ManuelW/grbl-LPC-CoreXY
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Merge branch 'more-axis'

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This commit is contained in:
cprezzi 2017-08-03 15:07:11 +02:00
commit 4252f75a84
19 changed files with 803 additions and 226 deletions
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8
doc/markdown/settings.md
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@ -51,6 +51,7 @@ $27=1.000
$30=1000.
$31=0.
$32=0
$33=5000
$100=250.000
$101=250.000
$102=250.000
@ -63,6 +64,9 @@ $122=10.000
$130=200.000
$131=200.000
$132=200.000
$140=0.000
$141=0.000
$142=0.000
```
#### $x=val - Save Grbl setting
@ -227,6 +231,10 @@ When enabled, Grbl will move continuously through consecutive `G1`, `G2`, or `G3
When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds.
#### $33 - Spindle/Laser PWM frequency
This sets the PWM frequency.
#### $100, $101 and $102 – [X,Y,Z] steps/mm
Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know:

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doc/media/Thumbs.db Normal file
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2
grbl-lpc/current_control.cpp
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@ -55,7 +55,7 @@ void current_init()
set_current(0, settings.current[0]);
set_current(1, settings.current[1]);
set_current(2, settings.current[2]);
set_current(3, DEFAULT_A_CURRENT);
set_current(3, settings.current[3]);
#endif
}

182
grbl/config.h
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@ -31,12 +31,17 @@
#include "LPC17xx.h"
// 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.
// If doing so, simply comment out these two defines and see instructions below.
// #define DEFAULTS_GENERIC
// #define CPU_MAP_ATMEGA328P // Arduino Uno CPU
// Define board type for pin map and default settings.
//#define CPU_MAP_SMOOTHIEBOARD // Smoothieboard (NXP LPC1769 MCU)
#define CPU_MAP_C3D_REMIX // Cohesion3D Remix (NXP LPC1769 MCU)
//#define CPU_MAP_C3D_MINI // Cohesion3D Mini (NXP LPC1769 MCU)
//#define CPU_MAP_MKS_SBASE // MKS SBASE Board (NXP LPC1768 MCU)
//#define CPU_MAP_AZTEEG_X5 // Azteeg X5 Board (NXP LPC1769 MCU)
// Define machine type for machine specific defaults
//#define DEFAULTS_GENERIC
#define DEFAULTS_K40
//#define DEFAULTS_FABKIT
// Serial baud rate
// #define BAUD_RATE 230400
@ -108,10 +113,11 @@
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
// NOTE: The following are two examples to setup homing for 2-axis machines.
// #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS)) // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle.
//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS)) // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle.
#define HOMING_CYCLE_0 (1<<X_AXIS) // COREXY COMPATIBLE: First home X
#define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
// #define HOMING_CYCLE_0 (1<<X_AXIS) // COREXY COMPATIBLE: First home X
// #define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
// Homing cycle pattern is defined in Machine defaults!!!
// Number of homing cycles performed after when the machine initially jogs to limit switches.
// This help in preventing overshoot and should improve repeatability. This value should be one or
@ -130,7 +136,7 @@
// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
// Uncomment this define to force Grbl to always set the machine origin at bottom left.
#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
//#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
@ -170,7 +176,7 @@
// Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
// analog pin 4. Only use this option if you require a second coolant control pin.
// NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
// #define ENABLE_M7 // Disabled by default. Uncomment to enable.
//#define ENABLE_M7 // Disabled by default. Uncomment to enable.
// This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
// immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
@ -563,7 +569,7 @@
// LPC176x flash blocks have a rating of 10,000 write cycles. To prevent excess wear, we don't
// write G10, G28.1, and G30.1. Uncomment to enable these writes.
// #define STORE_COORD_DATA // Default disabled. Uncomment to enable.
#define STORE_COORD_DATA // Default disabled. Uncomment to enable.
// In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
// may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
@ -627,157 +633,5 @@
below.
*/
// Paste CPU_MAP definitions here.
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#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 LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#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 LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 29 // Z-MIN=28, Z-MAX=29
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
// hard limits not ported #define LIMIT_INT PCIE0 // Pin change interrupt enable pin
// hard limits not ported #define LIMIT_INT_vect PCINT0_vect
// hard limits not ported #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define spindle enable and spindle direction output pins.
/* not ported
#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 flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed // LPC_GPIO1->FIODIR
#define PROBE_PIN NotUsed // LPC_GPIO1->FIOPIN
#define PROBE_PORT NotUsed // LPC_GPIO1->FIOPIN
#define PROBE_BIT 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control
//#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable.
