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No code changes other than what clang-format mandates. This is breaking
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Imbus 2025-12-28 07:09:00 +01:00
parent a1c041481c
commit fe32d197f9
38 changed files with 7094 additions and 6574 deletions
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19
grbl/config.h
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@ -29,7 +29,6 @@
#define config_h
#include "grbl.h" // For Arduino IDE compatibility.
// Define CPU pin map and default settings.
// NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
// one configuration file by placing their specific defaults and pin map at the bottom of this file.
@ -102,8 +101,8 @@
// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
// will not be affected by pin sharing.
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
#define HOMING_CYCLE_0 (1 << Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 ((1 << X_AXIS) | (1 << Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
// NOTE: The following are two examples to setup homing for 2-axis machines.
@ -323,9 +322,9 @@
// normal-open switch and vice versa.
// NOTE: All pins associated with the feature are disabled, i.e. XYZ limit pins, not individual axes.
// WARNING: When the pull-ups are disabled, this requires additional wiring with pull-down resistors!
//#define DISABLE_LIMIT_PIN_PULL_UP
//#define DISABLE_PROBE_PIN_PULL_UP
//#define DISABLE_CONTROL_PIN_PULL_UP
// #define DISABLE_LIMIT_PIN_PULL_UP
// #define DISABLE_PROBE_PIN_PULL_UP
// #define DISABLE_CONTROL_PIN_PULL_UP
// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
// the selected axis with the tool oriented toward the negative direction. In other words, a positive
@ -509,7 +508,8 @@
// written into the Arduino EEPROM via a seperate .INO sketch to contain product data. Altering this
// macro to not restore the build info EEPROM will ensure this data is retained after firmware upgrades.
// NOTE: Uncomment to override defaults in settings.h
// #define SETTINGS_RESTORE_ALL (SETTINGS_RESTORE_DEFAULTS | SETTINGS_RESTORE_PARAMETERS | SETTINGS_RESTORE_STARTUP_LINES | SETTINGS_RESTORE_BUILD_INFO)
// #define SETTINGS_RESTORE_ALL (SETTINGS_RESTORE_DEFAULTS | SETTINGS_RESTORE_PARAMETERS |
// SETTINGS_RESTORE_STARTUP_LINES | SETTINGS_RESTORE_BUILD_INFO)
// Enable the '$I=(string)' build info write command. If disabled, any existing build info data must
// be placed into EEPROM via external means with a valid checksum value. This macro option is useful
@ -568,7 +568,8 @@
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
#define PARKING_PULLOUT_INCREMENT \
5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
// Must be positive value or equal to zero.
// Enables a special set of M-code commands that enables and disables the parking motion.
@ -674,7 +675,6 @@
// updating lots of code to ensure everything is running correctly.
// #define DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE // Uncomment to select. Comment other configs.
/* ---------------------------------------------------------------------------------------
OEM Single File Configuration Option
@ -688,5 +688,4 @@
// Paste default settings definitions here.
#endif

102
grbl/coolant_control.c
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@ -20,107 +20,101 @@
#include "grbl.h"
void coolant_init()
{
void coolant_init() {
COOLANT_FLOOD_DDR |= (1 << COOLANT_FLOOD_BIT); // Configure as output pin
#ifdef ENABLE_M7
#ifdef ENABLE_M7
COOLANT_MIST_DDR |= (1 << COOLANT_MIST_BIT);
#endif
#endif
coolant_stop();
}
// Returns current coolant output state. Overrides may alter it from programmed state.
uint8_t coolant_get_state()
{
uint8_t coolant_get_state() {
uint8_t cl_state = COOLANT_STATE_DISABLE;
#ifdef INVERT_COOLANT_FLOOD_PIN
if (bit_isfalse(COOLANT_FLOOD_PORT,(1 << COOLANT_FLOOD_BIT))) {
#else
if (bit_istrue(COOLANT_FLOOD_PORT,(1 << COOLANT_FLOOD_BIT))) {
#endif
#ifdef INVERT_COOLANT_FLOOD_PIN
if (bit_isfalse(COOLANT_FLOOD_PORT, (1 << COOLANT_FLOOD_BIT))) {
#else
if (bit_istrue(COOLANT_FLOOD_PORT, (1 << COOLANT_FLOOD_BIT))) {
#endif
cl_state |= COOLANT_STATE_FLOOD;
}
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
if (bit_isfalse(COOLANT_MIST_PORT,(1 << COOLANT_MIST_BIT))) {
#else
if (bit_istrue(COOLANT_MIST_PORT,(1 << COOLANT_MIST_BIT))) {
#endif
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
if (bit_isfalse(COOLANT_MIST_PORT, (1 << COOLANT_MIST_BIT))) {
#else
if (bit_istrue(COOLANT_MIST_PORT, (1 << COOLANT_MIST_BIT))) {
#endif
cl_state |= COOLANT_STATE_MIST;
}
#endif
return(cl_state);
#endif
return (cl_state);
}
// Directly called by coolant_init(), coolant_set_state(), and mc_reset(), which can be at
// an interrupt-level. No report flag set, but only called by routines that don't need it.
void coolant_stop()
{
#ifdef INVERT_COOLANT_FLOOD_PIN
void coolant_stop() {
#ifdef INVERT_COOLANT_FLOOD_PIN
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#else
#else
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#endif
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
#endif
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#else
#else
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#endif
#endif
#endif
#endif
}
// Main program only. Immediately sets flood coolant running state and also mist coolant,
// if enabled. Also sets a flag to report an update to a coolant state.
// Called by coolant toggle override, parking restore, parking retract, sleep mode, g-code
// parser program end, and g-code parser coolant_sync().
void coolant_set_state(uint8_t mode)
{
if (sys.abort) { return; } // Block during abort.
void coolant_set_state(uint8_t mode) {
if (sys.abort) {
return;
} // Block during abort.
if (mode & COOLANT_FLOOD_ENABLE) {
#ifdef INVERT_COOLANT_FLOOD_PIN
#ifdef INVERT_COOLANT_FLOOD_PIN
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#else
#else
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#endif
#endif
} else {
#ifdef INVERT_COOLANT_FLOOD_PIN
#ifdef INVERT_COOLANT_FLOOD_PIN
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#else
#else
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#endif
#endif
}
#ifdef ENABLE_M7
#ifdef ENABLE_M7
if (mode & COOLANT_MIST_ENABLE) {
#ifdef INVERT_COOLANT_MIST_PIN
#ifdef INVERT_COOLANT_MIST_PIN
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#else
#else
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#endif
#endif
} else {
#ifdef INVERT_COOLANT_MIST_PIN
#ifdef INVERT_COOLANT_MIST_PIN
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#else
#else
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#endif
#endif
}
#endif
#endif
sys.report_ovr_counter = 0; // Set to report change immediately
}
// G-code parser entry-point for setting coolant state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
void coolant_sync(uint8_t mode)
{
if (sys.state == STATE_CHECK_MODE) { return; }
void coolant_sync(uint8_t mode) {
if (sys.state == STATE_CHECK_MODE) {
return;
}
protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
coolant_set_state(mode);
}

1
grbl/coolant_control.h
View file

@ -28,7 +28,6 @@
#define COOLANT_STATE_FLOOD PL_COND_FLAG_COOLANT_FLOOD
#define COOLANT_STATE_MIST PL_COND_FLAG_COOLANT_MIST
// Initializes coolant control pins.
void coolant_init();

387
grbl/cpu_map.h
View file

@ -22,230 +22,231 @@
processor types or alternative pin layouts. This version of Grbl officially supports
only the Arduino Mega328p. */
#ifndef cpu_map_h
#define cpu_map_h
#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
// Define serial port pins and interrupt vectors.
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Define serial port pins and interrupt vectors.
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR DDRD
#define STEP_PORT PORTD
#define X_STEP_BIT 2 // Uno Digital Pin 2
#define Y_STEP_BIT 3 // Uno Digital Pin 3
#define Z_STEP_BIT 4 // Uno Digital Pin 4
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR DDRD
#define STEP_PORT PORTD
#define X_STEP_BIT 2 // Uno Digital Pin 2
#define Y_STEP_BIT 3 // Uno Digital Pin 3
#define Z_STEP_BIT 4 // Uno Digital Pin 4
#define STEP_MASK ((1 << X_STEP_BIT) | (1 << Y_STEP_BIT) | (1 << Z_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRD
#define DIRECTION_PORT PORTD
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRD
#define DIRECTION_PORT PORTD
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
#define DIRECTION_MASK ((1 << X_DIRECTION_BIT) | (1 << Y_DIRECTION_BIT) | (1 << Z_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR DDRB
#define STEPPERS_DISABLE_PORT PORTB
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR DDRB
#define STEPPERS_DISABLE_PORT PORTB
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#define STEPPERS_DISABLE_MASK (1 << STEPPERS_DISABLE_BIT)
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define LIMIT_PORT PORTB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.
#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
#else
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
#endif
#if !defined(ENABLE_DUAL_AXIS)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#endif
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define LIMIT_PORT PORTB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.
#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
#else
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
#endif
#if !defined(ENABLE_DUAL_AXIS)
#define LIMIT_MASK ((1 << X_LIMIT_BIT) | (1 << Y_LIMIT_BIT) | (1 << Z_LIMIT_BIT)) // All limit bits
#endif
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define user-control controls (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR DDRC
#define CONTROL_PIN PINC
#define CONTROL_PORT PORTC
#define CONTROL_RESET_BIT 0 // Uno Analog Pin 0
#define CONTROL_FEED_HOLD_BIT 1 // Uno Analog Pin 1
#define CONTROL_CYCLE_START_BIT 2 // Uno Analog Pin 2
#define CONTROL_SAFETY_DOOR_BIT 1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT1_vect
#define CONTROL_PCMSK PCMSK1 // Pin change interrupt register
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
// Define user-control controls (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR DDRC
#define CONTROL_PIN PINC
#define CONTROL_PORT PORTC
#define CONTROL_RESET_BIT 0 // Uno Analog Pin 0
#define CONTROL_FEED_HOLD_BIT 1 // Uno Analog Pin 1
#define CONTROL_CYCLE_START_BIT 2 // Uno Analog Pin 2
#define CONTROL_SAFETY_DOOR_BIT \
1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT1_vect
#define CONTROL_PCMSK PCMSK1 // Pin change interrupt register
#define CONTROL_MASK \
((1 << CONTROL_RESET_BIT) | (1 << CONTROL_FEED_HOLD_BIT) | (1 << CONTROL_CYCLE_START_BIT) | \
(1 << CONTROL_SAFETY_DOOR_BIT))
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
// Define probe switch input pin.
#define PROBE_DDR DDRC
#define PROBE_PIN PINC
#define PROBE_PORT PORTC
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// Define probe switch input pin.
#define PROBE_DDR DDRC
#define PROBE_PIN PINC
#define PROBE_PORT PORTC
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1 << PROBE_BIT)
#if !defined(ENABLE_DUAL_AXIS)
#if !defined(ENABLE_DUAL_AXIS)
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR DDRC
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR DDRC
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#else
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#endif
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#endif
// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#else
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#endif
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#endif
// Variable spindle configuration below. Do not change unless you know what you are doing.
// NOTE: Only used when variable spindle is enabled.
#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_TCCRA_REGISTER TCCR2A
#define SPINDLE_TCCRB_REGISTER TCCR2B
#define SPINDLE_OCR_REGISTER OCR2A
#define SPINDLE_COMB_BIT COM2A1
// Variable spindle configuration below. Do not change unless you know what you are doing.
// NOTE: Only used when variable spindle is enabled.
#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE - SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_TCCRA_REGISTER TCCR2A
#define SPINDLE_TCCRB_REGISTER TCCR2B
#define SPINDLE_OCR_REGISTER OCR2A
#define SPINDLE_COMB_BIT COM2A1
// Prescaled, 8-bit Fast PWM mode.
#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
// Prescaled, 8-bit Fast PWM mode.
#define SPINDLE_TCCRA_INIT_MASK ((1 << WGM20) | (1 << WGM21)) // Configures fast PWM mode.
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
#define SPINDLE_TCCRB_INIT_MASK (1 << CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#else
#else
// Dual axis feature requires an independent step pulse pin to operate. The independent direction pin is not
// absolutely necessary but facilitates easy direction inverting with a Grbl $$ setting. These pins replace
// the spindle direction and optional coolant mist pins.
// Dual axis feature requires an independent step pulse pin to operate. The independent direction pin is not
// absolutely necessary but facilitates easy direction inverting with a Grbl $$ setting. These pins replace
// the spindle direction and optional coolant mist pins.
#ifdef DUAL_AXIS_CONFIG_PROTONEER_V3_51
// NOTE: Step pulse and direction pins may be on any port and output pin.
#define STEP_DDR_DUAL DDRC
#define STEP_PORT_DUAL PORTC
#define DUAL_STEP_BIT 4 // Uno Analog Pin 4
#define STEP_MASK_DUAL ((1<<DUAL_STEP_BIT))
#define DIRECTION_DDR_DUAL DDRC
#define DIRECTION_PORT_DUAL PORTC
#define DUAL_DIRECTION_BIT 3 // Uno Analog Pin 3
#define DIRECTION_MASK_DUAL ((1<<DUAL_DIRECTION_BIT))
#ifdef DUAL_AXIS_CONFIG_PROTONEER_V3_51
// NOTE: Step pulse and direction pins may be on any port and output pin.
#define STEP_DDR_DUAL DDRC
#define STEP_PORT_DUAL PORTC
#define DUAL_STEP_BIT 4 // Uno Analog Pin 4
#define STEP_MASK_DUAL ((1 << DUAL_STEP_BIT))
#define DIRECTION_DDR_DUAL DDRC
#define DIRECTION_PORT_DUAL PORTC
#define DUAL_DIRECTION_BIT 3 // Uno Analog Pin 3
#define DIRECTION_MASK_DUAL ((1 << DUAL_DIRECTION_BIT))
// NOTE: Dual axis limit is shared with the z-axis limit pin by default. Pin used must be on the same port
// as other limit pins.
#define DUAL_LIMIT_BIT Z_LIMIT_BIT
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<DUAL_LIMIT_BIT))
// NOTE: Dual axis limit is shared with the z-axis limit pin by default. Pin used must be on the same port
// as other limit pins.
#define DUAL_LIMIT_BIT Z_LIMIT_BIT
#define LIMIT_MASK ((1 << X_LIMIT_BIT) | (1 << Y_LIMIT_BIT) | (1 << Z_LIMIT_BIT) | (1 << DUAL_LIMIT_BIT))
// Define coolant enable output pins.
// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
#define COOLANT_FLOOD_DDR DDRB
#define COOLANT_FLOOD_PORT PORTB
#define COOLANT_FLOOD_BIT 5 // Uno Digital Pin 13
// Define coolant enable output pins.
// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
#define COOLANT_FLOOD_DDR DDRB
#define COOLANT_FLOOD_PORT PORTB
#define COOLANT_FLOOD_BIT 5 // Uno Digital Pin 13
// Define spindle enable output pin.
// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
#ifdef VARIABLE_SPINDLE
// NOTE: USE_SPINDLE_DIR_AS_ENABLE_PIN not supported with dual axis feature.
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
// Define spindle enable output pin.
// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
#ifdef VARIABLE_SPINDLE
// NOTE: USE_SPINDLE_DIR_AS_ENABLE_PIN not supported with dual axis feature.
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
// Variable spindle configuration below. Do not change unless you know what you are doing.
// NOTE: Only used when variable spindle is enabled.
#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_TCCRA_REGISTER TCCR2A
#define SPINDLE_TCCRB_REGISTER TCCR2B
#define SPINDLE_OCR_REGISTER OCR2A
#define SPINDLE_COMB_BIT COM2A1
// Variable spindle configuration below. Do not change unless you know what you are doing.
// NOTE: Only used when variable spindle is enabled.
#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE - SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_TCCRA_REGISTER TCCR2A
#define SPINDLE_TCCRB_REGISTER TCCR2B
#define SPINDLE_OCR_REGISTER OCR2A
#define SPINDLE_COMB_BIT COM2A1
// Prescaled, 8-bit Fast PWM mode.
#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
// Prescaled, 8-bit Fast PWM mode.
#define SPINDLE_TCCRA_INIT_MASK ((1 << WGM20) | (1 << WGM21)) // Configures fast PWM mode.
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
#define SPINDLE_TCCRB_INIT_MASK (1 << CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#endif
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#endif
// NOTE: Variable spindle not supported with this shield.
#ifdef DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE
// NOTE: Step pulse and direction pins may be on any port and output pin.
#define STEP_DDR_DUAL DDRB
#define STEP_PORT_DUAL PORTB
#define DUAL_STEP_BIT 4 // Uno Digital Pin 12
#define STEP_MASK_DUAL ((1<<DUAL_STEP_BIT))
#define DIRECTION_DDR_DUAL DDRB
#define DIRECTION_PORT_DUAL PORTB
#define DUAL_DIRECTION_BIT 5 // Uno Digital Pin 13
#define DIRECTION_MASK_DUAL ((1<<DUAL_DIRECTION_BIT))
// NOTE: Variable spindle not supported with this shield.
#ifdef DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE
// NOTE: Step pulse and direction pins may be on any port and output pin.
#define STEP_DDR_DUAL DDRB
#define STEP_PORT_DUAL PORTB
#define DUAL_STEP_BIT 4 // Uno Digital Pin 12
#define STEP_MASK_DUAL ((1 << DUAL_STEP_BIT))
#define DIRECTION_DDR_DUAL DDRB
#define DIRECTION_PORT_DUAL PORTB
#define DUAL_DIRECTION_BIT 5 // Uno Digital Pin 13
#define DIRECTION_MASK_DUAL ((1 << DUAL_DIRECTION_BIT))
// NOTE: Dual axis limit is shared with the z-axis limit pin by default.
#define DUAL_LIMIT_BIT Z_LIMIT_BIT
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<DUAL_LIMIT_BIT))
// NOTE: Dual axis limit is shared with the z-axis limit pin by default.
#define DUAL_LIMIT_BIT Z_LIMIT_BIT
#define LIMIT_MASK ((1 << X_LIMIT_BIT) | (1 << Y_LIMIT_BIT) | (1 << Z_LIMIT_BIT) | (1 << DUAL_LIMIT_BIT))
// Define coolant enable output pins.
// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 4 // Uno Analog Pin 4
// Define coolant enable output pins.
// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 4 // Uno Analog Pin 4
// Define spindle enable output pin.
// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
#define SPINDLE_ENABLE_DDR DDRC
#define SPINDLE_ENABLE_PORT PORTC
#define SPINDLE_ENABLE_BIT 3 // Uno Analog Pin 3
#endif
// Define spindle enable output pin.
// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
#define SPINDLE_ENABLE_DDR DDRC
#define SPINDLE_ENABLE_PORT PORTC
#define SPINDLE_ENABLE_BIT 3 // Uno Analog Pin 3
#endif
#endif
#endif
#endif

1004
grbl/defaults.h
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102
grbl/eeprom.c
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@ -1,33 +1,33 @@
// This file has been prepared for Doxygen automatic documentation generation.
/*! \file ********************************************************************
*
* Atmel Corporation
*
* \li File: eeprom.c
* \li Compiler: IAR EWAAVR 3.10c
* \li Support mail: avr@atmel.com
*
* \li Supported devices: All devices with split EEPROM erase/write
* capabilities can be used.
* The example is written for ATmega48.
*
* \li AppNote: AVR103 - Using the EEPROM Programming Modes.
*
* \li Description: Example on how to use the split EEPROM erase/write
* capabilities in e.g. ATmega48. All EEPROM
* programming modes are tested, i.e. Erase+Write,
* Erase-only and Write-only.
*
* $Revision: 1.6 $
* $Date: Friday, February 11, 2005 07:16:44 UTC $
****************************************************************************/
#include <avr/io.h>
*
* Atmel Corporation
*
* \li File: eeprom.c
* \li Compiler: IAR EWAAVR 3.10c
* \li Support mail: avr@atmel.com
*
* \li Supported devices: All devices with split EEPROM erase/write
* capabilities can be used.
* The example is written for ATmega48.
*
* \li AppNote: AVR103 - Using the EEPROM Programming Modes.
*
* \li Description: Example on how to use the split EEPROM erase/write
* capabilities in e.g. ATmega48. All EEPROM
* programming modes are tested, i.e. Erase+Write,
* Erase-only and Write-only.
*
* $Revision: 1.6 $
* $Date: Friday, February 11, 2005 07:16:44 UTC $
****************************************************************************/
#include <avr/interrupt.h>
#include <avr/io.h>
/* These EEPROM bits have different names on different devices. */
#ifndef EEPE
#define EEPE EEWE //!< EEPROM program/write enable.
#define EEMPE EEMWE //!< EEPROM master program/write enable.
#define EEPE EEWE //!< EEPROM program/write enable.
#define EEMPE EEMWE //!< EEPROM master program/write enable.
#endif
/* These two are unfortunately not defined in the device include files. */
@ -46,11 +46,11 @@
* \param addr EEPROM address to read from.
* \return The byte read from the EEPROM address.
*/
unsigned char eeprom_get_char( unsigned int addr )
{
do {} while( EECR & (1<<EEPE) ); // Wait for completion of previous write.
unsigned char eeprom_get_char(unsigned int addr) {
do {
} while (EECR & (1 << EEPE)); // Wait for completion of previous write.
EEAR = addr; // Set EEPROM address register.
EECR = (1<<EERE); // Start EEPROM read operation.
EECR = (1 << EERE); // Start EEPROM read operation.
return EEDR; // Return the byte read from EEPROM.
}
@ -71,53 +71,54 @@ unsigned char eeprom_get_char( unsigned int addr )
* \param addr EEPROM address to write to.
* \param new_value New EEPROM value.
*/
void eeprom_put_char( unsigned int addr, unsigned char new_value )
{
void eeprom_put_char(unsigned int addr, unsigned char new_value) {
char old_value; // Old EEPROM value.
char diff_mask; // Difference mask, i.e. old value XOR new value.
cli(); // Ensure atomic operation for the write operation.
do {} while( EECR & (1<<EEPE) ); // Wait for completion of previous write.
#ifndef EEPROM_IGNORE_SELFPROG
do {} while( SPMCSR & (1<<SELFPRGEN) ); // Wait for completion of SPM.
#endif
do {
} while (EECR & (1 << EEPE)); // Wait for completion of previous write.
#ifndef EEPROM_IGNORE_SELFPROG
do {
} while (SPMCSR & (1 << SELFPRGEN)); // Wait for completion of SPM.
#endif
EEAR = addr; // Set EEPROM address register.
EECR = (1<<EERE); // Start EEPROM read operation.
EECR = (1 << EERE); // Start EEPROM read operation.
old_value = EEDR; // Get old EEPROM value.
diff_mask = old_value ^ new_value; // Get bit differences.
// Check if any bits are changed to '1' in the new value.
if( diff_mask & new_value ) {
if (diff_mask & new_value) {
// Now we know that _some_ bits need to be erased to '1'.
// Check if any bits in the new value are '0'.
if( new_value != 0xff ) {
if (new_value != 0xff) {
// Now we know that some bits need to be programmed to '0' also.
EEDR = new_value; // Set EEPROM data register.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(0<<EEPM1) | (0<<EEPM0); // ...and Erase+Write mode.
EECR |= (1<<EEPE); // Start Erase+Write operation.
EECR = (1 << EEMPE) | // Set Master Write Enable bit...
(0 << EEPM1) | (0 << EEPM0); // ...and Erase+Write mode.
EECR |= (1 << EEPE); // Start Erase+Write operation.
} else {
// Now we know that all bits should be erased.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(1<<EEPM0); // ...and Erase-only mode.
EECR |= (1<<EEPE); // Start Erase-only operation.
EECR = (1 << EEMPE) | // Set Master Write Enable bit...
(1 << EEPM0); // ...and Erase-only mode.
EECR |= (1 << EEPE); // Start Erase-only operation.
}
} else {
// Now we know that _no_ bits need to be erased to '1'.
// Check if any bits are changed from '1' in the old value.
if( diff_mask ) {
if (diff_mask) {
// Now we know that _some_ bits need to the programmed to '0'.
EEDR = new_value; // Set EEPROM data register.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(1<<EEPM1); // ...and Write-only mode.
EECR |= (1<<EEPE); // Start Write-only operation.
EECR = (1 << EEMPE) | // Set Master Write Enable bit...
(1 << EEPM1); // ...and Write-only mode.
EECR |= (1 << EEPE); // Start Write-only operation.
}
}
@ -126,10 +127,9 @@ void eeprom_put_char( unsigned int addr, unsigned char new_value )
// Extensions added as part of Grbl
void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size) {
unsigned char checksum = 0;
for(; size > 0; size--) {
for (; size > 0; size--) {
checksum = ((checksum << 1) != 0) || (checksum >> 7);
checksum += *source;
eeprom_put_char(destination++, *(source++));
@ -139,13 +139,13 @@ void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsi
int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size) {
unsigned char data, checksum = 0;
for(; size > 0; size--) {
for (; size > 0; size--) {
data = eeprom_get_char(source++);
checksum = ((checksum << 1) != 0) || (checksum >> 7);
checksum += data;
*(destination++) = data;
}
return(checksum == eeprom_get_char(source));
return (checksum == eeprom_get_char(source));
}
// end of file

