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grbl/grbl/spindle_control.c

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version 0.1
2009-01-24 23:48:56 +00:00
/*
spindle_control.c - spindle control methods
Homing alarm upon no switch. Licensing update. - Homing cycle failure reports alarm feedback when the homing cycle is exited via a reset, interrupted by a safety door switch, or does not find the limit switch. - Homing cycle bug fix when not finding the limit switch. It would just idle before, but now will exit with an alarm. - Licensing update. Corrected licensing according to lawyer recommendations. Removed references to other Grbl versions.
2015-02-16 00:36:08 +00:00
Part of Grbl
version 0.1
2009-01-24 23:48:56 +00:00
New nonlinear spindle speed PWM output model and solution. Updated scripts. [new] A nonlinear spindle speed/PWM output option via a piecewise linear fit model. Enabled through config.h and solved by a Python script in /doc/script [new] fit_nonlinear_spindle.py. A solver script that can be run on http://repl.it for free. No Python install necessary. All instructions are available in the script file comments. [new] stream.py has been updated to include status reports feedback at 1 second interval. [fix] stream.py bug fix with verbose mode disabled.
2017-06-01 03:37:21 +00:00
Copyright (c) 2012-2017 Sungeun K. Jeon for Gnea Research LLC
Homing alarm upon no switch. Licensing update. - Homing cycle failure reports alarm feedback when the homing cycle is exited via a reset, interrupted by a safety door switch, or does not find the limit switch. - Homing cycle bug fix when not finding the limit switch. It would just idle before, but now will exit with an alarm. - Licensing update. Corrected licensing according to lawyer recommendations. Removed references to other Grbl versions.
2015-02-16 00:36:08 +00:00
Copyright (c) 2009-2011 Simen Svale Skogsrud
version 0.1
2009-01-24 23:48:56 +00:00
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
Bug fix for certain motions. Re-org of includes. - Critical bug fix for diagonal motions that continue on the same direction or return in the exact opposite direction. This issue could cause Grbl to crash intermittently due to a numerical round-off error. Grbl versions prior to v0.9g shouldn’t have this issue. - Reorganized all of the includes used by Grbl. Centralized it into a single “grbl.h” include. This will help simplify the compiling and uploading process through the Arduino IDE. - Added an example .INO file for users to simply open and run when compiling and uploading through the IDE. More to come later.
2015-02-10 15:25:09 +00:00
#include "grbl.h"
version 0.1
2009-01-24 23:48:56 +00:00
fixed synchronization problem with spindle_control
2011-02-25 12:30:03 +00:00
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif
version 0.1
2009-01-24 23:48:56 +00:00
void spindle_init()
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
{
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
#ifdef VARIABLE_SPINDLE
v1.0 Beta Release. - Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
2015-08-28 03:37:19 +00:00
// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
// combined unless configured otherwise.
Refactoring and lots of bug fixes. Updated homing cycle. WARNING: There are still some bugs to be worked out. Please use caution if you test this firmware. - Feed holds work much better, but there are still some failure conditions that need to be worked out. This is the being worked on currently and a fix is planned to be pushed next. - Homing cycle refactoring: Slight adjustment of the homing cycle to allow for limit pins to be shared by different axes, as long as the shared limit pins are not homed on the same cycle. Also, removed the LOCATE_CYCLE portion of the homing cycle configuration. It was redundant. - Limit pin sharing: (See above). To clear up one or two limit pins for other IO, limit pins can now be shared. For example, the Z-limit can be shared with either X or Y limit pins, because it’s on a separate homing cycle. Hard limit will still work exactly as before. - Spindle pin output fixed. The pins weren’t getting initialized correctly. - Fixed a cycle issue where streaming was working almost like a single block mode. This was caused by a problem with the spindle_run() and coolant_run() commands and issuing an unintended planner buffer sync. - Refactored the cycle_start, feed_hold, and other runtime routines into the runtime command module, where they should be handled here only. These were redundant. - Moved some function calls around into more appropriate source code modules. - Fixed the reporting of spindle state.
2014-02-09 17:46:34 +00:00
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
Organizational updates. Mega2560 support moved. - Mega2560 support has been moved to the Grbl-Mega [project](http://github.com/gnea/grbl-Mega/) to clean up the code and make future developments easier with increased flash and RAM. All new developments between the 328p and Mega2560 will be synced when it makes sense to. - OEM single file compile configuration option. Before OEMs needed to alter three files. Provided a way to just alter the config.h file to contain everything for a particular Grbl build. See config.h for more details. - Removed defaults and cpu_map directories and reverted back to defaults.h and cpu_map.h to contain all definitions. This should help reduce some headaches and the previous implementation inadvertently created. Also, it makes the single file config.h possible. - Moved (and tweaked) the invert control pin mask define and placed into config.h, rather than in the cpu_map.h file. Makes more sense there.
2016-03-30 17:58:47 +00:00
SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; // Configure PWM output compare timer
SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
Refactoring and lots of bug fixes. Updated homing cycle. WARNING: There are still some bugs to be worked out. Please use caution if you test this firmware. - Feed holds work much better, but there are still some failure conditions that need to be worked out. This is the being worked on currently and a fix is planned to be pushed next. - Homing cycle refactoring: Slight adjustment of the homing cycle to allow for limit pins to be shared by different axes, as long as the shared limit pins are not homed on the same cycle. Also, removed the LOCATE_CYCLE portion of the homing cycle configuration. It was redundant. - Limit pin sharing: (See above). To clear up one or two limit pins for other IO, limit pins can now be shared. For example, the Z-limit can be shared with either X or Y limit pins, because it’s on a separate homing cycle. Hard limit will still work exactly as before. - Spindle pin output fixed. The pins weren’t getting initialized correctly. - Fixed a cycle issue where streaming was working almost like a single block mode. This was caused by a problem with the spindle_run() and coolant_run() commands and issuing an unintended planner buffer sync. - Refactored the cycle_start, feed_hold, and other runtime routines into the runtime command module, where they should be handled here only. These were redundant. - Moved some function calls around into more appropriate source code modules. - Fixed the reporting of spindle state.
