From 67d7607e60855370c14ef679e19fedf6b318282c Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Sun, 20 Feb 2011 22:00:12 +0100 Subject: [PATCH 01/67] acceleration-Grbl now works with atmega 168 by disabling arc motion --- gcode.c | 4 ++++ main.c | 6 +++--- motion_control.c | 2 ++ motion_control.h | 2 ++ planner.c | 6 +++++- wiring_serial.c | 6 +++++- 6 files changed, 21 insertions(+), 5 deletions(-) diff --git a/gcode.c b/gcode.c index becac9d..7efd8fc 100644 --- a/gcode.c +++ b/gcode.c @@ -169,8 +169,10 @@ uint8_t gc_execute_line(char *line) { switch(int_value) { case 0: gc.motion_mode = MOTION_MODE_SEEK; break; case 1: gc.motion_mode = MOTION_MODE_LINEAR; break; +#ifdef __AVR_ATmega328P__ case 2: gc.motion_mode = MOTION_MODE_CW_ARC; break; case 3: gc.motion_mode = MOTION_MODE_CCW_ARC; break; +#endif case 4: next_action = NEXT_ACTION_DWELL; break; case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; @@ -264,6 +266,7 @@ uint8_t gc_execute_line(char *line) { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); break; +#ifdef __AVR_ATmega328P__ case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC: if (radius_mode) { /* @@ -394,6 +397,7 @@ uint8_t gc_execute_line(char *line) { mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); break; +#endif } } diff --git a/main.c b/main.c index 0b9a354..6c33037 100644 --- a/main.c +++ b/main.c @@ -31,9 +31,9 @@ #include "settings.h" #include "wiring_serial.h" -#ifndef __AVR_ATmega328P__ -# error "As of version 0.6 Grbl only supports atmega328p. If you want to run Grbl on an 168 check out 0.51 ('git co v0_51')" -#endif +// #ifndef __AVR_ATmega328P__ +// # error "As of version 0.6 Grbl only supports atmega328p. If you want to run Grbl on an 168 check out 0.51 ('git co v0_51')" +// #endif int main(void) { diff --git a/motion_control.c b/motion_control.c index f1f1b45..11c7dec 100644 --- a/motion_control.c +++ b/motion_control.c @@ -42,6 +42,7 @@ void mc_dwell(uint32_t milliseconds) // axis in axis_l which will be the axis for linear travel if you are tracing a helical motion. // position is a pointer to a vector representing the current position in millimeters. +#ifdef __AVR_ATmega328P__ // The arc is approximated by generating a huge number of tiny, linear segments. The length of each // segment is configured in settings.mm_per_arc_segment. void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, @@ -77,6 +78,7 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr } plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled); } +#endif void mc_go_home() { diff --git a/motion_control.h b/motion_control.h index d2f409b..90a05da 100644 --- a/motion_control.h +++ b/motion_control.h @@ -31,12 +31,14 @@ // NOTE: Although this function structurally belongs in this module, there is nothing to do but // to forward the request to the planner. For efficiency the function is implemented with a macro. +#ifdef __AVR_ATmega328P__ // Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc, // positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the // circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining // axis in axis_l which will be the axis for linear travel if you are tracing a helical motion. void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, int axis_linear, double feed_rate, int invert_feed_rate, double *position); +#endif // Dwell for a couple of time units void mc_dwell(uint32_t milliseconds); diff --git a/planner.c b/planner.c index 7684632..9dbe363 100644 --- a/planner.c +++ b/planner.c @@ -64,7 +64,11 @@ #include "wiring_serial.h" // The number of linear motions that can be in the plan at any give time -#define BLOCK_BUFFER_SIZE 20 +#ifdef __AVR_ATmega328P__ +#define BLOCK_BUFFER_SIZE 20 +#else +#define BLOCK_BUFFER_SIZE 5 +#endif static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions static volatile int block_buffer_head; // Index of the next block to be pushed diff --git a/wiring_serial.c b/wiring_serial.c index 20f8756..62c4be4 100644 --- a/wiring_serial.c +++ b/wiring_serial.c @@ -31,7 +31,11 @@ // using a ring buffer (I think), in which rx_buffer_head is the index of the // location to which to write the next incoming character and rx_buffer_tail // is the index of the location from which to read. -#define RX_BUFFER_SIZE 200 +#ifdef __AVR_ATmega328P__ +#define RX_BUFFER_SIZE 256 +#else +#define RX_BUFFER_SIZE 64 +#endif unsigned char rx_buffer[RX_BUFFER_SIZE]; From 2be3a6cc61736328b2c04cb4ad2b28ada776740e Mon Sep 17 00:00:00 2001 From: jvangrin Date: Mon, 4 Jul 2011 13:05:20 -0500 Subject: [PATCH 02/67] fixed null pointer dereference in planner_forward_pass_kernel --- planner.c | 22 ++++++++++++---------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/planner.c b/planner.c index 9dbe363..f21ced6 100644 --- a/planner.c +++ b/planner.c @@ -232,16 +232,18 @@ void planner_reverse_pass() { // The kernel called by planner_recalculate() when scanning the plan from first to last entry. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { if(!current) { return; } - // If the previous block is an acceleration block, but it is not long enough to - // complete the full speed change within the block, we need to adjust out entry - // speed accordingly. Remember current->entry_factor equals the exit factor of - // the previous block. - if(previous->entry_factor < current->entry_factor) { - double max_entry_speed = max_allowable_speed(-settings.acceleration, - current->nominal_speed*previous->entry_factor, previous->millimeters); - double max_entry_factor = max_entry_speed/current->nominal_speed; - if (max_entry_factor < current->entry_factor) { - current->entry_factor = max_entry_factor; + if(previous) { + // If the previous block is an acceleration block, but it is not long enough to + // complete the full speed change within the block, we need to adjust out entry + // speed accordingly. Remember current->entry_factor equals the exit factor of + // the previous block. + if(previous->entry_factor < current->entry_factor) { + double max_entry_speed = max_allowable_speed(-settings.acceleration, + current->nominal_speed*previous->entry_factor, previous->millimeters); + double max_entry_factor = max_entry_speed/current->nominal_speed; + if (max_entry_factor < current->entry_factor) { + current->entry_factor = max_entry_factor; + } } } } From d4f3fdd4bbd99f6d307a4a86f0773597bd287ef7 Mon Sep 17 00:00:00 2001 From: jvangrin Date: Mon, 4 Jul 2011 13:07:32 -0500 Subject: [PATCH 03/67] fix sign of fractional part in printFloat --- wiring_serial.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/wiring_serial.c b/wiring_serial.c index 62c4be4..92da993 100644 --- a/wiring_serial.c +++ b/wiring_serial.c @@ -24,6 +24,7 @@ //#include "wiring_private.h" #include +#include #include #include @@ -176,7 +177,7 @@ void printFloat(double n) fractional_part = modf(n, &integer_part); printInteger(integer_part); printByte('.'); - printInteger(round(fractional_part*1000)); + printInteger(labs(round(fractional_part*1000))); } // void printHex(unsigned long n) From 926d74fcb7c93434ce9acf24d08c0dd59908a278 Mon Sep 17 00:00:00 2001 From: jvangrin Date: Tue, 5 Jul 2011 16:50:40 -0500 Subject: [PATCH 04/67] Reset the overflow flag to stop a queued overflow interrupt from resetting the step pulse right after sei() is called --- stepper.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/stepper.c b/stepper.c index 5b4efcc..3f33c18 100644 --- a/stepper.c +++ b/stepper.c @@ -135,8 +135,10 @@ SIGNAL(TIMER1_COMPA_vect) // Then pulse the stepping pins STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits; // Reset step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after - // exactly settings.pulse_microseconds microseconds. + // exactly settings.pulse_microseconds microseconds. Clear the overflow flag to stop a queued + // interrupt from resetting the step pulse too soon. TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND)/8); + TIFR2 |= (1< Date: Tue, 5 Jul 2011 16:57:03 -0500 Subject: [PATCH 05/67] Make sure we don't accelerate above the nominal_rate --- stepper.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/stepper.c b/stepper.c index 3f33c18..a017852 100644 --- a/stepper.c +++ b/stepper.c @@ -101,6 +101,9 @@ inline void trapezoid_generator_tick() { if (current_block) { if (step_events_completed < current_block->accelerate_until) { trapezoid_adjusted_rate += current_block->rate_delta; + if (trapezoid_adjusted_rate > current_block->nominal_rate ) { + trapezoid_adjusted_rate = current_block->nominal_rate; + } set_step_events_per_minute(trapezoid_adjusted_rate); } else if (step_events_completed > current_block->decelerate_after) { // NOTE: We will only reduce speed if the result will be > 0. This catches small From 4bf0085ae6bf1726554bcc625884a12679fce715 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 19 Nov 2011 14:10:55 -0700 Subject: [PATCH 06/67] Updated README and reordered branch versions. --- readme.textile | 16 ++++++++--- stepper.c | 73 +++++++++++++++++++++++++------------------------- 2 files changed, 48 insertions(+), 41 deletions(-) diff --git a/readme.textile b/readme.textile index fab1580..c4d2b97 100644 --- a/readme.textile +++ b/readme.textile @@ -4,12 +4,20 @@ Grbl is a no-compromise, high performance, low cost alternative to parallel-port 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 more than 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 - but no support for tool offsets, functions or variables as these are apocryphal and fell into disuse after humans left G-code authoring to machines some time in the 80s. +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, other basic functional g-code commands. Functions and variables are not currently supported, but may be included in future releases in a form of a pre-processor. -Grbl includes full acceleration management with look ahead. That means the controller will look up to 20 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering. +Grbl includes full acceleration management with look ahead. That means the controller will look up to 16 to 20 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering. -*Important note for Atmega 168 users:* Grbl used to be compatible with both the older Ardunios running atmega 168 and the newer with 328p. The full version of Grbl now compiles without support for circles/arcs if you target 168. If you need arcs, but not acceleration-management I am still maintaining Grbl 0.51 "in the branch called 'v0_51'":https://github.com/simen/grbl/tree/v0_51. +*Changelog for v0.7 from v0.6:* + - Significantly improved and optimized planner re-factoring. + - New robust cornering algorithm, enabling smoother and faster motions. + - Arc acceleration planning enabled by efficient vector transformation implementation. + - Stepper subsystem re-factoring to help remove some motion issues from pre-v0.7 builds. + - Increased dwell times. + - G92 Coordinate offset support. + - (Beta) Limit switch and homing cycle support. + - Many other bug fixes and efficiency improvements. -*Note for users upgrading from 0.51 to 0.6:* The new version has new and improved default pin-out. If nothing works when you upgrade, that is because the pulse trains are coming from the wrong pins. This is a simple matter of editing config.h – the whole legacy pin assignment is there for you to uncomment. +*Important note for Atmega 168 users:* Going forward, support for Atmega 168 will be dropped due to its limited memory and speed. However, legacy Grbl v0.51 "in the branch called 'v0_51' is still available for use. _The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ diff --git a/stepper.c b/stepper.c index b810259..d8110e5 100644 --- a/stepper.c +++ b/stepper.c @@ -49,7 +49,7 @@ static int32_t counter_x, // Counter variables for the bresenham line trac counter_y, counter_z; static uint32_t step_events_completed; // The number of step events executed in the current block -static volatile int busy; // true when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. +static volatile uint8_t busy; // true when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. // Variables used by the trapezoid generation static uint32_t cycles_per_step_event; // The number of machine cycles between each step event @@ -79,7 +79,8 @@ static uint8_t cycle_start; // Cycle start flag to indicate program start an static void set_step_events_per_minute(uint32_t steps_per_minute); // Stepper state initialization -void st_wake_up() { +void st_wake_up() +{ // Initialize stepper output bits out_bits = (0) ^ (settings.invert_mask); // Enable steppers by resetting the stepper disable port @@ -89,7 +90,8 @@ void st_wake_up() { } // Stepper shutdown -static void st_go_idle() { +void st_go_idle() +{ // Cycle finished. Set flag to false. cycle_start = false; // Disable stepper driver interrupt @@ -105,7 +107,8 @@ static void st_go_idle() { // Initializes the trapezoid generator from the current block. Called whenever a new // block begins. -static void trapezoid_generator_reset() { +static void trapezoid_generator_reset() +{ trapezoid_adjusted_rate = current_block->initial_rate; min_safe_rate = current_block->rate_delta + (current_block->rate_delta >> 1); // 1.5 x rate_delta trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Start halfway for midpoint rule. @@ -115,7 +118,8 @@ static void trapezoid_generator_reset() { // This function determines an acceleration velocity change every CYCLES_PER_ACCELERATION_TICK by // keeping track of the number of elapsed cycles during a de/ac-celeration. The code assumes that // step_events occur significantly more often than the acceleration velocity iterations. -static uint8_t iterate_trapezoid_cycle_counter() { +static uint8_t iterate_trapezoid_cycle_counter() +{ trapezoid_tick_cycle_counter += cycles_per_step_event; if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) { trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK; @@ -186,16 +190,13 @@ SIGNAL(TIMER1_COMPA_vect) // While in block steps, check for de/ac-celeration events and execute them accordingly. if (step_events_completed < current_block->step_event_count) { - // The trapezoid generator always checks step event location to ensure de/ac-celerations are // executed and terminated at exactly the right time. This helps prevent over/under-shooting // the target position and speed. - // NOTE: By increasing the ACCELERATION_TICKS_PER_SECOND in config.h, the resolution of the // discrete velocity changes increase and accuracy can increase as well to a point. Numerical // round-off errors can effect this, if set too high. This is important to note if a user has // very high acceleration and/or feedrate requirements for their machine. - if (step_events_completed < current_block->accelerate_until) { // Iterate cycle counter and check if speeds need to be increased. if ( iterate_trapezoid_cycle_counter() ) { @@ -248,9 +249,7 @@ SIGNAL(TIMER1_COMPA_vect) current_block = NULL; plan_discard_current_block(); } - } - out_bits ^= settings.invert_mask; // Apply stepper invert mask busy=false; } @@ -306,33 +305,33 @@ static uint32_t config_step_timer(uint32_t cycles) uint16_t ceiling; uint16_t prescaler; uint32_t actual_cycles; - if (cycles <= 0xffffL) { - ceiling = cycles; - prescaler = 0; // prescaler: 0 - actual_cycles = ceiling; - } else if (cycles <= 0x7ffffL) { - ceiling = cycles >> 3; - prescaler = 1; // prescaler: 8 - actual_cycles = ceiling * 8L; - } else if (cycles <= 0x3fffffL) { - ceiling = cycles >> 6; - prescaler = 2; // prescaler: 64 - actual_cycles = ceiling * 64L; - } else if (cycles <= 0xffffffL) { - ceiling = (cycles >> 8); - prescaler = 3; // prescaler: 256 - actual_cycles = ceiling * 256L; - } else if (cycles <= 0x3ffffffL) { - ceiling = (cycles >> 10); - prescaler = 4; // prescaler: 1024 - actual_cycles = ceiling * 1024L; - } else { - // Okay, that was slower than we actually go. Just set the slowest speed - ceiling = 0xffff; - prescaler = 4; - actual_cycles = 0xffff * 1024; - } - // Set prescaler + if (cycles <= 0xffffL) { + ceiling = cycles; + prescaler = 0; // prescaler: 0 + actual_cycles = ceiling; + } else if (cycles <= 0x7ffffL) { + ceiling = cycles >> 3; + prescaler = 1; // prescaler: 8 + actual_cycles = ceiling * 8L; + } else if (cycles <= 0x3fffffL) { + ceiling = cycles >> 6; + prescaler = 2; // prescaler: 64 + actual_cycles = ceiling * 64L; + } else if (cycles <= 0xffffffL) { + ceiling = (cycles >> 8); + prescaler = 3; // prescaler: 256 + actual_cycles = ceiling * 256L; + } else if (cycles <= 0x3ffffffL) { + ceiling = (cycles >> 10); + prescaler = 4; // prescaler: 1024 + actual_cycles = ceiling * 1024L; + } else { + // Okay, that was slower than we actually go. Just set the slowest speed + ceiling = 0xffff; + prescaler = 4; + actual_cycles = 0xffff * 1024; + } + // Set prescaler TCCR1B = (TCCR1B & ~(0x07< Date: Sat, 10 Dec 2011 11:18:24 -0700 Subject: [PATCH 07/67] Various minor updates and variable definition corrections. Removed deprecated acceleration manager. - Removed deprecated acceleration manager (non-functional since v0.7b) - Updated variable types and function headers. - Updated stepper interrupt to ISR() from SIGNAL()+sei(). - General code cleanup. --- main.c | 6 +- motion_control.c | 5 -- nuts_bolts.c | 20 +++++ nuts_bolts.h | 2 +- planner.c | 194 ++++++++++++++++++++++------------------------- planner.h | 19 ++--- protocol.c | 20 +++-- protocol.h | 1 + serial.c | 52 ++++++------- stepper.c | 96 +++++++++++------------ 10 files changed, 210 insertions(+), 205 deletions(-) diff --git a/main.c b/main.c index b56bf6f..829ec5a 100644 --- a/main.c +++ b/main.c @@ -36,7 +36,7 @@ int main(void) { - sei(); + sei(); // Enable interrupts serial_init(BAUD_RATE); protocol_init(); @@ -47,8 +47,8 @@ int main(void) gc_init(); limits_init(); - for(;;){ - sleep_mode(); // Wait for it ... + while (1) { +// sleep_mode(); // Wait for it ... protocol_process(); // ... process the serial protocol } return 0; /* never reached */ diff --git a/motion_control.c b/motion_control.c index c7e5670..06b7868 100644 --- a/motion_control.c +++ b/motion_control.c @@ -48,9 +48,6 @@ void mc_dwell(double seconds) void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise) { -// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled(); -// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc - double center_axis0 = position[axis_0] + offset[axis_0]; double center_axis1 = position[axis_1] + offset[axis_1]; double linear_travel = target[axis_linear] - position[axis_linear]; @@ -141,8 +138,6 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui } // Ensure last segment arrives at target location. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate); - -// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled); } #endif diff --git a/nuts_bolts.c b/nuts_bolts.c index 0a8bf5c..8a6960c 100644 --- a/nuts_bolts.c +++ b/nuts_bolts.c @@ -1,3 +1,23 @@ +/* + nuts_bolts.c - Shared functions + Part of Grbl + + 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 "nuts_bolts.h" #include #include diff --git a/nuts_bolts.h b/nuts_bolts.h index 37f3aa6..54b3cb8 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -1,5 +1,5 @@ /* - motion_control.h - cartesian robot controller. + nuts_bolts.h - Header file for shared definitions, variables, and functions Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud diff --git a/planner.c b/planner.c index 6dea6b2..44913c8 100644 --- a/planner.c +++ b/planner.c @@ -46,12 +46,11 @@ static int32_t position[3]; // The current position of the tool in a static double previous_unit_vec[3]; // Unit vector of previous path line segment static double previous_nominal_speed; // Nominal speed of previous path line segment -static uint8_t acceleration_manager_enabled; // Acceleration management active? - // Returns the index of the next block in the ring buffer // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication. -static int8_t next_block_index(int8_t block_index) { +static uint8_t next_block_index(uint8_t block_index) +{ block_index++; if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; } return(block_index); @@ -59,7 +58,8 @@ static int8_t next_block_index(int8_t block_index) { // Returns the index of the previous block in the ring buffer -static int8_t prev_block_index(int8_t block_index) { +static uint8_t prev_block_index(uint8_t block_index) +{ if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; } block_index--; return(block_index); @@ -68,7 +68,8 @@ static int8_t prev_block_index(int8_t block_index) { // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the // given acceleration: -static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) { +static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) +{ return( (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration) ); } @@ -86,7 +87,8 @@ static double estimate_acceleration_distance(double initial_rate, double target_ // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after // a total travel of distance. This can be used to compute the intersection point between acceleration and // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) -static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) { +static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) +{ return( (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration) ); } @@ -96,13 +98,15 @@ static double intersection_distance(double initial_rate, double final_rate, doub // NOTE: sqrt() reimplimented here from prior version due to improved planner logic. Increases speed // in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed // BLOCK_BUFFER_SIZE calls per planner cycle. -static double max_allowable_speed(double acceleration, double target_velocity, double distance) { +static double max_allowable_speed(double acceleration, double target_velocity, double distance) +{ return( sqrt(target_velocity*target_velocity-2*acceleration*distance) ); } // The kernel called by planner_recalculate() when scanning the plan from last to first entry. -static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { +static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) +{ if (!current) { return; } // Cannot operate on nothing. if (next) { @@ -128,8 +132,9 @@ static void planner_reverse_pass_kernel(block_t *previous, block_t *current, blo // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // implements the reverse pass. -static void planner_reverse_pass() { - auto int8_t block_index = block_buffer_head; +static void planner_reverse_pass() +{ + uint8_t block_index = block_buffer_head; block_t *block[3] = {NULL, NULL, NULL}; while(block_index != block_buffer_tail) { block_index = prev_block_index( block_index ); @@ -143,7 +148,8 @@ static void