diff --git a/.gitignore b/.gitignore index 844cd7a..b61325d 100644 --- a/.gitignore +++ b/.gitignore @@ -3,3 +3,5 @@ *.elf *.DS_Store *.d + +README.md diff --git a/COPYING b/COPYING index 8bc8392..cdf88d6 100644 --- a/COPYING +++ b/COPYING @@ -1,56 +1,31 @@ ------------------------------------------------------------------------------ -COPYRIGHT NOTICE FOR GRBL v0.9: +COPYRIGHT NOTICE FOR GRBL: ------------------------------------------------------------------------------ -GRBL v0.9 - Embedded CNC g-code interpreter and motion-controller -Copyright (c) 2012-2014 Sungeun K. Jeon +Grbl - Embedded CNC g-code interpreter and motion-controller -This program is free software: you can redistribute it and/or modify +Copyright (c) 2011-2015 Sungeun K. Jeon +Copyright (c) 2009-2011 Simen Svale Skogsrud +Copyright (c) 2011 Jens Geisler + +Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. -This program is distributed in the hope that it will be useful, +Grbl is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License -along with this program. If not, see . - +along with Grbl. If not, see . ------------------------------------------------------------------------------ COPYRIGHT NOTICE(S) FOR WORK CONTAINED IN THIS SOFTWARE: ------------------------------------------------------------------------------ -The MIT License (MIT) - -GRBL(tm) v0.8 - Embedded CNC g-code interpreter and motion-controller -Copyright (c) 2009-2011 Simen Svale Skogsrud -Copyright (c) 2011-2013 Sungeun K. Jeon -Copyright (c) 2011 Jens Geisler - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. - -------------- - Copyright (c) 2008, Atmel Corporation All rights reserved. Redistribution and use in source and binary forms, with or without @@ -704,5 +679,3 @@ Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. END OF TERMS AND CONDITIONS - ------------------------------------------------------------------------------- diff --git a/Makefile b/Makefile index 9bc5615..79fb3bf 100644 --- a/Makefile +++ b/Makefile @@ -1,7 +1,7 @@ # Part of Grbl # # Copyright (c) 2009-2011 Simen Svale Skogsrud -# Copyright (c) 2012 Sungeun K. Jeon +# Copyright (c) 2012-2015 Sungeun K. Jeon # # Grbl is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by @@ -31,9 +31,11 @@ DEVICE ?= atmega328p CLOCK = 16000000 PROGRAMMER ?= -c avrisp2 -P usb -OBJECTS = main.o motion_control.o gcode.o spindle_control.o coolant_control.o serial.o \ - protocol.o stepper.o eeprom.o settings.o planner.o nuts_bolts.o limits.o \ - print.o probe.o report.o system.o +SOURCE = main.c motion_control.c gcode.c spindle_control.c coolant_control.c serial.c \ + protocol.c stepper.c eeprom.c settings.c planner.c nuts_bolts.c limits.c \ + print.c probe.c report.c system.c +BUILDDIR = build +SOURCEDIR = grbl # FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m @@ -42,22 +44,23 @@ FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m AVRDUDE = avrdude $(PROGRAMMER) -p $(DEVICE) -B 10 -F COMPILE = avr-gcc -Wall -Os -DF_CPU=$(CLOCK) -mmcu=$(DEVICE) -I. -ffunction-sections +OBJECTS = $(addprefix $(BUILDDIR)/,$(notdir $(SOURCE:.c=.o))) + # symbolic targets: all: grbl.hex -.c.o: - $(COMPILE) -c $< -o $@ - @$(COMPILE) -MM $< > $*.d +$(BUILDDIR)/%.o: $(SOURCEDIR)/%.c + $(COMPILE) -MMD -MP -c $< -o $@ .S.o: - $(COMPILE) -x assembler-with-cpp -c $< -o $@ + $(COMPILE) -x assembler-with-cpp -c $< -o $(BUILDDIR)/$@ # "-x assembler-with-cpp" should not be necessary since this is the default # file type for the .S (with capital S) extension. However, upper case # characters are not always preserved on Windows. To ensure WinAVR # compatibility define the file type manually. -.c.s: - $(COMPILE) -S $< -o $@ +#.c.s: + $(COMPILE) -S $< -o $(BUILDDIR)/$@ flash: all $(AVRDUDE) -U flash:w:grbl.hex:i @@ -73,25 +76,25 @@ load: all bootloadHID grbl.hex clean: - rm -f grbl.hex main.elf $(OBJECTS) $(OBJECTS:.o=.d) + rm -f grbl.hex $(BUILDDIR)/*.o $(BUILDDIR)/*.d $(BUILDDIR)/*.elf # file targets: -main.elf: $(OBJECTS) - $(COMPILE) -o main.elf $(OBJECTS) -lm -Wl,--gc-sections +$(BUILDDIR)/main.elf: $(OBJECTS) + $(COMPILE) -o $(BUILDDIR)/main.elf $(OBJECTS) -lm -Wl,--gc-sections -grbl.hex: main.elf +grbl.hex: $(BUILDDIR)/main.elf rm -f grbl.hex - avr-objcopy -j .text -j .data -O ihex main.elf grbl.hex - avr-size --format=berkeley main.elf + avr-objcopy -j .text -j .data -O ihex $(BUILDDIR)/main.elf grbl.hex + avr-size --format=berkeley $(BUILDDIR)/main.elf # If you have an EEPROM section, you must also create a hex file for the # EEPROM and add it to the "flash" target. # Targets for code debugging and analysis: disasm: main.elf - avr-objdump -d main.elf + avr-objdump -d $(BUILDDIR)/main.elf cpp: - $(COMPILE) -E main.c + $(COMPILE) -E $(SOURCEDIR)/main.c # include generated header dependencies --include $(OBJECTS:.o=.d) +-include $(BUILDDIR)/$(OBJECTS:.o=.d) diff --git a/README.md b/README.md deleted file mode 100644 index 59ed096..0000000 --- a/README.md +++ /dev/null @@ -1,83 +0,0 @@ -#Grbl - An embedded g-code interpreter and motion-controller for the Arduino/AVR328 microcontroller - -*** - -Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328. - -The controller is written in highly optimized C utilizing every clever feature of the AVR-chips to achieve precise timing and asynchronous operation. It is able to maintain up to 30kHz of stable, jitter free control pulses. - -It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and most canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow. - -Grbl includes full acceleration management with look ahead. That means the controller will look up to 18 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering. - -* [Licensing](https://github.com/grbl/grbl/wiki/Licensing): Grbl v0.9 is free software, released under the GPLv3 license. Obsolete versions of Grbl, v0.8 and prior, are released under the permissive MIT-license. This will ensure Grbl will always be an open-source project while making the code permissive for others. - -* For more information and help, check out our **[Wiki pages!](https://github.com/grbl/grbl/wiki)** If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks! - -* Lead Developer [_2011 - Current_]: Sonny Jeon, Ph.D. (USA) - -* Lead Developer [_2009 - 2011_]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl. - -*** - -_**Master Branch:**_ -* [Grbl v0.9g Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1m8E1Qa) _(2014-09-05)_ -* [Grbl v0.9g Atmega328p 16mhz 115200baud with ShapeOko2 defaults](http://bit.ly/1kOAzig) _(2014-09-05)_ - - **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9g:** - - Baudrate is now **115200** (Up from 9600). - - Settings WILL be overwritten. Please make sure you have a backup. Also, settings have been renumbered and some have changed how they work. See our [Configuring v0.9 Wiki page](https://github.com/grbl/grbl/wiki/Configuring-Grbl-v0.9) for details. - -_**Archives:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) -* [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G) -* [Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5) -* [Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1) -* [Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE) -* [Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu) - -------------- - -_Grbl is an open-source project and fueled by the free-time of our intrepid administrators and altruistic users. If you'd like to donate, all proceeds will be used to help keep this project sustainable and to fund supporting equipment. Thank you!_ - -| [![Donate](https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=EBQWAWQAAT878) | [![Flattr Grbl](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=chamnit&url=github.com/grbl/grbl&title=Grbl&language=&tags=github&category=software) | [![Support via Gratipay](https://cdn.rawgit.com/gratipay/gratipay-badge/2.1.3/dist/gratipay.png)](https://gratipay.com/chamnit/) | -|:--:|:--:|:--:| - - -*** - -##Update Summary for v0.9 from v0.8 - - **IMPORTANT: Default serial baudrate is now 115200! (Up from 9600). And your settings will be over-written! Make sure to have a backup.** - - **_NEW_ Super Smooth Stepper Algorithm:** Complete overhaul of the handling of the stepper driver to simplify and reduce task time per ISR tick. Much smoother operation with the new Adaptive Multi-Axis Step Smoothing (AMASS) algorithm which does what its name implies (see stepper.c source for details). Users should immediately see significant improvements in how their machines move and overall performance! - - **Stability and Robustness Updates:** Grbl's overall stability has been focused on for this version. The planner and step-execution interface has been completely re-written for robustness and incorruptibility by the introduction of an intermediate step segment buffer that "checks-out" steps from the planner buffer in real-time. This means we can now fearlessly drive Grbl to it's highest limits. Combined with the new stepper algorithm and planner optimizations, this translated to **5x to 10x** overall performance increases in our testing! Also, stability and robustness tests have been reported to easily take 1.4 million (yes, **million**) line g-code programs like a champ! - - **(x4)+ Faster Planner:** Planning computations improved four-fold or more by optimizing end-to-end operations, which included streamlining the computations and introducing a planner pointer to locate un-improvable portions of the buffer and not waste cycles recomputing them. - - **Compile-able via Arduino IDE!:** Grbl's source code may be now download and altered, and then be compiled and flashed directly through the Arduino IDE, which should work on all platforms. See the Wiki for details on how to do it. - - **G-Code Parser Overhaul:** Completely re-written from the ground-up for 100%-compliance* to the g-code standard. (* Parts of the NIST standard are a bit out-dated and arbitrary, so we altered some minor things to make more sense. Differences are outlined in the source code.) We also took steps to allow us to break up the g-code parser into distinct separate tasks, which is key for some future development ideas and improvements. - - **Independent Acceleration and Velocity Settings:** Each axes may be defined with unique acceleration and velocity parameters and Grbl will automagically calculate the maximum acceleration and velocity through a path depending on the direction traveled. This is very useful for machines that have very different axes properties, like the ShapeOko's z-axis. - - **Soft Limits:** Checks if any motion command exceeds workspace limits before executing it, and alarms out, if detected. Another safety feature, but, unlike hard limits, position does not get lost, as it forces a feed hold before erroring out. NOTE: This still requires limit switches for homing so Grbl knows where the machine origin is, and the new max axis travel settings configured correctly for the machine. - - **Probing:** The G38.2 straight probe and G43.1/49 tool offset g-code commands are now supported. A simple probe switch must be connected to the Uno analog pin 5 (normally-open to ground). Grbl will report the probe position back to the user when the probing cycle detects a pin state change. - - **Tool Length Offsets:** Probing doesn't make sense without tool length offsets(TLO), so we added it! The G43.1 dynamic TLO (described by linuxcnc.org) and G49 TLO cancel commands are now supported. G43.1 dynamic TLO works like the normal G43 TLO(NOT SUPPORTED) but requires an additional axis word with the offset value attached. We did this so Grbl does not have to track and maintain a tool offset database in its memory. Perhaps in the future, we will support a tool database, but not for this version. - - **Improved Arc Performance:** The larger the arc radius, the faster Grbl will trace it! We are now defining arcs in terms of arc chordal tolerance, rather than a fixed segment length. This automatically scales the arc segment length such that maximum radial error of the segment from the true arc is never more than the chordal tolerance value of a super-accurate default of 0.002 mm. - - **CPU Pin Mapping:** In an effort for Grbl to be compatible with other AVR architectures, such as the 1280 or 2560, a new cpu_map.h pin configuration file has been created to allow Grbl to be compiled for them. This is currently user supported, so your mileage may vary. If you run across a bug, please let us know or better send us a fix! Thanks in advance! - - **New Grbl SIMULATOR! (by @jgeisler and @ashelly):** A completely independent wrapper of the Grbl main source code that may be compiled as an executable on a computer. No Arduino required. Simply simulates the responses of Grbl as if it was on an Arduino. May be used for many things: checking out how Grbl works, pre-process moves for GUI graphics, debugging of new features, etc. Much left to do, but potentially very powerful, as the dummy AVR variables can be written to output anything you need. - - **Configurable Real-time Status Reporting:** Users can now customize the type of real-time data Grbl reports back when they issue a '?' status report. This includes data such as: machine position, work position, planner buffer usage, serial RX buffer usage. - - **Updated Homing Routine:** Sets workspace volume in all negative space regardless of limit switch position. Common on pro CNCs. But, the behavior may be changed by a compile-time option though. Now tied directly into the main planner and stepper modules to reduce flash space and allow maximum speeds during seeking. - - **Optional Limit Pin Sharing:** Limit switches can be combined to share the same pins to free up precious I/O pins for other purposes. When combined, users must adjust the homing cycle mask in config.h to not home the axes on a shared pin at the same time. Don't worry; hard limits and the homing cycle still work just like they did before. - - **Optional Variable Spindle Speed Output:** Available only as a compile-time option through the config.h file. Enables PWM output for 'S' g-code commands. Enabling this feature will swap the Z-limit D11 pin and spindle enable D12 pin to access the hardware PWM on pin D11. The Z-limit pin, now on D12, should work just as it did before. - - **Additional Compile-Time Feature Options:** Line number tracking, real-time feed rate reporting. - - **SLATED FOR v1.0 DEVELOPMENT** Jogging controls and feedrate/spindle/coolant overrides. (In v0.9, the framework for feedrate overrides are in-place, only the minor details to complete it have yet to be installed.) - -- -``` -List of Supported G-Codes in Grbl v0.9 - - Non-Modal Commands: G4, G10 L2, G10 L20, G28, G30, G28.1, G30.1, G53, G92, G92.1 - - Motion Modes: G0, G1, G2, G3, G38.1, G80 - - Feed Rate Modes: G93, G94 - - Unit Modes: G20, G21 - - Distance Modes: G90, G91 - - Plane Select Modes: G17, G18, G19 - - Tool Length Offset Modes: G43.1, G49 - - Coordinate System Modes: G54, G55, G56, G57, G58, G59 - - Program Flow: M0, M1, M2, M30* - - Coolant Control: M7*, M8, M9 - - Spindle Control: M3, M4, M5 -``` diff --git a/build/.gitignore b/build/.gitignore new file mode 100644 index 0000000..86d0cb2 --- /dev/null +++ b/build/.gitignore @@ -0,0 +1,4 @@ +# Ignore everything in this directory +* +# Except this file +!.gitignore \ No newline at end of file diff --git a/doc/logo/Grbl Logo 150px.png b/doc/logo/Grbl Logo 150px.png new file mode 100644 index 0000000..999886e Binary files /dev/null and b/doc/logo/Grbl Logo 150px.png differ diff --git a/doc/logo/Grbl Logo 250px.png b/doc/logo/Grbl Logo 250px.png new file mode 100644 index 0000000..bc9319b Binary files /dev/null and b/doc/logo/Grbl Logo 250px.png differ diff --git a/doc/logo/Grbl Logo 320px.png b/doc/logo/Grbl Logo 320px.png new file mode 100644 index 0000000..0a2f201 Binary files /dev/null and b/doc/logo/Grbl Logo 320px.png differ diff --git a/doc/logo/Grbl Logo 640px.png b/doc/logo/Grbl Logo 640px.png new file mode 100644 index 0000000..96a386a Binary files /dev/null and b/doc/logo/Grbl Logo 640px.png differ diff --git a/doc/logo/Grbl Logo.pdf b/doc/logo/Grbl Logo.pdf new file mode 100644 index 0000000..99a83ce Binary files /dev/null and b/doc/logo/Grbl Logo.pdf differ diff --git a/doc/logo/Grbl Logo.svg b/doc/logo/Grbl Logo.svg new file mode 100644 index 0000000..df083eb --- /dev/null +++ b/doc/logo/Grbl Logo.svg @@ -0,0 +1,134 @@ + + + + + + image/svg+xml + + + + + + + /Users/chamnit/Dropbox/documents/OHS/Logo/Grbl.DXF - scale = 58.043118, origin = (0.000000, 0.000000), auto = True + + + + + + + + + + + + + + + + + + + + + + + diff --git a/script/simple_stream.py b/doc/script/simple_stream.py similarity index 100% rename from script/simple_stream.py rename to doc/script/simple_stream.py diff --git a/script/stream.py b/doc/script/stream.py similarity index 100% rename from script/stream.py rename to doc/script/stream.py diff --git a/eeprom.h b/eeprom.h deleted file mode 100644 index 0743425..0000000 --- a/eeprom.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - eeprom.h - EEPROM methods - Part of Grbl - - The MIT License (MIT) - - GRBL(tm) - Embedded CNC g-code interpreter and motion-controller - Copyright (c) 2009-2011 Simen Svale Skogsrud - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -#ifndef eeprom_h -#define eeprom_h - -unsigned char eeprom_get_char(unsigned int addr); -void eeprom_put_char(unsigned int addr, unsigned char new_value); -void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size); -int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size); - -#endif diff --git a/config.h b/grbl/config.h similarity index 68% rename from config.h rename to grbl/config.h index b3dcbbd..6efb761 100644 --- a/config.h +++ b/grbl/config.h @@ -1,8 +1,9 @@ /* config.h - compile time configuration - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2013-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2013 Sungeun K. Jeon -*/ // This file contains compile-time configurations for Grbl's internal system. For the most part, // users will not need to directly modify these, but they are here for specific needs, i.e. @@ -32,7 +27,7 @@ #ifndef config_h #define config_h -#include "system.h" +#include "grbl.h" // For Arduino IDE compatibility. // Default settings. Used when resetting EEPROM. Change to desired name in defaults.h @@ -43,9 +38,9 @@ // Default cpu mappings. Grbl officially supports the Arduino Uno only. Other processor types // may exist from user-supplied templates or directly user-defined in cpu_map.h -#define CPU_MAP_ATMEGA328P_TRADITIONAL // Arduino Uno CPU +#define CPU_MAP_ATMEGA328P // Arduino Uno CPU -// Define runtime command special characters. These characters are 'picked-off' directly from the +// Define realtime command special characters. These characters are 'picked-off' directly from the // serial read data stream and are not passed to the grbl line execution parser. Select characters // that do not and must not exist in the streamed g-code program. ASCII control characters may be // used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in @@ -55,6 +50,7 @@ #define CMD_FEED_HOLD '!' #define CMD_CYCLE_START '~' #define CMD_RESET 0x18 // ctrl-x. +#define CMD_SAFETY_DOOR '@' // If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces // the user to perform the homing cycle (or override the locks) before doing anything else. This is @@ -107,6 +103,14 @@ #define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min #define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values +// If your machine has two limits switches wired in parallel to one axis, you will need to enable +// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell +// which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will +// alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one +// limit switch for each axis, don't enable this option. By keeping it disabled, you can perform a +// homing cycle while on the limit switch and not have to move the machine off of it. +// #define LIMITS_TWO_SWITCHES_ON_AXES + // Allows GRBL to track and report gcode line numbers. Enabling this means that the planning buffer // goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct // #define USE_LINE_NUMBERS // Disabled by default. Uncomment to enable. @@ -126,9 +130,62 @@ // NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless. // #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 +// the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the +// previous tool path, as if nothing happened. +// #define ENABLE_SAFETY_DOOR_INPUT_PIN // Default disabled. Uncomment to enable. + +// After the safety door switch has been toggled and restored, this setting sets the power-up delay +// between restoring the spindle and coolant and resuming the cycle. +// NOTE: Delay value is defined in milliseconds from zero to 65,535. +#define SAFETY_DOOR_SPINDLE_DELAY 4000 +#define SAFETY_DOOR_COOLANT_DELAY 1000 + +// Enable CoreXY kinematics. Use ONLY with CoreXY machines. +// IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to +// #define HOMING_CYCLE_0 (1< 255) -// #error Parameters ACCELERATION_TICKS / ISR_TICKS must be < 256 to prevent integer overflow. -// #endif + // --------------------------------------------------------------------------------------- diff --git a/coolant_control.c b/grbl/coolant_control.c similarity index 85% rename from coolant_control.c rename to grbl/coolant_control.c index 9f629ce..4429dd4 100644 --- a/coolant_control.c +++ b/grbl/coolant_control.c @@ -1,8 +1,8 @@ /* coolant_control.c - coolant control methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -18,10 +18,7 @@ along with Grbl. If not, see . */ -#include "system.h" -#include "coolant_control.h" -#include "protocol.h" -#include "gcode.h" +#include "grbl.h" void coolant_init() @@ -43,12 +40,8 @@ void coolant_stop() } -void coolant_run(uint8_t mode) +void coolant_set_state(uint8_t mode) { - if (sys.state == STATE_CHECK_MODE) { return; } - - protocol_auto_cycle_start(); //temp fix for M8 lockup - protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program. if (mode == COOLANT_FLOOD_ENABLE) { COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT); @@ -61,3 +54,11 @@ void coolant_run(uint8_t mode) coolant_stop(); } } + + +void coolant_run(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); +} diff --git a/coolant_control.h b/grbl/coolant_control.h similarity index 89% rename from coolant_control.h rename to grbl/coolant_control.h index db3c71c..7694a78 100644 --- a/coolant_control.h +++ b/grbl/coolant_control.h @@ -1,8 +1,8 @@ /* coolant_control.h - spindle control methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -24,6 +24,7 @@ void coolant_init(); void coolant_stop(); +void coolant_set_state(uint8_t mode); void coolant_run(uint8_t mode); #endif \ No newline at end of file diff --git a/cpu_map.h b/grbl/cpu_map.h similarity index 51% rename from cpu_map.h rename to