2014-02-09 17:46:34 +00:00
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#else
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
Organizational updates. Mega2560 support moved. - Mega2560 support has been moved to the Grbl-Mega [project](http://github.com/gnea/grbl-Mega/) to clean up the code and make future developments easier with increased flash and RAM. All new developments between the 328p and Mega2560 will be synced when it makes sense to. - OEM single file compile configuration option. Before OEMs needed to alter three files. Provided a way to just alter the config.h file to contain everything for a particular Grbl build. See config.h for more details. - Removed defaults and cpu_map directories and reverted back to defaults.h and cpu_map.h to contain all definitions. This should help reduce some headaches and the previous implementation inadvertently created. Also, it makes the single file config.h possible. - Moved (and tweaked) the invert control pin mask define and placed into config.h, rather than in the cpu_map.h file. Makes more sense there.
2016-03-30 17:58:47 +00:00
#endif
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
#else
Refactoring and lots of bug fixes. Updated homing cycle. WARNING: There are still some bugs to be worked out. Please use caution if you test this firmware. - Feed holds work much better, but there are still some failure conditions that need to be worked out. This is the being worked on currently and a fix is planned to be pushed next. - Homing cycle refactoring: Slight adjustment of the homing cycle to allow for limit pins to be shared by different axes, as long as the shared limit pins are not homed on the same cycle. Also, removed the LOCATE_CYCLE portion of the homing cycle configuration. It was redundant. - Limit pin sharing: (See above). To clear up one or two limit pins for other IO, limit pins can now be shared. For example, the Z-limit can be shared with either X or Y limit pins, because it’s on a separate homing cycle. Hard limit will still work exactly as before. - Spindle pin output fixed. The pins weren’t getting initialized correctly. - Fixed a cycle issue where streaming was working almost like a single block mode. This was caused by a problem with the spindle_run() and coolant_run() commands and issuing an unintended planner buffer sync. - Refactored the cycle_start, feed_hold, and other runtime routines into the runtime command module, where they should be handled here only. These were redundant. - Moved some function calls around into more appropriate source code modules. - Fixed the reporting of spindle state.
2014-02-09 17:46:34 +00:00
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
New compile options and inverse time bug fix. - Apparently inverse time motion were not working for quite some time. Goes to show how many people actually use it. The calculation was bad and is now fixed in this update. It should now work correctly. - `;` comment type is now supported. This is standard on LinuxCNC and common on 3d printers. It was previously not supported due to not existing in the NIST standard, which is out-dated. - New compile-option to ECHO the line received. This should help users experiencing very weird problems and help diagnose if there is something amiss in the communication to Grbl. - New compile-option to use the spindle direction pin D13 as a spindle enable pin with PWM spindle speed on D11. This feature has been requested often from the laser cutter community. Since spindle direction isn’t really of much use, it seemed like good good trade. Note that M4 spindle enable counter-clock-wise support is removed for obvious reasons, while M3 and M5 still work.
2015-03-28 00:13:18 +00:00
#endif
v1.0 Beta Release. - Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
2015-08-28 03:37:19 +00:00
Minor fix related to spindle_stop() crashing abort in certain cases. - Updated spindle_stop() to fix abort bug and to be more in line with v0.8.
2012-03-10 19:34:09 +00:00
spindle_stop();
}
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
uint8_t spindle_get_state()
{
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#ifdef VARIABLE_SPINDLE
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
// No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#else
if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#endif
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
#else
if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#ifdef ENABLE_DUAL_AXIS
return(SPINDLE_STATE_CW);
#else
if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
else { return(SPINDLE_STATE_CW); }
#endif
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
}
#endif
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#else
if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#endif
#ifdef ENABLE_DUAL_AXIS
return(SPINDLE_STATE_CW);
#else
if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
else { return(SPINDLE_STATE_CW); }
#endif
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
}
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#endif
return(SPINDLE_STATE_DISABLE);
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
}
// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs. - Incremented to v1.1a, rather than keep 1.0e. This is because there are existing v1.0 installations. Don’t want to confuse people further. - Certain version of the Arduino IDE did not like the `inline` in the function header. Removed from spindle_control files to fix the problem. - Tweaked the communication protocol slightly. Added message type indicators for all `[]`bracketed feedback messages. It’s been problematic for GUI dev to try to determine the context of a message and how it should be handled. These indictors should help tremendously to remove context all together. - Also altered how `$N` startup lines are presented when executed. They now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to indicate it executed. The ‘ok’ is on the same line intentionally so it doesn’t mess up a streaming protocol counter. - Managed to save a 100+KB from refactoring parts of report.c. (Thanks Vasilis!) Freed up room to alter the protocol a little. - Wrote a markdown document on interface messaging to make it clear how it’s intended to work. See interface.md in /doc/markdown - Started to pull in some Wiki pages from the old grbl site and beginning to update them for v1.1. - Created new commit log for v1.1.
2016-09-23 05:15:55 +00:00
void spindle_stop()
Minor fix related to spindle_stop() crashing abort in certain cases. - Updated spindle_stop() to fix abort bug and to be more in line with v0.8.
2012-03-10 19:34:09 +00:00
{
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
#ifdef VARIABLE_SPINDLE
Organizational updates. Mega2560 support moved. - Mega2560 support has been moved to the Grbl-Mega [project](http://github.com/gnea/grbl-Mega/) to clean up the code and make future developments easier with increased flash and RAM. All new developments between the 328p and Mega2560 will be synced when it makes sense to. - OEM single file compile configuration option. Before OEMs needed to alter three files. Provided a way to just alter the config.h file to contain everything for a particular Grbl build. See config.h for more details. - Removed defaults and cpu_map directories and reverted back to defaults.h and cpu_map.h to contain all definitions. This should help reduce some headaches and the previous implementation inadvertently created. Also, it makes the single file config.h possible. - Moved (and tweaked) the invert control pin mask define and placed into config.h, rather than in the cpu_map.h file. Makes more sense there.