planner_reverse_pass() { // The kernel called by planner_recalculate() when scanning the plan from first to last entry. -static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { +static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) +{ if(!previous) { return; } // Begin planning after buffer_tail // If the previous block is an acceleration block, but it is not long enough to complete the @@ -167,8 +173,9 @@ static void planner_forward_pass_kernel(block_t *previous, block_t *current, blo // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // implements the forward pass. -static void planner_forward_pass() { - int8_t block_index = block_buffer_tail; +static void planner_forward_pass() +{ + uint8_t block_index = block_buffer_tail; block_t *block[3] = {NULL, NULL, NULL}; while(block_index != block_buffer_head) { @@ -194,8 +201,8 @@ static void planner_forward_pass() { // The factors represent a factor of braking and must be in the range 0.0-1.0. // This converts the planner parameters to the data required by the stepper controller. // NOTE: Final rates must be computed in terms of their respective blocks. -static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) { - +static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) +{ block->initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min) block->final_rate = ceil(block->nominal_rate*exit_factor); // (step/min) int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0; // (step/min^2) @@ -235,8 +242,9 @@ static void calculate_trapezoid_for_block(block_t *block, double entry_factor, d // planner_recalculate() after updating the blocks. Any recalulate flagged junction will // compute the two adjacent trapezoids to the junction, since the junction speed corresponds // to exit speed and entry speed of one another. -static void planner_recalculate_trapezoids() { - int8_t block_index = block_buffer_tail; +static void planner_recalculate_trapezoids() +{ + uint8_t block_index = block_buffer_tail; block_t *current; block_t *next = NULL; @@ -281,49 +289,41 @@ static void planner_recalculate_trapezoids() { // All planner computations are performed with doubles (float on Arduinos) to minimize numerical round- // off errors. Only when planned values are converted to stepper rate parameters, these are integers. -static void planner_recalculate() { +static void planner_recalculate() +{ planner_reverse_pass(); planner_forward_pass(); planner_recalculate_trapezoids(); } -void plan_init() { +void plan_init() +{ block_buffer_head = 0; block_buffer_tail = 0; - plan_set_acceleration_manager_enabled(true); clear_vector(position); clear_vector_double(previous_unit_vec); previous_nominal_speed = 0.0; } -void plan_set_acceleration_manager_enabled(uint8_t enabled) { - if ((!!acceleration_manager_enabled) != (!!enabled)) { - st_synchronize(); - acceleration_manager_enabled = !!enabled; - } -} - -int plan_is_acceleration_manager_enabled() { - return(acceleration_manager_enabled); -} - -void plan_discard_current_block() { +void plan_discard_current_block() +{ if (block_buffer_head != block_buffer_tail) { block_buffer_tail = next_block_index( block_buffer_tail ); } } -block_t *plan_get_current_block() { +block_t *plan_get_current_block() +{ if (block_buffer_head == block_buffer_tail) { return(NULL); } return(&block_buffer[block_buffer_tail]); } // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in -// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed +// millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes. -void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate) { - +void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate) +{ // Calculate target position in absolute steps int32_t target[3]; target[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]); @@ -331,7 +331,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in target[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]); // Calculate the buffer head after we push this byte - int next_buffer_head = next_block_index( block_buffer_head ); + uint8_t next_buffer_head = next_block_index( block_buffer_head ); // If the buffer is full: good! That means we are well ahead of the robot. // Rest here until there is room in the buffer. while(block_buffer_tail == next_buffer_head) { sleep_mode(); } @@ -384,84 +384,72 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in block->rate_delta = ceil( block->step_event_count*inverse_millimeters * settings.acceleration / (60 * ACCELERATION_TICKS_PER_SECOND )); // (step/min/acceleration_tick) - // Perform planner-enabled calculations - if (acceleration_manager_enabled) { - - // Compute path unit vector - double unit_vec[3]; + // Compute path unit vector + double unit_vec[3]; - unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; - unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; - unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; - - // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. - // Let a circle be tangent to both previous and current path line segments, where the junction - // deviation is defined as the distance from the junction to the closest edge of the circle, - // 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 - // 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. - double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed + unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; + unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; + unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; - // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. - if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { - // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) - // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. - double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] - - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] - - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; - - // Skip and use default max junction speed for 0 degree acute junction. - if (cos_theta < 0.95) { - vmax_junction = min(previous_nominal_speed,block->nominal_speed); - // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. - if (cos_theta > -0.95) { - // Compute maximum junction velocity based on maximum acceleration and junction deviation - double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. - vmax_junction = min(vmax_junction, - sqrt(settings.acceleration * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); - } + // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. + // Let a circle be tangent to both previous and current path line segments, where the junction + // deviation is defined as the distance from the junction to the closest edge of the circle, + // 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 + // 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. + double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed + + // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. + if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { + // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) + // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. + double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] + - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] + - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; + + // Skip and use default max junction speed for 0 degree acute junction. + if (cos_theta < 0.95) { + vmax_junction = min(previous_nominal_speed,block->nominal_speed); + // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. + if (cos_theta > -0.95) { + // Compute maximum junction velocity based on maximum acceleration and junction deviation + double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. + vmax_junction = min(vmax_junction, + sqrt(settings.acceleration * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); } } - block->max_entry_speed = vmax_junction; - - // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. - double v_allowable = max_allowable_speed(-settings.acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); - block->entry_speed = min(vmax_junction, v_allowable); - - // Initialize planner efficiency flags - // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. - // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then - // the current block and next block junction speeds are guaranteed to always be at their maximum - // junction speeds in deceleration and acceleration, respectively. This is due to how the current - // block nominal speed limits both the current and next maximum junction speeds. Hence, in both - // the reverse and forward planners, the corresponding block junction speed will always be at the - // the maximum junction speed and may always be ignored for any speed reduction checks. - if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } - else { block->nominal_length_flag = false; } - block->recalculate_flag = true; // Always calculate trapezoid for new block + } + block->max_entry_speed = vmax_junction; - // Update previous path unit_vector and nominal speed - memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[] - previous_nominal_speed = block->nominal_speed; + // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. + double v_allowable = max_allowable_speed(-settings.acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); + block->entry_speed = min(vmax_junction, v_allowable); - } else { - // Acceleration planner disabled. Set minimum that is required. - block->initial_rate = block->nominal_rate; - block->final_rate = block->nominal_rate; - block->accelerate_until = 0; - block->decelerate_after = block->step_event_count; - block->rate_delta = 0; - } + // Initialize planner efficiency flags + // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } + else { block->nominal_length_flag = false; } + block->recalculate_flag = true; // Always calculate trapezoid for new block + + // Update previous path unit_vector and nominal speed + memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[] + previous_nominal_speed = block->nominal_speed; // Move buffer head block_buffer_head = next_buffer_head; // Update position memcpy(position, target, sizeof(target)); // position[] = target[] - if (acceleration_manager_enabled) { planner_recalculate(); } + planner_recalculate(); st_cycle_start(); } diff --git a/planner.h b/planner.h index f91b7c2..f8f59e8 100644 --- a/planner.h +++ b/planner.h @@ -27,12 +27,12 @@ // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in // the source g-code and may never actually be reached if acceleration management is active. typedef struct { + // Fields used by the bresenham algorithm for tracing the line - uint32_t steps_x, steps_y, steps_z; // Step count along each axis uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + uint32_t steps_x, steps_y, steps_z; // Step count along each axis int32_t step_event_count; // The number of step events required to complete this block - uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute - + // Fields used by the motion planner to manage acceleration double nominal_speed; // The nominal speed for this block in mm/min double entry_speed; // Entry speed at previous-current junction in mm/min @@ -42,12 +42,13 @@ typedef struct { uint8_t nominal_length_flag; // Planner flag for nominal speed always reached // Settings for the trapezoid generator - uint32_t initial_rate; // The jerk-adjusted step rate at start of block - uint32_t final_rate; // The minimal rate at exit + uint32_t initial_rate; // The step rate at start of block + uint32_t final_rate; // The step rate at end of block int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive) uint32_t accelerate_until; // The index of the step event on which to stop acceleration uint32_t decelerate_after; // The index of the step event on which to start decelerating - + uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute + } block_t; // Initialize the motion plan subsystem @@ -65,12 +66,6 @@ void plan_discard_current_block(); // Gets the current block. Returns NULL if buffer empty block_t *plan_get_current_block(); -// Enables or disables acceleration-management for upcoming blocks -void plan_set_acceleration_manager_enabled(uint8_t enabled); - -// Is acceleration-management currently enabled? -int plan_is_acceleration_manager_enabled(); - // Reset the position vector void plan_set_current_position(double x, double y, double z); diff --git a/protocol.c b/protocol.c index 4835c90..4010253 100644 --- a/protocol.c +++ b/protocol.c @@ -31,10 +31,12 @@ #include #define LINE_BUFFER_SIZE 50 -static char line[LINE_BUFFER_SIZE]; -static uint8_t char_counter; +static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated. +static uint8_t char_counter; // Last character counter in line variable. +static uint8_t iscomment; // Comment/block delete flag for processor to ignore comment characters. -static void status_message(int status_code) { +static void status_message(int status_code) +{ if (status_code == 0) { printPgmString(PSTR("ok\r\n")); } else { @@ -57,12 +59,15 @@ static void status_message(int status_code) { void protocol_init() { + char_counter = 0; // Reset line input + iscomment = false; printPgmString(PSTR("\r\nGrbl " GRBL_VERSION)); printPgmString(PSTR("\r\n")); } // Executes one line of input according to protocol -uint8_t protocol_execute_line(char *line) { +uint8_t protocol_execute_line(char *line) +{ if(line[0] == '$') { return(settings_execute_line(line)); // Delegate lines starting with '$' to the settings module } else { @@ -70,15 +75,16 @@ uint8_t protocol_execute_line(char *line) { } } + +// Process one line of incoming serial data. Remove unneeded characters and capitalize. void protocol_process() { char c; - uint8_t iscomment = false; while((c = serial_read()) != SERIAL_NO_DATA) { - if ((c == '\n') || (c == '\r')) { // End of block reached + if ((c == '\n') || (c == '\r')) { // End of line reached if (char_counter > 0) {// Line is complete. Then execute! - line[char_counter] = 0; // terminate string + line[char_counter] = 0; // Terminate string status_message(protocol_execute_line(line)); } else { // Empty or comment line. Skip block. diff --git a/protocol.h b/protocol.h index 3ad6597..4490a4b 100644 --- a/protocol.h +++ b/protocol.h @@ -3,6 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 diff --git a/serial.c b/serial.c index 7310e3f..04483bb 100644 --- a/serial.c +++ b/serial.c @@ -44,25 +44,25 @@ volatile uint8_t tx_buffer_tail = 0; static void set_baud_rate(long baud) { uint16_t UBRR0_value = ((F_CPU / 16 + baud / 2) / baud - 1); - UBRR0H = UBRR0_value >> 8; - UBRR0L = UBRR0_value; + UBRR0H = UBRR0_value >> 8; + UBRR0L = UBRR0_value; } void serial_init(long baud) { set_baud_rate(baud); - /* baud doubler off - Only needed on Uno XXX */ + /* baud doubler off - Only needed on Uno XXX */ UCSR0A &= ~(1 << U2X0); - // enable rx and tx + // enable rx and tx UCSR0B |= 1<> 3); // Bit shift divide by 8. - - busy = true; - sei(); // Re enable interrupts (normally disabled while inside an interrupt handler) - // ((We re-enable interrupts in order for SIG_OVERFLOW2 to be able to be triggered - // at exactly the right time even if we occasionally spend a lot of time inside this handler.)) + TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // If there is no current block, attempt to pop one from the buffer if (current_block == NULL) { - // Anything in the buffer? + // Anything in the buffer? If so, initialize next motion. current_block = plan_get_current_block(); if (current_block != NULL) { trapezoid_generator_reset(); @@ -256,37 +252,39 @@ SIGNAL(TIMER1_COMPA_vect) // This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets // the motor port after a short period (settings.pulse_microseconds) completing one step cycle. -SIGNAL(TIMER2_OVF_vect) +ISR(TIMER2_OVF_vect) { - // reset stepping pins (leave the direction pins) + // Reset stepping pins (leave the direction pins) STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK); } // Initialize and start the stepper motor subsystem void st_init() { - // Configure directions of interface pins - STEPPING_DDR |= STEPPING_MASK; + // Configure directions of interface pins + STEPPING_DDR |= STEPPING_MASK; STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask; STEPPERS_DISABLE_DDR |= 1<> 3; - prescaler = 1; // prescaler: 8 - actual_cycles = ceiling * 8L; + ceiling = cycles >> 3; + prescaler = 1; // prescaler: 8 + actual_cycles = ceiling * 8L; } else if (cycles <= 0x3fffffL) { - ceiling = cycles >> 6; - prescaler = 2; // prescaler: 64 - actual_cycles = ceiling * 64L; + ceiling = cycles >> 6; + prescaler = 2; // prescaler: 64 + actual_cycles = ceiling * 64L; } else if (cycles <= 0xffffffL) { - ceiling = (cycles >> 8); - prescaler = 3; // prescaler: 256 - actual_cycles = ceiling * 256L; + ceiling = (cycles >> 8); + prescaler = 3; // prescaler: 256 + actual_cycles = ceiling * 256L; } else if (cycles <= 0x3ffffffL) { - ceiling = (cycles >> 10); - prescaler = 4; // prescaler: 1024 - actual_cycles = ceiling * 1024L; + ceiling = (cycles >> 10); + prescaler = 4; // prescaler: 1024 + actual_cycles = ceiling * 1024L; } else { // Okay, that was slower than we actually go. Just set the slowest speed - ceiling = 0xffff; - prescaler = 4; - actual_cycles = 0xffff * 1024; + ceiling = 0xffff; + prescaler = 4; + actual_cycles = 0xffff * 1024; } // Set prescaler TCCR1B = (TCCR1B & ~(0x07< Date: Sun, 15 Jan 2012 19:05:06 -0700 Subject: [PATCH 08/67] Propagated premature step end bug fix from the edge branch. Updated printFloat() function. - Will not be uploading a hex build of this, unless asked. --- print.c | 35 ++++++++++++++++++++++------------- stepper.c | 31 +++++++++++++++++++------------ 2 files changed, 41 insertions(+), 25 deletions(-) diff --git a/print.c b/print.c index 05524a3..f8e7a0c 100644 --- a/print.c +++ b/print.c @@ -3,6 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 @@ -28,20 +29,21 @@ #ifndef DECIMAL_PLACES #define DECIMAL_PLACES 3 +#define DECIMAL_MULTIPLIER 10*10*10 #endif void printString(const char *s) { - while (*s) - serial_write(*s++); + while (*s) + serial_write(*s++); } // Print a string stored in PGM-memory void printPgmString(const char *s) { char c; - while ((c = pgm_read_byte_near(s++))) - serial_write(c); + while ((c = pgm_read_byte_near(s++))) + serial_write(c); } void printIntegerInBase(unsigned long n, unsigned long base) @@ -78,18 +80,25 @@ void printInteger(long n) // A very simple void printFloat(double n) { - double integer_part, fractional_part; - uint8_t decimal_part; - fractional_part = modf(n, &integer_part); - printInteger(integer_part); + if (n < 0) { + serial_write('-'); + n = -n; + } + n += 0.5/DECIMAL_MULTIPLIER; // Add rounding factor + + long integer_part; + integer_part = (int)n; + printIntegerInBase(integer_part,10); + serial_write('.'); - fractional_part *= 10; + + n -= integer_part; int decimals = DECIMAL_PLACES; + uint8_t decimal_part; while(decimals-- > 0) { - decimal_part = floor(fractional_part); + n *= 10; + decimal_part = (int) n; serial_write('0'+decimal_part); - fractional_part -= decimal_part; - fractional_part *= 10; + n -= decimal_part; } } - diff --git a/stepper.c b/stepper.c index 3f2899c..418355a 100644 --- a/stepper.c +++ b/stepper.c @@ -133,21 +133,25 @@ static uint8_t iterate_trapezoid_cycle_counter() // config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. // It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse. // The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts. -// NOTE: ISR_NOBLOCK allows SIG_OVERFLOW2 to trigger on-time regardless of time in this handler. This is -// the compiler optimizable equivalent of the old SIGNAL() and sei() method. -ISR(TIMER1_COMPA_vect,ISR_NOBLOCK) +ISR(TIMER1_COMPA_vect) { if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt - busy = true; // Set the direction pins a couple of nanoseconds before we step the steppers STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK); // Then pulse the stepping pins STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits; - // Reset step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after - // exactly settings.pulse_microseconds microseconds. - TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); - + // Enable step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after + // exactly settings.pulse_microseconds microseconds, independent of the main Timer1 prescaler. + TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // Reload timer counter + TCCR2B = (1< Date: Tue, 17 Jan 2012 20:50:53 -0700 Subject: [PATCH 09/67] Merge chamnit/v0_7 with grbl/master --- Makefile | 4 +- config.h | 58 +++- doc/planner-maths.txt | 30 ++ doc/resources.txt | 2 +- doc/structure.txt | 8 +- gcode.c | 200 ++++-------- gcode.h | 6 - limits.c | 103 +++++++ serial_protocol.h => limits.h | 18 +- main.c | 25 +- motion_control.c | 129 ++++++-- motion_control.h | 26 +- nuts_bolts.c | 38 +++ nuts_bolts.h | 16 +- planner.c | 564 ++++++++++++++++++---------------- planner.h | 42 ++- print.c | 104 +++++++ print.h | 37 +++ protocol.c | 122 ++++++++ protocol.h | 40 +++ readme.textile | 16 +- script/simple_stream.py | 33 ++ serial.c | 125 ++++++++ serial.h | 35 +++ serial_protocol.c | 77 ----- settings.c | 88 +++++- settings.h | 25 +- spindle_control.c | 25 +- stepper.c | 315 +++++++++++-------- stepper.h | 10 +- wiring_serial.c | 212 ------------- wiring_serial.h | 45 --- 32 files changed, 1558 insertions(+), 1020 deletions(-) create mode 100644 doc/planner-maths.txt create mode 100644 limits.c rename serial_protocol.h => limits.h (69%) create mode 100644 nuts_bolts.c create mode 100644 print.c create mode 100644 print.h create mode 100644 protocol.c create mode 100644 protocol.h create mode 100755 script/simple_stream.py create mode 100644 serial.c create mode 100644 serial.h delete mode 100644 serial_protocol.c delete mode 100644 wiring_serial.c delete mode 100644 wiring_serial.h diff --git a/Makefile b/Makefile index 6a10604..6011ae0 100644 --- a/Makefile +++ b/Makefile @@ -30,8 +30,8 @@ DEVICE = atmega328p CLOCK = 16000000 PROGRAMMER = -c avrisp2 -P usb -OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o serial_protocol.o stepper.o \ - eeprom.o settings.o planner.o +OBJECTS = main.o motion_control.o gcode.o spindle_control.o serial.o protocol.o stepper.o \ + eeprom.o settings.o planner.o nuts_bolts.o limits.o print.o # FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m # update that line with this when programmer is back up: diff --git a/config.h b/config.h index 1f2e84b..db4d361 100644 --- a/config.h +++ b/config.h @@ -3,6 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 @@ -21,14 +22,16 @@ #ifndef config_h #define config_h +// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them. + #define BAUD_RATE 9600 // Updated default pin-assignments from 0.6 onwards // (see bottom of file for a copy of the old config) -#define STEPPERS_ENABLE_DDR DDRB -#define STEPPERS_ENABLE_PORT PORTB -#define STEPPERS_ENABLE_BIT 0 +#define STEPPERS_DISABLE_DDR DDRB +#define STEPPERS_DISABLE_PORT PORTB +#define STEPPERS_DISABLE_BIT 0 #define STEPPING_DDR DDRD #define STEPPING_PORT PORTD @@ -40,7 +43,7 @@ #define Z_DIRECTION_BIT 7 #define LIMIT_DDR DDRB -#define LIMIT_PORT PORTB +#define LIMIT_PIN PINB #define X_LIMIT_BIT 1 #define Y_LIMIT_BIT 2 #define Z_LIMIT_BIT 3 @@ -53,17 +56,51 @@ #define SPINDLE_DIRECTION_PORT PORTB #define SPINDLE_DIRECTION_BIT 5 -// The temporal resolution of the acceleration management subsystem. Higher number -// give smoother acceleration but may impact performance -#define ACCELERATION_TICKS_PER_SECOND 40L +// This parameter sets the delay time before disabling the steppers after the final block of movement. +// A short delay ensures the steppers come to a complete stop and the residual inertial force in the +// CNC axes don't cause the axes to drift off position. This is particularly important when manually +// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift, +// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending +// on the machine, this parameter may need to be larger or smaller than the default time. +// NOTE: If defined 0, the delay will not be compiled. +#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer >= 0 + +// The temporal resolution of the acceleration management subsystem. Higher number give smoother +// acceleration but may impact performance. +// NOTE: Increasing this parameter will help any resolution related issues, especially with machines +// requiring very high accelerations and/or very fast feedrates. In general, this will reduce the +// error between how the planner plans the motions and how the stepper program actually performs them. +// However, at some point, the resolution can be high enough, where the errors related to numerical +// round-off can be great enough to cause problems and/or it's too fast for the Arduino. The correct +// value for this parameter is machine dependent, so it's advised to set this only as high as needed. +// Approximate successful values can range from 30L to 100L or more. +#define ACCELERATION_TICKS_PER_SECOND 50L + +// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end +// of the buffer and all stops. This should not be much greater than zero and should only be changed +// if unwanted behavior is observed on a user's machine when running at very slow speeds. +#define MINIMUM_PLANNER_SPEED 0.0 // (mm/min) + +// Minimum stepper rate. Sets the absolute minimum stepper rate in the stepper program and never runs +// slower than this value, except when sleeping. This parameter overrides the minimum planner speed. +// This is primarily used to guarantee that the end of a movement is always reached and not stop to +// never reach its target. This parameter should always be greater than zero. +#define MINIMUM_STEPS_PER_MINUTE 800 // (steps/min) - Integer value only + +// Number of arc generation iterations by small angle approximation before exact arc trajectory +// correction. This parameter maybe decreased if there are issues with the accuracy of the arc +// generations. In general, the default value is more than enough for the intended CNC applications +// of grbl, and should be on the order or greater than the size of the buffer to help with the +// computational efficiency of generating arcs. +#define N_ARC_CORRECTION 25 // Integer (1-255) #endif // Pin-assignments from Grbl 0.5 -// #define STEPPERS_ENABLE_DDR DDRD -// #define STEPPERS_ENABLE_PORT PORTD -// #define STEPPERS_ENABLE_BIT 2 +// #define STEPPERS_DISABLE_DDR DDRD +// #define STEPPERS_DISABLE_PORT PORTD +// #define STEPPERS_DISABLE_BIT 2 // // #define STEPPING_DDR DDRC // #define STEPPING_PORT PORTC @@ -87,4 +124,3 @@ // #define SPINDLE_DIRECTION_DDR DDRD // #define SPINDLE_DIRECTION_PORT PORTD // #define SPINDLE_DIRECTION_BIT 7 - diff --git a/doc/planner-maths.txt b/doc/planner-maths.txt new file mode 100644 index 0000000..49f371f --- /dev/null +++ b/doc/planner-maths.txt @@ -0,0 +1,30 @@ +Reasoning behind the mathematics in 'planner' module (in the key of 'Mathematica') +================================================================================== + + +s == speed, a == acceleration, t == time, d == distance + +Basic definitions: + + Speed[s_, a_, t_] := s + (a*t) + Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] + +Distance to reach a specific speed with a constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] + d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() + +Speed after a given distance of travel with constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] + m -> Sqrt[2 a d + s^2] + + DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] + +When to start braking (di) to reach a specified destionation speed (s2) after accelerating +from initial speed s1 without ever stopping at a plateau: + + Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] + di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() + + IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) diff --git a/doc/resources.txt b/doc/resources.txt index 2754464..293a6f7 100644 --- a/doc/resources.txt +++ b/doc/resources.txt @@ -3,7 +3,7 @@ Allocation of AVR peripherals in Grbl See config.h for pin allocation. -The UART is handled by 'wiring_serial' and used primarily for streaming gcode +The UART is handled by 'serial' and used primarily for streaming gcode 16 bit Timer 1 and the TIMER1_COMPA interrupt is used by the 'stepper' module to handle step events diff --git a/doc/structure.txt b/doc/structure.txt index 93cb1bd..4992f80 100644 --- a/doc/structure.txt +++ b/doc/structure.txt @@ -3,10 +3,10 @@ The general structure of Grbl The main processing stack: -'serial_protocol' : Accepts command lines from the serial port and passes them to 'gcode' for execution. +'protocol' : Accepts command lines from the serial port and passes them to 'gcode' for execution. Provides status responses for each command. -'gcode' : Recieves gcode from 'serial_protocol', parses it according to the current state +'gcode' : Recieves gcode from 'protocol', parses it according to the current state of the parser and issues commands via '..._control' modules 'spindle_control' : Commands for controlling the spindle. @@ -36,4 +36,6 @@ Supporting files: 'nuts_bolts.h' : A tiny collection of useful constants and macros used everywhere -'wiring_serial' : Low level serial library initially from an old version of the Arduino software \ No newline at end of file +'serial' : Low level serial communications + +'print' : Functions to print strings of different formats (using serial) \ No newline at end of file diff --git a/gcode.c b/gcode.c index 7efd8fc..7fb5b30 100644 --- a/gcode.c +++ b/gcode.c @@ -3,7 +3,8 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - + Copyright (c) 2011 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 @@ -22,7 +23,6 @@ by Kramer, Proctor and Messina. */ #include "gcode.h" -#include #include #include "nuts_bolts.h" #include @@ -30,13 +30,14 @@ #include "motion_control.h" #include "spindle_control.h" #include "errno.h" -#include "serial_protocol.h" +#include "protocol.h" #define MM_PER_INCH (25.4) #define NEXT_ACTION_DEFAULT 0 #define NEXT_ACTION_DWELL 1 #define NEXT_ACTION_GO_HOME 2 +#define NEXT_ACTION_SET_COORDINATE_OFFSET 3 #define MOTION_MODE_SEEK 0 // G0 #define MOTION_MODE_LINEAR 1 // G1 @@ -63,7 +64,7 @@ typedef struct { uint8_t inches_mode; /* 0 = millimeter mode, 1 = inches mode {G20, G21} */ uint8_t absolute_mode; /* 0 = relative motion, 1 = absolute motion {G90, G91} */ uint8_t program_flow; - int spindle_direction; + int8_t spindle_direction; double feed_rate, seek_rate; /* Millimeters/second */ double position[3]; /* Where the interpreter considers the tool to be at this point in the code */ uint8_t tool; @@ -76,14 +77,9 @@ static parser_state_t gc; #define FAIL(status) gc.status_code = status; -int read_double(char *line, // <- string: line of RS274/NGC code being processed - int *char_counter, // <- pointer to a counter for position on the line - double *double_ptr); // <- pointer to double to be read +static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter); -int next_statement(char *letter, double *double_ptr, char *line, int *char_counter); - - -void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) +static void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) { gc.plane_axis_0 = axis_0; gc.plane_axis_1 = axis_1; @@ -92,75 +88,37 @@ void select_plane(uint8_t axis_0, uint8_t axis_1, uint8_t axis_2) void gc_init() { memset(&gc, 0, sizeof(gc)); - gc.feed_rate = settings.default_feed_rate/60; - gc.seek_rate = settings.default_seek_rate/60; + gc.feed_rate = settings.default_feed_rate; + gc.seek_rate = settings.default_seek_rate; select_plane(X_AXIS, Y_AXIS, Z_AXIS); - gc.absolute_mode = TRUE; + gc.absolute_mode = true; } -inline float to_millimeters(double value) { +static float to_millimeters(double value) { return(gc.inches_mode ? (value * MM_PER_INCH) : value); } -// Find the angle in radians of deviance from the positive y axis. negative angles to the left of y-axis, -// positive to the right. -double theta(double x, double y) -{ - double theta = atan(x/fabs(y)); - if (y>0) { - return(theta); - } else { - if (theta>0) - { - return(M_PI-theta); - } else { - return(-M_PI-theta); - } - } -} - // Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase -// characters and signed floating point values (no whitespace). +// characters and signed floating point values (no whitespace). Comments and block delete +// characters have been removed. uint8_t gc_execute_line(char *line) { - int char_counter = 0; + uint8_t char_counter = 0; char letter; double value; double unit_converted_value; double inverse_feed_rate = -1; // negative inverse_feed_rate means no inverse_feed_rate specified - int radius_mode = FALSE; + uint8_t radius_mode = false; - uint8_t absolute_override = FALSE; /* 1 = absolute motion for this block only {G53} */ + uint8_t absolute_override = false; /* 1 = absolute motion for this block only {G53} */ uint8_t next_action = NEXT_ACTION_DEFAULT; /* The action that will be taken by the parsed line */ double target[3], offset[3]; double p = 0, r = 0; int int_value; - - clear_vector(target); - clear_vector(offset); - gc.status_code = GCSTATUS_OK; + gc.status_code = STATUS_OK; - // Disregard comments and block delete - if (line[0] == '(') { return(gc.status_code); } - if (line[0] == '/') { char_counter++; } // ignore block delete - - // If the line starts with an '$' it is a configuration-command - if (line[0] == '$') { - // Parameter lines are on the form '$4=374.3' or '$' to dump current settings - char_counter = 1; - if(line[char_counter] == 0) { settings_dump(); return(GCSTATUS_OK); } - read_double(line, &char_counter, &p); - if(line[char_counter++] != '=') { return(GCSTATUS_UNSUPPORTED_STATEMENT); } - read_double(line, &char_counter, &value); - if(line[char_counter] != 0) { return(GCSTATUS_UNSUPPORTED_STATEMENT); } - settings_store_setting(p, value); - return(gc.status_code); - } - - /* We'll handle this as g-code. First: parse all statements */ - // Pass 1: Commands while(next_statement(&letter, &value, line, &char_counter)) { int_value = trunc(value); @@ -177,16 +135,17 @@ uint8_t gc_execute_line(char *line) { case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; - case 20: gc.inches_mode = TRUE; break; - case 21: gc.inches_mode = FALSE; break; + case 20: gc.inches_mode = true; break; + case 21: gc.inches_mode = false; break; case 28: case 30: next_action = NEXT_ACTION_GO_HOME; break; - case 53: absolute_override = TRUE; break; - case 80: gc.motion_mode = MOTION_MODE_CANCEL; break; - case 90: gc.absolute_mode = TRUE; break; - case 91: gc.absolute_mode = FALSE; break; - case 93: gc.inverse_feed_rate_mode = TRUE; break; - case 94: gc.inverse_feed_rate_mode = FALSE; break; - default: FAIL(GCSTATUS_UNSUPPORTED_STATEMENT); + case 53: absolute_override = true; break; + case 80: gc.motion_mode = MOTION_MODE_CANCEL; break; + case 90: gc.absolute_mode = true; break; + case 91: gc.absolute_mode = false; break; + case 92: next_action = NEXT_ACTION_SET_COORDINATE_OFFSET; break; + case 93: gc.inverse_feed_rate_mode = true; break; + case 94: gc.inverse_feed_rate_mode = false; break; + default: FAIL(STATUS_UNSUPPORTED_STATEMENT); } break; @@ -197,7 +156,7 @@ uint8_t gc_execute_line(char *line) { case 3: gc.spindle_direction = 1; break; case 4: gc.spindle_direction = -1; break; case 5: gc.spindle_direction = 0; break; - default: FAIL(GCSTATUS_UNSUPPORTED_STATEMENT); + default: FAIL(STATUS_UNSUPPORTED_STATEMENT); } break; case 'T': gc.tool = trunc(value); break; @@ -209,6 +168,7 @@ uint8_t gc_execute_line(char *line) { if (gc.status_code) { return(gc.status_code); } char_counter = 0; + clear_vector(target); clear_vector(offset); memcpy(target, gc.position, sizeof(target)); // i.e. target = gc.position @@ -218,19 +178,20 @@ uint8_t gc_execute_line(char *line) { unit_converted_value = to_millimeters(value); switch(letter) { case 'F': + if (unit_converted_value <= 0) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // Must be greater than zero if (gc.inverse_feed_rate_mode) { inverse_feed_rate = unit_converted_value; // seconds per motion for this motion only } else { if (gc.motion_mode == MOTION_MODE_SEEK) { - gc.seek_rate = unit_converted_value/60; + gc.seek_rate = unit_converted_value; } else { - gc.feed_rate = unit_converted_value/60; // millimeters pr second + gc.feed_rate = unit_converted_value; // millimeters per minute } } break; case 'I': case 'J': case 'K': offset[letter-'I'] = unit_converted_value; break; case 'P': p = value; break; - case 'R': r = unit_converted_value; radius_mode = TRUE; break; + case 'R': r = unit_converted_value; radius_mode = true; break; case 'S': gc.spindle_speed = value; break; case 'X': case 'Y': case 'Z': if (gc.absolute_mode || absolute_override) { @@ -246,21 +207,20 @@ uint8_t gc_execute_line(char *line) { if (gc.status_code) { return(gc.status_code); } // Update spindle state - if (gc.spindle_direction) { - spindle_run(gc.spindle_direction, gc.spindle_speed); - } else { - spindle_stop(); - } + spindle_run(gc.spindle_direction, gc.spindle_speed); // Perform any physical actions switch (next_action) { - case NEXT_ACTION_GO_HOME: mc_go_home(); break; - case NEXT_ACTION_DWELL: mc_dwell(trunc(p*1000)); break; + case NEXT_ACTION_GO_HOME: mc_go_home(); clear_vector(target); break; + case NEXT_ACTION_DWELL: mc_dwell(p); break; + case NEXT_ACTION_SET_COORDINATE_OFFSET: + mc_set_current_position(target[X_AXIS], target[Y_AXIS], target[Z_AXIS]); + break; case NEXT_ACTION_DEFAULT: switch (gc.motion_mode) { case MOTION_MODE_CANCEL: break; case MOTION_MODE_SEEK: - mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, FALSE); + mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, false); break; case MOTION_MODE_LINEAR: mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], @@ -327,7 +287,7 @@ uint8_t gc_execute_line(char *line) { double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d) // If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any // real CNC, and thus - for practical reasons - we will terminate promptly: - if(isnan(h_x2_div_d)) { FAIL(GCSTATUS_FLOATING_POINT_ERROR); return(gc.status_code); } + if(isnan(h_x2_div_d)) { FAIL(STATUS_FLOATING_POINT_ERROR); return(gc.status_code); } // Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below) if (gc.motion_mode == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; } @@ -352,50 +312,29 @@ uint8_t gc_execute_line(char *line) { // even though it is advised against ever generating such circles in a single line of g-code. By // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of // travel and thus we get the unadvisably long arcs as prescribed. - if (r < 0) { h_x2_div_d = -h_x2_div_d; } + if (r < 0) { + h_x2_div_d = -h_x2_div_d; + r = -r; // Finished with r. Set to positive for mc_arc + } // Complete the operation by calculating the actual center of the arc - offset[gc.plane_axis_0] = (x-(y*h_x2_div_d))/2; - offset[gc.plane_axis_1] = (y+(x*h_x2_div_d))/2; - } - - /* - This segment sets up an clockwise or counterclockwise arc from the current position to the target position around - the center designated by the offset vector. All theta-values measured in radians of deviance from the positive - y-axis. + offset[gc.plane_axis_0] = 0.5*(x-(y*h_x2_div_d)); + offset[gc.plane_axis_1] = 0.5*(y+(x*h_x2_div_d)); - | <- theta == 0 - * * * - * * - * * - * O ----T <- theta_end (e.g. 90 degrees: theta_end == PI/2) - * / - C <- theta_start (e.g. -145 degrees: theta_start == -PI*(3/4)) + } else { // Offset mode specific computations + + r = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); // Compute arc radius for mc_arc - */ - - // calculate the theta (angle) of the current point - double theta_start = theta(-offset[gc.plane_axis_0], -offset[gc.plane_axis_1]); - // calculate the theta (angle) of the target point - double theta_end = theta(target[gc.plane_axis_0] - offset[gc.plane_axis_0] - gc.position[gc.plane_axis_0], - target[gc.plane_axis_1] - offset[gc.plane_axis_1] - gc.position[gc.plane_axis_1]); - // ensure that the difference is positive so that we have clockwise travel - if (theta_end < theta_start) { theta_end += 2*M_PI; } - double angular_travel = theta_end-theta_start; - // Invert angular motion if the g-code wanted a counterclockwise arc - if (gc.motion_mode == MOTION_MODE_CCW_ARC) { - angular_travel = angular_travel-2*M_PI; } - // Find the radius - double radius = hypot(offset[gc.plane_axis_0], offset[gc.plane_axis_1]); - // Calculate the motion along the depth axis of the helix - double depth = target[gc.plane_axis_2]-gc.position[gc.plane_axis_2]; + + // Set clockwise/counter-clockwise sign for mc_arc computations + uint8_t isclockwise = false; + if (gc.motion_mode == MOTION_MODE_CW_ARC) { isclockwise = true; } + // Trace the arc - mc_arc(theta_start, angular_travel, radius, depth, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2, + mc_arc(gc.position, target, offset, gc.plane_axis_0, gc.plane_axis_1, gc.plane_axis_2, (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode, - gc.position); - // Finish off with a line to make sure we arrive exactly where we think we are - mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], - (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode); + r, isclockwise); + break; #endif } @@ -411,40 +350,24 @@ uint8_t gc_execute_line(char *line) { // Parses the next statement and leaves the counter on the first character following // the statement. Returns 1 if there was a statements, 0 if end of string was reached // or there was an error (check state.status_code). -int next_statement(char *letter, double *double_ptr, char *line, int *char_counter) { +static int next_statement(char *letter, double *double_ptr, char *line, uint8_t *char_counter) { if (line[*char_counter] == 0) { return(0); // No more statements } *letter = line[*char_counter]; if((*letter < 'A') || (*letter > 'Z')) { - FAIL(GCSTATUS_EXPECTED_COMMAND_LETTER); + FAIL(STATUS_EXPECTED_COMMAND_LETTER); return(0); } (*char_counter)++; if (!read_double(line, char_counter, double_ptr)) { + FAIL(STATUS_BAD_NUMBER_FORMAT); return(0); }; return(1); } -int read_double(char *line, //!< string: line of RS274/NGC code being processed - int *char_counter, //!< pointer to a counter for position on the line - double *double_ptr) //!< pointer to double to be read -{ - char *start = line + *char_counter; - char *end; - - *double_ptr = strtod(start, &end); - if(end == start) { - FAIL(GCSTATUS_BAD_NUMBER_FORMAT); - return(0); - }; - - *char_counter = end - line; - return(1); -} - /* Intentionally not supported: @@ -464,4 +387,3 @@ int read_double(char *line, //!