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
parent
6506b7a338
commit
4c6f5bec48
27
config.h
27
config.h
@ -84,15 +84,6 @@
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// This parameter must be one or greater, currently supporting up to a value of 6.
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#define N_COORDINATE_SYSTEM 1
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// This parameter sets the delay time before disabling the steppers after the final block of movement.
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// A short delay ensures the steppers come to a complete stop and the residual inertial force in the
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// CNC axes don't cause the axes to drift off position. This is particularly important when manually
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// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
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// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
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// on the machine, this parameter may need to be larger or smaller than the default time.
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// NOTE: If the define commented, the stepper lock will be disabled upon compiling.
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#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer > 0
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// The temporal resolution of the acceleration management subsystem. Higher number give smoother
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// acceleration but may impact performance.
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// NOTE: Increasing this parameter will help any resolution related issues, especially with machines
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@ -102,7 +93,7 @@
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// round-off can be great enough to cause problems and/or it's too fast for the Arduino. The correct
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// value for this parameter is machine dependent, so it's advised to set this only as high as needed.
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// Approximate successful values can range from 30L to 100L or more.
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#define ACCELERATION_TICKS_PER_SECOND 50L
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#define ACCELERATION_TICKS_PER_SECOND 60L
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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@ -129,6 +120,11 @@
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// time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
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#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
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// Number of homing cycles performed after when the machine initially jogs to limit switches.
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// This help in preventing overshoot and should improve repeatability. This value should be one or
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// greater.
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#define N_HOMING_CYCLE 2 // Integer (1-128)
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// ---------------------------------------------------------------------------------------
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// FOR ADVANCED USERS ONLY:
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@ -174,7 +170,14 @@
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#define DECIMAL_MULTIPLIER 100
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#endif
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// Limit step rate for homing
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#define LIMIT_DEBOUNCE 50 // Limit switch debounce delay (in ms)
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// This parameter sets the delay time before disabling the steppers after the final block of movement.
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// A short delay ensures the steppers come to a complete stop and the residual inertial force in the
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// CNC axes don't cause the axes to drift off position. This is particularly important when manually
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// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
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// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
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// on the machine, this parameter may need to be larger or smaller than the default time.
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// NOTE: If the define commented, the stepper lock will be disabled upon compiling.
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// -> NOW INSTALLED IN SETTINGS #define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer > 0
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#endif
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8
gcode.c
8
gcode.c
@ -179,7 +179,13 @@ uint8_t gc_execute_line(char *line)
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case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break;
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case 20: gc.inches_mode = true; break;
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case 21: gc.inches_mode = false; break;
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case 28: case 30: non_modal_action = NON_MODAL_GO_HOME; break;
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case 28: case 30:
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if (bit_istrue(settings.flags,FLAG_BIT_HOMING_ENABLE)) {
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non_modal_action = NON_MODAL_GO_HOME;
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} else {
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FAIL(STATUS_SETTING_DISABLED);
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}
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break;
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case 53: absolute_override = true; break;
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case 54: case 55: case 56: case 57: case 58: case 59:
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int_value -= 54; // Compute coordinate system row index (0=G54,1=G55,...)
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34
limits.c
34
limits.c
@ -156,26 +156,28 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, int8_t pos_dir,
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}
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}
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static void approach_limit_switch(bool x, bool y, bool z)
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{
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homing_cycle(x, y, z, true, false, settings.default_seek_rate);
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}
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static void leave_limit_switch(bool x, bool y, bool z) {
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homing_cycle(x, y, z, false, true, settings.default_feed_rate);
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}
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void limits_go_home()
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{
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plan_synchronize(); // Empty all motions in buffer.
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// Jog all axes toward home to engage their limit switches.
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approach_limit_switch(false, false, true); // First home the z axis
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approach_limit_switch(true, true, false); // Then home the x and y axis
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delay_ms(LIMIT_DEBOUNCE); // Delay to debounce signal before leaving limit switches
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// Jog all axes toward home to engage their limit switches at faster homing seek rate.
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homing_cycle(false, false, true, true, false, settings.homing_seek_rate); // First jog the z axis
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homing_cycle(true, true, false, true, false, settings.homing_seek_rate); // Then jog the x and y axis
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delay_ms(settings.homing_debounce_delay); // Delay to debounce signal
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// Now carefully leave the limit switches
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leave_limit_switch(true,true,true);
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delay_ms(LIMIT_DEBOUNCE); // Delay to debounce signal before exiting routine
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// Now in proximity of all limits. Carefully leave and approach switches in multiple cycles
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// to precisely hone in on the machine zero location. Moves at slower homing feed rate.
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int8_t n_cycle = N_HOMING_CYCLE;
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while (n_cycle--) {
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// Leave all switches to release them. After cycles complete, this is machine zero.
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homing_cycle(true, true, true, false, true, settings.homing_feed_rate);
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delay_ms(settings.homing_debounce_delay);
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if (n_cycle > 0) {
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// Re-approach all switches to re-engage them.
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homing_cycle(true, true, true, true, false, settings.homing_feed_rate);
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delay_ms(settings.homing_debounce_delay);
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}
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}
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}
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@ -57,6 +57,8 @@ static void status_message(int status_code)
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printPgmString(PSTR("Modal group violation\r\n")); break;
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case STATUS_INVALID_COMMAND:
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printPgmString(PSTR("Invalid command\r\n")); break;
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case STATUS_SETTING_DISABLED:
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printPgmString(PSTR("Grbl setting disabled\r\n")); break;
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default:
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printInteger(status_code);
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printPgmString(PSTR("\r\n"));
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@ -28,6 +28,7 @@
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#define STATUS_FLOATING_POINT_ERROR 4
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#define STATUS_MODAL_GROUP_VIOLATION 5
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#define STATUS_INVALID_COMMAND 6
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#define STATUS_SETTING_DISABLED 7
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// Initialize the serial protocol
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void protocol_init();
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123
settings.c
123
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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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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// 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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}
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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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13
settings.h
13
settings.h
@ -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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@ -29,7 +29,11 @@
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// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
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// when firmware is upgraded. Always stored in byte 0 of eeprom
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#define SETTINGS_VERSION 4
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#define SETTINGS_VERSION 50
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// Define bit flag masks in settings.flag.
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#define FLAG_BIT_HOMING_ENABLE bit(0)
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//#define FLAG_BIT_AUTO_START bit(1)
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// Current global settings (persisted in EEPROM from byte 1 onwards)
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typedef struct {
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@ -42,6 +46,11 @@ typedef struct {
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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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uint8_t flags; // Contains default toggles
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float homing_feed_rate;
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float homing_seek_rate;
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uint16_t homing_debounce_delay;
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uint8_t stepper_idle_lock_time;
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} settings_t;
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extern settings_t settings;
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@ -112,9 +112,7 @@ void st_go_idle()
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TIMSK1 &= ~(1<<OCIE1A);
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// Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
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// stop and not drift from residual inertial forces at the end of the last movement.
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#ifdef STEPPER_IDLE_LOCK_TIME
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_delay_ms(STEPPER_IDLE_LOCK_TIME);
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#endif
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delay_ms(settings.stepper_idle_lock_time);
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// Disable steppers by setting stepper disable
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STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT);
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}
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