Improved homing cycle. New settings: homing enable/rates, debounce and step idle lock time.
- Homing cycle will now cycle twice (spec more/less in config) to improve repeatability and accuracy by decreasing overshoot. - New Grbl settings added: Enable/disable homing cycles, homing seek and feed rates, switch debounce delay, and stepper idle lock time. - Please note that these settings may change upon the next push, since there will be more added soon. Grbl *should* not re-write your old settings, just re-write the new ones. So, make sure you keep these written down somewhere in case they get lost from a code bug. - Refactored settings migration to be a little smaller and managable going forward.
This commit is contained in:
Sonny Jeon
121
settings.c
121
settings.c
@ -3,7 +3,7 @@
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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Copyright (c) 2011-2012 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -42,6 +42,19 @@ typedef struct {
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float mm_per_arc_segment;
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} settings_v1_t;
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// Version 2,3,4 outdated settings record
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typedef struct {
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float steps_per_mm[3];
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uint8_t microsteps;
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uint8_t pulse_microseconds;
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float default_feed_rate;
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float default_seek_rate;
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uint8_t invert_mask;
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float mm_per_arc_segment;
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float acceleration;
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float junction_deviation;
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} settings_v2_v4_t;
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// Default settings (used when resetting eeprom-settings)
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#define MICROSTEPS 8
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#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS)
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@ -54,7 +67,15 @@ typedef struct {
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#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE*60*60/10.0) // mm/min^2
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#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
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// #define DEFAULT_AUTO_START 1 // Boolean
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// Developmental default settings
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 50 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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// #define DEFAULT_AUTO_START 1 // true
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// #define DEFAULT_BLOCK_DELETE 0 // false
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void settings_reset() {
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settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
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@ -81,8 +102,12 @@ void settings_dump() {
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printPgmString(PSTR(" (step port invert mask. binary = ")); print_uint8_base2(settings.invert_mask);
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printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration/(60*60)); // Convert from mm/min^2 for human readability
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printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
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printPgmString(PSTR(" (cornering junction deviation in mm)"));//\r\n$10 = ")); // printInteger(settings.auto_start);
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// printPgmString(PSTR(" (auto-start boolean)"));
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printPgmString(PSTR(" (cornering junction deviation in mm)\r\n$10 = ")); printInteger(bit_istrue(settings.flags,FLAG_BIT_HOMING_ENABLE));
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printPgmString(PSTR(" (boolean homing enable)\r\n$11 = ")); printFloat(settings.homing_feed_rate);
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printPgmString(PSTR(" (mm/min homing feed rate)\r\n$12 = ")); printFloat(settings.homing_seek_rate);
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printPgmString(PSTR(" (mm/min homing seek rate)\r\n$13 = ")); printInteger(settings.homing_debounce_delay);
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printPgmString(PSTR(" (milliseconds homing debounce delay)\r\n$14 = ")); printInteger(settings.stepper_idle_lock_time);
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printPgmString(PSTR(" (milliseconds stepper idle lock time)\r\n"));
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printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
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}
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@ -126,33 +151,60 @@ int read_settings() {
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t)))) {
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return(false);
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}
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} else if (version == 1) {
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// Migrate from settings version 1
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v1_t)))) {
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} else {
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// Incrementally update the old versions until up-to-date.
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if (version == 1) {
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// Migrate from settings version 1 to version 4.
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v1_t)))) {
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return(false);
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}
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settings.acceleration = DEFAULT_ACCELERATION;
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settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
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} else if ((version == 2) || (version == 3)) {
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// Migrate from settings version 2 and 3 to version 4.
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v2_v4_t)))) {
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return(false);
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}
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if (version == 2) { settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION; }
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settings.acceleration *= 3600; // Convert to mm/min^2 from mm/sec^2
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}
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if (version <= 4) {
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// Migrate from settings version 4 to current version.
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v2_v4_t)))) {
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return(false);
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}
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settings.flags = 0;
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// if (DEFAULT_AUTO_START) { settings.flags |= FLAG_BIT_AUTO_START; }
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if (DEFAULT_HOMING_ENABLE) { settings.flags |= FLAG_BIT_HOMING_ENABLE; }
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settings.homing_feed_rate = DEFAULT_HOMING_FEEDRATE;
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settings.homing_seek_rate = DEFAULT_HOMING_RAPID_FEEDRATE;
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settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
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settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
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write_settings();
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} else if (version >= 50) {
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// Developmental settings. Version numbers greater than or equal to 50 are temporary.
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// Currently, this will update the user settings to v4 and the remainder of the settings
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// should be re-written to the default value, if the developmental version number changed.
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// Grab settings regardless of error.
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memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t));
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settings.flags = 0;
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// if (DEFAULT_AUTO_START) { settings.flags |= FLAG_BIT_AUTO_START; }
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if (DEFAULT_HOMING_ENABLE) { settings.flags |= FLAG_BIT_HOMING_ENABLE; }
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settings.homing_feed_rate = DEFAULT_HOMING_FEEDRATE;
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settings.homing_seek_rate = DEFAULT_HOMING_RAPID_FEEDRATE;
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settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
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settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
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write_settings();
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} else {
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return(false);
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}
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settings.acceleration = DEFAULT_ACCELERATION;
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settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
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// settings.auto_start = DEFAULT_AUTO_START;
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write_settings();
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} else if ((version == 2) || (version == 3)) {
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// Migrate from settings version 2 and 3
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if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t)))) {
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return(false);
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}
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if (version == 2) { settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION; }
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settings.acceleration *= 3600; // Convert to mm/min^2 from mm/sec^2
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// settings.auto_start = DEFAULT_AUTO_START;
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write_settings();
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// } else if (version == 4) {
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// // Migrate from settings version 4
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// if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t)))) {
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// return(false);
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// }
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// settings.auto_start = DEFAULT_AUTO_START;
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// write_settings();
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} else {
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return(false);
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}
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return(true);
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}
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@ -178,7 +230,16 @@ void settings_store_setting(int parameter, float value) {
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case 7: settings.invert_mask = trunc(value); break;
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case 8: settings.acceleration = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
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case 9: settings.junction_deviation = fabs(value); break;
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// case 10: settings.auto_start = value; break;
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case 10:
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if (value) {
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settings.flags |= FLAG_BIT_HOMING_ENABLE;
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printPgmString(PSTR("Install all axes limit switches before use\r\n"));
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} else { settings.flags &= ~FLAG_BIT_HOMING_ENABLE; }
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break;
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case 11: settings.homing_feed_rate = value; break;
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case 12: settings.homing_seek_rate = value; break;
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case 13: settings.homing_debounce_delay = round(value); break;
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case 14: settings.stepper_idle_lock_time = round(value); break;
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default:
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printPgmString(PSTR("Unknown parameter\r\n"));
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return;
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