2016-03-30 17:58:47 +00:00
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
Compile-option for inverting spindle enable. - Installed a compile-option for inverting the spindle enable pin for certain electronics boards users have reported needing this.
2015-03-28 01:59:34 +00:00
#ifdef INVERT_SPINDLE_ENABLE_PIN
v1.0 Beta Release. - Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
2015-08-28 03:37:19 +00:00
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
#endif
#else
Compile-option for inverting spindle enable. - Installed a compile-option for inverting the spindle enable pin for certain electronics boards users have reported needing this.
2015-03-28 01:59:34 +00:00
#ifdef INVERT_SPINDLE_ENABLE_PIN
v1.0 Beta Release. - Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
2015-08-28 03:37:19 +00:00
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#endif
version 0.1
2009-01-24 23:48:56 +00:00
}
PWM Spindle Control and Invert Spindle & Coolant Pins PWM Spindle Control and Invert Spindle & Coolant Pins
2014-01-02 04:42:22 +00:00
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#ifdef VARIABLE_SPINDLE
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs. - Incremented to v1.1a, rather than keep 1.0e. This is because there are existing v1.0 installations. Don’t want to confuse people further. - Certain version of the Arduino IDE did not like the `inline` in the function header. Removed from spindle_control files to fix the problem. - Tweaked the communication protocol slightly. Added message type indicators for all `[]`bracketed feedback messages. It’s been problematic for GUI dev to try to determine the context of a message and how it should be handled. These indictors should help tremendously to remove context all together. - Also altered how `$N` startup lines are presented when executed. They now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to indicate it executed. The ‘ok’ is on the same line intentionally so it doesn’t mess up a streaming protocol counter. - Managed to save a 100+KB from refactoring parts of report.c. (Thanks Vasilis!) Freed up room to alter the protocol a little. - Wrote a markdown document on interface messaging to make it clear how it’s intended to work. See interface.md in /doc/markdown - Started to pull in some Wiki pages from the old grbl site and beginning to update them for v1.1. - Created new commit log for v1.1.
2016-09-23 05:15:55 +00:00
void spindle_set_speed(uint8_t pwm_value)
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
{
Spindle enable pin with variable spindle option fix. - [fix] When USE_SPINDLE_DIR_AS_ENABLE_PIN is enabled in config.h, the enable pin was not being set when spindle speed is zero. This behavior should now be fixed.
2017-01-03 17:10:35 +00:00
SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
v1.1f. Parking override control. Spindle enable pin option. [ver] v1.1f update due to tweaks to interface from new parking override control. [new] Parking motion override control via new `M56 P0` and `M56 P1` command, which disables and enables the parking motion, respectively. Requires ENABLE_PARKING_OVERRIDE_CONTROL and PARKING_ENABLE enabled in config.h. Primarily for OEMs. [new] `M56` appears in the $G report when enabled. [new] Five new build info identification letters. Some were missing and a couple are new. Updated the CSV and documentation to reflect these new items. [new] Spindle enable pin configuration option to alter its behavior based on how certain lasers work. By default, Grbl treats the enable pin separately and leaves it on when S is 0. The new option turns the enable pin on and off with S>0 and S=0. This only is in effect when a user enables the USE_SPINDLE_DIR_AS_ENABLE_PIN option. [fix] M4 is now allowed to work when USE_SPINDLE_DIR_AS_ENABLE_PIN is enabled. Previously this was blocked and was problematic for laser folks using M4. [fix] Properly declared system variables as extern. Not sure how that went unnoticed or why it worked up until now but it has. [fix] EXTREMELY RARE. When AMASS is intentionally disabled and sent a motion command that is _one step_ in length, Grbl would not actuate the step due to numerical round-off. Applied a fix to prevent the round-off issue. [fix] Added a compile-time check for AMASS settings to make sure that the numerical round-off issue doesn’t effect it. This would only happen if someone set AMASS max levels to zero. It does not effect AMASS with its current defaults. [fix] Wrapped the mc_parking_motion() function in an ifdef for porting purposes. [fix] Fixed an issue when in inverse time mode and G0’s would require a F word. This was not correct. [fix] Added a note in the defaults.h file that MAX_TRAVEL values must be positive. Some users were setting this negative and it was causing issues.
2017-01-29 00:13:06 +00:00
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
spindle_stop();
} else {
SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
}
#else
if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
} else {
SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
}
#endif
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
}
New nonlinear spindle speed PWM output model and solution. Updated scripts. [new] A nonlinear spindle speed/PWM output option via a piecewise linear fit model. Enabled through config.h and solved by a Python script in /doc/script [new] fit_nonlinear_spindle.py. A solver script that can be run on http://repl.it for free. No Python install necessary. All instructions are available in the script file comments. [new] stream.py has been updated to include status reports feedback at 1 second interval. [fix] stream.py bug fix with verbose mode disabled.
2017-06-01 03:37:21 +00:00
#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
uint8_t pwm_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 >= RPM_MAX)) {
rpm = RPM_MAX;
pwm_value = SPINDLE_PWM_MAX_VALUE;
} else if (rpm <= RPM_MIN) {
if (rpm == 0.0) { // S0 disables spindle
pwm_value = SPINDLE_PWM_OFF_VALUE;
} else {
rpm = RPM_MIN;
pwm_value = SPINDLE_PWM_MIN_VALUE;
}
} else {
// Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
#if (N_PIECES > 3)
if (rpm > RPM_POINT34) {
pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
} else
#endif
#if (N_PIECES > 2)
if (rpm > RPM_POINT23) {
pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
} else
#endif
#if (N_PIECES > 1)
if (rpm > RPM_POINT12) {
pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
} else
#endif
{
pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
}
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
}
sys.spindle_speed = rpm;
New nonlinear spindle speed PWM output model and solution. Updated scripts. [new] A nonlinear spindle speed/PWM output option via a piecewise linear fit model. Enabled through config.h and solved by a Python script in /doc/script [new] fit_nonlinear_spindle.py. A solver script that can be run on http://repl.it for free. No Python install necessary. All instructions are available in the script file comments. [new] stream.py has been updated to include status reports feedback at 1 second interval. [fix] stream.py bug fix with verbose mode disabled.