grbl/cpu_map.h index e918fb2..6469616 100644 --- a/cpu_map.h +++ b/grbl/cpu_map.h @@ -1,8 +1,8 @@ /* cpu_map.h - CPU and pin mapping configuration file - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -31,7 +31,7 @@ //---------------------------------------------------------------------------------------- -#ifdef CPU_MAP_ATMEGA328P_TRADITIONAL // (Arduino Uno) Officially supported by Grbl. +#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl. // Define serial port pins and interrupt vectors. #define SERIAL_RX USART_RX_vect @@ -60,7 +60,7 @@ #define STEPPERS_DISABLE_MASK (1<. +*/ + +#ifndef eeprom_h +#define eeprom_h + +unsigned char eeprom_get_char(unsigned int addr); +void eeprom_put_char(unsigned int addr, unsigned char new_value); +void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size); +int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size); + +#endif diff --git a/grbl/examples/grblUpload/grblUpload.ino b/grbl/examples/grblUpload/grblUpload.ino new file mode 100644 index 0000000..581b6b3 --- /dev/null +++ b/grbl/examples/grblUpload/grblUpload.ino @@ -0,0 +1,29 @@ +/*********************************************************************** +This sketch compiles and uploads Grbl to your 328p-based Arduino! + +To use: +- First make sure you have imported Grbl source code into your Arduino + IDE. There are details on our Github website on how to do this. + +- Select your Arduino Board and Serial Port in the Tools drop-down menu. + NOTE: Grbl only officially supports 328p-based Arduinos, like the Uno. + Using other boards will likely not work! + +- Then just click 'Upload'. That's it! + +For advanced users: + If you'd like to see what else Grbl can do, there are some additional + options for customization and features you can enable or disable. + Navigate your file system to where the Arduino IDE has stored the Grbl + source code files, open the 'config.h' file in your favorite text + editor. Inside are dozens of feature descriptions and #defines. Simply + comment or uncomment the #defines or alter their assigned values, save + your changes, and then click 'Upload' here. + +Copyright (c) 2015 Sungeun K. Jeon +Released under the MIT-license. See license.txt for details. +***********************************************************************/ + +#include + +// Do not alter this file! diff --git a/grbl/examples/grblUpload/license.txt b/grbl/examples/grblUpload/license.txt new file mode 100644 index 0000000..1abcdb9 --- /dev/null +++ b/grbl/examples/grblUpload/license.txt @@ -0,0 +1,21 @@ +The MIT License (MIT) + +Copyright (c) 2015 Sungeun K. Jeon + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. \ No newline at end of file diff --git a/gcode.c b/grbl/gcode.c similarity index 91% rename from gcode.c rename to grbl/gcode.c index 1977d83..3893c61 100644 --- a/gcode.c +++ b/grbl/gcode.c @@ -1,9 +1,10 @@ /* gcode.c - rs274/ngc parser. - Part of Grbl v0.9 + Part of Grbl + + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2012-2014 Sungeun K. Jeon - Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or @@ -17,22 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "settings.h" -#include "protocol.h" -#include "gcode.h" -#include "motion_control.h" -#include "spindle_control.h" -#include "coolant_control.h" -#include "probe.h" -#include "report.h" +#include "grbl.h" // NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an // arbitrary value, and some GUIs may require more. So we increased it based on a max safe @@ -66,10 +53,7 @@ void gc_init() // limit pull-off routines. void gc_sync_position() { - uint8_t i; - for (i=0; i 255, variable type must be changed to uint16_t. - + uint16_t mantissa = 0; while (line[char_counter] != 0) { // Loop until no more g-code words in line. @@ -210,11 +193,10 @@ uint8_t gc_execute_line(char *line) case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3 case 38: switch(mantissa) { - case 20: gc_block.modal.motion = MOTION_MODE_PROBE; break; // G38.2 - // NOTE: If G38.3+ are enabled, change mantissa variable type to uint16_t. - // case 30: gc_block.modal.motion = MOTION_MODE_PROBE_NO_ERROR; break; // G38.3 Not supported. - // case 40: // Not supported. - // case 50: // Not supported. + case 20: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD; break; // G38.2 + case 30: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD_NO_ERROR; break; // G38.3 + case 40: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY; break; // G38.4 + case 50: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY_NO_ERROR; break; // G38.5 default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command] } mantissa = 0; // Set to zero to indicate valid non-integer G command. @@ -231,9 +213,16 @@ uint8_t gc_execute_line(char *line) } break; case 90: case 91: - word_bit = MODAL_GROUP_G3; - if (int_value == 90) { gc_block.modal.distance = DISTANCE_MODE_ABSOLUTE; } // G90 - else { gc_block.modal.distance = DISTANCE_MODE_INCREMENTAL; } // G91 + if (mantissa == 0) { + word_bit = MODAL_GROUP_G3; + if (int_value == 90) { gc_block.modal.distance = DISTANCE_MODE_ABSOLUTE; } // G90 + else { gc_block.modal.distance = DISTANCE_MODE_INCREMENTAL; } // G91 + } else { + word_bit = MODAL_GROUP_G4; + if (mantissa != 10) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported] + mantissa = 0; // Set to zero to indicate valid non-integer G command. + // Otherwise, arc IJK incremental mode is default. G91.1 does nothing. + } break; case 93: case 94: word_bit = MODAL_GROUP_G5; @@ -245,6 +234,12 @@ uint8_t gc_execute_line(char *line) if (int_value == 20) { gc_block.modal.units = UNITS_MODE_INCHES; } // G20 else { gc_block.modal.units = UNITS_MODE_MM; } // G21 break; + case 40: + word_bit = MODAL_GROUP_G7; + // NOTE: Not required since cutter radius compensation is always disabled. Only here + // to support G40 commands that often appear in g-code program headers to setup defaults. + // gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40 + break; case 43: case 49: word_bit = MODAL_GROUP_G8; // NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed, @@ -308,7 +303,7 @@ uint8_t gc_execute_line(char *line) } break; default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command] - } + } // Check for more than one command per modal group violations in the current block // NOTE: Variable 'word_bit' is always assigned, if the command is valid. @@ -490,7 +485,10 @@ uint8_t gc_execute_line(char *line) } } - // [13. Cutter radius compensation ]: NOT SUPPORTED. Error, if G53 is active. + // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED. Error, if enabled while G53 is active. + // [G40 Errors]: G2/3 arc is programmed after a G40. The linear move after disabling is less than tool diameter. + // NOTE: Since cutter radius compensation is never enabled, these G40 errors don't apply. Grbl supports G40 + // only for the purpose to not error when G40 is sent with a g-code program header to setup the default modes. // [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are. // [G43.1 Errors]: Motion command in same line. @@ -800,7 +798,8 @@ uint8_t gc_execute_line(char *line) } } break; - case MOTION_MODE_PROBE: + case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_TOWARD_NO_ERROR: + case MOTION_MODE_PROBE_AWAY: case MOTION_MODE_PROBE_AWAY_NO_ERROR: // [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate // is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning // an error, it issues an alarm to prevent further motion to the probe. It's also done there to @@ -827,6 +826,9 @@ uint8_t gc_execute_line(char *line) need to update the state and execute the block according to the order-of-execution. */ + // [0. Non-specific/common error-checks and miscellaneous setup]: + gc_state.line_number = gc_block.values.n; + // [1. Comments feedback ]: NOT SUPPORTED // [2. Set feed rate mode ]: @@ -837,10 +839,9 @@ uint8_t gc_execute_line(char *line) // [4. Set spindle speed ]: if (gc_state.spindle_speed != gc_block.values.s) { - gc_state.spindle_speed = gc_block.values.s; - // Update running spindle only if not in check mode and not already enabled. - if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_state.spindle_speed); } + if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_block.values.s); } + gc_state.spindle_speed = gc_block.values.s; } // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value. @@ -850,15 +851,15 @@ uint8_t gc_execute_line(char *line) // [7. Spindle control ]: if (gc_state.modal.spindle != gc_block.modal.spindle) { - gc_state.modal.spindle = gc_block.modal.spindle; // Update spindle control and apply spindle speed when enabling it in this block. - spindle_run(gc_state.modal.spindle, gc_state.spindle_speed); + spindle_run(gc_block.modal.spindle, gc_state.spindle_speed); + gc_state.modal.spindle = gc_block.modal.spindle; } // [8. Coolant control ]: if (gc_state.modal.coolant != gc_block.modal.coolant) { + coolant_run(gc_block.modal.coolant); gc_state.modal.coolant = gc_block.modal.coolant; - coolant_run(gc_state.modal.coolant); } // [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED @@ -872,7 +873,8 @@ uint8_t gc_execute_line(char *line) // [12. Set length units ]: gc_state.modal.units = gc_block.modal.units; - // [13. Cutter radius compensation ]: NOT SUPPORTED + // [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED + // gc_state.modal.cutter_comp = gc_block.modal.cutter_comp; // NOTE: Not needed since always disabled. // [14. Cutter length compensation ]: G43.1 and G49 supported. G43 NOT SUPPORTED. // NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms @@ -912,13 +914,13 @@ uint8_t gc_execute_line(char *line) // and absolute and incremental modes. if (axis_command) { #ifdef USE_LINE_NUMBERS - mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n); + mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number); #else mc_line(gc_block.values.xyz, -1.0, false); #endif } #ifdef USE_LINE_NUMBERS - mc_line(parameter_data, -1.0, false, gc_block.values.n); + mc_line(parameter_data, -1.0, false, gc_state.line_number); #else mc_line(parameter_data, -1.0, false); #endif @@ -948,41 +950,71 @@ uint8_t gc_execute_line(char *line) switch (gc_state.modal.motion) { case MOTION_MODE_SEEK: #ifdef USE_LINE_NUMBERS - mc_line(gc_block.values.xyz, -1.0, false, gc_block.values.n); + mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number); #else mc_line(gc_block.values.xyz, -1.0, false); #endif break; case MOTION_MODE_LINEAR: #ifdef USE_LINE_NUMBERS - mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n); + mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_state.line_number); #else mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate); #endif break; - case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: + case MOTION_MODE_CW_ARC: #ifdef USE_LINE_NUMBERS mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r, - gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, gc_block.values.n); + gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true, gc_state.line_number); #else mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r, - gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear); + gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true); + #endif + break; + case MOTION_MODE_CCW_ARC: + #ifdef USE_LINE_NUMBERS + mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r, + gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false, gc_state.line_number); + #else + mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r, + gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false); #endif break; - case MOTION_MODE_PROBE: + case MOTION_MODE_PROBE_TOWARD: // NOTE: gc_block.values.xyz 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. #ifdef USE_LINE_NUMBERS - mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_block.values.n); + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false, gc_state.line_number); #else - mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate); + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false); + #endif + break; + case MOTION_MODE_PROBE_TOWARD_NO_ERROR: + #ifdef USE_LINE_NUMBERS + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true, gc_state.line_number); + #else + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true); + #endif + break; + case MOTION_MODE_PROBE_AWAY: + #ifdef USE_LINE_NUMBERS + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false, gc_state.line_number); + #else + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false); + #endif + break; + case MOTION_MODE_PROBE_AWAY_NO_ERROR: + #ifdef USE_LINE_NUMBERS + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true, gc_state.line_number); + #else + mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true); #endif } // 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. - memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc.position[] = target[]; + memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[] } } @@ -992,12 +1024,14 @@ uint8_t gc_execute_line(char *line) gc_state.modal.program_flow = gc_block.modal.program_flow; if (gc_state.modal.program_flow) { protocol_buffer_synchronize(); // Finish all remaining buffered motions. Program paused when complete. - sys.auto_start = false; // Disable auto cycle start. Forces pause until cycle start issued. + + sys.suspend = true; + protocol_execute_realtime(); // Suspend execution. For both program pause or program end. // If complete, reset to reload defaults (G92.2,G54,G17,G90,G94,M48,G40,M5,M9). Otherwise, // re-enable program flow after pause complete, where cycle start will resume the program. if (gc_state.modal.program_flow == PROGRAM_FLOW_COMPLETED) { mc_reset(); } - else { gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; } + else { gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; } // Resume from program pause. } // TODO: % to denote start of program. Sets auto cycle start? @@ -1022,9 +1056,9 @@ uint8_t gc_execute_line(char *line) group 1 = {G81 - G89} (Motion modes: Canned cycles) group 4 = {M1} (Optional stop, ignored) group 6 = {M6} (Tool change) - group 7 = {G40, G41, G42} cutter radius compensation - group 8 = {G43} tool length offset (But G43.1/G94 IS SUPPORTED) - group 8 = {*M7} enable mist coolant + group 7 = {G41, G42} cutter radius compensation (G40 is supported) + group 8 = {G43} tool length offset (G43.1/G49 are supported) + group 8 = {*M7} enable mist coolant (* Compile-option) group 9 = {M48, M49} enable/disable feed and speed override switches group 10 = {G98, G99} return mode canned cycles group 13 = {G61, G61.1, G64} path control mode diff --git a/gcode.h b/grbl/gcode.h similarity index 74% rename from gcode.h rename to grbl/gcode.h index 8a29aab..10d4792 100644 --- a/gcode.h +++ b/grbl/gcode.h @@ -1,8 +1,9 @@ /* gcode.h - rs274/ngc parser. - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef gcode_h #define gcode_h @@ -35,21 +30,23 @@ // and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc). // NOTE: Modal group define values must be sequential and starting from zero. #define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal -#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G80] Motion +#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion #define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection #define MODAL_GROUP_G3 3 // [G90,G91] Distance mode -#define MODAL_GROUP_G5 4 // [G93,G94] Feed rate mode -#define MODAL_GROUP_G6 5 // [G20,G21] Units -#define MODAL_GROUP_G8 6 // [G43,G43.1,G49] Tool length offset -#define MODAL_GROUP_G12 7 // [G54,G55,G56,G57,G58,G59] Coordinate system selection +#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode +#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode +#define MODAL_GROUP_G6 6 // [G20,G21] Units +#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED. +#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset +#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection -#define MODAL_GROUP_M4 8 // [M0,M1,M2,M30] Stopping -#define MODAL_GROUP_M7 9 // [M3,M4,M5] Spindle turning -#define MODAL_GROUP_M8 10 // [M7,M8,M9] Coolant control +#define MODAL_GROUP_M4 10 // [M0,M1,M2,M30] Stopping +#define MODAL_GROUP_M7 11 // [M3,M4,M5] Spindle turning +#define MODAL_GROUP_M8 12 // [M7,M8,M9] Coolant control -#define OTHER_INPUT_F 11 -#define OTHER_INPUT_S 12 -#define OTHER_INPUT_T 13 +#define OTHER_INPUT_F 12 +#define OTHER_INPUT_S 13 +#define OTHER_INPUT_T 14 // Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used // internally by the parser to know which command to execute. @@ -71,8 +68,11 @@ #define MOTION_MODE_LINEAR 1 // G1 #define MOTION_MODE_CW_ARC 2 // G2 #define MOTION_MODE_CCW_ARC 3 // G3 -#define MOTION_MODE_PROBE 4 // G38.2 -#define MOTION_MODE_NONE 5 // G80 +#define MOTION_MODE_PROBE_TOWARD 4 // G38.2 NOTE: G38.2, G38.3, G38.4, G38.5 must be sequential. See report_gcode_modes(). +#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 5 // G38.3 +#define MOTION_MODE_PROBE_AWAY 6 // G38.4 +#define MOTION_MODE_PROBE_AWAY_NO_ERROR 7 // G38.5 +#define MOTION_MODE_NONE 8 // G80 // Modal Group G2: Plane select #define PLANE_SELECT_XY 0 // G17 (Default: Must be zero) @@ -83,6 +83,9 @@ #define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero) #define DISTANCE_MODE_INCREMENTAL 1 // G91 +// Modal Group G4: Arc IJK distance mode +#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero) + // Modal Group M4: Program flow #define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero) #define PROGRAM_FLOW_PAUSED 1 // M0, M1 @@ -96,6 +99,9 @@ #define UNITS_MODE_MM 0 // G21 (Default: Must be zero) #define UNITS_MODE_INCHES 1 // G20 +// Modal Group G7: Cutter radius compensation mode +#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero) + // Modal Group M7: Spindle control #define SPINDLE_DISABLE 0 // M5 (Default: Must be zero) #define SPINDLE_ENABLE_CW 1 // M3 @@ -132,16 +138,18 @@ // NOTE: When this struct is zeroed, the above defines set the defaults for the system. typedef struct { - uint8_t motion; // {G0,G1,G2,G3,G38.2,G80} - uint8_t feed_rate; // {G93,G94} - uint8_t units; // {G20,G21} - uint8_t distance; // {G90,G91} - uint8_t plane_select; // {G17,G18,G19} - uint8_t tool_length; // {G43.1,G49} - uint8_t coord_select; // {G54,G55,G56,G57,G58,G59} - uint8_t program_flow; // {M0,M1,M2,M30} - uint8_t coolant; // {M7,M8,M9} - uint8_t spindle; // {M3,M4,M5} + uint8_t motion; // {G0,G1,G2,G3,G38.2,G80} + uint8_t feed_rate; // {G93,G94} + uint8_t units; // {G20,G21} + uint8_t distance; // {G90,G91} + // uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only one supported. + uint8_t plane_select; // {G17,G18,G19} + // uint8_t cutter_comp; // {G40} NOTE: Don't track. Only one supported. + uint8_t tool_length; // {G43.1,G49} + uint8_t coord_select; // {G54,G55,G56,G57,G58,G59} + uint8_t program_flow; // {M0,M1,M2,M30} + uint8_t coolant; // {M7,M8,M9} + uint8_t spindle; // {M3,M4,M5} } gc_modal_t; typedef struct { @@ -164,6 +172,7 @@ typedef struct { float spindle_speed; // RPM float feed_rate; // Millimeters/min uint8_t tool; // Tracks tool number. NOT USED. + int32_t line_number; // Last line number sent float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code diff --git a/grbl/grbl.h b/grbl/grbl.h new file mode 100644 index 0000000..17886ba --- /dev/null +++ b/grbl/grbl.h @@ -0,0 +1,62 @@ +/* + grbl.h - main Grbl include file + Part of Grbl + + Copyright (c) 2015 Sungeun K. Jeon + + Grbl is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Grbl is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with Grbl. If not, see . +*/ + +#ifndef grbl_h +#define grbl_h + +// Grbl versioning system +#define GRBL_VERSION "0.9i" +#define GRBL_VERSION_BUILD "20150315" + +// Define standard libraries used by Grbl. +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// 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 "coolant_control.h" +#include "eeprom.h" +#include "gcode.h" +#include "limits.h" +#include "motion_control.h" +#include "planner.h" +#include "print.h" +#include "probe.h" +#include "protocol.h" +#include "report.h" +#include "serial.h" +#include "spindle_control.h" +#include "stepper.h" + +#endif diff --git a/limits.c b/grbl/limits.c similarity index 62% rename from limits.c rename to grbl/limits.c index 12cc248..83d93d9 100644 --- a/limits.c +++ b/grbl/limits.c @@ -1,9 +1,10 @@ /* limits.c - code pertaining to limit-switches and performing the homing cycle - Part of Grbl v0.9 - - Copyright (c) 2012-2014 Sungeun K. Jeon + Part of Grbl + Copyright (c) 2012-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud + Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or @@ -17,21 +18,9 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "settings.h" -#include "protocol.h" -#include "planner.h" -#include "stepper.h" -#include "motion_control.h" -#include "limits.h" -#include "report.h" +#include "grbl.h" + // Homing axis search distance multiplier. Computed by this value times the axis max travel. #define HOMING_AXIS_SEARCH_SCALAR 1.5 // Must be > 1 to ensure limit switch will be engaged. @@ -41,11 +30,11 @@ void limits_init() { LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins - if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { + #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 if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt @@ -89,9 +78,19 @@ void limits_disable() // locked out until a homing cycle or a kill lock command. Allows the user to disable the hard // limit setting if their limits are constantly triggering after a reset and move their axes. if (sys.state != STATE_ALARM) { - if (bit_isfalse(sys.execute,EXEC_ALARM)) { - mc_reset(); // Initiate system kill. - bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate hard limit critical event + if (!