733
grbl/gcode.c
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20
grbl/gcode.h
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@ -22,7 +22,6 @@
#ifndef gcode_h
#define gcode_h
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
@ -63,7 +62,7 @@
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 // G92.1 (Do not alter value)
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
@ -125,11 +124,11 @@
// Modal Group M9: Override control
#ifdef DEACTIVATE_PARKING_UPON_INIT
#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
#define OVERRIDE_PARKING_MOTION 1 // M56
#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
#define OVERRIDE_PARKING_MOTION 1 // M56
#else
#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
#define OVERRIDE_DISABLED 1 // Parking disabled.
#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
#define OVERRIDE_DISABLED 1 // Parking disabled.
#endif
// Modal Group G12: Active work coordinate system
@ -161,9 +160,9 @@
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#ifdef SET_CHECK_MODE_PROBE_TO_START
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#else
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#endif
// Define gcode parser flags for handling special cases.
@ -177,7 +176,6 @@
#define GC_PARSER_LASER_DISABLE bit(6)
#define GC_PARSER_LASER_ISMOTION bit(7)
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
@ -209,7 +207,6 @@ typedef struct {
float xyz[3]; // X,Y,Z Translational axes
} gc_values_t;
typedef struct {
gc_modal_t modal;
@ -226,8 +223,8 @@ typedef struct {
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} parser_state_t;
extern parser_state_t gc_state;
extern parser_state_t gc_state;
typedef struct {
uint8_t non_modal_command;
@ -235,7 +232,6 @@ typedef struct {
gc_values_t values;
} parser_block_t;
// Initialize the parser
void gc_init();

101
grbl/grbl.h
View file

@ -26,113 +26,112 @@
#define GRBL_VERSION_BUILD "20190830"
// Define standard libraries used by Grbl.
#include <avr/interrupt.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <math.h>
#include <inttypes.h>
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <util/delay.h>
// Define the Grbl system include files. NOTE: Do not alter organization.
#include "config.h"
#include "nuts_bolts.h"
#include "settings.h"
#include "system.h"
#include "defaults.h"
#include "cpu_map.h"
#include "planner.h"
#include "coolant_control.h"
#include "cpu_map.h"
#include "defaults.h"
#include "eeprom.h"
#include "gcode.h"
#include "jog.h"
#include "limits.h"
#include "motion_control.h"
#include "nuts_bolts.h"
#include "planner.h"
#include "print.h"
#include "probe.h"
#include "protocol.h"
#include "report.h"
#include "serial.h"
#include "settings.h"
#include "spindle_control.h"
#include "stepper.h"
#include "jog.h"
#include "system.h"
// ---------------------------------------------------------------------------------------
// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
#ifndef HOMING_CYCLE_0
#error "Required HOMING_CYCLE_0 not defined."
#error "Required HOMING_CYCLE_0 not defined."
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(VARIABLE_SPINDLE)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with VARIABLE_SPINDLE enabled"
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with VARIABLE_SPINDLE enabled"
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(CPU_MAP_ATMEGA328P)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with a 328p processor"
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with a 328p processor"
#endif
#if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)
#error "SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED may only be used with USE_SPINDLE_DIR_AS_ENABLE_PIN enabled"
#error "SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED may only be used with USE_SPINDLE_DIR_AS_ENABLE_PIN enabled"
#endif
#if defined(PARKING_ENABLE)
#if defined(HOMING_FORCE_SET_ORIGIN)
#error "HOMING_FORCE_SET_ORIGIN is not supported with PARKING_ENABLE at this time."
#endif
#if defined(HOMING_FORCE_SET_ORIGIN)
#error "HOMING_FORCE_SET_ORIGIN is not supported with PARKING_ENABLE at this time."
#endif
#endif
#if defined(ENABLE_PARKING_OVERRIDE_CONTROL)
#if !defined(PARKING_ENABLE)
#error "ENABLE_PARKING_OVERRIDE_CONTROL must be enabled with PARKING_ENABLE."
#endif
#if !defined(PARKING_ENABLE)
#error "ENABLE_PARKING_OVERRIDE_CONTROL must be enabled with PARKING_ENABLE."
#endif
#endif
#if defined(SPINDLE_PWM_MIN_VALUE)
#if !(SPINDLE_PWM_MIN_VALUE > 0)
#error "SPINDLE_PWM_MIN_VALUE must be greater than zero."
#endif
#if !(SPINDLE_PWM_MIN_VALUE > 0)
#error "SPINDLE_PWM_MIN_VALUE must be greater than zero."
#endif
#endif
#if (REPORT_WCO_REFRESH_BUSY_COUNT < REPORT_WCO_REFRESH_IDLE_COUNT)
#error "WCO busy refresh is less than idle refresh."
#error "WCO busy refresh is less than idle refresh."
#endif
#if (REPORT_OVR_REFRESH_BUSY_COUNT < REPORT_OVR_REFRESH_IDLE_COUNT)
#error "Override busy refresh is less than idle refresh."
#error "Override busy refresh is less than idle refresh."
#endif
#if (REPORT_WCO_REFRESH_IDLE_COUNT < 2)
#error "WCO refresh must be greater than one."
#error "WCO refresh must be greater than one."
#endif
#if (REPORT_OVR_REFRESH_IDLE_COUNT < 1)
#error "Override refresh must be greater than zero."
#error "Override refresh must be greater than zero."
#endif
#if defined(ENABLE_DUAL_AXIS)
#if !((DUAL_AXIS_SELECT == X_AXIS) || (DUAL_AXIS_SELECT == Y_AXIS))
#error "Dual axis currently supports X or Y axes only."
#endif
#if defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && defined(VARIABLE_SPINDLE)
#error "VARIABLE_SPINDLE not supported with DUAL_AXIS_CNC_SHIELD_CLONE."
#endif
#if defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && defined(DUAL_AXIS_CONFIG_PROTONEER_V3_51)
#error "More than one dual axis configuration found. Select one."
#endif
#if !defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && !defined(DUAL_AXIS_CONFIG_PROTONEER_V3_51)
#error "No supported dual axis configuration found. Select one."
#endif
#if defined(COREXY)
#error "CORE XY not supported with dual axis feature."
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN not supported with dual axis feature."
#endif
#if defined(ENABLE_M7)
#error "ENABLE_M7 not supported with dual axis feature."
#endif
#if !((DUAL_AXIS_SELECT == X_AXIS) || (DUAL_AXIS_SELECT == Y_AXIS))
#error "Dual axis currently supports X or Y axes only."
#endif
#if defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && defined(VARIABLE_SPINDLE)
#error "VARIABLE_SPINDLE not supported with DUAL_AXIS_CNC_SHIELD_CLONE."
#endif
#if defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && defined(DUAL_AXIS_CONFIG_PROTONEER_V3_51)
#error "More than one dual axis configuration found. Select one."
#endif
#if !defined(DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE) && !defined(DUAL_AXIS_CONFIG_PROTONEER_V3_51)
#error "No supported dual axis configuration found. Select one."
#endif
#if defined(COREXY)
#error "CORE XY not supported with dual axis feature."
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN not supported with dual axis feature."
#endif
#if defined(ENABLE_M7)
#error "ENABLE_M7 not supported with dual axis feature."
#endif
#endif
// ---------------------------------------------------------------------------------------

18
grbl/jog.c
View file

@ -20,24 +20,24 @@
#include "grbl.h"
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
{
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block) {
// Initialize planner data struct for jogging motions.
// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
pl_data->feed_rate = gc_block->values.f;
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#ifdef USE_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
pl_data->line_number = gc_block->values.n;
#endif
#endif
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
if (bit_istrue(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyz)) {
return (STATUS_TRAVEL_EXCEEDED);
}
}
// Valid jog command. Plan, set state, and execute.
mc_line(gc_block->values.xyz,pl_data);
mc_line(gc_block->values.xyz, pl_data);
if (sys.state == STATE_IDLE) {
if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
sys.state = STATE_JOG;
@ -46,5 +46,5 @@ uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
}
}
return(STATUS_OK);
return (STATUS_OK);
}

288
grbl/limits.c
View file

@ -21,80 +21,79 @@
#include "grbl.h"
// Homing axis search distance multiplier. Computed by this value times the cycle travel.
#ifndef HOMING_AXIS_SEARCH_SCALAR
#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Must be > 1 to ensure limit switch will be engaged.
#define HOMING_AXIS_SEARCH_SCALAR 1.5 // Must be > 1 to ensure limit switch will be engaged.
#endif
#ifndef HOMING_AXIS_LOCATE_SCALAR
#define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#endif
#ifdef ENABLE_DUAL_AXIS
// Flags for dual axis async limit trigger check.
#define DUAL_AXIS_CHECK_DISABLE 0 // Must be zero
#define DUAL_AXIS_CHECK_ENABLE bit(0)
#define DUAL_AXIS_CHECK_TRIGGER_1 bit(1)
#define DUAL_AXIS_CHECK_TRIGGER_2 bit(2)
// Flags for dual axis async limit trigger check.
#define DUAL_AXIS_CHECK_DISABLE 0 // Must be zero
#define DUAL_AXIS_CHECK_ENABLE bit(0)
#define DUAL_AXIS_CHECK_TRIGGER_1 bit(1)
#define DUAL_AXIS_CHECK_TRIGGER_2 bit(2)
#endif
void limits_init()
{
void limits_init() {
LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
#ifdef DISABLE_LIMIT_PIN_PULL_UP
#ifdef DISABLE_LIMIT_PIN_PULL_UP
LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
#else
#else
LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
#endif
#endif
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
} else {
limits_disable();
}
#ifdef ENABLE_SOFTWARE_DEBOUNCE
MCUSR &= ~(1<<WDRF);
WDTCSR |= (1<<WDCE) | (1<<WDE);
WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
#endif
#ifdef ENABLE_SOFTWARE_DEBOUNCE
MCUSR &= ~(1 << WDRF);
WDTCSR |= (1 << WDCE) | (1 << WDE);
WDTCSR = (1 << WDP0); // Set time-out at ~32msec.
#endif
}
// Disables hard limits.
void limits_disable()
{
void limits_disable() {
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable specific pins of the Pin Change Interrupt
PCICR &= ~(1 << LIMIT_INT); // Disable Pin Change Interrupt
}
// Returns limit state as a bit-wise uint8 variable. Each bit indicates an axis limit, where
// triggered is 1 and not triggered is 0. Invert mask is applied. Axes are defined by their
// number in bit position, i.e. Z_AXIS is (1<<2) or bit 2, and Y_AXIS is (1<<1) or bit 1.
uint8_t limits_get_state()
{
uint8_t limits_get_state() {
uint8_t limit_state = 0;
uint8_t pin = (LIMIT_PIN & LIMIT_MASK);
#ifdef INVERT_LIMIT_PIN_MASK
#ifdef INVERT_LIMIT_PIN_MASK
pin ^= INVERT_LIMIT_PIN_MASK;
#endif
if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; }
#endif
if (bit_isfalse(settings.flags, BITFLAG_INVERT_LIMIT_PINS)) {
pin ^= LIMIT_MASK;
}
if (pin) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
for (idx = 0; idx < N_AXIS; idx++) {
if (pin & get_limit_pin_mask(idx)) {
limit_state |= (1 << idx);
}
#ifdef ENABLE_DUAL_AXIS
if (pin & (1<<DUAL_LIMIT_BIT)) { limit_state |= (1 << N_AXIS); }
#endif
}
return(limit_state);
#ifdef ENABLE_DUAL_AXIS
if (pin & (1 << DUAL_LIMIT_BIT)) {
limit_state |= (1 << N_AXIS);
}
#endif
}
return (limit_state);
}
// This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing
// limit switch can cause a lot of problems, like false readings and multiple interrupt calls.
// If a switch is triggered at all, something bad has happened and treat it as such, regardless
@ -107,8 +106,8 @@ uint8_t limits_get_state()
// special pinout for an e-stop, but it is generally recommended to just directly connect
// your e-stop switch to the Arduino reset pin, since it is the most correct way to do this.
#ifndef ENABLE_SOFTWARE_DEBOUNCE
ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
{
ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
{
// Ignore limit switches if already in an alarm state or in-process of executing an alarm.
// When in the alarm state, Grbl should have been reset or will force a reset, so any pending
// moves in the planner and serial buffers are all cleared and newly sent blocks will be
@ -116,25 +115,30 @@ uint8_t limits_get_state()
// limit setting if their limits are constantly triggering after a reset and move their axes.
if (sys.state != STATE_ALARM) {
if (!(sys_rt_exec_alarm)) {
#ifdef HARD_LIMIT_FORCE_STATE_CHECK
#ifdef HARD_LIMIT_FORCE_STATE_CHECK
// Check limit pin state.
if (limits_get_state()) {
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
#else
#else
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
#endif
}
#endif
}
}
}
#else // OPTIONAL: Software debounce limit pin routine.
// Upon limit pin change, enable watchdog timer to create a short delay.
ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
ISR(WDT_vect) // Watchdog timer ISR
{
WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
// Upon limit pin change, enable watchdog timer to create a short delay.
ISR(LIMIT_INT_vect) {
if (!(WDTCSR & (1 << WDIE))) {
WDTCSR |= (1 << WDIE);
}
}
ISR(WDT_vect) // Watchdog timer ISR
{
WDTCSR &= ~(1 << WDIE); // Disable watchdog timer.
if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
if (!(sys_rt_exec_alarm)) {
// Check limit pin state.
@ -144,7 +148,7 @@ uint8_t limits_get_state()
}
}
}
}
}
#endif
// Homes the specified cycle axes, sets the machine position, and performs a pull-off motion after
@ -154,55 +158,59 @@ uint8_t limits_get_state()
// circumvent the processes for executing motions in normal operation.
// NOTE: Only the abort realtime command can interrupt this process.
// TODO: Move limit pin-specific calls to a general function for portability.
void limits_go_home(uint8_t cycle_mask)
{
if (sys.abort) { return; } // Block if system reset has been issued.
void limits_go_home(uint8_t cycle_mask) {
if (sys.abort) {
return;
} // Block if system reset has been issued.
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
memset(pl_data, 0, sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = HOMING_CYCLE_LINE_NUMBER;
#endif
#endif
// Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint8_t n_cycle = (2 * N_HOMING_LOCATE_CYCLE + 1);
uint8_t step_pin[N_AXIS];
#ifdef ENABLE_DUAL_AXIS
#ifdef ENABLE_DUAL_AXIS
uint8_t step_pin_dual;
uint8_t dual_axis_async_check;
int32_t dual_trigger_position;
#if (DUAL_AXIS_SELECT == X_AXIS)
float fail_distance = (-DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT/100.0)*settings.max_travel[Y_AXIS];
#else
float fail_distance = (-DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT/100.0)*settings.max_travel[X_AXIS];
#endif
#if (DUAL_AXIS_SELECT == X_AXIS)
float fail_distance = (-DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT / 100.0) * settings.max_travel[Y_AXIS];
#else
float fail_distance = (-DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT / 100.0) * settings.max_travel[X_AXIS];
#endif
fail_distance = min(fail_distance, DUAL_AXIS_HOMING_FAIL_DISTANCE_MAX);
fail_distance = max(fail_distance, DUAL_AXIS_HOMING_FAIL_DISTANCE_MIN);
int32_t dual_fail_distance = trunc(fail_distance*settings.steps_per_mm[DUAL_AXIS_SELECT]);
// int32_t dual_fail_distance = trunc((DUAL_AXIS_HOMING_TRIGGER_FAIL_DISTANCE)*settings.steps_per_mm[DUAL_AXIS_SELECT]);
#endif
int32_t dual_fail_distance = trunc(fail_distance * settings.steps_per_mm[DUAL_AXIS_SELECT]);
// int32_t dual_fail_distance =
// trunc((DUAL_AXIS_HOMING_TRIGGER_FAIL_DISTANCE)*settings.steps_per_mm[DUAL_AXIS_SELECT]);
#endif
float target[N_AXIS];
float max_travel = 0.0;
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
// Initialize step pin masks
step_pin[idx] = get_step_pin_mask(idx);
#ifdef COREXY
if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); }
#endif
#ifdef COREXY
if ((idx == A_MOTOR) || (idx == B_MOTOR)) {
step_pin[idx] = (get_step_pin_mask(X_AXIS) | get_step_pin_mask(Y_AXIS));
}
#endif
if (bit_istrue(cycle_mask,bit(idx))) {
if (bit_istrue(cycle_mask, bit(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = max(max_travel,(-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
max_travel = max(max_travel, (-HOMING_AXIS_SEARCH_SCALAR) * settings.max_travel[idx]);
}
}
#ifdef ENABLE_DUAL_AXIS
step_pin_dual = (1<<DUAL_STEP_BIT);
#endif
#ifdef ENABLE_DUAL_AXIS
step_pin_dual = (1 << DUAL_STEP_BIT);
#endif
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
@ -211,21 +219,21 @@ void limits_go_home(uint8_t cycle_mask)
uint8_t limit_state, axislock, n_active_axis;
do {
system_convert_array_steps_to_mpos(target,sys_position);
system_convert_array_steps_to_mpos(target, sys_position);
// Initialize and declare variables needed for homing routine.
axislock = 0;
#ifdef ENABLE_DUAL_AXIS
#ifdef ENABLE_DUAL_AXIS
sys.homing_axis_lock_dual = 0;
dual_trigger_position = 0;
dual_axis_async_check = DUAL_AXIS_CHECK_DISABLE;
#endif
#endif
n_active_axis = 0;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask,bit(idx))) {
if (bit_istrue(cycle_mask, bit(idx))) {
n_active_axis++;
#ifdef COREXY
#ifdef COREXY
if (idx == X_AXIS) {
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = axis_position;
@ -236,25 +244,32 @@ void limits_go_home(uint8_t cycle_mask)
} else {
sys_position[Z_AXIS] = 0;
}
#else
#else
sys_position[idx] = 0;
#endif
#endif
// Set target direction based on cycle mask and homing cycle approach state.
// NOTE: This happens to compile smaller than any other implementation tried.
if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
if (approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
if (bit_istrue(settings.homing_dir_mask, bit(idx))) {
if (approach) {
target[idx] = -max_travel;
} else {
if (approach) { target[idx] = max_travel; }
else { target[idx] = -max_travel; }
target[idx] = max_travel;
}
} else {
if (approach) {
target[idx] = max_travel;
} else {
target[idx] = -max_travel;
}
}
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
#ifdef ENABLE_DUAL_AXIS
if (idx == DUAL_AXIS_SELECT) { sys.homing_axis_lock_dual = step_pin_dual; }
#endif
#ifdef ENABLE_DUAL_AXIS
if (idx == DUAL_AXIS_SELECT) {
sys.homing_axis_lock_dual = step_pin_dual;
}
#endif
}
}
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
@ -270,23 +285,28 @@ void limits_go_home(uint8_t cycle_mask)
if (approach) {
// Check limit state. Lock out cycle axes when they change.
limit_state = limits_get_state();
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
if (axislock & step_pin[idx]) {
if (limit_state & (1 << idx)) {
#ifdef COREXY
if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
#else
#ifdef COREXY
if (idx == Z_AXIS) {
axislock &= ~(step_pin[Z_AXIS]);
} else {
axislock &= ~(step_pin[A_MOTOR] | step_pin[B_MOTOR]);
}
#else
axislock &= ~(step_pin[idx]);
#ifdef ENABLE_DUAL_AXIS
if (idx == DUAL_AXIS_SELECT) { dual_axis_async_check |= DUAL_AXIS_CHECK_TRIGGER_1; }
#endif
#endif
#ifdef ENABLE_DUAL_AXIS
if (idx == DUAL_AXIS_SELECT) {
dual_axis_async_check |= DUAL_AXIS_CHECK_TRIGGER_1;
}
#endif
#endif
}
}
}
sys.homing_axis_lock = axislock;
#ifdef ENABLE_DUAL_AXIS
#ifdef ENABLE_DUAL_AXIS
if (sys.homing_axis_lock_dual) { // NOTE: Only true when homing dual axis.
if (limit_state & (1 << N_AXIS)) {
sys.homing_axis_lock_dual = 0;
@ -294,10 +314,12 @@ void limits_go_home(uint8_t cycle_mask)
}
}
// When first dual axis limit triggers, record position and begin checking distance until other limit triggers. Bail upon failure.
// When first dual axis limit triggers, record position and begin checking distance until other limit
// triggers. Bail upon failure.
if (dual_axis_async_check) {
if (dual_axis_async_check & DUAL_AXIS_CHECK_ENABLE) {
if (( dual_axis_async_check & (DUAL_AXIS_CHECK_TRIGGER_1 | DUAL_AXIS_CHECK_TRIGGER_2)) == (DUAL_AXIS_CHECK_TRIGGER_1 | DUAL_AXIS_CHECK_TRIGGER_2)) {
if ((dual_axis_async_check & (DUAL_AXIS_CHECK_TRIGGER_1 | DUAL_AXIS_CHECK_TRIGGER_2)) ==
(DUAL_AXIS_CHECK_TRIGGER_1 | DUAL_AXIS_CHECK_TRIGGER_2)) {
dual_axis_async_check = DUAL_AXIS_CHECK_DISABLE;
} else {
if (abs(dual_trigger_position - sys_position[DUAL_AXIS_SELECT]) > dual_fail_distance) {
@ -312,7 +334,7 @@ void limits_go_home(uint8_t cycle_mask)
dual_trigger_position = sys_position[DUAL_AXIS_SELECT];
}
}
#endif
#endif
}
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
@ -321,13 +343,21 @@ void limits_go_home(uint8_t cycle_mask)
if (sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
uint8_t rt_exec = sys_rt_exec_state;
// Homing failure condition: Reset issued during cycle.
if (rt_exec & EXEC_RESET) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
if (rt_exec & EXEC_RESET) {
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
// Homing failure condition: Safety door was opened.
if (rt_exec & EXEC_SAFETY_DOOR) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_DOOR); }
if (rt_exec & EXEC_SAFETY_DOOR) {
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_DOOR);
}
// Homing failure condition: Limit switch still engaged after pull-off motion
if (!approach && (limits_get_state() & cycle_mask)) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_PULLOFF); }
if (!approach && (limits_get_state() & cycle_mask)) {
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_PULLOFF);
}
// Homing failure condition: Limit switch not found during approach.
if (approach && (rt_exec & EXEC_CYCLE_STOP)) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_APPROACH); }
if (approach && (rt_exec & EXEC_CYCLE_STOP)) {
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_APPROACH);
}
if (sys_rt_exec_alarm) {
mc_reset(); // Stop motors, if they are running.
protocol_execute_realtime();
@ -339,11 +369,11 @@ void limits_go_home(uint8_t cycle_mask)
}
}
#ifdef ENABLE_DUAL_AXIS
#ifdef ENABLE_DUAL_AXIS
} while ((STEP_MASK & axislock) || (sys.homing_axis_lock_dual));
#else
#else
} while (STEP_MASK & axislock);
#endif
#endif
st_reset(); // Immediately force kill steppers and reset step segment buffer.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
@ -353,7 +383,7 @@ void limits_go_home(uint8_t cycle_mask)
// After first cycle, homing enters locating phase. Shorten search to pull-off distance.
if (approach) {
max_travel = settings.homing_pulloff*HOMING_AXIS_LOCATE_SCALAR;
max_travel = settings.homing_pulloff * HOMING_AXIS_LOCATE_SCALAR;
homing_rate = settings.homing_feed_rate;
} else {
max_travel = settings.homing_pulloff;
@ -370,46 +400,44 @@ void limits_go_home(uint8_t cycle_mask)
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
// NOTE: settings.max_travel[] is stored as a negative value.
if (cycle_mask & bit(idx)) {
#ifdef HOMING_FORCE_SET_ORIGIN
#ifdef HOMING_FORCE_SET_ORIGIN
set_axis_position = 0;
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
#else
if (bit_istrue(settings.homing_dir_mask, bit(idx))) {
set_axis_position =
lround((settings.max_travel[idx] + settings.homing_pulloff) * settings.steps_per_mm[idx]);
} else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
set_axis_position = lround(-settings.homing_pulloff * settings.steps_per_mm[idx]);
}
#endif
#endif
#ifdef COREXY
if (idx==X_AXIS) {
#ifdef COREXY
if (idx == X_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
} else if (idx==Y_AXIS) {
} else if (idx == Y_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
} else {
sys_position[idx] = set_axis_position;
}
#else
#else
sys_position[idx] = set_axis_position;
#endif
#endif
}
}
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
}
// Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,
// the workspace volume is in all negative space, and the system is in normal operation.
// NOTE: Used by jogging to limit travel within soft-limit volume.
void limits_soft_check(float *target)
{
void limits_soft_check(float *target) {
if (system_check_travel_limits(target)) {
sys.soft_limit = true;
// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
@ -419,8 +447,10 @@ void limits_soft_check(float *target)
system_set_exec_state_flag(EXEC_FEED_HOLD);
do {
protocol_execute_realtime();
if (sys.abort) { return; }
} while ( sys.state != STATE_IDLE );
if (sys.abort) {
return;
}
} while (sys.state != STATE_IDLE);
}
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_SOFT_LIMIT); // Indicate soft limit critical event

