Revamped homing cycle. Axis limits and max travel bug fixes. Build info. Refactored config.h.
- Revamped and improved homing cycle. Now tied directly into the main planner and stepper code, which enables much faster homing seek rates. Also dropped the compiled flash size by almost 1KB, meaning 1KB more for other features. - Refactored config.h. Removed obsolete defines and configuration options. Moved lots of “advanced” options into the advanced area of the file. - Updated defaults.h with the new homing cycle. Also updated the Sherline 5400 defaults and added the ShapeOko2 defaults per user submissions. - Fixed a bug where the individual axes limits on velocity and acceleration were not working correctly. Caused by abs() returning a int, rather than a float. Corrected with fabs(). Duh. - Added build version/date to the Grbl welcome message to help indicate which version a user is operating on. - Max travel settings were not being defaulted into the settings EEPROM correctly. Fixed. - To stop a single axis during a multi-axes homing move, the stepper algorithm now has a simple axis lock mask which inhibits the desired axes from moving. Meaning, if one of the limit switches engages before the other, we stop that one axes and keep moving the other.
This commit is contained in:
Sonny Jeon
75
defaults.h
75
defaults.h
@ -56,8 +56,8 @@
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#endif
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@ -76,9 +76,9 @@
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#define DEFAULT_X_ACCELERATION (50.0*60*60) // 10 mm/min^2
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#define DEFAULT_Y_ACCELERATION (50.0*60*60) // 10 mm/min^2
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#define DEFAULT_Z_ACCELERATION (50.0*60*60) // 10 mm/min^2
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#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_X_MAX_TRAVEL 225.0 // mm
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#define DEFAULT_Y_MAX_TRAVEL 125.0 // mm
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#define DEFAULT_Z_MAX_TRAVEL 170.0 // mm
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_FEEDRATE 254.0 // mm/min (10 ipm)
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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@ -86,16 +86,16 @@
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#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
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#define DEFAULT_ARC_TOLERANCE 0.005 // mm
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_REPORT_INCHES 1 // true
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#define DEFAULT_REPORT_INCHES 0 // true
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#endif
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@ -136,7 +136,48 @@
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#endif
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#ifdef DEFAULTS_SHAPEOKO_2
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// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
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// grblShield with a 24V, 4.2A power supply.
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#define MICROSTEPS_XY 8
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#define STEP_REVS_XY 200
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#define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
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#define MICROSTEPS_Z 2
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#define STEP_REVS_Z 200
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#define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew
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#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
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#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
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#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
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#define DEFAULT_X_MAX_RATE 800.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 800.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 800.0 // mm/min
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#define DEFAULT_X_ACCELERATION (15.0*60*60) // 10 mm/min^2
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#define DEFAULT_Y_ACCELERATION (15.0*60*60) // 10 mm/min^2
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#define DEFAULT_Z_ACCELERATION (15.0*60*60) // 10 mm/min^2
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#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_FEEDRATE 250.0
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_ARC_TOLERANCE 0.005 // mm
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#define DEFAULT_DECIMAL_PLACES 3
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_INVERT_ST_ENABLE 0 // false
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#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#endif
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@ -150,15 +191,15 @@
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#define DEFAULT_X_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_Y_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_Z_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
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#define DEFAULT_X_MAX_RATE 7000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 7000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 7000.0 // mm/min
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#define DEFAULT_X_MAX_RATE 6000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 6000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 6000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (600.0*60*60) // 10 mm/min^2
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#define DEFAULT_Y_ACCELERATION (600.0*60*60) // 10 mm/min^2
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#define DEFAULT_Z_ACCELERATION (600.0*60*60) // 10 mm/min^2
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#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_X_MAX_TRAVEL 190.0 // mm
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#define DEFAULT_Y_MAX_TRAVEL 180.0 // mm
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#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_FEEDRATE 1000.0 // mm/min
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<Y_DIRECTION_BIT))
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@ -175,7 +216,7 @@
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // mm
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#endif
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