//#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
//#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
//#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// Paste default settings definitions here.
#define DEFAULT_X_STEPS_PER_MM 160.0
#define DEFAULT_Y_STEPS_PER_MM 160.0
#define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000 // mm/min
#define DEFAULT_Y_MAX_RATE 24000 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_X_CURRENT 0.4 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0.0 // Percent
#define DEFAULT_SPINDLE_PWM_MIN_VALUE 0.0 // Percent
#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100.0 // Percent
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 1 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 2.0 // mm
#endif

508
grbl/cpu_map.h
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@ -144,11 +144,517 @@
// 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_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#endif
#ifdef CPU_MAP_SMOOTHIEBOARD // (Smoothieboards)
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define A_DIRECTION_BIT 22
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define A_DISABLE_BIT 21
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
#define A_LIMIT_BIT 29 // reuse p1.29
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 6 // MOSFET 2.6
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 7 // MOSFET 2.7
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control
#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable (for C3d boards!)
#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// 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 // Defined in config.h
#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
#endif
#ifdef CPU_MAP_C3D_REMIX // (Cohesion3D Remix Boards)
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define A_DIRECTION_BIT 22
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define A_DISABLE_BIT 21
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
#define A_LIMIT_BIT 29 // reuse p1.29 from Z-MAX
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR LPC_GPIO2->FIODIR
#define COOLANT_FLOOD_PORT LPC_GPIO2->FIOPIN
#define COOLANT_FLOOD_BIT 6 // MOSFET 2.6
#define COOLANT_MIST_DDR LPC_GPIO2->FIODIR
#define COOLANT_MIST_PORT LPC_GPIO2->FIOPIN
#define COOLANT_MIST_BIT 7 // MOSFET 2.7
#define ENABLE_M7 // enables COOLANT MIST
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// 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 // Defined in config.h
#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
#endif
#ifdef CPU_MAP_C3D_MINI // (Cohesion3D Mini Boards)
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define A_DIRECTION_BIT 22
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define A_DISABLE_BIT 21
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
#define A_LIMIT_BIT 29 // reuse p1.29 from Z-MAX
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// 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 // Defined in config.h
#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
#endif
#ifdef CPU_MAP_MKS_SBASE // (MKS SBASE Boards)
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define A_DIRECTION_BIT 22
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define A_DISABLE_BIT 21
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
#define A_LIMIT_BIT 29 // reuse p1.29
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control
#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable (for C3d boards!)
#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// 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 // Defined in config.h
#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
#endif
#ifdef CPU_MAP_AZTEEG_X5 // (Azteeg X5 Boards) not tested yet!
// 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 LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 1
#define Y_STEP_BIT 2
#define Z_STEP_BIT 3
#define A_STEP_BIT 0
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 11
#define Y_DIRECTION_BIT 20
#define Z_DIRECTION_BIT 22
#define A_DIRECTION_BIT 5
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 10
#define Y_DISABLE_BIT 19
#define Z_DISABLE_BIT 21
#define A_DISABLE_BIT 4
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_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 LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=27
#define Y_LIMIT_BIT 25 // Y-MIN=25, Y-MAX=28
#define Z_LIMIT_BIT 26 // Z-MIN=26, Z-MAX=29
#define A_LIMIT_BIT 27 // reuse p1.27, as X-MAX is not used
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// 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 NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#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 NotUsed // 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 NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6 PWM1_CH7 PWM1_CH8
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26 ? ?
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7
#define SPINDLE_PWM_CHANNEL PWM1_CH8
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control via SPI not ported yet!