2017-06-01 03:37:21 +00:00
return(pwm_value);
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
}
New nonlinear spindle speed PWM output model and solution. Updated scripts. [new] A nonlinear spindle speed/PWM output option via a piecewise linear fit model. Enabled through config.h and solved by a Python script in /doc/script [new] fit_nonlinear_spindle.py. A solver script that can be run on http://repl.it for free. No Python install necessary. All instructions are available in the script file comments. [new] stream.py has been updated to include status reports feedback at 1 second interval. [fix] stream.py bug fix with verbose mode disabled.
2017-06-01 03:37:21 +00:00
#else
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
uint8_t pwm_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;
}
return(pwm_value);
}
#endif
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
#endif
// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
#ifdef VARIABLE_SPINDLE
void spindle_set_state(uint8_t state, float rpm)
#else
Minor VARIABLE_SPINDLE feature toggle refactoring (#16) * Modify code CSV format. - Wrap value in quotes to avoid issue with embedded commas. This occurs in one of the alarm codes. - Change header row format to allow same parsing code as data rows. * VARIABLE_SPINDLE feature flag experiment. - Use a macro for 'spindle_set_speed' and 'spindle_sync' to reduce the number of required VARIABLE_SPINDLE checks.
2016-10-22 19:28:05 +00:00
void _spindle_set_state(uint8_t state)
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
#endif
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
{
v1.0 Beta Release. - Tons of new stuff in this release, which is fairly stable and well tested. However, much more is coming soon! - Real-time parking motion with safety door. When this compile option is enabled, an opened safety door will cause Grbl to automatically feed hold, retract, de-energize the spindle/coolant, and parks near Z max. After the door is closed and resume is commanded, this reverses and the program continues as if nothing happened. This is also highly configurable. See config.h for details. - New spindle max and min rpm ‘$’ settings! This has been requested often. Grbl will output 5V when commanded to turn on the spindle at its max rpm, and 0.02V with min rpm. The voltage and the rpm range are linear to each other. This should help users tweak their settings to get close to true rpm’s. - If the new max rpm ‘$’ setting is set = 0 or less than min rpm, the spindle speed PWM pin will act like a regular on/off spindle enable pin. On pin D11. - BEWARE: Your old EEPROM settings will be wiped! The new spindle rpm settings require a new settings version, so Grbl will automatically wipe and restore the EEPROM with the new defaults. - Control pin can now be inverted individually with a CONTROL_INVERT_MASK in the cpu_map header file. Not typical for users to need this, but handy to have. - Fixed bug when Grbl receive too many characters in a line and overflows. Previously it would respond with an error per overflow character and another acknowledge upon an EOL character. This broke the streaming protocol. Now fixed to only respond with an error after an EOL character. - Fixed a bug with the safety door during an ALARM mode. You now can’t home or unlock the axes until the safety door has been closed. This is for safety reasons (obviously.) - Tweaked some the Mega2560 cpu_map settings . Increased segment buffer size and fixed the spindle PWM settings to output at a higher PWM frequency. - Generalized the delay function used by G4 delay for use by parking motion. Allows non-blocking status reports and real-time control during re-energizing of the spindle and coolant. - Added spindle rpm max and min defaults to default.h files. - Added a new print float for rpm values.
2015-08-28 03:37:19 +00:00
if (sys.abort) { return; } // Block during abort.
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
#ifdef VARIABLE_SPINDLE
sys.spindle_speed = 0.0;
#endif
Lots of re-organization and cleaning-up. Some bug fixes. - Added a new source and header file called system. These files contain the system commands and variables, as well as all of the system headers and standard libraries Grbl uses. Centralizing some of the code. - Re-organized the include headers throughout the source code. - ENABLE_M7 define was missing from config.h. Now there. - SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No uncommenting to prevent user issues. Minimum spindle RPM now provides the lower, near 0V, scale adjustment, i.e. some spindles can go really slow so why use up our 256 voltage bins for them? - Remove some persistent variables from coolant and spindle control. They were redundant. - Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have been there. - Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing. Before we had issues with performance, no longer. - Fixed a bug with the hard limits and the software debounce feature enabled. The invert limit pin setting wasn’t honored. - Fixed a bug with the homing direction mask. Now is like it used to be. At least for now. - Re-organized main.c to serve as only as the reset/initialization routine. Makes things a little bit clearer in terms of execution procedures. - Re-organized protocol.c as the overall master control unit for execution procedures. Not quite there yet, but starting to make a little more sense in how things are run. - Removed updating of old settings records. So many new settings have been added that it’s not worth adding the code to migrate old user settings. - Tweaked spindle_control.c a bit and made it more clear and consistent with other parts of Grbl. - Tweaked the stepper disable bit code in stepper.c. Requires less flash memory.