1
grbl/limits.h
View file

@ -22,7 +22,6 @@
#ifndef limits_h
#define limits_h
// Initialize the limits module
void limits_init();

50
grbl/main.c
View file

@ -21,54 +21,55 @@
#include "grbl.h"
// Declare system global variable structure
system_t sys;
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint8_t
sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
volatile uint8_t
sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
#ifdef DEBUG
volatile uint8_t sys_rt_exec_debug;
volatile uint8_t sys_rt_exec_debug;
#endif
int main(void)
{
int main(void) {
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
memset(sys_position, 0, sizeof(sys_position)); // Clear machine position.
sei(); // Enable interrupts
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
#else
sys.state = STATE_IDLE;
#endif
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags, BITFLAG_HOMING_ENABLE)) {
sys.state = STATE_ALARM;
}
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
for (;;) {
// Reset system variables.
uint8_t prior_state = sys.state;
@ -77,7 +78,7 @@ int main(void)
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
@ -103,7 +104,6 @@ int main(void)
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}

201
grbl/motion_control.c
View file

@ -21,7 +21,6 @@
#include "grbl.h"
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
@ -29,17 +28,20 @@
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
void mc_line(float *target, plan_line_data_t *pl_data)
{
void mc_line(float *target, plan_line_data_t *pl_data) {
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (bit_istrue(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE)) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != STATE_JOG) { limits_soft_check(target); }
if (sys.state != STATE_JOG) {
limits_soft_check(target);
}
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
if (sys.state == STATE_CHECK_MODE) {
return;
}
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
@ -59,14 +61,20 @@ void mc_line(float *target, plan_line_data_t *pl_data)
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_realtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
else { break; }
if (sys.abort) {
return;
} // Bail, if system abort.
if (plan_check_full_buffer()) {
protocol_auto_cycle_start();
} // Auto-cycle start when buffer is full.
else {
break;
}
} while (1);
// Plan and queue motion into planner buffer
if (plan_buffer_line(target, pl_data) == PLAN_EMPTY_BLOCK) {
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
// Correctly set spindle state, if there is a coincident position passed. Forces a buffer
// sync while in M3 laser mode only.
if (pl_data->condition & PL_COND_FLAG_SPINDLE_CW) {
@ -76,7 +84,6 @@ void mc_line(float *target, plan_line_data_t *pl_data)
}
}
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_X defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
@ -84,9 +91,8 @@ void mc_line(float *target, plan_line_data_t *pl_data)
// The arc is approximated by generating a huge number of tiny, linear segments. The chordal tolerance
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc)
{
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius, uint8_t axis_0,
uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc) {
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
@ -95,19 +101,23 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
float rt_axis1 = target[axis_1] - center_axis1;
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
if (is_clockwise_arc) { // Correct atan2 output per direction
if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2*M_PI; }
if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) {
angular_travel -= 2 * M_PI;
}
} else {
if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2*M_PI; }
if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) {
angular_travel += 2 * M_PI;
}
}
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) settings.arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5*angular_travel*radius)/
sqrt(settings.arc_tolerance*(2*radius - settings.arc_tolerance)) );
uint16_t segments = floor(fabs(0.5 * angular_travel * radius) /
sqrt(settings.arc_tolerance * (2 * radius - settings.arc_tolerance)));
if (segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
@ -115,11 +125,11 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
// all segments.
if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME) {
pl_data->feed_rate *= segments;
bit_false(pl_data->condition,PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
bit_false(pl_data->condition, PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
}
float theta_per_segment = angular_travel/segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear])/segments;
float theta_per_segment = angular_travel / segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear]) / segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Solution approach by Jens Geisler.
@ -147,8 +157,8 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
This is important when there are successive arc motions.
*/
// Computes: cos_T = 1 - theta_per_segment^2/2, sin_T = theta_per_segment - theta_per_segment^3/6) in ~52usec
float cos_T = 2.0 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4.0);
float cos_T = 2.0 - theta_per_segment * theta_per_segment;
float sin_T = theta_per_segment * 0.16666667 * (cos_T + 4.0);
cos_T *= 0.5;
float sin_Ti;
@ -157,21 +167,21 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
uint16_t i;
uint8_t count = 0;
for (i = 1; i<segments; i++) { // Increment (segments-1).
for (i = 1; i < segments; i++) { // Increment (segments-1).
if (count < N_ARC_CORRECTION) {
// Apply vector rotation matrix. ~40 usec
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
r_axisi = r_axis0 * sin_T + r_axis1 * cos_T;
r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T;
r_axis1 = r_axisi;
count++;
} else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
cos_Ti = cos(i * theta_per_segment);
sin_Ti = sin(i * theta_per_segment);
r_axis0 = -offset[axis_0] * cos_Ti + offset[axis_1] * sin_Ti;
r_axis1 = -offset[axis_0] * sin_Ti - offset[axis_1] * cos_Ti;
count = 0;
}
@ -183,61 +193,65 @@ void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *of
mc_line(position, pl_data);
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) { return; }
if (sys.abort) {
return;
}
}
}
// Ensure last segment arrives at target location.
mc_line(target, pl_data);
}
// Execute dwell in seconds.
void mc_dwell(float seconds)
{
if (sys.state == STATE_CHECK_MODE) { return; }
void mc_dwell(float seconds) {
if (sys.state == STATE_CHECK_MODE) {
return;
}
protocol_buffer_synchronize();
delay_sec(seconds, DELAY_MODE_DWELL);
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle(uint8_t cycle_mask)
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
void mc_homing_cycle(uint8_t cycle_mask) {
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT);
return;
}
#endif
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if (cycle_mask) {
limits_go_home(cycle_mask);
} // Perform homing cycle based on mask.
else
#endif
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
if (sys.abort) {
return;
} // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
@ -250,31 +264,33 @@ void mc_homing_cycle(uint8_t cycle_mask)
limits_init();
}
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags)
{
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags) {
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return(GC_PROBE_CHECK_MODE); }
if (sys.state == STATE_CHECK_MODE) {
return (GC_PROBE_CHECK_MODE);
}
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
if (sys.abort) { return(GC_PROBE_ABORT); } // Return if system reset has been issued.
if (sys.abort) {
return (GC_PROBE_ABORT);
} // Return if system reset has been issued.
// Initialize probing control variables
uint8_t is_probe_away = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_NO_ERROR);
uint8_t is_probe_away = bit_istrue(parser_flags, GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = bit_istrue(parser_flags, GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if ( probe_get_state() ) { // Check probe pin state.
if (probe_get_state()) { // Check probe pin state.
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
protocol_execute_realtime();
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return(GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
return (GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
@ -287,15 +303,20 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
system_set_exec_state_flag(EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) { return(GC_PROBE_ABORT); } // Check for system abort
if (sys.abort) {
return (GC_PROBE_ABORT);
} // Check for system abort
} while (sys.state != STATE_IDLE);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == PROBE_ACTIVE) {
if (is_no_error) { memcpy(sys_probe_position, sys_position, sizeof(sys_position)); }
else { system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT); }
if (is_no_error) {
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
} else {
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT);
}
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
@ -308,63 +329,67 @@ uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
#ifdef MESSAGE_PROBE_COORDINATES
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
#endif
if (sys.probe_succeeded) { return(GC_PROBE_FOUND); } // Successful probe cycle.
else { return(GC_PROBE_FAIL_END); } // Failed to trigger probe within travel. With or without error.
if (sys.probe_succeeded) {
return (GC_PROBE_FOUND);
} // Successful probe cycle.
else {
return (GC_PROBE_FAIL_END);
} // Failed to trigger probe within travel. With or without error.
}
// Plans and executes the single special motion case for parking. Independent of main planner buffer.
// NOTE: Uses the always free planner ring buffer head to store motion parameters for execution.
#ifdef PARKING_ENABLE
void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data)
{
if (sys.abort) { return; } // Block during abort.
void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data) {
if (sys.abort) {
return;
} // Block during abort.
uint8_t plan_status = plan_buffer_line(parking_target, pl_data);
if (plan_status) {
bit_true(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
bit_false(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
bit_false(sys.step_control,
STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
st_parking_setup_buffer(); // Setup step segment buffer for special parking motion case
st_prep_buffer();
st_wake_up();
do {
protocol_exec_rt_system();
if (sys.abort) { return; }
if (sys.abort) {
return;
}
} while (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION);
st_parking_restore_buffer(); // Restore step segment buffer to normal run state.
} else {
bit_false(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
protocol_exec_rt_system();
}
}
}
#endif
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
void mc_override_ctrl_update(uint8_t override_state)
{
void mc_override_ctrl_update(uint8_t override_state) {
// Finish all queued commands before altering override control state
protocol_buffer_synchronize();
if (sys.abort) { return; }
sys.override_ctrl = override_state;
if (sys.abort) {
return;
}
sys.override_ctrl = override_state;
}
#endif
// Method to ready the system to reset by setting the realtime reset command and killing any
// active processes in the system. This also checks if a system reset is issued while Grbl
// is in a motion state. If so, kills the steppers and sets the system alarm to flag position
// lost, since there was an abrupt uncontrolled deceleration. Called at an interrupt level by
// realtime abort command and hard limits. So, keep to a minimum.
void mc_reset()
{
void mc_reset() {
// Only this function can set the system reset. Helps prevent multiple kill calls.
if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
system_set_exec_state_flag(EXEC_RESET);
@ -380,8 +405,12 @@ void mc_reset()
if ((sys.state & (STATE_CYCLE | STATE_HOMING | STATE_JOG)) ||
(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
if (sys.state == STATE_HOMING) {
if (!sys_rt_exec_alarm) {system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
} else { system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE); }
if (!sys_rt_exec_alarm) {
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
}
} else {
system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE);
}
st_go_idle(); // Force kill steppers. Position has likely been lost.
}
}

6
grbl/motion_control.h
View file

@ -22,7 +22,6 @@
#ifndef motion_control_h
#define motion_control_h
// System motion commands must have a line number of zero.
#define HOMING_CYCLE_LINE_NUMBER 0
#define PARKING_MOTION_LINE_NUMBER 0
@ -32,7 +31,6 @@
#define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
@ -42,8 +40,8 @@ void mc_line(float *target, plan_line_data_t *pl_data);
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius, uint8_t axis_0,
uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
// Dwell for a specific number of seconds
void mc_dwell(float seconds);

80
grbl/nuts_bolts.c
View file

@ -21,10 +21,8 @@
#include "grbl.h"
#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
// Extracts a floating point value from a string. The following code is based loosely on
// the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely
// available conversion method examples, but has been highly optimized for Grbl. For known
@ -32,8 +30,7 @@
// Scientific notation is officially not supported by g-code, and the 'E' character may
// be a g-code word on some CNC systems. So, 'E' notation will not be recognized.
// NOTE: Thanks to Radu-Eosif Mihailescu for identifying the issues with using strtod().
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
{
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr) {
char *ptr = line + *char_counter;
unsigned char c;
@ -54,17 +51,21 @@ uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
int8_t exp = 0;
uint8_t ndigit = 0;
bool isdecimal = false;
while(1) {
while (1) {
c -= '0';
if (c <= 9) {
ndigit++;
if (ndigit <= MAX_INT_DIGITS) {
if (isdecimal) { exp--; }
if (isdecimal) {
exp--;
}
intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
} else {
if (!(isdecimal)) { exp++; } // Drop overflow digits
if (!(isdecimal)) {
exp++;
} // Drop overflow digits
}
} else if (c == (('.'-'0') & 0xff) && !(isdecimal)) {
} else if (c == (('.' - '0') & 0xff) && !(isdecimal)) {
isdecimal = true;
} else {
break;
@ -73,7 +74,9 @@ uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
}
// Return if no digits have been read.
if (!ndigit) { return(false); };
if (!ndigit) {
return (false);
};
// Convert integer into floating point.
float fval;
@ -104,41 +107,41 @@ uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
*char_counter = ptr - line - 1; // Set char_counter to next statement
return(true);
return (true);
}
// Non-blocking delay function used for general operation and suspend features.
void delay_sec(float seconds, uint8_t mode)
{
uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
void delay_sec(float seconds, uint8_t mode) {
uint16_t i = ceil(1000 / DWELL_TIME_STEP * seconds);
while (i-- > 0) {
if (sys.abort) { return; }
if (sys.abort) {
return;
}
if (mode == DELAY_MODE_DWELL) {
protocol_execute_realtime();
} else { // DELAY_MODE_SYS_SUSPEND
// Execute rt_system() only to avoid nesting suspend loops.
protocol_exec_rt_system();
if (sys.suspend & SUSPEND_RESTART_RETRACT) { return; } // Bail, if safety door reopens.
if (sys.suspend & SUSPEND_RESTART_RETRACT) {
return;
} // Bail, if safety door reopens.
}
_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
}
// Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(),
// which only accepts constants in future compiler releases.
void delay_ms(uint16_t ms)
{
while ( ms-- ) { _delay_ms(1); }
void delay_ms(uint16_t ms) {
while (ms--) {
_delay_ms(1);
}
}
// Delays variable defined microseconds. Compiler compatibility fix for _delay_us(),
// which only accepts constants in future compiler releases. Written to perform more
// efficiently with larger delays, as the counter adds parasitic time in each iteration.
void delay_us(uint32_t us)
{
void delay_us(uint32_t us) {
while (us) {
if (us < 10) {
_delay_us(1);
@ -156,35 +159,34 @@ void delay_us(uint32_t us)
}
}
// Simple hypotenuse computation function.
float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }
float hypot_f(float x, float y) {
return (sqrt(x * x + y * y));
}
float convert_delta_vector_to_unit_vector(float *vector)
{
float convert_delta_vector_to_unit_vector(float *vector) {
uint8_t idx;
float magnitude = 0.0;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
if (vector[idx] != 0.0) {
magnitude += vector[idx]*vector[idx];
magnitude += vector[idx] * vector[idx];
}
}
magnitude = sqrt(magnitude);
float inv_magnitude = 1.0/magnitude;
for (idx=0; idx<N_AXIS; idx++) { vector[idx] *= inv_magnitude; }
return(magnitude);
float inv_magnitude = 1.0 / magnitude;
for (idx = 0; idx < N_AXIS; idx++) {
vector[idx] *= inv_magnitude;
}
return (magnitude);
}
float limit_value_by_axis_maximum(float *max_value, float *unit_vec)
{
float limit_value_by_axis_maximum(float *max_value, float *unit_vec) {
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
if (unit_vec[idx] != 0) { // Avoid divide by zero.
limit_value = min(limit_value,fabs(max_value[idx]/unit_vec[idx]));
limit_value = min(limit_value, fabs(max_value[idx] / unit_vec[idx]));
}
}
return(limit_value);
return (limit_value);
}

22
grbl/nuts_bolts.h
View file

@ -37,32 +37,32 @@
// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#ifdef COREXY
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#endif
// Conversions
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
#define TICKS_PER_MICROSECOND (F_CPU / 1000000)
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
#define clear_vector_float(a) memset(a, 0.0, sizeof(float) * N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
#define max(a, b) (((a) > (b)) ? (a) : (b))
#define min(a, b) (((a) < (b)) ? (a) : (b))
#define isequal_position_vector(a, b) !(memcmp(a, b, sizeof(float) * N_AXIS))
// Bit field and masking macros
#define bit(n) (1 << n)
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)
#define bit_true(x, mask) (x) |= (mask)
#define bit_false(x, mask) (x) &= ~(mask)
#define bit_istrue(x, mask) ((x & mask) != 0)
#define bit_isfalse(x, mask) ((x & mask) == 0)
// Read a floating point value from a string. Line points to the input buffer, char_counter
// is the indexer pointing to the current character of the line, while float_ptr is

