_TRUE(parser_flags,GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
Probe_ConfigureInvertMask(is_probe_away);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
Probe_ConfigureInvertMask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if(Probe_GetState()) { // Check probe pin state.
System_SetExecAlarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
Protocol_ExecuteRealtime();
Probe_ConfigureInvertMask(false); // Re-initialize invert mask before returning.
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if(Probe_GetState()) // Check probe pin state.
{
System_SetExecAlarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
Protocol_ExecuteRealtime();
Probe_ConfigureInvertMask(false); // Re-initialize invert mask before returning.
return GC_PROBE_FAIL_INIT; // Nothing else to do but bail.
}
return GC_PROBE_FAIL_INIT; // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
MC_Line(target, pl_data);
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
MC_Line(target, pl_data);
// Activate the probing state monitor in the stepper module.
sys_probe_state = PROBE_ACTIVE;
// Activate the probing state monitor in the stepper module.
sys_probe_state = PROBE_ACTIVE;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
System_SetExecStateFlag(EXEC_CYCLE_START);
do {
Protocol_ExecuteRealtime();
// Perform probing cycle. Wait here until probe is triggered or motion completes.
System_SetExecStateFlag(EXEC_CYCLE_START);
do
{
Protocol_ExecuteRealtime();
if(sys.abort) {
// Check for system abort
return(GC_PROBE_ABORT);
}
} while(sys.state != STATE_IDLE);
if(sys.abort)
{
// Check for system abort
return(GC_PROBE_ABORT);
}
} while(sys.state != STATE_IDLE);
// Probing cycle complete!
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if(sys_probe_state == PROBE_ACTIVE) {
if(is_no_error) {
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
}
else {
System_SetExecAlarm(EXEC_ALARM_PROBE_FAIL_CONTACT);
}
}
else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if(sys_probe_state == PROBE_ACTIVE)
{
if(is_no_error)
{
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
}
else
{
System_SetExecAlarm(EXEC_ALARM_PROBE_FAIL_CONTACT);
}
}
else
{
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
Probe_ConfigureInvertMask(false); // Re-initialize invert mask.
Protocol_ExecuteRealtime(); // Check and execute run-time commands
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
Probe_ConfigureInvertMask(false); // Re-initialize invert mask.
Protocol_ExecuteRealtime(); // Check and execute run-time commands
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
Stepper_Reset(); // Reset step segment buffer.
Planner_Reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
Planner_SyncPosition(); // Sync planner position to current machine position.
MC_SyncBacklashPosition();
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
Stepper_Reset(); // Reset step segment buffer.
Planner_Reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
Planner_SyncPosition(); // Sync planner position to current machine position.
MC_SyncBacklashPosition();
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
Report_ProbeParams();
// All done! Output the probe position as message.
Report_ProbeParams();
#endif
if(sys.probe_succeeded) {
// Successful probe cycle.
return GC_PROBE_FOUND;
}
else {
return GC_PROBE_FAIL_END;
} // Failed to trigger probe within travel. With or without error.
if(sys.probe_succeeded)
{
// Successful probe cycle.
return GC_PROBE_FOUND;
}
else
{
return GC_PROBE_FAIL_END;
} // Failed to trigger probe within travel. With or without error.
}
@ -504,9 +543,10 @@ void MC_OverrideCtrlUpdate(uint8_t override_state)
// Finish all queued commands before altering override control state
Protocol_BufferSynchronize();
if(sys.abort) {
return;
}
if(sys.abort)
{
return;
}
sys.override_ctrl = override_state;
}
@ -518,33 +558,39 @@ void MC_OverrideCtrlUpdate(uint8_t override_state)
#ifdef PARKING_ENABLE
void MC_ParkingMotion(float *parking_target, Planner_LineData_t *pl_data)
{
if(sys.abort) {
// Block during abort.
return;
}
if(sys.abort)
{
// Block during abort.
return;
}
uint8_t plan_status = Planner_BufferLine(parking_target, pl_data);
if(plan_status) {
BIT_TRUE(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
BIT_FALSE(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
Stepper_ParkingSetupBuffer(); // Setup step segment buffer for special parking motion case
Stepper_PrepareBuffer();
Stepper_WakeUp();
if(plan_status)
{
BIT_TRUE(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
BIT_FALSE(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
Stepper_ParkingSetupBuffer(); // Setup step segment buffer for special parking motion case
Stepper_PrepareBuffer();
Stepper_WakeUp();
do {
Protocol_ExecRtSystem();
do
{
Protocol_ExecRtSystem();
if(sys.abort) {
return;
}
} while (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION);
if(sys.abort)
{
return;
}
}
while (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION);
Stepper_ParkingRestoreBuffer(); // Restore step segment buffer to normal run state.
Stepper_ParkingRestoreBuffer(); // Restore step segment buffer to normal run state.
}
else {
BIT_FALSE(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
Protocol_ExecRtSystem();
else
{
BIT_FALSE(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
Protocol_ExecRtSystem();
}
}
@ -558,29 +604,34 @@ void MC_ParkingMotion(float *parking_target, Planner_LineData_t *pl_data)
// realtime abort command and hard limits. So, keep to a minimum.
void MC_Reset(void)
{
// Only this function can set the system reset. Helps prevent multiple kill calls.
if(BIT_IS_FALSE(sys_rt_exec_state, EXEC_RESET)) {
System_SetExecStateFlag(EXEC_RESET);
// Only this function can set the system reset. Helps prevent multiple kill calls.
if(BIT_IS_FALSE(sys_rt_exec_state, EXEC_RESET))
{
System_SetExecStateFlag(EXEC_RESET);
// Kill spindle and coolant.
Spindle_Stop();
Coolant_Stop();
// 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_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
}
else {
System_SetExecAlarm(EXEC_ALARM_ABORT_CYCLE);
}
// 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_SetExecAlarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
}
else
{
System_SetExecAlarm(EXEC_ALARM_ABORT_CYCLE);
}
Stepper_Disable(0); // Force kill steppers. Position has likely been lost.
}
}
Stepper_Disable(0); // Force kill steppers. Position has likely been lost.
}
}
}

21
grbl/MotionControl.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -26,22 +26,21 @@
#include "Planner.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_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)
#define HOMING_CYCLE_A BIT(A_AXIS)
#define HOMING_CYCLE_B BIT(B_AXIS)
#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)
#define HOMING_CYCLE_A BIT(A_AXIS)
#define HOMING_CYCLE_B BIT(B_AXIS)
void MC_Init(void);
void MC_SyncBacklashPosition(void);
// 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.
@ -52,7 +51,7 @@ void MC_Line(float *target, Planner_LineData_t *pl_data);
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
void MC_Arc(float *target, Planner_LineData_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);
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);

28
grbl/Nvm.c
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2019-2020 Patrick F.
Copyright (c) 2019-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -28,54 +28,54 @@
void Nvm_Init(void)
{
#ifdef USE_EXT_EEPROM
M24C0X_Init();
M24C0X_Init();
#else
EE_Init();
EE_Init();
#endif
}
uint8_t Nvm_ReadByte(uint16_t Address)
{
#ifdef USE_EXT_EEPROM
return M24C0X_ReadByte(Address);
return M24C0X_ReadByte(Address);
#else
return EE_ReadByte(Address);
return EE_ReadByte(Address);
#endif
}
void Nvm_WriteByte(uint16_t Address, uint8_t Data)
{
#ifdef USE_EXT_EEPROM
M24C0X_WriteByte(Address, Data);
M24C0X_WriteByte(Address, Data);
#else
EE_WriteByte(Address, Data);
EE_WriteByte(Address, Data);
#endif
}
uint8_t Nvm_Read(uint8_t *DataOut, uint16_t Address, uint16_t size)
{
#ifdef USE_EXT_EEPROM
return M24C0X_ReadByteArray(Address, DataOut, size);
return M24C0X_ReadByteArray(Address, DataOut, size);
#else
return EE_ReadByteArray(DataOut, Address, size);
return EE_ReadByteArray(DataOut, Address, size);
#endif
}
uint8_t Nvm_Write(uint16_t Address, uint8_t *DataIn, uint16_t size)
{
#ifdef USE_EXT_EEPROM
return M24C0X_WriteByteArray(Address, DataIn, size);
return M24C0X_WriteByteArray(Address, DataIn, size);
#else
EE_WriteByteArray(Address, DataIn, size);
return 0;
EE_WriteByteArray(Address, DataIn, size);
return 0;
#endif
}
void Nvm_Update(void)
{
#ifdef USE_EXT_EEPROM
// Do nothing
// Do nothing
#else
EE_Program();
EE_Program();
#endif
}

5
grbl/Nvm.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2019-2020 Patrick F.
Copyright (c) 2019-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -26,7 +26,8 @@
#include <stdint.h>
#define NVM_SIZE 1024
// EEPROM size in bytes
#define NVM_SIZE 1024
void Nvm_Init(void);