< string: line of RS274/NGC code be group 12 = {G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection group 13 = {G61, G61.1, G64} path control mode */ - diff --git a/gcode.h b/gcode.h index 8adb836..7ad4e0e 100644 --- a/gcode.h +++ b/gcode.h @@ -23,12 +23,6 @@ #define gcode_h #include -#define GCSTATUS_OK 0 -#define GCSTATUS_BAD_NUMBER_FORMAT 1 -#define GCSTATUS_EXPECTED_COMMAND_LETTER 2 -#define GCSTATUS_UNSUPPORTED_STATEMENT 3 -#define GCSTATUS_FLOATING_POINT_ERROR 4 - // Initialize the parser void gc_init(); diff --git a/limits.c b/limits.c new file mode 100644 index 0000000..6444c8d --- /dev/null +++ b/limits.c @@ -0,0 +1,103 @@ +/* + limits.h - code pertaining to limit-switches and performing the homing cycle + Part of Grbl + + 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 +#include +#include "stepper.h" +#include "settings.h" +#include "nuts_bolts.h" +#include "config.h" + +void limits_init() { + LIMIT_DDR &= ~(LIMIT_MASK); +} + +static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_direction, uint32_t microseconds_per_pulse) { + // First home the Z axis + uint32_t step_delay = microseconds_per_pulse - settings.pulse_microseconds; + uint8_t out_bits = DIRECTION_MASK; + uint8_t limit_bits; + + if (x_axis) { out_bits |= (1<. */ -#ifndef serial_h -#define serial_h -// Initialize the serial protocol -void sp_init(); +#ifndef limits_h +#define limits_h -// Read command lines from the serial port and execute them as they -// come in. Blocks until the serial buffer is emptied. -void sp_process(); +// initialize the limits module +void limits_init(); -#endif +// perform the homing cycle +void limits_go_home(); + +#endif \ No newline at end of file diff --git a/main.c b/main.c index 6c33037..829ec5a 100644 --- a/main.c +++ b/main.c @@ -20,33 +20,36 @@ #include #include +#include #include +#include "config.h" #include "planner.h" #include "stepper.h" #include "spindle_control.h" #include "motion_control.h" #include "gcode.h" -#include "serial_protocol.h" +#include "protocol.h" +#include "limits.h" #include "settings.h" -#include "wiring_serial.h" - -// #ifndef __AVR_ATmega328P__ -// # error "As of version 0.6 Grbl only supports atmega328p. If you want to run Grbl on an 168 check out 0.51 ('git co v0_51')" -// #endif +#include "serial.h" int main(void) { - sp_init(); + sei(); // Enable interrupts + + serial_init(BAUD_RATE); + protocol_init(); settings_init(); plan_init(); st_init(); spindle_init(); - gc_init(); + gc_init(); + limits_init(); - for(;;){ - sleep_mode(); // Wait for it ... - sp_process(); // ... process the serial protocol + while (1) { +// sleep_mode(); // Wait for it ... + protocol_process(); // ... process the serial protocol } return 0; /* never reached */ } diff --git a/motion_control.c b/motion_control.c index 11c7dec..06b7868 100644 --- a/motion_control.c +++ b/motion_control.c @@ -3,7 +3,8 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - + Copyright (c) 2011 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 @@ -20,6 +21,7 @@ #include #include "settings.h" +#include "config.h" #include "motion_control.h" #include #include @@ -27,56 +29,115 @@ #include "nuts_bolts.h" #include "stepper.h" #include "planner.h" -#include "wiring_serial.h" - -void mc_dwell(uint32_t milliseconds) +// Execute dwell in seconds. Maximum time delay is > 18 hours, more than enough for any application. +void mc_dwell(double seconds) { - st_synchronize(); - _delay_ms(milliseconds); + uint16_t i = floor(seconds); + st_synchronize(); + _delay_ms(floor(1000*(seconds-i))); // Delay millisecond remainder + while (i > 0) { + _delay_ms(1000); // Delay one second + i--; + } } -// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc, -// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the -// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining -// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion. -// position is a pointer to a vector representing the current position in millimeters. - #ifdef __AVR_ATmega328P__ // The arc is approximated by generating a huge number of tiny, linear segments. The length of each // segment is configured in settings.mm_per_arc_segment. -void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, - int axis_linear, double feed_rate, int invert_feed_rate, double *position) +void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1, + uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise) { - int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled(); - plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc - double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel)); + double center_axis0 = position[axis_0] + offset[axis_0]; + double center_axis1 = position[axis_1] + offset[axis_1]; + double linear_travel = target[axis_linear] - position[axis_linear]; + double r_axis0 = -offset[axis_0]; // Radius vector from center to current location + double r_axis1 = -offset[axis_1]; + double rt_axis0 = target[axis_0] - center_axis0; + double rt_axis1 = target[axis_1] - center_axis1; + + // CCW angle between position and target from circle center. Only one atan2() trig computation required. + double angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); + if (angular_travel < 0) { angular_travel += 2*M_PI; } + if (isclockwise) { angular_travel -= 2*M_PI; } + + double millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); if (millimeters_of_travel == 0.0) { return; } - uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment); + uint16_t segments = floor(millimeters_of_travel/settings.mm_per_arc_segment); // Multiply inverse feed_rate to compensate for the fact that this movement is approximated // by a number of discrete segments. The inverse feed_rate should be correct for the sum of // all segments. if (invert_feed_rate) { feed_rate *= segments; } - // The angular motion for each segment + double theta_per_segment = angular_travel/segments; - // The linear motion for each segment double linear_per_segment = linear_travel/segments; - // Compute the center of this circle - double center_x = position[axis_1]-sin(theta)*radius; - double center_y = position[axis_2]-cos(theta)*radius; - // a vector to track the end point of each segment - double target[3]; - int i; + + /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + r_T = [cos(phi) -sin(phi); + sin(phi) cos(phi] * r ; + + For arc generation, the center of the circle is the axis of rotation and the radius vector is + defined from the circle center to the initial position. Each line segment is formed by successive + vector rotations. This requires only two cos() and sin() computations to form the rotation + matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + all double numbers are single precision on the Arduino. (True double precision will not have + round off issues for CNC applications.) Single precision error can accumulate to be greater than + tool precision in some cases. Therefore, arc path correction is implemented. + + Small angle approximation may be used to reduce computation overhead further. This approximation + holds for everything, but very small circles and large mm_per_arc_segment values. In other words, + theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + issue for CNC machines with the single precision Arduino calculations. + + This approximation also allows mc_arc to immediately insert a line segment into the planner + without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. + This is important when there are successive arc motions. + */ + // Vector rotation matrix values + double cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation + double sin_T = theta_per_segment; + + double arc_target[3]; + double sin_Ti; + double cos_Ti; + double r_axisi; + uint16_t i; + int8_t count = 0; + // Initialize the linear axis - target[axis_linear] = position[axis_linear]; - for (i=0; i<=segments; i++) { - target[axis_linear] += linear_per_segment; - theta += theta_per_segment; - target[axis_1] = center_x+sin(theta)*radius; - target[axis_2] = center_y+cos(theta)*radius; - plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate); + arc_target[axis_linear] = position[axis_linear]; + + for (i = 1; i #include "planner.h" +// NOTE: Although the following functions structurally belongs in this module, there is nothing to do but +// to forward the request to the planner. + // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // (1 minute)/feed_rate time. #define mc_line(x, y, z, feed_rate, invert_feed_rate) plan_buffer_line(x, y, z, feed_rate, invert_feed_rate) -// NOTE: Although this function structurally belongs in this module, there is nothing to do but -// to forward the request to the planner. For efficiency the function is implemented with a macro. + +#define mc_set_current_position(x, y, z) plan_set_current_position(x, y, z) #ifdef __AVR_ATmega328P__ -// Execute an arc. theta == start angle, angular_travel == number of radians to go along the arc, -// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the -// circle in millimeters. axis_1 and axis_2 selects the circle plane in tool space. Stick the remaining -// axis in axis_l which will be the axis for linear travel if you are tracing a helical motion. -void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, - int axis_linear, double feed_rate, int invert_feed_rate, double *position); +// 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 +// for vector transformation direction. +void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1, + uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise); #endif -// Dwell for a couple of time units -void mc_dwell(uint32_t milliseconds); +// Dwell for a specific number of seconds +void mc_dwell(double seconds); // Send the tool home (not implemented) void mc_go_home(); diff --git a/nuts_bolts.c b/nuts_bolts.c new file mode 100644 index 0000000..8a6960c --- /dev/null +++ b/nuts_bolts.c @@ -0,0 +1,38 @@ +/* + nuts_bolts.c - Shared functions + Part of Grbl + + 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 "nuts_bolts.h" +#include +#include + +int read_double(char *line, uint8_t *char_counter, double *double_ptr) +{ + char *start = line + *char_counter; + char *end; + + *double_ptr = strtod(start, &end); + if(end == start) { + return(false); + }; + + *char_counter = end - line; + return(true); +} + diff --git a/nuts_bolts.h b/nuts_bolts.h index ca4ecf5..54b3cb8 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -1,8 +1,9 @@ /* - motion_control.h - cartesian robot controller. + nuts_bolts.h - Header file for shared definitions, variables, and functions Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 @@ -21,15 +22,24 @@ #ifndef nuts_bolts_h #define nuts_bolts_h #include +#include +#include -#define FALSE 0 -#define TRUE 1 +#define false 0 +#define true 1 #define X_AXIS 0 #define Y_AXIS 1 #define Z_AXIS 2 #define clear_vector(a) memset(a, 0, sizeof(a)) +#define clear_vector_double(a) memset(a, 0.0, sizeof(a)) #define max(a,b) (((a) > (b)) ? (a) : (b)) +#define min(a,b) (((a) < (b)) ? (a) : (b)) + +// Read a floating point value from a string. Line points to the input buffer, char_counter +// is the indexer pointing to the current character of the line, while double_ptr is +// a pointer to the result variable. Returns true when it succeeds +int read_double(char *line, uint8_t *char_counter, double *double_ptr); #endif diff --git a/planner.c b/planner.c index f21ced6..44913c8 100644 --- a/planner.c +++ b/planner.c @@ -3,7 +3,8 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - + Copyright (c) 2011 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 @@ -20,38 +21,6 @@ /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ -/* - Reasoning behind the mathematics in this module (in the key of 'Mathematica'): - - s == speed, a == acceleration, t == time, d == distance - - Basic definitions: - - Speed[s_, a_, t_] := s + (a*t) - Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] - - Distance to reach a specific speed with a constant acceleration: - - Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] - d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() - - Speed after a given distance of travel with constant acceleration: - - Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] - m -> Sqrt[2 a d + s^2] - - DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] - - When to start braking (di) to reach a specified destionation speed (s2) after accelerating - from initial speed s1 without ever stopping at a plateau: - - Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] - di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() - - IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) -*/ - - #include #include #include @@ -61,39 +30,49 @@ #include "stepper.h" #include "settings.h" #include "config.h" -#include "wiring_serial.h" // The number of linear motions that can be in the plan at any give time #ifdef __AVR_ATmega328P__ -#define BLOCK_BUFFER_SIZE 20 +#define BLOCK_BUFFER_SIZE 18 #else #define BLOCK_BUFFER_SIZE 5 #endif static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions -static volatile int block_buffer_head; // Index of the next block to be pushed -static volatile int block_buffer_tail; // Index of the block to process now +static volatile uint8_t block_buffer_head; // Index of the next block to be pushed +static volatile uint8_t block_buffer_tail; // Index of the block to process now -// The current position of the tool in absolute steps -static int32_t position[3]; +static int32_t position[3]; // The current position of the tool in absolute steps +static double previous_unit_vec[3]; // Unit vector of previous path line segment +static double previous_nominal_speed; // Nominal speed of previous path line segment -static uint8_t acceleration_manager_enabled; // Acceleration management active? -#define ONE_MINUTE_OF_MICROSECONDS 60000000.0 +// Returns the index of the next block in the ring buffer +// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication. +static uint8_t next_block_index(uint8_t block_index) +{ + block_index++; + if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; } + return(block_index); +} + + +// Returns the index of the previous block in the ring buffer +static uint8_t prev_block_index(uint8_t block_index) +{ + if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; } + block_index--; + return(block_index); +} + // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the // given acceleration: -inline double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) { - return( - (target_rate*target_rate-initial_rate*initial_rate)/ - (2L*acceleration) - ); +static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) +{ + return( (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration) ); } -// This function gives you the point at which you must start braking (at the rate of -acceleration) if -// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after -// a total travel of distance. This can be used to compute the intersection point between acceleration and -// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) /* + <- some maximum rate we don't care about /|\ @@ -104,19 +83,113 @@ inline double estimate_acceleration_distance(double initial_rate, double target_ ^ ^ | | intersection_distance distance */ +// This function gives you the point at which you must start braking (at the rate of -acceleration) if +// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after +// a total travel of distance. This can be used to compute the intersection point between acceleration and +// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) +static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) +{ + return( (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration) ); +} -inline double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) { - return( - (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ - (4*acceleration) - ); + +// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity +// using the acceleration within the allotted distance. +// NOTE: sqrt() reimplimented here from prior version due to improved planner logic. Increases speed +// in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed +// BLOCK_BUFFER_SIZE calls per planner cycle. +static double max_allowable_speed(double acceleration, double target_velocity, double distance) +{ + return( sqrt(target_velocity*target_velocity-2*acceleration*distance) ); } -// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. -// The factors represent a factor of braking and must be in the range 0.0-1.0. +// The kernel called by planner_recalculate() when scanning the plan from last to first entry. +static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) +{ + if (!current) { return; } // Cannot operate on nothing. + + if (next) { + // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. + // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and + // check for maximum allowable speed reductions to ensure maximum possible planned speed. + if (current->entry_speed != current->max_entry_speed) { + + // If nominal length true, max junction speed is guaranteed to be reached. Only compute + // for max allowable speed if block is decelerating and nominal length is false. + if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) { + current->entry_speed = min( current->max_entry_speed, + max_allowable_speed(-settings.acceleration,next->entry_speed,current->millimeters)); + } else { + current->entry_speed = current->max_entry_speed; + } + current->recalculate_flag = true; + + } + } // Skip last block. Already initialized and set for recalculation. +} -/* + +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the reverse pass. +static void planner_reverse_pass() +{ + uint8_t block_index = block_buffer_head; + block_t *block[3] = {NULL, NULL, NULL}; + while(block_index != block_buffer_tail) { + block_index = prev_block_index( block_index ); + block[2]= block[1]; + block[1]= block[0]; + block[0] = &block_buffer[block_index]; + planner_reverse_pass_kernel(block[0], block[1], block[2]); + } + // Skip buffer tail/first block to prevent over-writing the initial entry speed. +} + + +// The kernel called by planner_recalculate() when scanning the plan from first to last entry. +static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) +{ + if(!previous) { return; } // Begin planning after buffer_tail + + // If the previous block is an acceleration block, but it is not long enough to complete the + // full speed change within the block, we need to adjust the entry speed accordingly. Entry + // speeds have already been reset, maximized, and reverse planned by reverse planner. + // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. + if (!previous->nominal_length_flag) { + if (previous->entry_speed < current->entry_speed) { + double entry_speed = min( current->entry_speed, + max_allowable_speed(-settings.acceleration,previous->entry_speed,previous->millimeters) ); + + // Check for junction speed change + if (current->entry_speed != entry_speed) { + current->entry_speed = entry_speed; + current->recalculate_flag = true; + } + } + } +} + + +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the forward pass. +static void planner_forward_pass() +{ + uint8_t block_index = block_buffer_tail; + block_t *block[3] = {NULL, NULL, NULL}; + + while(block_index != block_buffer_head) { + block[0] = block[1]; + block[1] = block[2]; + block[2] = &block_buffer[block_index]; + planner_forward_pass_kernel(block[0],block[1],block[2]); + block_index = next_block_index( block_index ); + } + planner_forward_pass_kernel(block[1], block[2], NULL); +} + + +/* STEPPER RATE DEFINITION +--------+ <- nominal_rate / \ nominal_rate*entry_factor -> + \ @@ -124,16 +197,20 @@ inline double intersection_distance(double initial_rate, double final_rate, doub +-------------+ time --> */ - -void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) { - block->initial_rate = ceil(block->nominal_rate*entry_factor); - block->final_rate = ceil(block->nominal_rate*exit_factor); - int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0; +// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. +// The factors represent a factor of braking and must be in the range 0.0-1.0. +// This converts the planner parameters to the data required by the stepper controller. +// NOTE: Final rates must be computed in terms of their respective blocks. +static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) +{ + block->initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min) + block->final_rate = ceil(block->nominal_rate*exit_factor); // (step/min) + int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0; // (step/min^2) int32_t accelerate_steps = ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_minute)); int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration_per_minute)); - + // Calculate the size of Plateau of Nominal Rate. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; @@ -143,132 +220,31 @@ void calculate_trapezoid_for_block(block_t *block, double entry_factor, double e if (plateau_steps < 0) { accelerate_steps = ceil( intersection_distance(block->initial_rate, block->final_rate, acceleration_per_minute, block->step_event_count)); + accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off + accelerate_steps = min(accelerate_steps,block->step_event_count); plateau_steps = 0; } block->accelerate_until = accelerate_steps; block->decelerate_after = accelerate_steps+plateau_steps; -} +} -// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the -// acceleration within the allotted distance. -inline double max_allowable_speed(double acceleration, double target_velocity, double distance) { - return( - sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) - ); -} - -// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. -// This method will calculate the junction jerk as the euclidean distance between the nominal -// velocities of the respective blocks. -inline double junction_jerk(block_t *before, block_t *after) { - return(sqrt( - pow(before->speed_x-after->speed_x, 2)+ - pow(before->speed_y-after->speed_y, 2)+ - pow(before->speed_z-after->speed_z, 2)) - ); -} - -// Calculate a braking factor to reach baseline speed which is max_jerk/2, e.g. the -// speed under which you cannot exceed max_jerk no matter what you do. -double factor_for_safe_speed(block_t *block) { - return(settings.max_jerk/block->nominal_speed); -} - -// The kernel called by planner_recalculate() when scanning the plan from last to first entry. -void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { - if(!current) { return; } - - double entry_factor = 1.0; - double exit_factor; - if (next) { - exit_factor = next->entry_factor; - } else { - exit_factor = factor_for_safe_speed(current); - } - - // Calculate the entry_factor for the current block. - if (previous) { - // Reduce speed so that junction_jerk is within the maximum allowed - double jerk = junction_jerk(previous, current); - if (jerk > settings.max_jerk) { - entry_factor = (settings.max_jerk/jerk); - } - // If the required deceleration across the block is too rapid, reduce the entry_factor accordingly. - if (entry_factor > exit_factor) { - double max_entry_speed = max_allowable_speed(-settings.acceleration,current->nominal_speed*exit_factor, - current->millimeters); - double max_entry_factor = max_entry_speed/current->nominal_speed; - if (max_entry_factor < entry_factor) { - entry_factor = max_entry_factor; - } - } - } else { - entry_factor = factor_for_safe_speed(current); - } - - // Store result - current->entry_factor = entry_factor; -} - -// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This -// implements the reverse pass. -void planner_reverse_pass() { - auto int8_t block_index = block_buffer_head; - block_t *block[3] = {NULL, NULL, NULL}; - while(block_index != block_buffer_tail) { - block_index--; - if(block_index < 0) { - block_index = BLOCK_BUFFER_SIZE-1; - } - block[2]= block[1]; - block[1]= block[0]; - block[0] = &block_buffer[block_index]; - planner_reverse_pass_kernel(block[0], block[1], block[2]); - } - planner_reverse_pass_kernel(NULL, block[0], block[1]); -} - -// The kernel called by planner_recalculate() when scanning the plan from first to last entry. -void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { - if(!current) { return; } - if(previous) { - // If the previous block is an acceleration block, but it is not long enough to - // complete the full speed change within the block, we need to adjust out entry - // speed accordingly. Remember current->entry_factor equals the exit factor of - // the previous block. - if(previous->entry_factor < current->entry_factor) { - double max_entry_speed = max_allowable_speed(-settings.acceleration, - current->nominal_speed*previous->entry_factor, previous->millimeters); - double max_entry_factor = max_entry_speed/current->nominal_speed; - if (max_entry_factor < current->entry_factor) { - current->entry_factor = max_entry_factor; - } - } - } -} - -// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This -// implements the forward pass. -void planner_forward_pass() { - int8_t block_index = block_buffer_tail; - block_t *block[3] = {NULL, NULL, NULL}; - - while(block_index != block_buffer_head) { - block[0] = block[1]; - block[1] = block[2]; - block[2] = &block_buffer[block_index]; - planner_forward_pass_kernel(block[0],block[1],block[2]); - block_index = (block_index+1) % BLOCK_BUFFER_SIZE; - } - planner_forward_pass_kernel(block[1], block[2], NULL); -} - -// Recalculates the trapezoid speed profiles for all blocks in the plan according to the -// entry_factor for each junction. Must be called by planner_recalculate() after -// updating the blocks. -void planner_recalculate_trapezoids() { - int8_t block_index = block_buffer_tail; +/* PLANNER SPEED DEFINITION + +--------+ <- current->nominal_speed + / \ + current->entry_speed -> + \ + | + <- next->entry_speed + +-------------+ + time --> +*/ +// Recalculates the trapezoid speed profiles for flagged blocks in the plan according to the +// entry_speed for each junction and the entry_speed of the next junction. Must be called by +// planner_recalculate() after updating the blocks. Any recalulate flagged junction will +// compute the two adjacent trapezoids to the junction, since the junction speed corresponds +// to exit speed and entry speed of one another. +static void planner_recalculate_trapezoids() +{ + uint8_t block_index = block_buffer_tail; block_t *current; block_t *next = NULL; @@ -276,71 +252,78 @@ void planner_recalculate_trapezoids() { current = next; next = &block_buffer[block_index]; if (current) { - calculate_trapezoid_for_block(current, current->entry_factor, next->entry_factor); + // Recalculate if current block entry or exit junction speed has changed. + if (current->recalculate_flag || next->recalculate_flag) { + // NOTE: Entry and exit factors always > 0 by all previous logic operations. + calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed, + next->entry_speed/current->nominal_speed); + current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed + } } - block_index = (block_index+1) % BLOCK_BUFFER_SIZE; + block_index = next_block_index( block_index ); } - calculate_trapezoid_for_block(next, next->entry_factor, factor_for_safe_speed(next)); + // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. + calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed, + MINIMUM_PLANNER_SPEED/next->nominal_speed); + next->recalculate_flag = false; } // Recalculates the motion plan according to the following algorithm: // -// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) +// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_speed) // so that: -// a. The junction jerk is within the set limit +// a. The junction speed is equal to or less than the maximum junction speed limit // b. No speed reduction within one block requires faster deceleration than the one, true constant // acceleration. -// 2. Go over every block in chronological order and dial down junction speed reduction values if -// a. The speed increase within one block would require faster accelleration than the one, true +// 2. Go over every block in chronological order and dial down junction speed values if +// a. The speed increase within one block would require faster acceleration than the one, true // constant acceleration. // -// When these stages are complete all blocks have an entry_factor that will allow all speed changes to -// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than -// the set limit. Finally it will: +// When these stages are complete all blocks have an entry speed that will allow all speed changes to +// be performed using only the one, true constant acceleration, and where no junction speed is greater +// than the max limit. Finally it will: // -// 3. Recalculate trapezoids for all blocks. +// 3. Recalculate trapezoids for all blocks using the recently updated junction speeds. Block trapezoids +// with no updated junction speeds will not be recalculated and assumed ok as is. +// +// All planner computations are performed with doubles (float on Arduinos) to minimize numerical round- +// off errors. Only when planned values are converted to stepper rate parameters, these are integers. -void planner_recalculate() { +static void planner_recalculate() +{ planner_reverse_pass(); planner_forward_pass(); planner_recalculate_trapezoids(); } -void plan_init() { +void plan_init() +{ block_buffer_head = 0; block_buffer_tail = 0; - plan_set_acceleration_manager_enabled(TRUE); clear_vector(position); + clear_vector_double(previous_unit_vec); + previous_nominal_speed = 0.0; } -void plan_set_acceleration_manager_enabled(int enabled) { - if ((!!acceleration_manager_enabled) != (!!enabled)) { - st_synchronize(); - acceleration_manager_enabled = !!enabled; - } -} - -int plan_is_acceleration_manager_enabled() { - return(acceleration_manager_enabled); -} - -inline void plan_discard_current_block() { +void plan_discard_current_block() +{ if (block_buffer_head != block_buffer_tail) { - block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE; + block_buffer_tail = next_block_index( block_buffer_tail ); } } -inline block_t *plan_get_current_block() { +block_t *plan_get_current_block() +{ if (block_buffer_head == block_buffer_tail) { return(NULL); } return(&block_buffer[block_buffer_tail]); } -// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in -// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration -// calculation the caller must also provide the physical length of the line in millimeters. -void plan_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate) { - // The target position of the tool in absolute steps - + +// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in +// millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed +// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes. +void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate) +{ // Calculate target position in absolute steps int32_t target[3]; target[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]); @@ -348,41 +331,48 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert target[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]); // Calculate the buffer head after we push this byte - int next_buffer_head = (block_buffer_head + 1) % BLOCK_BUFFER_SIZE; - // If the buffer is full: good! That means we are well ahead of the robot. - // Rest here until there is room in the buffer. + uint8_t next_buffer_head = next_block_index( block_buffer_head ); + // If the buffer is full: good! That means we are well ahead of the robot. + // Rest here until there is room in the buffer. while(block_buffer_tail == next_buffer_head) { sleep_mode(); } + // Prepare to set up new block block_t *block = &block_buffer[block_buffer_head]; + + // Compute direction bits for this block + block->direction_bits = 0; + if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<steps_x = labs(target[X_AXIS]-position[X_AXIS]); block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); block->step_event_count = max(block->steps_x, max(block->steps_y, block->steps_z)); + // Bail if this is a zero-length block if (block->step_event_count == 0) { return; }; - double delta_x_mm = (target[X_AXIS]-position[X_AXIS])/settings.steps_per_mm[X_AXIS]; - double delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/settings.steps_per_mm[Y_AXIS]; - double delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/settings.steps_per_mm[Z_AXIS]; - block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm)); - + // Compute path vector in terms of absolute step target and current positions + double delta_mm[3]; + delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/settings.steps_per_mm[X_AXIS]; + delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/settings.steps_per_mm[Y_AXIS]; + delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/settings.steps_per_mm[Z_AXIS]; + block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + + square(delta_mm[Z_AXIS])); + double inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides - uint32_t microseconds; + // Calculate speed in mm/minute for each axis. No divide by zero due to previous checks. + // NOTE: Minimum stepper speed is limited by MINIMUM_STEPS_PER_MINUTE in stepper.c + double inverse_minute; if (!invert_feed_rate) { - microseconds = lround((block->millimeters/feed_rate)*1000000); + inverse_minute = feed_rate * inverse_millimeters; } else { - microseconds = lround(ONE_MINUTE_OF_MICROSECONDS/feed_rate); + inverse_minute = 1.0 / feed_rate; } - - // Calculate speed in mm/minute for each axis - double multiplier = 60.0*1000000.0/microseconds; - block->speed_x = delta_x_mm * multiplier; - block->speed_y = delta_y_mm * multiplier; - block->speed_z = delta_z_mm * multiplier; - block->nominal_speed = block->millimeters * multiplier; - block->nominal_rate = ceil(block->step_event_count * multiplier); - block->entry_factor = 0.0; + block->nominal_speed = block->millimeters * inverse_minute; // (mm/min) Always > 0 + block->nominal_rate = ceil(block->step_event_count * inverse_minute); // (step/min) Always > 0 // Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line // average travel per step event changes. For a line along one axis the travel per step event @@ -390,34 +380,84 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, int invert // axes might step for every step event. Travel per step event is then sqrt(travel_x^2+travel_y^2). // To generate trapezoids with contant acceleration between blocks the rate_delta must be computed // specifically for each line to compensate for this phenomenon: - double travel_per_step = block->millimeters/block->step_event_count; - block->rate_delta = ceil( - ((settings.acceleration*60.0)/(ACCELERATION_TICKS_PER_SECOND))/ // acceleration mm/sec/sec per acceleration_tick - travel_per_step); // convert to: acceleration steps/min/acceleration_tick - if (acceleration_manager_enabled) { - // compute a preliminary conservative acceleration trapezoid - double safe_speed_factor = factor_for_safe_speed(block); - calculate_trapezoid_for_block(block, safe_speed_factor, safe_speed_factor); - } else { - block->initial_rate = block->nominal_rate; - block->final_rate = block->nominal_rate; - block->accelerate_until = 0; - block->decelerate_after = block->step_event_count; - block->rate_delta = 0; - } + // Convert universal acceleration for direction-dependent stepper rate change parameter + block->rate_delta = ceil( block->step_event_count*inverse_millimeters * + settings.acceleration / (60 * ACCELERATION_TICKS_PER_SECOND )); // (step/min/acceleration_tick) + + // Compute path unit vector + double unit_vec[3]; + + unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; + unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; + unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; + + // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. + // Let a circle be tangent to both previous and current path line segments, where the junction + // deviation is defined as the distance from the junction to the closest edge of the circle, + // 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 + // 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. + double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed + + // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. + if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { + // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) + // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. + double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] + - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] + - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; + + // Skip and use default max junction speed for 0 degree acute junction. + if (cos_theta < 0.95) { + vmax_junction = min(previous_nominal_speed,block->nominal_speed); + // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. + if (cos_theta > -0.95) { + // Compute maximum junction velocity based on maximum acceleration and junction deviation + double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. + vmax_junction = min(vmax_junction, + sqrt(settings.acceleration * settings.junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); + } + } + } + block->max_entry_speed = vmax_junction; - // Compute direction bits for this block - block->direction_bits = 0; - if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<millimeters); + block->entry_speed = min(vmax_junction, v_allowable); + + // Initialize planner efficiency flags + // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } + else { block->nominal_length_flag = false; } + block->recalculate_flag = true; // Always calculate trapezoid for new block + + // Update previous path unit_vector and nominal speed + memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[] + previous_nominal_speed = block->nominal_speed; // Move buffer head block_buffer_head = next_buffer_head; - // Update position + // Update position memcpy(position, target, sizeof(target)); // position[] = target[] - - if (acceleration_manager_enabled) { planner_recalculate(); } - st_wake_up(); + + planner_recalculate(); + st_cycle_start(); } +// Reset the planner position vector and planner speed +void plan_set_current_position(double x, double y, double z) { + position[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]); + position[Y_AXIS] = lround(y*settings.steps_per_mm[Y_AXIS]); + position[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]); + previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. + clear_vector_double(previous_unit_vec); +} diff --git a/planner.h b/planner.h index c07242a..f8f59e8 100644 --- a/planner.h +++ b/planner.h @@ -3,6 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 @@ -18,9 +19,6 @@ along with Grbl. If not, see . */ -// This module is to be considered a sub-module of stepper.c. Please don't include -// this file from any other module. - #ifndef planner_h #define planner_h @@ -29,27 +27,28 @@ // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in // the source g-code and may never actually be reached if acceleration management is active. typedef struct { + // Fields used by the bresenham algorithm for tracing the line - uint32_t steps_x, steps_y, steps_z; // Step count along each axis uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + uint32_t steps_x, steps_y, steps_z; // Step count along each axis int32_t step_event_count; // The number of step events required to complete this block - uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute - + // Fields used by the motion planner to manage acceleration - double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis double nominal_speed; // The nominal speed for this block in mm/min + double entry_speed; // Entry speed at previous-current junction in mm/min + double max_entry_speed; // Maximum allowable junction entry speed in mm/min double millimeters; // The total travel of this block in mm - double entry_factor; // The factor representing the change in speed at the start of this trapezoid. - // (The end of the curren speed trapezoid is defined by the entry_factor of the - // next block) - + uint8_t recalculate_flag; // Planner flag to recalculate trapezoids on entry junction + uint8_t nominal_length_flag; // Planner flag for nominal speed always reached + // Settings for the trapezoid generator - uint32_t initial_rate; // The jerk-adjusted step rate at start of block - uint32_t final_rate; // The minimal rate at exit + uint32_t initial_rate; // The step rate at start of block + uint32_t final_rate; // The step rate at end of block int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive) uint32_t accelerate_until; // The index of the step event on which to stop acceleration uint32_t decelerate_after; // The index of the step event on which to start decelerating - + uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute + } block_t; // Initialize the motion plan subsystem @@ -58,19 +57,16 @@ void plan_init(); // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in // millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes. -void plan_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate); +void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate); // Called when the current block is no longer needed. Discards the block and makes the memory // availible for new blocks. -inline void plan_discard_current_block(); +void plan_discard_current_block(); // Gets the current block. Returns NULL if buffer empty -inline block_t *plan_get_current_block(); +block_t *plan_get_current_block(); -// Enables or disables acceleration-management for upcoming blocks -void plan_set_acceleration_manager_enabled(int enabled); +// Reset the position vector +void plan_set_current_position(double x, double y, double z); -// Is acceleration-management currently enabled? -int plan_is_acceleration_manager_enabled(); - -#endif \ No newline at end of file +#endif diff --git a/print.c b/print.c new file mode 100644 index 0000000..f8e7a0c --- /dev/null +++ b/print.c @@ -0,0 +1,104 @@ +/* + print.c - Functions for formatting output strings + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 code was initially inspired by the wiring_serial module by David A. Mellis which + used to be a part of the Arduino project. */ + + +#include +#include +#include "serial.h" + +#ifndef DECIMAL_PLACES +#define DECIMAL_PLACES 3 +#define DECIMAL_MULTIPLIER 10*10*10 +#endif + +void printString(const char *s) +{ + while (*s) + serial_write(*s++); +} + +// Print a string stored in PGM-memory +void printPgmString(const char *s) +{ + char c; + while ((c = pgm_read_byte_near(s++))) + serial_write(c); +} + +void printIntegerInBase(unsigned long n, unsigned long base) +{ + unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. + unsigned long i = 0; + + if (n == 0) { + serial_write('0'); + return; + } + + while (n > 0) { + buf[i++] = n % base; + n /= base; + } + + for (; i > 0; i--) + serial_write(buf[i - 1] < 10 ? + '0' + buf[i - 1] : + 'A' + buf[i - 1] - 10); +} + +void printInteger(long n) +{ + if (n < 0) { + serial_write('-'); + n = -n; + } + + printIntegerInBase(n, 10); +} + +// A very simple +void printFloat(double n) +{ + if (n < 0) { + serial_write('-'); + n = -n; + } + n += 0.5/DECIMAL_MULTIPLIER; // Add rounding factor + + long integer_part; + integer_part = (int)n; + printIntegerInBase(integer_part,10); + + serial_write('.'); + + n -= integer_part; + int decimals = DECIMAL_PLACES; + uint8_t decimal_part; + while(decimals-- > 0) { + n *= 10; + decimal_part = (int) n; + serial_write('0'+decimal_part); + n -= decimal_part; + } +} diff --git a/print.h b/print.h new file mode 100644 index 0000000..b2581ba --- /dev/null +++ b/print.h @@ -0,0 +1,37 @@ +/* + print.h - Functions for formatting output strings + Part of Grbl + + 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 . +*/ + +/* This code was initially inspired by the wiring_serial module by David A. Mellis which + used to be a part of the Arduino project. */ + +#ifndef print_h +#define print_h + +void printString(const char *s); + +void printPgmString(const char *s); + +void printInteger(long n); + +void printIntegerInBase(unsigned long n, unsigned long base); + +void printFloat(double n); + +#endif \ No newline at end of file diff --git a/protocol.c b/protocol.c new file mode 100644 index 0000000..4010253 --- /dev/null +++ b/protocol.c @@ -0,0 +1,122 @@ +/* + protocol.c - the serial protocol master control unit + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 +#include "protocol.h" +#include "gcode.h" +#include "serial.h" +#include "print.h" +#include "settings.h" +#include "config.h" +#include +#include "nuts_bolts.h" +#include +#define LINE_BUFFER_SIZE 50 + +static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated. +static uint8_t char_counter; // Last character counter in line variable. +static uint8_t iscomment; // Comment/block delete flag for processor to ignore comment characters. + +static void status_message(int status_code) +{ + if (status_code == 0) { + printPgmString(PSTR("ok\r\n")); + } else { + printPgmString(PSTR("error: ")); + switch(status_code) { + case STATUS_BAD_NUMBER_FORMAT: + printPgmString(PSTR("Bad number format\r\n")); break; + case STATUS_EXPECTED_COMMAND_LETTER: + printPgmString(PSTR("Expected command letter\r\n")); break; + case STATUS_UNSUPPORTED_STATEMENT: + printPgmString(PSTR("Unsupported statement\r\n")); break; + case STATUS_FLOATING_POINT_ERROR: + printPgmString(PSTR("Floating point error\r\n")); break; + default: + printInteger(status_code); + printPgmString(PSTR("\r\n")); + } + } +} + +void protocol_init() +{ + char_counter = 0; // Reset line input + iscomment = false; + printPgmString(PSTR("\r\nGrbl " GRBL_VERSION)); + printPgmString(PSTR("\r\n")); +} + +// Executes one line of input according to protocol +uint8_t protocol_execute_line(char *line) +{ + if(line[0] == '$') { + return(settings_execute_line(line)); // Delegate lines starting with '$' to the settings module + } else { + return(gc_execute_line(line)); // Everything else is gcode + } +} + + +// Process one line of incoming serial data. Remove unneeded characters and capitalize. +void protocol_process() +{ + char c; + while((c = serial_read()) != SERIAL_NO_DATA) + { + if ((c == '\n') || (c == '\r')) { // End of line reached + if (char_counter > 0) {// Line is complete. Then execute! + line[char_counter] = 0; // Terminate string + status_message(protocol_execute_line(line)); + } else { + // Empty or comment line. Skip block. + status_message(STATUS_OK); // Send status message for syncing purposes. + } + char_counter = 0; // Reset line buffer index + iscomment = false; // Reset comment flag + } 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 == '/') { + // Disable block delete and throw away character + // To enable block delete, uncomment following line. Will ignore until EOL. + // iscomment = true; + } else if (c == '(') { + // Enable comments flag and ignore all characters until ')' or EOL. + iscomment = true; + } else if (char_counter >= LINE_BUFFER_SIZE-1) { + // Throw away any characters beyond the end of the line buffer + } else if (c >= 'a' && c <= 'z') { // Upcase lowercase + line[char_counter++] = c-'a'+'A'; + } else { + line[char_counter++] = c; + } + } + } + } +} diff --git a/protocol.h b/protocol.h new file mode 100644 index 0000000..4490a4b --- /dev/null +++ b/protocol.h @@ -0,0 +1,40 @@ +/* + protocol.h - the serial protocol master control unit + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 protocol_h +#define protocol_h + +#define STATUS_OK 0 +#define STATUS_BAD_NUMBER_FORMAT 1 +#define STATUS_EXPECTED_COMMAND_LETTER 2 +#define STATUS_UNSUPPORTED_STATEMENT 3 +#define STATUS_FLOATING_POINT_ERROR 4 + +// Initialize the serial protocol +void protocol_init(); + +// Read command lines from the serial port and execute them as they +// come in. Blocks until the serial buffer is emptied. +void protocol_process(); + +// Executes one line of input according to protocol +uint8_t protocol_execute_line(char *line); + +#endif diff --git a/readme.textile b/readme.textile index 2ad2df2..c4d2b97 100644 --- a/readme.textile +++ b/readme.textile @@ -4,12 +4,20 @@ Grbl is a no-compromise, high performance, low cost alternative to parallel-port 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 more than 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 - but no support for tool offsets, functions or variables as these are apocryphal and fell into disuse after humans left G-code authoring to machines some time in the 80s. +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, other basic functional g-code commands. Functions and variables are not currently supported, but may be included in future releases in a form of a pre-processor. -Grbl includes full acceleration management with look ahead. That means the controller will look up to 20 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering. +Grbl includes full acceleration management with look ahead. That means the controller will look up to 16 to 20 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering. -*Important note for Atmega 168 users:* Grbl used to be compatible with both the older Ardunios running atmega 168 and the newer with 328p. This had to go, as I was unable to fit the acceleration management into the 16k code space of the 168. If you want to run Grbl on an 168 I am still maintaining Grbl 0.51 "in the branch called 'v0_51'":https://github.com/simen/grbl/tree/v0_51. +*Changelog for v0.7 from v0.6:* + - Significantly improved and optimized planner re-factoring. + - New robust cornering algorithm, enabling smoother and faster motions. + - Arc acceleration planning enabled by efficient vector transformation implementation. + - Stepper subsystem re-factoring to help remove some motion issues from pre-v0.7 builds. + - Increased dwell times. + - G92 Coordinate offset support. + - (Beta) Limit switch and homing cycle support. + - Many other bug fixes and efficiency improvements. -*Note for users upgrading from 0.51 to 0.6:* The new version has new and improved default pin-out. If nothing works when you upgrade, that is because the pulse trains are coming from the wrong pins. This is a simple matter of editing config.h – the whole legacy pin assignment is there for you to uncomment. +*Important note for Atmega 168 users:* Going forward, support for Atmega 168 will be dropped due to its limited memory and speed. However, legacy Grbl v0.51 "in the branch called 'v0_51' is still available for use. _The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ diff --git a/script/simple_stream.py b/script/simple_stream.py new file mode 100755 index 0000000..8bd4b3b --- /dev/null +++ b/script/simple_stream.