293
grbl/planner.c
View file

@ -22,7 +22,6 @@
#include "grbl.h"
static plan_block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static uint8_t block_buffer_tail; // Index of the block to process now
static uint8_t block_buffer_head; // Index of the next block to be pushed
@ -37,27 +36,27 @@ typedef struct {
float previous_unit_vec[N_AXIS]; // Unit vector of previous path line segment
float previous_nominal_speed; // Nominal speed of previous path line segment
} planner_t;
static planner_t pl;
// Returns the index of the next block in the ring buffer. Also called by stepper segment buffer.
uint8_t plan_next_block_index(uint8_t block_index)
{
uint8_t plan_next_block_index(uint8_t block_index) {
block_index++;
if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
return(block_index);
if (block_index == BLOCK_BUFFER_SIZE) {
block_index = 0;
}
return (block_index);
}
// Returns the index of the previous block in the ring buffer
static uint8_t plan_prev_block_index(uint8_t block_index)
{
if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
static uint8_t plan_prev_block_index(uint8_t block_index) {
if (block_index == 0) {
block_index = BLOCK_BUFFER_SIZE;
}
block_index--;
return(block_index);
return (block_index);
}
/* PLANNER SPEED DEFINITION
+--------+ <- current->nominal_speed
/ \
@ -123,13 +122,14 @@ static uint8_t plan_prev_block_index(uint8_t block_index)
ARM versions should have enough memory and speed for look-ahead blocks numbering up to a hundred or more.
*/
static void planner_recalculate()
{
static void planner_recalculate() {
// Initialize block index to the last block in the planner buffer.
uint8_t block_index = plan_prev_block_index(block_buffer_head);
// Bail. Can't do anything with one only one plan-able block.
if (block_index == block_buffer_planned) { return; }
if (block_index == block_buffer_planned) {
return;
}
// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
@ -139,12 +139,14 @@ static void planner_recalculate()
plan_block_t *current = &block_buffer[block_index];
// Calculate maximum entry speed for last block in buffer, where the exit speed is always zero.
current->entry_speed_sqr = min( current->max_entry_speed_sqr, 2*current->acceleration*current->millimeters);
current->entry_speed_sqr = min(current->max_entry_speed_sqr, 2 * current->acceleration * current->millimeters);
block_index = plan_prev_block_index(block_index);
if (block_index == block_buffer_planned) { // Only two plannable blocks in buffer. Reverse pass complete.
// Check if the first block is the tail. If so, notify stepper to update its current parameters.
if (block_index == block_buffer_tail) { st_update_plan_block_parameters(); }
if (block_index == block_buffer_tail) {
st_update_plan_block_parameters();
}
} else { // Three or more plan-able blocks
while (block_index != block_buffer_planned) {
next = current;
@ -152,11 +154,13 @@ static void planner_recalculate()
block_index = plan_prev_block_index(block_index);
// Check if next block is the tail block(=planned block). If so, update current stepper parameters.
if (block_index == block_buffer_tail) { st_update_plan_block_parameters(); }
if (block_index == block_buffer_tail) {
st_update_plan_block_parameters();
}
// Compute maximum entry speed decelerating over the current block from its exit speed.
if (current->entry_speed_sqr != current->max_entry_speed_sqr) {
entry_speed_sqr = next->entry_speed_sqr + 2*current->acceleration*current->millimeters;
entry_speed_sqr = next->entry_speed_sqr + 2 * current->acceleration * current->millimeters;
if (entry_speed_sqr < current->max_entry_speed_sqr) {
current->entry_speed_sqr = entry_speed_sqr;
} else {
@ -178,7 +182,7 @@ static void planner_recalculate()
// pointer forward, since everything before this is all optimal. In other words, nothing
// can improve the plan from the buffer tail to the planned pointer by logic.
if (current->entry_speed_sqr < next->entry_speed_sqr) {
entry_speed_sqr = current->entry_speed_sqr + 2*current->acceleration*current->millimeters;
entry_speed_sqr = current->entry_speed_sqr + 2 * current->acceleration * current->millimeters;
// If true, current block is full-acceleration and we can move the planned pointer forward.
if (entry_speed_sqr < next->entry_speed_sqr) {
next->entry_speed_sqr = entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
@ -190,99 +194,101 @@ static void planner_recalculate()
// point in the buffer. When the plan is bracketed by either the beginning of the
// buffer and a maximum entry speed or two maximum entry speeds, every block in between
// cannot logically be further improved. Hence, we don't have to recompute them anymore.
if (next->entry_speed_sqr == next->max_entry_speed_sqr) { block_buffer_planned = block_index; }
block_index = plan_next_block_index( block_index );
if (next->entry_speed_sqr == next->max_entry_speed_sqr) {
block_buffer_planned = block_index;
}
block_index = plan_next_block_index(block_index);
}
}
void plan_reset()
{
void plan_reset() {
memset(&pl, 0, sizeof(planner_t)); // Clear planner struct
plan_reset_buffer();
}
void plan_reset_buffer()
{
void plan_reset_buffer() {
block_buffer_tail = 0;
block_buffer_head = 0; // Empty = tail
next_buffer_head = 1; // plan_next_block_index(block_buffer_head)
block_buffer_planned = 0; // = block_buffer_tail;
}
void plan_discard_current_block()
{
void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) { // Discard non-empty buffer.
uint8_t block_index = plan_next_block_index( block_buffer_tail );
uint8_t block_index = plan_next_block_index(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned) { block_buffer_planned = block_index; }
if (block_buffer_tail == block_buffer_planned) {
block_buffer_planned = block_index;
}
block_buffer_tail = block_index;
}
}
// Returns address of planner buffer block used by system motions. Called by segment generator.
plan_block_t *plan_get_system_motion_block()
{
return(&block_buffer[block_buffer_head]);
plan_block_t *plan_get_system_motion_block() {
return (&block_buffer[block_buffer_head]);
}
// Returns address of first planner block, if available. Called by various main program functions.
plan_block_t *plan_get_current_block()
{
if (block_buffer_head == block_buffer_tail) { return(NULL); } // Buffer empty
return(&block_buffer[block_buffer_tail]);
plan_block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return (NULL);
} // Buffer empty
return (&block_buffer[block_buffer_tail]);
}
float plan_get_exec_block_exit_speed_sqr()
{
float plan_get_exec_block_exit_speed_sqr() {
uint8_t block_index = plan_next_block_index(block_buffer_tail);
if (block_index == block_buffer_head) { return( 0.0 ); }
return( block_buffer[block_index].entry_speed_sqr );
if (block_index == block_buffer_head) {
return (0.0);
}
return (block_buffer[block_index].entry_speed_sqr);
}
// Returns the availability status of the block ring buffer. True, if full.
uint8_t plan_check_full_buffer()
{
if (block_buffer_tail == next_buffer_head) { return(true); }
return(false);
uint8_t plan_check_full_buffer() {
if (block_buffer_tail == next_buffer_head) {
return (true);
}
return (false);
}
// Computes and returns block nominal speed based on running condition and override values.
// NOTE: All system motion commands, such as homing/parking, are not subject to overrides.
float plan_compute_profile_nominal_speed(plan_block_t *block)
{
float plan_compute_profile_nominal_speed(plan_block_t *block) {
float nominal_speed = block->programmed_rate;
if (block->condition & PL_COND_FLAG_RAPID_MOTION) { nominal_speed *= (0.01*sys.r_override); }
else {
if (!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE)) { nominal_speed *= (0.01*sys.f_override); }
if (nominal_speed > block->rapid_rate) { nominal_speed = block->rapid_rate; }
if (block->condition & PL_COND_FLAG_RAPID_MOTION) {
nominal_speed *= (0.01 * sys.r_override);
} else {
if (!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE)) {
nominal_speed *= (0.01 * sys.f_override);
}
if (nominal_speed > MINIMUM_FEED_RATE) { return(nominal_speed); }
return(MINIMUM_FEED_RATE);
if (nominal_speed > block->rapid_rate) {
nominal_speed = block->rapid_rate;
}
}
if (nominal_speed > MINIMUM_FEED_RATE) {
return (nominal_speed);
}
return (MINIMUM_FEED_RATE);
}
// Computes and updates the max entry speed (sqr) of the block, based on the minimum of the junction's
// previous and current nominal speeds and max junction speed.
static void plan_compute_profile_parameters(plan_block_t *block, float nominal_speed, float prev_nominal_speed)
{
static void plan_compute_profile_parameters(plan_block_t *block, float nominal_speed, float prev_nominal_speed) {
// Compute the junction maximum entry based on the minimum of the junction speed and neighboring nominal speeds.
if (nominal_speed > prev_nominal_speed) { block->max_entry_speed_sqr = prev_nominal_speed*prev_nominal_speed; }
else { block->max_entry_speed_sqr = nominal_speed*nominal_speed; }
if (block->max_entry_speed_sqr > block->max_junction_speed_sqr) { block->max_entry_speed_sqr = block->max_junction_speed_sqr; }
if (nominal_speed > prev_nominal_speed) {
block->max_entry_speed_sqr = prev_nominal_speed * prev_nominal_speed;
} else {
block->max_entry_speed_sqr = nominal_speed * nominal_speed;
}
if (block->max_entry_speed_sqr > block->max_junction_speed_sqr) {
block->max_entry_speed_sqr = block->max_junction_speed_sqr;
}
}
// Re-calculates buffered motions profile parameters upon a motion-based override change.
void plan_update_velocity_profile_parameters()
{
void plan_update_velocity_profile_parameters() {
uint8_t block_index = block_buffer_tail;
plan_block_t *block;
float nominal_speed;
@ -297,7 +303,6 @@ void plan_update_velocity_profile_parameters()
pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
}
/* Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
@ -312,18 +317,17 @@ void plan_update_velocity_profile_parameters()
head. It avoids changing the planner state and preserves the buffer to ensure subsequent gcode
motions are still planned correctly, while the stepper module only points to the block buffer head
to execute the special system motion. */
uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
{
uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data) {
// Prepare and initialize new block. Copy relevant pl_data for block execution.
plan_block_t *block = &block_buffer[block_buffer_head];
memset(block,0,sizeof(plan_block_t)); // Zero all block values.
memset(block, 0, sizeof(plan_block_t)); // Zero all block values.
block->condition = pl_data->condition;
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
block->spindle_speed = pl_data->spindle_speed;
#endif
#ifdef USE_LINE_NUMBERS
#endif
#ifdef USE_LINE_NUMBERS
block->line_number = pl_data->line_number;
#endif
#endif
// Compute and store initial move distance data.
int32_t target_steps[N_AXIS], position_steps[N_AXIS];
@ -332,53 +336,63 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
// Copy position data based on type of motion being planned.
if (block->condition & PL_COND_FLAG_SYSTEM_MOTION) {
#ifdef COREXY
#ifdef COREXY
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS];
#else
#else
memcpy(position_steps, sys_position, sizeof(sys_position));
#endif
} else { memcpy(position_steps, pl.position, sizeof(pl.position)); }
#endif
} else {
memcpy(position_steps, pl.position, sizeof(pl.position));
}
#ifdef COREXY
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
#endif
#ifdef COREXY
target_steps[A_MOTOR] = lround(target[A_MOTOR] * settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR] * settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] =
labs((target_steps[X_AXIS] - position_steps[X_AXIS]) + (target_steps[Y_AXIS] - position_steps[Y_AXIS]));
block->steps[B_MOTOR] =
labs((target_steps[X_AXIS] - position_steps[X_AXIS]) - (target_steps[Y_AXIS] - position_steps[Y_AXIS]));
#endif
for (idx=0; idx<N_AXIS; idx++) {
// Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
#ifdef COREXY
if ( !(idx == A_MOTOR) && !(idx == B_MOTOR) ) {
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
for (idx = 0; idx < N_AXIS; idx++) {
// Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
#ifdef COREXY
if (!(idx == A_MOTOR) && !(idx == B_MOTOR)) {
target_steps[idx] = lround(target[idx] * settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx] - position_steps[idx]);
}
block->step_event_count = max(block->step_event_count, block->steps[idx]);
if (idx == A_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] + target_steps[Y_AXIS]-position_steps[Y_AXIS])/settings.steps_per_mm[idx];
delta_mm = (target_steps[X_AXIS] - position_steps[X_AXIS] + target_steps[Y_AXIS] - position_steps[Y_AXIS]) /
settings.steps_per_mm[idx];
} else if (idx == B_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] - target_steps[Y_AXIS]+position_steps[Y_AXIS])/settings.steps_per_mm[idx];
delta_mm = (target_steps[X_AXIS] - position_steps[X_AXIS] - target_steps[Y_AXIS] + position_steps[Y_AXIS]) /
settings.steps_per_mm[idx];
} else {
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
delta_mm = (target_steps[idx] - position_steps[idx]) / settings.steps_per_mm[idx];
}
#else
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
#else
target_steps[idx] = lround(target[idx] * settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx] - position_steps[idx]);
block->step_event_count = max(block->step_event_count, block->steps[idx]);
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
#endif
delta_mm = (target_steps[idx] - position_steps[idx]) / settings.steps_per_mm[idx];
#endif
unit_vec[idx] = delta_mm; // Store unit vector numerator
// Set direction bits. Bit enabled always means direction is negative.
if (delta_mm < 0.0 ) { block->direction_bits |= get_direction_pin_mask(idx); }
if (delta_mm < 0.0) {
block->direction_bits |= get_direction_pin_mask(idx);
}
}
// Bail if this is a zero-length block. Highly unlikely to occur.
if (block->step_event_count == 0) { return(PLAN_EMPTY_BLOCK); }
if (block->step_event_count == 0) {
return (PLAN_EMPTY_BLOCK);
}
// Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
// down such that no individual axes maximum values are exceeded with respect to the line direction.
@ -389,10 +403,13 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
// Store programmed rate.
if (block->condition & PL_COND_FLAG_RAPID_MOTION) { block->programmed_rate = block->rapid_rate; }
else {
if (block->condition & PL_COND_FLAG_RAPID_MOTION) {
block->programmed_rate = block->rapid_rate;
} else {
block->programmed_rate = pl_data->feed_rate;
if (block->condition & PL_COND_FLAG_INVERSE_TIME) { block->programmed_rate *= block->millimeters; }
if (block->condition & PL_COND_FLAG_INVERSE_TIME) {
block->programmed_rate *= block->millimeters;
}
}
// TODO: Need to check this method handling zero junction speeds when starting from rest.
@ -428,15 +445,15 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
float junction_unit_vec[N_AXIS];
float junction_cos_theta = 0.0;
for (idx=0; idx<N_AXIS; idx++) {
junction_cos_theta -= pl.previous_unit_vec[idx]*unit_vec[idx];
junction_unit_vec[idx] = unit_vec[idx]-pl.previous_unit_vec[idx];
for (idx = 0; idx < N_AXIS; idx++) {
junction_cos_theta -= pl.previous_unit_vec[idx] * unit_vec[idx];
junction_unit_vec[idx] = unit_vec[idx] - pl.previous_unit_vec[idx];
}
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if (junction_cos_theta > 0.999999) {
// For a 0 degree acute junction, just set minimum junction speed.
block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED;
block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED * MINIMUM_JUNCTION_SPEED;
} else {
if (junction_cos_theta < -0.999999) {
// Junction is a straight line or 180 degrees. Junction speed is infinite.
@ -444,9 +461,11 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
} else {
convert_delta_vector_to_unit_vector(junction_unit_vec);
float junction_acceleration = limit_value_by_axis_maximum(settings.acceleration, junction_unit_vec);
float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive.
block->max_junction_speed_sqr = max( MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED,
(junction_acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2) );
float sin_theta_d2 =
sqrt(0.5 * (1.0 - junction_cos_theta)); // Trig half angle identity. Always positive.
block->max_junction_speed_sqr =
max(MINIMUM_JUNCTION_SPEED * MINIMUM_JUNCTION_SPEED,
(junction_acceleration * settings.junction_deviation * sin_theta_d2) / (1.0 - sin_theta_d2));
}
}
}
@ -468,53 +487,49 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
// Finish up by recalculating the plan with the new block.
planner_recalculate();
}
return(PLAN_OK);
return (PLAN_OK);
}
// Reset the planner position vectors. Called by the system abort/initialization routine.
void plan_sync_position()
{
void plan_sync_position() {
// TODO: For motor configurations not in the same coordinate frame as the machine position,
// this function needs to be updated to accomodate the difference.
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
#ifdef COREXY
if (idx==X_AXIS) {
for (idx = 0; idx < N_AXIS; idx++) {
#ifdef COREXY
if (idx == X_AXIS) {
pl.position[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
} else if (idx==Y_AXIS) {
} else if (idx == Y_AXIS) {
pl.position[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
} else {
pl.position[idx] = sys_position[idx];
}
#else
#else
pl.position[idx] = sys_position[idx];
#endif
#endif
}
}
// Returns the number of available blocks are in the planner buffer.
uint8_t plan_get_block_buffer_available()
{
if (block_buffer_head >= block_buffer_tail) { return((BLOCK_BUFFER_SIZE-1)-(block_buffer_head-block_buffer_tail)); }
return((block_buffer_tail-block_buffer_head-1));
uint8_t plan_get_block_buffer_available() {
if (block_buffer_head >= block_buffer_tail) {
return ((BLOCK_BUFFER_SIZE - 1) - (block_buffer_head - block_buffer_tail));
}
return ((block_buffer_tail - block_buffer_head - 1));
}
// Returns the number of active blocks are in the planner buffer.
// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h
uint8_t plan_get_block_buffer_count()
{
if (block_buffer_head >= block_buffer_tail) { return(block_buffer_head-block_buffer_tail); }
return(BLOCK_BUFFER_SIZE - (block_buffer_tail-block_buffer_head));
uint8_t plan_get_block_buffer_count() {
if (block_buffer_head >= block_buffer_tail) {
return (block_buffer_head - block_buffer_tail);
}
return (BLOCK_BUFFER_SIZE - (block_buffer_tail - block_buffer_head));
}
// Re-initialize buffer plan with a partially completed block, assumed to exist at the buffer tail.
// Called after a steppers have come to a complete stop for a feed hold and the cycle is stopped.
void plan_cycle_reinitialize()
{
void plan_cycle_reinitialize() {
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
st_update_plan_block_parameters();
block_buffer_planned = block_buffer_tail;

34
grbl/planner.h
View file

@ -22,14 +22,13 @@
#ifndef planner_h
#define planner_h
// The number of linear motions that can be in the plan at any give time
#ifndef BLOCK_BUFFER_SIZE
#ifdef USE_LINE_NUMBERS
#define BLOCK_BUFFER_SIZE 15
#else
#define BLOCK_BUFFER_SIZE 16
#endif
#ifdef USE_LINE_NUMBERS
#define BLOCK_BUFFER_SIZE 15
#else
#define BLOCK_BUFFER_SIZE 16
#endif
#endif
// Returned status message from planner.
@ -45,10 +44,10 @@
#define PL_COND_FLAG_SPINDLE_CCW bit(5)
#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
#define PL_COND_FLAG_COOLANT_MIST bit(7)
#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION | PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_SPINDLE_MASK (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)
#define PL_COND_ACCESSORY_MASK \
(PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW | PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_MIST)
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
// are as specified in the source g-code.
@ -61,9 +60,9 @@ typedef struct {
// Block condition data to ensure correct execution depending on states and overrides.
uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
#ifdef USE_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
#endif
#endif
// Fields used by the motion planner to manage acceleration. Some of these values may be updated
// by the stepper module during execution of special motion cases for replanning purposes.
@ -79,24 +78,22 @@ typedef struct {
float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
float programmed_rate; // Programmed rate of this block (mm/min).
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
// Stored spindle speed data used by spindle overrides and resuming methods.
float spindle_speed; // Block spindle speed. Copied from pl_line_data.
#endif
#endif
} plan_block_t;
// Planner data prototype. Must be used when passing new motions to the planner.
typedef struct {
float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
float spindle_speed; // Desired spindle speed through line motion.
uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
#ifdef USE_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
int32_t line_number; // Desired line number to report when executing.
#endif
#endif
} plan_line_data_t;
// Initialize and reset the motion plan subsystem
void plan_reset(); // Reset all
void plan_reset_buffer(); // Reset buffer only.
@ -146,5 +143,4 @@ uint8_t plan_check_full_buffer();
void plan_get_planner_mpos(float *target);
#endif

73
grbl/print.c
View file

@ -21,23 +21,16 @@
#include "grbl.h"
void printString(const char *s)
{
while (*s)
serial_write(*s++);
void printString(const char *s) {
while (*s) serial_write(*s++);
}
// Print a string stored in PGM-memory
void printPgmString(const char *s)
{
void printPgmString(const char *s) {
char c;
while ((c = pgm_read_byte_near(s++)))
serial_write(c);
while ((c = pgm_read_byte_near(s++))) serial_write(c);
}
// void printIntegerInBase(unsigned long n, unsigned long base)
// {
// unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
@ -59,10 +52,8 @@ void printPgmString(const char *s)
// 'A' + buf[i - 1] - 10);
// }
// Prints an uint8 variable in base 10.
void print_uint8_base10(uint8_t n)
{
void print_uint8_base10(uint8_t n) {
uint8_t digit_a = 0;
uint8_t digit_b = 0;
if (n >= 100) { // 100-255
@ -74,28 +65,28 @@ void print_uint8_base10(uint8_t n)
n /= 10;
}
serial_write('0' + n);
if (digit_b) { serial_write(digit_b); }
if (digit_a) { serial_write(digit_a); }
if (digit_b) {
serial_write(digit_b);
}
if (digit_a) {
serial_write(digit_a);
}
}
// Prints an uint8 variable in base 2 with desired number of desired digits.
void print_uint8_base2_ndigit(uint8_t n, uint8_t digits) {
unsigned char buf[digits];
uint8_t i = 0;
for (; i < digits; i++) {
buf[i] = n % 2 ;
buf[i] = n % 2;
n /= 2;
}
for (; i > 0; i--)
serial_write('0' + buf[i - 1]);
for (; i > 0; i--) serial_write('0' + buf[i - 1]);
}
void print_uint32_base10(uint32_t n)
{
void print_uint32_base10(uint32_t n) {
if (n == 0) {
serial_write('0');
return;
@ -109,13 +100,10 @@ void print_uint32_base10(uint32_t n)
n /= 10;
}
for (; i > 0; i--)
serial_write('0' + buf[i-1]);
for (; i > 0; i--) serial_write('0' + buf[i - 1]);
}
void printInteger(long n)
{
void printInteger(long n) {
if (n < 0) {
serial_write('-');
print_uint32_base10(-n);
@ -124,14 +112,12 @@ void printInteger(long n)
}
}
// Convert float to string by immediately converting to a long integer, which contains
// more digits than a float. Number of decimal places, which are tracked by a counter,
// may be set by the user. The integer is then efficiently converted to a string.
// NOTE: AVR '%' and '/' integer operations are very efficient. Bitshifting speed-up
// techniques are actually just slightly slower. Found this out the hard way.
void printFloat(float n, uint8_t decimal_places)
{
void printFloat(float n, uint8_t decimal_places) {
if (n < 0) {
serial_write('-');
n = -n;
@ -142,14 +128,16 @@ void printFloat(float n, uint8_t decimal_places)
n *= 100;
decimals -= 2;
}
if (decimals) { n *= 10; }
if (decimals) {
n *= 10;
}
n += 0.5; // Add rounding factor. Ensures carryover through entire value.
// Generate digits backwards and store in string.
unsigned char buf[13];
uint8_t i = 0;
uint32_t a = (long)n;
while(a > 0) {
while (a > 0) {
buf[i++] = (a % 10) + '0'; // Get digit
a /= 10;
}
@ -162,29 +150,30 @@ void printFloat(float n, uint8_t decimal_places)
// Print the generated string.
for (; i > 0; i--) {
if (i == decimal_places) { serial_write('.'); } // Insert decimal point in right place.
serial_write(buf[i-1]);
if (i == decimal_places) {
serial_write('.');
} // Insert decimal point in right place.
serial_write(buf[i - 1]);
}
}
// Floating value printing handlers for special variables types used in Grbl and are defined
// in the config.h.
// - CoordValue: Handles all position or coordinate values in inches or mm reporting.
// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
void printFloat_CoordValue(float n) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
printFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH);
if (bit_istrue(settings.flags, BITFLAG_REPORT_INCHES)) {
printFloat(n * INCH_PER_MM, N_DECIMAL_COORDVALUE_INCH);
} else {
printFloat(n,N_DECIMAL_COORDVALUE_MM);
printFloat(n, N_DECIMAL_COORDVALUE_MM);
}
}
void printFloat_RateValue(float n) {
if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
printFloat(n*INCH_PER_MM,N_DECIMAL_RATEVALUE_INCH);
if (bit_istrue(settings.flags, BITFLAG_REPORT_INCHES)) {
printFloat(n * INCH_PER_MM, N_DECIMAL_RATEVALUE_INCH);
} else {
printFloat(n,N_DECIMAL_RATEVALUE_MM);
printFloat(n, N_DECIMAL_RATEVALUE_MM);
}
}

1
grbl/print.h
View file

@ -22,7 +22,6 @@
#ifndef print_h
#define print_h
void printString(const char *s);
void printPgmString(const char *s);

32
grbl/probe.c
View file

@ -20,44 +20,42 @@
#include "grbl.h"
// Inverts the probe pin state depending on user settings and probing cycle mode.
uint8_t probe_invert_mask;
// Probe pin initialization routine.
void probe_init()
{
void probe_init() {
PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
#ifdef DISABLE_PROBE_PIN_PULL_UP
#ifdef DISABLE_PROBE_PIN_PULL_UP
PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
#else
#else
PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
#endif
#endif
probe_configure_invert_mask(false); // Initialize invert mask.
}
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void probe_configure_invert_mask(uint8_t is_probe_away)
{
void probe_configure_invert_mask(uint8_t is_probe_away) {
probe_invert_mask = 0; // Initialize as zero.
if (bit_isfalse(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { probe_invert_mask ^= PROBE_MASK; }
if (is_probe_away) { probe_invert_mask ^= PROBE_MASK; }
if (bit_isfalse(settings.flags, BITFLAG_INVERT_PROBE_PIN)) {
probe_invert_mask ^= PROBE_MASK;
}
if (is_probe_away) {
probe_invert_mask ^= PROBE_MASK;
}
}
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); }
uint8_t probe_get_state() {
return ((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask);
}
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
void probe_state_monitor()
{
void probe_state_monitor() {
if (probe_get_state()) {
sys_probe_state = PROBE_OFF;
memcpy(sys_probe_position, sys_position, sizeof(sys_position));