702
grbl/Planner.c
Wyświetl plik

@ -5,7 +5,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Jens Geisler
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -31,12 +31,13 @@
// Define planner variables
typedef struct {
int32_t position[N_AXIS]; // The planner position of the tool in absolute steps. Kept separate
// from g-code position for movements requiring multiple line motions,
// i.e. arcs, canned cycles, and backlash compensation.
float previous_unit_vec[N_AXIS]; // Unit vector of previous path line segment
float previous_nominal_speed; // Nominal speed of previous path line segment
typedef struct
{
int32_t position[N_AXIS]; // The planner position of the tool in absolute steps. Kept separate
// from g-code position for movements requiring multiple line motions,
// i.e. arcs, canned cycles, and backlash compensation.
float previous_unit_vec[N_AXIS]; // Unit vector of previous path line segment
float previous_nominal_speed; // Nominal speed of previous path line segment
} Planner_t;
@ -53,26 +54,25 @@ static uint8_t next_buffer_head; // Index of the next buffer head
static uint8_t block_buffer_planned; // Index of the optimally planned block
void Planner_Init(void)
{
Planner_Reset();
Planner_Reset();
}
void Planner_Reset(void)
{
memset(&planner, 0, sizeof(Planner_t)); // Clear planner struct
Planner_ResetBuffer();
memset(&planner, 0, sizeof(Planner_t)); // Clear planner struct
Planner_ResetBuffer();
}
void Planner_ResetBuffer(void)
{
block_buffer_tail = 0;
block_buffer_head = 0; // Empty = tail
next_buffer_head = 1; // plan_next_block_index(block_buffer_head)
block_buffer_planned = 0; // = block_buffer_tail;
block_buffer_tail = 0;
block_buffer_head = 0; // Empty = tail
next_buffer_head = 1; // plan_next_block_index(block_buffer_head)
block_buffer_planned = 0; // = block_buffer_tail;
}
@ -92,237 +92,263 @@ void Planner_ResetBuffer(void)
to execute the special system motion. */
uint8_t Planner_BufferLine(float *target, Planner_LineData_t *pl_data)
{
// Prepare and initialize new block. Copy relevant pl_data for block execution.
Planner_Block_t *block = &block_buffer[block_buffer_head];
memset(block, 0, sizeof(Planner_Block_t)); // Zero all block values.
block->condition = pl_data->condition;
block->spindle_speed = pl_data->spindle_speed;
block->line_number = pl_data->line_number;
block->backlash_motion = pl_data->backlash_motion;
// Prepare and initialize new block. Copy relevant pl_data for block execution.
Planner_Block_t *block = &block_buffer[block_buffer_head];
memset(block, 0, sizeof(Planner_Block_t)); // Zero all block values.
block->condition = pl_data->condition;
block->spindle_speed = pl_data->spindle_speed;
block->line_number = pl_data->line_number;
block->backlash_motion = pl_data->backlash_motion;
// Compute and store initial move distance data.
int32_t target_steps[N_AXIS], position_steps[N_AXIS];
float unit_vec[N_AXIS], delta_mm;
uint8_t idx;
// Compute and store initial move distance data.
int32_t target_steps[N_AXIS], position_steps[N_AXIS];
float unit_vec[N_AXIS], delta_mm;
uint8_t idx;
// Copy position data based on type of motion being planned.
if(block->condition & PL_COND_FLAG_SYSTEM_MOTION) {
// Copy position data based on type of motion being planned.
if(block->condition & PL_COND_FLAG_SYSTEM_MOTION)
{
#ifdef COREXY
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS];
position_steps[A_AXIS] = sys_position[A_AXIS];
position_steps[B_AXIS] = sys_position[B_AXIS];
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS];
position_steps[A_AXIS] = sys_position[A_AXIS];
position_steps[B_AXIS] = sys_position[B_AXIS];
#else
memcpy(position_steps, sys_position, sizeof(sys_position));
memcpy(position_steps, sys_position, sizeof(sys_position));
#endif
}
else {
memcpy(position_steps, planner.position, sizeof(planner.position));
}
}
else
{
memcpy(position_steps, planner.position, sizeof(planner.position));
}
#ifdef COREXY
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
#endif
for(idx = 0; idx < N_AXIS; idx++) {
// Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
for(idx = 0; idx < N_AXIS; idx++)
{
// Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
#ifdef COREXY
if(!(idx == A_MOTOR) && !(idx == B_MOTOR)) {
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
}
if(!(idx == A_MOTOR) && !(idx == B_MOTOR))
{
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
}
block->step_event_count = max(block->step_event_count, block->steps[idx]);
block->step_event_count = max(block->step_event_count, block->steps[idx]);
if(idx == A_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] + target_steps[Y_AXIS]-position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}
else if(idx == B_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] - target_steps[Y_AXIS]+position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}
else {
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
}
if(idx == A_MOTOR)
{
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] + target_steps[Y_AXIS]-position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}
else if(idx == B_MOTOR)
{
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] - target_steps[Y_AXIS]+position_steps[Y_AXIS])/settings.steps_per_mm[idx];
}
else
{
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
}
#else
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
block->step_event_count = max(block->step_event_count, block->steps[idx]);
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
block->step_event_count = max(block->step_event_count, block->steps[idx]);
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
#endif
unit_vec[idx] = delta_mm; // Store unit vector numerator
unit_vec[idx] = delta_mm; // Store unit vector numerator
// Set direction bits. Bit enabled always means direction is negative.
if(delta_mm < 0.0) {
block->direction_bits |= Settings_GetDirectionPinMask(idx);
}
}
// Set direction bits. Bit enabled always means direction is negative.
if(delta_mm < 0.0)
{
block->direction_bits |= Settings_GetDirectionPinMask(idx);
}
}
// Bail if this is a zero-length block. Highly unlikely to occur.
if(block->step_event_count == 0) {
return PLAN_EMPTY_BLOCK;
}
// Bail if this is a zero-length block. Highly unlikely to occur.
if(block->step_event_count == 0)
{
return PLAN_EMPTY_BLOCK;
}
// Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
// down such that no individual axes maximum values are exceeded with respect to the line direction.
// NOTE: This calculation assumes all axes are orthogonal (Cartesian) and works with ABC-axes,
// if they are also orthogonal/independent. Operates on the absolute value of the unit vector.
block->millimeters = convert_delta_vector_to_unit_vector(unit_vec);
block->acceleration = limit_value_by_axis_maximum(settings.acceleration, unit_vec);
block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
// Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
// down such that no individual axes maximum values are exceeded with respect to the line direction.
// NOTE: This calculation assumes all axes are orthogonal (Cartesian) and works with ABC-axes,
// if they are also orthogonal/independent. Operates on the absolute value of the unit vector.
block->millimeters = convert_delta_vector_to_unit_vector(unit_vec);
block->acceleration = limit_value_by_axis_maximum(settings.acceleration, unit_vec);
block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
// Store programmed rate.
if(block->condition & PL_COND_FLAG_RAPID_MOTION) {
block->programmed_rate = block->rapid_rate;
}
else {
block->programmed_rate = pl_data->feed_rate;
if(block->condition & PL_COND_FLAG_INVERSE_TIME) {
block->programmed_rate *= block->millimeters;
}
}
// Store programmed rate.
if(block->condition & PL_COND_FLAG_RAPID_MOTION)
{
block->programmed_rate = block->rapid_rate;
}
else
{
block->programmed_rate = pl_data->feed_rate;
if(block->condition & PL_COND_FLAG_INVERSE_TIME)
{
block->programmed_rate *= block->millimeters;
}
}
// TODO: Need to check this method handling zero junction speeds when starting from rest.
if((block_buffer_head == block_buffer_tail) || (block->condition & PL_COND_FLAG_SYSTEM_MOTION)) {
// Initialize block entry speed as zero. Assume it will be starting from rest. Planner will correct this later.
// If system motion, the system motion block always is assumed to start from rest and end at a complete stop.
block->entry_speed_sqr = 0.0;
block->max_junction_speed_sqr = 0.0; // Starting from rest. Enforce start from zero velocity.
}
else {
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous Grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
//
// NOTE: If the junction deviation value is finite, Grbl executes the motions in an exact path
// mode (G61). If the junction deviation value is zero, Grbl will execute the motion in an exact
// stop mode (G61.1) manner. In the future, if continuous mode (G64) is desired, the math here
// is exactly the same. Instead of motioning all the way to junction point, the machine will
// just follow the arc circle defined here. The Arduino doesn't have the CPU cycles to perform
// a continuous mode path, but ARM-based microcontrollers most certainly do.
//
// NOTE: The max junction speed is a fixed value, since machine acceleration limits cannot be
// changed dynamically during operation nor can the line move geometry. This must be kept in
// memory in the event of a feedrate override changing the nominal speeds of blocks, which can
// change the overall maximum entry speed conditions of all blocks.
float junction_unit_vec[N_AXIS];
float junction_cos_theta = 0.0;
// TODO: Need to check this method handling zero junction speeds when starting from rest.
if((block_buffer_head == block_buffer_tail) || (block->condition & PL_COND_FLAG_SYSTEM_MOTION))
{
// Initialize block entry speed as zero. Assume it will be starting from rest. Planner will correct this later.
// If system motion, the system motion block always is assumed to start from rest and end at a complete stop.
block->entry_speed_sqr = 0.0;
block->max_junction_speed_sqr = 0.0; // Starting from rest. Enforce start from zero velocity.
}
else
{
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous Grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
//
// NOTE: If the junction deviation value is finite, Grbl executes the motions in an exact path
// mode (G61). If the junction deviation value is zero, Grbl will execute the motion in an exact
// stop mode (G61.1) manner. In the future, if continuous mode (G64) is desired, the math here
// is exactly the same. Instead of motioning all the way to junction point, the machine will
// just follow the arc circle defined here. The Arduino doesn't have the CPU cycles to perform
// a continuous mode path, but ARM-based microcontrollers most certainly do.
//
// NOTE: The max junction speed is a fixed value, since machine acceleration limits cannot be
// changed dynamically during operation nor can the line move geometry. This must be kept in
// memory in the event of a feedrate override changing the nominal speeds of blocks, which can
// change the overall maximum entry speed conditions of all blocks.
float junction_unit_vec[N_AXIS];
float junction_cos_theta = 0.0;
for(idx = 0; idx < N_AXIS; idx++) {
junction_cos_theta -= planner.previous_unit_vec[idx]*unit_vec[idx];
junction_unit_vec[idx] = unit_vec[idx]-planner.previous_unit_vec[idx];
}
for(idx = 0; idx < N_AXIS; idx++)
{
junction_cos_theta -= planner.previous_unit_vec[idx]*unit_vec[idx];
junction_unit_vec[idx] = unit_vec[idx]-planner.previous_unit_vec[idx];
}
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if(junction_cos_theta > 0.999999) {
// For a 0 degree acute junction, just set minimum junction speed.
block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED;
}
else {
if(junction_cos_theta < -0.999999) {
// Junction is a straight line or 180 degrees. Junction speed is infinite.
block->max_junction_speed_sqr = SOME_LARGE_VALUE;
} else {
convert_delta_vector_to_unit_vector(junction_unit_vec);
float junction_acceleration = limit_value_by_axis_maximum(settings.acceleration, junction_unit_vec);
float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive.
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if(junction_cos_theta > 0.999999)
{
// For a 0 degree acute junction, just set minimum junction speed.
block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED;
}
else
{
if(junction_cos_theta < -0.999999)
{
// Junction is a straight line or 180 degrees. Junction speed is infinite.
block->max_junction_speed_sqr = SOME_LARGE_VALUE;
}
else
{
convert_delta_vector_to_unit_vector(junction_unit_vec);
float junction_acceleration = limit_value_by_axis_maximum(settings.acceleration, junction_unit_vec);
float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive.
block->max_junction_speed_sqr = max(MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED, (junction_acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2));
}
}
}
block->max_junction_speed_sqr = max(MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED, (junction_acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2));
}
}
}
// Block system motion from updating this data to ensure next g-code motion is computed correctly.
if(!(block->condition & PL_COND_FLAG_SYSTEM_MOTION)) {
float nominal_speed = Planner_ComputeProfileNominalSpeed(block);
// Block system motion from updating this data to ensure next g-code motion is computed correctly.
if(!(block->condition & PL_COND_FLAG_SYSTEM_MOTION))
{
float nominal_speed = Planner_ComputeProfileNominalSpeed(block);
Planner_ComputeProfileParams(block, nominal_speed, planner.previous_nominal_speed);
planner.previous_nominal_speed = nominal_speed;
Planner_ComputeProfileParams(block, nominal_speed, planner.previous_nominal_speed);
planner.previous_nominal_speed = nominal_speed;
if(block->backlash_motion == 0)
{
// Update previous path unit_vector and planner position.
memcpy(planner.previous_unit_vec, unit_vec, sizeof(unit_vec)); // pl.previous_unit_vec[] = unit_vec[]
memcpy(planner.position, target_steps, sizeof(target_steps)); // pl.position[] = target_steps[]
memcpy(planner.previous_unit_vec, unit_vec, sizeof(unit_vec)); // pl.previous_unit_vec[] = unit_vec[]
memcpy(planner.position, target_steps, sizeof(target_steps)); // pl.position[] = target_steps[]
}
// New block is all set. Update buffer head and next buffer head indices.
block_buffer_head = next_buffer_head;
next_buffer_head = Planner_NextBlockIndex(block_buffer_head);
// New block is all set. Update buffer head and next buffer head indices.
block_buffer_head = next_buffer_head;
next_buffer_head = Planner_NextBlockIndex(block_buffer_head);
// Finish up by recalculating the plan with the new block.
Planner_Recalculate();
}
// Finish up by recalculating the plan with the new block.
Planner_Recalculate();
}
return PLAN_OK;
return PLAN_OK;
}
void Planner_DiscardCurrentBlock(void)
{
if(block_buffer_head != block_buffer_tail) { // Discard non-empty buffer.
uint8_t block_index = Planner_NextBlockIndex(block_buffer_tail);
if(block_buffer_head != block_buffer_tail) // Discard non-empty buffer.
{
uint8_t block_index = Planner_NextBlockIndex(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if(block_buffer_tail == block_buffer_planned) {
block_buffer_planned = block_index;
}
block_buffer_tail = block_index;
}
// Push block_buffer_planned pointer, if encountered.
if(block_buffer_tail == block_buffer_planned)
{
block_buffer_planned = block_index;
}
block_buffer_tail = block_index;
}
}
// Returns address of planner buffer block used by system motions. Called by segment generator.
Planner_Block_t *Planner_GetSystemMotionBlock(void)
{
return &block_buffer[block_buffer_head];
return &block_buffer[block_buffer_head];
}
// Returns address of first planner block, if available. Called by various main program functions.
Planner_Block_t *Planner_GetCurrentBlock(void)
{
if(block_buffer_head == block_buffer_tail) {
// Buffer empty
return 0;
}
if(block_buffer_head == block_buffer_tail)
{
// Buffer empty
return 0;
}
return &block_buffer[block_buffer_tail];
return &block_buffer[block_buffer_tail];
}
// Returns the index of the next block in the ring buffer. Also called by stepper segment buffer.
uint8_t Planner_NextBlockIndex(uint8_t block_index)
{
block_index++;
if(block_index == BLOCK_BUFFER_SIZE) {
block_index = 0;
}
block_index++;
if(block_index == BLOCK_BUFFER_SIZE)
{
block_index = 0;
}
return block_index;
return block_index;
}
float Planner_GetExecBlockExitSpeedSqr(void)
{
uint8_t block_index = Planner_NextBlockIndex(block_buffer_tail);
uint8_t block_index = Planner_NextBlockIndex(block_buffer_tail);
if(block_index == block_buffer_head) {
return( 0.0 );
}
if(block_index == block_buffer_head)
{
return (0.0);
}
return block_buffer[block_index].entry_speed_sqr;
return block_buffer[block_index].entry_speed_sqr;
}
@ -330,68 +356,78 @@ float Planner_GetExecBlockExitSpeedSqr(void)
// NOTE: All system motion commands, such as homing/parking, are not subject to overrides.
float Planner_ComputeProfileNominalSpeed(Planner_Block_t *block)
{
float nominal_speed = block->programmed_rate;
float nominal_speed = block->programmed_rate;
if(block->condition & PL_COND_FLAG_RAPID_MOTION) {
nominal_speed *= (0.01*sys.r_override);
}
else {
if(!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE)) {
nominal_speed *= (0.01*sys.f_override);
}
if(nominal_speed > block->rapid_rate) {
nominal_speed = block->rapid_rate;
}
}
if(nominal_speed > MINIMUM_FEED_RATE) {
return nominal_speed;
}
if(block->condition & PL_COND_FLAG_RAPID_MOTION)
{
nominal_speed *= (0.01*sys.r_override);
}
else
{
if(!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE))
{
nominal_speed *= (0.01*sys.f_override);
}
if(nominal_speed > block->rapid_rate)
{
nominal_speed = block->rapid_rate;
}
}
if(nominal_speed > MINIMUM_FEED_RATE)
{
return nominal_speed;
}
return MINIMUM_FEED_RATE;
return MINIMUM_FEED_RATE;
}
// Re-calculates buffered motions profile parameters upon a motion-based override change.
void Planner_UpdateVelocityProfileParams(void)
{
uint8_t block_index = block_buffer_tail;
Planner_Block_t *block;
float nominal_speed;
float prev_nominal_speed = SOME_LARGE_VALUE; // Set high for first block nominal speed calculation.
uint8_t block_index = block_buffer_tail;
Planner_Block_t *block;
float nominal_speed;
float prev_nominal_speed = SOME_LARGE_VALUE; // Set high for first block nominal speed calculation.
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
nominal_speed = Planner_ComputeProfileNominalSpeed(block);
Planner_ComputeProfileParams(block, nominal_speed, prev_nominal_speed);
prev_nominal_speed = nominal_speed;
block_index = Planner_NextBlockIndex(block_index);
}
while(block_index != block_buffer_head)
{
block = &block_buffer[block_index];
nominal_speed = Planner_ComputeProfileNominalSpeed(block);
Planner_ComputeProfileParams(block, nominal_speed, prev_nominal_speed);
prev_nominal_speed = nominal_speed;
block_index = Planner_NextBlockIndex(block_index);
}
planner.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
planner.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
}
// Reset the planner position vectors. Called by the system abort/initialization routine.
void Planner_SyncPosition(void)
{
// TODO: For motor configurations not in the same coordinate frame as the machine position,
// this function needs to be updated to accomodate the difference.
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++) {
// TODO: For motor configurations not in the same coordinate frame as the machine position,
// this function needs to be updated to accomodate the difference.
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++)
{
#ifdef COREXY
if(idx==X_AXIS) {
planner.position[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
}
else if(idx==Y_AXIS) {
planner.position[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
}
else {
planner.position[idx] = sys_position[idx];
}
if(idx==X_AXIS)
{
planner.position[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
}
else if(idx==Y_AXIS)
{
planner.position[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
}
else
{
planner.position[idx] = sys_position[idx];
}
#else
planner.position[idx] = sys_position[idx];
planner.position[idx] = sys_position[idx];
#endif
}
}
}
@ -399,21 +435,22 @@ void Planner_SyncPosition(void)
// Called after a steppers have come to a complete stop for a feed hold and the cycle is stopped.
void Planner_CycleReinitialize(void)
{
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
Stepper_UpdatePlannerBlockParams();
block_buffer_planned = block_buffer_tail;
Planner_Recalculate();
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
Stepper_UpdatePlannerBlockParams();
block_buffer_planned = block_buffer_tail;
Planner_Recalculate();
}
// Returns the number of available blocks are in the planner buffer.
uint8_t Planner_GetBlockBufferAvailable(void)
{
if(block_buffer_head >= block_buffer_tail) {
return (BLOCK_BUFFER_SIZE-1)-(block_buffer_head-block_buffer_tail);
}
if(block_buffer_head >= block_buffer_tail)
{
return (BLOCK_BUFFER_SIZE-1)-(block_buffer_head-block_buffer_tail);
}
return (block_buffer_tail-block_buffer_head-1);
return (block_buffer_tail-block_buffer_head-1);
}
@ -421,34 +458,37 @@ uint8_t Planner_GetBlockBufferAvailable(void)
// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h
uint8_t Planner_GetBlockBufferCount(void)
{
if(block_buffer_head >= block_buffer_tail) {
return block_buffer_head-block_buffer_tail;
}
if(block_buffer_head >= block_buffer_tail)
{
return block_buffer_head-block_buffer_tail;
}
return BLOCK_BUFFER_SIZE - (block_buffer_tail-block_buffer_head);
return BLOCK_BUFFER_SIZE - (block_buffer_tail-block_buffer_head);
}
// Returns the availability status of the block ring buffer. True, if full.
uint8_t Planner_CheckBufferFull(void)
{
if(block_buffer_tail == next_buffer_head) {
return true;
}
if(block_buffer_tail == next_buffer_head)
{
return true;
}
return false;
return false;
}
// Returns the index of the previous block in the ring buffer
static uint8_t Planner_PrevBlockIndex(uint8_t block_index)
{
if(block_index == 0) {
block_index = BLOCK_BUFFER_SIZE;
}
block_index--;
if(block_index == 0)
{
block_index = BLOCK_BUFFER_SIZE;
}
block_index--;
return block_index;
return block_index;
}
@ -519,83 +559,98 @@ static uint8_t Planner_PrevBlockIndex(uint8_t block_index)
*/
static void Planner_Recalculate(void)
{
// Initialize block index to the last block in the planner buffer.
uint8_t block_index = Planner_PrevBlockIndex(block_buffer_head);
// Initialize block index to the last block in the planner buffer.
uint8_t block_index = Planner_PrevBlockIndex(block_buffer_head);
// Bail. Can't do anything with only one plan-able block.
if(block_index == block_buffer_planned) {
return;
}
// Bail. Can't do anything with only one plan-able block.
if(block_index == block_buffer_planned)
{
return;
}
// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
// NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
float entry_speed_sqr;
Planner_Block_t *next;
Planner_Block_t *current = &block_buffer[block_index];
// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
// NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
float entry_speed_sqr;
Planner_Block_t *next;
Planner_Block_t *current = &block_buffer[block_index];
// Calculate maximum entry speed for last block in buffer, where the exit speed is always zero.
current->entry_speed_sqr = min( current->max_entry_speed_sqr, 2*current->acceleration*current->millimeters);
// Calculate maximum entry speed for last block in buffer, where the exit speed is always zero.
current->entry_speed_sqr = min( current->max_entry_speed_sqr, 2*current->acceleration*current->millimeters);
block_index = Planner_PrevBlockIndex(block_index);
if(block_index == block_buffer_planned) { // Only two plannable blocks in buffer. Reverse pass complete.
// Check if the first block is the tail. If so, notify stepper to update its current parameters.
if (block_index == block_buffer_tail) { Stepper_UpdatePlannerBlockParams(); }
}
else { // Three or more plan-able blocks
while (block_index != block_buffer_planned) {
next = current;
current = &block_buffer[block_index];
block_index = Planner_PrevBlockIndex(block_index);
block_index = Planner_PrevBlockIndex(block_index);
if(block_index == block_buffer_planned) // Only two plannable blocks in buffer. Reverse pass complete.
{
// Check if the first block is the tail. If so, notify stepper to update its current parameters.
if (block_index == block_buffer_tail)
{
Stepper_UpdatePlannerBlockParams();
}
}
else // Three or more plan-able blocks
{
while (block_index != block_buffer_planned)
{
next = current;
current = &block_buffer[block_index];
block_index = Planner_PrevBlockIndex(block_index);
// Check if next block is the tail block(=planned block). If so, update current stepper parameters.
if(block_index == block_buffer_tail) {
Stepper_UpdatePlannerBlockParams();
}
// Check if next block is the tail block(=planned block). If so, update current stepper parameters.
if(block_index == block_buffer_tail)
{
Stepper_UpdatePlannerBlockParams();
}
// Compute maximum entry speed decelerating over the current block from its exit speed.
if(current->entry_speed_sqr != current->max_entry_speed_sqr) {
entry_speed_sqr = next->entry_speed_sqr + 2*current->acceleration*current->millimeters;
if(entry_speed_sqr < current->max_entry_speed_sqr) {
current->entry_speed_sqr = entry_speed_sqr;
}
else {
current->entry_speed_sqr = current->max_entry_speed_sqr;
}
}
}
}
// Compute maximum entry speed decelerating over the current block from its exit speed.
if(current->entry_speed_sqr != current->max_entry_speed_sqr)
{
entry_speed_sqr = next->entry_speed_sqr + 2*current->acceleration*current->millimeters;
if(entry_speed_sqr < current->max_entry_speed_sqr)
{
current->entry_speed_sqr = entry_speed_sqr;
}
else
{
current->entry_speed_sqr = current->max_entry_speed_sqr;
}
}
}
}
// Forward Pass: Forward plan the acceleration curve from the planned pointer onward.
// Also scans for optimal plan breakpoints and appropriately updates the planned pointer.
next = &block_buffer[block_buffer_planned]; // Begin at buffer planned pointer
block_index = Planner_NextBlockIndex(block_buffer_planned);
while(block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
// Forward Pass: Forward plan the acceleration curve from the planned pointer onward.
// Also scans for optimal plan breakpoints and appropriately updates the planned pointer.
next = &block_buffer[block_buffer_planned]; // Begin at buffer planned pointer
block_index = Planner_NextBlockIndex(block_buffer_planned);
while(block_index != block_buffer_head)
{
current = next;
next = &block_buffer[block_index];
// Any acceleration detected in the forward pass automatically moves the optimal planned
// pointer forward, since everything before this is all optimal. In other words, nothing
// can improve the plan from the buffer tail to the planned pointer by logic.
if (current->entry_speed_sqr < next->entry_speed_sqr) {
entry_speed_sqr = current->entry_speed_sqr + 2*current->acceleration*current->millimeters;
// Any acceleration detected in the forward pass automatically moves the optimal planned
// pointer forward, since everything before this is all optimal. In other words, nothing
// can improve the plan from the buffer tail to the planned pointer by logic.
if (current->entry_speed_sqr < next->entry_speed_sqr)
{
entry_speed_sqr = current->entry_speed_sqr + 2*current->acceleration*current->millimeters;
// If true, current block is full-acceleration and we can move the planned pointer forward.
if(entry_speed_sqr < next->entry_speed_sqr) {
next->entry_speed_sqr = entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
block_buffer_planned = block_index; // Set optimal plan pointer.
}
}
// If true, current block is full-acceleration and we can move the planned pointer forward.
if(entry_speed_sqr < next->entry_speed_sqr)
{
next->entry_speed_sqr = entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
block_buffer_planned = block_index; // Set optimal plan pointer.
}
}
// Any block set at its maximum entry speed also creates an optimal plan up to this
// point in the buffer. When the plan is bracketed by either the beginning of the
// buffer and a maximum entry speed or two maximum entry speeds, every block in between
// cannot logically be further improved. Hence, we don't have to recompute them anymore.
if(next->entry_speed_sqr == next->max_entry_speed_sqr) {
block_buffer_planned = block_index;
}
block_index = Planner_NextBlockIndex( block_index );
}
// Any block set at its maximum entry speed also creates an optimal plan up to this
// point in the buffer. When the plan is bracketed by either the beginning of the
// buffer and a maximum entry speed or two maximum entry speeds, every block in between
// cannot logically be further improved. Hence, we don't have to recompute them anymore.
if(next->entry_speed_sqr == next->max_entry_speed_sqr)
{
block_buffer_planned = block_index;
}
block_index = Planner_NextBlockIndex( block_index );
}
}
@ -603,15 +658,18 @@ static void Planner_Recalculate(void)
// previous and current nominal speeds and max junction speed.
static void Planner_ComputeProfileParams(Planner_Block_t *block, float nominal_speed, float prev_nominal_speed)
{
// Compute the junction maximum entry based on the minimum of the junction speed and neighboring nominal speeds.
if(nominal_speed > prev_nominal_speed) {
block->max_entry_speed_sqr = prev_nominal_speed*prev_nominal_speed;
}
else {
block->max_entry_speed_sqr = nominal_speed*nominal_speed;
}
// Compute the junction maximum entry based on the minimum of the junction speed and neighboring nominal speeds.
if(nominal_speed > prev_nominal_speed)
{
block->max_entry_speed_sqr = prev_nominal_speed*prev_nominal_speed;
}
else
{
block->max_entry_speed_sqr = nominal_speed*nominal_speed;
}
if(block->max_entry_speed_sqr > block->max_junction_speed_sqr) {
block->max_entry_speed_sqr = block->max_junction_speed_sqr;
}
if(block->max_entry_speed_sqr > block->max_junction_speed_sqr)
{
block->max_entry_speed_sqr = block->max_junction_speed_sqr;
}
}