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python +"""\ +Simple g-code streaming script for grbl +""" + +import serial +import time + +# Open grbl serial port +s = serial.Serial('/dev/tty.usbmodem1811',9600) + +# Open g-code file +f = open('grbl.gcode','r'); + +# Wake up grbl +s.write("\r\n\r\n") +time.sleep(2) # Wait for grbl to initialize +s.flushInput() # Flush startup text in serial input + +# Stream g-code to grbl +for line in f: + l = line.strip() # Strip all EOL characters for consistency + print 'Sending: ' + l, + s.write(l + '\n') # Send g-code block to grbl + grbl_out = s.readline() # Wait for grbl response with carriage return + print ' : ' + grbl_out.strip() + +# Wait here until grbl is finished to close serial port and file. +raw_input(" Press to exit and disable grbl.") + +# Close file and serial port +f.close() +s.close() \ No newline at end of file diff --git a/serial.c b/serial.c new file mode 100644 index 0000000..04483bb --- /dev/null +++ b/serial.c @@ -0,0 +1,125 @@ +/* + serial.c - Low level functions for sending and recieving bytes via the serial port + Part of Grbl + + 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 . +*/ + +/* This code was initially inspired by the wiring_serial module by David A. Mellis which + used to be a part of the Arduino project. */ + +#include +#include +#include "serial.h" + + +#ifdef __AVR_ATmega328P__ +#define RX_BUFFER_SIZE 256 +#else +#define RX_BUFFER_SIZE 64 +#endif + +#define TX_BUFFER_SIZE 16 + +uint8_t rx_buffer[RX_BUFFER_SIZE]; +uint8_t rx_buffer_head = 0; +uint8_t rx_buffer_tail = 0; + +uint8_t tx_buffer[TX_BUFFER_SIZE]; +uint8_t tx_buffer_head = 0; +volatile uint8_t tx_buffer_tail = 0; + +static void set_baud_rate(long baud) { + uint16_t UBRR0_value = ((F_CPU / 16 + baud / 2) / baud - 1); + UBRR0H = UBRR0_value >> 8; + UBRR0L = UBRR0_value; +} + +void serial_init(long baud) +{ + set_baud_rate(baud); + + /* baud doubler off - Only needed on Uno XXX */ + UCSR0A &= ~(1 << U2X0); + + // enable rx and tx + UCSR0B |= 1<. +*/ + +/* This code was initially inspired by the wiring_serial module by David A. Mellis which + used to be a part of the Arduino project. */ + +#ifndef serial_h +#define serial_h + +#define SERIAL_NO_DATA 0xff + +void serial_init(long baud); + +void serial_write(uint8_t data); + +uint8_t serial_read(); + +#endif diff --git a/serial_protocol.c b/serial_protocol.c deleted file mode 100644 index f2dcd47..0000000 --- a/serial_protocol.c +++ /dev/null @@ -1,77 +0,0 @@ -/* - serial_protocol.c - the serial protocol master control unit - Part of Grbl - - 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 -#include "serial_protocol.h" -#include "gcode.h" -#include "wiring_serial.h" -#include "settings.h" -#include "config.h" -#include -#include "nuts_bolts.h" -#include -#define LINE_BUFFER_SIZE 50 - -static char line[LINE_BUFFER_SIZE]; -static uint8_t char_counter; - -void status_message(int status_code) { - switch(status_code) { - case GCSTATUS_OK: - printPgmString(PSTR("ok\n\r")); break; - case GCSTATUS_BAD_NUMBER_FORMAT: - printPgmString(PSTR("error: Bad number format\n\r")); break; - case GCSTATUS_EXPECTED_COMMAND_LETTER: - printPgmString(PSTR("error: Expected command letter\n\r")); break; - case GCSTATUS_UNSUPPORTED_STATEMENT: - printPgmString(PSTR("error: Unsupported statement\n\r")); break; - case GCSTATUS_FLOATING_POINT_ERROR: - printPgmString(PSTR("error: Floating point error\n\r")); break; - default: - printPgmString(PSTR("error: ")); - printInteger(status_code); - printPgmString(PSTR("\n\r")); - } -} - -void sp_init() -{ - beginSerial(BAUD_RATE); - printPgmString(PSTR("\r\nGrbl " GRBL_VERSION)); - printPgmString(PSTR("\r\n")); -} - -void sp_process() -{ - char c; - while((c = serialRead()) != -1) - { - if((char_counter > 0) && ((c == '\n') || (c == '\r'))) { // Line is complete. Then execute! - line[char_counter] = 0; // treminate string - status_message(gc_execute_line(line)); - char_counter = 0; // reset line buffer index - } else if (c <= ' ') { // Throw away whitepace and control characters - } else if (c >= 'a' && c <= 'z') { // Upcase lowercase - line[char_counter++] = c-'a'+'A'; - } else { - line[char_counter++] = c; - } - } -} diff --git a/settings.c b/settings.c index a3c33dd..09514d6 100644 --- a/settings.c +++ b/settings.c @@ -3,6 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 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 @@ -23,8 +24,10 @@ #include "nuts_bolts.h" #include "settings.h" #include "eeprom.h" -#include "wiring_serial.h" +#include "print.h" #include +#include "protocol.h" +#include "config.h" settings_t settings; @@ -39,6 +42,19 @@ typedef struct { double mm_per_arc_segment; } settings_v1_t; +// Default settings (used when resetting eeprom-settings) +#define MICROSTEPS 8 +#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS) +#define DEFAULT_Y_STEPS_PER_MM (94.488188976378*MICROSTEPS) +#define DEFAULT_Z_STEPS_PER_MM (94.488188976378*MICROSTEPS) +#define DEFAULT_STEP_PULSE_MICROSECONDS 30 +#define DEFAULT_MM_PER_ARC_SEGMENT 0.1 +#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min +#define DEFAULT_FEEDRATE 500.0 +#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE*60*60/10.0) // mm/min^2 +#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm +#define DEFAULT_STEPPING_INVERT_MASK ((1< 0.0\r\n")); + return; + } settings.steps_per_mm[parameter] = value; break; - case 3: settings.pulse_microseconds = round(value); break; + case 3: + if (value < 3) { + printPgmString(PSTR("Step pulse must be >= 3 microseconds\r\n")); + return; + } + settings.pulse_microseconds = round(value); break; case 4: settings.default_feed_rate = value; break; case 5: settings.default_seek_rate = value; break; case 6: settings.mm_per_arc_segment = value; break; case 7: settings.invert_mask = trunc(value); break; - case 8: settings.acceleration = value; break; - case 9: settings.max_jerk = fabs(value); break; + case 8: settings.acceleration = value*60*60; break; // Convert to mm/min^2 for grbl internal use. + case 9: settings.junction_deviation = fabs(value); break; default: printPgmString(PSTR("Unknown parameter\r\n")); return; diff --git a/settings.h b/settings.h index 5831e0f..423e18b 100644 --- a/settings.h +++ b/settings.h @@ -3,7 +3,8 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - + Copyright (c) 2011 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 @@ -25,11 +26,11 @@ #include #include -#define GRBL_VERSION "0.6b" +#define GRBL_VERSION "0.7d" // 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 -#define SETTINGS_VERSION 2 +#define SETTINGS_VERSION 4 // Current global settings (persisted in EEPROM from byte 1 onwards) typedef struct { @@ -41,7 +42,7 @@ typedef struct { uint8_t invert_mask; double mm_per_arc_segment; double acceleration; - double max_jerk; + double junction_deviation; } settings_t; extern settings_t settings; @@ -51,20 +52,10 @@ void settings_init(); // Print current settings void settings_dump(); +// Handle settings command +uint8_t settings_execute_line(char *line); + // A helper method to set new settings from command line void settings_store_setting(int parameter, double value); -// Default settings (used when resetting eeprom-settings) -#define MICROSTEPS 8 -#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS) -#define DEFAULT_Y_STEPS_PER_MM (94.488188976378*MICROSTEPS) -#define DEFAULT_Z_STEPS_PER_MM (94.488188976378*MICROSTEPS) -#define DEFAULT_STEP_PULSE_MICROSECONDS 30 -#define DEFAULT_MM_PER_ARC_SEGMENT 0.1 -#define DEFAULT_RAPID_FEEDRATE 480.0 // in millimeters per minute -#define DEFAULT_FEEDRATE 480.0 -#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE/100.0) -#define DEFAULT_MAX_JERK 50.0 -#define DEFAULT_STEPPING_INVERT_MASK 0 - #endif diff --git a/spindle_control.c b/spindle_control.c index 0dc48c8..0321c89 100644 --- a/spindle_control.c +++ b/spindle_control.c @@ -21,25 +21,36 @@ #include "spindle_control.h" #include "settings.h" #include "config.h" +#include "stepper.h" #include +static int current_direction; + void spindle_init() { - SPINDLE_ENABLE_DDR |= 1<= 0) { - SPINDLE_DIRECTION_PORT &= ~(1< 0) { + SPINDLE_DIRECTION_PORT &= ~(1< #include "planner.h" -#include "wiring_serial.h" - +#include "limits.h" // Some useful constants #define STEP_MASK ((1<initial_rate, accelerates by block->rate_delta // during the first block->accelerate_until step_events_completed, then keeps going at constant speed until // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. -// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick() -// that is called ACCELERATION_TICKS_PER_SECOND times per second. +// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate following the midpoint rule +// by the trapezoid generator, which is called ACCELERATION_TICKS_PER_SECOND times per second. -void set_step_events_per_minute(uint32_t steps_per_minute); +static void set_step_events_per_minute(uint32_t steps_per_minute); -void st_wake_up() { - ENABLE_STEPPER_DRIVER_INTERRUPT(); +// Stepper state initialization +static void st_wake_up() +{ + // Initialize stepper output bits + out_bits = (0) ^ (settings.invert_mask); + // Enable steppers by resetting the stepper disable port + STEPPERS_DISABLE_PORT &= ~(1<initial_rate; - trapezoid_tick_cycle_counter = 0; // Always start a new trapezoid with a full acceleration tick - set_step_events_per_minute(trapezoid_adjusted_rate); +static void trapezoid_generator_reset() +{ + trapezoid_adjusted_rate = current_block->initial_rate; + min_safe_rate = current_block->rate_delta + (current_block->rate_delta >> 1); // 1.5 x rate_delta + trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Start halfway for midpoint rule. + set_step_events_per_minute(trapezoid_adjusted_rate); // Initialize cycles_per_step_event } -// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event -// interrupt. It can be assumed that the trapezoid-generator-parameters and the -// current_block stays untouched by outside handlers for the duration of this function call. -inline void trapezoid_generator_tick() { - if (current_block) { - if (step_events_completed < current_block->accelerate_until) { - trapezoid_adjusted_rate += current_block->rate_delta; - if (trapezoid_adjusted_rate > current_block->nominal_rate ) { - trapezoid_adjusted_rate = current_block->nominal_rate; - } - set_step_events_per_minute(trapezoid_adjusted_rate); - } else if (step_events_completed > current_block->decelerate_after) { - // NOTE: We will only reduce speed if the result will be > 0. This catches small - // rounding errors that might leave steps hanging after the last trapezoid tick. - if (trapezoid_adjusted_rate > current_block->rate_delta) { - trapezoid_adjusted_rate -= current_block->rate_delta; - } - if (trapezoid_adjusted_rate < current_block->final_rate) { - trapezoid_adjusted_rate = current_block->final_rate; - } - set_step_events_per_minute(trapezoid_adjusted_rate); - } else { - // Make sure we cruise at exactly nominal rate - if (trapezoid_adjusted_rate != current_block->nominal_rate) { - trapezoid_adjusted_rate = current_block->nominal_rate; - set_step_events_per_minute(trapezoid_adjusted_rate); - } - } +// This function determines an acceleration velocity change every CYCLES_PER_ACCELERATION_TICK by +// keeping track of the number of elapsed cycles during a de/ac-celeration. The code assumes that +// step_events occur significantly more often than the acceleration velocity iterations. +static uint8_t iterate_trapezoid_cycle_counter() +{ + trapezoid_tick_cycle_counter += cycles_per_step_event; + if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) { + trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK; + return(true); + } else { + return(false); } -} +} -// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with +// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with // config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. -// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse. -SIGNAL(TIMER1_COMPA_vect) +// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse. +// The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts. +ISR(TIMER1_COMPA_vect) { - // TODO: Check if the busy-flag can be eliminated by just disabeling this interrupt while we are in it + if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt - if(busy){ return; } // The busy-flag is used to avoid reentering this interrupt - // Set the direction pins a cuple of nanoseconds before we step the steppers + // Set the direction pins a couple of nanoseconds before we step the steppers STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK); // Then pulse the stepping pins STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits; - // Reset step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after - // exactly settings.pulse_microseconds microseconds. Clear the overflow flag to stop a queued - // interrupt from resetting the step pulse too soon. - TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND)/8); - TIFR2 |= (1<> 3); // Reload timer counter + TCCR2B = (1<step_event_count >> 1); counter_y = counter_x; counter_z = counter_x; - step_events_completed = 0; + step_events_completed = 0; } else { - DISABLE_STEPPER_DRIVER_INTERRUPT(); + st_go_idle(); } } if (current_block != NULL) { + // Execute step displacement profile by bresenham line algorithm out_bits = current_block->direction_bits; counter_x += current_block->steps_x; if (counter_x > 0) { @@ -180,69 +185,116 @@ SIGNAL(TIMER1_COMPA_vect) out_bits |= (1<step_event_count; } - // If current block is finished, reset pointer - step_events_completed += 1; - if (step_events_completed >= current_block->step_event_count) { + + step_events_completed++; // Iterate step events + + // While in block steps, check for de/ac-celeration events and execute them accordingly. + if (step_events_completed < current_block->step_event_count) { + // The trapezoid generator always checks step event location to ensure de/ac-celerations are + // executed and terminated at exactly the right time. This helps prevent over/under-shooting + // the target position and speed. + // NOTE: By increasing the ACCELERATION_TICKS_PER_SECOND in config.h, the resolution of the + // discrete velocity changes increase and accuracy can increase as well to a point. Numerical + // round-off errors can effect this, if set too high. This is important to note if a user has + // very high acceleration and/or feedrate requirements for their machine. + if (step_events_completed < current_block->accelerate_until) { + // Iterate cycle counter and check if speeds need to be increased. + if ( iterate_trapezoid_cycle_counter() ) { + trapezoid_adjusted_rate += current_block->rate_delta; + if (trapezoid_adjusted_rate >= current_block->nominal_rate) { + // Reached nominal rate a little early. Cruise at nominal rate until decelerate_after. + trapezoid_adjusted_rate = current_block->nominal_rate; + } + set_step_events_per_minute(trapezoid_adjusted_rate); + } + } else if (step_events_completed >= current_block->decelerate_after) { + // Reset trapezoid tick cycle counter to make sure that the deceleration is performed the + // same every time. Reset to CYCLES_PER_ACCELERATION_TICK/2 to follow the midpoint rule for + // an accurate approximation of the deceleration curve. + if (step_events_completed == current_block-> decelerate_after) { + trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; + } else { + // Iterate cycle counter and check if speeds need to be reduced. + if ( iterate_trapezoid_cycle_counter() ) { + // NOTE: We will only do a full speed reduction if the result is more than the minimum safe + // rate, initialized in trapezoid reset as 1.5 x rate_delta. Otherwise, reduce the speed by + // half increments until finished. The half increments are guaranteed not to exceed the + // CNC acceleration limits, because they will never be greater than rate_delta. This catches + // small errors that might leave steps hanging after the last trapezoid tick or a very slow + // step rate at the end of a full stop deceleration in certain situations. The half rate + // reductions should only be called once or twice per block and create a nice smooth + // end deceleration. + if (trapezoid_adjusted_rate > min_safe_rate) { + trapezoid_adjusted_rate -= current_block->rate_delta; + } else { + trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2 + } + if (trapezoid_adjusted_rate < current_block->final_rate) { + // Reached final rate a little early. Cruise to end of block at final rate. + trapezoid_adjusted_rate = current_block->final_rate; + } + set_step_events_per_minute(trapezoid_adjusted_rate); + } + } + } else { + // No accelerations. Make sure we cruise exactly at the nominal rate. + if (trapezoid_adjusted_rate != current_block->nominal_rate) { + trapezoid_adjusted_rate = current_block->nominal_rate; + set_step_events_per_minute(trapezoid_adjusted_rate); + } + } + + } else { + // If current block is finished, reset pointer current_block = NULL; plan_discard_current_block(); } - } else { - out_bits = 0; - } - out_bits ^= settings.invert_mask; - - // In average this generates a trapezoid_generator_tick every CYCLES_PER_ACCELERATION_TICK by keeping track - // of the number of elapsed cycles. The code assumes that step_events occur significantly more often than - // trapezoid_generator_ticks as they well should. - trapezoid_tick_cycle_counter += cycles_per_step_event; - if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) { - trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK; - trapezoid_generator_tick(); } - - busy=FALSE; + out_bits ^= settings.invert_mask; // Apply stepper invert mask + busy=false; } -// This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets +// This interrupt is set up by ISR_TIMER1_COMPAREA when it sets the motor port bits. It resets // the motor port after a short period (settings.pulse_microseconds) completing one step cycle. -SIGNAL(TIMER2_OVF_vect) +// TODO: It is possible for the serial interrupts to delay this interrupt by a few microseconds, if +// they execute right before this interrupt. Not a big deal, but could use some TLC at some point. +ISR(TIMER2_OVF_vect) { - // reset stepping pins (leave the direction pins) + // Reset stepping pins (leave the direction pins) STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK); + TCCR2B = 0; // Disable Timer2 to prevent re-entering this interrupt when it's not needed. } // Initialize and start the stepper motor subsystem void st_init() { - // Configure directions of interface pins - STEPPING_DDR |= STEPPING_MASK; + // Configure directions of interface pins + STEPPING_DDR |= STEPPING_MASK; STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask; - LIMIT_DDR &= ~(LIMIT_MASK); - STEPPERS_ENABLE_DDR |= 1<> 3; prescaler = 1; // prescaler: 8 actual_cycles = ceiling * 8L; - } else if (cycles <= 0x3fffffL) { - ceiling = cycles >> 6; + } else if (cycles <= 0x3fffffL) { + ceiling = cycles >> 6; prescaler = 2; // prescaler: 64 actual_cycles = ceiling * 64L; - } else if (cycles <= 0xffffffL) { - ceiling = (cycles >> 8); + } else if (cycles <= 0xffffffL) { + ceiling = (cycles >> 8); prescaler = 3; // prescaler: 256 actual_cycles = ceiling * 256L; - } else if (cycles <= 0x3ffffffL) { - ceiling = (cycles >> 10); + } else if (cycles <= 0x3ffffffL) { + ceiling = (cycles >> 10); prescaler = 4; // prescaler: 1024 actual_cycles = ceiling * 1024L; - } else { - // Okay, that was slower than we actually go. Just set the slowest speed - ceiling = 0xffff; + } else { + // Okay, that was slower than we actually go. Just set the slowest speed + ceiling = 0xffff; prescaler = 4; actual_cycles = 0xffff * 1024; - } - // Set prescaler + } + // Set prescaler TCCR1B = (TCCR1B & ~(0x07< #include +#define LIMIT_MASK ((1< -#include -#include -#include - -// Define constants and variables for buffering incoming serial data. We're -// using a ring buffer (I think), in which rx_buffer_head is the index of the -// location to which to write the next incoming character and rx_buffer_tail -// is the index of the location from which to read. -#ifdef __AVR_ATmega328P__ -#define RX_BUFFER_SIZE 256 -#else -#define RX_BUFFER_SIZE 64 -#endif - -unsigned char rx_buffer[RX_BUFFER_SIZE]; - -int rx_buffer_head = 0; -int rx_buffer_tail = 0; - -void beginSerial(long baud) -{ - UBRR0H = ((F_CPU / 16 + baud / 2) / baud - 1) >> 8; - UBRR0L = ((F_CPU / 16 + baud / 2) / baud - 1); - - /* baud doubler off - Only needed on Uno XXX */ - UCSR0A &= ~(1 << U2X0); - - // enable rx and tx - UCSR0B |= 1< 0) { - buf[i++] = n % base; - n /= base; - } - - for (; i > 0; i--) - printByte(buf[i - 1] < 10 ? - '0' + buf[i - 1] : - 'A' + buf[i - 1] - 10); -} - -void printInteger(long n) -{ - if (n < 0) { - printByte('-'); - n = -n; - } - - printIntegerInBase(n, 10); -} - -void printFloat(double n) -{ - double integer_part, fractional_part; - fractional_part = modf(n, &integer_part); - printInteger(integer_part); - printByte('.'); - printInteger(labs(round(fractional_part*1000))); -} - -// void printHex(unsigned long n) -// { -// printIntegerInBase(n, 16); -// } -// -// void printOctal(unsigned long n) -// { -// printIntegerInBase(n, 8); -// } -// -// void printBinary(unsigned long n) -// { -// printIntegerInBase(n, 2); -// } - -/* Including print() adds approximately 1500 bytes to the binary size, - * so we replace it with the smaller and less-confusing printString(), - * printInteger(), etc. -void print(const char *format, ...) -{ - char buf[256]; - va_list ap; - - va_start(ap, format); - vsnprintf(buf, 256, format, ap); - va_end(ap); - - printString(buf); -} -*/ diff --git a/wiring_serial.h b/wiring_serial.h deleted file mode 100644 index 516a0ea..0000000 --- a/wiring_serial.