(sys.rt_exec_alarm)) { + #ifdef HARD_LIMIT_FORCE_STATE_CHECK + uint8_t bits = (LIMIT_PIN & LIMIT_MASK); + // Check limit pin state. + if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; } + if (bits) { + mc_reset(); // Initiate system kill. + bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event + } + #else + mc_reset(); // Initiate system kill. + bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event + #endif } } } @@ -102,13 +101,13 @@ void limits_disable() { WDTCSR &= ~(1< settings.max_travel[idx]) { max_travel = settings.max_travel[idx]; } } - max_travel *= -HOMING_AXIS_SEARCH_SCALAR; // Ensure homing switches engaged by over-estimating max travel. plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions. + plan_sync_position(); // Sync planner position to current machine position. do { // Initialize invert_pin boolean based on approach and invert pin user setting. @@ -154,25 +161,26 @@ void limits_go_home(uint8_t cycle_mask) else { invert_pin = !approach; } // Initialize and declare variables needed for homing routine. - uint8_t n_active_axis = 0; uint8_t axislock = 0; - + uint8_t n_active_axis = 0; + system_convert_array_steps_to_mpos(target,sys.position); for (idx=0; idx 0); // The active cycle axes should now be homed and machine limits have been located. By - // default, grbl defines machine space as all negative, as do most CNCs. Since limit switches + // default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches // can be on either side of an axes, check and set axes machine zero appropriately. Also, // set up pull-off maneuver from axes limit switches that have been homed. This provides // some initial clearance off the switches and should also help prevent them from falsely // triggering when hard limits are enabled or when more than one axes shares a limit pin. + #ifdef COREXY + int32_t off_axis_position = 0; + #endif + int32_t set_axis_position; + // Set machine positions for homed limit switches. Don't update non-homed axes. for (idx=0; idx 0.0) { + for (idx=0; idx. */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud -*/ #ifndef limits_h #define limits_h diff --git a/main.c b/grbl/main.c similarity index 78% rename from main.c rename to grbl/main.c index 6a57ba5..be8b938 100644 --- a/main.c +++ b/grbl/main.c @@ -1,9 +1,10 @@ /* main.c - An embedded CNC Controller with rs274/ngc (g-code) support - Part of Grbl v0.9 + Part of Grbl + + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2012-2014 Sungeun K. Jeon - Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or @@ -17,26 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "serial.h" -#include "settings.h" -#include "protocol.h" -#include "gcode.h" -#include "planner.h" -#include "stepper.h" -#include "spindle_control.h" -#include "coolant_control.h" -#include "motion_control.h" -#include "limits.h" -#include "probe.h" -#include "report.h" +#include "grbl.h" // Declare system global variable structure @@ -47,7 +30,7 @@ int main(void) { // Initialize system upon power-up. serial_init(); // Setup serial baud rate and interrupts - settings_init(); // Load grbl settings from EEPROM + settings_init(); // Load Grbl settings from EEPROM stepper_init(); // Configure stepper pins and interrupt timers system_init(); // Configure pinout pins and pin-change interrupt @@ -66,6 +49,11 @@ int main(void) if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; } #endif + // Force Grbl into an ALARM state upon a power-cycle or hard reset. + #ifdef FORCE_INITIALIZATION_ALARM + 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(;;) { @@ -89,9 +77,9 @@ int main(void) // Reset system variables. sys.abort = false; - sys.execute = 0; - if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = true; } - else { sys.auto_start = false; } + sys.rt_exec_state = 0; + sys.rt_exec_alarm = 0; + sys.suspend = false; // Start Grbl main loop. Processes program inputs and executes them. protocol_main_loop(); diff --git a/motion_control.c b/grbl/motion_control.c similarity index 79% rename from motion_control.c rename to grbl/motion_control.c index 66633d1..bfd42d7 100644 --- a/motion_control.c +++ b/grbl/motion_control.c @@ -1,8 +1,10 @@ /* motion_control.c - high level interface for issuing motion commands - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,26 +19,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon - Copyright (c) 2011 Jens Geisler -*/ -#include "system.h" -#include "settings.h" -#include "protocol.h" -#include "gcode.h" -#include "planner.h" -#include "stepper.h" -#include "motion_control.h" -#include "spindle_control.h" -#include "coolant_control.h" -#include "limits.h" -#include "probe.h" -#include "report.h" +#include "grbl.h" // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second @@ -76,26 +60,23 @@ // If the buffer is full: good! That means we are well ahead of the robot. // Remain in this loop until there is room in the buffer. do { - protocol_execute_runtime(); // Check for any run-time commands + 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; } } while (1); + // Plan and queue motion into planner buffer #ifdef USE_LINE_NUMBERS plan_buffer_line(target, feed_rate, invert_feed_rate, line_number); #else plan_buffer_line(target, feed_rate, invert_feed_rate); #endif - - // If idle, indicate to the system there is now a planned block in the buffer ready to cycle - // start. Otherwise ignore and continue on. - if (!sys.state) { sys.state = STATE_QUEUED; } } // Execute an arc in offset mode format. position == current xyz, target == target xyz, -// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is +// 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 // for vector transformation direction. // The arc is approximated by generating a huge number of tiny, linear segments. The chordal tolerance @@ -103,10 +84,10 @@ // distance from segment to the circle when the end points both lie on the circle. #ifdef USE_LINE_NUMBERS void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, - uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number) + uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number) #else void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, - uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear) + uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc) #endif { float center_axis0 = position[axis_0] + offset[axis_0]; @@ -118,7 +99,7 @@ // CCW angle between position and target from circle center. Only one atan2() trig computation required. float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); - if (gc_state.modal.motion == MOTION_MODE_CW_ARC) { // Correct atan2 output per direction + if (is_clockwise_arc) { // Correct atan2 output per direction if (angular_travel >= 0) { angular_travel -= 2*M_PI; } } else { if (angular_travel <= 0) { angular_travel += 2*M_PI; } @@ -227,8 +208,8 @@ void mc_dwell(float seconds) protocol_buffer_synchronize(); delay_ms(floor(1000*seconds-i*DWELL_TIME_STEP)); // Delay millisecond remainder. while (i-- > 0) { - // NOTE: Check and execute runtime commands during dwell every <= DWELL_TIME_STEP milliseconds. - protocol_execute_runtime(); + // NOTE: Check and execute realtime commands during dwell every <= DWELL_TIME_STEP milliseconds. + protocol_execute_realtime(); if (sys.abort) { return; } _delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment } @@ -240,7 +221,19 @@ void mc_dwell(float seconds) // executing the homing cycle. This prevents incorrect buffered plans after homing. void mc_homing_cycle() { - sys.state = STATE_HOMING; // Set system state variable + // 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 + uint8_t limit_state = (LIMIT_PIN & LIMIT_MASK); + if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; } + if (limit_state) { + mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown. + bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); + return; + } + #endif + limits_disable(); // Disable hard limits pin change register for cycle duration // ------------------------------------------------------------------------------------- @@ -255,7 +248,7 @@ void mc_homing_cycle() limits_go_home(HOMING_CYCLE_2); // Homing cycle 2 #endif - protocol_execute_runtime(); // Check for reset and set system abort. + protocol_execute_realtime(); // Check for reset and set system abort. if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm. // Homing cycle complete! Setup system for normal operation. @@ -264,10 +257,6 @@ void mc_homing_cycle() // Gcode parser position was circumvented by the limits_go_home() routine, so sync position now. gc_sync_position(); - // Set idle state after homing completes and before returning to main program. - sys.state = STATE_IDLE; - st_go_idle(); // Set idle state after homing completes - // If hard limits feature enabled, re-enable hard limits pin change register after homing cycle. limits_init(); } @@ -276,9 +265,11 @@ void mc_homing_cycle() // Perform tool length probe cycle. Requires probe switch. // NOTE: Upon probe failure, the program will be stopped and placed into ALARM state. #ifdef USE_LINE_NUMBERS - void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number) + void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away, + uint8_t is_no_error, int32_t line_number) #else - void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate) + void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away, + uint8_t is_no_error) #endif { // TODO: Need to update this cycle so it obeys a non-auto cycle start. @@ -286,12 +277,16 @@ void mc_homing_cycle() // Finish all queued commands and empty planner buffer before starting probe cycle. protocol_buffer_synchronize(); - uint8_t auto_start_state = sys.auto_start; // Store run state + + // Initialize probing control variables + 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. - if (probe_get_state()) { - bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); - protocol_execute_runtime(); + // NOTE: This probe initialization error applies to all probing cycles. + if ( probe_get_state() ) { // Check probe pin state. + bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL); + protocol_execute_realtime(); } if (sys.abort) { return; } // Return if system reset has been issued. @@ -302,45 +297,37 @@ void mc_homing_cycle() mc_line(target, feed_rate, invert_feed_rate); #endif - // Activate the probing monitor in the stepper module. + // Activate the probing state monitor in the stepper module. sys.probe_state = PROBE_ACTIVE; // Perform probing cycle. Wait here until probe is triggered or motion completes. - bit_true_atomic(sys.execute, EXEC_CYCLE_START); + bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); do { - protocol_execute_runtime(); + protocol_execute_realtime(); if (sys.abort) { return; } // Check for system abort - } while ((sys.state != STATE_IDLE) && (sys.state != STATE_QUEUED)); - - // Probing motion complete. If the probe has not been triggered, error out. - if (sys.probe_state == PROBE_ACTIVE) { bit_true_atomic(sys.execute, EXEC_CRIT_EVENT); } - protocol_execute_runtime(); // Check and execute run-time commands + } 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(float)*N_AXIS); } + else { bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL); } + } else { + sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully. + } + sys.probe_state = PROBE_OFF; // Ensure probe state monitor is disabled. + protocol_execute_realtime(); // Check and execute run-time commands if (sys.abort) { return; } // Check for system abort // Reset the stepper and planner buffers to remove the remainder of the probe motion. st_reset(); // Reest step segment buffer. plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared. plan_sync_position(); // Sync planner position to current machine position. - - // Pull-off triggered probe to the trigger location since we had to decelerate a little beyond - // it to stop the machine in a controlled manner. - uint8_t idx; - for(idx=0; idx. */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef motion_control_h #define motion_control_h + #define HOMING_CYCLE_LINE_NUMBER -1 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second @@ -40,14 +36,14 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate); // Execute an arc in offset mode format. position == current xyz, target == target xyz, // offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is -// the direction of helical travel, radius == circle radius, isclockwise boolean. Used +// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used // for vector transformation direction. #ifdef USE_LINE_NUMBERS void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, - uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, int32_t line_number); + uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number); #else void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate, - uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear); + uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc); #endif // Dwell for a specific number of seconds @@ -58,9 +54,11 @@ void mc_homing_cycle(); // Perform tool length probe cycle. Requires probe switch. #ifdef USE_LINE_NUMBERS -void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number); +void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away, + uint8_t is_no_error, int32_t line_number); #else -void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate); +void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away, + uint8_t is_no_error); #endif // Performs system reset. If in motion state, kills all motion and sets system alarm. diff --git a/nuts_bolts.c b/grbl/nuts_bolts.c similarity index 92% rename from nuts_bolts.c rename to grbl/nuts_bolts.c index 7853725..b33e230 100644 --- a/nuts_bolts.c +++ b/grbl/nuts_bolts.c @@ -1,8 +1,9 @@ /* nuts_bolts.c - Shared functions - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,15 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "print.h" +#include "grbl.h" #define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float) diff --git a/nuts_bolts.h b/grbl/nuts_bolts.h similarity index 83% rename from nuts_bolts.h rename to grbl/nuts_bolts.h index 7e5a06b..882d337 100644 --- a/nuts_bolts.h +++ b/grbl/nuts_bolts.h @@ -1,8 +1,9 @@ /* nuts_bolts.h - Header file for shared definitions, variables, and functions - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef nuts_bolts_h #define nuts_bolts_h @@ -30,15 +25,23 @@ #define false 0 #define true 1 +// Axis array index values. Must start with 0 and be continuous. #define N_AXIS 3 // Number of axes -#define X_AXIS 0 // Axis indexing value. Must start with 0 and be continuous. +#define X_AXIS 0 // Axis indexing value. #define Y_AXIS 1 #define Z_AXIS 2 // #define A_AXIS 3 +// 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 +#endif + +// Conversions #define MM_PER_INCH (25.40) #define INCH_PER_MM (0.0393701) - #define TICKS_PER_MICROSECOND (F_CPU/1000000) // Useful macros diff --git a/planner.c b/grbl/planner.c similarity index 86% rename from planner.c rename to grbl/planner.c index 21e4181..dcf50ec 100644 --- a/planner.c +++ b/grbl/planner.c @@ -1,8 +1,10 @@ /* planner.c - buffers movement commands and manages the acceleration profile plan - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 Jens Geisler Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,20 +19,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon - Copyright (c) 2011 Jens Geisler -*/ - -#include "system.h" -#include "planner.h" -#include "protocol.h" -#include "stepper.h" -#include "settings.h" +#include "grbl.h" #define SOME_LARGE_VALUE 1.0E+38 // Used by rapids and acceleration maximization calculations. Just needs // to be larger than any feasible (mm/min)^2 or mm/sec^2 value. @@ -284,17 +274,36 @@ uint8_t plan_check_full_buffer() int32_t target_steps[N_AXIS]; float unit_vec[N_AXIS], delta_mm; uint8_t idx; + #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]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS])); + block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS])); + #endif + for (idx=0; idxsteps[idx] = labs(target_steps[idx]-pl.position[idx]); - block->step_event_count = max(block->step_event_count, block->steps[idx]); - - // Compute individual axes distance for move and prep unit vector calculations. + // 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. - delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx]; + #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]-pl.position[idx]); + } + block->step_event_count = max(block->step_event_count, block->steps[idx]); + if (idx == A_MOTOR) { + delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) - (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx]; + } else if (idx == B_MOTOR) { + delta_mm = ((target_steps[X_AXIS]-pl.position[X_AXIS]) + (target_steps[Y_AXIS]-pl.position[Y_AXIS]))/settings.steps_per_mm[idx]; + } else { + delta_mm = (target_steps[idx] - pl.position[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]-pl.position[idx]); + block->step_event_count = max(block->step_event_count, block->steps[idx]); + delta_mm = (target_steps[idx] - pl.position[idx])/settings.steps_per_mm[idx]; + #endif unit_vec[idx] = delta_mm; // Store unit vector numerator. Denominator computed later. // Set direction bits. Bit enabled always means direction is negative. @@ -352,7 +361,7 @@ uint8_t plan_check_full_buffer() colinear with the circle center. The circular segment joining the two paths represents the path of centripetal acceleration. Solve for max velocity based on max acceleration about the radius of the circle, defined indirectly by junction deviation. This may be also viewed as - path width or max_jerk in the previous grbl version. This approach does not actually deviate + path width or max_jerk in the previous Grbl version. This approach does not actually deviate from path, but used as a robust way to compute cornering speeds, as it takes into account the nonlinearities of both the junction angle and junction velocity. @@ -369,12 +378,19 @@ uint8_t plan_check_full_buffer() change the overall maximum entry speed conditions of all blocks. */ // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta). - float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive. + if (junction_cos_theta > 0.99) { + // For a 0 degree acute junction, just set minimum junction speed. + block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED; + } else { + junction_cos_theta = max(junction_cos_theta,-0.99); // Check for numerical round-off to avoid divide by zero. + float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive. - // TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the - // two junctions. However, this shouldn't be a significant problem except in extreme circumstances. - block->max_junction_speed_sqr = max( MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED, - (block->acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2) ); + // TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the + // two junctions. However, this shouldn't be a significant problem except in extreme circumstances. + block->max_junction_speed_sqr = max( MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED, + (block->acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2) ); + + } } // Store block nominal speed @@ -403,9 +419,21 @@ uint8_t plan_check_full_buffer() // Reset the planner position vectors. Called by the system abort/initialization routine. 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. */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef planner_h #define planner_h diff --git a/print.c b/grbl/print.c similarity index 92% rename from print.c rename to grbl/print.c index b398e82..1dd8d7b 100644 --- a/print.c +++ b/grbl/print.c @@ -1,8 +1,9 @@ /* print.c - Functions for formatting output strings - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,16 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "serial.h" -#include "settings.h" +#include "grbl.h" void printString(const char *s) @@ -102,7 +95,7 @@ void print_uint8_base10(uint8_t n) } -void print_uint32_base10(unsigned long n) +void print_uint32_base10(uint32_t n) { if (n == 0) { serial_write('0'); diff --git a/print.h b/grbl/print.h similarity index 83% rename from print.h rename to grbl/print.h index 845c80c..658e892 100644 --- a/print.h +++ b/grbl/print.h @@ -1,8 +1,9 @@ /* print.h - Functions for formatting output strings - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef print_h #define print_h diff --git a/probe.c b/grbl/probe.c similarity index 62% rename from probe.c rename to grbl/probe.c index 00dde47..3bba4df 100644 --- a/probe.c +++ b/grbl/probe.c @@ -1,8 +1,8 @@ /* probe.c - code pertaining to probing methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2014 Sungeun K. Jeon + Copyright (c) 2014-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -18,11 +18,10 @@ along with Grbl. If not, see . */ -#include "system.h" -#include "settings.h" -#include "probe.h" +#include "grbl.h" -// Inverts the probe pin state depending on user settings. + +// Inverts the probe pin state depending on user settings and probing cycle mode. uint8_t probe_invert_mask; @@ -30,13 +29,23 @@ uint8_t probe_invert_mask; void probe_init() { PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins - if (bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { + #ifdef DISABLE_PROBE_PIN_PULL_UP PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down. - probe_invert_mask = 0; - } else { + #else PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation. - probe_invert_mask = PROBE_MASK; - } + #endif + // probe_configure_invert_mask(false); // Initialize invert mask. Not required. Updated when in-use. +} + + +// 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) +{ + 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; } } @@ -49,11 +58,11 @@ uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask) // NOTE: This function must be extremely efficient as to not bog down the stepper ISR. void probe_state_monitor() { - if (sys.probe_state == PROBE_ACTIVE) { + if (sys.probe_state == PROBE_ACTIVE) { if (probe_get_state()) { sys.probe_state = PROBE_OFF; memcpy(sys.probe_position, sys.position, sizeof(float)*N_AXIS); - bit_true(sys.execute, EXEC_FEED_HOLD); + bit_true(sys.rt_exec_state, EXEC_MOTION_CANCEL); } } } diff --git a/probe.h b/grbl/probe.h similarity index 65% rename from probe.h rename to grbl/probe.h index 81fb55b..81bd486 100644 --- a/probe.h +++ b/grbl/probe.h @@ -1,8 +1,8 @@ /* probe.h - code pertaining to probing methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2014 Sungeun K. Jeon + Copyright (c) 2014-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -22,14 +22,18 @@ #define probe_h // Values that define the probing state machine. -#define PROBE_OFF 0 // No probing. (Must be zero.) +#define PROBE_OFF 0 // Probing disabled or not in use. (Must be zero.) #define PROBE_ACTIVE 1 // Actively watching the input pin. - // Probe pin initialization routine. void probe_init(); -// Returns probe pin state. +// 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); + +// Returns probe pin state. Triggered = true. Called by gcode parser and probe state monitor. uint8_t probe_get_state(); // Monitors probe pin state and records the system position when detected. Called by the diff --git a/grbl/protocol.c b/grbl/protocol.c new file mode 100644 index 0000000..dc70f50 --- /dev/null +++ b/grbl/protocol.c @@ -0,0 +1,389 @@ +/* + protocol.c - controls Grbl execution protocol and procedures + Part of Grbl + + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Grbl is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with Grbl. If not, see . +*/ + +#include "grbl.h" + + +static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated. + + +// Directs and executes one line of formatted input from protocol_process. While mostly +// incoming streaming g-code blocks, this also directs and executes Grbl internal commands, +// such as settings, initiating the homing cycle, and toggling switch