2014-01-11 03:22:10 +00:00
spindle_stop();
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
Lots of re-organization and cleaning-up. Some bug fixes. - Added a new source and header file called system. These files contain the system commands and variables, as well as all of the system headers and standard libraries Grbl uses. Centralizing some of the code. - Re-organized the include headers throughout the source code. - ENABLE_M7 define was missing from config.h. Now there. - SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No uncommenting to prevent user issues. Minimum spindle RPM now provides the lower, near 0V, scale adjustment, i.e. some spindles can go really slow so why use up our 256 voltage bins for them? - Remove some persistent variables from coolant and spindle control. They were redundant. - Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have been there. - Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing. Before we had issues with performance, no longer. - Fixed a bug with the hard limits and the software debounce feature enabled. The invert limit pin setting wasn’t honored. - Fixed a bug with the homing direction mask. Now is like it used to be. At least for now. - Re-organized main.c to serve as only as the reset/initialization routine. Makes things a little bit clearer in terms of execution procedures. - Re-organized protocol.c as the overall master control unit for execution procedures. Not quite there yet, but starting to make a little more sense in how things are run. - Removed updating of old settings records. So many new settings have been added that it’s not worth adding the code to migrate old user settings. - Tweaked spindle_control.c a bit and made it more clear and consistent with other parts of Grbl. - Tweaked the stepper disable bit code in stepper.c. Requires less flash memory.
2014-01-11 03:22:10 +00:00
} else {
Dual motor support for self-squaring gantry homing. - New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
2019-07-31 01:51:49 +00:00
#if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS)
New compile options and inverse time bug fix. - Apparently inverse time motion were not working for quite some time. Goes to show how many people actually use it. The calculation was bad and is now fixed in this update. It should now work correctly. - `;` comment type is now supported. This is standard on LinuxCNC and common on 3d printers. It was previously not supported due to not existing in the NIST standard, which is out-dated. - New compile-option to ECHO the line received. This should help users experiencing very weird problems and help diagnose if there is something amiss in the communication to Grbl. - New compile-option to use the spindle direction pin D13 as a spindle enable pin with PWM spindle speed on D11. This feature has been requested often from the laser cutter community. Since spindle direction isn’t really of much use, it seemed like good good trade. Note that M4 spindle enable counter-clock-wise support is removed for obvious reasons, while M3 and M5 still work.
2015-03-28 00:13:18 +00:00
if (state == SPINDLE_ENABLE_CW) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#endif
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
Lots of re-organization and cleaning-up. Some bug fixes. - Added a new source and header file called system. These files contain the system commands and variables, as well as all of the system headers and standard libraries Grbl uses. Centralizing some of the code. - Re-organized the include headers throughout the source code. - ENABLE_M7 define was missing from config.h. Now there. - SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No uncommenting to prevent user issues. Minimum spindle RPM now provides the lower, near 0V, scale adjustment, i.e. some spindles can go really slow so why use up our 256 voltage bins for them? - Remove some persistent variables from coolant and spindle control. They were redundant. - Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have been there. - Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing. Before we had issues with performance, no longer. - Fixed a bug with the hard limits and the software debounce feature enabled. The invert limit pin setting wasn’t honored. - Fixed a bug with the homing direction mask. Now is like it used to be. At least for now. - Re-organized main.c to serve as only as the reset/initialization routine. Makes things a little bit clearer in terms of execution procedures. - Re-organized protocol.c as the overall master control unit for execution procedures. Not quite there yet, but starting to make a little more sense in how things are run. - Removed updating of old settings records. So many new settings have been added that it’s not worth adding the code to migrate old user settings. - Tweaked spindle_control.c a bit and made it more clear and consistent with other parts of Grbl. - Tweaked the stepper disable bit code in stepper.c. Requires less flash memory.
2014-01-11 03:22:10 +00:00
#ifdef VARIABLE_SPINDLE
v1.1e: New laser features. G-code parser refactoring. CoreXY homing fix. - Increment to v1.1e due to new laser features. - After several discussions with some prominent laser people, a few tweaks to the new laser mode has been installed. - LASER: M3 behaves in a constant power mode. - LASER: M4 behaves in a dynamic power mode, where the laser power is automatically adjusted based on how fast Grbl is moving relative to the programmed feed rate. This is the same as the CONSTANT_POWER_PER_RATE config.h option in the last version. NOTE: When not in motion in M4, Grbl automatically turns off the laser. Again, it only operates while moving! - LASER: Only G1, G2, and G3 motion modes will turn on the laser. So, this means that G0, G80 motion modes will always keep the laser disabled. No matter if M3/M4 are active! - LASER: A spindle stop override is automatically invoked when a laser is put in a feed hold. This behavior may be disabled by a config.h option. - Lots of little tweaks to the g-code parser to help streamline it a bit. It should no effect how it operates. Generally just added a parser flag to track and execute certain scenarios a little more clearly. - Jog motions now allow line numbers to be passed to it and will be displayed in the status reports. - Fixed a CoreXY homing bug. - Fixed an issue when $13 is changed, WCO isn’t sent immediately. - Altered how spindle PWM is set in the stepper ISR. Updated on a step segment basis now. May need to change this back if there are any oddities from doing this. - Updated some documentation. Clarified why M0 no longer showing up in $G and why a `1.` floating point values are shown with no decimals, like so `1`.
2016-12-04 01:02:45 +00:00
// 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) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
}
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
spindle_set_speed(spindle_compute_pwm_value(rpm));
Spindle enable pin with variable spindle option fix. - [fix] When USE_SPINDLE_DIR_AS_ENABLE_PIN is enabled in config.h, the enable pin was not being set when spindle speed is zero. This behavior should now be fixed.