92
grbl/Planner.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -27,71 +27,73 @@
// Returned status message from planner.
#define PLAN_OK true
#define PLAN_EMPTY_BLOCK false
#define PLAN_OK true
#define PLAN_EMPTY_BLOCK false
// Define planner data condition flags. Used to denote running conditions of a block.
#define PL_COND_FLAG_RAPID_MOTION BIT(0)
#define PL_COND_FLAG_SYSTEM_MOTION BIT(1) // Single motion. Circumvents planner state. Used by home/park.
#define PL_COND_FLAG_NO_FEED_OVERRIDE BIT(2) // Motion does not honor feed override.
#define PL_COND_FLAG_INVERSE_TIME BIT(3) // Interprets feed rate value as inverse time when set.
#define PL_COND_FLAG_SPINDLE_CW BIT(4)
#define PL_COND_FLAG_SPINDLE_CCW BIT(5)
#define PL_COND_FLAG_COOLANT_FLOOD BIT(6)
#define PL_COND_FLAG_COOLANT_MIST BIT(7)
#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
#define PL_COND_FLAG_RAPID_MOTION BIT(0)
#define PL_COND_FLAG_SYSTEM_MOTION BIT(1) // Single motion. Circumvents planner state. Used by home/park.
#define PL_COND_FLAG_NO_FEED_OVERRIDE BIT(2) // Motion does not honor feed override.
#define PL_COND_FLAG_INVERSE_TIME BIT(3) // Interprets feed rate value as inverse time when set.
#define PL_COND_FLAG_SPINDLE_CW BIT(4)
#define PL_COND_FLAG_SPINDLE_CCW BIT(5)
#define PL_COND_FLAG_COOLANT_FLOOD BIT(6)
#define PL_COND_FLAG_COOLANT_MIST BIT(7)
#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
// are as specified in the source g-code.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
typedef struct
{
// Fields used by the bresenham algorithm for tracing the line
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
// Block condition data to ensure correct execution depending on states and overrides.
uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
// Block condition data to ensure correct execution depending on states and overrides.
uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
// Fields used by the motion planner to manage acceleration. Some of these values may be updated
// by the stepper module during execution of special motion cases for replanning purposes.
float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
// neighboring nominal speeds with overrides in (mm/min)^2
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
float millimeters; // The remaining distance for this block to be executed in (mm).
// NOTE: This value may be altered by stepper algorithm during execution.
// Fields used by the motion planner to manage acceleration. Some of these values may be updated
// by the stepper module during execution of special motion cases for replanning purposes.
float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
// neighboring nominal speeds with overrides in (mm/min)^2
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
float millimeters; // The remaining distance for this block to be executed in (mm).
// NOTE: This value may be altered by stepper algorithm during execution.
// Stored rate limiting data used by planner when changes occur.
float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
float programmed_rate; // Programmed rate of this block (mm/min).
// Stored rate limiting data used by planner when changes occur.
float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
float programmed_rate; // Programmed rate of this block (mm/min).
// Stored spindle speed data used by spindle overrides and resuming methods.
float spindle_speed; // Block spindle speed. Copied from pl_line_data.
// Stored spindle speed data used by spindle overrides and resuming methods.
float spindle_speed; // Block spindle speed. Copied from pl_line_data.
uint8_t backlash_motion;
uint8_t backlash_motion;
} Planner_Block_t;
// Planner data prototype. Must be used when passing new motions to the planner.
typedef struct {
float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
float spindle_speed; // Desired spindle speed through line motion.
uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
int32_t line_number; // Desired line number to report when executing.
typedef struct
{
float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
float spindle_speed; // Desired spindle speed through line motion.
uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
int32_t line_number; // Desired line number to report when executing.
uint8_t backlash_motion;
uint8_t backlash_motion;
} Planner_LineData_t;
// Initialize and reset the motion plan subsystem
void Planner_Init(void);
void Planner_Reset(void); // Reset all
void Planner_Reset(void); // Reset all
void Planner_ResetBuffer(void); // Reset buffer only.
// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position

42
grbl/Probe.c
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -32,16 +32,16 @@ static uint8_t probe_invert_mask;
// Probe pin initialization routine.
void Probe_Init(void)
{
GPIO_InitGPIO(GPIO_PROBE);
GPIO_InitGPIO(GPIO_PROBE);
Probe_ConfigureInvertMask(false); // Initialize invert mask.*/
Probe_ConfigureInvertMask(false); // Initialize invert mask.*/
}
void Probe_Reset(void)
{
// Clear probe position.
memset(sys_probe_position, 0 , sizeof(sys_probe_position));
// Clear probe position.
memset(sys_probe_position, 0 , sizeof(sys_probe_position));
}
@ -50,20 +50,23 @@ void Probe_Reset(void)
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void Probe_ConfigureInvertMask(uint8_t is_probe_away)
{
probe_invert_mask = 0; // Initialize as zero.
probe_invert_mask = 0; // Initialize as zero.
if(BIT_IS_FALSE(settings.flags, BITFLAG_INVERT_PROBE_PIN)) {
probe_invert_mask ^= 1;
}
if(is_probe_away) {
probe_invert_mask ^= 1;
}
if(BIT_IS_FALSE(settings.flags, BITFLAG_INVERT_PROBE_PIN))
{
probe_invert_mask ^= 1;
}
if(is_probe_away)
{
probe_invert_mask ^= 1;
}
}
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t Probe_GetState(void) {
return (GPIO_ReadInputDataBit(GPIO_PROBE_PORT, GPIO_PROBE_PIN) ^ probe_invert_mask);
uint8_t Probe_GetState(void)
{
return (GPIO_ReadInputDataBit(GPIO_PROBE_PORT, GPIO_PROBE_PIN) ^ probe_invert_mask);
}
@ -72,9 +75,10 @@ uint8_t Probe_GetState(void) {
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
void Probe_StateMonitor(void)
{
if(Probe_GetState()) {
sys_probe_state = PROBE_OFF;
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
BIT_TRUE(sys_rt_exec_state, EXEC_MOTION_CANCEL);
}
if(Probe_GetState())
{
sys_probe_state = PROBE_OFF;
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
BIT_TRUE(sys_rt_exec_state, EXEC_MOTION_CANCEL);
}
}

6
grbl/Probe.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -25,8 +25,8 @@
// Values that define the probing state machine.
#define PROBE_OFF 0 // Probing disabled or not in use. (Must be zero.)
#define PROBE_ACTIVE 1 // Actively watching the input pin.
#define PROBE_OFF 0 // Probing disabled or not in use. (Must be zero.)
#define PROBE_ACTIVE 1 // Actively watching the input pin.
// Probe pin initialization routine.
void Probe_Init(void);

1491
grbl/Protocol.c
Wyświetl plik

Plik diff jest za duży Load Diff

2
grbl/Protocol.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

1064
grbl/Report.c
Wyświetl plik

Plik diff jest za duży Load Diff

118
grbl/Report.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -25,70 +25,70 @@
// Define Grbl status codes. Valid values (0-255)
#define STATUS_OK 0
#define STATUS_EXPECTED_COMMAND_LETTER 1
#define STATUS_BAD_NUMBER_FORMAT 2
#define STATUS_INVALID_STATEMENT 3
#define STATUS_NEGATIVE_VALUE 4
#define STATUS_SETTING_DISABLED 5
#define STATUS_SETTING_STEP_PULSE_MIN 6
#define STATUS_SETTING_READ_FAIL 7
#define STATUS_IDLE_ERROR 8
#define STATUS_SYSTEM_GC_LOCK 9
#define STATUS_SOFT_LIMIT_ERROR 10
#define STATUS_OVERFLOW 11
#define STATUS_MAX_STEP_RATE_EXCEEDED 12
#define STATUS_CHECK_DOOR 13
#define STATUS_LINE_LENGTH_EXCEEDED 14
#define STATUS_TRAVEL_EXCEEDED 15
#define STATUS_INVALID_JOG_COMMAND 16
#define STATUS_SETTING_DISABLED_LASER 17
#define STATUS_MACHINE_NOT_HOMED 18
#define STATUS_OK 0
#define STATUS_EXPECTED_COMMAND_LETTER 1
#define STATUS_BAD_NUMBER_FORMAT 2
#define STATUS_INVALID_STATEMENT 3
#define STATUS_NEGATIVE_VALUE 4
#define STATUS_SETTING_DISABLED 5
#define STATUS_SETTING_STEP_PULSE_MIN 6
#define STATUS_SETTING_READ_FAIL 7
#define STATUS_IDLE_ERROR 8
#define STATUS_SYSTEM_GC_LOCK 9
#define STATUS_SOFT_LIMIT_ERROR 10
#define STATUS_OVERFLOW 11
#define STATUS_MAX_STEP_RATE_EXCEEDED 12
#define STATUS_CHECK_DOOR 13
#define STATUS_LINE_LENGTH_EXCEEDED 14
#define STATUS_TRAVEL_EXCEEDED 15
#define STATUS_INVALID_JOG_COMMAND 16
#define STATUS_SETTING_DISABLED_LASER 17
#define STATUS_MACHINE_NOT_HOMED 18
#define STATUS_TLS_NOT_SET 19
#define STATUS_GCODE_UNSUPPORTED_COMMAND 20
#define STATUS_GCODE_MODAL_GROUP_VIOLATION 21
#define STATUS_GCODE_UNDEFINED_FEED_RATE 22
#define STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER 23
#define STATUS_GCODE_AXIS_COMMAND_CONFLICT 24
#define STATUS_GCODE_WORD_REPEATED 25
#define STATUS_GCODE_NO_AXIS_WORDS 26
#define STATUS_GCODE_INVALID_LINE_NUMBER 27
#define STATUS_GCODE_VALUE_WORD_MISSING 28
#define STATUS_GCODE_UNSUPPORTED_COORD_SYS 29
#define STATUS_GCODE_G53_INVALID_MOTION_MODE 30
#define STATUS_GCODE_AXIS_WORDS_EXIST 31
#define STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE 32
#define STATUS_GCODE_INVALID_TARGET 33
#define STATUS_GCODE_ARC_RADIUS_ERROR 34
#define STATUS_GCODE_NO_OFFSETS_IN_PLANE 35
#define STATUS_GCODE_UNUSED_WORDS 36
#define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
#define STATUS_GCODE_MAX_VALUE_EXCEEDED 38
#define STATUS_GCODE_UNSUPPORTED_COMMAND 20
#define STATUS_GCODE_MODAL_GROUP_VIOLATION 21
#define STATUS_GCODE_UNDEFINED_FEED_RATE 22
#define STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER 23
#define STATUS_GCODE_AXIS_COMMAND_CONFLICT 24
#define STATUS_GCODE_WORD_REPEATED 25
#define STATUS_GCODE_NO_AXIS_WORDS 26
#define STATUS_GCODE_INVALID_LINE_NUMBER 27
#define STATUS_GCODE_VALUE_WORD_MISSING 28
#define STATUS_GCODE_UNSUPPORTED_COORD_SYS 29
#define STATUS_GCODE_G53_INVALID_MOTION_MODE 30
#define STATUS_GCODE_AXIS_WORDS_EXIST 31
#define STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE 32
#define STATUS_GCODE_INVALID_TARGET 33
#define STATUS_GCODE_ARC_RADIUS_ERROR 34
#define STATUS_GCODE_NO_OFFSETS_IN_PLANE 35
#define STATUS_GCODE_UNUSED_WORDS 36
#define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
#define STATUS_GCODE_MAX_VALUE_EXCEEDED 38
// Define Grbl alarm codes. Valid values (1-255). 0 is reserved.
#define ALARM_HARD_LIMIT_ERROR EXEC_ALARM_HARD_LIMIT
#define ALARM_SOFT_LIMIT_ERROR EXEC_ALARM_SOFT_LIMIT
#define ALARM_ABORT_CYCLE EXEC_ALARM_ABORT_CYCLE
#define ALARM_PROBE_FAIL_INITIAL EXEC_ALARM_PROBE_FAIL_INITIAL
#define ALARM_PROBE_FAIL_CONTACT EXEC_ALARM_PROBE_FAIL_CONTACT
#define ALARM_HOMING_FAIL_RESET EXEC_ALARM_HOMING_FAIL_RESET
#define ALARM_HOMING_FAIL_DOOR EXEC_ALARM_HOMING_FAIL_DOOR
#define ALARM_HOMING_FAIL_PULLOFF EXEC_ALARM_HOMING_FAIL_PULLOFF
#define ALARM_HOMING_FAIL_APPROACH EXEC_ALARM_HOMING_FAIL_APPROACH
#define ALARM_HARD_LIMIT_ERROR EXEC_ALARM_HARD_LIMIT
#define ALARM_SOFT_LIMIT_ERROR EXEC_ALARM_SOFT_LIMIT
#define ALARM_ABORT_CYCLE EXEC_ALARM_ABORT_CYCLE
#define ALARM_PROBE_FAIL_INITIAL EXEC_ALARM_PROBE_FAIL_INITIAL
#define ALARM_PROBE_FAIL_CONTACT EXEC_ALARM_PROBE_FAIL_CONTACT
#define ALARM_HOMING_FAIL_RESET EXEC_ALARM_HOMING_FAIL_RESET
#define ALARM_HOMING_FAIL_DOOR EXEC_ALARM_HOMING_FAIL_DOOR
#define ALARM_HOMING_FAIL_PULLOFF EXEC_ALARM_HOMING_FAIL_PULLOFF
#define ALARM_HOMING_FAIL_APPROACH EXEC_ALARM_HOMING_FAIL_APPROACH
// Define Grbl feedback message codes. Valid values (0-255).
#define MESSAGE_CRITICAL_EVENT 1
#define MESSAGE_ALARM_LOCK 2
#define MESSAGE_ALARM_UNLOCK 3
#define MESSAGE_ENABLED 4
#define MESSAGE_DISABLED 5
#define MESSAGE_SAFETY_DOOR_AJAR 6
#define MESSAGE_CHECK_LIMITS 7
#define MESSAGE_PROGRAM_END 8
#define MESSAGE_RESTORE_DEFAULTS 9
#define MESSAGE_SPINDLE_RESTORE 10
#define MESSAGE_SLEEP_MODE 11
#define MESSAGE_CRITICAL_EVENT 1
#define MESSAGE_ALARM_LOCK 2
#define MESSAGE_ALARM_UNLOCK 3
#define MESSAGE_ENABLED 4
#define MESSAGE_DISABLED 5
#define MESSAGE_SAFETY_DOOR_AJAR 6
#define MESSAGE_CHECK_LIMITS 7
#define MESSAGE_PROGRAM_END 8
#define MESSAGE_RESTORE_DEFAULTS 9
#define MESSAGE_SPINDLE_RESTORE 10
#define MESSAGE_SLEEP_MODE 11
#define MESSAGE_INVALID_TOOL 12