states. +static void protocol_execute_line(char *line) +{ + protocol_execute_realtime(); // Runtime command check point. + if (sys.abort) { return; } // Bail to calling function upon system abort + + if (line[0] == 0) { + // Empty or comment line. Send status message for syncing purposes. + report_status_message(STATUS_OK); + + } else if (line[0] == '$') { + // Grbl '$' system command + report_status_message(system_execute_line(line)); + + } else if (sys.state == STATE_ALARM) { + // Everything else is gcode. Block if in alarm mode. + report_status_message(STATUS_ALARM_LOCK); + + } else { + // Parse and execute g-code block! + report_status_message(gc_execute_line(line)); + } +} + + +/* + GRBL PRIMARY LOOP: +*/ +void protocol_main_loop() +{ + // ------------------------------------------------------------ + // Complete initialization procedures upon a power-up or reset. + // ------------------------------------------------------------ + + // Print welcome message + report_init_message(); + + // Check for and report alarm state after a reset, error, or an initial power up. + if (sys.state == STATE_ALARM) { + report_feedback_message(MESSAGE_ALARM_LOCK); + } else { + // All systems go! But first check for safety door. + if (system_check_safety_door_ajar()) { + bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR); + protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state. + } else { + sys.state = STATE_IDLE; // Set system to ready. Clear all state flags. + } + system_execute_startup(line); // Execute startup script. + } + + // --------------------------------------------------------------------------------- + // Primary loop! Upon a system abort, this exits back to main() to reset the system. + // --------------------------------------------------------------------------------- + + uint8_t iscomment = false; + uint8_t char_counter = 0; + uint8_t c; + for (;;) { + + // 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. + + // NOTE: While comment, spaces, and block delete(if supported) handling should technically + // be done in the g-code parser, doing it here helps compress the incoming data into Grbl's + // line buffer, which is limited in size. The g-code standard actually states a line can't + // exceed 256 characters, but the Arduino Uno does not have the memory space for this. + // With a better processor, it would be very easy to pull this initial parsing out as a + // seperate task to be shared by the g-code parser and Grbl's system commands. + + while((c = serial_read()) != SERIAL_NO_DATA) { + if ((c == '\n') || (c == '\r')) { // End of line reached + line[char_counter] = 0; // Set string termination character. + protocol_execute_line(line); // Line is complete. Execute it! + iscomment = false; + char_counter = 0; + } else { + if (iscomment) { + // Throw away all comment characters + if (c == ')') { + // End of comment. Resume line. + iscomment = false; + } + } else { + if (c <= ' ') { + // Throw away whitepace and control characters + } else if (c == '/') { + // Block delete NOT SUPPORTED. Ignore character. + // NOTE: If supported, would simply need to check the system if block delete is enabled. + } else if (c == '(') { + // Enable comments flag and ignore all characters until ')' or EOL. + // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now. + // In the future, we could simply remove the items within the comments, but retain the + // comment control characters, so that the g-code parser can error-check it. + iscomment = true; + // } else if (c == ';') { + // Comment character to EOL NOT SUPPORTED. LinuxCNC definition. Not NIST. + + // TODO: Install '%' feature + // } else if (c == '%') { + // Program start-end percent sign NOT SUPPORTED. + // NOTE: This maybe installed to tell Grbl when a program is running vs manual input, + // 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)) { + // Detect line buffer overflow. Report error and reset line buffer. + report_status_message(STATUS_OVERFLOW); + iscomment = false; + char_counter = 0; + } else if (c >= 'a' && c <= 'z') { // Upcase lowercase + line[char_counter++] = c-'a'+'A'; + } else { + line[char_counter++] = c; + } + } + } + } + + // If there are no more characters in the serial read buffer to be processed and executed, + // this indicates that g-code streaming has either filled the planner buffer or has + // completed. In either case, auto-cycle start, if enabled, any queued moves. + protocol_auto_cycle_start(); + + protocol_execute_realtime(); // Runtime command check point. + if (sys.abort) { return; } // Bail to main() program loop to reset system. + + } + + return; /* Never reached */ +} + + +// Executes run-time commands, when required. This 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 be more than a fraction of a second. +// This is a way to execute realtime commands asynchronously (aka multitasking) with grbl's g-code +// parsing and planning functions. This function also serves as an interface for the interrupts to +// set the system realtime flags, where only the main program handles them, removing the need to +// define more computationally-expensive volatile variables. This also provides a controlled way to +// execute certain tasks without having two or more instances of the same task, such as the planner +// recalculating the buffer upon a feedhold or override. +// 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() +{ + uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times. + + do { // If system is suspended, suspend loop restarts here. + + // Check and execute alarms. + rt_exec = sys.rt_exec_alarm; // Copy volatile sys.rt_exec_alarm. + if (rt_exec) { // Enter only if any bit flag is true + // System alarm. Everything has shutdown by something that has gone severely wrong. Report + // the source of the error to the user. If critical, Grbl disables by entering an infinite + // loop until system reset/abort. + sys.state = STATE_ALARM; // Set system alarm state + if (rt_exec & EXEC_ALARM_HARD_LIMIT) { + report_alarm_message(ALARM_HARD_LIMIT_ERROR); + } else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) { + report_alarm_message(ALARM_SOFT_LIMIT_ERROR); + } else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) { + report_alarm_message(ALARM_ABORT_CYCLE); + } else if (rt_exec & EXEC_ALARM_PROBE_FAIL) { + report_alarm_message(ALARM_PROBE_FAIL); + } else if (rt_exec & EXEC_ALARM_HOMING_FAIL) { + report_alarm_message(ALARM_HOMING_FAIL); + } + // Halt everything upon a critical event flag. Currently hard and soft limits flag this. + if (rt_exec & EXEC_CRITICAL_EVENT) { + report_feedback_message(MESSAGE_CRITICAL_EVENT); + bit_false_atomic(sys.rt_exec_state,EXEC_RESET); // Disable any existing reset + do { + // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits + // typically occur while unattended or not paying attention. Gives the user 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, the incoming + // stream could be still engaged and cause a serious crash if it continues afterwards. +// if (sys.rt_exec_state & EXEC_STATUS_REPORT) { +// report_realtime_status(); +// bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT); +// } + } while (bit_isfalse(sys.rt_exec_state,EXEC_RESET)); + } + bit_false_atomic(sys.rt_exec_alarm,0xFF); // Clear all alarm flags + } + + // Check amd execute realtime commands + rt_exec = sys.rt_exec_state; // Copy volatile sys.rt_exec_state. + if (rt_exec) { // Enter only if any bit flag is true + + // Execute system abort. + if (rt_exec & EXEC_RESET) { + sys.abort = true; // Only place this is set true. + return; // Nothing else to do but exit. + } + + // Execute and serial print status + if (rt_exec & EXEC_STATUS_REPORT) { + report_realtime_status(); + bit_false_atomic(sys.rt_exec_state,EXEC_STATUS_REPORT); + } + + // Execute hold states. + // NOTE: The math involved to calculate the hold should be low enough for most, if not all, + // operational scenarios. Once hold is initiated, the system enters a suspend state to block + // all main program processes until either reset or resumed. + if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) { + + // TODO: CHECK MODE? How to handle this? Likely nothing, since it only works when IDLE and then resets Grbl. + + // State check for allowable states for hold methods. + if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_MOTION_CANCEL | STATE_HOLD | STATE_SAFETY_DOOR))) { + + // If in CYCLE state, all hold states immediately initiate a motion HOLD. + if (sys.state == STATE_CYCLE) { + st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration. + sys.suspend = SUSPEND_ENABLE_HOLD; // Initiate holding cycle with flag. + } + // If IDLE, Grbl is not in motion. Simply indicate suspend ready state. + if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_ENABLE_READY; } + + // 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. If so, only flag that motion cancel is complete. + if (sys.state == STATE_CYCLE) { sys.state = STATE_MOTION_CANCEL; } + sys.suspend |= SUSPEND_MOTION_CANCEL; // Indicate motion cancel when resuming. Special motion complete. + } + + // Execute a feed hold with deceleration, only during cycle. + if (rt_exec & EXEC_FEED_HOLD) { + // Block SAFETY_DOOR state from prematurely changing back to HOLD. + if (bit_isfalse(sys.state,STATE_SAFETY_DOOR)) { sys.state = STATE_HOLD; } + } + + // Execute a safety door stop with a feed hold, only during a cycle, and disable spindle/coolant. + // NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered + // devices (spindle/coolant), and blocks resuming until switch is re-engaged. The power-down is + // executed here, if IDLE, or when the CYCLE completes via the EXEC_CYCLE_STOP flag. + if (rt_exec & EXEC_SAFETY_DOOR) { + report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR); + // If already in active, ready-to-resume HOLD, set CYCLE_STOP flag to force de-energize. + // NOTE: Only temporarily sets the 'rt_exec' variable, not the volatile 'rt_exec_state' variable. + if (sys.suspend & SUSPEND_ENABLE_READY) { bit_true(rt_exec,EXEC_CYCLE_STOP); } + sys.suspend |= SUSPEND_ENERGIZE; + sys.state = STATE_SAFETY_DOOR; + } + + } + bit_false_atomic(sys.rt_exec_state,(EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)); + } + + // Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue. + if (rt_exec & EXEC_CYCLE_START) { + // Block if called at same time as the hold commands: feed hold, motion cancel, and safety door. + // Ensures auto-cycle-start doesn't resume a hold without an explicit user-input. + if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) { + // Cycle start only when IDLE or when a hold is complete and ready to resume. + // NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed. + if ((sys.state == STATE_IDLE) || ((sys.state & (STATE_HOLD | STATE_MOTION_CANCEL)) && (sys.suspend & SUSPEND_ENABLE_READY))) { + // Re-energize powered components, if disabled by SAFETY_DOOR. + if (sys.suspend & SUSPEND_ENERGIZE) { + // Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle. + if (gc_state.modal.spindle != SPINDLE_DISABLE) { + spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed); + delay_ms(SAFETY_DOOR_SPINDLE_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually. + } + if (gc_state.modal.coolant != COOLANT_DISABLE) { + coolant_set_state(gc_state.modal.coolant); + delay_ms(SAFETY_DOOR_COOLANT_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually. + } + // TODO: Install return to pre-park position. + } + // Start cycle only if queued motions exist in planner buffer and the motion is not canceled. + if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) { + sys.state = STATE_CYCLE; + st_prep_buffer(); // Initialize step segment buffer before beginning cycle. + st_wake_up(); + } else { // Otherwise, do nothing. Set and resume IDLE state. + sys.state = STATE_IDLE; + } + sys.suspend = SUSPEND_DISABLE; // Break suspend state. + } + } + bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_START); + } + + // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by + // realtime command execution in the main program, ensuring that the planner re-plans safely. + // 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 (rt_exec & EXEC_CYCLE_STOP) { + if (sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) { + // Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user + // has issued a resume command or reset. + if (sys.suspend & SUSPEND_ENERGIZE) { // De-energize system if safety door has been opened. + spindle_stop(); + coolant_stop(); + // TODO: Install parking motion here. + } + bit_true(sys.suspend,SUSPEND_ENABLE_READY); + } else { // Motion is complete. Includes CYCLE, HOMING, and MOTION_CANCEL states. + sys.suspend = SUSPEND_DISABLE; + sys.state = STATE_IDLE; + } + bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP); + } + + } + + // Overrides flag byte (sys.override) and execution should be installed here, since they + // are realtime and require a direct and controlled interface to the main stepper program. + + // Reload step segment buffer + if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) { st_prep_buffer(); } + + // If safety door was opened, actively check when safety door is closed and ready to resume. + // NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume. + if (sys.state == STATE_SAFETY_DOOR) { + if (bit_istrue(sys.suspend,SUSPEND_ENABLE_READY)) { + if (!(system_check_safety_door_ajar())) { + sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume. + } + } + } + + } while(sys.suspend); // Check for system suspend state before exiting. + +} + + +// 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() +{ + // 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 + } while (plan_get_current_block() || (sys.state == STATE_CYCLE)); +} + + +// Auto-cycle start has two purposes: 1. Resumes a plan_synchronize() call from a function that +// requires the planner buffer to empty (spindle enable, dwell, etc.) 2. As a user setting that +// automatically begins the cycle when a user enters a valid motion command manually. This is +// intended as a beginners feature to help new users to understand g-code. It can be disabled +// as a beginner tool, but (1.) still operates. If disabled, the operation of cycle start is +// manually issuing a cycle start command whenever the user is ready and there is a valid motion +// command in the planner queue. +// 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() { bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); } diff --git a/protocol.h b/grbl/protocol.h similarity index 82% rename from protocol.h rename to grbl/protocol.h index 5a752fd..3fc3780 100644 --- a/protocol.h +++ b/grbl/protocol.h @@ -1,8 +1,9 @@ /* protocol.h - controls Grbl execution protocol and procedures - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef protocol_h #define protocol_h @@ -41,8 +36,8 @@ // them as they complete. It is also responsible for finishing the initialization procedures. void protocol_main_loop(); -// Checks and executes a runtime command at various stop points in main program -void protocol_execute_runtime(); +// Checks and executes a realtime command at various stop points in main program +void protocol_execute_realtime(); // Notify the stepper subsystem to start executing the g-code program in buffer. // void protocol_cycle_start(); diff --git a/report.c b/grbl/report.c similarity index 54% rename from report.c rename to grbl/report.c index 32720eb..f573602 100644 --- a/report.c +++ b/grbl/report.c @@ -1,8 +1,8 @@ /* report.c - reporting and messaging methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -26,16 +26,7 @@ methods to accomodate their needs. */ -#include "system.h" -#include "report.h" -#include "print.h" -#include "settings.h" -#include "gcode.h" -#include "coolant_control.h" -#include "planner.h" -#include "spindle_control.h" -#include "stepper.h" -#include "serial.h" +#include "grbl.h" // Handles the primary confirmation protocol response for streaming interfaces and human-feedback. @@ -52,42 +43,49 @@ void report_status_message(uint8_t status_code) printPgmString(PSTR("ok\r\n")); } else { printPgmString(PSTR("error: ")); - switch(status_code) { - case STATUS_EXPECTED_COMMAND_LETTER: - printPgmString(PSTR("Expected command letter")); break; - case STATUS_BAD_NUMBER_FORMAT: - printPgmString(PSTR("Bad number format")); break; - case STATUS_INVALID_STATEMENT: - printPgmString(PSTR("Invalid statement")); break; - case STATUS_NEGATIVE_VALUE: - printPgmString(PSTR("Value < 0")); break; - case STATUS_SETTING_DISABLED: - printPgmString(PSTR("Setting disabled")); break; - case STATUS_SETTING_STEP_PULSE_MIN: - printPgmString(PSTR("Value < 3 usec")); break; - case STATUS_SETTING_READ_FAIL: - printPgmString(PSTR("EEPROM read fail. Using defaults")); break; - case STATUS_IDLE_ERROR: - printPgmString(PSTR("Not idle")); break; - case STATUS_ALARM_LOCK: - printPgmString(PSTR("Alarm lock")); break; - case STATUS_SOFT_LIMIT_ERROR: - printPgmString(PSTR("Homing not enabled")); break; - case STATUS_OVERFLOW: - printPgmString(PSTR("Line overflow")); break; - - // Common g-code parser errors. - case STATUS_GCODE_MODAL_GROUP_VIOLATION: - printPgmString(PSTR("Modal group violation")); break; - case STATUS_GCODE_UNSUPPORTED_COMMAND: - printPgmString(PSTR("Unsupported command")); break; - case STATUS_GCODE_UNDEFINED_FEED_RATE: - printPgmString(PSTR("Undefined feed rate")); break; - default: - // Remaining g-code parser errors with error codes - printPgmString(PSTR("Invalid gcode ID:")); - print_uint8_base10(status_code); // Print error code for user reference - } + #ifdef REPORT_GUI_MODE + print_uint8_base10(status_code); + #else + switch(status_code) { + case STATUS_EXPECTED_COMMAND_LETTER: + printPgmString(PSTR("Expected command letter")); break; + case STATUS_BAD_NUMBER_FORMAT: + printPgmString(PSTR("Bad number format")); break; + case STATUS_INVALID_STATEMENT: + printPgmString(PSTR("Invalid statement")); break; + case STATUS_NEGATIVE_VALUE: + printPgmString(PSTR("Value < 0")); break; + case STATUS_SETTING_DISABLED: + printPgmString(PSTR("Setting disabled")); break; + case STATUS_SETTING_STEP_PULSE_MIN: + printPgmString(PSTR("Value < 3 usec")); break; + case STATUS_SETTING_READ_FAIL: + printPgmString(PSTR("EEPROM read fail. Using defaults")); break; + case STATUS_IDLE_ERROR: + printPgmString(PSTR("Not idle")); break; + case STATUS_ALARM_LOCK: + printPgmString(PSTR("Alarm lock")); break; + case STATUS_SOFT_LIMIT_ERROR: + printPgmString(PSTR("Homing not enabled")); break; + case STATUS_OVERFLOW: + printPgmString(PSTR("Line overflow")); break; + #ifdef MAX_STEP_RATE_HZ + case STATUS_MAX_STEP_RATE_EXCEEDED: + printPgmString(PSTR("Step rate > 30kHz")); break; + #endif + // Common g-code parser errors. + case STATUS_GCODE_MODAL_GROUP_VIOLATION: + printPgmString(PSTR("Modal group violation")); break; + case STATUS_GCODE_UNSUPPORTED_COMMAND: + printPgmString(PSTR("Unsupported command")); break; + case STATUS_GCODE_UNDEFINED_FEED_RATE: + printPgmString(PSTR("Undefined feed rate")); break; + default: + // Remaining g-code parser errors with error codes + printPgmString(PSTR("Invalid gcode ID:")); + print_uint8_base10(status_code); // Print error code for user reference + } + #endif printPgmString(PSTR("\r\n")); } } @@ -96,14 +94,22 @@ void report_status_message(uint8_t status_code) void report_alarm_message(int8_t alarm_code) { printPgmString(PSTR("ALARM: ")); - switch (alarm_code) { - case ALARM_LIMIT_ERROR: - printPgmString(PSTR("Hard/soft limit")); break; - case ALARM_ABORT_CYCLE: - printPgmString(PSTR("Abort during cycle")); break; - case ALARM_PROBE_FAIL: - printPgmString(PSTR("Probe fail")); break; - } + #ifdef REPORT_GUI_MODE + print_uint8_base10(alarm_code); + #else + switch (alarm_code) { + case ALARM_HARD_LIMIT_ERROR: + printPgmString(PSTR("Hard limit")); break; + case ALARM_SOFT_LIMIT_ERROR: + printPgmString(PSTR("Soft limit")); break; + case ALARM_ABORT_CYCLE: + printPgmString(PSTR("Abort during cycle")); break; + case ALARM_PROBE_FAIL: + printPgmString(PSTR("Probe fail")); break; + case ALARM_HOMING_FAIL: + printPgmString(PSTR("Homing fail")); break; + } + #endif printPgmString(PSTR("\r\n")); delay_ms(500); // Force delay to ensure message clears serial write buffer. } @@ -128,6 +134,8 @@ void report_feedback_message(uint8_t message_code) printPgmString(PSTR("Enabled")); break; case MESSAGE_DISABLED: printPgmString(PSTR("Disabled")); break; + case MESSAGE_SAFETY_DOOR_AJAR: + printPgmString(PSTR("Check Door")); break; } printPgmString(PSTR("]\r\n")); } @@ -141,20 +149,22 @@ void report_init_message() // Grbl help message void report_grbl_help() { - printPgmString(PSTR("$$ (view Grbl settings)\r\n" - "$# (view # parameters)\r\n" - "$G (view parser state)\r\n" - "$I (view build info)\r\n" - "$N (view startup blocks)\r\n" - "$x=value (save Grbl setting)\r\n" - "$Nx=line (save startup block)\r\n" - "$C (check gcode mode)\r\n" - "$X (kill alarm lock)\r\n" - "$H (run homing cycle)\r\n" - "~ (cycle start)\r\n" - "! (feed hold)\r\n" - "? (current status)\r\n" - "ctrl-x (reset Grbl)\r\n")); + #ifndef REPORT_GUI_MODE + printPgmString(PSTR("$$ (view Grbl settings)\r\n" + "$# (view # parameters)\r\n" + "$G (view parser state)\r\n" + "$I (view build info)\r\n" + "$N (view startup blocks)\r\n" + "$x=value (save Grbl setting)\r\n" + "$Nx=line (save startup block)\r\n" + "$C (check gcode mode)\r\n" + "$X (kill alarm lock)\r\n" + "$H (run homing cycle)\r\n" + "~ (cycle start)\r\n" + "! (feed hold)\r\n" + "? (current status)\r\n" + "ctrl-x (reset Grbl)\r\n")); + #endif } @@ -162,32 +172,54 @@ void report_grbl_help() { // NOTE: The numbering scheme here must correlate to storing in settings.c void report_grbl_settings() { // Print Grbl settings. - printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds); - printPgmString(PSTR(" (step pulse, usec)\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time); - printPgmString(PSTR(" (step idle delay, msec)\r\n$2=")); print_uint8_base10(settings.step_invert_mask); - printPgmString(PSTR(" (step port invert mask:")); print_uint8_base2(settings.step_invert_mask); - printPgmString(PSTR(")\r\n$3=")); print_uint8_base10(settings.dir_invert_mask); - printPgmString(PSTR(" (dir port invert mask:")); print_uint8_base2(settings.dir_invert_mask); - printPgmString(PSTR(")\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)); - printPgmString(PSTR(" (step enable invert, bool)\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)); - printPgmString(PSTR(" (limit pins invert, bool)\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)); - printPgmString(PSTR(" (probe pin invert, bool)\r\n$10=")); print_uint8_base10(settings.status_report_mask); - printPgmString(PSTR(" (status report mask:")); print_uint8_base2(settings.status_report_mask); - printPgmString(PSTR(")\r\n$11=")); printFloat_SettingValue(settings.junction_deviation); - printPgmString(PSTR(" (junction