2017-01-03 17:10:35 +00:00
#endif
v1.1f. Parking override control. Spindle enable pin option. [ver] v1.1f update due to tweaks to interface from new parking override control. [new] Parking motion override control via new `M56 P0` and `M56 P1` command, which disables and enables the parking motion, respectively. Requires ENABLE_PARKING_OVERRIDE_CONTROL and PARKING_ENABLE enabled in config.h. Primarily for OEMs. [new] `M56` appears in the $G report when enabled. [new] Five new build info identification letters. Some were missing and a couple are new. Updated the CSV and documentation to reflect these new items. [new] Spindle enable pin configuration option to alter its behavior based on how certain lasers work. By default, Grbl treats the enable pin separately and leaves it on when S is 0. The new option turns the enable pin on and off with S>0 and S=0. This only is in effect when a user enables the USE_SPINDLE_DIR_AS_ENABLE_PIN option. [fix] M4 is now allowed to work when USE_SPINDLE_DIR_AS_ENABLE_PIN is enabled. Previously this was blocked and was problematic for laser folks using M4. [fix] Properly declared system variables as extern. Not sure how that went unnoticed or why it worked up until now but it has. [fix] EXTREMELY RARE. When AMASS is intentionally disabled and sent a motion command that is _one step_ in length, Grbl would not actuate the step due to numerical round-off. Applied a fix to prevent the round-off issue. [fix] Added a compile-time check for AMASS settings to make sure that the numerical round-off issue doesn’t effect it. This would only happen if someone set AMASS max levels to zero. It does not effect AMASS with its current defaults. [fix] Wrapped the mc_parking_motion() function in an ifdef for porting purposes. [fix] Fixed an issue when in inverse time mode and G0’s would require a F word. This was not correct. [fix] Added a note in the defaults.h file that MAX_TRAVEL values must be positive. Some users were setting this negative and it was causing issues.
2017-01-29 00:13:06 +00:00
#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
!defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
Grbl v1.0e huge beta release. Overrides and new reporting. - Feature: Realtime feed, rapid, and spindle speed overrides. These alter the running machine state within tens of milliseconds! - Feed override: 100%, +/-10%, +/-1% commands with values 1-200% of programmed feed - Rapid override: 100%, 50%, 25% rapid rate commands - Spindle speed override: 100%, +/-10%, +/-1% commands with values 50-200% of programmed speed - Override values have configurable limits and increments in config.h. - Feature: Realtime toggle overrides for spindle stop, flood coolant, and optionally mist coolant - Spindle stop: Enables and disables spindle during a feed hold. Automatically restores last spindles state. - Flood and mist coolant: Immediately toggles coolant state until next toggle or g-code coolant command. - Feature: Jogging mode! Incremental and absolute modes supported. - Grbl accepts jogging-specific commands like $J=X100F50. An axis word and feed rate are required. G20/21 and G90/G91 commands are accepted. - Jog motions can be canceled at any time by a feed hold `!` command. The buffer is automatically flushed. (No resetting required). - Jog motions do not alter the g-code parser state so GUIs don’t have to track what they changed and correct it. - Feature: Laser mode setting. Allows Grbl to execute continuous motions with spindle speed and state changes. - Feature: Significantly improved status reports. Overhauled to cram in more meaningful data and still make it smaller on average. - All available data is now sent by default, but does not appear if it doesn’t change or is not active. - Machine position(MPos) or work position(WPos) is reported but not both at the same time. Instead, the work coordinate offsets (WCO)are sent intermittently whenever it changes or refreshes after 10-30 status reports. Position vectors are easily computed by WPos = MPos - WCO. - All data has changed in some way. Details of changes are in the markdown documents and wiki. - Feature: 16 new realtime commands to control overrides. All in extended-ASCII character space. - While they are not easily typeable and requires a GUI, they can’t be accidentally triggered by some latent character in the g-code program and have tons of room for expansion. - Feature: New substates for HOLD and SAFETY DOOR. A `:x` is appended to the state, where `x` is an integer and indicates a substate. - For example, each integer of a door state describes in what phase the machine is in during parking. Substates are detailed in the documentation. - Feature: With the alarm codes, homing and probe alarms have been expanded with more codes to provide more exact feedback on what caused the alarm. - Feature: New hard limit check upon power-up or reset. If detected, a feedback message to check the limit switches sent immediately after the welcome message. - May be disabled in config.h. - OEM feature: Enable/disable `$RST=` individual commands based on desired behavior in config.h. - OEM feature: Configurable EEPROM wipe to prevent certain data from being deleted during firmware upgrade to a new settings version or `RST=*` command. - OEM feature: Enable/disable the `$I=` build info write string with external EEPROM write example sketch. - This prevents a user from altering the build info string in EEPROM. This requires the vendor to write the string to EEPROM via external means. An Arduino example sketch is provided to accomplish this. This would be useful for contain product data that is retrievable. - Tweak: All feedback has been drastically trimmed to free up flash space for the v1.0 release. - The `$` help message is just one string, listing available commands. - The `$$` settings printout no longer includes descriptions. Only the setting values. (Sorry it’s this or remove overrides!) - Grbl `error:` and `ALARM:` responses now only contain codes. No descriptions. All codes are explained in documentation. - Grbl’s old feedback style may be restored via a config.h, but keep in mind that it will likely not fit into the Arduino’s flash space. - Tweak: Grbl now forces a buffer sync or stop motion whenever a g-code command needs to update and write a value to EEPROM or changes the work coordinate offset. - This addresses two old issues in all prior Grbl versions. First, an EEPROM write requires interrupts to be disabled, including stepper and serial comm. Steps can be lost and data can be corrupted. Second, the work position may not be correlated to the actual machine position, since machine position is derived from the actual current execution state, while work position is based on the g-code parser offset state. They are usually not in sync and the parser state is several motions behind. This forced sync ensures work and machine positions are always correct. - This behavior can be disabled through a config.h option, but it’s not recommended to do so. - Tweak: To make status reports standardized, users can no longer change what is reported via status report mask, except for only toggling machine or work positions. - All other data fields are included in the report and can only be disabled through the config.h file. It’s not recommended to alter this, because GUIs will be expecting this data to be present and may not be compatible. - Tweak: Homing cycle and parking motion no longer report a negative line number in a status report. These will now not report a line number at all. - Tweak: New `[Restoring