// 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 // Defined in config.h
#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
#endif
/*
#ifdef CPU_MAP_CUSTOM_PROC
// For a custom pin map or different processor, copy and edit one of the available cpu

159
grbl/defaults.h
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@ -32,37 +32,153 @@
#define DEFAULT_X_STEPS_PER_MM 250.0
#define DEFAULT_Y_STEPS_PER_MM 250.0
#define DEFAULT_Z_STEPS_PER_MM 250.0
#define DEFAULT_A_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 500.0 // mm/min
#define DEFAULT_Y_MAX_RATE 500.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_A_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_A_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_CURRENT 0.6 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0 // %
#define DEFAULT_SPINDLE_PWM_MIN_VALUE 1 // %
#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm (S-value)
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm (S-value)
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 0 // false
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 0 // false
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
#endif
#ifdef DEFAULTS_K40
// Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
#define DEFAULT_X_STEPS_PER_MM 160.0 // 200 stepps/rev. * 32 microstepps / 40mm/rev
#define DEFAULT_Y_STEPS_PER_MM 160.0
#define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_A_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
#define DEFAULT_A_MAX_RATE 24000.0 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
#define DEFAULT_A_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
#define DEFAULT_X_CURRENT 0.6 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
#define DEFAULT_A_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz (2000 - 20000)
#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0 // %
#define DEFAULT_SPINDLE_PWM_MIN_VALUE 1 // %
#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm (S-value)
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm (S-value)
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 3 // 3 = invert X+Y
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // true for microswitches / false for optical sensors
#define DEFAULT_SOFT_LIMIT_ENABLE 1 // true
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 1 // true
#define DEFAULT_HOMING_DIR_MASK 1 // move top/left
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 2.0 // mm
#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
#endif
#ifdef DEFAULTS_FABKIT
// Paste default settings definitions here.
#define DEFAULT_X_STEPS_PER_MM 80.0
#define DEFAULT_Y_STEPS_PER_MM 80.0
#define DEFAULT_Z_STEPS_PER_MM 640.0
#define DEFAULT_A_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 30000 // mm/min
#define DEFAULT_Y_MAX_RATE 4500 // mm/min
#define DEFAULT_Z_MAX_RATE 1200 // mm/min
#define DEFAULT_A_MAX_RATE 24000.0 // mm/min
#define DEFAULT_X_ACCELERATION (4000.0*60*60) // 4000*60*60 mm/min^2 = 4000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (250.0*60*60) // 250*60*60 mm/min^2 = 250 mm/sec^2
#define DEFAULT_Z_ACCELERATION (150.0*60*60) // 150*60*60 mm/min^2 = 150 mm/sec^2
#define DEFAULT_A_ACCELERATION (150.0*60*60) // 150*60*60 mm/min^2 = 150 mm/sec^2
#define DEFAULT_X_CURRENT 1.5 // amps
#define DEFAULT_Y_CURRENT 1.5 // amps
#define DEFAULT_Z_CURRENT 1.5 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 680.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 460.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm
#define DEFAULT_A_MAX_TRAVEL 150.0 // mm
#define DEFAULT_SPINDLE_PWM_FREQ 50000 // Hz
#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0 // %
#define DEFAULT_SPINDLE_PWM_MIN_VALUE 0 // %
#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
#define DEFAULT_SPINDLE_RPM_MAX 0.7 // rpm (S-value)
#define DEFAULT_SPINDLE_RPM_MIN 0.08 // rpm (S-value)
#define DEFAULT_STEP_PULSE_MICROSECONDS 1
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 2 // 2 = invert Y
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255// msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // true
#define DEFAULT_SOFT_LIMIT_ENABLE 1 // true
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 1 // true
#define DEFAULT_HOMING_DIR_MASK 1 // move top/left
#define DEFAULT_HOMING_FEED_RATE 60.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 2.0 // mm
#define HOMING_CYCLE_0 (1<<Z_AXIS)
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))
#endif
#ifdef DEFAULTS_SHERLINE_5400
@ -83,6 +199,7 @@
#define DEFAULT_X_MAX_TRAVEL 225.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 125.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 170.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 2800.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -128,6 +245,7 @@
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -173,6 +291,7 @@
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -217,6 +336,7 @@
#define DEFAULT_X_MAX_TRAVEL 425.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 465.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -262,6 +382,7 @@
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -307,6 +428,7 @@
#define DEFAULT_X_MAX_TRAVEL 740.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 790.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -350,6 +472,7 @@
#define DEFAULT_X_MAX_TRAVEL 190.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 180.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -389,6 +512,7 @@
#define DEFAULT_X_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 750.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -428,6 +552,7 @@
#define DEFAULT_X_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10

64
grbl/gcode.c
View File

@ -80,7 +80,7 @@ uint8_t gc_execute_line(char *line)
uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution
// Initialize bitflag tracking variables for axis indices compatible operations.
uint8_t axis_words = 0; // XYZ tracking
uint8_t axis_words = 0; // XYZA tracking
uint8_t ijk_words = 0; // IJK tracking
// Initialize command and value words and parser flags variables.