deviation, mm)\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance); - printPgmString(PSTR(" (arc tolerance, mm)\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)); - printPgmString(PSTR(" (report inches, bool)\r\n$14=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_AUTO_START)); - printPgmString(PSTR(" (auto start, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)); - printPgmString(PSTR(" (soft limits, bool)\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)); - printPgmString(PSTR(" (hard limits, bool)\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)); - printPgmString(PSTR(" (homing cycle, bool)\r\n$23=")); print_uint8_base10(settings.homing_dir_mask); - printPgmString(PSTR(" (homing dir invert mask:")); print_uint8_base2(settings.homing_dir_mask); - printPgmString(PSTR(")\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate); - printPgmString(PSTR(" (homing feed, mm/min)\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate); - printPgmString(PSTR(" (homing seek, mm/min)\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay); - printPgmString(PSTR(" (homing debounce, msec)\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff); - printPgmString(PSTR(" (homing pull-off, mm)\r\n")); - + #ifdef REPORT_GUI_MODE + printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds); + printPgmString(PSTR("\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time); + printPgmString(PSTR("\r\n$2=")); print_uint8_base10(settings.step_invert_mask); + printPgmString(PSTR("\r\n$3=")); print_uint8_base10(settings.dir_invert_mask); + printPgmString(PSTR("\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)); + printPgmString(PSTR("\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)); + printPgmString(PSTR("\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)); + printPgmString(PSTR("\r\n$10=")); print_uint8_base10(settings.status_report_mask); + printPgmString(PSTR("\r\n$11=")); printFloat_SettingValue(settings.junction_deviation); + printPgmString(PSTR("\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance); + printPgmString(PSTR("\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)); + printPgmString(PSTR("\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)); + printPgmString(PSTR("\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)); + printPgmString(PSTR("\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)); + printPgmString(PSTR("\r\n$23=")); print_uint8_base10(settings.homing_dir_mask); + printPgmString(PSTR("\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate); + printPgmString(PSTR("\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate); + printPgmString(PSTR("\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay); + printPgmString(PSTR("\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff); + printPgmString(PSTR("\r\n")); + #else + printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds); + printPgmString(PSTR(" (step pulse, usec)\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time); + printPgmString(PSTR(" (step idle delay, msec)\r\n$2=")); print_uint8_base10(settings.step_invert_mask); + printPgmString(PSTR(" (step port invert mask:")); print_uint8_base2(settings.step_invert_mask); + printPgmString(PSTR(")\r\n$3=")); print_uint8_base10(settings.dir_invert_mask); + printPgmString(PSTR(" (dir port invert mask:")); print_uint8_base2(settings.dir_invert_mask); + printPgmString(PSTR(")\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)); + printPgmString(PSTR(" (step enable invert, bool)\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)); + printPgmString(PSTR(" (limit pins invert, bool)\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)); + printPgmString(PSTR(" (probe pin invert, bool)\r\n$10=")); print_uint8_base10(settings.status_report_mask); + printPgmString(PSTR(" (status report mask:")); print_uint8_base2(settings.status_report_mask); + printPgmString(PSTR(")\r\n$11=")); printFloat_SettingValue(settings.junction_deviation); + printPgmString(PSTR(" (junction deviation, mm)\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance); + printPgmString(PSTR(" (arc tolerance, mm)\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)); + printPgmString(PSTR(" (report inches, bool)\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)); + printPgmString(PSTR(" (soft limits, bool)\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)); + printPgmString(PSTR(" (hard limits, bool)\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)); + printPgmString(PSTR(" (homing cycle, bool)\r\n$23=")); print_uint8_base10(settings.homing_dir_mask); + printPgmString(PSTR(" (homing dir invert mask:")); print_uint8_base2(settings.homing_dir_mask); + printPgmString(PSTR(")\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate); + printPgmString(PSTR(" (homing feed, mm/min)\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate); + printPgmString(PSTR(" (homing seek, mm/min)\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay); + printPgmString(PSTR(" (homing debounce, msec)\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff); + printPgmString(PSTR(" (homing pull-off, mm)\r\n")); + #endif + // Print axis settings uint8_t idx, set_idx; uint8_t val = AXIS_SETTINGS_START_VAL; @@ -202,19 +234,23 @@ void report_grbl_settings() { case 2: printFloat_SettingValue(settings.acceleration[idx]/(60*60)); break; case 3: printFloat_SettingValue(-settings.max_travel[idx]); break; } - printPgmString(PSTR(" (")); - switch (idx) { - case X_AXIS: printPgmString(PSTR("x")); break; - case Y_AXIS: printPgmString(PSTR("y")); break; - case Z_AXIS: printPgmString(PSTR("z")); break; - } - switch (set_idx) { - case 0: printPgmString(PSTR(", step/mm")); break; - case 1: printPgmString(PSTR(" max rate, mm/min")); break; - case 2: printPgmString(PSTR(" accel, mm/sec^2")); break; - case 3: printPgmString(PSTR(" max travel, mm")); break; - } - printPgmString(PSTR(")\r\n")); + #ifdef REPORT_GUI_MODE + printPgmString(PSTR("\r\n")); + #else + printPgmString(PSTR(" (")); + switch (idx) { + case X_AXIS: printPgmString(PSTR("x")); break; + case Y_AXIS: printPgmString(PSTR("y")); break; + case Z_AXIS: printPgmString(PSTR("z")); break; + } + switch (set_idx) { + case 0: printPgmString(PSTR(", step/mm")); break; + case 1: printPgmString(PSTR(" max rate, mm/min")); break; + case 2: printPgmString(PSTR(" accel, mm/sec^2")); break; + case 3: printPgmString(PSTR(" max travel, mm")); break; + } + printPgmString(PSTR(")\r\n")); + #endif } val += AXIS_SETTINGS_INCREMENT; } @@ -230,12 +266,14 @@ void report_probe_parameters() float print_position[N_AXIS]; // Report in terms of machine position. - printPgmString(PSTR("[PRB:")); + printPgmString(PSTR("[PRB:")); for (i=0; i< N_AXIS; i++) { - print_position[i] = sys.probe_position[i]/settings.steps_per_mm[i]; + print_position[i] = system_convert_axis_steps_to_mpos(sys.probe_position,i); printFloat_CoordValue(print_position[i]); if (i < (N_AXIS-1)) { printPgmString(PSTR(",")); } - } + } + printPgmString(PSTR(":")); + print_uint8_base10(sys.probe_succeeded); printPgmString(PSTR("]\r\n")); } @@ -279,12 +317,17 @@ void report_ngc_parameters() // Print current gcode parser mode state void report_gcode_modes() { + printPgmString(PSTR("[")); + switch (gc_state.modal.motion) { - case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break; - case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break; - case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break; - case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break; - case MOTION_MODE_NONE : printPgmString(PSTR("[G80")); break; + case MOTION_MODE_SEEK : printPgmString(PSTR("G0")); break; + case MOTION_MODE_LINEAR : printPgmString(PSTR("G1")); break; + case MOTION_MODE_CW_ARC : printPgmString(PSTR("G2")); break; + case MOTION_MODE_CCW_ARC : printPgmString(PSTR("G3")); break; + case MOTION_MODE_NONE : printPgmString(PSTR("G80")); break; + default: + printPgmString(PSTR("G38.")); + print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD+2)); } printPgmString(PSTR(" G")); @@ -330,6 +373,11 @@ void report_gcode_modes() printPgmString(PSTR(" F")); printFloat_RateValue(gc_state.feed_rate); + + #ifdef VARIABLE_SPINDLE + printPgmString(PSTR(" S")); + printFloat_RateValue(gc_state.spindle_speed); + #endif printPgmString(PSTR("]\r\n")); } @@ -371,27 +419,23 @@ void report_realtime_status() // Report current machine state switch (sys.state) { case STATE_IDLE: printPgmString(PSTR("\r\n")); } diff --git a/report.h b/grbl/report.h similarity index 90% rename from report.h rename to grbl/report.h index ffbdcc3..e21df42 100644 --- a/report.h +++ b/grbl/report.h @@ -1,8 +1,8 @@ /* report.h - reporting and messaging methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -33,6 +33,7 @@ #define STATUS_ALARM_LOCK 9 #define STATUS_SOFT_LIMIT_ERROR 10 #define STATUS_OVERFLOW 11 +#define STATUS_MAX_STEP_RATE_EXCEEDED 12 #define STATUS_GCODE_UNSUPPORTED_COMMAND 20 #define STATUS_GCODE_MODAL_GROUP_VIOLATION 21 @@ -53,10 +54,12 @@ #define STATUS_GCODE_UNUSED_WORDS 36 #define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37 -// Define Grbl alarm codes. Less than zero to distinguish alarm error from status error. -#define ALARM_LIMIT_ERROR -1 -#define ALARM_ABORT_CYCLE -2 -#define ALARM_PROBE_FAIL -3 +// Define Grbl alarm codes. +#define ALARM_HARD_LIMIT_ERROR 1 +#define ALARM_SOFT_LIMIT_ERROR 2 +#define ALARM_ABORT_CYCLE 3 +#define ALARM_PROBE_FAIL 4 +#define ALARM_HOMING_FAIL 5 // Define Grbl feedback message codes. #define MESSAGE_CRITICAL_EVENT 1 @@ -64,6 +67,7 @@ #define MESSAGE_ALARM_UNLOCK 3 #define MESSAGE_ENABLED 4 #define MESSAGE_DISABLED 5 +#define MESSAGE_SAFETY_DOOR_AJAR 6 // Prints system status messages. void report_status_message(uint8_t status_code); diff --git a/serial.c b/grbl/serial.c similarity index 85% rename from serial.c rename to grbl/serial.c index 8e7d50b..edfbecf 100644 --- a/serial.c +++ b/grbl/serial.c @@ -1,8 +1,9 @@ /* serial.c - Low level functions for sending and recieving bytes via the serial port - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,18 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include -#include "system.h" -#include "serial.h" -#include "motion_control.h" -#include "protocol.h" +#include "grbl.h" uint8_t serial_rx_buffer[RX_BUFFER_SIZE]; @@ -98,7 +89,7 @@ void serial_write(uint8_t data) { // 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.execute & 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 @@ -170,12 +161,13 @@ ISR(SERIAL_RX) uint8_t data = UDR0; uint8_t next_head; - // Pick off runtime command characters directly from the serial stream. These characters are - // not passed into the buffer, but these set system state flag bits for runtime execution. + // Pick off realtime command characters directly from the serial stream. These characters are + // not passed into the buffer, but these set system state flag bits for realtime execution. switch (data) { - case CMD_STATUS_REPORT: bit_true_atomic(sys.execute, EXEC_STATUS_REPORT); break; // Set as true - case CMD_CYCLE_START: bit_true_atomic(sys.execute, EXEC_CYCLE_START); break; // Set as true - case CMD_FEED_HOLD: bit_true_atomic(sys.execute, EXEC_FEED_HOLD); break; // Set as true + case CMD_STATUS_REPORT: bit_true_atomic(sys.rt_exec_state, EXEC_STATUS_REPORT); break; // Set as true + case CMD_CYCLE_START: bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START); break; // Set as true + case CMD_FEED_HOLD: bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); break; // Set as true + case CMD_SAFETY_DOOR: bit_true_atomic(sys.rt_exec_state, EXEC_SAFETY_DOOR); break; // Set as true case CMD_RESET: mc_reset(); break; // Call motion control reset routine. default: // Write character to buffer next_head = serial_rx_buffer_head + 1; diff --git a/serial.h b/grbl/serial.h similarity index 85% rename from serial.h rename to grbl/serial.h index c281949..b48fd35 100644 --- a/serial.h +++ b/grbl/serial.h @@ -1,8 +1,9 @@ /* serial.c - Low level functions for sending and recieving bytes via the serial port - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef serial_h #define serial_h diff --git a/settings.c b/grbl/settings.c similarity index 93% rename from settings.c rename to grbl/settings.c index 990955a..87535d5 100644 --- a/settings.c +++ b/grbl/settings.c @@ -1,8 +1,9 @@ /* settings.c - eeprom configuration handling - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,20 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "settings.h" -#include "eeprom.h" -#include "protocol.h" -#include "report.h" -#include "limits.h" -#include "stepper.h" +#include "grbl.h" settings_t settings; @@ -83,7 +72,6 @@ void settings_restore_global_settings() { settings.flags = 0; if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; } - if (DEFAULT_AUTO_START) { settings.flags |= BITFLAG_AUTO_START; } if (DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; } if (DEFAULT_INVERT_LIMIT_PINS) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; } if (DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; } @@ -110,7 +98,7 @@ void settings_restore_global_settings() { // Helper function to clear the EEPROM space containing parameter data. void settings_clear_parameters() { uint8_t idx; - float coord_data[3]; + 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); } } @@ -200,8 +188,18 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) { if (parameter < N_AXIS) { // Valid axis setting found. switch (set_idx) { - case 0: settings.steps_per_mm[parameter] = value; break; - case 1: settings.max_rate[parameter] = value; break; + 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 + 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 + settings.max_rate[parameter] = value; + break; case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use. case 3: settings.max_travel[parameter] = -value; break; // Store as negative for grbl internal use. } @@ -248,10 +246,6 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) { if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; } else { settings.flags &= ~BITFLAG_REPORT_INCHES; } break; - case 14: // Reset to ensure change. Immediate re-init may cause problems. - if (int_value) { settings.flags |= BITFLAG_AUTO_START; } - else { settings.flags &= ~BITFLAG_AUTO_START; } - break; case 20: if (int_value) { if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); } diff --git a/settings.h b/grbl/settings.h similarity index 92% rename from settings.h rename to grbl/settings.h index 1d63e38..5090824 100644 --- a/settings.h +++ b/grbl/settings.h @@ -1,8 +1,9 @@ /* settings.h - eeprom configuration handling - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,19 +18,12 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ #ifndef settings_h #define settings_h +#include "grbl.h" -#define GRBL_VERSION "0.9g" -#define GRBL_VERSION_BUILD "20140905" // 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 @@ -37,7 +31,7 @@ // Define bit flag masks for the boolean settings in settings.flag. #define BITFLAG_REPORT_INCHES bit(0) -#define BITFLAG_AUTO_START bit(1) +// #define BITFLAG_AUTO_START bit(1) // Obsolete. Don't alter to keep back compatibility. #define BITFLAG_INVERT_ST_ENABLE bit(2) #define BITFLAG_HARD_LIMIT_ENABLE bit(3) #define BITFLAG_HOMING_ENABLE bit(4) diff --git a/spindle_control.c b/grbl/spindle_control.c similarity index 59% rename from spindle_control.c rename to grbl/spindle_control.c index b841084..f0724b4 100644 --- a/spindle_control.c +++ b/grbl/spindle_control.c @@ -1,8 +1,9 @@ /* spindle_control.c - spindle control methods - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2012-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,17 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "spindle_control.h" -#include "protocol.h" -#include "gcode.h" +#include "grbl.h" void spindle_init() @@ -60,22 +52,16 @@ void spindle_stop() } -void spindle_run(uint8_t direction, float rpm) +void spindle_set_state(uint8_t state, float rpm) { - if (sys.state == STATE_CHECK_MODE) { return; } - - // Empty planner buffer to ensure spindle is set when programmed. - protocol_auto_cycle_start(); //temp fix for M3 lockup - protocol_buffer_synchronize(); - // Halt or set spindle direction and rpm. - if (direction == SPINDLE_DISABLE) { + if (state == SPINDLE_DISABLE) { spindle_stop(); } else { - if (direction == SPINDLE_ENABLE_CW) { + if (state == SPINDLE_ENABLE_CW) { SPINDLE_DIRECTION_PORT &= ~(1< SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow - uint8_t current_pwm = floor( rpm*(255.0/SPINDLE_RPM_RANGE) + 0.5); - OCR_REGISTER = current_pwm; + if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; } + else { + rpm -= SPINDLE_MIN_RPM; + if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow + } + current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5); + #ifdef MINIMUM_SPINDLE_PWM + if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; } + #endif + OCR_REGISTER = current_pwm; // Set PWM pin output - #ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared. + #ifdef CPU_MAP_ATMEGA2560 // On the Uno, spindle enable and PWM are shared. SPINDLE_ENABLE_PORT |= (1<. -*/ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2012 Sungeun K. Jeon */ #ifndef spindle_control_h @@ -34,6 +29,8 @@ void spindle_init(); // Sets spindle direction and spindle rpm via PWM, if enabled. void spindle_run(uint8_t direction, float rpm); +void spindle_set_state(uint8_t state, float rpm); + // Kills spindle. void spindle_stop(); diff --git a/stepper.c b/grbl/stepper.c similarity index 96% rename from stepper.c rename to grbl/stepper.c index 2b4bddf..155b805 100644 --- a/stepper.c +++ b/grbl/stepper.c @@ -1,8 +1,9 @@ /* stepper.c - stepper motor driver: executes motion plans using stepper motors - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,19 +18,8 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ -#include "system.h" -#include "nuts_bolts.h" -#include "stepper.h" -#include "settings.h" -#include "planner.h" -#include "probe.h" +#include "grbl.h" // Some useful constants. @@ -228,7 +218,7 @@ void st_go_idle() // Set stepper driver idle state, disabled or enabled, depending on settings and circumstances. bool pin_state = false; // Keep enabled. - if (((settings.stepper_idle_lock_time != 0xff) || bit_istrue(sys.execute,EXEC_ALARM)) && sys.state != STATE_HOMING) { + if (((settings.stepper_idle_lock_time != 0xff) || sys.rt_exec_alarm) && sys.state != STATE_HOMING) { // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete // stop and not drift from residual inertial forces at the end of the last movement. delay_ms(settings.stepper_idle_lock_time); @@ -351,7 +341,7 @@ ISR(TIMER1_COMPA_vect) } else { // Segment buffer empty. Shutdown. st_go_idle(); - bit_true_atomic(sys.execute,EXEC_CYCLE_STOP); // Flag main program for cycle end + bit_true_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP); // Flag main program for cycle end return; // Nothing to do but exit. } } @@ -534,6 +524,12 @@ void st_update_plan_block_parameters() */ void st_prep_buffer() { + + if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) { + // Check if we still need to generate more segments for a motion suspend. + if (prep.current_speed == 0.0) { return; } // Nothing to do. Bail. + } + while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer. // Determine if we need to load a new planner block or if the block has been replanned. @@ -576,7 +572,7 @@ void st_prep_buffer() prep.dt_remainder = 0.0; // Reset for new planner block - if (sys.state == STATE_HOLD) { + if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) { // Override planner block entry speed and enforce deceleration during feed hold. prep.current_speed = prep.exit_speed; pl_block->entry_speed_sqr = prep.exit_speed*prep.exit_speed; @@ -592,7 +588,7 @@ void st_prep_buffer() */ prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block. float inv_2_accel = 0.5/pl_block->acceleration; - if (sys.state == STATE_HOLD) { // [Forced Deceleration to Zero Velocity] + if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) { // [Forced Deceleration to Zero Velocity] // Compute velocity profile parameters for a feed hold in-progress. This profile overrides // the planner block profile, enforcing a deceleration to zero speed. prep.ramp_type = RAMP_DECEL; @@ -751,16 +747,14 @@ void st_prep_buffer() // Bail if we are at the end of a feed hold and don't have a step to execute. if (prep_segment->n_step == 0) { - if (sys.state == STATE_HOLD) { - + if (sys.state & (STATE_HOLD|STATE_MOTION_CANCEL|STATE_SAFETY_DOOR)) { // Less than one step to decelerate to zero speed, but already very close. AMASS // requires full steps to execute. So, just bail. - prep.current_speed = 0.0; + prep.current_speed = 0.0; // NOTE: (=0.0) Used to indicate completed segment calcs for hold. prep.dt_remainder = 0.0; prep.steps_remaining = n_steps_remaining; pl_block->millimeters = prep.steps_remaining/prep.step_per_mm; // Update with full steps. plan_cycle_reinitialize(); - sys.state = STATE_QUEUED; return; // Segment not generated, but current step data still retained. } } @@ -823,21 +817,18 @@ void st_prep_buffer() } else { // End of planner block or forced-termination. No more distance to be executed. if (mm_remaining > 0.0) { // At end of forced-termination. - // Reset prep parameters for resuming and then bail. - // NOTE: Currently only feed holds qualify for this scenario. May change with overrides. - prep.current_speed = 0.0; + // Reset prep parameters for resuming and then bail. Allow the stepper ISR to complete + // the segment queue, where realtime protocol will set new state upon receiving the + // cycle stop flag from the ISR. Prep_segment is blocked until then. + prep.current_speed = 0.0; // NOTE: (=0.0) Used to indicate completed segment calcs for hold. prep.dt_remainder = 0.0; prep.steps_remaining = ceil(steps_remaining); pl_block->millimeters = prep.steps_remaining/prep.step_per_mm; // Update with full steps. plan_cycle_reinitialize(); - sys.state = STATE_QUEUED; // End cycle. - return; // Bail! -// TODO: Try to move QUEUED setting into cycle re-initialize. - } else { // End of planner block // The planner block is complete. All steps are set to be executed in the segment buffer. - pl_block = NULL; + pl_block = NULL; // Set pointer to indicate check and load next planner block. plan_discard_current_block(); } } @@ -846,14 +837,14 @@ void st_prep_buffer() } -// Called by runtime status reporting to fetch the current speed being executed. This value +// Called by realtime status reporting to fetch the current speed being executed. This value // however is not exactly the current speed, but the speed computed in the last step segment // in the segment buffer. It will always be behind by up to the number of segment blocks (-1) // divided by the ACCELERATION TICKS PER SECOND in seconds. #ifdef REPORT_REALTIME_RATE