spindle]` message when restoring from a spindle stop override. Provides feedback what Grbl is doing while the spindle is powering up and a 4.0 second delay is enforced. - Tweak: Override values are reset to 100% upon M2/30. This behavior can be disabled in config.h - Tweak: The planner buffer size has been reduced from 18 to 16 to free up RAM for tracking and controlling overrides. - Tweak: TX buffer size has been increased from 64 to 90 bytes to improve status reporting and overall performance. - Tweak: Removed the MOTION CANCEL state. It was redundant and didn’t affect Grbl’s overall operation by doing so. - Tweak: Grbl’s serial buffer increased by +1 internally, such that 128 bytes means 128, not 127 due to the ring buffer implementation. Long overdue. - Tweak: Altered sys.alarm variable to be set by alarm codes, rather than bit flags. Simplified how it worked overall. - Tweak: Planner buffer and serial RX buffer usage has been combined in the status reports. - Tweak: Pin state reporting has been refactored to report only the pins “triggered” and nothing when not “triggered”. - Tweak: Current machine rate or speed is now included in every report. - Tweak: The work coordinate offset (WCO) and override states only need to be refreshed intermittently or reported when they change. The refresh rates may be altered for each in the config.h file with different idle and busy rates to lessen Grbl’s load during a job. - Tweak: For temporary compatibility to existing GUIs until they are updated, an option to revert back to the old style status reports is available in config.h, but not recommended for long term use. - Tweak: Removed old limit pin state reporting option from config.h in lieu of new status report that includes them. - Tweak: Updated the defaults.h file to include laser mode, altered status report mask, and fix an issue with a missing invert probe pin default. - Refactor: Changed how planner line data is generated and passed to the planner and onto the step generator. By making it a struct variable, this saved significant flash space. - Refactor: Major re-factoring of the planner to incorporate override values and allow for re-calculations fast enough to immediately take effect during operation. No small feat. - Refactor: Re-factored the step segment generator for re-computing new override states. - Refactor: Re-factored spindle_control.c to accommodate the spindle speed overrides and laser mode. - Refactor: Re-factored parts of the codebase for a new jogging mode. Still under development though and slated to be part of the official v1.0 release. Hang tight. - Refactor: Created functions for computing a unit vector and value limiting based on axis maximums to free up more flash. - Refactor: The spindle PWM is now set directly inside of the stepper ISR as it loads new step segments. - Refactor: Moved machine travel checks out of soft limits function into its own since jogging uses this too. - Refactor: Removed coolant_stop() and combined with coolant_set_state(). - Refactor: The serial RX ISR forks off extended ASCII values to quickly assess the new override realtime commands. - Refactor: Altered some names of the step control flags. - Refactor: Improved efficiency of the serial RX get buffer count function. - Refactor: Saved significant flash by removing and combining print functions. Namely the uint8 base10 and base2 functions. - Refactor: Moved the probe state check in the main stepper ISR to improve its efficiency. - Refactor: Single character printPgmStrings() went converted to direct serial_write() commands to save significant flash space. - Documentation: Detailed Markdown documents on error codes, alarm codes, messages, new real-time commands, new status reports, and how jogging works. More to come later and will be posted on the Wiki as well. - Documentation: CSV files for quick importing of Grbl error and alarm codes. - Bug Fix: Applied v0.9 master fixes to CoreXY homing. - Bug Fix: The print float function would cause Grbl to crash if a value was 1e6 or greater. Increased the buffer by 3 bytes to help prevent this in the future. - Bug Fix: Build info and startup string EEPROM restoring was not writing the checksum value. - Bug Fix: Corrected an issue with safety door restoring the proper spindle and coolant state. It worked before, but breaks with laser mode that can continually change spindle state per planner block. - Bug Fix: Move system position and probe position arrays out of the system_t struct. Ran into some compiling errors that were hard to track down as to why. Moving them out fixed it.
2016-09-22 01:08:24 +00:00
// NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
// if the spindle speed value is zero, as its ignored anyhow.
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
#endif
Lots of re-organization and cleaning-up. Some bug fixes. - Added a new source and header file called system. These files contain the system commands and variables, as well as all of the system headers and standard libraries Grbl uses. Centralizing some of the code. - Re-organized the include headers throughout the source code. - ENABLE_M7 define was missing from config.h. Now there. - SPINDLE_MAX_RPM and SPINDLE_MIN_RPM now defined in config.h. No uncommenting to prevent user issues. Minimum spindle RPM now provides the lower, near 0V, scale adjustment, i.e. some spindles can go really slow so why use up our 256 voltage bins for them? - Remove some persistent variables from coolant and spindle control. They were redundant. - Removed a VARIABLE_SPINDLE define in cpu_map.h that shouldn’t have been there. - Changed the DEFAULT_ARC_TOLERANCE to 0.002mm to improve arc tracing. Before we had issues with performance, no longer. - Fixed a bug with the hard limits and the software debounce feature enabled. The invert limit pin setting wasn’t honored. - Fixed a bug with the homing direction mask. Now is like it used to be. At least for now. - Re-organized main.c to serve as only as the reset/initialization routine. Makes things a little bit clearer in terms of execution procedures. - Re-organized protocol.c as the overall master control unit for execution procedures. Not quite there yet, but starting to make a little more sense in how things are run. - Removed updating of old settings records. So many new settings have been added that it’s not worth adding the code to migrate old user settings. - Tweaked spindle_control.c a bit and made it more clear and consistent with other parts of Grbl. - Tweaked the stepper disable bit code in stepper.c. Requires less flash memory.
2014-01-11 03:22:10 +00:00
#endif
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
Cleaned up variable spindle output (PWM). Code and config comments. - Variable spindle speed output as a configuration option. Thanks @EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins switch to allow access to the hardware PWM output on pin D11. Otherwise, everything should work as it does. - Removed option for inverting the spindle and coolant enable pins. This is a safety hazard, especially for the spindle. When Grbl initializes, all pins are momentarily low until it finishes booting. If an invert is enabled, this means the spindles can be energized briefly during this time. If users need signal inversion, it’s recommended to just wire in an inversion circuit instead. - Cleared out references to spindle variable output in terms of step signal. This isn’t complete and requires more deliberation before installing. - Cleared up and cleaned up some code and config comments.