733
grbl/Settings.c
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -42,12 +42,12 @@ Settings_t settings;
void Settings_StoreStartupLine(uint8_t n, char *line)
{
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
Protocol_BufferSynchronize(); // A startup line may contain a motion and be executing.
Protocol_BufferSynchronize(); // A startup line may contain a motion and be executing.
#endif
uint32_t addr = n*(STARTUP_LINE_LEN+1)+EEPROM_ADDR_STARTUP_BLOCK;
Nvm_Write(addr, (uint8_t*)line, STARTUP_LINE_LEN);
Nvm_Update();
uint32_t addr = n*(STARTUP_LINE_LEN+1)+EEPROM_ADDR_STARTUP_BLOCK;
Nvm_Write(addr, (uint8_t*)line, STARTUP_LINE_LEN);
Nvm_Update();
}
@ -55,9 +55,9 @@ void Settings_StoreStartupLine(uint8_t n, char *line)
// NOTE: This function can only be called in IDLE state.
void Settings_StoreBuildInfo(char *line)
{
// Build info can only be stored when state is IDLE.
Nvm_Write(EEPROM_ADDR_BUILD_INFO, (uint8_t*)line, STARTUP_LINE_LEN);
Nvm_Update();
// Build info can only be stored when state is IDLE.
Nvm_Write(EEPROM_ADDR_BUILD_INFO, (uint8_t*)line, STARTUP_LINE_LEN);
Nvm_Update();
}
@ -68,10 +68,10 @@ void Settings_WriteCoordData(uint8_t coord_select, float *coord_data)
Protocol_BufferSynchronize();
#endif
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
Nvm_Write(addr, (uint8_t*)coord_data, sizeof(float)*N_AXIS);
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
Nvm_Write(addr, (uint8_t*)coord_data, sizeof(float)*N_AXIS);
Nvm_Update();
Nvm_Update();
}
@ -79,111 +79,141 @@ void Settings_WriteCoordData(uint8_t coord_select, float *coord_data)
// NOTE: This function can only be called in IDLE state.
void WriteGlobalSettings(void)
{
Nvm_WriteByte(0, SETTINGS_VERSION);
Nvm_Write(EEPROM_ADDR_GLOBAL, (uint8_t*)&settings, sizeof(Settings_t));
Nvm_WriteByte(0, SETTINGS_VERSION);
Nvm_Write(EEPROM_ADDR_GLOBAL, (uint8_t*)&settings, sizeof(Settings_t));
Nvm_Update();
Nvm_Update();
}
// Method to restore EEPROM-saved Grbl global settings back to defaults.
void Settings_Restore(uint8_t restore_flag) {
if(restore_flag & SETTINGS_RESTORE_DEFAULTS) {
settings.system_flags = DEFAULT_SYSTEM_INVERT_MASK;
settings.flags2 = DEFAULT_LATHE_MODE;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
void Settings_Restore(uint8_t restore_flag)
{
if(restore_flag & SETTINGS_RESTORE_DEFAULTS)
{
settings.system_flags = DEFAULT_SYSTEM_INVERT_MASK;
settings.flags2 = DEFAULT_LATHE_MODE;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.flags = 0;
if(DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
if(DEFAULT_LASER_MODE) { settings.flags |= BITFLAG_LASER_MODE; }
if(DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
if(DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
if(DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
if(DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
if(DEFAULT_INVERT_LIMIT_PINS) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
if(DEFAULT_INVERT_PROBE_PIN) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
settings.flags = 0;
if(DEFAULT_REPORT_INCHES)
{
settings.flags |= BITFLAG_REPORT_INCHES;
}
if(DEFAULT_LASER_MODE)
{
settings.flags |= BITFLAG_LASER_MODE;
}
if(DEFAULT_INVERT_ST_ENABLE)
{
settings.flags |= BITFLAG_INVERT_ST_ENABLE;
}
if(DEFAULT_HARD_LIMIT_ENABLE)
{
settings.flags |= BITFLAG_HARD_LIMIT_ENABLE;
}
if(DEFAULT_HOMING_ENABLE)
{
settings.flags |= BITFLAG_HOMING_ENABLE;
}
if(DEFAULT_SOFT_LIMIT_ENABLE)
{
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
}
if(DEFAULT_INVERT_LIMIT_PINS)
{
settings.flags |= BITFLAG_INVERT_LIMIT_PINS;
}
if(DEFAULT_INVERT_PROBE_PIN)
{
settings.flags |= BITFLAG_INVERT_PROBE_PIN;
}
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_DEG;
settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_DEG;
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_DEG;
settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_DEG;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
settings.backlash[X_AXIS] = DEFAULT_X_BACKLASH;
settings.backlash[Y_AXIS] = DEFAULT_Y_BACKLASH;
settings.backlash[Z_AXIS] = DEFAULT_Z_BACKLASH;
settings.backlash[X_AXIS] = DEFAULT_X_BACKLASH;
settings.backlash[Y_AXIS] = DEFAULT_Y_BACKLASH;
settings.backlash[Z_AXIS] = DEFAULT_Z_BACKLASH;
settings.tool_change = DEFAULT_TOOL_CHANGE_MODE;
settings.tls_valid = 0;
settings.tls_position[X_AXIS] = 0;
settings.tls_position[Y_AXIS] = 0;
settings.tls_position[Z_AXIS] = 0;
settings.tool_change = DEFAULT_TOOL_CHANGE_MODE;
settings.tls_valid = 0;
settings.tls_position[X_AXIS] = 0;
settings.tls_position[Y_AXIS] = 0;
settings.tls_position[Z_AXIS] = 0;
WriteGlobalSettings();
}
WriteGlobalSettings();
}
if(restore_flag & SETTINGS_RESTORE_PARAMETERS) {
uint8_t idx;
float coord_data[N_AXIS];
if(restore_flag & SETTINGS_RESTORE_PARAMETERS)
{
uint8_t idx;
float coord_data[N_AXIS];
memset(&coord_data, 0, sizeof(coord_data));
memset(&coord_data, 0, sizeof(coord_data));
for(idx = 0; idx <= SETTING_INDEX_NCOORD; idx++) {
Settings_WriteCoordData(idx, coord_data);
}
}
for(idx = 0; idx <= SETTING_INDEX_NCOORD; idx++)
{
Settings_WriteCoordData(idx, coord_data);
}
}
if(restore_flag & SETTINGS_RESTORE_STARTUP_LINES) {
if(restore_flag & SETTINGS_RESTORE_STARTUP_LINES)
{
#if N_STARTUP_LINE > 0
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK, 0);
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+1, 0); // Checksum
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK, 0);
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+1, 0); // Checksum
#endif
#if N_STARTUP_LINE > 1
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+(STARTUP_LINE_LEN+1), 0);
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+(STARTUP_LINE_LEN+2), 0); // Checksum
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+(STARTUP_LINE_LEN+1), 0);
Nvm_WriteByte(EEPROM_ADDR_STARTUP_BLOCK+(STARTUP_LINE_LEN+2), 0); // Checksum
#endif
Nvm_Update();
}
Nvm_Update();
}
if(restore_flag & SETTINGS_RESTORE_BUILD_INFO) {
Nvm_WriteByte(EEPROM_ADDR_BUILD_INFO , 0);
Nvm_WriteByte(EEPROM_ADDR_BUILD_INFO+1 , 0); // Checksum
Nvm_Update();
}
if(restore_flag & SETTINGS_RESTORE_BUILD_INFO)
{
Nvm_WriteByte(EEPROM_ADDR_BUILD_INFO , 0);
Nvm_WriteByte(EEPROM_ADDR_BUILD_INFO+1 , 0); // Checksum
Nvm_Update();
}
if(restore_flag & SETTINGS_RESTORE_TOOLS)
if(restore_flag & SETTINGS_RESTORE_TOOLS)
{
TT_Reset();
}
@ -193,16 +223,17 @@ void Settings_Restore(uint8_t restore_flag) {
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t Settings_ReadStartupLine(uint8_t n, char *line)
{
uint32_t addr = n*(STARTUP_LINE_LEN+1)+EEPROM_ADDR_STARTUP_BLOCK;
if (!(Nvm_Read((uint8_t*)line, addr, STARTUP_LINE_LEN))) {
// Reset line with default value
line[0] = 0; // Empty line
Settings_StoreStartupLine(n, line);
uint32_t addr = n*(STARTUP_LINE_LEN+1)+EEPROM_ADDR_STARTUP_BLOCK;
if(!(Nvm_Read((uint8_t*)line, addr, STARTUP_LINE_LEN)))
{
// Reset line with default value
line[0] = 0; // Empty line
Settings_StoreStartupLine(n, line);
return false;
}
return false;
}
return true;
return true;
}
@ -220,7 +251,8 @@ void Settings_StoreToolParams(uint8_t tool_nr, ToolParams_t *params)
uint8_t Settings_ReadToolTable(ToolTable_t *table)
{
if(!(Nvm_Read((uint8_t*)table, EEPROM_ADDR_TOOLTABLE, sizeof(ToolTable_t)))) {
if(!(Nvm_Read((uint8_t*)table, EEPROM_ADDR_TOOLTABLE, sizeof(ToolTable_t))))
{
return false;
}
@ -231,194 +263,304 @@ uint8_t Settings_ReadToolTable(ToolTable_t *table)
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t Settings_ReadBuildInfo(char *line)
{
if(!(Nvm_Read((uint8_t*)line, EEPROM_ADDR_BUILD_INFO, STARTUP_LINE_LEN))) {
// Reset line with default value
line[0] = 0; // Empty line
Settings_StoreBuildInfo(line);
if(!(Nvm_Read((uint8_t*)line, EEPROM_ADDR_BUILD_INFO, STARTUP_LINE_LEN)))
{
// Reset line with default value
line[0] = 0; // Empty line
Settings_StoreBuildInfo(line);
return false;
}
return false;
}
return true;
return true;
}
// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
uint8_t Settings_ReadCoordData(uint8_t coord_select, float *coord_data)
{
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
if(!(Nvm_Read((uint8_t*)coord_data, addr, sizeof(float)*N_AXIS))) {
// Reset with default zero vector
memset(&coord_data, 0.0, sizeof(coord_data));
Settings_WriteCoordData(coord_select, coord_data);
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
if(!(Nvm_Read((uint8_t*)coord_data, addr, sizeof(float)*N_AXIS)))
{
// Reset with default zero vector
memset(&coord_data, 0.0, sizeof(coord_data));
Settings_WriteCoordData(coord_select, coord_data);
return false;
}
return false;
}
return true;
return true;
}
// Reads Grbl global settings struct from EEPROM.
uint8_t ReadGlobalSettings() {
// Check version-byte of eeprom
uint8_t version = Nvm_ReadByte(0);
uint8_t ReadGlobalSettings()
{
// Check version-byte of eeprom
uint8_t version = Nvm_ReadByte(0);
if(version == SETTINGS_VERSION) {
// Read settings-record and check checksum
if(!(Nvm_Read((uint8_t*)&settings, EEPROM_ADDR_GLOBAL, sizeof(Settings_t)))) {
return false;
}
}
else {
return false;
}
if(version == SETTINGS_VERSION)
{
// Read settings-record and check checksum
if(!(Nvm_Read((uint8_t*)&settings, EEPROM_ADDR_GLOBAL, sizeof(Settings_t))))
{
return false;
}
}
else
{
return false;
}
return true;
return true;
}
// A helper method to set settings from command line
uint8_t Settings_StoreGlobalSetting(uint8_t parameter, float value) {
if(value < 0.0) {
return STATUS_NEGATIVE_VALUE;
}
uint8_t Settings_StoreGlobalSetting(uint8_t parameter, float value)
{
if(value < 0.0)
{
return STATUS_NEGATIVE_VALUE;
}
if(parameter >= AXIS_SETTINGS_START_VAL) {
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
parameter -= AXIS_SETTINGS_START_VAL;
uint8_t set_idx = 0;
if(parameter >= AXIS_SETTINGS_START_VAL)
{
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
parameter -= AXIS_SETTINGS_START_VAL;
uint8_t set_idx = 0;
while(set_idx < AXIS_N_SETTINGS) {
if(parameter < N_AXIS) {
// Valid axis setting found.
switch (set_idx) {
case 0:
while(set_idx < AXIS_N_SETTINGS)
{
if(parameter < N_AXIS)
{
// Valid axis setting found.
switch (set_idx)
{
case 0:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.max_rate[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
if (value*settings.max_rate[parameter] > (MAX_STEP_RATE_HZ*60.0))
{
return(STATUS_MAX_STEP_RATE_EXCEEDED);
}
#endif
settings.steps_per_mm[parameter] = value;
break;
settings.steps_per_mm[parameter] = value;
break;
case 1:
case 1:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
if (value*settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ*60.0))
{
return(STATUS_MAX_STEP_RATE_EXCEEDED);
}
#endif
settings.max_rate[parameter] = value;
break;
settings.max_rate[parameter] = value;
break;
case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 3: settings.max_travel[parameter] = -value; break; // Store as negative for grbl internal use.
case 4: settings.backlash[parameter] = value; break;
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
}
else {
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
parameter -= AXIS_SETTINGS_INCREMENT;
}
}
}
else {
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
case 2:
settings.acceleration[parameter] = value*60*60;
break; // Convert to mm/min^2 for grbl internal use.
case 3:
settings.max_travel[parameter] = -value;
break; // Store as negative for grbl internal use.
case 4:
settings.backlash[parameter] = value;
break;
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
}
else
{
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS))
{
return(STATUS_INVALID_STATEMENT);
}
parameter -= AXIS_SETTINGS_INCREMENT;
}
}
}
else
{
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
switch(parameter)
{
case 0:
//settings.system_flags = int_value;
break;
case 1:
settings.stepper_idle_lock_time = int_value;
break;
case 2:
settings.step_invert_mask = int_value;
Stepper_GenerateStepDirInvertMasks(); // Regenerate step and direction port invert masks.
break;
case 3:
settings.dir_invert_mask = int_value;
Stepper_GenerateStepDirInvertMasks(); // Regenerate step and direction port invert masks.
break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
Probe_ConfigureInvertMask(false);
break;
case 10: settings.status_report_mask = int_value; break;
case 11: settings.junction_deviation = value; break;
case 12: settings.arc_tolerance = value; break;
case 13:
if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
System_FlagWcoChange(); // Make sure WCO is immediately updated.
break;
case 14: settings.tool_change = int_value; break; // Check for range?
case 20:
if (int_value) {
if (BIT_IS_FALSE(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
break;
case 21:
if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
Limits_Init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 23: settings.homing_dir_mask = int_value; break;
case 24: settings.homing_feed_rate = value; break;
case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = value; Spindle_Init(); break; // Re-initialize spindle rpm calibration
case 31: settings.rpm_min = value; Spindle_Init(); break; // Re-initialize spindle rpm calibration
case 32:
if (int_value) { settings.flags |= BITFLAG_LASER_MODE; }
else { settings.flags &= ~BITFLAG_LASER_MODE; }
break;
case 33:
if (int_value) { settings.flags2 |= BITFLAG_LATHE_MODE; }
else { settings.flags2 &= ~BITFLAG_LATHE_MODE; }
switch(parameter)
{
case 0:
//settings.system_flags = int_value;
break;
default:
return(STATUS_INVALID_STATEMENT);
}
}
case 1:
settings.stepper_idle_lock_time = int_value;
break;
WriteGlobalSettings();
case 2:
settings.step_invert_mask = int_value;
Stepper_GenerateStepDirInvertMasks(); // Regenerate step and direction port invert masks.
break;
return 0;
case 3:
settings.dir_invert_mask = int_value;
Stepper_GenerateStepDirInvertMasks(); // Regenerate step and direction port invert masks.
break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value)
{
settings.flags |= BITFLAG_INVERT_ST_ENABLE;
}
else
{
settings.flags &= ~BITFLAG_INVERT_ST_ENABLE;
}
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value)
{
settings.flags |= BITFLAG_INVERT_LIMIT_PINS;
}
else
{
settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS;
}
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value)
{
settings.flags |= BITFLAG_INVERT_PROBE_PIN;
}
else
{
settings.flags &= ~BITFLAG_INVERT_PROBE_PIN;
}
Probe_ConfigureInvertMask(false);
break;
case 10:
settings.status_report_mask = int_value;
break;
case 11:
settings.junction_deviation = value;
break;
case 12:
settings.arc_tolerance = value;
break;
case 13:
if (int_value)
{
settings.flags |= BITFLAG_REPORT_INCHES;
}
else
{
settings.flags &= ~BITFLAG_REPORT_INCHES;
}
System_FlagWcoChange(); // Make sure WCO is immediately updated.
break;
case 14:
settings.tool_change = int_value;
break; // Check for range?
case 20:
if (int_value)
{
if (BIT_IS_FALSE(settings.flags, BITFLAG_HOMING_ENABLE))
{
return(STATUS_SOFT_LIMIT_ERROR);
}
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
}
else
{
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE;
}
break;
case 21:
if (int_value)
{
settings.flags |= BITFLAG_HARD_LIMIT_ENABLE;
}
else
{
settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE;
}
Limits_Init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value)
{
settings.flags |= BITFLAG_HOMING_ENABLE;
}
else
{
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 23:
settings.homing_dir_mask = int_value;
break;
case 24:
settings.homing_feed_rate = value;
break;
case 25:
settings.homing_seek_rate = value;
break;
case 26:
settings.homing_debounce_delay = int_value;
break;
case 27:
settings.homing_pulloff = value;
break;
case 30:
settings.rpm_max = value;
Spindle_Init();
break; // Re-initialize spindle rpm calibration
case 31:
settings.rpm_min = value;
Spindle_Init();
break; // Re-initialize spindle rpm calibration
case 32:
if (int_value)
{
settings.flags |= BITFLAG_LASER_MODE;
}
else
{
settings.flags &= ~BITFLAG_LASER_MODE;
}
break;
case 33:
if (int_value)
{
settings.flags2 |= BITFLAG_LATHE_MODE;
}
else
{
settings.flags2 &= ~BITFLAG_LATHE_MODE;
}
break;
default:
return(STATUS_INVALID_STATEMENT);
}
}
WriteGlobalSettings();
return 0;
}
@ -434,50 +576,87 @@ void Settings_StoreTlsPosition(void)
// Initialize the config subsystem
void Settings_Init(void)
{
Nvm_Init();
Nvm_Init();
if(!ReadGlobalSettings()) {
Report_StatusMessage(STATUS_SETTING_READ_FAIL);
Settings_Restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
Report_GrblSettings();
}
if(!ReadGlobalSettings())
{
Report_StatusMessage(STATUS_SETTING_READ_FAIL);
Settings_Restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
Report_GrblSettings();
}
// Read tool table
TT_Init();
TT_Init();
}
// Returns step pin mask according to Grbl internal axis indexing.
uint8_t Settings_GetStepPinMask(uint8_t axis_idx)
{
if(axis_idx == X_AXIS) { return (1<<X_STEP_BIT); }
if(axis_idx == Y_AXIS) { return (1<<Y_STEP_BIT); }
if(axis_idx == Z_AXIS) { return (1<<Z_STEP_BIT); }
if(axis_idx == A_AXIS) { return (1<<A_STEP_BIT); }
if(axis_idx == X_AXIS)
{
return (1<<X_STEP_BIT);
}
if(axis_idx == Y_AXIS)
{
return (1<<Y_STEP_BIT);
}
if(axis_idx == Z_AXIS)
{
return (1<<Z_STEP_BIT);
}
if(axis_idx == A_AXIS)
{
return (1<<A_STEP_BIT);
}
return (1<<B_STEP_BIT);
return (1<<B_STEP_BIT);
}
// Returns direction pin mask according to Grbl internal axis indexing.
uint8_t Settings_GetDirectionPinMask(uint8_t axis_idx)
{
if(axis_idx == X_AXIS) { return (1<<X_DIRECTION_BIT); }
if(axis_idx == Y_AXIS) { return (1<<Y_DIRECTION_BIT); }
if(axis_idx == Z_AXIS) { return (1<<Z_DIRECTION_BIT); }
if(axis_idx == A_AXIS) { return (1<<A_DIRECTION_BIT); }
if(axis_idx == X_AXIS)
{
return (1<<X_DIRECTION_BIT);
}
if(axis_idx == Y_AXIS)
{
return (1<<Y_DIRECTION_BIT);
}
if(axis_idx == Z_AXIS)
{
return (1<<Z_DIRECTION_BIT);
}
if(axis_idx == A_AXIS)
{
return (1<<A_DIRECTION_BIT);
}
return (1<<B_DIRECTION_BIT);
return (1<<B_DIRECTION_BIT);
}
// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t Settings_GetLimitPinMask(uint8_t axis_idx)
{
if(axis_idx == X_AXIS) { return (1<<X_STEP_BIT); }
if(axis_idx == Y_AXIS) { return (1<<Y_STEP_BIT); }
if(axis_idx == Z_AXIS) { return (1<<Z_STEP_BIT); }
if(axis_idx == A_AXIS) { return (1<<A_STEP_BIT); }
if(axis_idx == X_AXIS)
{
return (1<<X_STEP_BIT);
}
if(axis_idx == Y_AXIS)
{
return (1<<Y_STEP_BIT);
}
if(axis_idx == Z_AXIS)
{
return (1<<Z_STEP_BIT);
}
if(axis_idx == A_AXIS)
{
return (1<<A_STEP_BIT);
}
return (1<<B_STEP_BIT);
return (1<<B_STEP_BIT);
}

