Merge branch 'dev_2' into dev
Conflicts: README.md gcode.c motion_control.c planner.c planner.h protocol.c report.c settings.c settings.h stepper.c stepper.h
This commit is contained in:
Sonny Jeon
146
config.h
146
config.h
@ -2,8 +2,8 @@
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config.h - compile time configuration
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Part of Grbl
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Copyright (c) 2011-2013 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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@ -19,80 +19,24 @@
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef config_h
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#define config_h
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// This file contains compile-time configurations for Grbl's internal system. For the most part,
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// users will not need to directly modify these, but they are here for specific needs, i.e.
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// performance tuning or adjusting to non-typical machines.
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// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
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#ifndef config_h
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#define config_h
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// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
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#define DEFAULTS_GENERIC
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#define DEFAULTS_ZEN_TOOLWORKS_7x7
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// Serial baud rate
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#define BAUD_RATE 9600
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#define BAUD_RATE 115200
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// Define pin-assignments
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// NOTE: All step bit and direction pins must be on the same port.
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#define STEPPING_DDR DDRD
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#define STEPPING_PORT PORTD
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#define X_STEP_BIT 2 // Uno Digital Pin 2
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#define Y_STEP_BIT 3 // Uno Digital Pin 3
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#define Z_STEP_BIT 4 // Uno Digital Pin 4
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#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
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#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
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#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
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#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
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#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
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#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
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#define STEPPERS_DISABLE_DDR DDRB
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#define STEPPERS_DISABLE_PORT PORTB
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#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
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#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
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// NOTE: All limit bit pins must be on the same port
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#define LIMIT_DDR DDRB
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#define LIMIT_PIN PINB
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#define LIMIT_PORT PORTB
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#define X_LIMIT_BIT 1 // Uno Digital Pin 9
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#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
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#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
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#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
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#define LIMIT_INT_vect PCINT0_vect
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#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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#define SPINDLE_ENABLE_DDR DDRB
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#define SPINDLE_ENABLE_PORT PORTB
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#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
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#define SPINDLE_DIRECTION_DDR DDRB
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#define SPINDLE_DIRECTION_PORT PORTB
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#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
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#define COOLANT_FLOOD_DDR DDRC
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
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// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
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// a later date if flash and memory space allows.
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// #define ENABLE_M7 // Mist coolant disabled by default. Uncomment to enable.
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#ifdef ENABLE_M7
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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#endif
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// NOTE: All pinouts pins must be on the same port
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#define PINOUT_DDR DDRC
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#define PINOUT_PIN PINC
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#define PINOUT_PORT PORTC
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#define PIN_RESET 0 // Uno Analog Pin 0
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#define PIN_FEED_HOLD 1 // Uno Analog Pin 1
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#define PIN_CYCLE_START 2 // Uno Analog Pin 2
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#define PINOUT_INT PCIE1 // Pin change interrupt enable pin
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#define PINOUT_INT_vect PCINT1_vect
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#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
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#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
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// Default pin mappings. Grbl officially supports the Arduino Uno only. Other processor types
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// may exist from user-supplied templates or directly user-defined in pin_map.h
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#define PIN_MAP_ARDUINO_UNO
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// Define runtime command special characters. These characters are 'picked-off' directly from the
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// serial read data stream and are not passed to the grbl line execution parser. Select characters
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#define CMD_CYCLE_START '~'
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#define CMD_RESET 0x18 // ctrl-x
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// The "Stepper Driver Interrupt" employs the Pramod Ranade inverse time algorithm to manage the
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// Bresenham line stepping algorithm. The value ISR_TICKS_PER_SECOND is the frequency(Hz) at which
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// the Ranade algorithm ticks at. Maximum step frequencies are limited by the Ranade frequency by
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// approximately 0.75-0.9 * ISR_TICK_PER_SECOND. Meaning for 20kHz, the max step frequency is roughly
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// 15-18kHz. An Arduino can safely complete a single interrupt of the current stepper driver algorithm
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// theoretically up to a frequency of 35-40kHz, but CPU overhead increases exponentially as this
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// frequency goes up. So there will be little left for other processes like arcs.
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// In future versions, more work will be done to increase the step rates but still stay around
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// 20kHz by performing two steps per step event, rather than just one.
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// The "Stepper Driver Interrupt" employs an inverse time algorithm to manage the Bresenham line
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// stepping algorithm. The value ISR_TICKS_PER_SECOND is the frequency(Hz) at which the inverse time
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// algorithm ticks at. Recommended step frequencies are limited by the inverse time frequency by
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// approximately 0.75-0.9 * ISR_TICK_PER_SECOND. Meaning for 30kHz, the max step frequency is roughly
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// 22.5-27kHz, but 30kHz is still possible, just not optimal. An Arduino can safely complete a single
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// interrupt of the current stepper driver algorithm theoretically up to a frequency of 35-40kHz, but
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// CPU overhead increases exponentially as this frequency goes up. So there will be little left for
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// other processes like arcs.
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#define ISR_TICKS_PER_SECOND 30000L // Integer (Hz)
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// The temporal resolution of the acceleration management subsystem. Higher number give smoother
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// profiles and how the stepper program actually performs them. The correct value for this parameter
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// is machine dependent, so it's advised to set this only as high as needed. Approximate successful
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// values can widely range from 50 to 200 or more. Cannot be greater than ISR_TICKS_PER_SECOND/2.