2014-01-04 19:12:44 +00:00
}
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
Minor re-factoring. Fix an issue with parking and spindle restore. - Altered the report counters to be count down, rather than count up. Simplified some of the logic. - Fixed an issue with parking restore. The spindle state would disable then reenable. - Clarified some of the config.h descriptions. - Moved the compile-time checks from config.h to grbl.h. They don’t belong in the config.h file. - Refactored the initialization of the system variables in main.c. System position and probe position were undefined when power cycled, but were zero anyway. Added clear vector code to make it explicit.
2016-10-25 04:18:13 +00:00
sys.report_ovr_counter = 0; // Set to report change immediately
PWM Spindle Control and Invert Spindle & Coolant Pins PWM Spindle Control and Invert Spindle & Coolant Pins
2014-01-02 04:42:22 +00:00
}
Lot of refactoring for the future. CoreXY support. - Rudimentary CoreXY kinematics support. Didn’t test, but homing and feed holds should work. See config.h. Please report successes and issues as we find bugs. - G40 (disable cutter comp) is now “supported”. Meaning that Grbl will no longer issue an error when typically sent in g-code program header. - Refactored coolant and spindle state setting into separate functions for future features. - Configuration option for fixing homing behavior when there are two limit switches on the same axis sharing an input pin. - Created a new “grbl.h” that will eventually be used as the main include file for Grbl. Also will help simply uploading through the Arduino IDE - Separated out the alarms execution flags from the realtime (used be called runtime) execution flag variable. Now reports exactly what caused the alarm. Expandable for new alarms later on. - Refactored the homing cycle to support CoreXY. - Applied @EliteEng updates to Mega2560 support. Some pins were reconfigured. - Created a central step to position and vice versa function. Needed for non-traditional cartesian machines. Should make it easier later. - Removed the new CPU map for the Uno. No longer going to used. There will be only one configuration to keep things uniform.
2015-01-15 05:14:52 +00:00
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
#ifdef VARIABLE_SPINDLE
void spindle_sync(uint8_t state, float rpm)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
spindle_set_state(state,rpm);
}
#else
Minor VARIABLE_SPINDLE feature toggle refactoring (#16) * Modify code CSV format. - Wrap value in quotes to avoid issue with embedded commas. This occurs in one of the alarm codes. - Change header row format to allow same parsing code as data rows. * VARIABLE_SPINDLE feature flag experiment. - Use a macro for 'spindle_set_speed' and 'spindle_sync' to reduce the number of required VARIABLE_SPINDLE checks.
2016-10-22 19:28:05 +00:00
void _spindle_sync(uint8_t state)
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
Minor VARIABLE_SPINDLE feature toggle refactoring (#16) * Modify code CSV format. - Wrap value in quotes to avoid issue with embedded commas. This occurs in one of the alarm codes. - Change header row format to allow same parsing code as data rows. * VARIABLE_SPINDLE feature flag experiment. - Use a macro for 'spindle_set_speed' and 'spindle_sync' to reduce the number of required VARIABLE_SPINDLE checks.
2016-10-22 19:28:05 +00:00
_spindle_set_state(state);
v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes. - Increment to v1.1d due to interface tweaks. - Based on GUI dev feedback, the toggle overrides report was removed and replace with showing “accessory state”. This shows a character if a particular accessory is enabled, like the spindle or flood coolant. These can be directly altered by the toggle overrides, so when they execute, a GUI will be able to observe the state altering as feedback. - Altered the real-time feed rate to show real-time spindle speed as well. It was an over-sight on my part. It’s needed because it’s hard to know what the current spindle speed is when overrides are altering it. Especially during something like a laser cutting job when its important to know how spindle speed overrides are effecting things. - Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled. The old real-time feed rate data field will show instead. - Compile-time option data is now included in another message immediately following the build info version string, starting with `[OPT:`. A character code follows the data type name with each indicating a particular option enabled or disabled. This will help immensely with debugging Grbl as well as help GUIs know exactly how Grbl was compiled. - These interface changes are detailed in the updated documentation. - Reduced the default planner buffer size from 17 to 16. Needed to free up some memory… - For increasing the serial TX buffer size from 90 to 104 bytes. The addition of real-time spindle speeds and accessory enable data required a bigger buffer. This is to ensure Grbl is performing at optimal levels. - Refactored parts of the spindle and coolant control code to make it more consistent to each other and how it was called. It was a little messy. The changes made it easier to track what each function call was doing based on what was calling it. - Created a couple of new get_state functions for the spindle and coolant. These are called by the accessory state report to look directly at the pin state, rather than track how it was set. This guarantees that the state is reported correctly. - Updated the g-code parser, parking motion, sleep mode, and spindle stop calls to refactored spindle and coolant code. - Added a compile-time option to enable homing individual axes, rather than having only the main homing cycle. The actual use case for this is pretty rare. It’s not recommended you enable this, unless you have a specific application for it. Otherwise, just alter the homing cycle itself. - Refactored the printFloat() function to not show a decimal point if there are no trailing values after it. For example, `1.` now shows `1`. - Fixed an issue regarding spindle speed overrides no being applied to blocks without motions. - Removed the toggle_ovr_mask system variable and replaced with spindle_stop_ovr system variable. Coolant toggles don’t need to be tracked. - Updated README
2016-10-18 05:48:25 +00:00
}
Minor VARIABLE_SPINDLE feature toggle refactoring (#16) * Modify code CSV format. - Wrap value in quotes to avoid issue with embedded commas. This occurs in one of the alarm codes. - Change header row format to allow same parsing code as data rows. * VARIABLE_SPINDLE feature flag experiment. - Use a macro for 'spindle_set_speed' and 'spindle_sync' to reduce the number of required VARIABLE_SPINDLE checks.
2016-10-22 19:28:05 +00:00
#endif