430
grbl/protocol.c
View file

@ -26,26 +26,23 @@
#define LINE_FLAG_COMMENT_PARENTHESES bit(1)
#define LINE_FLAG_COMMENT_SEMICOLON bit(2)
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
static void protocol_exec_rt_suspend();
/*
GRBL PRIMARY LOOP:
*/
void protocol_main_loop()
{
// Perform some machine checks to make sure everything is good to go.
#ifdef CHECK_LIMITS_AT_INIT
void protocol_main_loop() {
// Perform some machine checks to make sure everything is good to go.
#ifdef CHECK_LIMITS_AT_INIT
if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
if (limits_get_state()) {
sys.state = STATE_ALARM; // Ensure alarm state is active.
report_feedback_message(MESSAGE_CHECK_LIMITS);
}
}
#endif
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
// NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
// Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.
@ -75,16 +72,18 @@ void protocol_main_loop()
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
while((c = serial_read()) != SERIAL_NO_DATA) {
while ((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to calling function upon system abort
if (sys.abort) {
return;
} // Bail to calling function upon system abort
line[char_counter] = 0; // Set string termination character.
#ifdef REPORT_ECHO_LINE_RECEIVED
#ifdef REPORT_ECHO_LINE_RECEIVED
report_echo_line_received(line);
#endif
#endif
// Direct and execute one line of formatted input, and report status of execution.
if (line_flags & LINE_FLAG_OVERFLOW) {
@ -114,7 +113,9 @@ void protocol_main_loop()
// Throw away all (except EOL) comment characters and overflow characters.
if (c == ')') {
// End of '()' comment. Resume line allowed.
if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); }
if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) {
line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES);
}
}
} else {
if (c <= ' ') {
@ -138,16 +139,15 @@ void protocol_main_loop()
// where, during a program, the system auto-cycle start will continue to execute
// everything until the next '%' sign. This will help fix resuming issues with certain
// functions that empty the planner buffer to execute its task on-time.
} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
} else if (char_counter >= (LINE_BUFFER_SIZE - 1)) {
// Detect line buffer overflow and set flag.
line_flags |= LINE_FLAG_OVERFLOW;
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
line[char_counter++] = c - 'a' + 'A';
} else {
line[char_counter++] = c;
}
}
}
}
@ -157,40 +157,39 @@ void protocol_main_loop()
protocol_auto_cycle_start();
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to main() program loop to reset system.
if (sys.abort) {
return;
} // Bail to main() program loop to reset system.
}
return; /* Never reached */
}
// Block until all buffered steps are executed or in a cycle state. Works with feed hold
// during a synchronize call, if it should happen. Also, waits for clean cycle end.
void protocol_buffer_synchronize()
{
void protocol_buffer_synchronize() {
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
do {
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
if (sys.abort) {
return;
} // Check for system abort
} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
}
// Auto-cycle start triggers when there is a motion ready to execute and if the main program is not
// actively parsing commands.
// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
// is finished, single commands), a command that needs to wait for the motions in the buffer to
// execute calls a buffer sync, or the planner buffer is full and ready to go.
void protocol_auto_cycle_start()
{
void protocol_auto_cycle_start() {
if (plan_get_current_block() != NULL) { // Check if there are any blocks in the buffer.
system_set_exec_state_flag(EXEC_CYCLE_START); // If so, execute them!
}
}
// This function is the general interface to Grbl's real-time command execution system. It is called
// from various check points in the main program, primarily where there may be a while loop waiting
// for a buffer to clear space or any point where the execution time from the last check point may
@ -202,18 +201,17 @@ void protocol_auto_cycle_start()
// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
// limit switches, or the main program.
void protocol_execute_realtime()
{
void protocol_execute_realtime() {
protocol_exec_rt_system();
if (sys.suspend) { protocol_exec_rt_suspend(); }
if (sys.suspend) {
protocol_exec_rt_suspend();
}
}
// Executes run-time commands, when required. This function primarily operates as Grbl's state
// machine and controls the various real-time features Grbl has to offer.
// NOTE: Do not alter this unless you know exactly what you are doing!
void protocol_exec_rt_system()
{
void protocol_exec_rt_system() {
uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
rt_exec = sys_rt_exec_alarm; // Copy volatile sys_rt_exec_alarm.
if (rt_exec) { // Enter only if any bit flag is true
@ -232,7 +230,7 @@ void protocol_exec_rt_system()
// the user and a GUI time to do what is needed before resetting, like killing the
// incoming stream. The same could be said about soft limits. While the position is not
// lost, continued streaming could cause a serious crash if by chance it gets executed.
} while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
} while (bit_isfalse(sys_rt_exec_state, EXEC_RESET));
}
system_clear_exec_alarm(); // Clear alarm
}
@ -265,26 +263,34 @@ void protocol_exec_rt_system()
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
sys.step_control = STEP_CONTROL_EXECUTE_HOLD; // Initiate suspend state with active flag.
if (sys.state == STATE_JOG) { // Jog cancelled upon any hold event, except for sleeping.
if (!(rt_exec & EXEC_SLEEP)) { sys.suspend |= SUSPEND_JOG_CANCEL; }
if (!(rt_exec & EXEC_SLEEP)) {
sys.suspend |= SUSPEND_JOG_CANCEL;
}
}
}
}
// If IDLE, Grbl is not in motion. Simply indicate suspend state and hold is complete.
if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_HOLD_COMPLETE; }
if (sys.state == STATE_IDLE) {
sys.suspend = SUSPEND_HOLD_COMPLETE;
}
// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
// to halt and cancel the remainder of the motion.
// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing
// cycle to halt and cancel the remainder of the motion.
if (rt_exec & EXEC_MOTION_CANCEL) {
// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
// to hold the CYCLE. Motion cancel is valid for a single planner block motion only, while jog cancel
// will handle and clear multiple planner block motions.
if (!(sys.state & STATE_JOG)) { sys.suspend |= SUSPEND_MOTION_CANCEL; } // NOTE: State is STATE_CYCLE.
// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated
// beforehand to hold the CYCLE. Motion cancel is valid for a single planner block motion only,
// while jog cancel will handle and clear multiple planner block motions.
if (!(sys.state & STATE_JOG)) {
sys.suspend |= SUSPEND_MOTION_CANCEL;
} // NOTE: State is STATE_CYCLE.
}
// Execute a feed hold with deceleration, if required. Then, suspend system.
if (rt_exec & EXEC_FEED_HOLD) {
// Block SAFETY_DOOR, JOG, and SLEEP states from changing to HOLD state.
if (!(sys.state & (STATE_SAFETY_DOOR | STATE_JOG | STATE_SLEEP))) { sys.state = STATE_HOLD; }
if (!(sys.state & (STATE_SAFETY_DOOR | STATE_JOG | STATE_SLEEP))) {
sys.state = STATE_HOLD;
}
}
// Execute a safety door stop with a feed hold and disable spindle/coolant.
@ -298,29 +304,34 @@ void protocol_exec_rt_system()
// already retracting, parked or in sleep state.
if (sys.state == STATE_SAFETY_DOOR) {
if (sys.suspend & SUSPEND_INITIATE_RESTORE) { // Actively restoring
#ifdef PARKING_ENABLE
#ifdef PARKING_ENABLE
// Set hold and reset appropriate control flags to restart parking sequence.
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold
// deceleration.
sys.step_control = (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION);
sys.suspend &= ~(SUSPEND_HOLD_COMPLETE);
} // else NO_MOTION is active.
#endif
sys.suspend &= ~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
#endif
sys.suspend &=
~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
sys.suspend |= SUSPEND_RESTART_RETRACT;
}
}
if (sys.state != STATE_SLEEP) { sys.state = STATE_SAFETY_DOOR; }
if (sys.state != STATE_SLEEP) {
sys.state = STATE_SAFETY_DOOR;
}
// NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions
// are executed if the door switch closes and the state returns to HOLD.
}
// NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking
// motions are executed if the door switch closes and the state returns to HOLD.
sys.suspend |= SUSPEND_SAFETY_DOOR_AJAR;
}
}
if (rt_exec & EXEC_SLEEP) {
if (sys.state == STATE_ALARM) { sys.suspend |= (SUSPEND_RETRACT_COMPLETE|SUSPEND_HOLD_COMPLETE); }
if (sys.state == STATE_ALARM) {
sys.suspend |= (SUSPEND_RETRACT_COMPLETE | SUSPEND_HOLD_COMPLETE);
}
sys.state = STATE_SLEEP;
}
@ -337,22 +348,24 @@ void protocol_exec_rt_system()
if (sys.suspend & SUSPEND_RESTORE_COMPLETE) {
sys.state = STATE_IDLE; // Set to IDLE to immediately resume the cycle.
} else if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
// Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
// NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
// the retraction execution is complete, which implies the initial feed hold is not active. To
// restore normal operation, the restore procedures must be initiated by the following flag. Once,
// they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
// Flag to re-energize powered components and restore original position, if disabled by
// SAFETY_DOOR. NOTE: For a safety door to resume, the switch must be closed, as indicated by
// HOLD state, and the retraction execution is complete, which implies the initial feed hold is
// not active. To restore normal operation, the restore procedures must be initiated by the
// following flag. Once, they are complete, it will call CYCLE_START automatically to resume and
// exit the suspend.
sys.suspend |= SUSPEND_INITIATE_RESTORE;
}
}
// Cycle start only when IDLE or when a hold is complete and ready to resume.
if ((sys.state == STATE_IDLE) || ((sys.state & STATE_HOLD) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
if (sys.state == STATE_HOLD && sys.spindle_stop_ovr) {
sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE_CYCLE; // Set to restore in suspend routine and cycle start after.
sys.spindle_stop_ovr |=
SPINDLE_STOP_OVR_RESTORE_CYCLE; // Set to restore in suspend routine and cycle start after.
} else {
// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
if (plan_get_current_block() && bit_isfalse(sys.suspend, SUSPEND_MOTION_CANCEL)) {
sys.suspend = SUSPEND_DISABLE; // Break suspend state.
sys.state = STATE_CYCLE;
st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
@ -373,12 +386,15 @@ void protocol_exec_rt_system()
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
if ((sys.state & (STATE_HOLD|STATE_SAFETY_DOOR|STATE_SLEEP)) && !(sys.soft_limit) && !(sys.suspend & SUSPEND_JOG_CANCEL)) {
if ((sys.state & (STATE_HOLD | STATE_SAFETY_DOOR | STATE_SLEEP)) && !(sys.soft_limit) &&
!(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
// has issued a resume command or reset.
plan_cycle_reinitialize();
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { sys.suspend |= SUSPEND_HOLD_COMPLETE; }
bit_false(sys.step_control,(STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION));
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
sys.suspend |= SUSPEND_HOLD_COMPLETE;
}
bit_false(sys.step_control, (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION));
} else {
// Motion complete. Includes CYCLE/JOG/HOMING states and jog cancel/motion cancel/soft limit events.
// NOTE: Motion and jog cancel both immediately return to idle after the hold completes.
@ -408,18 +424,34 @@ void protocol_exec_rt_system()
system_clear_exec_motion_overrides(); // Clear all motion override flags.
uint8_t new_f_override = sys.f_override;
if (rt_exec & EXEC_FEED_OVR_RESET) { new_f_override = DEFAULT_FEED_OVERRIDE; }
if (rt_exec & EXEC_FEED_OVR_COARSE_PLUS) { new_f_override += FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_COARSE_MINUS) { new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_PLUS) { new_f_override += FEED_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_MINUS) { new_f_override -= FEED_OVERRIDE_FINE_INCREMENT; }
new_f_override = min(new_f_override,MAX_FEED_RATE_OVERRIDE);
new_f_override = max(new_f_override,MIN_FEED_RATE_OVERRIDE);
if (rt_exec & EXEC_FEED_OVR_RESET) {
new_f_override = DEFAULT_FEED_OVERRIDE;
}
if (rt_exec & EXEC_FEED_OVR_COARSE_PLUS) {
new_f_override += FEED_OVERRIDE_COARSE_INCREMENT;
}
if (rt_exec & EXEC_FEED_OVR_COARSE_MINUS) {
new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT;
}
if (rt_exec & EXEC_FEED_OVR_FINE_PLUS) {
new_f_override += FEED_OVERRIDE_FINE_INCREMENT;
}
if (rt_exec & EXEC_FEED_OVR_FINE_MINUS) {
new_f_override -= FEED_OVERRIDE_FINE_INCREMENT;
}
new_f_override = min(new_f_override, MAX_FEED_RATE_OVERRIDE);
new_f_override = max(new_f_override, MIN_FEED_RATE_OVERRIDE);
uint8_t new_r_override = sys.r_override;
if (rt_exec & EXEC_RAPID_OVR_RESET) { new_r_override = DEFAULT_RAPID_OVERRIDE; }
if (rt_exec & EXEC_RAPID_OVR_MEDIUM) { new_r_override = RAPID_OVERRIDE_MEDIUM; }
if (rt_exec & EXEC_RAPID_OVR_LOW) { new_r_override = RAPID_OVERRIDE_LOW; }
if (rt_exec & EXEC_RAPID_OVR_RESET) {
new_r_override = DEFAULT_RAPID_OVERRIDE;
}
if (rt_exec & EXEC_RAPID_OVR_MEDIUM) {
new_r_override = RAPID_OVERRIDE_MEDIUM;
}
if (rt_exec & EXEC_RAPID_OVR_LOW) {
new_r_override = RAPID_OVERRIDE_LOW;
}
if ((new_f_override != sys.f_override) || (new_r_override != sys.r_override)) {
sys.f_override = new_f_override;
@ -436,19 +468,32 @@ void protocol_exec_rt_system()
// NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.
uint8_t last_s_override = sys.spindle_speed_ovr;
if (rt_exec & EXEC_SPINDLE_OVR_RESET) { last_s_override = DEFAULT_SPINDLE_SPEED_OVERRIDE; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_PLUS) { last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_PLUS) { last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT; }
last_s_override = min(last_s_override,MAX_SPINDLE_SPEED_OVERRIDE);
last_s_override = max(last_s_override,MIN_SPINDLE_SPEED_OVERRIDE);
if (rt_exec & EXEC_SPINDLE_OVR_RESET) {
last_s_override = DEFAULT_SPINDLE_SPEED_OVERRIDE;
}
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_PLUS) {
last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT;
}
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_MINUS) {
last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT;
}
if (rt_exec & EXEC_SPINDLE_OVR_FINE_PLUS) {
last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT;
}
if (rt_exec & EXEC_SPINDLE_OVR_FINE_MINUS) {
last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT;
}
last_s_override = min(last_s_override, MAX_SPINDLE_SPEED_OVERRIDE);
last_s_override = max(last_s_override, MIN_SPINDLE_SPEED_OVERRIDE);
if (last_s_override != sys.spindle_speed_ovr) {
sys.spindle_speed_ovr = last_s_override;
// NOTE: Spindle speed overrides during HOLD state are taken care of by suspend function.
if (sys.state == STATE_IDLE) { spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed); }
else { bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM); }
if (sys.state == STATE_IDLE) {
spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed);
} else {
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
sys.report_ovr_counter = 0; // Set to report change immediately
}
@ -456,8 +501,11 @@ void protocol_exec_rt_system()
// Spindle stop override allowed only while in HOLD state.
// NOTE: Report counters are set in spindle_set_state() when spindle stop is executed.
if (sys.state == STATE_HOLD) {
if (!(sys.spindle_stop_ovr)) { sys.spindle_stop_ovr = SPINDLE_STOP_OVR_INITIATE; }
else if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_ENABLED) { sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE; }
if (!(sys.spindle_stop_ovr)) {
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_INITIATE;
} else if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_ENABLED) {
sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE;
}
}
}
@ -467,64 +515,70 @@ void protocol_exec_rt_system()
if (rt_exec & (EXEC_COOLANT_FLOOD_OVR_TOGGLE | EXEC_COOLANT_MIST_OVR_TOGGLE)) {
if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_JOG))) {
uint8_t coolant_state = gc_state.modal.coolant;
#ifdef ENABLE_M7
#ifdef ENABLE_M7
if (rt_exec & EXEC_COOLANT_MIST_OVR_TOGGLE) {
if (coolant_state & COOLANT_MIST_ENABLE) { bit_false(coolant_state,COOLANT_MIST_ENABLE); }
else { coolant_state |= COOLANT_MIST_ENABLE; }
if (coolant_state & COOLANT_MIST_ENABLE) {
bit_false(coolant_state, COOLANT_MIST_ENABLE);
} else {
coolant_state |= COOLANT_MIST_ENABLE;
}
}
if (rt_exec & EXEC_COOLANT_FLOOD_OVR_TOGGLE) {
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
if (coolant_state & COOLANT_FLOOD_ENABLE) {
bit_false(coolant_state, COOLANT_FLOOD_ENABLE);
} else {
coolant_state |= COOLANT_FLOOD_ENABLE;
}
#else
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
#endif
}
#else
if (coolant_state & COOLANT_FLOOD_ENABLE) {
bit_false(coolant_state, COOLANT_FLOOD_ENABLE);
} else {
coolant_state |= COOLANT_FLOOD_ENABLE;
}
#endif
coolant_set_state(coolant_state); // Report counter set in coolant_set_state().
gc_state.modal.coolant = coolant_state;
}
}
}
#ifdef DEBUG
#ifdef DEBUG
if (sys_rt_exec_debug) {
report_realtime_debug();
sys_rt_exec_debug = 0;
}
#endif
#endif
// Reload step segment buffer
if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP| STATE_JOG)) {
if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP | STATE_JOG)) {
st_prep_buffer();
}
}
// Handles Grbl system suspend procedures, such as feed hold, safety door, and parking motion.
// The system will enter this loop, create local variables for suspend tasks, and return to
// whatever function that invoked the suspend, such that Grbl resumes normal operation.
// This function is written in a way to promote custom parking motions. Simply use this as a
// template
static void protocol_exec_rt_suspend()
{
#ifdef PARKING_ENABLE
static void protocol_exec_rt_suspend() {
#ifdef PARKING_ENABLE
// Declare and initialize parking local variables
float restore_target[N_AXIS];
float parking_target[N_AXIS];
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
memset(pl_data, 0, sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
#endif
#endif
#endif
plan_block_t *block = plan_get_current_block();
uint8_t restore_condition;
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
float restore_spindle_speed;
if (block == NULL) {
restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
@ -533,19 +587,24 @@ static void protocol_exec_rt_suspend()
restore_condition = (block->condition & PL_COND_SPINDLE_MASK) | coolant_get_state();
restore_spindle_speed = block->spindle_speed;
}
#ifdef DISABLE_LASER_DURING_HOLD
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
#ifdef DISABLE_LASER_DURING_HOLD
if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP);
}
#endif
#else
if (block == NULL) { restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant); }
else { restore_condition = (block->condition & PL_COND_SPINDLE_MASK) | coolant_get_state(); }
#endif
#endif
#else
if (block == NULL) {
restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
} else {
restore_condition = (block->condition & PL_COND_SPINDLE_MASK) | coolant_get_state();
}
#endif
while (sys.suspend) {
if (sys.abort) { return; }
if (sys.abort) {
return;
}
// Block until initial hold is complete and the machine has stopped motion.
if (sys.suspend & SUSPEND_HOLD_COMPLETE) {
@ -555,53 +614,54 @@ static void protocol_exec_rt_suspend()
if (sys.state & (STATE_SAFETY_DOOR | STATE_SLEEP)) {
// Handles retraction motions and de-energizing.
if (bit_isfalse(sys.suspend,SUSPEND_RETRACT_COMPLETE)) {
if (bit_isfalse(sys.suspend, SUSPEND_RETRACT_COMPLETE)) {
// Ensure any prior spindle stop override is disabled at start of safety door routine.
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED;
#ifndef PARKING_ENABLE
#ifndef PARKING_ENABLE
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
#else
#else
// Get current position and store restore location and spindle retract waypoint.
system_convert_array_steps_to_mpos(parking_target,sys_position);
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
memcpy(restore_target,parking_target,sizeof(parking_target));
system_convert_array_steps_to_mpos(parking_target, sys_position);
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
memcpy(restore_target, parking_target, sizeof(parking_target));
retract_waypoint += restore_target[PARKING_AXIS];
retract_waypoint = min(retract_waypoint,PARKING_TARGET);
retract_waypoint = min(retract_waypoint, PARKING_TARGET);
}
// Execute slow pull-out parking retract motion. Parking requires homing enabled, the
// current location not exceeding the parking target location, and laser mode disabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
// Execute slow pull-out parking retract motion. Parking requires homing enabled, the
// current location not exceeding the parking target location, and laser mode disabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if ((bit_istrue(settings.flags, BITFLAG_HOMING_ENABLE)) &&
(parking_target[PARKING_AXIS] < PARKING_TARGET) &&
bit_isfalse(settings.flags,BITFLAG_LASER_MODE) &&
bit_isfalse(settings.flags, BITFLAG_LASER_MODE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
#else
if ((bit_istrue(settings.flags, BITFLAG_HOMING_ENABLE)) &&
(parking_target[PARKING_AXIS] < PARKING_TARGET) &&
bit_isfalse(settings.flags,BITFLAG_LASER_MODE)) {
#endif
bit_isfalse(settings.flags, BITFLAG_LASER_MODE)) {
#endif
// Retract spindle by pullout distance. Ensure retraction motion moves away from
// the workpiece and waypoint motion doesn't exceed the parking target location.
if (parking_target[PARKING_AXIS] < retract_waypoint) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Retain accessory state
pl_data->condition |=
(restore_condition & PL_COND_ACCESSORY_MASK); // Retain accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(parking_target, pl_data);
}
// NOTE: Clear accessory state after retract and after an aborted restore motion.
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->spindle_speed = 0.0;
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
// Execute fast parking retract motion to parking target location.
@ -615,48 +675,51 @@ static void protocol_exec_rt_suspend()
// Parking motion not possible. Just disable the spindle and coolant.
// NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
}
#endif
#endif
sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
sys.suspend |= SUSPEND_RETRACT_COMPLETE;
} else {
if (sys.state == STATE_SLEEP) {
report_feedback_message(MESSAGE_SLEEP_MODE);
// Spindle and coolant should already be stopped, but do it again just to be sure.
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
st_go_idle(); // Disable steppers
while (!(sys.abort)) { protocol_exec_rt_system(); } // Do nothing until reset.
while (!(sys.abort)) {
protocol_exec_rt_system();
} // Do nothing until reset.
return; // Abort received. Return to re-initialize.
}
// Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
// Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to
// resume.
if (sys.state == STATE_SAFETY_DOOR) {
if (!(system_check_safety_door_ajar())) {
sys.suspend &= ~(SUSPEND_SAFETY_DOOR_AJAR); // Reset door ajar flag to denote ready to resume.
sys.suspend &=
~(SUSPEND_SAFETY_DOOR_AJAR); // Reset door ajar flag to denote ready to resume.
}
}
// Handles parking restore and safety door resume.
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
#ifdef PARKING_ENABLE
// Execute fast restore motion to the pull-out position. Parking requires homing enabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
#ifdef PARKING_ENABLE
// Execute fast restore motion to the pull-out position. Parking requires homing enabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE | BITFLAG_LASER_MODE)) ==
BITFLAG_HOMING_ENABLE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE | BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
// Check to ensure the motion doesn't move below pull-out position.
if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
parking_target[PARKING_AXIS] = retract_waypoint;
@ -664,60 +727,65 @@ static void protocol_exec_rt_suspend()
mc_parking_motion(parking_target, pl_data);
}
}
#endif
#endif
// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle
// starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
} else {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
spindle_set_state(
(restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)),
restore_spindle_speed);
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
}
if (gc_state.modal.coolant != COOLANT_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
coolant_set_state((restore_condition & (PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_MIST)));
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this
// pin.
coolant_set_state(
(restore_condition & (PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_MIST)));
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
#ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
#ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE | BITFLAG_LASER_MODE)) ==
BITFLAG_HOMING_ENABLE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE | BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
// Regardless if the retract parking motion was a valid/safe motion or not, the
// restore parking motion should logically be valid, either by returning to the
// original position through valid machine space or by not moving at all.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
pl_data->condition |=
(restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}
}
#endif
#endif
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
sys.suspend |= SUSPEND_RESTORE_COMPLETE;
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
}
}
}
} else {
// Feed hold manager. Controls spindle stop override states.
@ -726,8 +794,9 @@ static void protocol_exec_rt_suspend()
// Handles beginning of spindle stop
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
sys.spindle_stop_ovr =
SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
} else {
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
}
@ -735,11 +804,14 @@ static void protocol_exec_rt_suspend()
} else if (sys.spindle_stop_ovr & (SPINDLE_STOP_OVR_RESTORE | SPINDLE_STOP_OVR_RESTORE_CYCLE)) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
report_feedback_message(MESSAGE_SPINDLE_RESTORE);
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle
// starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
} else {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
spindle_set_state(
(restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)),
restore_spindle_speed);
}
}
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
@ -748,18 +820,18 @@ static void protocol_exec_rt_suspend()
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
}
} else {
// Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state.
// NOTE: STEP_CONTROL_UPDATE_SPINDLE_PWM is automatically reset upon resume in step generator.
// Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold
// state. NOTE: STEP_CONTROL_UPDATE_SPINDLE_PWM is automatically reset upon resume in step
// generator.
if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)),
restore_spindle_speed);
bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
}
}
}
protocol_exec_rt_system();
}
}

2
grbl/protocol.h
View file

@ -29,7 +29,7 @@
// memory space we can invest into here or we re-write the g-code parser not to have this
// buffer.
#ifndef LINE_BUFFER_SIZE
#define LINE_BUFFER_SIZE 80
#define LINE_BUFFER_SIZE 80
#endif
// Starts Grbl main loop. It handles all incoming characters from the serial port and executes