@ -296,7 +296,7 @@ uint8_t gc_execute_line(char *line)
legal g-code words and stores their value. Error-checking is performed later since some
words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
switch(letter){
// case 'A': // Not supported
case 'A': word_bit = WORD_A; gc_block.values.xyza[A_AXIS] = value; axis_words |= (1<<A_AXIS); break;
// case 'B': // Not supported
// case 'C': // Not supported
// case 'D': // Not supported
@ -316,9 +316,9 @@ uint8_t gc_execute_line(char *line)
if (value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); }
gc_block.values.t = int_value;
break;
case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
case 'X': word_bit = WORD_X; gc_block.values.xyza[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
case 'Y': word_bit = WORD_Y; gc_block.values.xyza[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
case 'Z': word_bit = WORD_Z; gc_block.values.xyza[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
}
@ -475,7 +475,7 @@ uint8_t gc_execute_line(char *line)
if (gc_block.modal.units == UNITS_MODE_INCHES) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] *= MM_PER_INCH;
gc_block.values.xyza[idx] *= MM_PER_INCH;
}
}
}
@ -549,11 +549,11 @@ uint8_t gc_execute_line(char *line)
if (gc_block.values.l == 20) {
// L20: Update coordinate system axis at current position (with modifiers) with programmed value
// WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos
gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx];
gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyza[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; }
} else {
// L2: Update coordinate system axis to programmed value.
gc_block.values.ijk[idx] = gc_block.values.xyz[idx];
gc_block.values.ijk[idx] = gc_block.values.xyza[idx];
}
} // Else, keep current stored value.
}
@ -567,10 +567,10 @@ uint8_t gc_execute_line(char *line)
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) {
// WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos
gc_block.values.xyz[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; }
gc_block.values.xyza[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyza[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] -= gc_state.tool_length_offset; }
} else {
gc_block.values.xyz[idx] = gc_state.coord_offset[idx];
gc_block.values.xyza[idx] = gc_state.coord_offset[idx];
}
}
break;
@ -585,17 +585,17 @@ uint8_t gc_execute_line(char *line)
if (axis_words) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
if ( bit_isfalse(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
gc_block.values.xyza[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
} else {
// Update specified value according to distance mode or ignore if absolute override is active.
// NOTE: G53 is never active with G28/30 since they are in the same modal group.
if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
// Apply coordinate offsets based on distance mode.
if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
gc_block.values.xyz[idx] += block_coord_system[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }
gc_block.values.xyza[idx] += block_coord_system[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] += gc_state.tool_length_offset; }
} else { // Incremental mode
gc_block.values.xyz[idx] += gc_state.position[idx];
gc_block.values.xyza[idx] += gc_state.position[idx];
}
}
}
@ -684,12 +684,12 @@ uint8_t gc_execute_line(char *line)
// Calculate the change in position along each selected axis
float x,y;
x = gc_block.values.xyz[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
y = gc_block.values.xyz[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target
x = gc_block.values.xyza[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
y = gc_block.values.xyza[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target
if (value_words & bit(WORD_R)) { // Arc Radius Mode
bit_false(value_words,bit(WORD_R));
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
// Convert radius value to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; }
@ -816,7 +816,7 @@ uint8_t gc_execute_line(char *line)
// an error, it issues an alarm to prevent further motion to the probe. It's also done there to
// allow the planner buffer to empty and move off the probe trigger before another probing cycle.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
break;
}
}
@ -832,7 +832,7 @@ uint8_t gc_execute_line(char *line)
} else {
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
}
if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z))); } // Remove axis words.
if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z)|bit(WORD_A))); } // Remove axis words.
if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]
/* -------------------------------------------------------------------------------------
@ -861,7 +861,7 @@ uint8_t gc_execute_line(char *line)
plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant);
uint8_t status = jog_execute(&plan_data, &gc_block);
if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); }
if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); }
return(status);
}
@ -985,10 +985,10 @@ uint8_t gc_execute_line(char *line)
if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change.
gc_state.modal.tool_length = gc_block.modal.tool_length;
if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_CANCEL) { // G49
gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
} // else G43.1
if ( gc_state.tool_length_offset != gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] ) {
gc_state.tool_length_offset = gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS];
if ( gc_state.tool_length_offset != gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] ) {
gc_state.tool_length_offset = gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS];
system_flag_wco_change();
}
}
@ -1022,7 +1022,7 @@ uint8_t gc_execute_line(char *line)
// Move to intermediate position before going home. Obeys current coordinate system and offsets
// and absolute and incremental modes.
