ManuelW/grbl-LPC-CoreXY
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Settings refactoring. Bug fixes. Misc new features.

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This is likely the last major change to the v0.9 code base before push
to master. Only two minor things remain on the agenda (CoreXY support,
force clear EEPROM, and an extremely low federate bug).

- NEW! Grbl is now compile-able and may be flashed directly through the
Arduino IDE. Only minor changes were required for this compatibility.
See the Wiki to learn how to do it.

- New status reporting mask to turn on and off what Grbl sends back.
This includes machine coordinates, work coordinates, serial RX buffer
usage, and planner buffer usage. Expandable to more information on user
request, but that’s it for now.

- Settings have been completely renumbered to allow for future new
settings to be installed without having to constantly reshuffle and
renumber all of the settings every time.

- All settings masks have been standardized to mean bit 0 = X, bit 1 =
Y, and bit 2 = Z, to reduce confusion on how they work. The invert
masks used by the internal Grbl system were updated to accommodate this
change as well.

- New invert probe pin setting, which does what it sounds like.

- Fixed a probing cycle bug, where it would freeze intermittently, and
removed some redundant code.

- Homing may now be set to the origin wherever the limit switches are.
Traditionally machine coordinates should always be in negative space,
but when limit switches on are on the opposite side, the machine
coordinate would be set to -max_travel for the axis. Now you can always
make it [0,0,0] via a compile-time option in config.h. (Soft limits
routine was updated to account for this as well.)

 - Probe coordinate message immediately after a probing cycle may now
be turned off via a compile-time option in config.h. By default the
probing location is always reported.

- Reduced the N_ARC_CORRECTION default value to reflect the changes in
how circles are generated by an arc tolerance, rather than a fixed arc
segment setting.

- Increased the incoming line buffer limit from 70 to 80 characters.
Had some extra memory space to invest into this.

- Fixed a bug where tool number T was not being tracked and reported
correctly.

- Added a print free memory function for debugging purposes. Not used
otherwise.

- Realtime rate report should now work during feed holds, but it hasn’t
been tested yet.

- Updated the streaming scripts with MIT-license and added the simple
streaming to the main stream.py script to allow for settings to be sent.

- Some minor code refactoring to improve flash efficiency. Reduced the
flash by several hundred KB, which was re-invested in some of these new
features.
This commit is contained in:
Sonny Jeon
2014-07-26 15:01:34 -06:00
parent 1c74be0625
commit 71f333ddca
34 changed files with 5686 additions and 562 deletions
Download Patch File Download Diff File Expand all files Collapse all files

205
settings.c
View File

@ -62,20 +62,19 @@ void write_global_settings()
// Method to reset Grbl global settings back to defaults.
void settings_reset() {
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.flags = 0;
if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
if (DEFAULT_AUTO_START) { settings.flags |= BITFLAG_AUTO_START; }
@ -84,15 +83,20 @@ void settings_reset() {
if (DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
if (DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
write_global_settings();
}
@ -158,69 +162,89 @@ uint8_t read_global_settings() {
// A helper method to set settings from command line
uint8_t settings_store_global_setting(int parameter, float value) {
uint8_t settings_store_global_setting(uint8_t parameter, float value) {
if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); }
switch(parameter) {
case 0: case 1: case 2:
settings.steps_per_mm[parameter] = value; break;
case 3: settings.max_rate[X_AXIS] = value; break;
case 4: settings.max_rate[Y_AXIS] = value; break;
case 5: settings.max_rate[Z_AXIS] = value; break;
case 6: settings.acceleration[X_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 7: settings.acceleration[Y_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 8: settings.acceleration[Z_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 9: settings.max_travel[X_AXIS] = -value; break; // Store as negative for grbl internal use.
case 10: settings.max_travel[Y_AXIS] = -value; break; // Store as negative for grbl internal use.
case 11: settings.max_travel[Z_AXIS] = -value; break; // Store as negative for grbl internal use.
case 12:
if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = round(value); break;
case 13: settings.step_invert_mask = trunc(value); break;
case 14: settings.dir_invert_mask = trunc(value); break;
case 15: settings.stepper_idle_lock_time = round(value); break;
case 16: settings.junction_deviation = fabs(value); break;
case 17: settings.arc_tolerance = value; break;
case 19:
if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
break;
case 20: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
break;
case 21: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 22: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 23:
if (value) {
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
break;
case 24:
if (value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 25:
if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
if (parameter >= AXIS_SETTINGS_START_VAL) {
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
parameter -= AXIS_SETTINGS_START_VAL;
uint8_t set_idx = 0;
while (set_idx < AXIS_N_SETTINGS) {
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 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.
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
} else {
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
parameter -= AXIS_SETTINGS_INCREMENT;
}
break;
case 26: settings.homing_dir_mask = trunc(value); break;
case 27: settings.homing_feed_rate = value; break;
case 28: settings.homing_seek_rate = value; break;
case 29: settings.homing_debounce_delay = round(value); break;
case 30: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}
} else {
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
switch(parameter) {
case 0:
if (int_value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = int_value; break;
case 1: settings.stepper_idle_lock_time = int_value; break;
case 2: settings.step_invert_mask = int_value; break;
case 3: settings.dir_invert_mask = int_value; break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
break;
case 10: settings.status_report_mask = int_value;
case 11: settings.junction_deviation = value; break;
case 12: settings.arc_tolerance = value; break;
case 13:
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); }
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
break;
case 21:
if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 23: settings.homing_dir_mask = int_value; break;
case 24: settings.homing_feed_rate = value; break;
case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}
}
write_global_settings();
return(STATUS_OK);
@ -244,3 +268,30 @@ void settings_init() {
}
// NOTE: Startup lines are handled and called by main.c at the end of initialization.
}
// Returns step pin mask according to Grbl internal axis indexing.
uint8_t get_step_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
return((1<<Z_STEP_BIT));
}
// Returns direction pin mask according to Grbl internal axis indexing.
uint8_t get_direction_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
return((1<<Z_DIRECTION_BIT));
}
// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t get_limit_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
return((1<<Z_LIMIT_BIT));
}