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// NOTE: Ramp count variable type in stepper module may need to be updated if changed.
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#define ACCELERATION_TICKS_PER_SECOND 120L
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// NOTE: Make sure this value is less than 256, when adjusting both dependent parameters.
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#define ISR_TICKS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND)
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// The Ranade algorithm can use either floating point or long integers for its counters, but for
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// integers the counter values must be scaled since these values can be very small (10^-6). This
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// multiplier value scales the floating point counter values for use in a long integer. Long integers
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// are finite so select the multiplier value high enough to avoid any numerical round-off issues and
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// still have enough range to account for all motion types. However, in most all imaginable CNC
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// applications, the following multiplier value will work more than well enough. If you do have
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// The inverse time algorithm can use either floating point or long integers for its counters (usually
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// very small values ~10^-6), but with integers, the counter values must be scaled to be greater than
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// one. This multiplier value scales the floating point counter values for use in a long integer, which
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// are significantly faster to compute with a slightly higher precision ceiling than floats. Long
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// integers are finite so select the multiplier value high enough to avoid any numerical round-off
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// issues and still have enough range to account for all motion types. However, in most all imaginable
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// CNC applications, the following multiplier value will work more than well enough. If you do have
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// happened to weird stepper motion issues, try modifying this value by adding or subtracting a
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// zero and report it to the Grbl administrators.
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#define RANADE_MULTIPLIER 100000000.0
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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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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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#define MINIMUM_PLANNER_SPEED 0.0 // (mm/min)
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#define INV_TIME_MULTIPLIER 10000000.0
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// Minimum stepper rate for the "Stepper Driver Interrupt". Sets the absolute minimum stepper rate
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// in the stepper program and never runs slower than this value. If the RANADE_MULTIPLIER value
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// in the stepper program and never runs slower than this value. If the INVE_TIME_MULTIPLIER value
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// changes, it will affect how this value works. So, if a zero is add/subtracted from the
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// RANADE_MULTIPLIER value, do the same to this value if you want to same response.
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// NOTE: Compute by (desired_step_rate/60) * RANADE_MULTIPLIER/ISR_TICKS_PER_SECOND. (mm/min)
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// INV_TIME_MULTIPLIER value, do the same to this value if you want to same response.
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// NOTE: Compute by (desired_step_rate/60) * INV_TIME_MULTIPLIER/ISR_TICKS_PER_SECOND. (mm/min)
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#define MINIMUM_STEP_RATE 1000L // Integer (mult*mm/isr_tic)
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// Minimum stepper rate. Only used by homing at this point. May be removed in later releases.
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#define MINIMUM_STEPS_PER_MINUTE 800 // (steps/min) - Integer value only
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// Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at
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// every buffer block junction, except for starting from rest and end of the buffer, which are always
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// zero. This value controls how fast the machine moves through junctions with no regard for acceleration
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// limits or angle between neighboring block line move directions. This is useful for machines that can't
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// tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value
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// should not be much greater than zero or to the minimum value necessary for the machine to work.
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#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
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// Time delay increments performed during a dwell. The default value is set at 50ms, which provides
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// a maximum time delay of roughly 55 minutes, more than enough for most any application. Increasing
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// this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of
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@ -208,7 +156,7 @@
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// The number of linear motions in the planner buffer to be planned at any give time. The vast
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// majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra
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// available RAM, like when re-compiling for a Teensy or Sanguino. Or decrease if the Arduino
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// available RAM, like when re-compiling for a Mega or Sanguino. Or decrease if the Arduino
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// begins to crash due to the lack of available RAM or if the CPU is having trouble keeping
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// up with planning new incoming motions as they are executed.
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// #define BLOCK_BUFFER_SIZE 18 // Uncomment to override default in planner.h.
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// each of the startup blocks, as they are each stored as a string of this size. Make sure
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// to account for the available EEPROM at the defined memory address in settings.h and for
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// the number of desired startup blocks.
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// NOTE: 50 characters is not a problem except for extreme cases, but the line buffer size
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// NOTE: 70 characters is not a problem except for extreme cases, but the line buffer size
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// can be too small and g-code blocks can get truncated. Officially, the g-code standards
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// support up to 256 characters. In future versions, this default will be increased, when
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// we know how much extra memory space we can re-invest into this.
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// #define LINE_BUFFER_SIZE 50 // Uncomment to override default in protocol.h
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// #define LINE_BUFFER_SIZE 70 // Uncomment to override default in protocol.h
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// Serial send and receive buffer size. The receive buffer is often used as another streaming
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// buffer to store incoming blocks to be processed by Grbl when its ready. Most streaming
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// TODO: Install compile-time option to send numeric status codes rather than strings.
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// ---------------------------------------------------------------------------------------
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// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
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#if (ISR_TICKS_PER_ACCELERATION_TICK > 255)
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#error Parameters ACCELERATION_TICKS / ISR_TICKS must be < 256 to prevent integer overflow.
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#endif
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// ---------------------------------------------------------------------------------------
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#endif
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