float st_get_realtime_rate() { - if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD)){ + if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR)){ return prep.current_speed; } return 0.0f; diff --git a/stepper.h b/grbl/stepper.h similarity index 74% rename from stepper.h rename to grbl/stepper.h index 0e8be87..0745704 100644 --- a/stepper.h +++ b/grbl/stepper.h @@ -1,8 +1,9 @@ /* stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors - Part of Grbl v0.9 + Part of Grbl - Copyright (c) 2012-2014 Sungeun K. Jeon + Copyright (c) 2011-2015 Sungeun K. Jeon + Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by @@ -17,12 +18,6 @@ You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011 Sungeun K. Jeon -*/ #ifndef stepper_h #define stepper_h @@ -34,7 +29,7 @@ // Initialize and setup the stepper motor subsystem void stepper_init(); -// Enable steppers, but cycle does not start unless called by motion control or runtime command. +// Enable steppers, but cycle does not start unless called by motion control or realtime command. void st_wake_up(); // Immediately disables steppers @@ -46,13 +41,13 @@ void st_generate_step_dir_invert_masks(); // Reset the stepper subsystem variables void st_reset(); -// Reloads step segment buffer. Called continuously by runtime execution system. +// Reloads step segment buffer. Called continuously by realtime execution system. void st_prep_buffer(); // Called by planner_recalculate() when the executing block is updated by the new plan. void st_update_plan_block_parameters(); -// Called by runtime status reporting if realtime rate reporting is enabled in config.h. +// Called by realtime status reporting if realtime rate reporting is enabled in config.h. #ifdef REPORT_REALTIME_RATE float st_get_realtime_rate(); #endif diff --git a/grbl/system.c b/grbl/system.c new file mode 100644 index 0000000..a31c5fe --- /dev/null +++ b/grbl/system.c @@ -0,0 +1,272 @@ +/* + system.c - Handles system level commands and real-time processes + Part of Grbl + + Copyright (c) 2014-2015 Sungeun K. Jeon + + Grbl is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + Grbl is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with Grbl. If not, see . +*/ + +#include "grbl.h" + + +void system_init() +{ + CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins + #ifdef DISABLE_CONTROL_PIN_PULL_UP + CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down. + #else + CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation. + #endif + CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt + PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt +} + + +// 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) +{ + uint8_t pin = (CONTROL_PIN & CONTROL_MASK); + #ifndef INVERT_CONTROL_PIN + pin ^= CONTROL_MASK; + #endif + // Enter only if any CONTROL pin is detected as active. + if (pin) { + if (bit_istrue(pin,bit(RESET_BIT))) { + mc_reset(); + } else if (bit_istrue(pin,bit(CYCLE_START_BIT))) { + bit_true(sys.rt_exec_state, EXEC_CYCLE_START); + #ifndef ENABLE_SAFETY_DOOR_INPUT_PIN + } else if (bit_istrue(pin,bit(FEED_HOLD_BIT))) { + bit_true(sys.rt_exec_state, EXEC_FEED_HOLD); + #else + } else if (bit_istrue(pin,bit(SAFETY_DOOR_BIT))) { + bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR); + #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 + #ifdef INVERT_CONTROL_PIN + return(bit_istrue(CONTROL_PIN,bit(SAFETY_DOOR_BIT))); + #else + return(bit_isfalse(CONTROL_PIN,bit(SAFETY_DOOR_BIT))); + #endif + #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) +{ + uint8_t n; + for (n=0; n < N_STARTUP_LINE; n++) { + if (!(settings_read_startup_line(n, line))) { + report_status_message(STATUS_SETTING_READ_FAIL); + } else { + if (line[0] != 0) { + printString(line); // Echo startup line to indicate execution. + report_status_message(gc_execute_line(line)); + } + } + } +} + + +// 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 +// the realtime command module by being susceptible to when Grbl is ready to execute the +// next line during a cycle, so for switches like block delete, the switch only effects +// 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 char_counter = 1; + uint8_t helper_var = 0; // Helper variable + float parameter, value; + switch( line[char_counter] ) { + case 0 : report_grbl_help(); break; + case '$': case 'G': case 'C': case 'X': + if ( line[(char_counter+1)] != 0 ) { return(STATUS_INVALID_STATEMENT); } + switch( line[char_counter] ) { + 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 + // 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] + // Perform reset when toggling off. Check g-code mode should only work if Grbl + // is idle and ready, regardless of alarm locks. This is mainly to keep things + // simple and consistent. + if ( sys.state == STATE_CHECK_MODE ) { + mc_reset(); + report_feedback_message(MESSAGE_DISABLED); + } else { + 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] + if (sys.state == STATE_ALARM) { + report_feedback_message(MESSAGE_ALARM_UNLOCK); + sys.state = STATE_IDLE; + // Don't run startup script. Prevents stored moves in startup from causing accidents. + if (system_check_safety_door_ajar()) { // Check safety door switch before returning. + bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR); + protocol_execute_realtime(); // Enter safety door mode. + } + } // Otherwise, no effect. + break; + // case 'J' : break; // Jogging methods + // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be + // susceptible to other realtime commands except for e-stop. The jogging function is intended to + // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped + // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would + // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the + // motion by repeatedly toggling to slow the motion to the desired location. Location data would + // need to be updated real-time and supplied to the user through status queries. + // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are + // handled by the planner. It would be possible for the jog subprogram to insert blocks into the + // block buffer without having the planner plan them. It would need to manage de/ac-celerations + // on its own carefully. This approach could be effective and possibly size/memory efficient. +// } +// break; + } + break; + default : + // Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing) + if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); } + switch( line[char_counter] ) { + case '#' : // Print Grbl NGC parameters + if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } + else { report_ngc_parameters(); } + break; + case 'H' : // Perform homing cycle [IDLE/ALARM] + if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { + sys.state = STATE_HOMING; // Set system state variable + // Only perform homing if Grbl is idle or lost. + + // TODO: Likely not required. + if (system_check_safety_door_ajar()) { // Check safety door switch before homing. + bit_true(sys.rt_exec_state, EXEC_SAFETY_DOOR); + protocol_execute_realtime(); // Enter safety door mode. + } + + + mc_homing_cycle(); + 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. + system_execute_startup(line); + } + } else { return(STATUS_SETTING_DISABLED); } + break; + case 'I' : // Print or store build info. [IDLE/ALARM] + if ( line[++char_counter] == 0 ) { + settings_read_build_info(line); + report_build_info(line); + } else { // Store startup line [IDLE/ALARM] + if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } + helper_var = char_counter; // Set helper variable as counter to start of user info line. + do { + line[char_counter-helper_var] = line[char_counter]; + } while (line[char_counter++] != 0); + settings_store_build_info(line); + } + 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++) { + if (!(settings_read_startup_line(helper_var, line))) { + report_status_message(STATUS_SETTING_READ_FAIL); + } else { + 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. + 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, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); } + if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } + if (helper_var) { // Store startup line + // Prepare sending gcode block to gcode parser by shifting all characters + helper_var = char_counter; // Set helper variable as counter to start of gcode block + do { + line[char_counter-helper_var] = line[char_counter]; + } while (line[char_counter++] != 0); + // 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 { + helper_var = trunc(parameter); // Set helper_var to int value of parameter + 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)); + } + } + } + return(STATUS_OK); // If '$' command makes it to here, then everything's ok. +} + + +// 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 pos; + #ifdef COREXY + if (idx==A_MOTOR) { + pos = 0.5*((steps[A_MOTOR] + steps[B_MOTOR])/settings.steps_per_mm[idx]); + } else { // (idx==B_MOTOR) + pos = 0.5*((steps[A_MOTOR] - steps[B_MOTOR])/settings.steps_per_mm[idx]); + } + #else + pos = steps[idx]/settings.steps_per_mm[idx]; + #endif + return(pos); +} + + +void system_convert_array_steps_to_mpos(float *position, int32_t *steps) +{ + uint8_t idx; + for (idx=0; idx. +*/ + +#ifndef system_h +#define system_h + +#include "grbl.h" + +// Define system executor bit map. Used internally by realtime protocol as realtime command flags, +// which notifies the main program to execute the specified realtime command asynchronously. +// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default +// flags are always false, so the realtime protocol only needs to check for a non-zero value to +// know when there is a realtime command to execute. +#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001 +#define EXEC_CYCLE_START bit(1) // bitmask 00000010 +#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100 +#define EXEC_FEED_HOLD bit(3) // bitmask 00001000 +#define EXEC_RESET bit(4) // bitmask 00010000 +#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000 +#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000 + +// Alarm executor bit map. +// NOTE: EXEC_CRITICAL_EVENT is an optional flag that must be set with an alarm flag. When enabled, +// this halts Grbl into an infinite loop until the user aknowledges the problem and issues a soft- +// reset command. For example, a hard limit event needs this type of halt and aknowledgement. +#define EXEC_CRITICAL_EVENT bit(0) // bitmask 00000001 (SPECIAL FLAG. See NOTE:) +#define EXEC_ALARM_HARD_LIMIT bit(1) // bitmask 00000010 +#define EXEC_ALARM_SOFT_LIMIT bit(2) // bitmask 00000100 +#define EXEC_ALARM_ABORT_CYCLE bit(3) // bitmask 00001000 +#define EXEC_ALARM_PROBE_FAIL bit(4) // bitmask 00010000 +#define EXEC_ALARM_HOMING_FAIL bit(5) // bitmask 00100000 + +// Define system state bit map. The state variable primarily tracks the individual functions +// of Grbl to manage each without overlapping. It is also used as a messaging flag for +// critical events. +#define STATE_IDLE 0 // Must be zero. No flags. +#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access. +#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only. +#define STATE_HOMING bit(2) // Performing homing cycle +#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed. +#define STATE_HOLD bit(4) // Active feed hold +#define STATE_SAFETY_DOOR bit(5) // Safety door is ajar. Feed holds and de-energizes system. +#define STATE_MOTION_CANCEL bit(6) // Motion cancel by feed hold and return to idle. + +// Define system suspend states. +#define SUSPEND_DISABLE 0 // Must be zero. +#define SUSPEND_ENABLE_HOLD bit(0) // Enabled. Indicates the cycle is active and currently undergoing a hold. +#define SUSPEND_ENABLE_READY bit(1) // Ready to resume with a cycle start command. +#define SUSPEND_ENERGIZE bit(2) // Re-energizes output before resume. +#define SUSPEND_MOTION_CANCEL bit(3) // Cancels resume motion. Used by probing routine. + + +// Define global system variables +typedef struct { + uint8_t abort; // System abort flag. Forces exit back to main loop for reset. + uint8_t state; // Tracks the current state of Grbl. + uint8_t suspend; // System suspend flag. Allows only realtime commands. Used primarily for holds. + + volatile uint8_t rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks. + volatile uint8_t rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms. + + int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps. + // NOTE: This may need to be a volatile variable, if problems arise. + + uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR. + volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR. + int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps. + uint8_t probe_succeeded; // Tracks if last probing cycle was successful. +} system_t; +extern system_t sys; + + +// Initialize the serial protocol +void system_init(); + +// Returns if safety door is open or closed, based on pin state. +uint8_t system_check_safety_door_ajar(); + +// Executes an internal system command, defined as a string starting with a '$' +uint8_t system_execute_line(char *line); + +// Execute the startup script lines stored in EEPROM upon initialization +void system_execute_startup(char *line); + +// Returns machine position of axis 'idx'. Must be sent a 'step' array. +float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx); + +// Updates a machine 'position' array based on the 'step' array sent. +void system_convert_array_steps_to_mpos(float *position, int32_t *steps); + +#endif diff --git a/protocol.c b/protocol.c deleted file mode 100644 index 8978325..0000000 --- a/protocol.c +++ /dev/null @@ -1,306 +0,0 @@ -/* - protocol.c - controls Grbl execution protocol and procedures - Part of Grbl v0.9 - - Copyright (c) 2012-2014 Sungeun K. Jeon - - Grbl is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Grbl is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . -*/ -/* - This file is based on work from Grbl v0.8, distributed under the - terms of the MIT-license. See COPYING for more details. - Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon -*/ - -#include "system.h" -#include "serial.h" -#include "settings.h" -#include "protocol.h" -#include "gcode.h" -#include "planner.h" -#include "stepper.h" -#include "motion_control.h" -#include "report.h" - - -static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated. - - -// Directs and executes one line of formatted input from protocol_process. While mostly -// incoming streaming g-code blocks, this also directs and executes Grbl internal commands, -// such as settings, initiating the homing cycle, and toggling switch states. -static void protocol_execute_line(char *line) -{ - protocol_execute_runtime(); // Runtime command check point. - if (sys.abort) { return; } // Bail to calling function upon system abort - - if (line[0] == 0) { - // Empty or comment line. Send status message for syncing purposes. - report_status_message(STATUS_OK); - - } else if (line[0] == '$') { - // Grbl '$' system command - report_status_message(system_execute_line(line)); - - } else if (sys.state == STATE_ALARM) { - // Everything else is gcode. Block if in alarm mode. - report_status_message(STATUS_ALARM_LOCK); - - } else { - // Parse and execute g-code block! - report_status_message(gc_execute_line(line)); - } -} - - -/* - GRBL PRIMARY LOOP: -*/ -void protocol_main_loop() -{ - // ------------------------------------------------------------ - // Complete initialization procedures upon a power-up or reset. - // ------------------------------------------------------------ - - // Print welcome message - report_init_message(); - - // Check for and report alarm state after a reset, error, or an initial power up. - if (sys.state == STATE_ALARM) { - report_feedback_message(MESSAGE_ALARM_LOCK); - } else { - // All systems go! - sys.state = STATE_IDLE; // Set system to ready. Clear all state flags. - system_execute_startup(line); // Execute startup script. - } - - // --------------------------------------------------------------------------------- - // Primary loop! Upon a system abort, this exits back to main() to reset the system. - // --------------------------------------------------------------------------------- - - uint8_t iscomment = false; - uint8_t char_counter = 0; - uint8_t c; - for (;;) { - - // 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. - - // NOTE: While comment, spaces, and block delete(if supported) handling should technically - // be done in the g-code parser, doing it here helps compress the incoming data into Grbl's - // line buffer, which is limited in size. The g-code standard actually states a line can't - // exceed 256 characters, but the Arduino Uno does not have the memory space for this. - // With a better processor, it would be very easy to pull this initial parsing out as a - // seperate task to be shared by the g-code parser and Grbl's system commands. - - while((c = serial_read()) != SERIAL_NO_DATA) { - if ((c == '\n') || (c == '\r')) { // End of line reached - line[char_counter] = 0; // Set string termination character. - protocol_execute_line(line); // Line is complete. Execute it! - iscomment = false; - char_counter = 0; - } else { - if (iscomment) { - // Throw away all comment characters - if (c == ')') { - // End of comment. Resume line. - iscomment = false; - } - } else { - if (c <= ' ') { - // Throw away whitepace and control characters - } else if (c == '/') { - // Block delete NOT SUPPORTED. Ignore character. - // NOTE: If supported, would simply need to check the system if block delete is enabled. - } else if (c == '(') { - // Enable comments flag and ignore all characters until ')' or EOL. - // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now. - // In the future, we could simply remove the items within the comments, but retain the - // comment control characters, so that the g-code parser can error-check it. - iscomment = true; - // } else if (c == ';') { - // Comment character to EOL NOT SUPPORTED. LinuxCNC definition. Not NIST. - - // TODO: Install '%' feature - // } else if (c == '%') { - // Program start-end percent sign NOT SUPPORTED. - // NOTE: This maybe installed to tell Grbl when a program is running vs manual input, - // 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)) { - // Detect line buffer overflow. Report error and reset line buffer. - report_status_message(STATUS_OVERFLOW); - iscomment = false; - char_counter = 0; - } else if (c >= 'a' && c <= 'z') { // Upcase lowercase - line[char_counter++] = c-'a'+'A'; - } else { - line[char_counter++] = c; - } - } - } - } - - // If there are no more characters in the serial read buffer to be processed and executed, - // this indicates that g-code streaming has either filled the planner buffer or has - // completed. In either case, auto-cycle start, if enabled, any queued moves. - protocol_auto_cycle_start(); - - protocol_execute_runtime(); // Runtime command check point. - if (sys.abort) { return; } // Bail to main() program loop to reset system. - - } - - return; /* Never reached */ -} - - -// Executes run-time commands, when required. This 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 be more than a fraction of a second. -// This is a way to execute runtime commands asynchronously (aka multitasking) with grbl's g-code -// parsing and planning functions. This function also serves as an interface for the interrupts to -// set the system runtime flags, where only the main program handles them, removing the need to -// define more computationally-expensive volatile variables. This also provides a controlled way to -// execute certain tasks without having two or more instances of the same task, such as the planner -// recalculating the buffer upon a feedhold or override. -// NOTE: The sys.execute variable flags are set by any process, step or serial interrupts, pinouts, -// limit switches, or the main program. -void protocol_execute_runtime() -{ - uint8_t rt_exec = sys.execute; // Copy to avoid calling volatile multiple times - if (rt_exec) { // Enter only if any bit flag is true - - // System alarm. Everything has shutdown by something that has gone severely wrong. Report - // the source of the error to the user. If critical, Grbl disables by entering an infinite - // loop until system reset/abort. - if (rt_exec & (EXEC_ALARM | EXEC_CRIT_EVENT)) { - sys.state = STATE_ALARM; // Set system alarm state - - // Critical events. Hard/soft limit events identified by both critical event and alarm exec - // flags. Probe fail is identified by the critical event exec flag only. - if (rt_exec & EXEC_CRIT_EVENT) { - if (rt_exec & EXEC_ALARM) { report_alarm_message(ALARM_LIMIT_ERROR); } - else { report_alarm_message(ALARM_PROBE_FAIL); } - report_feedback_message(MESSAGE_CRITICAL_EVENT); - bit_false_atomic(sys.execute,EXEC_RESET); // Disable any existing reset - do { - // Nothing. Block EVERYTHING until user issues reset or power cycles. Hard limits - // typically occur while unattended or not paying attention. Gives the user 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, the incoming - // stream could be still engaged and cause a serious crash if it continues afterwards. - } while (bit_isfalse(sys.execute,EXEC_RESET)); - - // Standard alarm event. Only abort during motion qualifies. - } else { - // Runtime abort command issued during a cycle, feed hold, or homing cycle. Message the - // user that position may have been lost and set alarm state to enable the alarm lockout - // to indicate the possible severity of the problem. - report_alarm_message(ALARM_ABORT_CYCLE); - } - bit_false_atomic(sys.execute,(EXEC_ALARM | EXEC_CRIT_EVENT)); - } - - // Execute system abort. - if (rt_exec & EXEC_RESET) { - sys.abort = true; // Only place this is set true. - return; // Nothing else to do but exit. - } - - // Execute and serial print status - if (rt_exec & EXEC_STATUS_REPORT) { - report_realtime_status(); - bit_false_atomic(sys.execute,EXEC_STATUS_REPORT); - } - - // Execute a feed hold with deceleration, only during cycle. - if (rt_exec & EXEC_FEED_HOLD) { - // !!! During a cycle, the segment buffer has just been reloaded and full. So the math involved - // with the feed hold should be fine for most, if not all, operational scenarios. - if (sys.state == STATE_CYCLE) { - sys.state = STATE_HOLD; - st_update_plan_block_parameters(); - st_prep_buffer(); - sys.auto_start = false; // Disable planner auto start upon feed hold. - } - bit_false_atomic(sys.execute,EXEC_FEED_HOLD); - } - - // Execute a cycle start by starting the stepper interrupt begin executing the blocks in queue. - if (rt_exec & EXEC_CYCLE_START) { - if (sys.state == STATE_QUEUED) { - sys.state = STATE_CYCLE; - st_prep_buffer(); // Initialize step segment buffer before beginning cycle. - st_wake_up(); - if (bit_istrue(settings.flags,BITFLAG_AUTO_START)) { - sys.auto_start = true; // Re-enable auto start after feed hold. - } else { - sys.auto_start = false; // Reset auto start per settings. - } - } - bit_false_atomic(sys.execute,EXEC_CYCLE_START); - } - - // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by - // runtime command execution in the main program, ensuring that the planner re-plans safely. - // 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 (rt_exec & EXEC_CYCLE_STOP) { - if ( plan_get_current_block() ) { sys.state = STATE_QUEUED; } - else { sys.state = STATE_IDLE; } - bit_false_atomic(sys.execute,EXEC_CYCLE_STOP); - } - - } - - // Overrides flag byte (sys.override) and execution should be installed here, since they - // are runtime and require a direct and controlled interface to the main stepper program. - - // Reload step segment buffer - if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_HOMING)) { st_prep_buffer(); } - -} - - -// 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() -{ - // If system is queued, ensure cycle resumes if the auto start flag is present. - protocol_auto_cycle_start(); - // Check and set auto start to resume cycle after synchronize and caller completes. - if (sys.state == STATE_CYCLE) { sys.auto_start = true; } - while (plan_get_current_block() || (sys.state == STATE_CYCLE)) { - protocol_execute_runtime(); // Check and execute run-time commands - if (sys.abort) { return; } // Check for system abort - } -} - - -// Auto-cycle start has two purposes: 1. Resumes a plan_synchronize() call from a function that -// requires the planner buffer to empty (spindle enable, dwell, etc.) 2. As a user setting that -// automatically begins the cycle when a user enters a valid motion command manually. This is -// intended as a beginners feature to help new users to understand g-code. It can be disabled -// as a beginner tool, but (1.) still operates. If disabled, the operation of cycle start is -// manually issuing a cycle start command whenever the user is ready and there is a valid motion -// command in the planner queue. -// NOTE: This function is called from the main loop and mc_line() only and executes when one of -// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished, -// single commands), or the planner buffer is full and ready to go. -void protocol_auto_cycle_start() { if (sys.auto_start) { bit_true_atomic(sys.execute, EXEC_CYCLE_START); } } diff --git a/system.c b/system.c deleted file mode 100644 index 9079820..0000000 --- a/system.c +++ /dev/null @@ -1,199 +0,0 @@ -/* - system.c - Handles system level commands and real-time processes - Part of Grbl v0.9 - - Copyright (c) 2014 Sungeun K. Jeon - - Grbl is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Grbl is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . -*/ - -#include "system.h" -#include "settings.h" -#include "gcode.h" -#include "motion_control.h" -#include "report.h" -#include "print.h" - - -void system_init() -{ - PINOUT_DDR &= ~(PINOUT_MASK); // Configure as input pins - PINOUT_PORT |= PINOUT_MASK; // Enable internal pull-up resistors. Normal high operation. - PINOUT_PCMSK |= PINOUT_MASK; // Enable specific pins of the Pin Change Interrupt - PCICR |= (1 << PINOUT_INT); // Enable Pin Change Interrupt -} - - -// Pin change interrupt for pin-out commands, i.e. cycle start, feed hold, and reset. Sets -// only the runtime command execute variable to have the main program execute these when -// its ready. This works exactly like the character-based runtime commands when picked off -// directly from the incoming serial data stream. -ISR(PINOUT_INT_vect) -{ - // Enter only if any pinout pin is actively low. - if ((PINOUT_PIN & PINOUT_MASK) ^ PINOUT_MASK) { - if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) { - mc_reset(); - } else if (bit_isfalse(PINOUT_PIN,bit(PIN_FEED_HOLD))) { - bit_true(sys.execute, EXEC_FEED_HOLD); - } else if (bit_isfalse(PINOUT_PIN,bit(PIN_CYCLE_START))) { - bit_true(sys.execute, EXEC_CYCLE_START); - } - } -} - - -// Executes user startup script, if stored. -void system_execute_startup(char *line) -{ - uint8_t n; - for (n=0; n < N_STARTUP_LINE; n++) { - if (!(settings_read_startup_line(n, line))) { - report_status_message(STATUS_SETTING_READ_FAIL); - } else { - if (line[0] != 0) { - printString(line); // Echo startup line to indicate execution. - report_status_message(gc_execute_line(line)); - } - } - } -} - - -// 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 -// the runtime command module by being susceptible to when Grbl is ready to execute the -// next line during a cycle, so for switches like block delete, the switch only effects -// 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 char_counter = 1; - uint8_t helper_var = 0; // Helper variable - float parameter, value; - switch( line[char_counter] ) { - case 0 : report_grbl_help(); break; - case '$' : // Prints Grbl settings - if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - 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 - if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - else { report_gcode_modes(); } - break; - case 'C' : // Set check g-code mode [IDLE/CHECK] - if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - // Perform reset when toggling off. Check g-code mode should only work if Grbl - // is idle and ready, regardless of alarm locks. This is mainly to keep things - // simple and consistent. - if ( sys.state == STATE_CHECK_MODE ) { - mc_reset(); - report_feedback_message(MESSAGE_DISABLED); - } else { - 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] - if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - if (sys.state == STATE_ALARM) { - report_feedback_message(MESSAGE_ALARM_UNLOCK); - sys.state = STATE_IDLE; - // Don't run startup script. Prevents stored moves in startup from causing accidents. - } // Otherwise, no effect. - break; -// case 'J' : break; // Jogging methods - // TODO: Here jogging can be placed for execution as a seperate subprogram. It does not need to be - // susceptible to other runtime commands except for e-stop. The jogging function is intended to - // be a basic toggle on/off with controlled acceleration and deceleration to prevent skipped - // steps. The user would supply the desired feedrate, axis to move, and direction. Toggle on would - // start motion and toggle off would initiate a deceleration to stop. One could 'feather' the - // motion by repeatedly toggling to slow the motion to the desired location. Location data would - // need to be updated real-time and supplied to the user through status queries. - // More controlled exact motions can be taken care of by inputting G0 or G1 commands, which are - // handled by the planner. It would be possible for the jog subprogram to insert blocks into the - // block buffer without having the planner plan them. It would need to manage de/ac-celerations - // on its own carefully. This approach could be effective and possibly size/memory efficient. - 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[char_counter] ) { - case '#' : // Print Grbl NGC parameters - if ( line[++char_counter] != 0 ) { return(STATUS_INVALID_STATEMENT); } - else { report_ngc_parameters(); } - break; - case 'H' : // Perform homing cycle [IDLE/ALARM] - if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { - // Only perform homing if Grbl is idle or lost. - mc_homing_cycle(); - if (!sys.abort) { system_execute_startup(line); } // Execute startup scripts after successful homing. - } else { return(STATUS_SETTING_DISABLED); } - break; - case 'I' : // Print or store build info. [IDLE/ALARM] - if ( line[++char_counter] == 0 ) { - settings_read_build_info(line); - report_build_info(line); - } else { // Store startup line [IDLE/ALARM] - if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } - helper_var = char_counter; // Set helper variable as counter to start of user info line. - do { - line[char_counter-helper_var] = line[char_counter]; - } while (line[char_counter++] != 0); - settings_store_build_info(line); - } - 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++) { - if (!(settings_read_startup_line(helper_var, line))) { - report_status_message(STATUS_SETTING_READ_FAIL); - } else { - 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. - 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, ¶meter)) { return(STATUS_BAD_NUMBER_FORMAT); } - if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); } - if (helper_var) { // Store startup line - // Prepare sending gcode block to gcode parser by shifting all characters - helper_var = char_counter; // Set helper variable as counter to start of gcode block - do { - line[char_counter-helper_var] = line[char_counter]; - } while (line[char_counter++] != 0); - // 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 { - helper_var = trunc(parameter); // Set helper_var to int value of parameter - 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) { 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. -} diff --git a/system.h b/system.h deleted file mode 100644 index 93ab2b9..0000000 --- a/system.h +++ /dev/null @@ -1,98 +0,0 @@ -/* - system.h - Header for system level commands and real-time processes - Part of Grbl v0.9 - - Copyright (c) 2014 Sungeun K. Jeon - - Grbl is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Grbl is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . -*/ - -#ifndef system_h -#define system_h - -// Define system header files and standard libraries used by Grbl -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// Define Grbl configuration and shared header files -#include "config.h" -#include "defaults.h" -#include "cpu_map.h" -#include "nuts_bolts.h" - - -// Define system executor bit map. Used internally by runtime protocol as runtime command flags, -// which notifies the main program to execute the specified runtime command asynchronously. -// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default -// flags are always false, so the runtime protocol only needs to check for a non-zero value to -// know when there is a runtime command to execute. -#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001 -#define EXEC_CYCLE_START bit(1) // bitmask 00000010 -#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100 -#define EXEC_FEED_HOLD bit(3) // bitmask 00001000 -#define EXEC_RESET bit(4) // bitmask 00010000 -#define EXEC_ALARM bit(5) // bitmask 00100000 -#define EXEC_CRIT_EVENT bit(6) // bitmask 01000000 -// #define bit(7) // bitmask 10000000 - -// Define system state bit map. The state variable primarily tracks the individual functions -// of Grbl to manage each without overlapping. It is also used as a messaging flag for -// critical events. -#define STATE_IDLE 0 // Must be zero. No flags. -#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access. -#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only. -#define STATE_HOMING bit(2) // Performing homing cycle -#define STATE_QUEUED bit(3) // Indicates buffered blocks, awaiting cycle start. -#define STATE_CYCLE bit(4) // Cycle is running -#define STATE_HOLD bit(5) // Executing feed hold -// #define STATE_JOG bit(6) // Jogging mode is unique like homing. - - -// Define global system variables -typedef struct { - uint8_t abort; // System abort flag. Forces exit back to main loop for reset. - uint8_t state; // Tracks the current state of Grbl. - volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks. - uint8_t homing_axis_lock; - int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps. - // NOTE: This may need to be a volatile variable, if problems arise. - uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings. - volatile uint8_t probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR. - int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps. -} system_t; -extern system_t sys; - - -// Initialize the serial protocol -void system_init(); - -// Executes an internal system command, defined as a string starting with a '$' -uint8_t system_execute_line(char *line); - -// Checks and executes a runtime command at various stop points in main program -void system_execute_runtime(); - -// Execute the startup script lines stored in EEPROM upon initialization -void system_execute_startup(char *line); - -#endif diff --git a/test/gcode/8x_gear_test.nc b/test/gcode/8x_gear_test.nc deleted file mode 100644 index 35abf40..0000000 --- a/test/gcode/8x_gear_test.nc +++ /dev/null @@ -1,4919 +0,0 @@ -(Test program provided by @kikigey89) -(Possible lockup issues when cutting gear tooth feature) -G17 -G90 -M3 -G0 Z3.000 -G0 X15.000 Y15.695 -G1 Z-1.700 F200 -G3 X15.000 Y14.305 I0.000 J-0.695 F300 -G3 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-Y6.213 -X49.011Y0.876 -G0Z6.000 -G0Z20.000 -G0X0.000Y0.000 -M30 diff --git a/test/matlab/grbl_sim.m b/test/matlab/grbl_sim.m deleted file mode 100644 index 3f34d95..0000000 --- a/test/matlab/grbl_sim.m +++ /dev/null @@ -1,437 +0,0 @@ -% ---------------------------------------------------------------------------------------- -% The MIT License (MIT) -% -% Copyright (c) 2014 Sungeun K. Jeon -% -% Permission is hereby granted, free of charge, to any person obtaining a copy -% of this software and associated documentation files (the "Software"), to deal -% in the Software without restriction, including without limitation the rights -% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -% copies of the Software, and to permit persons to whom the Software is -% furnished to do so, subject to the following conditions: -% -% The above copyright notice and this permission notice shall be included in -% all copies or substantial portions of the Software. -% -% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -% FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -% AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -% LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -% OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -% THE SOFTWARE. -% ---------------------------------------------------------------------------------------- - -% This MATLAB script was written for the purpose of being a GRBL planner simulator. This -% simulator is a rough representation of the actual workings of Grbl on the Arduino, but -% was used to hone and proof the actual planner by providing quick visual feedback on its -% functionality when experimented on. This script should be considered for educational -% purposes only. This script requires and executes a pre-parsed g-code file from the -% matlab_convert.py script that is in a specific non-g-code format. - -% There will be two figures plotted. The first is the line motion paths of the complete -% g-code program. The second is a representation of Grbl's planner buffer as new line -% motions are fed to it, plotting the velocity profiles the stepper motors will execute. -% Every time the user inputs an , this feeds the simulator planner one line motion -% block. The left side is the first block in the buffer and the one that will be executed -% by the stepper module first. The right side is the end of the planner buffer, where the -% most recent streamed block is appended onto the planner buffer. Grbl's planner -% optimizes the velocity profiles between the beginning and end of the buffer based on -% the acceleration limits, intended velocity/feedrate, and line motion junction angles -% with their corresponding velocity limits (i.e. junctions with acute angles needs to come -% to a complete stop vs straight junctions can continue through at full speed.) - -% ---------------------------------------------------------------------------------------- - - -% Main function -% NOTE: This is just a way to keep all functions in one place, but all non-global variables -% are cleared as soon as this script completes. -function main() - -% Load pre-parsed gcode moves. -close all; -warning off; -clearvars -global -fid = fopen('matlab.gcode','r'); -gcode = textscan(fid,'%d8%f32%f32%f32%f32'); -nblock = length(gcode{1}); - -% Plot all g-code moves. -figure -line(gcode{3},gcode{4},gcode{5}); -axis equal; -% axis([min(gcode{3}) max(gcode{3}) min(gcode{4}) max(gcode{4}) min(gcode{5}) max(gcode{5})]); -title('G-code programming line motions'); -view(3); - -% Set up figure for planner queue -figure - -% Print help. -disp(''); -disp(' BLUE line indicates completed planner blocks that require no recalculation.'); -disp(' RED line indicates planner blocks that have been recalculated.'); -disp(' GREEN line indicates the location of the BPLANNED pointer. Always a recalculated block.'); -disp(' BLACK dotted-line and ''x'' indicates block nominal speed and max junction velocity, respectively.'); -disp(' CYAN ''.'' indicates block initial entry speed.'); - -% Define Grbl settings. -BUFFER_SIZE = 18; % Number of planner blocks in its ring buffer. -steps_per_mm = 200; -seekrate = 2500; % mm/min -acceleration = [100 100 100]; % mm/sec^2 [ X Y Z ] axes -junction_deviation = 0.1; % mm. See Grbl documentation on this parameter. -inch_2_mm = 25.4; -ACCELERATION_TICKS_PER_SECOND = 100; - -gcode{2} = gcode{2}; -gcode{2} = inch_2_mm*gcode{2}; -gcode{3} = inch_2_mm*gcode{3}; -gcode{4} = inch_2_mm*gcode{4}; -gcode{5} = inch_2_mm*gcode{5}; - -% Initialize blocks -block.steps = []; -block.step_event_count = []; -block.delta_mm = []; -block.millimeters = []; -block.acceleration = []; -block.speed = []; -block.nominal_speed = []; -block.max_entry_speed = []; -block.entry_speed = []; -block.recalculate_flag = false; -for i = 2:BUFFER_SIZE - block(i) = block(1); -end - -% Initialize planner -position = [0 0 0]; -prev_unit_vec = [0 0 0]; -previous_nominal_speed = 0; -pos = 0; - -% BHEAD and BTAIL act as pointers to the block head and tail. -% BPLANNED acts as a pointer of the location of the end of a completed/optimized plan. -bhead = 1; -btail = 1; -bplanned = 1; - -global block bhead btail bplanned nind acceleration BUFFER_SIZE pos ACCELERATION_TICKS_PER_SECOND - -% Main loop. Simulates plan_buffer_line(). All of the precalculations for the newest incoming -% block occurs here. Anything independent of the planner changes. -for i = 1:nblock - - target = round([gcode{3}(i) gcode{4}(i) gcode{5}(i)].*steps_per_mm); - if gcode{1}(i) == 1 - feedrate = gcode{2}(i); - else - feedrate = seekrate; - end - - nind = next_block_index(bhead); - if nind == btail - % Simulate a constantly full buffer. Move buffer tail. - bind = next_block_index(btail); - % Push planned pointer if encountered. Prevents it from looping back around the ring buffer. - if btail == bplanned; bplanned = bind; end - btail = bind; - end - - block(bhead).steps = abs(target-position); - block(bhead).step_event_count = max(block(bhead).steps); - - % Bail if this is a zero-length block - if block(bhead).step_event_count == 0 - disp(['Zero-length block in line ',int2str(i)]); - else - - % Compute path vector in terms of absolute step target and current positions - delta_mm = single((target-position)./steps_per_mm); - block(bhead).millimeters = single(norm(delta_mm)); - inverse_millimeters = single(1/block(bhead).millimeters); - - % Compute path unit vector - unit_vec = delta_mm/block(bhead).millimeters; - - % Calculate speed in mm/minute for each axis - inverse_minute = single(feedrate * inverse_millimeters); - block(bhead).speed = delta_mm*inverse_minute; - block(bhead).nominal_speed = block(bhead).millimeters*inverse_minute; - - % Calculate block acceleration. Operates on absolute value of unit vector. - [max_acc,ind] = max(abs(unit_vec)./acceleration); % Determine limiting acceleration - block(bhead).acceleration = acceleration(ind)/abs(unit_vec(ind)); - - % Compute maximum junction speed - block(bhead).max_entry_speed = 0.0; - if previous_nominal_speed > 0.0 - cos_theta = dot(-previous_unit_vec,unit_vec); - if (cos_theta < 0.95) - block(bhead).max_entry_speed = min([block(bhead).nominal_speed,previous_nominal_speed]); - if (cos_theta > -0.95) - sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); - block(bhead).max_entry_speed = min([block(bhead).max_entry_speed,sqrt(block(bhead).acceleration*3600*junction_deviation*sin_theta_d2/(1.0-sin_theta_d2))]); - end - end - end - - block(bhead).entry_speed = 0; % Just initialize. Set accurately in the replanning function. - block(bhead).recalculate_flag = true; % Plotting flag to indicate this block has been updated. - - previous_unit_vec = unit_vec; - previous_nominal_speed = block(bhead).nominal_speed; - position = target; - - bhead = nind; % Block complete. Push buffer pointer. - planner_recalculate(); - - plot_buffer_velocities(); - end -end -return - -% Computes the next block index in the planner ring buffer -function block_index = next_block_index(block_index) -global BUFFER_SIZE - block_index = block_index + 1; - if block_index > BUFFER_SIZE - block_index = 1; - end -return - -% Computes the previous block index in the planner ring buffer -function block_index = prev_block_index(block_index) -global BUFFER_SIZE - block_index = block_index-1; - if block_index < 1 - block_index = BUFFER_SIZE; - end -return - - -% Planner recalculate function. The magic happens here. -function planner_recalculate(block) - - global block bhead btail bplanned acceleration - - bind = prev_block_index(bhead); - if bind == bplanned; return; end % Bail, if only one block in buffer. Can't be operated on. - - % Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last - % block in buffer. Cease planning when the last optimal planned or tail pointer is reached. - % NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan. - next = []; - curr = bind; % Last block in buffer. - - % Calculate maximum entry speed for last block in buffer, where the exit speed is always zero. - block(curr).entry_speed = min([block(curr).max_entry_speed,sqrt(2*block(curr).acceleration*60*60*block(curr).millimeters)]); - - bind = prev_block_index(bind); % Btail or second to last block - if (bind == bplanned) - % Only two plannable blocks in buffer. Reverse pass complete. - % Check if the first block is the tail. If so, notify stepper module to update its current parameters. - % if bind == btail; update_tail_block; end - else - % Three or more plannable blocks in buffer. Loop it. - while bind ~= bplanned % Loop until bplanned point hits. Replans to last plan point. - next = curr; - curr = bind; - bind = prev_block_index( bind ); % Previous block pointer. - - % Check if the first block is the tail. If so, notify stepper module to update its current parameters. - % if bind == btail; update_tail_block; end - - % Compute maximum entry speed decelerating over the current block from its exit speed. - if block(curr).entry_speed ~= block(curr).max_entry_speed - block(curr).recalculate_flag = true; % Plotting flag to indicate this block has been updated. - block(curr).entry_speed = min([ block(curr).max_entry_speed,... - sqrt(block(next).entry_speed^2 + 2*block(curr).acceleration*60*60*block(curr).millimeters)]); - end - - end - end - - % For two blocks, reverse pass is skipped, but forward pass plans second block