575
grbl/report.c
View file

@ -28,19 +28,38 @@
#include "grbl.h"
// Internal report utilities to reduce flash with repetitive tasks turned into functions.
void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
static void report_util_line_feed() { printPgmString(PSTR("\r\n")); }
static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
static void report_util_gcode_modes_G() { printPgmString(PSTR(" G")); }
static void report_util_gcode_modes_M() { printPgmString(PSTR(" M")); }
void report_util_setting_prefix(uint8_t n) {
serial_write('$');
print_uint8_base10(n);
serial_write('=');
}
static void report_util_line_feed() {
printPgmString(PSTR("\r\n"));
}
static void report_util_feedback_line_feed() {
serial_write(']');
report_util_line_feed();
}
static void report_util_gcode_modes_G() {
printPgmString(PSTR(" G"));
}
static void report_util_gcode_modes_M() {
printPgmString(PSTR(" M"));
}
// static void report_util_comment_line_feed() { serial_write(')'); report_util_line_feed(); }
static void report_util_axis_values(float *axis_value) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
printFloat_CoordValue(axis_value[idx]);
if (idx < (N_AXIS-1)) { serial_write(','); }
if (idx < (N_AXIS - 1)) {
serial_write(',');
}
}
}
@ -96,24 +115,24 @@ static void report_util_uint8_setting(uint8_t n, int val) {
print_uint8_base10(val);
report_util_line_feed(); // report_util_setting_string(n);
}
static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
report_util_setting_prefix(n);
printFloat(val,n_decimal);
printFloat(val, n_decimal);
report_util_line_feed(); // report_util_setting_string(n);
}
// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
// For every incoming line, this method responds with an 'ok' for a successful command or an
// 'error:' to indicate some error event with the line or some critical system error during
// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
// from a critical error, such as a triggered hard limit. Interface should always monitor for these
// responses.
void report_status_message(uint8_t status_code)
{
switch(status_code) {
void report_status_message(uint8_t status_code) {
switch (status_code) {
case STATUS_OK: // STATUS_OK
printPgmString(PSTR("ok\r\n")); break;
printPgmString(PSTR("ok\r\n"));
break;
default:
printPgmString(PSTR("error:"));
print_uint8_base10(status_code);
@ -122,8 +141,7 @@ void report_status_message(uint8_t status_code)
}
// Prints alarm messages.
void report_alarm_message(uint8_t alarm_code)
{
void report_alarm_message(uint8_t alarm_code) {
printPgmString(PSTR("ALARM:"));
print_uint8_base10(alarm_code);
report_util_line_feed();
@ -135,40 +153,26 @@ void report_alarm_message(uint8_t alarm_code)
// messages such as setup warnings, switch toggling, and how to exit alarms.
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
// is installed, the message number codes are less than zero.
void report_feedback_message(uint8_t message_code)
{
void report_feedback_message(uint8_t message_code) {
printPgmString(PSTR("[MSG:"));
switch(message_code) {
case MESSAGE_CRITICAL_EVENT:
printPgmString(PSTR("Reset to continue")); break;
case MESSAGE_ALARM_LOCK:
printPgmString(PSTR("'$H'|'$X' to unlock")); break;
case MESSAGE_ALARM_UNLOCK:
printPgmString(PSTR("Caution: Unlocked")); break;
case MESSAGE_ENABLED:
printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED:
printPgmString(PSTR("Disabled")); break;
case MESSAGE_SAFETY_DOOR_AJAR:
printPgmString(PSTR("Check Door")); break;
case MESSAGE_CHECK_LIMITS:
printPgmString(PSTR("Check Limits")); break;
case MESSAGE_PROGRAM_END:
printPgmString(PSTR("Pgm End")); break;
case MESSAGE_RESTORE_DEFAULTS:
printPgmString(PSTR("Restoring defaults")); break;
case MESSAGE_SPINDLE_RESTORE:
printPgmString(PSTR("Restoring spindle")); break;
case MESSAGE_SLEEP_MODE:
printPgmString(PSTR("Sleeping")); break;
switch (message_code) {
case MESSAGE_CRITICAL_EVENT: printPgmString(PSTR("Reset to continue")); break;
case MESSAGE_ALARM_LOCK: printPgmString(PSTR("'$H'|'$X' to unlock")); break;
case MESSAGE_ALARM_UNLOCK: printPgmString(PSTR("Caution: Unlocked")); break;
case MESSAGE_ENABLED: printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED: printPgmString(PSTR("Disabled")); break;
case MESSAGE_SAFETY_DOOR_AJAR: printPgmString(PSTR("Check Door")); break;
case MESSAGE_CHECK_LIMITS: printPgmString(PSTR("Check Limits")); break;
case MESSAGE_PROGRAM_END: printPgmString(PSTR("Pgm End")); break;
case MESSAGE_RESTORE_DEFAULTS: printPgmString(PSTR("Restoring defaults")); break;
case MESSAGE_SPINDLE_RESTORE: printPgmString(PSTR("Restoring spindle")); break;
case MESSAGE_SLEEP_MODE: printPgmString(PSTR("Sleeping")); break;
}
report_util_feedback_line_feed();
}
// Welcome message
void report_init_message()
{
void report_init_message() {
printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
}
@ -177,77 +181,74 @@ void report_grbl_help() {
printPgmString(PSTR("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]\r\n"));
}
// Grbl global settings print out.
// NOTE: The numbering scheme here must correlate to storing in settings.c
void report_grbl_settings() {
// Print Grbl settings.
report_util_uint8_setting(0,settings.pulse_microseconds);
report_util_uint8_setting(1,settings.stepper_idle_lock_time);
report_util_uint8_setting(2,settings.step_invert_mask);
report_util_uint8_setting(3,settings.dir_invert_mask);
report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
report_util_uint8_setting(10,settings.status_report_mask);
report_util_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
report_util_uint8_setting(23,settings.homing_dir_mask);
report_util_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(26,settings.homing_debounce_delay);
report_util_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
report_util_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
#ifdef VARIABLE_SPINDLE
report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
#else
report_util_uint8_setting(32,0);
#endif
report_util_uint8_setting(0, settings.pulse_microseconds);
report_util_uint8_setting(1, settings.stepper_idle_lock_time);
report_util_uint8_setting(2, settings.step_invert_mask);
report_util_uint8_setting(3, settings.dir_invert_mask);
report_util_uint8_setting(4, bit_istrue(settings.flags, BITFLAG_INVERT_ST_ENABLE));
report_util_uint8_setting(5, bit_istrue(settings.flags, BITFLAG_INVERT_LIMIT_PINS));
report_util_uint8_setting(6, bit_istrue(settings.flags, BITFLAG_INVERT_PROBE_PIN));
report_util_uint8_setting(10, settings.status_report_mask);
report_util_float_setting(11, settings.junction_deviation, N_DECIMAL_SETTINGVALUE);
report_util_float_setting(12, settings.arc_tolerance, N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(13, bit_istrue(settings.flags, BITFLAG_REPORT_INCHES));
report_util_uint8_setting(20, bit_istrue(settings.flags, BITFLAG_SOFT_LIMIT_ENABLE));
report_util_uint8_setting(21, bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE));
report_util_uint8_setting(22, bit_istrue(settings.flags, BITFLAG_HOMING_ENABLE));
report_util_uint8_setting(23, settings.homing_dir_mask);
report_util_float_setting(24, settings.homing_feed_rate, N_DECIMAL_SETTINGVALUE);
report_util_float_setting(25, settings.homing_seek_rate, N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(26, settings.homing_debounce_delay);
report_util_float_setting(27, settings.homing_pulloff, N_DECIMAL_SETTINGVALUE);
report_util_float_setting(30, settings.rpm_max, N_DECIMAL_RPMVALUE);
report_util_float_setting(31, settings.rpm_min, N_DECIMAL_RPMVALUE);
#ifdef VARIABLE_SPINDLE
report_util_uint8_setting(32, bit_istrue(settings.flags, BITFLAG_LASER_MODE));
#else
report_util_uint8_setting(32, 0);
#endif
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
for (set_idx = 0; set_idx < AXIS_N_SETTINGS; set_idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
switch (set_idx) {
case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
case 1: report_util_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
case 0: report_util_float_setting(val + idx, settings.steps_per_mm[idx], N_DECIMAL_SETTINGVALUE); break;
case 1: report_util_float_setting(val + idx, settings.max_rate[idx], N_DECIMAL_SETTINGVALUE); break;
case 2:
report_util_float_setting(val + idx, settings.acceleration[idx] / (60 * 60), N_DECIMAL_SETTINGVALUE);
break;
case 3: report_util_float_setting(val + idx, -settings.max_travel[idx], N_DECIMAL_SETTINGVALUE); break;
}
}
val += AXIS_SETTINGS_INCREMENT;
}
}
// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
void report_probe_parameters()
{
void report_probe_parameters() {
// Report in terms of machine position.
printPgmString(PSTR("[PRB:"));
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position,sys_probe_position);
system_convert_array_steps_to_mpos(print_position, sys_probe_position);
report_util_axis_values(print_position);
serial_write(':');
print_uint8_base10(sys.probe_succeeded);
report_util_feedback_line_feed();
}
// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
{
void report_ngc_parameters() {
float coord_data[N_AXIS];
uint8_t coord_select;
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
if (!(settings_read_coord_data(coord_select,coord_data))) {
if (!(settings_read_coord_data(coord_select, coord_data))) {
report_status_message(STATUS_SETTING_READ_FAIL);
return;
}
@ -255,7 +256,7 @@ void report_ngc_parameters()
switch (coord_select) {
case 6: printPgmString(PSTR("28")); break;
case 7: printPgmString(PSTR("30")); break;
default: print_uint8_base10(coord_select+54); break; // G54-G59
default: print_uint8_base10(coord_select + 54); break; // G54-G59
}
serial_write(':');
report_util_axis_values(coord_data);
@ -270,69 +271,77 @@ void report_ngc_parameters()
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
}
// Print current gcode parser mode state
void report_gcode_modes()
{
void report_gcode_modes() {
printPgmString(PSTR("[GC:G"));
if (gc_state.modal.motion >= MOTION_MODE_PROBE_TOWARD) {
printPgmString(PSTR("38."));
print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD - 2));
} else {
print_uint8_base10(gc_state.modal.motion);
}
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.coord_select+54);
print_uint8_base10(gc_state.modal.coord_select + 54);
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.plane_select+17);
print_uint8_base10(gc_state.modal.plane_select + 17);
report_util_gcode_modes_G();
print_uint8_base10(21-gc_state.modal.units);
print_uint8_base10(21 - gc_state.modal.units);
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.distance+90);
print_uint8_base10(gc_state.modal.distance + 90);
report_util_gcode_modes_G();
print_uint8_base10(94-gc_state.modal.feed_rate);
print_uint8_base10(94 - gc_state.modal.feed_rate);
if (gc_state.modal.program_flow) {
report_util_gcode_modes_M();
switch (gc_state.modal.program_flow) {
case PROGRAM_FLOW_PAUSED : serial_write('0'); break;
case PROGRAM_FLOW_PAUSED: serial_write('0'); break;
// case PROGRAM_FLOW_OPTIONAL_STOP : serial_write('1'); break; // M1 is ignored and not supported.
case PROGRAM_FLOW_COMPLETED_M2 :
case PROGRAM_FLOW_COMPLETED_M30 :
print_uint8_base10(gc_state.modal.program_flow);
break;
case PROGRAM_FLOW_COMPLETED_M2:
case PROGRAM_FLOW_COMPLETED_M30: print_uint8_base10(gc_state.modal.program_flow); break;
}
}
report_util_gcode_modes_M();
switch (gc_state.modal.spindle) {
case SPINDLE_ENABLE_CW : serial_write('3'); break;
case SPINDLE_ENABLE_CCW : serial_write('4'); break;
case SPINDLE_DISABLE : serial_write('5'); break;
case SPINDLE_ENABLE_CW: serial_write('3'); break;
case SPINDLE_ENABLE_CCW: serial_write('4'); break;
case SPINDLE_DISABLE: serial_write('5'); break;
}
#ifdef ENABLE_M7
#ifdef ENABLE_M7
if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { report_util_gcode_modes_M(); serial_write('7'); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { report_util_gcode_modes_M(); serial_write('8'); }
} else { report_util_gcode_modes_M(); serial_write('9'); }
#else
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) {
report_util_gcode_modes_M();
if (gc_state.modal.coolant) { serial_write('8'); }
else { serial_write('9'); }
#endif
serial_write('7');
}
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) {
report_util_gcode_modes_M();
serial_write('8');
}
} else {
report_util_gcode_modes_M();
serial_write('9');
}
#else
report_util_gcode_modes_M();
if (gc_state.modal.coolant) {
serial_write('8');
} else {
serial_write('9');
}
#endif
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (sys.override_ctrl == OVERRIDE_PARKING_MOTION) {
report_util_gcode_modes_M();
print_uint8_base10(56);
}
#endif
#endif
printPgmString(PSTR(" T"));
print_uint8_base10(gc_state.tool);
@ -340,17 +349,16 @@ void report_gcode_modes()
printPgmString(PSTR(" F"));
printFloat_RateValue(gc_state.feed_rate);
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR(" S"));
printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
#endif
printFloat(gc_state.spindle_speed, N_DECIMAL_RPMVALUE);
#endif
report_util_feedback_line_feed();
}
// Prints specified startup line
void report_startup_line(uint8_t n, char *line)
{
void report_startup_line(uint8_t n, char *line) {
printPgmString(PSTR("$N"));
print_uint8_base10(n);
serial_write('=');
@ -358,8 +366,7 @@ void report_startup_line(uint8_t n, char *line)
report_util_line_feed();
}
void report_execute_startup_message(char *line, uint8_t status_code)
{
void report_execute_startup_message(char *line, uint8_t status_code) {
serial_write('>');
printString(line);
serial_write(':');
@ -367,109 +374,105 @@ void report_execute_startup_message(char *line, uint8_t status_code)
}
// Prints build info line
void report_build_info(char *line)
{
void report_build_info(char *line) {
printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
printString(line);
report_util_feedback_line_feed();
printPgmString(PSTR("[OPT:")); // Generate compile-time build option list
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
serial_write('V');
#endif
#ifdef USE_LINE_NUMBERS
#endif
#ifdef USE_LINE_NUMBERS
serial_write('N');
#endif
#ifdef ENABLE_M7
#endif
#ifdef ENABLE_M7
serial_write('M');
#endif
#ifdef COREXY
#endif
#ifdef COREXY
serial_write('C');
#endif
#ifdef PARKING_ENABLE
#endif
#ifdef PARKING_ENABLE
serial_write('P');
#endif
#ifdef HOMING_FORCE_SET_ORIGIN
#endif
#ifdef HOMING_FORCE_SET_ORIGIN
serial_write('Z');
#endif
#ifdef HOMING_SINGLE_AXIS_COMMANDS
#endif
#ifdef HOMING_SINGLE_AXIS_COMMANDS
serial_write('H');
#endif
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
#endif
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
serial_write('T');
#endif
#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
#endif
#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
serial_write('A');
#endif
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#endif
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
serial_write('D');
#endif
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
#endif
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
serial_write('0');
#endif
#ifdef ENABLE_SOFTWARE_DEBOUNCE
#endif
#ifdef ENABLE_SOFTWARE_DEBOUNCE
serial_write('S');
#endif
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
#endif
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
serial_write('R');
#endif
#ifndef HOMING_INIT_LOCK
#endif
#ifndef HOMING_INIT_LOCK
serial_write('L');
#endif
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
#endif
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
serial_write('+');
#endif
#ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
#endif
#ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
serial_write('*');
#endif
#ifndef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // NOTE: Shown when disabled.
#endif
#ifndef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // NOTE: Shown when disabled.
serial_write('$');
#endif
#ifndef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // NOTE: Shown when disabled.
#endif
#ifndef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // NOTE: Shown when disabled.
serial_write('#');
#endif
#ifndef ENABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
#endif
#ifndef ENABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
serial_write('I');
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // NOTE: Shown when disabled.
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // NOTE: Shown when disabled.
serial_write('E');
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // NOTE: Shown when disabled.
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // NOTE: Shown when disabled.
serial_write('W');
#endif
#ifdef ENABLE_DUAL_AXIS
#endif
#ifdef ENABLE_DUAL_AXIS
serial_write('2');
#endif
#endif
// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
serial_write(',');
print_uint8_base10(BLOCK_BUFFER_SIZE-1);
print_uint8_base10(BLOCK_BUFFER_SIZE - 1);
serial_write(',');
print_uint8_base10(RX_BUFFER_SIZE);
report_util_feedback_line_feed();
}
// Prints the character string line Grbl has received from the user, which has been pre-parsed,
// and has been sent into protocol_execute_line() routine to be executed by Grbl.
void report_echo_line_received(char *line)
{
printPgmString(PSTR("[echo: ")); printString(line);
void report_echo_line_received(char *line) {
printPgmString(PSTR("[echo: "));
printString(line);
report_util_feedback_line_feed();
}
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status() {
uint8_t idx;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys_position,sizeof(sys_position));
memcpy(current_position, sys_position, sizeof(sys_position));
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position,current_position);
system_convert_array_steps_to_mpos(print_position, current_position);
// Report current machine state and sub-states
serial_write('<');
@ -479,8 +482,12 @@ void report_realtime_status()
case STATE_HOLD:
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
printPgmString(PSTR("Hold:"));
if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
else { serial_write('1'); } // Actively holding
if (sys.suspend & SUSPEND_HOLD_COMPLETE) {
serial_write('0');
} // Ready to resume
else {
serial_write('1');
} // Actively holding
break;
} // Continues to print jog state during jog cancel.
case STATE_JOG: printPgmString(PSTR("Jog")); break;
@ -507,40 +514,41 @@ void report_realtime_status()
}
float wco[N_AXIS];
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
(sys.report_wco_counter == 0) ) {
for (idx=0; idx< N_AXIS; idx++) {
if (bit_isfalse(settings.status_report_mask, BITFLAG_RT_STATUS_POSITION_TYPE) || (sys.report_wco_counter == 0)) {
for (idx = 0; idx < N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
wco[idx] = gc_state.coord_system[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) {
wco[idx] += gc_state.tool_length_offset;
}
if (bit_isfalse(settings.status_report_mask, BITFLAG_RT_STATUS_POSITION_TYPE)) {
print_position[idx] -= wco[idx];
}
}
}
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
if (bit_istrue(settings.status_report_mask, BITFLAG_RT_STATUS_POSITION_TYPE)) {
printPgmString(PSTR("|MPos:"));
} else {
printPgmString(PSTR("|WPos:"));
}
report_util_axis_values(print_position);
// Returns planner and serial read buffer states.
#ifdef REPORT_FIELD_BUFFER_STATE
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_BUFFER_STATE)) {
// Returns planner and serial read buffer states.
#ifdef REPORT_FIELD_BUFFER_STATE
if (bit_istrue(settings.status_report_mask, BITFLAG_RT_STATUS_BUFFER_STATE)) {
printPgmString(PSTR("|Bf:"));
print_uint8_base10(plan_get_block_buffer_available());
serial_write(',');
print_uint8_base10(serial_get_rx_buffer_available());
}
#endif
#endif
#ifdef USE_LINE_NUMBERS
#ifdef REPORT_FIELD_LINE_NUMBERS
#ifdef USE_LINE_NUMBERS
#ifdef REPORT_FIELD_LINE_NUMBERS
// Report current line number
plan_block_t * cur_block = plan_get_current_block();
plan_block_t *cur_block = plan_get_current_block();
if (cur_block != NULL) {
uint32_t ln = cur_block->line_number;
if (ln > 0) {
@ -548,75 +556,109 @@ void report_realtime_status()
printInteger(ln);
}
}
#endif
#endif
#endif
#endif
// Report realtime feed speed
#ifdef REPORT_FIELD_CURRENT_FEED_SPEED
#ifdef VARIABLE_SPINDLE
// Report realtime feed speed
#ifdef REPORT_FIELD_CURRENT_FEED_SPEED
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR("|FS:"));
printFloat_RateValue(st_get_realtime_rate());
serial_write(',');
printFloat(sys.spindle_speed,N_DECIMAL_RPMVALUE);
#else
printFloat(sys.spindle_speed, N_DECIMAL_RPMVALUE);
#else
printPgmString(PSTR("|F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
#endif
#endif
#endif
#ifdef REPORT_FIELD_PIN_STATE
#ifdef REPORT_FIELD_PIN_STATE
uint8_t lim_pin_state = limits_get_state();
uint8_t ctrl_pin_state = system_control_get_state();
uint8_t prb_pin_state = probe_get_state();
if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
printPgmString(PSTR("|Pn:"));
if (prb_pin_state) { serial_write('P'); }
if (prb_pin_state) {
serial_write('P');
}
if (lim_pin_state) {
#ifdef ENABLE_DUAL_AXIS
#if (DUAL_AXIS_SELECT == X_AXIS)
if (bit_istrue(lim_pin_state,(bit(X_AXIS)|bit(N_AXIS)))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
#endif
#if (DUAL_AXIS_SELECT == Y_AXIS)
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,(bit(Y_AXIS)|bit(N_AXIS)))) { serial_write('Y'); }
#endif
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
#else
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
#endif
#ifdef ENABLE_DUAL_AXIS
#if (DUAL_AXIS_SELECT == X_AXIS)
if (bit_istrue(lim_pin_state, (bit(X_AXIS) | bit(N_AXIS)))) {
serial_write('X');
}
if (bit_istrue(lim_pin_state, bit(Y_AXIS))) {
serial_write('Y');
}
#endif
#if (DUAL_AXIS_SELECT == Y_AXIS)
if (bit_istrue(lim_pin_state, bit(X_AXIS))) {
serial_write('X');
}
if (bit_istrue(lim_pin_state, (bit(Y_AXIS) | bit(N_AXIS)))) {
serial_write('Y');
}
#endif
if (bit_istrue(lim_pin_state, bit(Z_AXIS))) {
serial_write('Z');
}
#else
if (bit_istrue(lim_pin_state, bit(X_AXIS))) {
serial_write('X');
}
if (bit_istrue(lim_pin_state, bit(Y_AXIS))) {
serial_write('Y');
}
if (bit_istrue(lim_pin_state, bit(Z_AXIS))) {
serial_write('Z');
}
#endif
}
if (ctrl_pin_state) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
#endif
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(ctrl_pin_state, CONTROL_PIN_INDEX_SAFETY_DOOR)) {
serial_write('D');
}
#endif
if (bit_istrue(ctrl_pin_state, CONTROL_PIN_INDEX_RESET)) {
serial_write('R');
}
if (bit_istrue(ctrl_pin_state, CONTROL_PIN_INDEX_FEED_HOLD)) {
serial_write('H');
}
if (bit_istrue(ctrl_pin_state, CONTROL_PIN_INDEX_CYCLE_START)) {
serial_write('S');
}
}
#endif
}
#endif
#ifdef REPORT_FIELD_WORK_COORD_OFFSET
if (sys.report_wco_counter > 0) { sys.report_wco_counter--; }
else {
#ifdef REPORT_FIELD_WORK_COORD_OFFSET
if (sys.report_wco_counter > 0) {
sys.report_wco_counter--;
} else {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
} else { sys.report_wco_counter = (REPORT_WCO_REFRESH_IDLE_COUNT-1); }
if (sys.report_ovr_counter == 0) { sys.report_ovr_counter = 1; } // Set override on next report.
sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT - 1); // Reset counter for slow refresh
} else {
sys.report_wco_counter = (REPORT_WCO_REFRESH_IDLE_COUNT - 1);
}
if (sys.report_ovr_counter == 0) {
sys.report_ovr_counter = 1;
} // Set override on next report.
printPgmString(PSTR("|WCO:"));
report_util_axis_values(wco);
}
#endif
#endif
#ifdef REPORT_FIELD_OVERRIDES
if (sys.report_ovr_counter > 0) { sys.report_ovr_counter--; }
else {
#ifdef REPORT_FIELD_OVERRIDES
if (sys.report_ovr_counter > 0) {
sys.report_ovr_counter--;
} else {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
} else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT-1); }
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT - 1); // Reset counter for slow refresh
} else {
sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT - 1);
}
printPgmString(PSTR("|Ov:"));
print_uint8_base10(sys.f_override);
serial_write(',');
@ -629,34 +671,43 @@ void report_realtime_status()
if (sp_state || cl_state) {
printPgmString(PSTR("|A:"));
if (sp_state) { // != SPINDLE_STATE_DISABLE
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
serial_write('S'); // CW
#else
if (sp_state == SPINDLE_STATE_CW) { serial_write('S'); } // CW
else { serial_write('C'); } // CCW
#endif
#else
if (sp_state & SPINDLE_STATE_CW) { serial_write('S'); } // CW
else { serial_write('C'); } // CCW
#endif
#else
if (sp_state == SPINDLE_STATE_CW) {
serial_write('S');
} // CW
else {
serial_write('C');
} // CCW
#endif
#else
if (sp_state & SPINDLE_STATE_CW) {
serial_write('S');
} // CW
else {
serial_write('C');
} // CCW
#endif
}
if (cl_state & COOLANT_STATE_FLOOD) { serial_write('F'); }
#ifdef ENABLE_M7
if (cl_state & COOLANT_STATE_MIST) { serial_write('M'); }
#endif
if (cl_state & COOLANT_STATE_FLOOD) {
serial_write('F');
}
#ifdef ENABLE_M7
if (cl_state & COOLANT_STATE_MIST) {
serial_write('M');
}
#endif
}
}
#endif
#endif
serial_write('>');
report_util_line_feed();
}
#ifdef DEBUG
void report_realtime_debug()
{
}
void report_realtime_debug() {
}
#endif