122
grbl/Settings.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -29,67 +29,67 @@
// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
// when firmware is upgraded. Always stored in byte 0 of eeprom
#define SETTINGS_VERSION 7 // NOTE: Check settings_reset() when moving to next version.
#define SETTINGS_VERSION 7 // NOTE: Check settings_reset() when moving to next version.
// Define bit flag masks for the boolean settings in settings.system_flags
#define BITFLAG_INVERT_RESET_PIN BIT(0)
#define BITFLAG_INVERT_FEED_PIN BIT(1)
#define BITFLAG_INVERT_CYCLE_PIN BIT(2)
#define BITFLAG_INVERT_SAFETY_PIN BIT(3)
#define BITFLAG_ENABLE_LIMITS BIT(4)
#define BITFLAG_FORCE_HARD_LIMIT_CHECK BIT(5)
#define BITFLAG_INVERT_RESET_PIN BIT(0)
#define BITFLAG_INVERT_FEED_PIN BIT(1)
#define BITFLAG_INVERT_CYCLE_PIN BIT(2)
#define BITFLAG_INVERT_SAFETY_PIN BIT(3)
#define BITFLAG_ENABLE_LIMITS BIT(4)
#define BITFLAG_FORCE_HARD_LIMIT_CHECK BIT(5)
// Define bit flag masks for the boolean settings in settings.flag.
#define BITFLAG_REPORT_INCHES BIT(0)
#define BITFLAG_LASER_MODE BIT(1)
#define BITFLAG_INVERT_ST_ENABLE BIT(2)
#define BITFLAG_HARD_LIMIT_ENABLE BIT(3)
#define BITFLAG_HOMING_ENABLE BIT(4)
#define BITFLAG_SOFT_LIMIT_ENABLE BIT(5)
#define BITFLAG_INVERT_LIMIT_PINS BIT(6)
#define BITFLAG_INVERT_PROBE_PIN BIT(7)
#define BITFLAG_REPORT_INCHES BIT(0)
#define BITFLAG_LASER_MODE BIT(1)
#define BITFLAG_INVERT_ST_ENABLE BIT(2)
#define BITFLAG_HARD_LIMIT_ENABLE BIT(3)
#define BITFLAG_HOMING_ENABLE BIT(4)
#define BITFLAG_SOFT_LIMIT_ENABLE BIT(5)
#define BITFLAG_INVERT_LIMIT_PINS BIT(6)
#define BITFLAG_INVERT_PROBE_PIN BIT(7)
// Define bit flag masks for the boolean settings in settings.flag2.
#define BITFLAG_LATHE_MODE BIT(0)
#define BITFLAG_LATHE_MODE BIT(0)
// Define status reporting boolean enable bit flags in settings.status_report_mask
#define BITFLAG_RT_STATUS_POSITION_TYPE BIT(0)
#define BITFLAG_RT_STATUS_BUFFER_STATE BIT(1)
// Define settings restore bitflags.
#define SETTINGS_RESTORE_DEFAULTS BIT(0)
#define SETTINGS_RESTORE_PARAMETERS BIT(1)
#define SETTINGS_RESTORE_STARTUP_LINES BIT(2)
#define SETTINGS_RESTORE_BUILD_INFO BIT(3)
#define SETTINGS_RESTORE_TOOLS BIT(4)
#define SETTINGS_RESTORE_DEFAULTS BIT(0)
#define SETTINGS_RESTORE_PARAMETERS BIT(1)
#define SETTINGS_RESTORE_STARTUP_LINES BIT(2)
#define SETTINGS_RESTORE_BUILD_INFO BIT(3)
#define SETTINGS_RESTORE_TOOLS BIT(4)
// Define EEPROM memory address location values for Grbl settings and parameters
// NOTE: The Atmega328p has 1KB EEPROM. The upper half is reserved for parameters and
// the startup script. The lower half contains the global settings and space for future
// developments.
#define EEPROM_ADDR_GLOBAL 1U
#define EEPROM_ADDR_GLOBAL 1U
#define EEPROM_ADDR_TOOLTABLE 180U
#define EEPROM_ADDR_PARAMETERS 512U
#define EEPROM_ADDR_STARTUP_BLOCK 768U
#define EEPROM_ADDR_BUILD_INFO 942U
#define EEPROM_ADDR_PARAMETERS 512U
#define EEPROM_ADDR_STARTUP_BLOCK 768U
#define EEPROM_ADDR_BUILD_INFO 942U
// Define EEPROM address indexing for coordinate parameters
#define N_COORDINATE_SYSTEM 6 // Number of supported work coordinate systems (from index 1)
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+1 // Total number of system stored (from index 0)
#define N_COORDINATE_SYSTEM 6 // Number of supported work coordinate systems (from index 1)
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+1 // Total number of system stored (from index 0)
// NOTE: Work coordinate indices are (0=G54, 1=G55, ... , 6=G59)
#define SETTING_INDEX_G28 N_COORDINATE_SYSTEM // Home position 1
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM+1 // Home position 2
#define SETTING_INDEX_G28 N_COORDINATE_SYSTEM // Home position 1
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM+1 // Home position 2
// #define SETTING_INDEX_G92 N_COORDINATE_SYSTEM+2 // Coordinate offset (G92.2,G92.3 not supported)
// Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
#define AXIS_N_SETTINGS 5
#define AXIS_SETTINGS_START_VAL 100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
#define AXIS_SETTINGS_INCREMENT 10 // Must be greater than the number of axis settings
#define AXIS_N_SETTINGS 5
#define AXIS_SETTINGS_START_VAL 100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
#define AXIS_SETTINGS_INCREMENT 10 // Must be greater than the number of axis settings
#ifndef SETTINGS_RESTORE_ALL
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
#endif
@ -97,42 +97,42 @@
// Global persistent settings (Stored from byte EEPROM_ADDR_GLOBAL onwards); 111 Bytes
typedef struct
{
// Axis settings
float steps_per_mm[N_AXIS];
float max_rate[N_AXIS];
float acceleration[N_AXIS];
float max_travel[N_AXIS];
// Axis settings
float steps_per_mm[N_AXIS];
float max_rate[N_AXIS];
float acceleration[N_AXIS];
float max_travel[N_AXIS];
float backlash[N_AXIS];
float backlash[N_AXIS];
// Tool change mode
uint8_t tool_change;
// Position of tool length sensor (only XYZ axis)
int32_t tls_position[N_AXIS];
uint8_t tls_valid;
// Position of tool length sensor (only XYZ axis)
int32_t tls_position[N_AXIS];
uint8_t tls_valid;
// Remaining Grbl settings
// TODO: document system_flags
uint8_t system_flags;
uint8_t step_invert_mask;
uint8_t dir_invert_mask;
uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
uint8_t status_report_mask; // Mask to indicate desired report data.
float junction_deviation;
float arc_tolerance;
// Remaining Grbl settings
// TODO: document system_flags
uint8_t system_flags;
uint8_t step_invert_mask;
uint8_t dir_invert_mask;
uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
uint8_t status_report_mask; // Mask to indicate desired report data.
float junction_deviation;
float arc_tolerance;
float rpm_max;
float rpm_min;
float rpm_max;
float rpm_min;
uint8_t flags; // Contains default boolean settings
uint8_t flags2;
uint8_t flags; // Contains default boolean settings
uint8_t flags2;
uint8_t homing_dir_mask;
float homing_feed_rate;
float homing_seek_rate;
uint16_t homing_debounce_delay;
float homing_pulloff;
uint8_t homing_dir_mask;
float homing_feed_rate;
float homing_seek_rate;
uint16_t homing_debounce_delay;
float homing_pulloff;
} Settings_t;
#pragma pack(pop)

222
grbl/SpindleControl.c
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -33,6 +33,8 @@ static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversi
static uint8_t spindle_enabled = 0;
static uint8_t spindle_dir_cw = 1;
extern uint32_t uwTIM3Freq;
void Spindle_Init(void)
{
@ -45,7 +47,7 @@ void Spindle_Init(void)
pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
spindle_dir_cw = 1;
Spindle_Stop();
Spindle_Stop();
}
@ -54,8 +56,8 @@ void Spindle_Init(void)
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
void Spindle_Stop(void)
{
TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
spindle_enabled = 0;
TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
spindle_enabled = 0;
#ifdef INVERT_SPINDLE_ENABLE_PIN
GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
@ -68,19 +70,19 @@ void Spindle_Stop(void)
uint8_t Spindle_GetState(void)
{
// Check if PWM is enabled.
if(spindle_enabled)
if(spindle_enabled)
{
if(spindle_dir_cw == 0)
{
return SPINDLE_STATE_CCW;
}
else
if(spindle_dir_cw == 0)
{
return SPINDLE_STATE_CW;
}
}
return SPINDLE_STATE_CCW;
}
else
{
return SPINDLE_STATE_CW;
}
}
return SPINDLE_STATE_DISABLE;
return SPINDLE_STATE_DISABLE;
}
@ -88,69 +90,81 @@ uint8_t Spindle_GetState(void)
// and stepper ISR. Keep routine small and efficient.
void Spindle_SetSpeed(uint8_t pwm_value)
{
TIM1->CCR1 = TIM1_INIT - pwm_value; // Set PWM output level.
TIM1->CCR1 = TIM1_INIT - pwm_value; // Set PWM output level.
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
if (pwm_value == SPINDLE_PWM_OFF_VALUE)
if (pwm_value == SPINDLE_PWM_OFF_VALUE)
{
Spindle_Stop();
}
else
Spindle_Stop();
}
else
{
TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
#ifdef INVERT_SPINDLE_ENABLE_PIN
GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
spindle_enabled = 1;
}
TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
#ifdef INVERT_SPINDLE_ENABLE_PIN
GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
if(pwm_value == SPINDLE_PWM_OFF_VALUE)
{
TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
TIM_Cmd(TIM1, DISABLE); // Disable PWM. Output voltage is zero.
spindle_enabled = 0;
}
else
{
TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
spindle_enabled = 1;
}
GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
spindle_enabled = 1;
}
#else
if(pwm_value == SPINDLE_PWM_OFF_VALUE)
{
TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
TIM_Cmd(TIM1, DISABLE); // Disable PWM. Output voltage is zero.
spindle_enabled = 0;
}
else
{
TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
spindle_enabled = 1;
}
#endif
}
uint16_t Spindle_GetRPM(void)
{
// 4 impulses per revolution
return (uint16_t)(uwTIM3Freq / 4);
}
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t Spindle_ComputePwmValue(float rpm) // 328p PWM register is 8-bit.
{
uint8_t pwm_value;
uint8_t pwm_value;
rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
if((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
// No PWM range possible. Set simple on/off spindle control pin state.
sys.spindle_speed = settings.rpm_max;
pwm_value = SPINDLE_PWM_MAX_VALUE;
}
else if(rpm <= settings.rpm_min) {
if(rpm == 0.0) { // S0 disables spindle
sys.spindle_speed = 0.0;
pwm_value = SPINDLE_PWM_OFF_VALUE;
}
else { // Set minimum PWM output
sys.spindle_speed = settings.rpm_min;
pwm_value = SPINDLE_PWM_MIN_VALUE;
}
}
else {
// Compute intermediate PWM value with linear spindle speed model.
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
sys.spindle_speed = rpm;
pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
}
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
if((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max))
{
// No PWM range possible. Set simple on/off spindle control pin state.
sys.spindle_speed = settings.rpm_max;
pwm_value = SPINDLE_PWM_MAX_VALUE;
}
else if(rpm <= settings.rpm_min)
{
if(rpm == 0.0) // S0 disables spindle
{
sys.spindle_speed = 0.0;
pwm_value = SPINDLE_PWM_OFF_VALUE;
}
else // Set minimum PWM output
{
sys.spindle_speed = settings.rpm_min;
pwm_value = SPINDLE_PWM_MIN_VALUE;
}
}
else
{
// Compute intermediate PWM value with linear spindle speed model.
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
sys.spindle_speed = rpm;
pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
}
return pwm_value;
return pwm_value;
}
@ -159,43 +173,50 @@ uint8_t Spindle_ComputePwmValue(float rpm) // 328p PWM register is 8-bit.
// sleep, and spindle stop override.
void Spindle_SetState(uint8_t state, float rpm)
{
if(sys.abort) {
// Block during abort.
return;
}
if(sys.abort)
{
// Block during abort.
return;
}
if(state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
sys.spindle_speed = 0.0;
Spindle_Stop();
}
else {
if(state == SPINDLE_ENABLE_CW) {
GPIO_ResetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
spindle_dir_cw = 1;
}
else {
GPIO_SetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
spindle_dir_cw = 0;
}
if(state == SPINDLE_DISABLE) // Halt or set spindle direction and rpm.
{
sys.spindle_speed = 0.0;
Spindle_Stop();
}
else
{
if(state == SPINDLE_ENABLE_CW)
{
GPIO_ResetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
spindle_dir_cw = 1;
}
else
{
GPIO_SetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
spindle_dir_cw = 0;
}
#ifdef INVERT_SPINDLE_ENABLE_PIN
GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
#ifdef INVERT_SPINDLE_ENABLE_PIN
GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
if(settings.flags & BITFLAG_LASER_MODE) {
if(state == SPINDLE_ENABLE_CCW) {
// TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
rpm = 0.0;
}
}
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
if(settings.flags & BITFLAG_LASER_MODE)
{
if(state == SPINDLE_ENABLE_CCW)
{
// TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
rpm = 0.0;
}
}
Spindle_SetSpeed(Spindle_ComputePwmValue(rpm));
}
Spindle_SetSpeed(Spindle_ComputePwmValue(rpm));
}
sys.report_ovr_counter = 0; // Set to report change immediately
sys.report_ovr_counter = 0; // Set to report change immediately
}
@ -203,11 +224,12 @@ void Spindle_SetState(uint8_t state, float rpm)
// if an abort or check-mode is active.
void Spindle_Sync(uint8_t state, float rpm)
{
if(sys.state == STATE_CHECK_MODE) {
return;
}
if(sys.state == STATE_CHECK_MODE)
{
return;
}
Protocol_BufferSynchronize(); // Empty planner buffer to ensure spindle is set when programmed.
Spindle_SetState(state, rpm);
Protocol_BufferSynchronize(); // Empty planner buffer to ensure spindle is set when programmed.
Spindle_SetState(state, rpm);
}

20
grbl/SpindleControl.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -25,19 +25,19 @@
#include <stdint.h>
#define SPINDLE_NO_SYNC false
#define SPINDLE_FORCE_SYNC true
#define SPINDLE_NO_SYNC false
#define SPINDLE_FORCE_SYNC true
#define SPINDLE_STATE_DISABLE 0 // Must be zero.
#define SPINDLE_STATE_CW BIT(0)
#define SPINDLE_STATE_CCW BIT(1)
#define SPINDLE_STATE_DISABLE 0 // Must be zero.
#define SPINDLE_STATE_CW BIT(0)
#define SPINDLE_STATE_CCW BIT(1)
#define SPINDLE_PWM_MAX_VALUE 200 // Don't change.
#define SPINDLE_PWM_MAX_VALUE 200 // Don't change.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_OFF_VALUE 1
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_PWM_OFF_VALUE 1
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Initializes spindle pins and hardware PWM, if enabled.