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - Based on wiring.h - Partial implementation of the Wiring API for the ATmega8. - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library 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 - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General - Public License along with this library; if not, write to the - Free Software Foundation, Inc., 59 Temple Place, Suite 330, - Boston, MA 02111-1307 USA - - $Id: wiring.h 387 2008-03-08 21:30:00Z mellis $ -*/ - -#ifndef wiring_h -#define wiring_h - -void beginSerial(long); -void serialWrite(unsigned char); -int serialAvailable(void); -int serialRead(void); -void serialFlush(void); -void printMode(int); -void printByte(unsigned char c); -void printNewline(void); -void printString(const char *s); -void printPgmString(const char *s); -void printInteger(long n); -void printHex(unsigned long n); -void printOctal(unsigned long n); -void printBinary(unsigned long n); -void printIntegerInBase(unsigned long n, unsigned long base); -void printFloat(double n); - -#endif From fca3fb41884dd365a8a7905790398827fe83f484 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 17 Jan 2012 20:55:35 -0700 Subject: [PATCH 10/67] Update readme.textile --- readme.textile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/readme.textile b/readme.textile index c4d2b97..c200576 100644 --- a/readme.textile +++ b/readme.textile @@ -14,7 +14,7 @@ Grbl includes full acceleration management with look ahead. That means the contr - Arc acceleration planning enabled by efficient vector transformation implementation. - Stepper subsystem re-factoring to help remove some motion issues from pre-v0.7 builds. - Increased dwell times. - - G92 Coordinate offset support. + - G92 coordinate system offset support. - (Beta) Limit switch and homing cycle support. - Many other bug fixes and efficiency improvements. From b86ba60a250a498003a423cbf89c6165a0729b70 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 27 Jan 2012 19:48:46 -0700 Subject: [PATCH 11/67] Updated streaming scripts. Compiler compatibility for _delay_ms(). - Moved obsolete streaming scripts to folder for reference. - Added a more complex Python streaming script which uses the serial buffer as an additional streaming buffer. - Removed all references to a _delay_ms(variable) to allow for better porting across different compilers. --- motion_control.c | 2 +- nuts_bolts.c | 7 ++ nuts_bolts.h | 3 + script/{ => Obsolete}/console | 0 script/{ => Obsolete}/proxy | 0 script/{ => Obsolete}/stream | 0 script/{ => Obsolete}/stream.rb | 0 script/{ => Obsolete}/trapezoid_simulator.rb | 0 script/simple_stream.py | 9 ++ script/stream.py | 89 ++++++++++++++++++++ 10 files changed, 109 insertions(+), 1 deletion(-) rename script/{ => Obsolete}/console (100%) rename script/{ => Obsolete}/proxy (100%) rename script/{ => Obsolete}/stream (100%) rename script/{ => Obsolete}/stream.rb (100%) rename script/{ => Obsolete}/trapezoid_simulator.rb (100%) create mode 100755 script/stream.py diff --git a/motion_control.c b/motion_control.c index 06b7868..016b035 100644 --- a/motion_control.c +++ b/motion_control.c @@ -35,7 +35,7 @@ void mc_dwell(double seconds) { uint16_t i = floor(seconds); st_synchronize(); - _delay_ms(floor(1000*(seconds-i))); // Delay millisecond remainder + delay_ms(floor(1000*(seconds-i))); // Delay millisecond remainder while (i > 0) { _delay_ms(1000); // Delay one second i--; diff --git a/nuts_bolts.c b/nuts_bolts.c index 8a6960c..3c699c3 100644 --- a/nuts_bolts.c +++ b/nuts_bolts.c @@ -21,6 +21,7 @@ #include "nuts_bolts.h" #include #include +#include int read_double(char *line, uint8_t *char_counter, double *double_ptr) { @@ -36,3 +37,9 @@ int read_double(char *line, uint8_t *char_counter, double *double_ptr) return(true); } +// Delays variable defined milliseconds. Compiler compatibility fix for _delay_ms(), +// which only accepts constants in future compiler releases. +void delay_ms(uint16_t ms) +{ + while ( ms-- ) { _delay_ms(1); } +} diff --git a/nuts_bolts.h b/nuts_bolts.h index 54b3cb8..ae71773 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -42,4 +42,7 @@ // a pointer to the result variable. Returns true when it succeeds int read_double(char *line, uint8_t *char_counter, double *double_ptr); +// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms(). +void delay_ms(uint16_t ms); + #endif diff --git a/script/console b/script/Obsolete/console similarity index 100% rename from script/console rename to script/Obsolete/console diff --git a/script/proxy b/script/Obsolete/proxy similarity index 100% rename from script/proxy rename to script/Obsolete/proxy diff --git a/script/stream b/script/Obsolete/stream similarity index 100% rename from script/stream rename to script/Obsolete/stream diff --git a/script/stream.rb b/script/Obsolete/stream.rb similarity index 100% rename from script/stream.rb rename to script/Obsolete/stream.rb diff --git a/script/trapezoid_simulator.rb b/script/Obsolete/trapezoid_simulator.rb similarity index 100% rename from script/trapezoid_simulator.rb rename to script/Obsolete/trapezoid_simulator.rb diff --git a/script/simple_stream.py b/script/simple_stream.py index 8bd4b3b..5119db4 100755 --- a/script/simple_stream.py +++ b/script/simple_stream.py @@ -1,6 +1,15 @@ #!/usr/bin/env python """\ Simple g-code streaming script for grbl + +Provided as an illustration of the basic communication interface +for grbl. When grbl has finished parsing the g-code block, it will +return an 'ok' or 'error' response. When the planner buffer is full, +grbl will not send a response until the planner buffer clears space. + +G02/03 arcs are special exceptions, where they inject short line +segments directly into the planner. So there may not be a response +from grbl for the duration of the arc. """ import serial diff --git a/script/stream.py b/script/stream.py new file mode 100755 index 0000000..5b82c94 --- /dev/null +++ b/script/stream.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python +"""\ +Stream g-code to grbl controller + +This script differs from the simple_stream.py script by +tracking the number of characters in grbl's serial read +buffer. This allows grbl to fetch the next line directly +from the serial buffer and does not have to wait for a +response from the computer. This effectively adds another +buffer layer to prevent buffer starvation. + +TODO: - Add runtime command capabilities + +Version: SKJ.20120110 +""" + +import serial +import re +import time +import sys +import argparse +# import threading + +RX_BUFFER_SIZE = 128 + +# Define command line argument interface +parser = argparse.ArgumentParser(description='Stream g-code file to grbl. (pySerial and argparse libraries required)') +parser.add_argument('gcode_file', type=argparse.FileType('r'), + help='g-code filename to be streamed') +parser.add_argument('device_file', + help='serial device path') +parser.add_argument('-q','--quiet',action='store_true', default=False, + help='suppress output text') +args = parser.parse_args() + +# Periodic timer to query for status reports +# TODO: Need to track down why this doesn't restart consistently before a release. +# def periodic(): +# s.write('?') +# t = threading.Timer(0.1, periodic) # In seconds +# t.start() + +# Initialize +s = serial.Serial(args.device_file,9600) +f = args.gcode_file +verbose = True +if args.quiet : verbose = False + +# Wake up grbl +print "Initializing grbl..." +s.write("\r\n\r\n") + +# Wait for grbl to initialize and flush startup text in serial input +time.sleep(2) +s.flushInput() + +# Stream g-code to grbl +print "Streaming ", args.gcode_file.name, " to ", args.device_file +l_count = 0 +g_count = 0 +c_line = [] +# periodic() # Start status report periodic timer +for line in f: + l_count += 1 # Iterate line counter +# l_block = re.sub('\s|\(.*?\)','',line).upper() # Strip comments/spaces/new line and capitalize + l_block = line.strip() + c_line.append(len(l_block)+1) # Track number of characters in grbl serial read buffer + grbl_out = '' + while sum(c_line) >= RX_BUFFER_SIZE-1 | s.inWaiting() : + out_temp = s.readline().strip() # Wait for grbl response + if out_temp.find('ok') < 0 and out_temp.find('error') < 0 : + print " Debug: ",out_temp # Debug response + else : + grbl_out += out_temp; + g_count += 1 # Iterate g-code counter + grbl_out += str(g_count); # Add line finished indicator + del c_line[0] + if verbose: print "SND: " + str(l_count) + " : " + l_block, + s.write(l_block + '\n') # Send block to grbl + if verbose : print "BUF:",str(sum(c_line)),"REC:",grbl_out + +# Wait for user input after streaming is completed +print "G-code streaming finished!\n" +print "WARNING: Wait until grbl completes buffered g-code blocks before exiting." +raw_input(" Press to exit and disable grbl.") + +# Close file and serial port +f.close() +s.close() \ No newline at end of file From 24f1e0231ee477d9a6a99130479f8227d8ea2bcb Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 31 Jan 2012 21:09:47 -0700 Subject: [PATCH 12/67] printFloat rounding fix. Affected settings. Recommend using new build. printFloat was printing incorrectly and adding a value of 5 to every float instead of 0.0005 when rounding to 3 decimal places. The printed settings values do not accurately portray the actual stored value. Recommend using newly posted build. --- print.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/print.c b/print.c index f8e7a0c..21a22ed 100644 --- a/print.c +++ b/print.c @@ -29,7 +29,7 @@ #ifndef DECIMAL_PLACES #define DECIMAL_PLACES 3 -#define DECIMAL_MULTIPLIER 10*10*10 +#define DECIMAL_MULTIPLIER 1000 #endif void printString(const char *s) From fbed795f472d66b15b7de394e6e7add8b43b710d Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 11 Feb 2012 12:08:37 -0700 Subject: [PATCH 13/67] Minor compiler compatibility update for _delay_us(). --- limits.c | 4 ++-- nuts_bolts.c | 10 +++++++++- nuts_bolts.h | 5 ++++- 3 files changed, 15 insertions(+), 4 deletions(-) diff --git a/limits.c b/limits.c index 6444c8d..d16b9b4 100644 --- a/limits.c +++ b/limits.c @@ -71,9 +71,9 @@ static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_dir // Check if we are done if(!(x_axis || y_axis || z_axis)) { return; } STEPPING_PORT |= out_bits & STEP_MASK; - _delay_us(settings.pulse_microseconds); + delay_us(settings.pulse_microseconds); STEPPING_PORT ^= out_bits & STEP_MASK; - _delay_us(step_delay); + delay_us(step_delay); } return; } diff --git a/nuts_bolts.c b/nuts_bolts.c index 3c699c3..97137a3 100644 --- a/nuts_bolts.c +++ b/nuts_bolts.c @@ -3,7 +3,8 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - + Copyright (c) 2011-2012 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 @@ -43,3 +44,10 @@ void delay_ms(uint16_t ms) { while ( ms-- ) { _delay_ms(1); } } + +// Delays variable defined microseconds. Compiler compatibility fix for _delay_us(), +// which only accepts constants in future compiler releases. +void delay_us(uint16_t us) +{ + while ( us-- ) { _delay_us(1); } +} diff --git a/nuts_bolts.h b/nuts_bolts.h index ae71773..4f4f553 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -3,7 +3,7 @@ Part of Grbl Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011 Sungeun K. Jeon + Copyright (c) 2011-2012 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 @@ -45,4 +45,7 @@ int read_double(char *line, uint8_t *char_counter, double *double_ptr); // Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms(). void delay_ms(uint16_t ms); +// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us(). +void delay_us(uint16_t us); + #endif From bfb05fc1f20ca8ff3f4a7e4fcc37cd74e90481fe Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 11 Feb 2012 15:27:15 -0700 Subject: [PATCH 14/67] Fix to enable spindle DDR ports. --- spindle_control.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/spindle_control.c b/spindle_control.c index 0321c89..1eb2965 100644 --- a/spindle_control.c +++ b/spindle_control.c @@ -29,6 +29,8 @@ static int current_direction; void spindle_init() { + SPINDLE_ENABLE_DDR |= (1< Date: Tue, 20 Nov 2012 20:20:09 -0700 Subject: [PATCH 15/67] Merge error fix. --- nuts_bolts.h | 6 ------ 1 file changed, 6 deletions(-) diff --git a/nuts_bolts.h b/nuts_bolts.h index 5dc0f0a..65bdbe2 100755 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -105,10 +105,4 @@ void delay_us(uint32_t us); // Syncs Grbl's gcode and planner position variables with the system position. void sys_sync_current_position(); -// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms(). -void delay_ms(uint16_t ms); - -// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us(). -void delay_us(uint16_t us); - #endif From e4d8cf511e8db1366167c1a829c177f6e8ba2bd3 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 25 Nov 2012 11:08:38 -0700 Subject: [PATCH 16/67] G28/G30 post move bug fix. - Fixed a bug when after moving to a pre-defined position G28/G30, the next move would go someplace unexpected. The g-code parser position vector wasn't getting updated. --- gcode.c | 1 + 1 file changed, 1 insertion(+) diff --git a/gcode.c b/gcode.c index 7c6d17d..c741fc2 100755 --- a/gcode.c +++ b/gcode.c @@ -332,6 +332,7 @@ uint8_t gc_execute_line(char *line) if (non_modal_action == NON_MODAL_GO_HOME_1) { home_select = SETTING_INDEX_G30; } if (!settings_read_coord_data(home_select,coord_data)) { return(STATUS_SETTING_READ_FAIL); } mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], settings.default_seek_rate, false); + memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[]; axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags. break; case NON_MODAL_SET_HOME_0: case NON_MODAL_SET_HOME_1: From b297b8d788f798c0b720d19b4a4d9be05b66c44e Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 11 Dec 2012 20:51:24 -0700 Subject: [PATCH 17/67] Added builds folder. Because the Downloads section has been removed, added a builds folder for users to download pre-compiled firmware without needing to compile it themselves. --- .gitignore | 1 - builds/grbl_0_51_atmega168_16mhz_9600.hex | 832 +++++++++ builds/grbl_0_51_atmega328p_16mhz_9600.hex | 832 +++++++++ builds/grbl_v0_6b_atmega168_16mhz_9600.hex | 901 +++++++++ builds/grbl_v0_6b_atmega328p_16mhz_9600.hex | 1047 +++++++++++ builds/grbl_v0_7d_atmega328p_16mhz_9600.hex | 1121 +++++++++++ ..._8a_edge_328p_16mhz_9600_build20120310.hex | 1361 ++++++++++++++ builds/grbl_v0_8c_atmega328p_16mhz_9600.hex | 1657 +++++++++++++++++ ..._9a_edge_328p_16mhz_9600_build20121210.hex | 1584 ++++++++++++++++ 9 files changed, 9335 insertions(+), 1 deletion(-) create mode 100644 builds/grbl_0_51_atmega168_16mhz_9600.hex create mode 100644 builds/grbl_0_51_atmega328p_16mhz_9600.hex create mode 100644 builds/grbl_v0_6b_atmega168_16mhz_9600.hex create mode 100644 builds/grbl_v0_6b_atmega328p_16mhz_9600.hex create mode 100644 builds/grbl_v0_7d_atmega328p_16mhz_9600.hex create mode 100644 builds/grbl_v0_8a_edge_328p_16mhz_9600_build20120310.hex create mode 100644 builds/grbl_v0_8c_atmega328p_16mhz_9600.hex create mode 100644 builds/grbl_v0_9a_edge_328p_16mhz_9600_build20121210.hex diff --git a/.gitignore b/.gitignore index 844cd7a..8593707 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,3 @@ -*.hex *.o *.elf *.DS_Store diff --git a/builds/grbl_0_51_atmega168_16mhz_9600.hex b/builds/grbl_0_51_atmega168_16mhz_9600.hex new file mode 100644 index 0000000..d9e4ddb --- /dev/null +++ b/builds/grbl_0_51_atmega168_16mhz_9600.hex @@ -0,0 +1,832 @@ +:100000000C9440010C945D010C945D010C945D0115 +:100010000C945D010C945D010C945D010C945D01E8 +:100020000C945D010C94420E0C945D010C94170F1E +:100030000C945D010C945D010C945D010C945D01C8 +:100040000C945D010C945D010C94BD0B0C945D014E +:100050000C945D010C945D010C945D010C945D01A8 +:100060000C945D010C945D01084AD73B3BCE016EB8 +:1000700084BCBFFDC12F3D6C74319ABD56833DDAFF 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+:106280009F938F937F936F93FF93EF939B01AC0149 +:106290000FDFEF91FF9174DD2F913F914F915F914F +:1062A00007CFA1E21A2EAA1BBB1BFD010DC0AA1F1E +:1062B000BB1FEE1FFF1FA217B307E407F50720F06F +:1062C000A21BB30BE40BF50B661F771F881F991FEA +:1062D0001A9469F760957095809590959B01AC0133 +:0A62E000BD01CF010895F894FFCF2F +:00000001FF From add794481101f1dcec6b1f5b7cefbbb65403f626 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Wed, 12 Dec 2012 17:11:03 -0700 Subject: [PATCH 18/67] Added download links to README. --- builds/grbl_0_51_atmega168_16mhz_9600.hex | 832 --------- builds/grbl_0_51_atmega328p_16mhz_9600.hex | 832 --------- builds/grbl_v0_6b_atmega168_16mhz_9600.hex | 901 --------- builds/grbl_v0_6b_atmega328p_16mhz_9600.hex | 1047 ----------- builds/grbl_v0_7d_atmega328p_16mhz_9600.hex | 1121 ----------- ..._8a_edge_328p_16mhz_9600_build20120310.hex | 1361 -------------- builds/grbl_v0_8c_atmega328p_16mhz_9600.hex | 1657 ----------------- ..._9a_edge_328p_16mhz_9600_build20121210.hex | 1584 ---------------- readme.textile | 16 + 9 files changed, 16 insertions(+), 9335 deletions(-) delete mode 100644 builds/grbl_0_51_atmega168_16mhz_9600.hex delete mode 100644 builds/grbl_0_51_atmega328p_16mhz_9600.hex delete mode 100644 builds/grbl_v0_6b_atmega168_16mhz_9600.hex delete mode 100644 builds/grbl_v0_6b_atmega328p_16mhz_9600.hex delete mode 100644 builds/grbl_v0_7d_atmega328p_16mhz_9600.hex delete mode 100644 builds/grbl_v0_8a_edge_328p_16mhz_9600_build20120310.hex delete mode 100644 builds/grbl_v0_8c_atmega328p_16mhz_9600.hex delete mode 100644 builds/grbl_v0_9a_edge_328p_16mhz_9600_build20121210.hex diff --git a/builds/grbl_0_51_atmega168_16mhz_9600.hex b/builds/grbl_0_51_atmega168_16mhz_9600.hex deleted file mode 100644 index d9e4ddb..0000000 --- a/builds/grbl_0_51_atmega168_16mhz_9600.hex +++ /dev/null @@ -1,832 +0,0 @@ -:100000000C9440010C945D010C945D010C945D0115 -:100010000C945D010C945D010C945D010C945D01E8 -:100020000C945D010C94420E0C945D010C94170F1E 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-:10623000771F881FBB1FA695F795E795F8F60617F9 -:10624000170708065B07211D311D411D0F911F9186 -:10625000B901842F9158880F9695879508959B01D1 -:10626000AC0126CF35DE20F09F3708F449CE5ACD59 -:1062700074CD91505040660F771F881FD2F7089554 -:106280009F938F937F936F93FF93EF939B01AC0149 -:106290000FDFEF91FF9174DD2F913F914F915F914F -:1062A00007CFA1E21A2EAA1BBB1BFD010DC0AA1F1E -:1062B000BB1FEE1FFF1FA217B307E407F50720F06F -:1062C000A21BB30BE40BF50B661F771F881F991FEA -:1062D0001A9469F760957095809590959B01AC0133 -:0A62E000BD01CF010895F894FFCF2F -:00000001FF diff --git a/readme.textile b/readme.textile index 04262ac..cef726c 100755 --- a/readme.textile +++ b/readme.textile @@ -8,6 +8,22 @@ It accepts standards-compliant G-code and has been tested with the output of sev 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. +*Downloads (Right-click and Save-as):* +_Master_ +[Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) + +_Edge_ +[Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) + +_Archives_ +[Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) +[Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G) +[Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5) +[Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE) +[Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1) +[Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu) + + *Changelog for v0.8 from v0.7:* - Major structural overhaul to allow for multi-tasking events and new feature sets. - Run-time command control: Feed hold (pause), Cycle start (resume), Reset (abort), Status reporting (current position and state). From b4072a3a5e29414e30b75802663f4d3c735a9f67 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Wed, 12 Dec 2012 17:16:24 -0700 Subject: [PATCH 19/67] Changed README to markdown --- readme.textile => README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename readme.textile => README.md (97%) diff --git a/readme.textile b/README.md similarity index 97% rename from readme.textile rename to README.md index cef726c..11aa08f 100755 --- a/readme.textile +++ b/README.md @@ -2,7 +2,7 @@ h1. Grbl - An embedded g-code interpreter and motion-controller for the Arduino/ 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 more than 30kHz of stable, jitter free control pulses. +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 m aintain more than 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, other basic functional g-code commands. Functions and variables are not currently supported, but may be included in future releases in a form of a pre-processor. From e21d6a2fc4b82e10d76a29f9a6a71ed699c413c1 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Wed, 12 Dec 2012 17:23:36 -0700 Subject: [PATCH 20/67] Update README.md --- README.md | 31 ++++++++++++++++--------------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/README.md b/README.md index 11aa08f..44ddcda 100755 --- a/README.md +++ b/README.md @@ -1,5 +1,6 @@ -h1. Grbl - An embedded g-code interpreter and motion-controller for the Arduino/AVR328 microcontroller - +#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 m aintain more than 30kHz of stable, jitter free control pulses. @@ -8,23 +9,23 @@ It accepts standards-compliant G-code and has been tested with the output of sev 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. -*Downloads (Right-click and Save-as):* -_Master_ -[Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) +##Downloads (Right-Click and Save-Link-As): +_**Master Branch:**_ +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) -_Edge_ -[Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) +_**Edge/Development Branch:**_ +* [Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) -_Archives_ -[Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) -[Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G) -[Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5) -[Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE) -[Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1) -[Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu) +_**Archives:**_ +* [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) +* [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G) +* [Grbl v0.6b Atmega328p 16mhz 9600baud](http://bit.ly/VD04A5) +* [Grbl v0.6b Atmega168 16mhz 9600baud](http://bit.ly/SScWnE) +* [Grbl v0.51 Atmega328p 16mhz 9600baud](http://bit.ly/W75BS1) +* [Grbl v0.51 Atmega168 16mhz 9600baud](http://bit.ly/VXyrYu) -*Changelog for v0.8 from v0.7:* +##Changelog for v0.8 from v0.7: - Major structural overhaul to allow for multi-tasking events and new feature sets. - Run-time command control: Feed hold (pause), Cycle start (resume), Reset (abort), Status reporting (current position and state). - Controlled feed hold with deceleration to ensure no skipped steps and loss of location. From c8b53b9d0a341e978d6faa02359e409159f4a388 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 16 Dec 2012 16:58:44 -0700 Subject: [PATCH 21/67] Slow trailing steps fix. Added more defaults. - Fixed an issue (hopefully) with slow trailing steps after a triangular velocity profile move. Sets the trapezoid tick cycle counter to the correct value for an accurate reproduction of the deceleration curve. Keeps it from arriving too early to the target position, which causes the slow trailing steps. - Added Zen Toolworks 7x7 to default settings. - Updated readme with new edge build. --- .gitignore | 1 + README.md | 5 +++-- defaults.h | 46 +++++++++++++++++++++++++++++++++++++++------- stepper.c | 9 +++++++-- 4 files changed, 50 insertions(+), 11 deletions(-) diff --git a/.gitignore b/.gitignore index 8593707..844cd7a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ +*.hex *.o *.elf *.DS_Store diff --git a/README.md b/README.md index 44ddcda..e4ec6f9 100755 --- a/README.md +++ b/README.md @@ -14,7 +14,8 @@ _**Master Branch:**_ * [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) _**Edge/Development Branch:**_ -* [Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) +* [Grbl v0.9a Build 2012-12-16](http://bit.ly/UUTOD4) : Axes acceleration and maximum velocity independence installed. Lowered 20kHz step rate max. Bugs still exist. For testing only. Settings WILL be over-written. +* [Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) : New experimental stepper algorithm. Smoother. 