2
grbl/report.h
View file

@ -125,7 +125,7 @@ void report_execute_startup_message(char *line, uint8_t status_code);
void report_build_info(char *line);
#ifdef DEBUG
void report_realtime_debug();
void report_realtime_debug();
#endif
#endif

132
grbl/serial.c
View file

@ -21,8 +21,8 @@
#include "grbl.h"
#define RX_RING_BUFFER (RX_BUFFER_SIZE+1)
#define TX_RING_BUFFER (TX_BUFFER_SIZE+1)
#define RX_RING_BUFFER (RX_BUFFER_SIZE + 1)
#define TX_RING_BUFFER (TX_BUFFER_SIZE + 1)
uint8_t serial_rx_buffer[RX_RING_BUFFER];
uint8_t serial_rx_buffer_head = 0;
@ -32,66 +32,67 @@ uint8_t serial_tx_buffer[TX_RING_BUFFER];
uint8_t serial_tx_buffer_head = 0;
volatile uint8_t serial_tx_buffer_tail = 0;
// Returns the number of bytes available in the RX serial buffer.
uint8_t serial_get_rx_buffer_available()
{
uint8_t serial_get_rx_buffer_available() {
uint8_t rtail = serial_rx_buffer_tail; // Copy to limit multiple calls to volatile
if (serial_rx_buffer_head >= rtail) { return(RX_BUFFER_SIZE - (serial_rx_buffer_head-rtail)); }
return((rtail-serial_rx_buffer_head-1));
if (serial_rx_buffer_head >= rtail) {
return (RX_BUFFER_SIZE - (serial_rx_buffer_head - rtail));
}
return ((rtail - serial_rx_buffer_head - 1));
}
// Returns the number of bytes used in the RX serial buffer.
// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h.
uint8_t serial_get_rx_buffer_count()
{
uint8_t serial_get_rx_buffer_count() {
uint8_t rtail = serial_rx_buffer_tail; // Copy to limit multiple calls to volatile
if (serial_rx_buffer_head >= rtail) { return(serial_rx_buffer_head-rtail); }
return (RX_BUFFER_SIZE - (rtail-serial_rx_buffer_head));
if (serial_rx_buffer_head >= rtail) {
return (serial_rx_buffer_head - rtail);
}
return (RX_BUFFER_SIZE - (rtail - serial_rx_buffer_head));
}
// Returns the number of bytes used in the TX serial buffer.
// NOTE: Not used except for debugging and ensuring no TX bottlenecks.
uint8_t serial_get_tx_buffer_count()
{
uint8_t serial_get_tx_buffer_count() {
uint8_t ttail = serial_tx_buffer_tail; // Copy to limit multiple calls to volatile
if (serial_tx_buffer_head >= ttail) { return(serial_tx_buffer_head-ttail); }
return (TX_RING_BUFFER - (ttail-serial_tx_buffer_head));
if (serial_tx_buffer_head >= ttail) {
return (serial_tx_buffer_head - ttail);
}
return (TX_RING_BUFFER - (ttail - serial_tx_buffer_head));
}
void serial_init()
{
// Set baud rate
#if BAUD_RATE < 57600
uint16_t UBRR0_value = ((F_CPU / (8L * BAUD_RATE)) - 1)/2 ;
void serial_init() {
// Set baud rate
#if BAUD_RATE < 57600
uint16_t UBRR0_value = ((F_CPU / (8L * BAUD_RATE)) - 1) / 2;
UCSR0A &= ~(1 << U2X0); // baud doubler off - Only needed on Uno XXX
#else
uint16_t UBRR0_value = ((F_CPU / (4L * BAUD_RATE)) - 1)/2;
#else
uint16_t UBRR0_value = ((F_CPU / (4L * BAUD_RATE)) - 1) / 2;
UCSR0A |= (1 << U2X0); // baud doubler on for high baud rates, i.e. 115200
#endif
#endif
UBRR0H = UBRR0_value >> 8;
UBRR0L = UBRR0_value;
// enable rx, tx, and interrupt on complete reception of a byte
UCSR0B |= (1<<RXEN0 | 1<<TXEN0 | 1<<RXCIE0);
UCSR0B |= (1 << RXEN0 | 1 << TXEN0 | 1 << RXCIE0);
// defaults to 8-bit, no parity, 1 stop bit
}
// Writes one byte to the TX serial buffer. Called by main program.
void serial_write(uint8_t data) {
// Calculate next head
uint8_t next_head = serial_tx_buffer_head + 1;
if (next_head == TX_RING_BUFFER) { next_head = 0; }
if (next_head == TX_RING_BUFFER) {
next_head = 0;
}
// Wait until there is space in the buffer
while (next_head == serial_tx_buffer_tail) {
// TODO: Restructure st_prep_buffer() calls to be executed here during a long print.
if (sys_rt_exec_state & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop.
if (sys_rt_exec_state & EXEC_RESET) {
return;
} // Only check for abort to avoid an endless loop.
}
// Store data and advance head
@ -102,10 +103,8 @@ void serial_write(uint8_t data) {
UCSR0B |= (1 << UDRIE0);
}
// Data Register Empty Interrupt handler
ISR(SERIAL_UDRE)
{
ISR(SERIAL_UDRE) {
uint8_t tail = serial_tx_buffer_tail; // Temporary serial_tx_buffer_tail (to optimize for volatile)
// Send a byte from the buffer
@ -113,18 +112,20 @@ ISR(SERIAL_UDRE)
// Update tail position
tail++;
if (tail == TX_RING_BUFFER) { tail = 0; }
if (tail == TX_RING_BUFFER) {
tail = 0;
}
serial_tx_buffer_tail = tail;
// Turn off Data Register Empty Interrupt to stop tx-streaming if this concludes the transfer
if (tail == serial_tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); }
if (tail == serial_tx_buffer_head) {
UCSR0B &= ~(1 << UDRIE0);
}
}
// Fetches the first byte in the serial read buffer. Called by main program.
uint8_t serial_read()
{
uint8_t serial_read() {
uint8_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile)
if (serial_rx_buffer_head == tail) {
return SERIAL_NO_DATA;
@ -132,16 +133,16 @@ uint8_t serial_read()
uint8_t data = serial_rx_buffer[tail];
tail++;
if (tail == RX_RING_BUFFER) { tail = 0; }
if (tail == RX_RING_BUFFER) {
tail = 0;
}
serial_rx_buffer_tail = tail;
return data;
}
}
ISR(SERIAL_RX)
{
ISR(SERIAL_RX) {
uint8_t data = UDR0;
uint8_t next_head;
@ -152,18 +153,23 @@ ISR(SERIAL_RX)
case CMD_STATUS_REPORT: system_set_exec_state_flag(EXEC_STATUS_REPORT); break; // Set as true
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
default:
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
switch (data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
}
break;
#ifdef DEBUG
case CMD_DEBUG_REPORT: {uint8_t sreg = SREG; cli(); bit_true(sys_rt_exec_debug,EXEC_DEBUG_REPORT); SREG = sreg;} break;
#endif
#ifdef DEBUG
case CMD_DEBUG_REPORT: {
uint8_t sreg = SREG;
cli();
bit_true(sys_rt_exec_debug, EXEC_DEBUG_REPORT);
SREG = sreg;
} break;
#endif
case CMD_FEED_OVR_RESET: system_set_exec_motion_override_flag(EXEC_FEED_OVR_RESET); break;
case CMD_FEED_OVR_COARSE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_PLUS); break;
case CMD_FEED_OVR_COARSE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_MINUS); break;
@ -173,20 +179,32 @@ ISR(SERIAL_RX)
case CMD_RAPID_OVR_MEDIUM: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_MEDIUM); break;
case CMD_RAPID_OVR_LOW: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_LOW); break;
case CMD_SPINDLE_OVR_RESET: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_RESET); break;
case CMD_SPINDLE_OVR_COARSE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS); break;
case CMD_SPINDLE_OVR_COARSE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS); break;
case CMD_SPINDLE_OVR_COARSE_PLUS:
system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS);
break;
case CMD_SPINDLE_OVR_COARSE_MINUS:
system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS);
break;
case CMD_SPINDLE_OVR_FINE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_PLUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS:
system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS);
break;
case CMD_SPINDLE_OVR_STOP: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP); break;
case CMD_COOLANT_FLOOD_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE); break;
#ifdef ENABLE_M7
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
case CMD_COOLANT_FLOOD_OVR_TOGGLE:
system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE);
break;
#ifdef ENABLE_M7
case CMD_COOLANT_MIST_OVR_TOGGLE:
system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE);
break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
} else { // Write character to buffer
next_head = serial_rx_buffer_head + 1;
if (next_head == RX_RING_BUFFER) { next_head = 0; }
if (next_head == RX_RING_BUFFER) {
next_head = 0;
}
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail) {
@ -197,8 +215,6 @@ ISR(SERIAL_RX)
}
}
void serial_reset_read_buffer()
{
void serial_reset_read_buffer() {
serial_rx_buffer_tail = serial_rx_buffer_head;
}

14
grbl/serial.h
View file

@ -22,21 +22,19 @@
#ifndef serial_h
#define serial_h
#ifndef RX_BUFFER_SIZE
#define RX_BUFFER_SIZE 128
#define RX_BUFFER_SIZE 128
#endif
#ifndef TX_BUFFER_SIZE
#ifdef USE_LINE_NUMBERS
#define TX_BUFFER_SIZE 112
#else
#define TX_BUFFER_SIZE 104
#endif
#ifdef USE_LINE_NUMBERS
#define TX_BUFFER_SIZE 112
#else
#define TX_BUFFER_SIZE 104
#endif
#endif
#define SERIAL_NO_DATA 0xff
void serial_init();
// Writes one byte to the TX serial buffer. Called by main program.

279
grbl/settings.c
View file

@ -23,7 +23,7 @@
settings_t settings;
const __flash settings_t defaults = {\
const __flash settings_t defaults = {
.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS,
.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME,
.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK,
@ -38,14 +38,10 @@ const __flash settings_t defaults = {\
.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY,
.homing_pulloff = DEFAULT_HOMING_PULLOFF,
.flags = (DEFAULT_REPORT_INCHES << BIT_REPORT_INCHES) | \
(DEFAULT_LASER_MODE << BIT_LASER_MODE) | \
(DEFAULT_INVERT_ST_ENABLE << BIT_INVERT_ST_ENABLE) | \
(DEFAULT_HARD_LIMIT_ENABLE << BIT_HARD_LIMIT_ENABLE) | \
(DEFAULT_HOMING_ENABLE << BIT_HOMING_ENABLE) | \
(DEFAULT_SOFT_LIMIT_ENABLE << BIT_SOFT_LIMIT_ENABLE) | \
(DEFAULT_INVERT_LIMIT_PINS << BIT_INVERT_LIMIT_PINS) | \
(DEFAULT_INVERT_PROBE_PIN << BIT_INVERT_PROBE_PIN),
.flags = (DEFAULT_REPORT_INCHES << BIT_REPORT_INCHES) | (DEFAULT_LASER_MODE << BIT_LASER_MODE) |
(DEFAULT_INVERT_ST_ENABLE << BIT_INVERT_ST_ENABLE) | (DEFAULT_HARD_LIMIT_ENABLE << BIT_HARD_LIMIT_ENABLE) |
(DEFAULT_HOMING_ENABLE << BIT_HOMING_ENABLE) | (DEFAULT_SOFT_LIMIT_ENABLE << BIT_SOFT_LIMIT_ENABLE) |
(DEFAULT_INVERT_LIMIT_PINS << BIT_INVERT_LIMIT_PINS) | (DEFAULT_INVERT_PROBE_PIN << BIT_INVERT_PROBE_PIN),
.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM,
.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM,
.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM,
@ -59,47 +55,38 @@ const __flash settings_t defaults = {\
.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL),
.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL)};
// Method to store startup lines into EEPROM
void settings_store_startup_line(uint8_t n, char *line)
{
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
void settings_store_startup_line(uint8_t n, char *line) {
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
protocol_buffer_synchronize(); // A startup line may contain a motion and be executing.
#endif
uint32_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
memcpy_to_eeprom_with_checksum(addr,(char*)line, LINE_BUFFER_SIZE);
#endif
uint32_t addr = n * (LINE_BUFFER_SIZE + 1) + EEPROM_ADDR_STARTUP_BLOCK;
memcpy_to_eeprom_with_checksum(addr, (char *)line, LINE_BUFFER_SIZE);
}
// Method to store build info into EEPROM
// NOTE: This function can only be called in IDLE state.
void settings_store_build_info(char *line)
{
void settings_store_build_info(char *line) {
// Build info can only be stored when state is IDLE.
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_BUILD_INFO,(char*)line, LINE_BUFFER_SIZE);
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_BUILD_INFO, (char *)line, LINE_BUFFER_SIZE);
}
// Method to store coord data parameters into EEPROM
void settings_write_coord_data(uint8_t coord_select, float *coord_data)
{
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
void settings_write_coord_data(uint8_t coord_select, float *coord_data) {
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
protocol_buffer_synchronize();
#endif
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
memcpy_to_eeprom_with_checksum(addr,(char*)coord_data, sizeof(float)*N_AXIS);
#endif
uint32_t addr = coord_select * (sizeof(float) * N_AXIS + 1) + EEPROM_ADDR_PARAMETERS;
memcpy_to_eeprom_with_checksum(addr, (char *)coord_data, sizeof(float) * N_AXIS);
}
// Method to store Grbl global settings struct and version number into EEPROM
// NOTE: This function can only be called in IDLE state.
void write_global_settings()
{
void write_global_settings() {
eeprom_put_char(0, SETTINGS_VERSION);
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_GLOBAL, (char*)&settings, sizeof(settings_t));
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_GLOBAL, (char *)&settings, sizeof(settings_t));
}
// Method to restore EEPROM-saved Grbl global settings back to defaults.
void settings_restore(uint8_t restore_flag) {
if (restore_flag & SETTINGS_RESTORE_DEFAULTS) {
@ -111,87 +98,83 @@ void settings_restore(uint8_t restore_flag) {
uint8_t idx;
float coord_data[N_AXIS];
memset(&coord_data, 0, sizeof(coord_data));
for (idx=0; idx <= SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data); }
for (idx = 0; idx <= SETTING_INDEX_NCOORD; idx++) {
settings_write_coord_data(idx, coord_data);
}
}
if (restore_flag & SETTINGS_RESTORE_STARTUP_LINES) {
#if N_STARTUP_LINE > 0
#if N_STARTUP_LINE > 0
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK, 0);
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK+1, 0); // Checksum
#endif
#if N_STARTUP_LINE > 1
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK+(LINE_BUFFER_SIZE+1), 0);
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK+(LINE_BUFFER_SIZE+2), 0); // Checksum
#endif
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK + 1, 0); // Checksum
#endif
#if N_STARTUP_LINE > 1
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK + (LINE_BUFFER_SIZE + 1), 0);
eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK + (LINE_BUFFER_SIZE + 2), 0); // Checksum
#endif
}
if (restore_flag & SETTINGS_RESTORE_BUILD_INFO) {
eeprom_put_char(EEPROM_ADDR_BUILD_INFO , 0);
eeprom_put_char(EEPROM_ADDR_BUILD_INFO+1 , 0); // Checksum
eeprom_put_char(EEPROM_ADDR_BUILD_INFO, 0);
eeprom_put_char(EEPROM_ADDR_BUILD_INFO + 1, 0); // Checksum
}
}
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_startup_line(uint8_t n, char *line)
{
uint32_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
if (!(memcpy_from_eeprom_with_checksum((char*)line, addr, LINE_BUFFER_SIZE))) {
uint8_t settings_read_startup_line(uint8_t n, char *line) {
uint32_t addr = n * (LINE_BUFFER_SIZE + 1) + EEPROM_ADDR_STARTUP_BLOCK;
if (!(memcpy_from_eeprom_with_checksum((char *)line, addr, LINE_BUFFER_SIZE))) {
// Reset line with default value
line[0] = 0; // Empty line
settings_store_startup_line(n, line);
return(false);
return (false);
}
return(true);
return (true);
}
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_build_info(char *line)
{
if (!(memcpy_from_eeprom_with_checksum((char*)line, EEPROM_ADDR_BUILD_INFO, LINE_BUFFER_SIZE))) {
uint8_t settings_read_build_info(char *line) {
if (!(memcpy_from_eeprom_with_checksum((char *)line, EEPROM_ADDR_BUILD_INFO, LINE_BUFFER_SIZE))) {
// Reset line with default value
line[0] = 0; // Empty line
settings_store_build_info(line);
return(false);
return (false);
}
return(true);
return (true);
}
// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
{
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
if (!(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float)*N_AXIS))) {
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data) {
uint32_t addr = coord_select * (sizeof(float) * N_AXIS + 1) + EEPROM_ADDR_PARAMETERS;
if (!(memcpy_from_eeprom_with_checksum((char *)coord_data, addr, sizeof(float) * N_AXIS))) {
// Reset with default zero vector
clear_vector_float(coord_data);
settings_write_coord_data(coord_select,coord_data);
return(false);
settings_write_coord_data(coord_select, coord_data);
return (false);
}
return(true);
return (true);
}
// Reads Grbl global settings struct from EEPROM.
uint8_t read_global_settings() {
// Check version-byte of eeprom
uint8_t version = eeprom_get_char(0);
if (version == SETTINGS_VERSION) {
// Read settings-record and check checksum
if (!(memcpy_from_eeprom_with_checksum((char*)&settings, EEPROM_ADDR_GLOBAL, sizeof(settings_t)))) {
return(false);
if (!(memcpy_from_eeprom_with_checksum((char *)&settings, EEPROM_ADDR_GLOBAL, sizeof(settings_t)))) {
return (false);
}
} else {
return(false);
return (false);
}
return(true);
return (true);
}
// A helper method to set settings from command line
uint8_t settings_store_global_setting(uint8_t parameter, float value) {
if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); }
if (value < 0.0) {
return (STATUS_NEGATIVE_VALUE);
}
if (parameter >= AXIS_SETTINGS_START_VAL) {
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
@ -202,35 +185,46 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
// Valid axis setting found.
switch (set_idx) {
case 0:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.max_rate[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
#ifdef MAX_STEP_RATE_HZ
if (value * settings.max_rate[parameter] > (MAX_STEP_RATE_HZ * 60.0)) {
return (STATUS_MAX_STEP_RATE_EXCEEDED);
}
#endif
settings.steps_per_mm[parameter] = value;
break;
case 1:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
#ifdef MAX_STEP_RATE_HZ
if (value * settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ * 60.0)) {
return (STATUS_MAX_STEP_RATE_EXCEEDED);
}
#endif
settings.max_rate[parameter] = value;
break;
case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 2:
settings.acceleration[parameter] = value * 60 * 60;
break; // Convert to mm/min^2 for grbl internal use.
case 3: settings.max_travel[parameter] = -value; break; // Store as negative for grbl internal use.
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
} else {
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) {
return (STATUS_INVALID_STATEMENT);
}
parameter -= AXIS_SETTINGS_INCREMENT;
}
}
} else {
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
switch(parameter) {
switch (parameter) {
case 0:
if (int_value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = int_value; break;
if (int_value < 3) {
return (STATUS_SETTING_STEP_PULSE_MIN);
}
settings.pulse_microseconds = int_value;
break;
case 1: settings.stepper_idle_lock_time = int_value; break;
case 2:
settings.step_invert_mask = int_value;
@ -241,40 +235,60 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
if (int_value) {
settings.flags |= BITFLAG_INVERT_ST_ENABLE;
} else {
settings.flags &= ~BITFLAG_INVERT_ST_ENABLE;
}
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
if (int_value) {
settings.flags |= BITFLAG_INVERT_LIMIT_PINS;
} else {
settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS;
}
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
if (int_value) {
settings.flags |= BITFLAG_INVERT_PROBE_PIN;
} else {
settings.flags &= ~BITFLAG_INVERT_PROBE_PIN;
}
probe_configure_invert_mask(false);
break;
case 10: settings.status_report_mask = int_value; break;
case 11: settings.junction_deviation = value; break;
case 12: settings.arc_tolerance = value; break;
case 13:
if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
if (int_value) {
settings.flags |= BITFLAG_REPORT_INCHES;
} else {
settings.flags &= ~BITFLAG_REPORT_INCHES;
}
system_flag_wco_change(); // Make sure WCO is immediately updated.
break;
case 20:
if (int_value) {
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) {
return (STATUS_SOFT_LIMIT_ERROR);
}
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
} else {
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE;
}
break;
case 21:
if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
if (int_value) {
settings.flags |= BITFLAG_HARD_LIMIT_ENABLE;
} else {
settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE;
}
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
if (int_value) {
settings.flags |= BITFLAG_HOMING_ENABLE;
} else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
@ -284,57 +298,70 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 30:
settings.rpm_max = value;
spindle_init();
break; // Re-initialize spindle rpm calibration
case 31:
settings.rpm_min = value;
spindle_init();
break; // Re-initialize spindle rpm calibration
case 32:
#ifdef VARIABLE_SPINDLE
if (int_value) { settings.flags |= BITFLAG_LASER_MODE; }
else { settings.flags &= ~BITFLAG_LASER_MODE; }
#else
return(STATUS_SETTING_DISABLED_LASER);
#endif
#ifdef VARIABLE_SPINDLE
if (int_value) {
settings.flags |= BITFLAG_LASER_MODE;
} else {
settings.flags &= ~BITFLAG_LASER_MODE;
}
#else
return (STATUS_SETTING_DISABLED_LASER);
#endif
break;
default:
return(STATUS_INVALID_STATEMENT);
default: return (STATUS_INVALID_STATEMENT);
}
}
write_global_settings();
return(STATUS_OK);
return (STATUS_OK);
}
// Initialize the config subsystem
void settings_init() {
if(!read_global_settings()) {
if (!read_global_settings()) {
report_status_message(STATUS_SETTING_READ_FAIL);
settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
report_grbl_settings();
}
}
// Returns step pin mask according to Grbl internal axis indexing.
uint8_t get_step_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
return((1<<Z_STEP_BIT));
uint8_t get_step_pin_mask(uint8_t axis_idx) {
if (axis_idx == X_AXIS) {
return ((1 << X_STEP_BIT));
}
if (axis_idx == Y_AXIS) {
return ((1 << Y_STEP_BIT));
}
return ((1 << Z_STEP_BIT));
}
// Returns direction pin mask according to Grbl internal axis indexing.
uint8_t get_direction_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
return((1<<Z_DIRECTION_BIT));
uint8_t get_direction_pin_mask(uint8_t axis_idx) {
if (axis_idx == X_AXIS) {
return ((1 << X_DIRECTION_BIT));
}
if (axis_idx == Y_AXIS) {
return ((1 << Y_DIRECTION_BIT));
}
return ((1 << Z_DIRECTION_BIT));
}
// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t get_limit_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
return((1<<Z_LIMIT_BIT));
uint8_t get_limit_pin_mask(uint8_t axis_idx) {
if (axis_idx == X_AXIS) {
return ((1 << X_LIMIT_BIT));
}
if (axis_idx == Y_AXIS) {
return ((1 << Y_LIMIT_BIT));
}
return ((1 << Z_LIMIT_BIT));
}