1693
grbl/Stepper.c
Wyświetl plik

Plik diff jest za duży Load Diff

2
grbl/Stepper.h
Wyświetl plik

@ -4,7 +4,7 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2017 Patrick F.
Copyright (c) 2017 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

774
grbl/System.c
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -37,24 +37,24 @@
void System_Init(void)
{
GPIO_InitGPIO(GPIO_SYSTEM);
GPIO_InitGPIO(GPIO_SYSTEM);
}
void System_Clear(void)
{
memset(&sys, 0, sizeof(System_t)); // Clear system struct variable.
memset(&sys, 0, sizeof(System_t)); // Clear system struct variable.
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
}
void System_ResetPosition(void)
{
// Clear machine position.
memset(sys_position, 0 , sizeof(sys_position));
// Clear machine position.
memset(sys_position, 0 , sizeof(sys_position));
}
@ -63,31 +63,35 @@ void System_ResetPosition(void)
// defined by the CONTROL_PIN_INDEX in the header file.
uint8_t System_GetControlState(void)
{
uint8_t control_state = 0;
uint8_t pin = ((GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0)<<CONTROL_RESET_BIT) |
(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1)<<CONTROL_FEED_HOLD_BIT) |
(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4)<<CONTROL_CYCLE_START_BIT) |
(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_8)<<CONTROL_SAFETY_DOOR_BIT));
uint8_t control_state = 0;
uint8_t pin = ((GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0)<<CONTROL_RESET_BIT) |
(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1)<<CONTROL_FEED_HOLD_BIT) |
(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_4)<<CONTROL_CYCLE_START_BIT) |
(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_8)<<CONTROL_SAFETY_DOOR_BIT));
// Invert control pins if necessary
pin ^= CONTROL_MASK & settings.system_flags;
// Invert control pins if necessary
pin ^= CONTROL_MASK & settings.system_flags;
if(pin) {
if(BIT_IS_FALSE(pin, (1<<CONTROL_RESET_BIT))) {
control_state |= CONTROL_PIN_INDEX_RESET;
}
if(BIT_IS_FALSE(pin, (1<<CONTROL_FEED_HOLD_BIT))) {
control_state |= CONTROL_PIN_INDEX_FEED_HOLD;
}
if(BIT_IS_FALSE(pin, (1<<CONTROL_CYCLE_START_BIT))) {
control_state |= CONTROL_PIN_INDEX_CYCLE_START;
}
/*if(BIT_IS_FALSE(pin, (1<<CONTROL_SAFETY_DOOR_BIT))) {
control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR;
}*/
}
if(pin)
{
if(BIT_IS_TRUE(pin, (1<<CONTROL_RESET_BIT)))
{
control_state |= CONTROL_PIN_INDEX_RESET;
}
if(BIT_IS_TRUE(pin, (1<<CONTROL_FEED_HOLD_BIT)))
{
control_state |= CONTROL_PIN_INDEX_FEED_HOLD;
}
if(BIT_IS_TRUE(pin, (1<<CONTROL_CYCLE_START_BIT)))
{
control_state |= CONTROL_PIN_INDEX_CYCLE_START;
}
/*if(BIT_IS_TRUE(pin, (1<<CONTROL_SAFETY_DOOR_BIT))) {
control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR;
}*/
}
return control_state;
return control_state;
}
@ -97,22 +101,27 @@ uint8_t System_GetControlState(void)
// directly from the incoming serial data stream.
void System_PinChangeISR(void)
{
uint8_t pin = System_GetControlState();
uint8_t pin = System_GetControlState();
if(pin) {
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_RESET)) {
MC_Reset();
}
else if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_CYCLE_START)) {
BIT_TRUE(sys_rt_exec_state, EXEC_CYCLE_START);
}
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_FEED_HOLD)) {
BIT_TRUE(sys_rt_exec_state, EXEC_FEED_HOLD);
}
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_SAFETY_DOOR)) {
BIT_TRUE(sys_rt_exec_state, EXEC_SAFETY_DOOR);
}
}
if(pin)
{
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_RESET))
{
MC_Reset();
}
else if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_CYCLE_START))
{
BIT_TRUE(sys_rt_exec_state, EXEC_CYCLE_START);
}
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_FEED_HOLD))
{
BIT_TRUE(sys_rt_exec_state, EXEC_FEED_HOLD);
}
if(BIT_IS_TRUE(pin, CONTROL_PIN_INDEX_SAFETY_DOOR))
{
BIT_TRUE(sys_rt_exec_state, EXEC_SAFETY_DOOR);
}
}
}
@ -127,23 +136,27 @@ uint8_t System_CheckSafetyDoorAjar(void)
void System_ExecuteStartup(char *line)
{
#if (N_STARTUP_LINE > 0)
uint8_t n;
uint8_t n;
for(n = 0; n < N_STARTUP_LINE; n++) {
if(!(Settings_ReadStartupLine(n, line))) {
line[0] = 0;
Report_ExecuteStartupMessage(line, STATUS_SETTING_READ_FAIL);
}
else {
if(line[0] != 0) {
uint8_t status_code = GC_ExecuteLine(line);
for(n = 0; n < N_STARTUP_LINE; n++)
{
if(!(Settings_ReadStartupLine(n, line)))
{
line[0] = 0;
Report_ExecuteStartupMessage(line, STATUS_SETTING_READ_FAIL);
}
else
{
if(line[0] != 0)
{
uint8_t status_code = GC_ExecuteLine(line);
Report_ExecuteStartupMessage(line,status_code);
}
}
}
Report_ExecuteStartupMessage(line,status_code);
}
}
}
#else
(void)line;
(void)line;
#endif
}
@ -158,84 +171,95 @@ void System_ExecuteStartup(char *line)
// be an issue, since these commands are not typically used during a cycle.
uint8_t System_ExecuteLine(char *line)
{
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch(line[char_counter])
{
case 0:
Report_GrblHelp();
break;
switch(line[char_counter])
{
case 0:
Report_GrblHelp();
break;
case 'J': // Jogging
// Execute only if in IDLE or JOG states.
if(sys.state != STATE_IDLE && sys.state != STATE_JOG) {
return STATUS_IDLE_ERROR;
}
if(line[2] != '=') {
return STATUS_INVALID_STATEMENT;
}
return GC_ExecuteLine(line); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
break;
case 'J': // Jogging
// Execute only if in IDLE or JOG states.
if(sys.state != STATE_IDLE && sys.state != STATE_JOG)
{
return STATUS_IDLE_ERROR;
}
if(line[2] != '=')
{
return STATUS_INVALID_STATEMENT;
}
return GC_ExecuteLine(line); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
break;
case '$':
case 'G':
case 'C':
case 'X':
if(line[2] != 0) {
return(STATUS_INVALID_STATEMENT);
}
case '$':
case 'G':
case 'C':
case 'X':
if(line[2] != 0)
{
return(STATUS_INVALID_STATEMENT);
}
switch(line[1])
{
case '$': // Prints Grbl settings
if(sys.state & (STATE_CYCLE | STATE_HOLD)) {
return(STATUS_IDLE_ERROR);
} // Block during cycle. Takes too long to print.
else {
Report_GrblSettings();
}
break;
switch(line[1])
{
case '$': // Prints Grbl settings
if(sys.state & (STATE_CYCLE | STATE_HOLD))
{
return(STATUS_IDLE_ERROR);
} // Block during cycle. Takes too long to print.
else
{
Report_GrblSettings();
}
break;
case 'G': // Prints gcode parser state
// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
Report_GCodeModes();
break;
case 'G': // Prints gcode parser state
// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
Report_GCodeModes();
break;
case 'C': // Set check g-code mode [IDLE/CHECK]
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if(sys.state == STATE_CHECK_MODE ) {
MC_Reset();
Report_FeedbackMessage(MESSAGE_DISABLED);
}
else {
if(sys.state) {
// Requires no alarm mode.
return STATUS_IDLE_ERROR;
}
case 'C': // Set check g-code mode [IDLE/CHECK]
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if(sys.state == STATE_CHECK_MODE )
{
MC_Reset();
Report_FeedbackMessage(MESSAGE_DISABLED);
}
else
{
if(sys.state)
{
// Requires no alarm mode.
return STATUS_IDLE_ERROR;
}
sys.state = STATE_CHECK_MODE;
Report_FeedbackMessage(MESSAGE_ENABLED);
}
break;
sys.state = STATE_CHECK_MODE;
Report_FeedbackMessage(MESSAGE_ENABLED);
}
break;
case 'X': // Disable alarm lock [ALARM]
if(sys.state == STATE_ALARM) {
// Block if safety door is ajar.
if(System_CheckSafetyDoorAjar()) {
return(STATUS_CHECK_DOOR);
}
case 'X': // Disable alarm lock [ALARM]
if(sys.state == STATE_ALARM)
{
// Block if safety door is ajar.
if(System_CheckSafetyDoorAjar())
{
return(STATUS_CHECK_DOOR);
}
Report_FeedbackMessage(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
} // Otherwise, no effect.
break;
}
break;
Report_FeedbackMessage(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
Stepper_WakeUp();
// Don't run startup script. Prevents stored moves in startup from causing accidents.
} // Otherwise, no effect.
break;
}
break;
case 'T':
if(line[++char_counter] == 0)
@ -288,7 +312,8 @@ uint8_t System_ExecuteLine(char *line)
{
c = line[char_counter++];
num[idx++] = c;
} while(isdigit(c) && idx < 3);
}
while(isdigit(c) && idx < 3);
num[idx] = '\0';
if(c == '=')
@ -344,205 +369,238 @@ uint8_t System_ExecuteLine(char *line)
break;
default:
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if(!(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) {
return(STATUS_IDLE_ERROR);
}
default:
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if(!(sys.state == STATE_IDLE || sys.state == STATE_ALARM) )
{
return(STATUS_IDLE_ERROR);
}
switch(line[1])
{
case '#': // Print Grbl NGC parameters
if(line[2] != 0) {
return STATUS_INVALID_STATEMENT;
}
else {
Report_NgcParams();
}
break;
switch(line[1])
{
case '#': // Print Grbl NGC parameters
if(line[2] != 0)
{
return STATUS_INVALID_STATEMENT;
}
else
{
Report_NgcParams();
}
break;
case 'H': // Perform homing cycle [IDLE/ALARM]
if(BIT_IS_FALSE(settings.flags, BITFLAG_HOMING_ENABLE)) {
return(STATUS_SETTING_DISABLED);
}
if(System_CheckSafetyDoorAjar()) {
// Block if safety door is ajar.
return STATUS_CHECK_DOOR;
}
case 'H': // Perform homing cycle [IDLE/ALARM]
if(BIT_IS_FALSE(settings.flags, BITFLAG_HOMING_ENABLE))
{
return(STATUS_SETTING_DISABLED);
}
if(System_CheckSafetyDoorAjar())
{
// Block if safety door is ajar.
return STATUS_CHECK_DOOR;
}
sys.state = STATE_HOMING; // Set system state variable
sys.state = STATE_HOMING; // Set system state variable
if(line[2] == 0) {
MC_HomigCycle(HOMING_CYCLE_ALL);
if(line[2] == 0)
{
MC_HomigCycle(HOMING_CYCLE_ALL);
#ifdef HOMING_SINGLE_AXIS_COMMANDS
}
else if(line[3] == 0) {
switch(line[2])
{
case 'X':
MC_HomigCycle(HOMING_CYCLE_X);
break;
}
else if(line[3] == 0)
{
switch(line[2])
{
case 'X':
MC_HomigCycle(HOMING_CYCLE_X);
break;
case 'Y':
MC_HomigCycle(HOMING_CYCLE_Y);
break;
case 'Y':
MC_HomigCycle(HOMING_CYCLE_Y);
break;
case 'Z':
MC_HomigCycle(HOMING_CYCLE_Z);
break;
case 'Z':
MC_HomigCycle(HOMING_CYCLE_Z);
break;
case 'A':
MC_HomigCycle(HOMING_CYCLE_A);
break;
MC_HomigCycle(HOMING_CYCLE_A);
break;
case 'B':
MC_HomigCycle(HOMING_CYCLE_B);
break;
MC_HomigCycle(HOMING_CYCLE_B);
break;
default:
return STATUS_INVALID_STATEMENT;
}
default:
return STATUS_INVALID_STATEMENT;
}
#endif
}
else {
return STATUS_INVALID_STATEMENT;
}
}
else
{
return STATUS_INVALID_STATEMENT;
}
if(!sys.abort) { // Execute startup scripts after successful homing.
sys.state = STATE_IDLE; // Set to IDLE when complete.
Stepper_Disable(0); // Set steppers to the settings idle state before returning.
if(!sys.abort) // Execute startup scripts after successful homing.
{
sys.state = STATE_IDLE; // Set to IDLE when complete.
Stepper_Disable(0); // Set steppers to the settings idle state before returning.
if(line[2] == 0) {
System_ExecuteStartup(line);
}
}
break;
if(line[2] == 0)
{
System_ExecuteStartup(line);
}
}
break;
case 'S': // Puts Grbl to sleep [IDLE/ALARM]
if((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) {
return(STATUS_INVALID_STATEMENT);
}
System_SetExecStateFlag(EXEC_SLEEP); // Set to execute sleep mode immediately
break;
case 'S': // Puts Grbl to sleep [IDLE/ALARM]
if((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0))
{
return(STATUS_INVALID_STATEMENT);
}
System_SetExecStateFlag(EXEC_SLEEP); // Set to execute sleep mode immediately
break;
case 'I': // Print or store build info. [IDLE/ALARM]
if(line[++char_counter] == 0 ) {
Settings_ReadBuildInfo(line);
Report_BuildInfo(line);
case 'I': // Print or store build info. [IDLE/ALARM]
if(line[++char_counter] == 0 )
{
Settings_ReadBuildInfo(line);
Report_BuildInfo(line);
#ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
}
else { // Store startup line [IDLE/ALARM]
if(line[char_counter++] != '=') {
return STATUS_INVALID_STATEMENT;
}
}
else // Store startup line [IDLE/ALARM]
{
if(line[char_counter++] != '=')
{
return STATUS_INVALID_STATEMENT;
}
helper_var = char_counter; // Set helper variable as counter to start of user info line.
helper_var = char_counter; // Set helper variable as counter to start of user info line.
do {
line[char_counter-helper_var] = line[char_counter];
} while(line[char_counter++] != 0);
do
{
line[char_counter-helper_var] = line[char_counter];
}
while(line[char_counter++] != 0);
Settings_StoreBuildInfo(line);
Settings_StoreBuildInfo(line);
#endif
}
break;
}
break;
case 'R': // Restore defaults [IDLE/ALARM]
if((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) {
return(STATUS_INVALID_STATEMENT);
}
switch(line[5])
{
case 'R': // Restore defaults [IDLE/ALARM]
if((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0))
{
return(STATUS_INVALID_STATEMENT);
}
switch(line[5])
{
#ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
case '$':
Settings_Restore(SETTINGS_RESTORE_DEFAULTS);
break;
case '$':
Settings_Restore(SETTINGS_RESTORE_DEFAULTS);
break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
case '#':
Settings_Restore(SETTINGS_RESTORE_PARAMETERS);
case '#':
Settings_Restore(SETTINGS_RESTORE_PARAMETERS);
break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
case '*':
Settings_Restore(SETTINGS_RESTORE_ALL);
case '*':
Settings_Restore(SETTINGS_RESTORE_ALL);
break;
#endif
case 'T':
TT_Reset();
break;
default:
return STATUS_INVALID_STATEMENT;
}
default:
return STATUS_INVALID_STATEMENT;
}
Report_FeedbackMessage(MESSAGE_RESTORE_DEFAULTS);
MC_Reset(); // Force reset to ensure settings are initialized correctly.
break;
Report_FeedbackMessage(MESSAGE_RESTORE_DEFAULTS);
MC_Reset(); // Force reset to ensure settings are initialized correctly.
break;
case 'N': // Startup lines. [IDLE/ALARM]
case 'N': // Startup lines. [IDLE/ALARM]
#if (N_STARTUP_LINE > 0)
if(line[++char_counter] == 0 ) { // Print startup lines
for(helper_var = 0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(Settings_ReadStartupLine(helper_var, line))) {
Report_StatusMessage(STATUS_SETTING_READ_FAIL);
}
else {
Report_StartupLine(helper_var,line);
}
}
break;
}
else { // Store startup line [IDLE Only] Prevents motion during ALARM.
if(sys.state != STATE_IDLE) {
// Store only when idle.
return STATUS_IDLE_ERROR;
}
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
if(line[++char_counter] == 0 ) // Print startup lines
{
for(helper_var = 0; helper_var < N_STARTUP_LINE; helper_var++)
{
if (!(Settings_ReadStartupLine(helper_var, line)))
{
Report_StatusMessage(STATUS_SETTING_READ_FAIL);
}
else
{
Report_StartupLine(helper_var,line);
}
}
break;
}
else // Store startup line [IDLE Only] Prevents motion during ALARM.
{
if(sys.state != STATE_IDLE)
{
// Store only when idle.
return STATUS_IDLE_ERROR;
}
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
#endif
default: // Storing setting methods [IDLE/ALARM]
if(!Read_Float(line, &char_counter, &parameter)) {
return(STATUS_BAD_NUMBER_FORMAT);
}
if(line[char_counter++] != '=') {
return(STATUS_INVALID_STATEMENT);
}
if(helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
default: // Storing setting methods [IDLE/ALARM]
if(!Read_Float(line, &char_counter, &parameter))
{
return(STATUS_BAD_NUMBER_FORMAT);
}
if(line[char_counter++] != '=')
{
return(STATUS_INVALID_STATEMENT);
}
if(helper_var) // Store startup line
{
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while(line[char_counter++] != 0);
do
{
line[char_counter-helper_var] = line[char_counter];
}
while(line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = GC_ExecuteLine(line); // Set helper_var to returned status code.
// Execute gcode block to ensure block is valid.
helper_var = GC_ExecuteLine(line); // Set helper_var to returned status code.
if(helper_var) {
return(helper_var);
}
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
Settings_StoreStartupLine(helper_var, line);
}
}
else { // Store global setting.
if(!Read_Float(line, &char_counter, &value)) {
return STATUS_BAD_NUMBER_FORMAT;
}
if((line[char_counter] != 0) || (parameter > 255)) {
return STATUS_INVALID_STATEMENT;
}
if(helper_var)
{
return(helper_var);
}
else
{
helper_var = trunc(parameter); // Set helper_var to int value of parameter
Settings_StoreStartupLine(helper_var, line);
}
}
else // Store global setting.
{
if(!Read_Float(line, &char_counter, &value))
{
return STATUS_BAD_NUMBER_FORMAT;
}
if((line[char_counter] != 0) || (parameter > 255))
{
return STATUS_INVALID_STATEMENT;
}
return Settings_StoreGlobalSetting((uint8_t)parameter, value);
}
}
}
return Settings_StoreGlobalSetting((uint8_t)parameter, value);
}
}
}
return STATUS_OK; // If '$' command makes it to here, then everything's ok.
return STATUS_OK; // If '$' command makes it to here, then everything's ok.
}
@ -552,7 +610,7 @@ void System_FlagWcoChange(void)
#ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
Protocol_BufferSynchronize();
#endif
sys.report_wco_counter = 0;
sys.report_wco_counter = 0;
}
@ -561,39 +619,43 @@ void System_FlagWcoChange(void)
// serves as a central place to compute the transformation.
float System_ConvertAxisSteps2Mpos(const int32_t *steps, const uint8_t idx)
{
float pos = 0.0;
float pos = 0.0;
#ifdef COREXY
if(idx == X_AXIS) {
pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
}
else if (idx == Y_AXIS) {
pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
}
else {
pos = steps[idx]/settings.steps_per_mm[idx];
}
if(idx == X_AXIS)
{
pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
}
else if (idx == Y_AXIS)
{
pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
}
else
{
pos = steps[idx]/settings.steps_per_mm[idx];
}
#else
if(settings.steps_per_mm[idx] != 0)
if(settings.steps_per_mm[idx] != 0)
{
pos = steps[idx] / settings.steps_per_mm[idx];
}
#endif
return pos;
return pos;
}
void System_ConvertArraySteps2Mpos(float *position, const int32_t *steps)
{
uint8_t idx;
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++) {
position[idx] = System_ConvertAxisSteps2Mpos(steps, idx);
}
for(idx = 0; idx < N_AXIS; idx++)
{
position[idx] = System_ConvertAxisSteps2Mpos(steps, idx);
}
return;
return;
}
@ -614,118 +676,124 @@ int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
// Checks and reports if target array exceeds machine travel limits.
uint8_t System_CheckTravelLimits(float *target)
{
uint8_t idx;
uint8_t idx;
for(idx = 0; idx < N_AXIS; idx++) {
for(idx = 0; idx < N_AXIS; idx++)
{
#ifdef HOMING_FORCE_SET_ORIGIN
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx))) {
if(target[idx] < 0 || target[idx] > -settings.max_travel[idx]) {
return true;
}
}
else {
if(target[idx] > 0 || target[idx] < settings.max_travel[idx]) {
return true;
}
}
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if(BIT_IS_TRUE(settings.homing_dir_mask, BIT(idx)))
{
if(target[idx] < 0 || target[idx] > -settings.max_travel[idx])
{
return true;
}
}
else
{
if(target[idx] > 0 || target[idx] < settings.max_travel[idx])
{
return true;
}
}
#else
// NOTE: max_travel is stored as negative
if(target[idx] > 0 || target[idx] < settings.max_travel[idx]) {
return true;
}
// NOTE: max_travel is stored as negative
if(target[idx] > 0 || target[idx] < settings.max_travel[idx])
{
return true;
}
#endif
}
}
return false;
return false;
}
// Special handlers for setting and clearing Grbl's real-time execution flags.
void System_SetExecStateFlag(uint16_t mask)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_state |= (mask);
sys_rt_exec_state |= (mask);
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_ClearExecStateFlag(uint16_t mask)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_state &= ~(mask);
sys_rt_exec_state &= ~(mask);
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_SetExecAlarm(uint8_t code)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_alarm = code;
sys_rt_exec_alarm = code;
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_ClearExecAlarm(void)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_alarm = 0;
sys_rt_exec_alarm = 0;
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_SetExecMotionOverrideFlag(uint8_t mask)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_motion_override |= (mask);
sys_rt_exec_motion_override |= (mask);
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_SetExecAccessoryOverrideFlag(uint8_t mask)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_accessory_override |= (mask);
sys_rt_exec_accessory_override |= (mask);
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_ClearExecMotionOverride(void)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_motion_override = 0;
sys_rt_exec_motion_override = 0;
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}
void System_ClearExecAccessoryOverrides(void)
{
uint32_t primask = __get_PRIMASK();
__disable_irq();
uint32_t primask = __get_PRIMASK();
__disable_irq();
sys_rt_exec_accessory_override = 0;
sys_rt_exec_accessory_override = 0;
__set_PRIMASK(primask);
__set_PRIMASK(primask);
}