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
if (axis_command) { mc_line(gc_block.values.xyz, pl_data); }
if (axis_command) { mc_line(gc_block.values.xyza, pl_data); }
mc_line(gc_block.values.ijk, pl_data);
memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
break;
@ -1033,7 +1033,7 @@ uint8_t gc_execute_line(char *line)
settings_write_coord_data(SETTING_INDEX_G30,gc_state.position,false,true);
break;
case NON_MODAL_SET_COORDINATE_OFFSET:
memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz));
memcpy(gc_state.coord_offset,gc_block.values.xyza,sizeof(gc_block.values.xyza));
system_flag_wco_change();
break;
case NON_MODAL_RESET_COORDINATE_OFFSET:
@ -1051,27 +1051,27 @@ uint8_t gc_execute_line(char *line)
if (axis_command == AXIS_COMMAND_MOTION_MODE) {
uint8_t gc_update_pos = GC_UPDATE_POS_TARGET;
if (gc_state.modal.motion == MOTION_MODE_LINEAR) {
mc_line(gc_block.values.xyz, pl_data);
mc_line(gc_block.values.xyza, pl_data);
} else if (gc_state.modal.motion == MOTION_MODE_SEEK) {
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
mc_line(gc_block.values.xyz, pl_data);
mc_line(gc_block.values.xyza, pl_data);
} else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) {
mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
mc_arc(gc_block.values.xyza, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE));
} else {
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
// NOTE: gc_block.values.xyza is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#endif
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
gc_update_pos = mc_probe_cycle(gc_block.values.xyza, pl_data, gc_parser_flags);
}
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
if (gc_update_pos == GC_UPDATE_POS_TARGET) {
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[]
memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); // gc_state.position[] = gc_block.values.xyza[]
} else if (gc_update_pos == GC_UPDATE_POS_SYSTEM) {
gc_sync_position(); // gc_state.position[] = sys_position
} // == GC_UPDATE_POS_NONE

3
grbl/gcode.h
View File

@ -149,6 +149,7 @@
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_A 13
// Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero
@ -206,7 +207,7 @@ typedef struct {
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[3]; // X,Y,Z Translational axes
float xyza[N_AXIS]; // X,Y,Z,A Translational axes
} gc_values_t;

2
grbl/grbl.h
View File

@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20170131"
#define GRBL_VERSION_BUILD "20170511"
// Define standard libraries used by Grbl.
#include <avr/io.h>

4
grbl/jog.c
View File

@ -33,11 +33,11 @@ uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
#endif
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
if (system_check_travel_limits(gc_block->values.xyza)) { 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.xyza,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;

3
grbl/motion_control.c
View File

@ -227,6 +227,9 @@ void mc_homing_cycle(uint8_t cycle_mask)
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
#ifdef HOMING_CYCLE_3
limits_go_home(HOMING_CYCLE_3); // Homing cycle 3
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.

3
grbl/motion_control.h
View File

@ -31,6 +31,9 @@
#define HOMING_CYCLE_X bit(X_AXIS)
#define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS)
#define HOMING_CYCLE_A bit(A_AXIS)
//#define HOMING_CYCLE_B bit(B_AXIS)
//#define HOMING_CYCLE_C bit(C_AXIS)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second

6
grbl/nuts_bolts.h
View File

@ -30,11 +30,13 @@
#define SOME_LARGE_VALUE 1.0E+38
// Axis array index values. Must start with 0 and be continuous.
#define N_AXIS 3 // Number of axes
#define N_AXIS 4 // Number of axes
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
// #define A_AXIS 3
#define A_AXIS 3
//#define B_AXIS 4
//#define C_AXIS 5
// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.