9
grbl/settings.h
View file

@ -24,7 +24,6 @@
#include "grbl.h"
// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
// when firmware is upgraded. Always stored in byte 0 of eeprom
#define SETTINGS_VERSION 10 // NOTE: Check settings_reset() when moving to next version.
@ -58,7 +57,7 @@
#define SETTINGS_RESTORE_STARTUP_LINES bit(2)
#define SETTINGS_RESTORE_BUILD_INFO bit(3)
#ifndef SETTINGS_RESTORE_ALL
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
#endif
// Define EEPROM memory address location values for Grbl settings and parameters
@ -72,10 +71,10 @@
// Define EEPROM address indexing for coordinate parameters
#define N_COORDINATE_SYSTEM 6 // Number of supported work coordinate systems (from index 1)
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+1 // Total number of system stored (from index 0)
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM + 1 // Total number of system stored (from index 0)
// NOTE: Work coordinate indices are (0=G54, 1=G55, ... , 6=G59)
#define SETTING_INDEX_G28 N_COORDINATE_SYSTEM // Home position 1
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM+1 // Home position 2
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM + 1 // Home position 2
// #define SETTING_INDEX_G92 N_COORDINATE_SYSTEM+2 // Coordinate offset (G92.2,G92.3 not supported)
// Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
@ -111,6 +110,7 @@ typedef struct {
uint16_t homing_debounce_delay;
float homing_pulloff;
} settings_t;
extern settings_t settings;
// Initialize the configuration subsystem (load settings from EEPROM)
@ -149,5 +149,4 @@ uint8_t get_direction_pin_mask(uint8_t i);
// Returns the limit pin mask according to Grbl's internal axis numbering
uint8_t get_limit_pin_mask(uint8_t i);
#endif

309
grbl/spindle_control.c
View file

@ -21,135 +21,135 @@
#include "grbl.h"
#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif
void spindle_init()
{
#ifdef VARIABLE_SPINDLE
void spindle_init() {
#ifdef VARIABLE_SPINDLE
// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
// combined unless configured otherwise.
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
SPINDLE_PWM_DDR |= (1 << SPINDLE_PWM_BIT); // Configure as PWM output pin.
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
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#else
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
#endif
pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
#else
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
#endif
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
SPINDLE_ENABLE_DDR |= (1 << SPINDLE_ENABLE_BIT); // Configure as output pin.
#else
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1 << SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
#endif
pwm_gradient = SPINDLE_PWM_RANGE / (settings.rpm_max - settings.rpm_min);
#else
SPINDLE_ENABLE_DDR |= (1 << SPINDLE_ENABLE_BIT); // Configure as output pin.
#ifndef ENABLE_DUAL_AXIS
SPINDLE_DIRECTION_DDR |= (1 << SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
#endif
spindle_stop();
}
uint8_t spindle_get_state()
{
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// 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
#else
if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
#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
uint8_t spindle_get_state() {
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
if (bit_isfalse(SPINDLE_ENABLE_PORT, (1 << SPINDLE_ENABLE_BIT))) {
return (SPINDLE_STATE_CW);
}
#endif
#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
#else
if (bit_istrue(SPINDLE_ENABLE_PORT, (1 << SPINDLE_ENABLE_BIT))) {
return (SPINDLE_STATE_CW);
}
#endif
return(SPINDLE_STATE_DISABLE);
#endif
#else
if (SPINDLE_TCCRA_REGISTER & (1 << SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
#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
}
#endif
#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
}
#endif
return (SPINDLE_STATE_DISABLE);
}
// 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().
void spindle_stop()
{
#ifdef VARIABLE_SPINDLE
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
void spindle_stop() {
#ifdef VARIABLE_SPINDLE
SPINDLE_TCCRA_REGISTER &= ~(1 << SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1 << SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1 << SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1 << SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1 << SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
}
#ifdef VARIABLE_SPINDLE
// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(uint8_t pwm_value)
{
// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(uint8_t pwm_value) {
SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
#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
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
#else
if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
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
SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
}
#endif
}
#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
#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.
{
// 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.
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;
@ -162,37 +162,37 @@ void spindle_stop()
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)
// 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);
pwm_value = floor(RPM_LINE_A4 * rpm - RPM_LINE_B4);
} else
#endif
#if (N_PIECES > 2)
#endif
#if (N_PIECES > 2)
if (rpm > RPM_POINT23) {
pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
pwm_value = floor(RPM_LINE_A3 * rpm - RPM_LINE_B3);
} else
#endif
#if (N_PIECES > 1)
#endif
#if (N_PIECES > 1)
if (rpm > RPM_POINT12) {
pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
pwm_value = floor(RPM_LINE_A2 * rpm - RPM_LINE_B2);
} else
#endif
#endif
{
pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
pwm_value = floor(RPM_LINE_A1 * rpm - RPM_LINE_B1);
}
}
sys.spindle_speed = rpm;
return(pwm_value);
}
return (pwm_value);
}
#else
#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.
{
// 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.
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.
@ -210,81 +210,84 @@ void spindle_stop()
// 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);
pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
}
return (pwm_value);
}
#endif
#endif
#endif
// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// 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)
void spindle_set_state(uint8_t state, float rpm)
#else
void _spindle_set_state(uint8_t state)
void _spindle_set_state(uint8_t state)
#endif
{
if (sys.abort) { return; } // Block during abort.
if (sys.abort) {
return;
} // Block during abort.
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
sys.spindle_speed = 0.0;
#endif
#endif
spindle_stop();
} else {
#if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS)
#if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS)
if (state == SPINDLE_ENABLE_CW) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
SPINDLE_DIRECTION_PORT &= ~(1 << SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
SPINDLE_DIRECTION_PORT |= (1 << SPINDLE_DIRECTION_BIT);
}
#endif
#endif
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
// 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);
if (state == SPINDLE_ENABLE_CCW) {
rpm = 0.0;
} // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
}
spindle_set_speed(spindle_compute_pwm_value(rpm));
#endif
#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
!defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
// 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);
#endif
#endif
#endif
#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || \
!defined(VARIABLE_SPINDLE)
// 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);
#endif
#endif
}
sys.report_ovr_counter = 0; // Set to report change immediately
}
// 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);
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
void _spindle_sync(uint8_t state)
{
if (sys.state == STATE_CHECK_MODE) { return; }
void _spindle_sync(uint8_t state) {
if (sys.state == STATE_CHECK_MODE) {
return;
}
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
_spindle_set_state(state);
}
}
#endif

32
grbl/spindle_control.h
View file

@ -29,7 +29,6 @@
#define SPINDLE_STATE_CW bit(0)
#define SPINDLE_STATE_CCW bit(1)
// Initializes spindle pins and hardware PWM, if enabled.
void spindle_init();
@ -41,33 +40,32 @@ uint8_t spindle_get_state();
// Called by spindle_sync() after sync and parking motion/spindle stop override during restore.
#ifdef VARIABLE_SPINDLE
// Called by g-code parser when setting spindle state and requires a buffer sync.
void spindle_sync(uint8_t state, float rpm);
// Called by g-code parser when setting spindle state and requires a buffer sync.
void spindle_sync(uint8_t state, float rpm);
// Sets spindle running state with direction, enable, and spindle PWM.
void spindle_set_state(uint8_t state, float rpm);
// Sets spindle running state with direction, enable, and spindle PWM.
void spindle_set_state(uint8_t state, float rpm);
// Sets spindle PWM quickly for stepper ISR. Also called by spindle_set_state().
// NOTE: 328p PWM register is 8-bit.
void spindle_set_speed(uint8_t pwm_value);
// Sets spindle PWM quickly for stepper ISR. Also called by spindle_set_state().
// NOTE: 328p PWM register is 8-bit.
void spindle_set_speed(uint8_t pwm_value);
// Computes 328p-specific PWM register value for the given RPM for quick updating.
uint8_t spindle_compute_pwm_value(float rpm);
// Computes 328p-specific PWM register value for the given RPM for quick updating.
uint8_t spindle_compute_pwm_value(float rpm);
#else
// Called by g-code parser when setting spindle state and requires a buffer sync.
#define spindle_sync(state, rpm) _spindle_sync(state)
void _spindle_sync(uint8_t state);
// Called by g-code parser when setting spindle state and requires a buffer sync.
#define spindle_sync(state, rpm) _spindle_sync(state)
void _spindle_sync(uint8_t state);
// Sets spindle running state with direction and enable.
#define spindle_set_state(state, rpm) _spindle_set_state(state)
void _spindle_set_state(uint8_t state);
// Sets spindle running state with direction and enable.
#define spindle_set_state(state, rpm) _spindle_set_state(state)
void _spindle_set_state(uint8_t state);
#endif
// Stop and start spindle routines. Called by all spindle routines and stepper ISR.
void spindle_stop();
#endif

636
grbl/stepper.c
View file

File diff suppressed because it is too large Load diff

2
grbl/stepper.h
View file

@ -23,7 +23,7 @@
#define stepper_h
#ifndef SEGMENT_BUFFER_SIZE
#define SEGMENT_BUFFER_SIZE 6
#define SEGMENT_BUFFER_SIZE 6
#endif
// Initialize and setup the stepper motor subsystem

363
grbl/system.c
View file

@ -20,98 +20,95 @@
#include "grbl.h"
void system_init()
{
void system_init() {
CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
#ifdef DISABLE_CONTROL_PIN_PULL_UP
#ifdef DISABLE_CONTROL_PIN_PULL_UP
CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
#else
#else
CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
#endif
#endif
CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
}
// Returns control pin state as a uint8 bitfield. Each bit indicates the input pin state, where
// triggered is 1 and not triggered is 0. Invert mask is applied. Bitfield organization is
// defined by the CONTROL_PIN_INDEX in the header file.
uint8_t system_control_get_state()
{
uint8_t system_control_get_state() {
uint8_t control_state = 0;
uint8_t pin = (CONTROL_PIN & CONTROL_MASK) ^ CONTROL_MASK;
#ifdef INVERT_CONTROL_PIN_MASK
#ifdef INVERT_CONTROL_PIN_MASK
pin ^= INVERT_CONTROL_PIN_MASK;
#endif
#endif
if (pin) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(pin,(1<<CONTROL_SAFETY_DOOR_BIT))) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
#else
if (bit_istrue(pin,(1<<CONTROL_FEED_HOLD_BIT))) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }
#endif
if (bit_istrue(pin,(1<<CONTROL_RESET_BIT))) { control_state |= CONTROL_PIN_INDEX_RESET; }
if (bit_istrue(pin,(1<<CONTROL_CYCLE_START_BIT))) { control_state |= CONTROL_PIN_INDEX_CYCLE_START; }
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(pin, (1 << CONTROL_SAFETY_DOOR_BIT))) {
control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR;
}
return(control_state);
#else
if (bit_istrue(pin, (1 << CONTROL_FEED_HOLD_BIT))) {
control_state |= CONTROL_PIN_INDEX_FEED_HOLD;
}
#endif
if (bit_istrue(pin, (1 << CONTROL_RESET_BIT))) {
control_state |= CONTROL_PIN_INDEX_RESET;
}
if (bit_istrue(pin, (1 << CONTROL_CYCLE_START_BIT))) {
control_state |= CONTROL_PIN_INDEX_CYCLE_START;
}
}
return (control_state);
}
// Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets
// only the realtime command execute variable to have the main program execute these when
// its ready. This works exactly like the character-based realtime commands when picked off
// directly from the incoming serial data stream.
ISR(CONTROL_INT_vect)
{
ISR(CONTROL_INT_vect) {
uint8_t pin = system_control_get_state();
if (pin) {
if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
if (bit_istrue(pin, CONTROL_PIN_INDEX_RESET)) {
mc_reset();
}
if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START)) {
if (bit_istrue(pin, CONTROL_PIN_INDEX_CYCLE_START)) {
bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
}
#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(pin,CONTROL_PIN_INDEX_FEED_HOLD)) {
#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(pin, CONTROL_PIN_INDEX_FEED_HOLD)) {
bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
#else
if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR)) {
#else
if (bit_istrue(pin, CONTROL_PIN_INDEX_SAFETY_DOOR)) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
#endif
#endif
}
}
}
// Returns if safety door is ajar(T) or closed(F), based on pin state.
uint8_t system_check_safety_door_ajar()
{
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
return(system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
#else
return(false); // Input pin not enabled, so just return that it's closed.
#endif
uint8_t system_check_safety_door_ajar() {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
return (system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
#else
return (false); // Input pin not enabled, so just return that it's closed.
#endif
}
// Executes user startup script, if stored.
void system_execute_startup(char *line)
{
void system_execute_startup(char *line) {
uint8_t n;
for (n=0; n < N_STARTUP_LINE; n++) {
for (n = 0; n < N_STARTUP_LINE; n++) {
if (!(settings_read_startup_line(n, line))) {
line[0] = 0;
report_execute_startup_message(line,STATUS_SETTING_READ_FAIL);
report_execute_startup_message(line, STATUS_SETTING_READ_FAIL);
} else {
if (line[0] != 0) {
uint8_t status_code = gc_execute_line(line);
report_execute_startup_message(line,status_code);
report_execute_startup_message(line, status_code);
}
}
}
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
@ -120,47 +117,63 @@ void system_execute_startup(char *line)
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t system_execute_line(char *line)
{
uint8_t system_execute_line(char *line) {
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case 'J' : // Jogging
switch (line[char_counter]) {
case 0: report_grbl_help(); break;
case 'J': // Jogging
// Execute only if in IDLE or JOG states.
if (sys.state != STATE_IDLE && sys.state != STATE_JOG) { return(STATUS_IDLE_ERROR); }
if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
return(gc_execute_line(line)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
if (sys.state != STATE_IDLE && sys.state != STATE_JOG) {
return (STATUS_IDLE_ERROR);
}
if (line[2] != '=') {
return (STATUS_INVALID_STATEMENT);
}
return (gc_execute_line(line)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
break;
case '$': case 'G': case 'C': case 'X':
if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
switch( line[1] ) {
case '$' : // Prints Grbl settings
if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
else { report_grbl_settings(); }
case '$':
case 'G':
case 'C':
case 'X':
if (line[2] != 0) {
return (STATUS_INVALID_STATEMENT);
}
switch (line[1]) {
case '$': // Prints Grbl settings
if (sys.state & (STATE_CYCLE | STATE_HOLD)) {
return (STATUS_IDLE_ERROR);
} // Block during cycle. Takes too long to print.
else {
report_grbl_settings();
}
break;
case 'G' : // Prints gcode parser state
case 'G': // Prints gcode parser state
// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
report_gcode_modes();
break;
case 'C' : // Set check g-code mode [IDLE/CHECK]
case 'C': // Set check g-code mode [IDLE/CHECK]
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
if (sys.state == STATE_CHECK_MODE) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
if (sys.state) {
return (STATUS_IDLE_ERROR);
} // Requires no alarm mode.
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock [ALARM]
case 'X': // Disable alarm lock [ALARM]
if (sys.state == STATE_ALARM) {
// Block if safety door is ajar.
if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); }
if (system_check_safety_door_ajar()) {
return (STATUS_CHECK_DOOR);
}
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
@ -168,189 +181,213 @@ uint8_t system_execute_line(char *line)
break;
}
break;
default :
default:
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
switch( line[1] ) {
case '#' : // Print Grbl NGC parameters
if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
else { report_ngc_parameters(); }
if (!(sys.state == STATE_IDLE || sys.state == STATE_ALARM)) {
return (STATUS_IDLE_ERROR);
}
switch (line[1]) {
case '#': // Print Grbl NGC parameters
if (line[2] != 0) {
return (STATUS_INVALID_STATEMENT);
} else {
report_ngc_parameters();
}
break;
case 'H' : // Perform homing cycle [IDLE/ALARM]
if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
case 'H': // Perform homing cycle [IDLE/ALARM]
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) {
return (STATUS_SETTING_DISABLED);
}
if (system_check_safety_door_ajar()) {
return (STATUS_CHECK_DOOR);
} // Block if safety door is ajar.
sys.state = STATE_HOMING; // Set system state variable
if (line[2] == 0) {
mc_homing_cycle(HOMING_CYCLE_ALL);
#ifdef HOMING_SINGLE_AXIS_COMMANDS
#ifdef HOMING_SINGLE_AXIS_COMMANDS
} else if (line[3] == 0) {
switch (line[2]) {
case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
default: return(STATUS_INVALID_STATEMENT);
default: return (STATUS_INVALID_STATEMENT);
}
#endif
} else {
return (STATUS_INVALID_STATEMENT);
}
#endif
} else { return(STATUS_INVALID_STATEMENT); }
if (!sys.abort) { // Execute startup scripts after successful homing.
sys.state = STATE_IDLE; // Set to IDLE when complete.
st_go_idle(); // Set steppers to the settings idle state before returning.
if (line[2] == 0) { system_execute_startup(line); }
if (line[2] == 0) {
system_execute_startup(line);
}
}
break;
case 'S' : // Puts Grbl to sleep [IDLE/ALARM]
if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) { return(STATUS_INVALID_STATEMENT); }
case 'S': // Puts Grbl to sleep [IDLE/ALARM]
if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) {
return (STATUS_INVALID_STATEMENT);
}
system_set_exec_state_flag(EXEC_SLEEP); // Set to execute sleep mode immediately
break;
case 'I' : // Print or store build info. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) {
case 'I': // Print or store build info. [IDLE/ALARM]
if (line[++char_counter] == 0) {
settings_read_build_info(line);
report_build_info(line);
#ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
#ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
} else { // Store startup line [IDLE/ALARM]
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
if (line[char_counter++] != '=') {
return (STATUS_INVALID_STATEMENT);
}
helper_var = char_counter; // Set helper variable as counter to start of user info line.
do {
line[char_counter-helper_var] = line[char_counter];
line[char_counter - helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
settings_store_build_info(line);
#endif
#endif
}
break;
case 'R' : // Restore defaults [IDLE/ALARM]
if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) { return(STATUS_INVALID_STATEMENT); }
case 'R': // Restore defaults [IDLE/ALARM]
if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) {
return (STATUS_INVALID_STATEMENT);
}
switch (line[5]) {
#ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
#ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
#endif
#ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
#endif
#ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
#endif
default: return(STATUS_INVALID_STATEMENT);
#endif
default: return (STATUS_INVALID_STATEMENT);
}
report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
mc_reset(); // Force reset to ensure settings are initialized correctly.
break;
case 'N' : // Startup lines. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
case 'N': // Startup lines. [IDLE/ALARM]
if (line[++char_counter] == 0) { // Print startup lines
for (helper_var = 0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
report_startup_line(helper_var, line);
}
}
break;
} else { // Store startup line [IDLE Only] Prevents motion during ALARM.
if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
if (sys.state != STATE_IDLE) {
return (STATUS_IDLE_ERROR);
} // Store only when idle.
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods [IDLE/ALARM]
if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
default: // Storing setting methods [IDLE/ALARM]
if (!read_float(line, &char_counter, &parameter)) {
return (STATUS_BAD_NUMBER_FORMAT);
}
if (line[char_counter++] != '=') {
return (STATUS_INVALID_STATEMENT);
}
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
line[char_counter - helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
if (helper_var) {
return (helper_var);
} else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
settings_store_startup_line(helper_var, line);
}
} else { // Store global setting.
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
return(settings_store_global_setting((uint8_t)parameter, value));
if (!read_float(line, &char_counter, &value)) {
return (STATUS_BAD_NUMBER_FORMAT);
}
if ((line[char_counter] != 0) || (parameter > 255)) {
return (STATUS_INVALID_STATEMENT);
}
return (settings_store_global_setting((uint8_t)parameter, value));
}
}
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
return (STATUS_OK); // If '$' command makes it to here, then everything's ok.
}
void system_flag_wco_change()
{
#ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
void system_flag_wco_change() {
#ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
protocol_buffer_synchronize();
#endif
#endif
sys.report_wco_counter = 0;
}
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
// serves as a central place to compute the transformation.
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
{
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx) {
float pos;
#ifdef COREXY
if (idx==X_AXIS) {
#ifdef COREXY
if (idx == X_AXIS) {
pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
} else if (idx==Y_AXIS) {
} else if (idx == Y_AXIS) {
pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
} else {
pos = steps[idx]/settings.steps_per_mm[idx];
pos = steps[idx] / settings.steps_per_mm[idx];
}
#else
pos = steps[idx]/settings.steps_per_mm[idx];
#endif
return(pos);
#else
pos = steps[idx] / settings.steps_per_mm[idx];
#endif
return (pos);
}
void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
{
void system_convert_array_steps_to_mpos(float *position, int32_t *steps) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
for (idx = 0; idx < N_AXIS; idx++) {
position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
}
return;
}
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
#ifdef COREXY
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps)
{
return( (steps[A_MOTOR] + steps[B_MOTOR])/2 );
}
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps)
{
return( (steps[A_MOTOR] - steps[B_MOTOR])/2 );
}
#endif
// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target)
{
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
#ifdef HOMING_FORCE_SET_ORIGIN
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
} else {
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#endif
}
return(false);
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps) {
return ((steps[A_MOTOR] + steps[B_MOTOR]) / 2);
}
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps) {
return ((steps[A_MOTOR] - steps[B_MOTOR]) / 2);
}
#endif
// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target) {
uint8_t idx;
for (idx = 0; idx < N_AXIS; idx++) {
#ifdef HOMING_FORCE_SET_ORIGIN
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if (bit_istrue(settings.homing_dir_mask, bit(idx))) {
if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) {
return (true);
}
} else {
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) {
return (true);
}
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) {
return (true);
}
#endif
}
return (false);
}
// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask) {

51
grbl/system.h
View file

@ -103,16 +103,16 @@
// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
#define N_CONTROL_PIN 4
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
#define CONTROL_PIN_INDEX_RESET bit(1)
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
#define N_CONTROL_PIN 4
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
#define CONTROL_PIN_INDEX_RESET bit(1)
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
#else
#define N_CONTROL_PIN 3
#define CONTROL_PIN_INDEX_RESET bit(0)
#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
#define N_CONTROL_PIN 3
#define CONTROL_PIN_INDEX_RESET bit(0)
#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
#endif
// Define spindle stop override control states.
@ -122,7 +122,6 @@
#define SPINDLE_STOP_OVR_RESTORE bit(2)
#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
// Define global system variables
typedef struct {
uint8_t state; // Tracks the current system state of Grbl.
@ -132,22 +131,23 @@ typedef struct {
uint8_t step_control; // Governs the step segment generator depending on system state.
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
#ifdef ENABLE_DUAL_AXIS
#ifdef ENABLE_DUAL_AXIS
uint8_t homing_axis_lock_dual;
#endif
#endif
uint8_t f_override; // Feed rate override value in percent
uint8_t r_override; // Rapids override value in percent
uint8_t spindle_speed_ovr; // Spindle speed value in percent
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
uint8_t override_ctrl; // Tracks override control states.
#endif
#ifdef VARIABLE_SPINDLE
#endif
#ifdef VARIABLE_SPINDLE
float spindle_speed;
#endif
#endif
} system_t;
extern system_t sys;
// NOTE: These position variables may need to be declared as volatiles, if problems arise.
@ -155,14 +155,17 @@ extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) positi
extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
extern volatile uint8_t
sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
extern volatile uint8_t
sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
extern volatile uint8_t
sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
#ifdef DEBUG
#define EXEC_DEBUG_REPORT bit(0)
extern volatile uint8_t sys_rt_exec_debug;
#define EXEC_DEBUG_REPORT bit(0)
extern volatile uint8_t sys_rt_exec_debug;
#endif
// Initialize the serial protocol
@ -180,7 +183,6 @@ uint8_t system_execute_line(char *line);
// Execute the startup script lines stored in EEPROM upon initialization
void system_execute_startup(char *line);
void system_flag_wco_change();
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
@ -191,8 +193,8 @@ void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
#ifdef COREXY
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
int32_t system_convert_corexy_to_x_axis_steps(int32_t *steps);
int32_t system_convert_corexy_to_y_axis_steps(int32_t *steps);
#endif
// Checks and reports if target array exceeds machine travel limits.
@ -208,5 +210,4 @@ void system_set_exec_accessory_override_flag(uint8_t mask);
void system_clear_exec_motion_overrides();
void system_clear_exec_accessory_overrides();
#endif