176
grbl/System.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -30,120 +30,128 @@
// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
// know when there is a realtime command to execute.
#define EXEC_STATUS_REPORT BIT(0)
#define EXEC_CYCLE_START BIT(1)
#define EXEC_CYCLE_STOP BIT(2)
#define EXEC_FEED_HOLD BIT(3)
#define EXEC_RESET BIT(4)
#define EXEC_SAFETY_DOOR BIT(5)
#define EXEC_MOTION_CANCEL BIT(6)
#define EXEC_SLEEP BIT(7)
#define EXEC_STATUS_REPORT BIT(0)
#define EXEC_CYCLE_START BIT(1)
#define EXEC_CYCLE_STOP BIT(2)
#define EXEC_FEED_HOLD BIT(3)
#define EXEC_RESET BIT(4)
#define EXEC_SAFETY_DOOR BIT(5)
#define EXEC_MOTION_CANCEL BIT(6)
#define EXEC_SLEEP BIT(7)
#define EXEC_FEED_DWELL BIT(8)
#define EXEC_TOOL_CHANGE BIT(9)
// Alarm executor codes. Valid values (1-255). Zero is reserved.
#define EXEC_ALARM_HARD_LIMIT 1
#define EXEC_ALARM_SOFT_LIMIT 2
#define EXEC_ALARM_ABORT_CYCLE 3
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
#define EXEC_ALARM_HOMING_FAIL_RESET 6
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
#define EXEC_ALARM_HARD_LIMIT 1
#define EXEC_ALARM_SOFT_LIMIT 2
#define EXEC_ALARM_ABORT_CYCLE 3
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
#define EXEC_ALARM_HOMING_FAIL_RESET 6
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
#define EXEC_ALARM_HARD_LIMIT_X1 21
#define EXEC_ALARM_HARD_LIMIT_X2 22
#define EXEC_ALARM_HARD_LIMIT_Y1 23
#define EXEC_ALARM_HARD_LIMIT_Y2 24
#define EXEC_ALARM_HARD_LIMIT_Z1 25
#define EXEC_ALARM_HARD_LIMIT_Z2 26
// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
#define EXEC_FEED_OVR_RESET BIT(0)
#define EXEC_FEED_OVR_COARSE_PLUS BIT(1)
#define EXEC_FEED_OVR_COARSE_MINUS BIT(2)
#define EXEC_FEED_OVR_FINE_PLUS BIT(3)
#define EXEC_FEED_OVR_FINE_MINUS BIT(4)
#define EXEC_RAPID_OVR_RESET BIT(5)
#define EXEC_RAPID_OVR_MEDIUM BIT(6)
#define EXEC_RAPID_OVR_LOW BIT(7)
//#define EXEC_RAPID_OVR_EXTRA_LOW BIT(*) // *NOT SUPPORTED*
#define EXEC_FEED_OVR_RESET BIT(0)
#define EXEC_FEED_OVR_COARSE_PLUS BIT(1)
#define EXEC_FEED_OVR_COARSE_MINUS BIT(2)
#define EXEC_FEED_OVR_FINE_PLUS BIT(3)
#define EXEC_FEED_OVR_FINE_MINUS BIT(4)
#define EXEC_RAPID_OVR_RESET BIT(5)
#define EXEC_RAPID_OVR_MEDIUM BIT(6)
#define EXEC_RAPID_OVR_LOW BIT(7)
//#define EXEC_RAPID_OVR_EXTRA_LOW BIT(*) // *NOT SUPPORTED*
#define EXEC_SPINDLE_OVR_RESET BIT(0)
#define EXEC_SPINDLE_OVR_COARSE_PLUS BIT(1)
#define EXEC_SPINDLE_OVR_COARSE_MINUS BIT(2)
#define EXEC_SPINDLE_OVR_FINE_PLUS BIT(3)
#define EXEC_SPINDLE_OVR_FINE_MINUS BIT(4)
#define EXEC_SPINDLE_OVR_STOP BIT(5)
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE BIT(6)
#define EXEC_COOLANT_MIST_OVR_TOGGLE BIT(7)
#define EXEC_SPINDLE_OVR_RESET BIT(0)
#define EXEC_SPINDLE_OVR_COARSE_PLUS BIT(1)
#define EXEC_SPINDLE_OVR_COARSE_MINUS BIT(2)
#define EXEC_SPINDLE_OVR_FINE_PLUS BIT(3)
#define EXEC_SPINDLE_OVR_FINE_MINUS BIT(4)
#define EXEC_SPINDLE_OVR_STOP BIT(5)
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE BIT(6)
#define EXEC_COOLANT_MIST_OVR_TOGGLE BIT(7)
// Define system state bit map. The state variable primarily tracks the individual functions
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
// critical events.
#define STATE_IDLE 0 // Must be zero. No flags.
#define STATE_ALARM BIT(0) // In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE BIT(1) // G-code check mode. Locks out planner and motion only.
#define STATE_HOMING BIT(2) // Performing homing cycle
#define STATE_CYCLE BIT(3) // Cycle is running or motions are being executed.
#define STATE_HOLD BIT(4) // Active feed hold
#define STATE_JOG BIT(5) // Jogging mode.
#define STATE_SAFETY_DOOR BIT(6) // Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP BIT(7) // Sleep state.
#define STATE_IDLE 0 // Must be zero. No flags.
#define STATE_ALARM BIT(0) // In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE BIT(1) // G-code check mode. Locks out planner and motion only.
#define STATE_HOMING BIT(2) // Performing homing cycle
#define STATE_CYCLE BIT(3) // Cycle is running or motions are being executed.
#define STATE_HOLD BIT(4) // Active feed hold
#define STATE_JOG BIT(5) // Jogging mode.
#define STATE_SAFETY_DOOR BIT(6) // Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP BIT(7) // Sleep state.
#define STATE_FEED_DWELL BIT(8) // Dwell
#define STATE_TOOL_CHANGE BIT(9) // Tool change in progress
// Define system suspend flags. Used in various ways to manage suspend states and procedures.
#define SUSPEND_DISABLE 0 // Must be zero.
#define SUSPEND_HOLD_COMPLETE BIT(0) // Indicates initial feed hold is complete.
#define SUSPEND_RESTART_RETRACT BIT(1) // Flag to indicate a retract from a restore parking motion.
#define SUSPEND_RETRACT_COMPLETE BIT(2) // (Safety door only) Indicates retraction and de-energizing is complete.
#define SUSPEND_INITIATE_RESTORE BIT(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
#define SUSPEND_RESTORE_COMPLETE BIT(4) // (Safety door only) Indicates ready to resume normal operation.
#define SUSPEND_SAFETY_DOOR_AJAR BIT(5) // Tracks safety door state for resuming.
#define SUSPEND_MOTION_CANCEL BIT(6) // Indicates a canceled resume motion. Currently used by probing routine.
#define SUSPEND_JOG_CANCEL BIT(7) // Indicates a jog cancel in process and to reset buffers when complete.
#define SUSPEND_DISABLE 0 // Must be zero.
#define SUSPEND_HOLD_COMPLETE BIT(0) // Indicates initial feed hold is complete.
#define SUSPEND_RESTART_RETRACT BIT(1) // Flag to indicate a retract from a restore parking motion.
#define SUSPEND_RETRACT_COMPLETE BIT(2) // (Safety door only) Indicates retraction and de-energizing is complete.
#define SUSPEND_INITIATE_RESTORE BIT(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
#define SUSPEND_RESTORE_COMPLETE BIT(4) // (Safety door only) Indicates ready to resume normal operation.
#define SUSPEND_SAFETY_DOOR_AJAR BIT(5) // Tracks safety door state for resuming.
#define SUSPEND_MOTION_CANCEL BIT(6) // Indicates a canceled resume motion. Currently used by probing routine.
#define SUSPEND_JOG_CANCEL BIT(7) // Indicates a jog cancel in process and to reset buffers when complete.
// Define step segment generator state flags.
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
#define STEP_CONTROL_END_MOTION BIT(0)
#define STEP_CONTROL_EXECUTE_HOLD BIT(1)
#define STEP_CONTROL_EXECUTE_SYS_MOTION BIT(2)
#define STEP_CONTROL_UPDATE_SPINDLE_PWM BIT(3)
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
#define STEP_CONTROL_END_MOTION BIT(0)
#define STEP_CONTROL_EXECUTE_HOLD BIT(1)
#define STEP_CONTROL_EXECUTE_SYS_MOTION BIT(2)
#define STEP_CONTROL_UPDATE_SPINDLE_PWM BIT(3)
// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
#define N_CONTROL_PIN 4
#define CONTROL_PIN_INDEX_SAFETY_DOOR BIT(0)
#define CONTROL_PIN_INDEX_RESET BIT(1)
#define CONTROL_PIN_INDEX_FEED_HOLD BIT(2)
#define CONTROL_PIN_INDEX_CYCLE_START BIT(3)
#define CONTROL_PIN_INDEX_SAFETY_DOOR BIT(0)
#define CONTROL_PIN_INDEX_RESET BIT(1)
#define CONTROL_PIN_INDEX_FEED_HOLD BIT(2)
#define CONTROL_PIN_INDEX_CYCLE_START BIT(3)
// Define spindle stop override control states.
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
#define SPINDLE_STOP_OVR_ENABLED BIT(0)
#define SPINDLE_STOP_OVR_INITIATE BIT(1)
#define SPINDLE_STOP_OVR_RESTORE BIT(2)
#define SPINDLE_STOP_OVR_RESTORE_CYCLE BIT(3)
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
#define SPINDLE_STOP_OVR_ENABLED BIT(0)
#define SPINDLE_STOP_OVR_INITIATE BIT(1)
#define SPINDLE_STOP_OVR_RESTORE BIT(2)
#define SPINDLE_STOP_OVR_RESTORE_CYCLE BIT(3)
// Define global system variables
typedef struct {
uint16_t state; // Tracks the current system state of Grbl.
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
uint8_t step_control; // Governs the step segment generator depending on system state.
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
uint8_t f_override; // Feed rate override value in percent
uint8_t r_override; // Rapids override value in percent
uint8_t spindle_speed_ovr; // Spindle speed value in percent
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
typedef struct
{
uint16_t state; // Tracks the current system state of Grbl.
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
uint8_t step_control; // Governs the step segment generator depending on system state.
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
uint8_t f_override; // Feed rate override value in percent
uint8_t r_override; // Rapids override value in percent
uint8_t spindle_speed_ovr; // Spindle speed value in percent
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
uint8_t override_ctrl; // Tracks override control states.
uint8_t override_ctrl; // Tracks override control states.
#endif
float spindle_speed;
uint8_t is_homed;
float spindle_speed;
uint8_t is_homed;
} System_t;
extern System_t sys;