1
grbl/planner.c
View File

@ -336,6 +336,7 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS];
position_steps[A_AXIS] = sys_position[A_AXIS];
#else
memcpy(position_steps, sys_position, sizeof(sys_position));
#endif

3
grbl/report.c
View File

@ -575,6 +575,9 @@ void report_realtime_status()
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'); }
if (bit_istrue(lim_pin_state,bit(A_AXIS))) { serial_write('A'); }
//if (bit_istrue(lim_pin_state,bit(B_AXIS))) { serial_write('B'); }
//if (bit_istrue(lim_pin_state,bit(C_AXIS))) { serial_write('C'); }
}
if (ctrl_pin_state) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN

33
grbl/settings.c
View File

@ -112,18 +112,33 @@ void settings_restore(uint8_t restore_flag) {
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_MM;
//settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_MM;
//settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
//settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
//settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
//settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
//settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION;
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
//settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
//settings.max_travel[C_AXIS] = (-DEFAULT_C_MAX_TRAVEL);
settings.current[X_AXIS] = DEFAULT_X_CURRENT;
settings.current[Y_AXIS] = DEFAULT_Y_CURRENT;
settings.current[Z_AXIS] = DEFAULT_Z_CURRENT;
settings.current[A_AXIS] = DEFAULT_A_CURRENT;
//settings.current[B_AXIS] = DEFAULT_B_CURRENT;
//settings.current[C_AXIS] = DEFAULT_C_CURRENT;
write_global_settings(false);
}
@ -349,7 +364,11 @@ uint32_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));
if ( axis_idx == Z_AXIS ) { return((1<<Z_STEP_BIT)); }
return((1<<A_STEP_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_STEP_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_STEP_BIT)); }
//return((1<<C_STEP_BIT));
}
@ -358,7 +377,11 @@ uint32_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));
if ( axis_idx == Z_AXIS ) { return((1<<Z_DIRECTION_BIT)); }
return((1<<A_DIRECTION_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_DIRECTION_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_DIRECTION_BIT)); }
//return((1<<C_DIRECTION_BIT));
}
@ -367,5 +390,9 @@ uint32_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));
if ( axis_idx == Z_AXIS ) { return((1<<Z_LIMIT_BIT)); }
return((1<<A_LIMIT_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_LIMIT_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_LIMIT_BIT)); }
//return((1<<C_LIMIT_BIT));
}

2
grbl/settings.h
View File

@ -27,7 +27,7 @@
// 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.
#define SETTINGS_VERSION 11 // NOTE: Check settings_reset() when moving to next version.
// Define bit flag masks for the boolean settings in settings.flag.
#define BITFLAG_REPORT_INCHES bit(0)

43
grbl/stepper.c
View File

@ -97,7 +97,10 @@ typedef struct {
// Used by the bresenham line algorithm
uint32_t counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z;
counter_z,
counter_a;
//counter_b,
//counter_c;
#ifdef STEP_PULSE_DELAY
uint32_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif
@ -370,6 +373,9 @@ extern "C" void TIMER1_IRQHandler()
st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
st.steps[A_AXIS] = st.exec_block->steps[A_AXIS] >> st.exec_segment->amass_level;
//st.steps[B_AXIS] = st.exec_block->steps[B_AXIS] >> st.exec_segment->amass_level;
//st.steps[C_AXIS] = st.exec_block->steps[C_AXIS] >> st.exec_segment->amass_level;
#endif
#ifdef VARIABLE_SPINDLE
@ -433,6 +439,41 @@ extern "C" void TIMER1_IRQHandler()
if (st.exec_block->direction_bits & (1<<Z_DIRECTION_BIT)) { sys_position[Z_AXIS]--; }
else { sys_position[Z_AXIS]++; }
}
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_a += st.steps[A_AXIS];
#else
st.counter_a += st.exec_block->steps[A_AXIS];
#endif
if (st.counter_a > st.exec_block->step_event_count) {
st.step_outbits |= (1<<A_STEP_BIT);
st.counter_a -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<A_DIRECTION_BIT)) { sys_position[A_AXIS]--; }
else { sys_position[A_AXIS]++; }
}
/*
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_b += st.steps[B_AXIS];
#else
st.counter_b += st.exec_block->steps[B_AXIS];
#endif
if (st.counter_b > st.exec_block->step_event_count) {
st.step_outbits |= (1<<B_STEP_BIT);
st.counter_b -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<B_DIRECTION_BIT)) { sys_position[B_AXIS]--; }
else { sys_position[B_AXIS]++; }
}
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_c += st.steps[C_AXIS];
#else
st.counter_c += st.exec_block->steps[C_AXIS];
#endif
if (st.counter_c > st.exec_block->step_event_count) {
st.step_outbits |= (1<<C_STEP_BIT);
st.counter_c -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<C_DIRECTION_BIT)) { sys_position[C_AXIS]--; }
else { sys_position[C_AXIS]++; }
}
*/
// During a homing cycle, lock out and prevent desired axes from moving.
if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; }

3
grbl/system.c
View File

@ -185,6 +185,9 @@ uint8_t system_execute_line(char *line)
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;
case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
//case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
//case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
default: return(STATUS_INVALID_STATEMENT);
}
#endif