entry speed - % onward. This prevents the first, or the potentially executing block, from being over-written. - % NOTE: Can never be bhead, since bsafe is always in active buffer. - next = bplanned; - bind = next_block_index(bplanned); % Start at bplanned - while bind ~= bhead - curr = next; - next = bind; - - % An acceleration block is always an optimally planned block since it starts from the first - % block's current speed or a maximum junction speed. Compute accelerations from this block - % and update the next block's entry speed. - if (block(curr).entry_speed < block(next).entry_speed) - % Once speed is set by forward planner, the plan for this block is finished and optimal. - % Increment the planner pointer forward one block. - - entry_speed = sqrt(block(curr).entry_speed^2 + 2*block(curr).acceleration*60*60*block(curr).millimeters); - if (block(next).entry_speed > entry_speed) - block(next).entry_speed = entry_speed; - bplanned = bind; - end - - end - - % Check if the next block entry speed is at max_entry_speed. If so, move the planned pointer, since - % this entry speed cannot be improved anymore and all prior blocks have been completed and optimally planned. - if block(next).entry_speed == block(next).max_entry_speed - bplanned = bind; - end - - % Recalculate trapezoid can be installed here, since it scans through all of the plannable blocks. - % NOTE: Eventually this will only be computed when being executed. - - bind = next_block_index( bind ); - - end - -return - -% ---------------------------------------------------------------------------------------- -% PLOTTING FUNCTIONS - -% Plots the entire buffer plan into a MATLAB figure to visual the plan. -% BLUE line indicates completed planner blocks that require no recalculation. -% RED line indicates planner blocks that have been recalculated. -% GREEN line indicates the location of the BPLANNED pointer. Always a recalculated block. -% BLACK dotted-line and 'x' indicates block nominal speed and max junction velocity, respectively. -% CYAN '.' indicates block initial entry speed. -function plot_buffer_velocities() - global block bhead btail bplanned acceleration pos ACCELERATION_TICKS_PER_SECOND - bind = btail; - curr = []; - next = []; - - pos_initial = 0; - pos = 0; - while bind ~= bhead - curr = next; - next = bind; - hold on; - if ~isempty(curr) - accel_d = estimate_acceleration_distance(block(curr).entry_speed, block(curr).nominal_speed, block(curr).acceleration*60*60); - decel_d = estimate_acceleration_distance(block(curr).nominal_speed, block(next).entry_speed,-block(curr).acceleration*60*60); - plateau_d = block(curr).millimeters-accel_d-decel_d; - if plateau_d < 0 - accel_d = intersection_distance(block(curr).entry_speed, block(next).entry_speed, block(curr).acceleration*60*60, block(curr).millimeters); - if accel_d < 0 - accel_d = 0; - elseif accel_d > block(curr).millimeters - accel_d = block(curr).millimeters; - end - plateau_d = 0; - end - color = 'b'; - if (block(curr).recalculate_flag || block(next).recalculate_flag) - block(curr).recalculate_flag = false; - color = 'r'; - end - if bplanned == curr - color = 'g'; - end - - plot_trap(pos,block(curr).entry_speed,block(next).entry_speed,block(curr).nominal_speed,block(curr).acceleration,accel_d,plateau_d,block(curr).millimeters,color) - plot([pos pos+block(curr).millimeters],block(curr).nominal_speed*[1 1],'k:') % BLACK dotted indicates - plot(pos,block(curr).max_entry_speed,'kx') - - pos = pos + block(curr).millimeters; - plot(pos,block(next).entry_speed,'c.'); - end - bind = next_block_index( bind ); - end - - accel_d = estimate_acceleration_distance(block(next).entry_speed, block(next).nominal_speed, block(next).acceleration*60*60); - decel_d = estimate_acceleration_distance(block(next).nominal_speed, 0, -block(next).acceleration*60*60); - plateau_d = block(next).millimeters-accel_d-decel_d; - if plateau_d < 0 - accel_d = intersection_distance(block(next).entry_speed, 0, block(next).acceleration*60*60, block(next).millimeters); - if accel_d < 0 - accel_d = 0; - elseif accel_d > block(next).millimeters - accel_d = block(next).millimeters; - end - plateau_d = 0; - end - block(next).recalculate_flag = false; - color = 'r'; - if bplanned == next - color= 'g'; - end - - plot_trap(pos,block(next).entry_speed,0,block(next).nominal_speed,block(next).acceleration,accel_d,plateau_d,block(next).millimeters,color) - plot([pos pos+block(next).millimeters],block(next).nominal_speed*[1 1],'k:') - plot(pos,block(next).max_entry_speed,'kx') - - plot(pos,block(next).entry_speed,'.'); - pos = pos + block(next).millimeters; - plot(pos,0,'rx'); - xlabel('mm'); - ylabel('mm/sec'); - xlim([pos_initial pos]) - title('Planner buffer optimized velocity profile'); - pause(); - hold off; - - plot(pos,0) -return - - -function d_a = estimate_acceleration_distance(initial_rate, target_rate, acceleration,rate_delta) - d_a = (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration); -return - -function d_i = intersection_distance(initial_rate, final_rate, acceleration, distance, rate_delta) - d_i = (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration); -return - - -% Simply plots the ac/de-celeration curves and plateaus of a trapezoid. -function plot_trap(pos,initial_rate,final_rate,rate,accel,accel_d,plateau_d,millimeters,color) - - dx = 1.0; % Line segment length - linex = [pos]; liney = [initial_rate]; - - % Acceleration - np = floor(accel_d/dx); - if np - v = initial_rate; - for i = 1:np - v = sqrt(v^2+2*accel*60*60*dx); - linex = [linex pos+i*dx]; - liney = [liney v]; - end - end - - % Plateau - v = sqrt(initial_rate^2 + 2*accel*60*60*accel_d); - if v < rate - rate = v; - end - linex = [linex pos+[accel_d accel_d+plateau_d]]; - liney = [liney [rate rate]]; - - % Deceleration - np = floor((millimeters-accel_d-plateau_d)/dx); - if np - v = rate; - for i = 1:np - v = sqrt(v^2-2*accel*60*60*dx); - linex = [linex pos+i*dx+accel_d+plateau_d]; - liney = [liney v]; - end - end - - linex = [linex pos+millimeters]; - liney = [ liney final_rate]; - plot(linex,liney,color); - -return - - - diff --git a/test/matlab/matlab.gcode b/test/matlab/matlab.gcode deleted file mode 100644 index 8ad9cdc..0000000 --- a/test/matlab/matlab.gcode +++ /dev/null @@ -1,2362 +0,0 @@ -0 0.0 0.0 0.0 0.0 -0 0.0 0.0 0.0 0.0 -0 0.0 0.0 0.0 0.0 -0 0.0 0.0 0.0 6.0 -0 0.0 37.56 12.33 6.0 -1 300.0 37.56 12.33 -1.0 -1 300.0 37.56 0.88 -1.0 -1 300.0 49.01 0.88 -1.0 -1 300.0 49.01 12.33 -1.0 -1 300.0 37.56 12.33 -1.0 -0 300.0 37.56 12.33 6.0 -0 300.0 37.56 0.88 6.0 -1 300.0 37.56 0.88 -1.0 -1 300.0 37.56 -10.57 -1.0 -1 300.0 49.01 -10.57 -1.0 -1 300.0 49.01 0.88 -1.0 -1 300.0 37.56 0.88 -1.0 -0 300.0 37.56 0.88 6.0 -0 300.0 49.01 12.33 6.0 -1 300.0 49.01 12.33 -1.0 -1 300.0 52.08 15.01 -1.0 -0 300.0 52.08 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12.71 -50.3 20.0 -1 300.0 12.94 -50.25 20.0 -1 300.0 13.15 -50.19 20.0 -1 300.0 13.36 -50.13 20.0 -1 300.0 13.55 -50.06 20.0 -1 300.0 13.72 -49.99 20.0 -1 300.0 13.88 -49.92 20.0 -1 300.0 14.02 -49.84 20.0 -1 300.0 14.14 -49.77 20.0 -1 300.0 14.26 -49.69 20.0 -1 300.0 14.36 -49.6 20.0 -1 300.0 14.44 -49.52 20.0 -1 300.0 14.51 -49.43 20.0 -1 300.0 14.57 -49.34 20.0 -1 300.0 14.62 -49.24 20.0 -1 300.0 14.64 -49.15 20.0 -1 300.0 14.66 -49.05 20.0 -1 300.0 14.66 -48.94 20.0 -1 300.0 14.65 -48.84 20.0 -1 300.0 14.63 -48.73 20.0 -1 300.0 14.58 -48.62 20.0 -1 300.0 14.53 -48.5 20.0 -1 300.0 14.46 -48.39 20.0 -1 300.0 14.38 -48.27 20.0 -1 300.0 14.28 -48.15 20.0 -1 300.0 14.17 -48.02 20.0 -1 300.0 14.04 -47.9 20.0 -1 300.0 13.9 -47.77 20.0 -1 300.0 13.75 -47.63 20.0 -1 300.0 13.4 -47.37 20.0 -1 300.0 13.21 -47.23 20.0 -1 300.0 13.0 -47.09 20.0 -1 300.0 12.55 -46.8 20.0 -1 300.0 11.5 -46.21 20.0 -1 300.0 11.21 -46.06 20.0 -1 300.0 10.92 -45.9 20.0 -1 300.0 10.29 -45.59 20.0 -1 300.0 8.92 -44.95 20.0 -1 300.0 5.87 -43.61 20.0 -1 300.0 5.47 -43.44 20.0 -1 300.0 5.06 -43.27 20.0 -1 300.0 4.25 -42.93 20.0 -1 300.0 2.6 -42.24 20.0 -1 300.0 -0.6 -40.87 20.0 -1 300.0 -1.02 -40.68 20.0 -1 300.0 -1.44 -40.49 20.0 -1 300.0 -2.26 -40.12 20.0 -1 300.0 -3.76 -39.38 20.0 -1 300.0 -4.11 -39.2 20.0 -1 300.0 -4.45 -39.02 20.0 -1 300.0 -5.08 -38.66 20.0 -1 300.0 -5.38 -38.49 20.0 -1 300.0 -5.66 -38.32 20.0 -1 300.0 -6.18 -37.98 20.0 -1 300.0 -6.42 -37.81 20.0 -1 300.0 -6.64 -37.65 20.0 -1 300.0 -6.84 -37.48 20.0 -1 300.0 -7.03 -37.32 20.0 -1 300.0 -7.2 -37.16 20.0 -1 300.0 -7.35 -37.01 20.0 -1 300.0 -7.49 -36.86 20.0 -1 300.0 -7.61 -36.71 20.0 -1 300.0 -7.71 -36.56 20.0 -1 300.0 -7.79 -36.41 20.0 -1 300.0 -7.86 -36.27 20.0 -1 300.0 -7.9 -36.13 20.0 -1 300.0 -7.93 -36.0 20.0 -1 300.0 -7.95 -35.86 20.0 -1 300.0 -7.94 -35.73 20.0 -1 300.0 -7.92 -35.61 20.0 -1 300.0 -7.88 -35.48 20.0 -1 300.0 -7.82 -35.36 20.0 -1 300.0 -7.74 -35.25 20.0 -1 300.0 -7.65 -35.13 20.0 -1 300.0 -7.54 -35.02 20.0 -1 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-1 300.0 49.01 -10.57 -1.0 -1 300.0 49.01 0.88 -1.0 -1 300.0 37.56 0.88 -1.0 -0 300.0 37.56 0.88 6.0 -0 300.0 49.01 12.33 6.0 -1 300.0 49.01 12.33 -1.0 -1 300.0 52.08 15.01 -1.0 -0 300.0 52.08 15.01 6.0 -0 300.0 49.01 0.88 6.0 -1 300.0 49.01 0.88 -1.0 -1 300.0 52.08 6.21 -1.0 -1 300.0 52.08 15.01 -1.0 -1 300.0 43.29 15.01 -1.0 -1 300.0 37.56 12.33 -1.0 -0 300.0 37.56 12.33 6.0 -0 300.0 49.01 -10.57 6.0 -1 300.0 49.01 -10.57 -1.0 -1 300.0 52.08 -2.58 -1.0 -1 300.0 52.08 6.21 -1.0 -1 300.0 49.01 0.88 -1.0 -0 300.0 49.01 0.88 6.0 -0 300.0 49.01 0.88 20.0 -0 300.0 0.0 0.0 20.0 -0 300.0 0.0 0.0 20.0 diff --git a/test/matlab/matlab_convert.py b/test/matlab/matlab_convert.py deleted file mode 100755 index cf750ac..0000000 --- a/test/matlab/matlab_convert.py +++ /dev/null @@ -1,270 +0,0 @@ -#!/usr/bin/env python -"""\ -The MIT License (MIT) - -Copyright (c) 2014 Sungeun K. Jeon - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in -all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN -THE SOFTWARE. ----------------------------------------------------------------------------------------- -""" -"""\ -G-code preprocessor for the grbl_sim.m MATLAB script. Parses the g-code program to a -specific file format for the MATLAB script to use. Based on PreGrbl by @chamnit. - -How to use: When running this python script, it will process the g-code program under -the filename "test.gcode" (may be changed below) and produces a file called "matlab.gcode" -that the grbl_sim.m MATLAB script will search for and execute. -""" - -import re -from math import * -from copy import * - -# -= SETTINGS =- -filein = 'test.gcode' # Input file name -fileout = 'matlab.gcode' # Output file name -ndigits_in = 4 # inch significant digits after '.' -ndigits_mm = 2 # mm significant digits after '.' -# mm_per_arc_segment = 0.38 # mm per arc segment -arc_tolerance = 0.00005*25.4 -n_arc_correction = 20 -inch2mm = 25.4 # inch to mm conversion scalar -verbose = False # Verbose flag to show all progress -remove_unsupported = True # Removal flag for all unsupported statements - -# Initialize parser state -gc = { 'current_xyz' : [0,0,0], - 'feed_rate' : 0, # F0 - 'motion_mode' : 'SEEK', # G00 - 'plane_axis' : [0,1,2], # G17 - 'inches_mode' : False, # G21 - 'inverse_feedrate_mode' : False, # G94 - 'absolute_mode' : True} # G90 - -def unit_conv(val) : # Converts value to mm - if gc['inches_mode'] : val *= inch2mm - return(val) - -def fout_conv(val) : # Returns converted value as rounded string for output file. - if gc['inches_mode'] : return( str(round(val/inch2mm,ndigits_in)) ) - else : return( str(round(val,ndigits_mm)) ) - -# Open g-code file -fin = open(filein,'r'); -fout = open(fileout,'w'); - -# Iterate through g-code file -l_count = 0 -for line in fin: - l_count += 1 # Iterate line counter - - # Strip comments/spaces/tabs/new line and capitalize. Comment MSG not supported. - block = re.sub('\s|\(.*?\)','',line).upper() - block = re.sub('\\\\','',block) # Strip \ block delete character - block = re.sub('%','',block) # Strip % program start/stop character - - if len(block) == 0 : # Ignore empty blocks - - print "Skipping: " + line.strip() - - else : # Process valid g-code clean block. Assumes no block delete characters or comments - - g_cmd = re.findall(r'[^0-9\.\-]+',block) # Extract block command characters - g_num = re.findall(r'[0-9\.\-]+',block) # Extract block numbers - - # G-code block error checks - # if len(g_cmd) != len(g_num) : print block; raise Exception('Invalid block. Unbalanced word and values.') - if 'N' in g_cmd : - if g_cmd[0]!='N': raise Exception('Line number must be first command in line.') - if g_cmd.count('N') > 1: raise Exception('More than one line number in block.') - g_cmd = g_cmd[1:] # Remove line number word - g_num = g_num[1:] - # Block item repeat checks? (0<=n'M'<5, G/M modal groups) - - # Initialize block state - blk = { 'next_action' : 'DEFAULT', - 'absolute_override' : False, - 'target_xyz' : deepcopy(gc['current_xyz']), - 'offset_ijk' : [0,0,0], - 'radius_mode' : False, - 'unsupported': [] } - - # Pass 1 - for cmd,num in zip(g_cmd,g_num) : - fnum = float(num) - inum = int(fnum) - if cmd is 'G' : - if inum is 0 : gc['motion_mode'] = 'SEEK' - elif inum is 1 : gc['motion_mode'] = 'LINEAR' - elif inum is 2 : gc['motion_mode'] = 'CW_ARC' - elif inum is 3 : gc['motion_mode'] = 'CCW_ARC' - elif inum is 4 : blk['next_action'] = 'DWELL' - elif inum is 17 : gc['plane_axis'] = [0,1,2] # Select XY Plane - elif inum is 18 : gc['plane_axis'] = [0,2,1] # Select XZ Plane - elif inum is 19 : gc['plane_axis'] = [1,2,0] # Select YZ Plane - elif inum is 20 : gc['inches_mode'] = True - elif inum is 21 : gc['inches_mode'] = False - elif inum in [28,30] : blk['next_action'] = 'GO_HOME' - elif inum is 53 : blk['absolute_override'] = True - elif inum is 54 : pass - elif inum is 80 : gc['motion_mode'] = 'MOTION_CANCEL' - elif inum is 90 : gc['absolute_mode'] = True - elif inum is 91 : gc['absolute_mode'] = False - elif inum is 92 : blk['next_action'] = 'SET_OFFSET' - elif inum is 93 : gc['inverse_feedrate_mode'] = True - elif inum is 94 : gc['inverse_feedrate_mode'] = False - else : - print 'Unsupported command ' + cmd + num + ' on line ' + str(l_count) - if remove_unsupported : blk['unsupported'].append(zip(g_cmd,g_num).index((cmd,num))) - elif cmd is 'M' : - if inum in [0,1] : pass # Program Pause - elif inum in [2,30,60] : pass # Program Completed - elif inum is 3 : pass # Spindle Direction 1 - elif inum is 4 : pass # Spindle Direction -1 - elif inum is 5 : pass # Spindle Direction 0 - else : - print 'Unsupported command ' + cmd + num + ' on line ' + str(l_count) - if remove_unsupported : blk['unsupported'].append(zip(g_cmd,g_num).index((cmd,num))) - elif cmd is 'T' : pass # Tool Number - - # Pass 2 - for cmd,num in zip(g_cmd,g_num) : - fnum = float(num) - if cmd is 'F' : gc['feed_rate'] = unit_conv(fnum) # Feed Rate - elif cmd in ['I','J','K'] : blk['offset_ijk'][ord(cmd)-ord('I')] = unit_conv(fnum) # Arc Center Offset - elif cmd is 'N' : pass - elif cmd is 'P' : p = fnum # Misc value parameter - elif cmd is 'R' : r = unit_conv(fnum); blk['radius_mode'] = True # Arc Radius Mode - elif cmd is 'S' : pass # Spindle Speed - elif cmd in ['X','Y','Z'] : # Target Coordinates - if (gc['absolute_mode'] | blk['absolute_override']) : - blk['target_xyz'][ord(cmd)-ord('X')] = unit_conv(fnum) - else : - blk['target_xyz'][ord(cmd)-ord('X')] += unit_conv(fnum) - - # Execute actions - if blk['next_action'] is 'GO_HOME' : - gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position - elif blk['next_action'] is 'SET_OFFSET' : - pass - elif blk['next_action'] is 'DWELL' : - if p < 0 : raise Exception('Dwell time negative.') - else : # 'DEFAULT' - if gc['motion_mode'] is 'SEEK' : - fout.write('0 '+fout_conv(gc['feed_rate'])) - fout.write(' '+fout_conv(blk['target_xyz'][0])) - fout.write(' '+fout_conv(blk['target_xyz'][1])) - fout.write(' '+fout_conv(blk['target_xyz'][2])) - fout.write('\n') - gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position - elif gc['motion_mode'] is 'LINEAR' : - fout.write('1 '+fout_conv(gc['feed_rate'])) - fout.write(' '+fout_conv(blk['target_xyz'][0])) - fout.write(' '+fout_conv(blk['target_xyz'][1])) - fout.write(' '+fout_conv(blk['target_xyz'][2])) - fout.write('\n') - gc['current_xyz'] = deepcopy(blk['target_xyz']) # Update position - elif gc['motion_mode'] in ['CW_ARC','CCW_ARC'] : - axis = gc['plane_axis'] - - # Convert radius mode to ijk mode - if blk['radius_mode'] : - x = blk['target_xyz'][axis[0]]-gc['current_xyz'][axis[0]] - y = blk['target_xyz'][axis[1]]-gc['current_xyz'][axis[1]] - if not (x==0 and y==0) : raise Exception('Same target and current XYZ not allowed in arc radius mode.') - h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y) - if isnan(h_x2_div_d) : raise Exception('Floating point error in arc conversion') - if gc['motion_mode'] is 'CCW_ARC' : h_x2_div_d = -h_x2_div_d - if r < 0 : h_x2_div_d = -h_x2_div_d - blk['offset_ijk'][axis[0]] = (x-(y*h_x2_div_d))/2; - blk['offset_ijk'][axis[1]] = (y+(x*h_x2_div_d))/2; - else : - radius = sqrt(blk['offset_ijk'][axis[0]]**2+blk['offset_ijk'][axis[1]]**2) - - center_axis0 = gc['current_xyz'][axis[0]]+blk['offset_ijk'][axis[0]] - center_axis1 = gc['current_xyz'][axis[1]]+blk['offset_ijk'][axis[1]] - linear_travel = blk['target_xyz'][axis[2]]-gc['current_xyz'][axis[2]] - r_axis0 = -blk['offset_ijk'][axis[0]] - r_axis1 = -blk['offset_ijk'][axis[1]] - rt_axis0 = blk['target_xyz'][axis[0]] - center_axis0; - rt_axis1 = blk['target_xyz'][axis[1]] - center_axis1; - clockwise_sign = 1 - if gc['motion_mode'] is 'CW_ARC' : clockwise_sign = -1 - - angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1) - if gc['motion_mode'] is 'CW_ARC' : - if angular_travel >= 0 : - angular_travel -= 2*pi - else : - if angular_travel <= 0 : - angular_travel += 2*pi - - millimeters_of_travel = sqrt((angular_travel*radius)**2 + abs(linear_travel)**2) - - mm_per_arc_segment = sqrt(4*(2*radius*arc_tolerance-arc_tolerance**2)) - segments = int(millimeters_of_travel/mm_per_arc_segment) - print segments - print l_count - theta_per_segment = angular_travel/segments - linear_per_segment = linear_travel/segments - cos_T = 1-0.5*theta_per_segment*theta_per_segment - sin_T = theta_per_segment-theta_per_segment**3/6 - print(fout_conv(mm_per_arc_segment)) - print theta_per_segment*180/pi - - arc_target = [0,0,0] - arc_target[axis[2]] = gc['current_xyz'][axis[2]] - - count = 0 - for i in range(1,segments+1) : - if i < segments : - if count < n_arc_correction : - r_axisi = r_axis0*sin_T + r_axis1*cos_T - r_axis0 = r_axis0*cos_T - r_axis1*sin_T - r_axis1 = deepcopy(r_axisi) - count += 1 - else : - cos_Ti = cos((i-1)*theta_per_segment) - sin_Ti = sin((i-1)*theta_per_segment) - print n_arc_correction*(r_axis0 -( -blk['offset_ijk'][axis[0]]*cos_Ti + blk['offset_ijk'][axis[1]]*sin_Ti)) - print n_arc_correction*(r_axis1 -( -blk['offset_ijk'][axis[0]]*sin_Ti - blk['offset_ijk'][axis[1]]*cos_Ti)) - cos_Ti = cos(i*theta_per_segment) - sin_Ti = sin(i*theta_per_segment) - r_axis0 = -blk['offset_ijk'][axis[0]]*cos_Ti + blk['offset_ijk'][axis[1]]*sin_Ti - r_axis1 = -blk['offset_ijk'][axis[0]]*sin_Ti - blk['offset_ijk'][axis[1]]*cos_Ti - count = 0 - arc_target[axis[0]] = center_axis0 + r_axis0 - arc_target[axis[1]] = center_axis1 + r_axis1 - arc_target[axis[2]] += linear_per_segment - else : - arc_target = deepcopy(blk['target_xyz']) # Last segment at target_xyz - # Write only changed variables. - fout.write('1 '+fout_conv(gc['feed_rate'])) - fout.write(' '+fout_conv(arc_target[0])) - fout.write(' '+fout_conv(arc_target[1])) - fout.write(' '+fout_conv(arc_target[2])) - fout.write('\n') - gc['current_xyz'] = deepcopy(arc_target) # Update position - - -print 'Done!' - -# Close files -fin.close() -fout.close() \ No newline at end of file diff --git a/test/matlab/test.gcode b/test/matlab/test.gcode deleted file mode 100644 index 3d9d56c..0000000 --- a/test/matlab/test.gcode +++ /dev/null @@ -1,2363 +0,0 @@ -(Braid.NC Test Program) -T1M6 -G17G21 -G0X0Y0 -G0Z6.000 -G0X37.560Y12.327Z6.000 -G1Z-1.000 F300 -G1Y0.876 -X49.011 -Y12.327 -X37.560 -G0Z6.000 -G0Y0.876 -G1Z-1.000 -G1Y-10.575 -X49.011 -Y0.876 -X37.560 -G0Z6.000 -G0X49.011Y12.327 -G1Z-1.000 -G1X52.084Y15.011 -G0Z6.000 -G0X49.011Y0.876 -G1Z-1.000 -G1X52.084Y6.213 -Y15.011 -X43.286 -X37.560Y12.327 -G0Z6.000 -G0X49.011Y-10.575 -G1Z-1.000 -G1X52.084Y-2.585 -Y6.213 -X49.011Y0.876 -G0Z6.000 -G0Z20.000 -G0X0.000Y0.000 -G1X-7.098Y-39.876 -X-10.296Y-38.118 -X-10.698Y-37.897 -X-11.099Y-37.676 -X-11.894Y-37.235 -X-13.448Y-36.356 -X-13.825Y-36.137 -X-14.197Y-35.919 -X-14.923Y-35.485 -X-16.288Y-34.625 -X-16.636Y-34.395 -X-16.973Y-34.165 -X-17.613Y-33.711 -X-17.915Y-33.486 -X-18.204Y-33.262 -X-18.743Y-32.821 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-Y0.876 -X37.560 -G0Z6.000 -G0X49.011Y12.327 -G1Z-1.000 -G1X52.084Y15.011 -G0Z6.000 -G0X49.011Y0.876 -G1Z-1.000 -G1X52.084Y6.213 -Y15.011 -X43.286 -X37.560Y12.327 -G0Z6.000 -G0X49.011Y-10.575 -G1Z-1.000 -G1X52.084Y-2.585 -Y6.213 -X49.011Y0.876 -G0Z6.000 -G0Z20.000 -G0X0.000Y0.000 -M30 diff --git a/test/settings/kikigey89.settings b/test/settings/kikigey89.settings deleted file mode 100644 index e367d50..0000000 --- a/test/settings/kikigey89.settings +++ /dev/null @@ -1,31 +0,0 @@ -(Machine settings provided by @kikigey89) -$0=87.489 (x, step/mm) -$1=87.489 (y, step/mm) -$2=1280.000 (z, step/mm) -$3=1000.000 (x max rate, mm/min) -$4=1000.000 (y max rate, mm/min) -$5=500.000 (z max rate, mm/min) -$6=10.000 (x accel, mm/sec^2) -$7=10.000 (y accel, mm/sec^2) -$8=10.000 (z accel, mm/sec^2) -$9=211.000 (x max travel, mm) -$10=335.000 (y max travel, mm) -$11=70.000 (z max travel, mm) -$12=20 (step pulse, usec) -$13=160 (step port invert mask:10100000) -$14=160 (dir port invert mask:10100000) -$15=50 (step idle delay, msec) -$16=0.010 (junction deviation, mm) -$17=0.002 (arc tolerance, mm) -$19=0 (report inches, bool) -$20=1 (auto start, bool) -$21=0 (invert step enable, bool) -$22=0 (invert limit pins, bool) -$23=0 (soft limits, bool) -$24=0 (hard limits, bool) -$25=0 (homing cycle, bool) -$26=0 (homing dir invert mask:00000000) -$27=50.000 (homing feed, mm/min) -$28=500.000 (homing seek, mm/min) -$29=10 (homing debounce, msec) -$30=3.000 (homing pull-off, mm) \ No newline at end of file diff --git a/test/test.py b/test/test.py deleted file mode 100644 index 41c845c..0000000 --- a/test/test.py +++ /dev/null @@ -1,25 +0,0 @@ -import random -import serial -import time -ser = serial.Serial('/dev/tty.usbmodem24111', 115200, timeout=0.001) -time.sleep(1) -outstanding = 0 -data = '' -while True: - time.sleep(0.1) - data += ser.read() - pos = data.find('\n') - if pos == -1: - line = '' - else: - line = data[0:pos + 1] - data = data[pos + 1:] - if line == '' and outstanding < 3: - while outstanding < 3: - ser.write("G0 Z%0.3f\n" % (0.01 * (random.random() - 0.5))) - #ser.write("M3\n") - outstanding += 1 - continue - if line == 'ok\r\n': - outstanding -= 1 - print outstanding, repr(line.rstrip()) \ No newline at end of file