44
grbl/ToolChange.c
Wyświetl plik

@ -2,7 +2,7 @@
ToolChange.c - Changing tool
Part of Grbl-Advanced
Copyright (c) 2018-2020 Patrick F.
Copyright (c) 2018-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -49,7 +49,7 @@ void TC_Init(void)
memset(tc_pos, 0, sizeof(float)*N_AXIS);
gc_state.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
gc_state.tool_length_offset = 0.0;
gc_state.tool_length_offset = 0.0;
}
@ -61,16 +61,16 @@ void TC_ChangeCurrentTool(void)
if(sys.state == STATE_CHECK_MODE)
{
return;
}
return;
}
// Wait until queue is processed
Protocol_BufferSynchronize();
// Move TOOL_LENGTH_OFFSET_AXIS to 0
System_ConvertArraySteps2Mpos(position, sys_position);
position[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
memcpy(tc_pos, position, sizeof(float)*N_AXIS);
System_ConvertArraySteps2Mpos(position, sys_position);
position[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
memcpy(tc_pos, position, sizeof(float)*N_AXIS);
//System_SetExecStateFlag(EXEC_TOOL_CHANGE);
@ -80,12 +80,12 @@ void TC_ChangeCurrentTool(void)
pl_data.spindle_speed = 0;
pl_data.line_number = gc_state.line_number;
MC_Line(position, &pl_data);
Delay_ms(20);
MC_Line(position, &pl_data);
Delay_ms(20);
Spindle_Stop();
Spindle_Stop();
// Wait until queue is processed
// Wait until queue is processed
Protocol_BufferSynchronize();
// Wait until move is finished
@ -106,33 +106,33 @@ void TC_ProbeTLS(void)
if(sys.state == STATE_CHECK_MODE || settings.tls_valid == 0)
{
return;
}
return;
}
// Move to XY position of TLS
System_ConvertArraySteps2Mpos(position, settings.tls_position);
position[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
// Move to XY position of TLS
System_ConvertArraySteps2Mpos(position, settings.tls_position);
position[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
// Set-up planer
pl_data.feed_rate = 0.0;
pl_data.condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
pl_data.condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
pl_data.backlash_motion = 0;
pl_data.spindle_speed = 0;
pl_data.line_number = gc_state.line_number;
// Move to X/Y position of TLS
MC_Line(position, &pl_data);
MC_Line(position, &pl_data);
// Move down with offset (for tool)
position[TOOL_LENGTH_OFFSET_AXIS] = (settings.tls_position[TOOL_LENGTH_OFFSET_AXIS] / settings.steps_per_mm[TOOL_LENGTH_OFFSET_AXIS]) + TOOL_SENSOR_OFFSET;
MC_Line(position, &pl_data);
position[TOOL_LENGTH_OFFSET_AXIS] = (settings.tls_position[TOOL_LENGTH_OFFSET_AXIS] / settings.steps_per_mm[TOOL_LENGTH_OFFSET_AXIS]) + TOOL_SENSOR_OFFSET;
MC_Line(position, &pl_data);
// Wait until queue is processed
// Wait until queue is processed
Protocol_BufferSynchronize();
// Set up fast probing
pl_data.feed_rate = 200.0;
pl_data.condition = 0; // Reset rapid motion condition flag.
pl_data.condition = 0; // Reset rapid motion condition flag.
// Probe TLS fast
position[TOOL_LENGTH_OFFSET_AXIS] -= 200.0;

2
grbl/ToolChange.h
Wyświetl plik

@ -2,7 +2,7 @@
ToolChange.h - Changing tool
Part of Grbl-Advanced
Copyright (c) 2018-2020 Patrick F.
Copyright (c) 2018-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

2
grbl/ToolTable.c
Wyświetl plik

@ -2,7 +2,7 @@
ToolTable.c - Tool Table Library
Part of Grbl-Advanced
Copyright (c) 2020 Patrick F.
Copyright (c) 2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

2
grbl/ToolTable.h
Wyświetl plik

@ -2,7 +2,7 @@
ToolTable.h - Tool Table Library
Part of Grbl-Advanced
Copyright (c) 2020 Patrick F.
Copyright (c) 2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

97
grbl/defaults.h
Wyświetl plik

@ -3,6 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -29,56 +30,56 @@
#ifdef DEFAULTS_GENERIC
// Grbl generic default settings. Should work across different machines.
#define DEFAULT_X_STEPS_PER_MM 400.0
#define DEFAULT_Y_STEPS_PER_MM 400.0
#define DEFAULT_Z_STEPS_PER_MM 400.0
#define DEFAULT_A_STEPS_PER_DEG 10.0
#define DEFAULT_B_STEPS_PER_DEG 10.0
#define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#define DEFAULT_A_MAX_RATE 10000.0 // °/min
#define DEFAULT_B_MAX_RATE 10000.0 // °/min
#define DEFAULT_X_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_Y_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_Z_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_A_ACCELERATION (100.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
#define DEFAULT_B_ACCELERATION (100.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 400.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value.
#define DEFAULT_A_MAX_TRAVEL 360.0 // °
#define DEFAULT_B_MAX_TRAVEL 360.0 // °
#define DEFAULT_SPINDLE_RPM_MAX 3000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
// Grbl generic default settings. Should work across different machines.
#define DEFAULT_X_STEPS_PER_MM 400.0
#define DEFAULT_Y_STEPS_PER_MM 400.0
#define DEFAULT_Z_STEPS_PER_MM 400.0
#define DEFAULT_A_STEPS_PER_DEG 10.0
#define DEFAULT_B_STEPS_PER_DEG 10.0
#define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#define DEFAULT_A_MAX_RATE 10000.0 // °/min
#define DEFAULT_B_MAX_RATE 10000.0 // °/min
#define DEFAULT_X_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_Y_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_Z_ACCELERATION (30.0*60*60) // 30*60*60 mm/min^2 = 30 mm/sec^2
#define DEFAULT_A_ACCELERATION (100.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
#define DEFAULT_B_ACCELERATION (100.0*60*60) // 100*60*60 mm/min^2 = 100 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 400.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value.
#define DEFAULT_A_MAX_TRAVEL 360.0 // °
#define DEFAULT_B_MAX_TRAVEL 360.0 // °
#define DEFAULT_SPINDLE_RPM_MAX 3000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_X_BACKLASH 0.01 // mm
#define DEFAULT_Y_BACKLASH 0.01 // mm
#define DEFAULT_Z_BACKLASH 0.01 // mm
#define DEFAULT_X_BACKLASH 0.01 // mm
#define DEFAULT_Y_BACKLASH 0.01 // mm
#define DEFAULT_Z_BACKLASH 0.01 // mm
#define DEFAULT_SYSTEM_INVERT_MASK 0
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 50 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.001 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 1 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 0 // false
#define DEFAULT_LATHE_MODE 0 // false
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define DEFAULT_TOOL_CHANGE_MODE 0 // 0 = Ignore M6; 1 = Manual tool change; 2 = Manual tool change + TLS
#define DEFAULT_SYSTEM_INVERT_MASK 0
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 50 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.001 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 1 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 0 // false
#define DEFAULT_LATHE_MODE 0 // false
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define DEFAULT_TOOL_CHANGE_MODE 0 // 0 = Ignore M6; 1 = Manual tool change; 2 = Manual tool change + TLS
#endif

265
grbl/util.c
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -40,85 +40,110 @@
// 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;
char *ptr = line + *char_counter;
unsigned char c;
// Grab first character and increment pointer. No spaces assumed in line.
c = *ptr++;
// 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++;
}
// 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;
// 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';
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++;
}
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); };
// Return if no digits have been read.
if(!ndigit)
{
return(false);
};
// Convert integer into floating point.
float fval;
fval = (float)intval;
// 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);
}
}
// 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;
}
// 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
*char_counter = ptr - line - 1; // Set char_counter to next statement
return(true);
return(true);
}
// Search a float in a string and return it as string
@ -141,7 +166,8 @@ uint8_t ExtractFloat(char *line, int start_idx, char *float_char)
do
{
float_char[j++] = line[i++];
} while(isdigit((unsigned char)line[i]) || line[i] == '.'); // Read float
}
while(isdigit((unsigned char)line[i]) || line[i] == '.'); // Read float
float_char[j] = '\0';
@ -156,76 +182,87 @@ uint8_t ExtractFloat(char *line, int start_idx, char *float_char)
// Non-blocking delay function used for general operation and suspend features.
void Delay_sec(float seconds, uint8_t mode)
{
uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
while(i-- > 0) {
if(sys.abort) {
return;
}
while(i-- > 0)
{
if(sys.abort)
{
return;
}
if(mode == DELAY_MODE_DWELL) {
Protocol_ExecuteRealtime();
}
else { // DELAY_MODE_SYS_SUSPEND
// Execute rt_system() only to avoid nesting suspend loops.
Protocol_ExecRtSystem();
if(mode == DELAY_MODE_DWELL)
{
Protocol_ExecuteRealtime();
}
else // DELAY_MODE_SYS_SUSPEND
{
// Execute rt_system() only to avoid nesting suspend loops.
Protocol_ExecRtSystem();
if(sys.suspend & SUSPEND_RESTART_RETRACT) {
// Bail, if safety door reopens.
return;
}
}
if(sys.suspend & SUSPEND_RESTART_RETRACT)
{
// Bail, if safety door reopens.
return;
}
}
Delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
Delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
}
// Simple hypotenuse computation function.
float hypot_f(float x, float y)
{
return sqrt(x*x + y*y);
return sqrt(x*x + y*y);
}
bool isEqual_f(float a, float b)
{
if(fabs(a-b) < 0.00001) {
return true;
}
if(fabs(a-b) < 0.00001)
{
return true;
}
return false;
return false;
}
float convert_delta_vector_to_unit_vector(float *vector)
{
uint8_t idx;
float magnitude = 0.0;
uint8_t idx;
float magnitude = 0.0;
for(idx = 0; idx < N_AXIS; idx++) {
if(vector[idx] != 0.0) {
magnitude += vector[idx]*vector[idx];
}
}
for(idx = 0; idx < N_AXIS; idx++)
{
if(vector[idx] != 0.0)
{
magnitude += vector[idx]*vector[idx];
}
}
magnitude = sqrt(magnitude);
float inv_magnitude = 1.0/magnitude;
magnitude = sqrt(magnitude);
float inv_magnitude = 1.0/magnitude;
for(idx = 0; idx < N_AXIS; idx++) {
vector[idx] *= inv_magnitude;
}
for(idx = 0; idx < N_AXIS; idx++)
{
vector[idx] *= inv_magnitude;
}
return magnitude;
return magnitude;
}
float limit_value_by_axis_maximum(float *max_value, float *unit_vec)
{
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
for(idx = 0; idx < N_AXIS; idx++) {
if(unit_vec[idx] != 0) { // Avoid divide by zero.
limit_value = min(limit_value,fabs(max_value[idx]/unit_vec[idx]));
}
}
for(idx = 0; idx < N_AXIS; idx++)
{
if(unit_vec[idx] != 0) // Avoid divide by zero.
{
limit_value = min(limit_value,fabs(max_value[idx]/unit_vec[idx]));
}
}
return limit_value;
return limit_value;
}

101
grbl/util.h
Wyświetl plik

@ -3,7 +3,7 @@
Part of Grbl-Advanced
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2017-2020 Patrick F.
Copyright (c) 2017-2020 Patrick F.
Grbl-Advanced is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@ -27,93 +27,96 @@
#ifndef M_PI
#define M_PI 3.14159265358979323846
#define M_PI 3.14159265358979323846
#endif // M_PI
// Bit field and masking macros
#define BIT(n) (1 << n)
#define BIT_TRUE_ATOMIC(x,mask) BIT_TRUE(x,mask)
#define BIT_FALSE_ATOMIC(x,mask) BIT_FALSE(x,mask)
#define BIT_TOGGLE_ATOMIC(x,mask) (x) ^= (mask)
#define BIT_TRUE(x,mask) (x) |= (mask)
#define BIT_FALSE(x,mask) (x) &= ~(mask)
#define BIT_IS_TRUE(x,mask) ((x & mask) != 0)
#define BIT_IS_FALSE(x,mask) ((x & mask) == 0)
#define BIT(n) (1 << n)
#define BIT_TRUE_ATOMIC(x,mask) BIT_TRUE(x,mask)
#define BIT_FALSE_ATOMIC(x,mask) BIT_FALSE(x,mask)
#define BIT_TOGGLE_ATOMIC(x,mask) (x) ^= (mask)
#define BIT_TRUE(x,mask) (x) |= (mask)
#define BIT_FALSE(x,mask) (x) &= ~(mask)
#define BIT_IS_TRUE(x,mask) ((x & mask) != 0)
#define BIT_IS_FALSE(x,mask) ((x & mask) == 0)
#define F_CPU 96000000UL
#define F_CPU 96000000UL
#define F_TIMER_STEPPER 24000000UL
#define N_AXIS 5
#define N_AXIS 5
#define N_LINEAR_AXIS 3
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
#define A_AXIS 3
#define B_AXIS 4
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
#define A_AXIS 3
#define B_AXIS 4
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
#define B_STEP_BIT 4
#define X_DIRECTION_BIT 0
#define Y_DIRECTION_BIT 1
#define Z_DIRECTION_BIT 2
#define X_DIRECTION_BIT 0
#define Y_DIRECTION_BIT 1
#define Z_DIRECTION_BIT 2
#define A_DIRECTION_BIT 3
#define B_DIRECTION_BIT 4
#define X_LIMIT_BIT 0
#define Y_LIMIT_BIT 1
#define Z_LIMIT_BIT 2
#define LIMIT_MASK ((1<<X_LIMIT_BIT) | (1<<Y_LIMIT_BIT) | (1<<Z_LIMIT_BIT))
#define X1_LIMIT_BIT 0
#define Y1_LIMIT_BIT 1
#define Z1_LIMIT_BIT 2
#define X2_LIMIT_BIT 3
#define Y2_LIMIT_BIT 4
#define Z2_LIMIT_BIT 5
#define LIMIT_MASK ((1<<X1_LIMIT_BIT) | (1<<Y1_LIMIT_BIT) | (1<<Z1_LIMIT_BIT) | (1<<X2_LIMIT_BIT) | (1<<Y2_LIMIT_BIT) | (1<<Z2_LIMIT_BIT))
#define SPINDLE_ENABLE_BIT 0
#define SPINDLE_DIRECTION_BIT 1
#define SPINDLE_ENABLE_BIT 0
#define SPINDLE_DIRECTION_BIT 1
#define CONTROL_RESET_BIT 0
#define CONTROL_FEED_HOLD_BIT 1
#define CONTROL_CYCLE_START_BIT 2
#define CONTROL_SAFETY_DOOR_BIT 3
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT) | (1<<CONTROL_FEED_HOLD_BIT) | (1<<CONTROL_CYCLE_START_BIT) | (1<<CONTROL_SAFETY_DOOR_BIT))
#define CONTROL_RESET_BIT 0
#define CONTROL_FEED_HOLD_BIT 1
#define CONTROL_CYCLE_START_BIT 2
#define CONTROL_SAFETY_DOOR_BIT 3
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT) | (1<<CONTROL_FEED_HOLD_BIT) | (1<<CONTROL_CYCLE_START_BIT) | (1<<CONTROL_SAFETY_DOOR_BIT))
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#ifdef COREXY
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#endif
// Conversions
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (24UL)
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (24UL)
#define SOME_LARGE_VALUE 1.0E+38
#define SOME_LARGE_VALUE 1.0E+38
#define ACCEL_TICKS_PER_SECOND 100
#define ACCEL_TICKS_PER_SECOND 100
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#define clear_vector(a) (memset(a,0,sizeof(a)))
#define clear_vector_f(a) (memset(a, 0.0, sizeof(a)))
#define copy_vector(d,s) (memcpy(d,s,sizeof(d)))
#define clear_vector(a) (memset(a,0,sizeof(a)))
#define clear_vector_f(a) (memset(a, 0.0, sizeof(a)))
#define copy_vector(d,s) (memcpy(d,s,sizeof(d)))
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
// Read a floating point value from a string. Line points to the input buffer, char_counter

80
main.c
Wyświetl plik

@ -57,8 +57,8 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
int main(void)
{
// Init formatted output
Print_Init();
// Init formatted output
Print_Init();
System_Init();
Stepper_Init();
Settings_Init();
@ -77,63 +77,63 @@ int main(void)
GrIP_Init();
// Init SysTick 1ms
SysTick_Init();
SysTick_Init();
if(BIT_IS_TRUE(settings.flags, BITFLAG_HOMING_ENABLE))
{
sys.state = STATE_ALARM;
sys.state = STATE_ALARM;
}
else
{
sys.state = STATE_IDLE;
sys.state = STATE_IDLE;
}
// Grbl-Advanced initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
while(1)
// Grbl-Advanced initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
while(1)
{
// Reset system variables.
uint16_t prior_state = sys.state;
uint8_t home_state = sys.is_homed;
// Reset system variables.
uint16_t prior_state = sys.state;
uint8_t home_state = sys.is_homed;
System_Clear();
sys.state = prior_state;
sys.is_homed = home_state;
System_Clear();
sys.state = prior_state;
sys.is_homed = home_state;
Probe_Reset();
Probe_Reset();
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl-Advanced primary systems.
GC_Init();
Planner_Init();
MC_Init();
TC_Init();
// Reset Grbl-Advanced primary systems.
GC_Init();
Planner_Init();
MC_Init();
TC_Init();
Coolant_Init();
Limits_Init();
Probe_Init();
Spindle_Init();
Stepper_Reset();
Coolant_Init();
Limits_Init();
Probe_Init();
Spindle_Init();
Stepper_Reset();
// Sync cleared gcode and planner positions to current system position.
Planner_SyncPosition();
GC_SyncPosition();
// Sync cleared gcode and planner positions to current system position.
Planner_SyncPosition();
GC_SyncPosition();
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
Report_InitMessage();
// Print welcome message. Indicates an initialization has occured at power-up or with a reset.
Report_InitMessage();
//-- Start Grbl-Advanced main loop. Processes program inputs and executes them. --//
Protocol_MainLoop();
//--------------------------------------------------------------------------------//
//-- Start Grbl-Advanced main loop. Processes program inputs and executes them. --//
Protocol_MainLoop();
//--------------------------------------------------------------------------------//
// Clear serial buffer after soft reset to prevent undefined behavior
FifoUsart_Init();
}
FifoUsart_Init();
}
return 0;
}