30kHz max. Bugs exist (Homing). For testing only. Settings WILL be over-written. _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) @@ -51,4 +52,4 @@ _**Archives:**_ *Important note for Atmega 168 users:* Going forward, support for Atmega 168 will be dropped due to its limited memory and speed. However, legacy Grbl v0.51 "in the branch called 'v0_51' is still available for use. -_The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ +_The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ \ No newline at end of file diff --git a/defaults.h b/defaults.h index 279e4b9..30e575d 100644 --- a/defaults.h +++ b/defaults.h @@ -55,14 +55,14 @@ #endif #ifdef DEFAULTS_SHERLINE_5400 - // Description: Sherline 5400 mill with three NEMA 23 185 oz-in stepper motors, driven by - // three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding. - #define MICROSTEPS 4 + // Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors, + // driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding. + #define MICROSTEPS 2 #define STEPS_PER_REV 200.0 - #define MM_PER_REV (0.050*MM_PER_INCH)) // 0.050 inch/rev leadscrew - #define DEFAULT_X_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV) - #define DEFAULT_Y_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV) - #define DEFAULT_Z_STEPS_PER_MM (STEP_PER_REV*MICROSTEPS/MM_PER_REV) + #define MM_PER_REV (0.050*MM_PER_INCH) // 0.050 inch/rev leadscrew + #define DEFAULT_X_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) + #define DEFAULT_Y_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) + #define DEFAULT_Z_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) #define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_MM_PER_ARC_SEGMENT 0.1 #define DEFAULT_RAPID_FEEDRATE 635.0 // mm/min (25ipm) @@ -119,4 +119,36 @@ #define DEFAULT_N_ARC_CORRECTION 25 #endif +#ifdef DEFAULTS_ZEN_TOOLWORKS_7x7 + // Description: Zen Toolworks 7x7 mill with three Shinano SST43D2121 65oz-in NEMA 17 stepper motors. + // Leadscrew is different from some ZTW kits, where most are 1.25mm/rev rather than 8.0mm/rev here. + // Driven by 30V, 6A power supply and TI DRV8811 stepper motor drivers. + #define MICROSTEPS 8 + #define STEPS_PER_REV 200.0 + #define MM_PER_REV 8.0 // 8 mm/rev leadscrew + #define DEFAULT_X_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) + #define DEFAULT_Y_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) + #define DEFAULT_Z_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV) + #define DEFAULT_STEP_PULSE_MICROSECONDS 10 + #define DEFAULT_MM_PER_ARC_SEGMENT 0.1 + #define DEFAULT_RAPID_FEEDRATE 2500.0 // mm/min + #define DEFAULT_FEEDRATE 1000.0 // mm/min + #define DEFAULT_ACCELERATION 150.0*60*60 // 150 mm/min^2 + #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm + #define DEFAULT_STEPPING_INVERT_MASK (1<= current_block->decelerate_after) { // Reset trapezoid tick cycle counter to make sure that the deceleration is performed the // same every time. Reset to CYCLES_PER_ACCELERATION_TICK/2 to follow the midpoint rule for - // an accurate approximation of the deceleration curve. + // an accurate approximation of the deceleration curve. For triangle profiles, down count + // from current cycle counter to ensure exact deceleration curve. if (st.step_events_completed == current_block-> decelerate_after) { - st.trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; + if (st.trapezoid_adjusted_rate == current_block->nominal_rate) { + st.trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Trapezoid profile + } else { + st.trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK-st.trapezoid_tick_cycle_counter; // Triangle profile + } } else { // Iterate cycle counter and check if speeds need to be reduced. if ( iterate_trapezoid_cycle_counter() ) { From e0f619b8c349d7286ab5ca5624942e8dc07486a9 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 21 Dec 2012 09:55:43 -0700 Subject: [PATCH 22/67] Readme link to edge build 2012-12-21 --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index e4ec6f9..faf38c2 100755 --- a/README.md +++ b/README.md @@ -11,9 +11,10 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2012-12-16 _**Edge/Development Branch:**_ +* [Grbl v0.9a Build 2012-12-21](http://bit.ly/VWe4VW) : For testing only. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates. Axes acceleration and maximum velocity independence installed. 30kHz step rate max. Bugs still exist. Settings WILL be over-written. * [Grbl v0.9a Build 2012-12-16](http://bit.ly/UUTOD4) : Axes acceleration and maximum velocity independence installed. Lowered 20kHz step rate max. Bugs still exist. For testing only. Settings WILL be over-written. * [Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) : New experimental stepper algorithm. Smoother. 30kHz max. Bugs exist (Homing). For testing only. Settings WILL be over-written. From 4f459e473b6955393501611e3353a60f1c2a7ca6 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 6 Jan 2013 12:32:41 -0700 Subject: [PATCH 23/67] Fixed bug with homing and polling at the same time. Updated readme. --- README.md | 6 ++---- limits.c | 3 +-- motion_control.c | 2 ++ report.c | 1 + 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index faf38c2..286c634 100755 --- a/README.md +++ b/README.md @@ -11,12 +11,10 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2012-12-16 +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-01-06 _**Edge/Development Branch:**_ -* [Grbl v0.9a Build 2012-12-21](http://bit.ly/VWe4VW) : For testing only. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates. Axes acceleration and maximum velocity independence installed. 30kHz step rate max. Bugs still exist. Settings WILL be over-written. -* [Grbl v0.9a Build 2012-12-16](http://bit.ly/UUTOD4) : Axes acceleration and maximum velocity independence installed. Lowered 20kHz step rate max. Bugs still exist. For testing only. Settings WILL be over-written. -* [Grbl v0.9a Build 2012-12-10](http://bit.ly/UDBwpZ) : New experimental stepper algorithm. Smoother. 30kHz max. Bugs exist (Homing). For testing only. Settings WILL be over-written. +* [Grbl v0.9a Build 2012-12-21](http://bit.ly/VWe4VW) : For testing only. New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) diff --git a/limits.c b/limits.c index fe5cc9b..81280a3 100755 --- a/limits.c +++ b/limits.c @@ -187,8 +187,7 @@ static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, fl } // Check if we are done or for system abort - protocol_execute_runtime(); - if (!(cycle_mask) || sys.abort) { return; } + if (!(cycle_mask) || (sys.execute & EXEC_RESET)) { return; } // Perform step. STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (out_bits & STEP_MASK); diff --git a/motion_control.c b/motion_control.c index 2d595c8..be98600 100755 --- a/motion_control.c +++ b/motion_control.c @@ -218,6 +218,8 @@ void mc_go_home() LIMIT_PCMSK &= ~LIMIT_MASK; // Disable hard limits pin change register for cycle duration limits_go_home(); // Perform homing routine. + + protocol_execute_runtime(); // Check for reset and set system abort. if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm. // The machine should now be homed and machine zero has been located. Upon completion, diff --git a/report.c b/report.c index 8b12243..a2602f4 100644 --- a/report.c +++ b/report.c @@ -90,6 +90,7 @@ void report_alarm_message(int8_t alarm_code) printPgmString(PSTR("Abort during cycle")); break; } printPgmString(PSTR(". MPos?\r\n")); + delay_ms(500); // Force delay to ensure message clears serial write buffer. } // Prints feedback messages. This serves as a centralized method to provide additional From a5c2964a8f1cfb361ac49cec15e1490487c66f27 Mon Sep 17 00:00:00 2001 From: Silas Baronda Date: Thu, 17 Jan 2013 23:25:18 -0500 Subject: [PATCH 24/67] Removing executable bit on the files --- COPYING | 0 Makefile | 0 README.md | 0 config.h | 0 doc/commands.txt | 0 doc/resources.txt | 0 doc/structure.txt | 0 eeprom.c | 0 eeprom.h | 0 gcode.c | 0 gcode.h | 0 limits.c | 0 limits.h | 0 main.c | 0 motion_control.c | 0 motion_control.h | 0 nuts_bolts.c | 0 nuts_bolts.h | 0 planner.c | 0 planner.h | 0 print.c | 0 print.h | 0 protocol.c | 0 protocol.h | 0 script/Obsolete/console | 0 script/Obsolete/proxy | 0 script/Obsolete/stream | 0 script/Obsolete/stream.rb | 0 script/Obsolete/trapezoid_simulator.rb | 0 script/simple_stream.py | 0 script/stream.py | 0 serial.c | 0 serial.h | 0 settings.h | 0 spindle_control.c | 0 spindle_control.h | 0 stepper.c | 0 stepper.h | 0 38 files changed, 0 insertions(+), 0 deletions(-) mode change 100755 => 100644 COPYING mode change 100755 => 100644 Makefile mode change 100755 => 100644 README.md mode change 100755 => 100644 config.h mode change 100755 => 100644 doc/commands.txt mode change 100755 => 100644 doc/resources.txt mode change 100755 => 100644 doc/structure.txt mode change 100755 => 100644 eeprom.c mode change 100755 => 100644 eeprom.h mode change 100755 => 100644 gcode.c mode change 100755 => 100644 gcode.h mode change 100755 => 100644 limits.c mode change 100755 => 100644 limits.h mode change 100755 => 100644 main.c mode change 100755 => 100644 motion_control.c mode change 100755 => 100644 motion_control.h mode change 100755 => 100644 nuts_bolts.c mode change 100755 => 100644 nuts_bolts.h mode change 100755 => 100644 planner.c mode change 100755 => 100644 planner.h mode change 100755 => 100644 print.c mode change 100755 => 100644 print.h mode change 100755 => 100644 protocol.c mode change 100755 => 100644 protocol.h mode change 100755 => 100644 script/Obsolete/console mode change 100755 => 100644 script/Obsolete/proxy mode change 100755 => 100644 script/Obsolete/stream mode change 100755 => 100644 script/Obsolete/stream.rb mode change 100755 => 100644 script/Obsolete/trapezoid_simulator.rb mode change 100755 => 100644 script/simple_stream.py mode change 100755 => 100644 script/stream.py mode change 100755 => 100644 serial.c mode change 100755 => 100644 serial.h mode change 100755 => 100644 settings.h mode change 100755 => 100644 spindle_control.c mode change 100755 => 100644 spindle_control.h mode change 100755 => 100644 stepper.c mode change 100755 => 100644 stepper.h diff --git a/COPYING b/COPYING old mode 100755 new mode 100644 diff --git a/Makefile b/Makefile old mode 100755 new mode 100644 diff --git a/README.md b/README.md old mode 100755 new mode 100644 diff --git a/config.h b/config.h old mode 100755 new mode 100644 diff --git a/doc/commands.txt b/doc/commands.txt old mode 100755 new mode 100644 diff --git a/doc/resources.txt b/doc/resources.txt old mode 100755 new mode 100644 diff --git a/doc/structure.txt b/doc/structure.txt old mode 100755 new mode 100644 diff --git a/eeprom.c b/eeprom.c old mode 100755 new mode 100644 diff --git a/eeprom.h b/eeprom.h old mode 100755 new mode 100644 diff --git a/gcode.c b/gcode.c old mode 100755 new mode 100644 diff --git a/gcode.h b/gcode.h old mode 100755 new mode 100644 diff --git a/limits.c b/limits.c old mode 100755 new mode 100644 diff --git a/limits.h b/limits.h old mode 100755 new mode 100644 diff --git a/main.c b/main.c old mode 100755 new mode 100644 diff --git a/motion_control.c b/motion_control.c old mode 100755 new mode 100644 diff --git a/motion_control.h b/motion_control.h old mode 100755 new mode 100644 diff --git a/nuts_bolts.c b/nuts_bolts.c old mode 100755 new mode 100644 diff --git a/nuts_bolts.h b/nuts_bolts.h old mode 100755 new mode 100644 diff --git a/planner.c b/planner.c old mode 100755 new mode 100644 diff --git a/planner.h b/planner.h old mode 100755 new mode 100644 diff --git a/print.c b/print.c old mode 100755 new mode 100644 diff --git a/print.h b/print.h old mode 100755 new mode 100644 diff --git a/protocol.c b/protocol.c old mode 100755 new mode 100644 diff --git a/protocol.h b/protocol.h old mode 100755 new mode 100644 diff --git a/script/Obsolete/console b/script/Obsolete/console old mode 100755 new mode 100644 diff --git a/script/Obsolete/proxy b/script/Obsolete/proxy old mode 100755 new mode 100644 diff --git a/script/Obsolete/stream b/script/Obsolete/stream old mode 100755 new mode 100644 diff --git a/script/Obsolete/stream.rb b/script/Obsolete/stream.rb old mode 100755 new mode 100644 diff --git a/script/Obsolete/trapezoid_simulator.rb b/script/Obsolete/trapezoid_simulator.rb old mode 100755 new mode 100644 diff --git a/script/simple_stream.py b/script/simple_stream.py old mode 100755 new mode 100644 diff --git a/script/stream.py b/script/stream.py old mode 100755 new mode 100644 diff --git a/serial.c b/serial.c old mode 100755 new mode 100644 diff --git a/serial.h b/serial.h old mode 100755 new mode 100644 diff --git a/settings.h b/settings.h old mode 100755 new mode 100644 diff --git a/spindle_control.c b/spindle_control.c old mode 100755 new mode 100644 diff --git a/spindle_control.h b/spindle_control.h old mode 100755 new mode 100644 diff --git a/stepper.c b/stepper.c old mode 100755 new mode 100644 diff --git a/stepper.h b/stepper.h old mode 100755 new mode 100644 From d376f03bd0706456a6e66f44ca27f6b0f4498d38 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Tue, 12 Mar 2013 19:01:17 +1300 Subject: [PATCH 25/67] Update eeprom.c MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Function eeprom_put_char's parameters did not align with the .h file. --- eeprom.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/eeprom.c b/eeprom.c index 02caf20..7169b37 100644 --- a/eeprom.c +++ b/eeprom.c @@ -71,7 +71,7 @@ unsigned char eeprom_get_char( unsigned int addr ) * \param addr EEPROM address to write to. * \param new_value New EEPROM value. */ -void eeprom_put_char( unsigned int addr, unsigned char new_value ) +void eeprom_put_char( unsigned int addr, char new_value ) { char old_value; // Old EEPROM value. char diff_mask; // Difference mask, i.e. old value XOR new value. From 058cf3f13a3ebd1adb07db684db838467b2d8e36 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Tue, 12 Mar 2013 19:08:44 +1300 Subject: [PATCH 26/67] Update gcode.c MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit home_select defined out of scope. Moved it outside the switch so the rest of the switch can see it properly.  --- gcode.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/gcode.c b/gcode.c index c741fc2..3556bad 100644 --- a/gcode.c +++ b/gcode.c @@ -271,6 +271,8 @@ uint8_t gc_execute_line(char *line) // [G4,G10,G28,G30,G92,G92.1]: Perform dwell, set coordinate system data, homing, or set axis offsets. // NOTE: These commands are in the same modal group, hence are mutually exclusive. G53 is in this // modal group and do not effect these actions. + uint8_t home_select; + switch (non_modal_action) { case NON_MODAL_DWELL: if (p < 0) { // Time cannot be negative. @@ -328,7 +330,7 @@ uint8_t gc_execute_line(char *line) } // Retreive G28/30 go-home position data (in machine coordinates) from EEPROM float coord_data[N_AXIS]; - uint8_t home_select = SETTING_INDEX_G28; + home_select = SETTING_INDEX_G28; if (non_modal_action == NON_MODAL_GO_HOME_1) { home_select = SETTING_INDEX_G30; } if (!settings_read_coord_data(home_select,coord_data)) { return(STATUS_SETTING_READ_FAIL); } mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], settings.default_seek_rate, false); From 7bb20a7505eb0b57af36265d0e7d45376d6986a7 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Wed, 13 Mar 2013 09:43:04 +1300 Subject: [PATCH 27/67] Update eeprom.c Changed back --- eeprom.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/eeprom.c b/eeprom.c index 7169b37..02caf20 100644 --- a/eeprom.c +++ b/eeprom.c @@ -71,7 +71,7 @@ unsigned char eeprom_get_char( unsigned int addr ) * \param addr EEPROM address to write to. * \param new_value New EEPROM value. */ -void eeprom_put_char( unsigned int addr, char new_value ) +void eeprom_put_char( unsigned int addr, unsigned char new_value ) { char old_value; // Old EEPROM value. char diff_mask; // Difference mask, i.e. old value XOR new value. From 5ecc661ec8adc61a9e4f9dec704f259450309394 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Wed, 13 Mar 2013 09:44:22 +1300 Subject: [PATCH 28/67] Update eeprom.h Fixed the function signature. --- eeprom.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/eeprom.h b/eeprom.h index 1769903..311eee3 100644 --- a/eeprom.h +++ b/eeprom.h @@ -2,7 +2,7 @@ #define eeprom_h char eeprom_get_char(unsigned int addr); -void eeprom_put_char(unsigned int addr, char new_value); +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); From 8e01fed143c6fbd5239a93bedcdb64f2eb245102 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Wed, 13 Mar 2013 10:19:42 +1300 Subject: [PATCH 29/67] Update gcode.c Removed the home_select variable. --- gcode.c | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/gcode.c b/gcode.c index 3556bad..630f5a1 100644 --- a/gcode.c +++ b/gcode.c @@ -271,8 +271,6 @@ uint8_t gc_execute_line(char *line) // [G4,G10,G28,G30,G92,G92.1]: Perform dwell, set coordinate system data, homing, or set axis offsets. // NOTE: These commands are in the same modal group, hence are mutually exclusive. G53 is in this // modal group and do not effect these actions. - uint8_t home_select; - switch (non_modal_action) { case NON_MODAL_DWELL: if (p < 0) { // Time cannot be negative. @@ -330,18 +328,22 @@ uint8_t gc_execute_line(char *line) } // Retreive G28/30 go-home position data (in machine coordinates) from EEPROM float coord_data[N_AXIS]; - home_select = SETTING_INDEX_G28; - if (non_modal_action == NON_MODAL_GO_HOME_1) { home_select = SETTING_INDEX_G30; } - if (!settings_read_coord_data(home_select,coord_data)) { return(STATUS_SETTING_READ_FAIL); } + if (non_modal_action == NON_MODAL_GO_HOME_1) { + if (!settings_read_coord_data(SETTING_INDEX_G30 ,coord_data)) { return(STATUS_SETTING_READ_FAIL); } + } else { + if (!settings_read_coord_data(SETTING_INDEX_G28 ,coord_data)) { return(STATUS_SETTING_READ_FAIL); } + } mc_line(coord_data[X_AXIS], coord_data[Y_AXIS], coord_data[Z_AXIS], settings.default_seek_rate, false); memcpy(gc.position, coord_data, sizeof(coord_data)); // gc.position[] = coord_data[]; axis_words = 0; // Axis words used. Lock out from motion modes by clearing flags. break; case NON_MODAL_SET_HOME_0: case NON_MODAL_SET_HOME_1: - home_select = SETTING_INDEX_G28; - if (non_modal_action == NON_MODAL_SET_HOME_1) { home_select = SETTING_INDEX_G30; } - settings_write_coord_data(home_select,gc.position); - break; + if (non_modal_action == NON_MODAL_SET_HOME_1) { + settings_write_coord_data(SETTING_INDEX_G30,gc.position); + } else { + settings_write_coord_data(SETTING_INDEX_G28,gc.position); + } + break; case NON_MODAL_SET_COORDINATE_OFFSET: if (!axis_words) { // No axis words FAIL(STATUS_INVALID_STATEMENT); From f04489530a8375548337b89433a9016297f55f65 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Wed, 13 Mar 2013 18:29:28 +1300 Subject: [PATCH 30/67] Update nuts_bolts.c MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Removed __floatunsisf and used normal casting on line 81. This makes it compatible with the Arduino IDE. --- nuts_bolts.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/nuts_bolts.c b/nuts_bolts.c index a244bfb..af6d163 100644 --- a/nuts_bolts.c +++ b/nuts_bolts.c @@ -25,7 +25,6 @@ #include "planner.h" #define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float) -extern float __floatunsisf (unsigned long); // Extracts a floating point value from a string. The following code is based loosely on // the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely @@ -79,7 +78,7 @@ int read_float(char *line, uint8_t *char_counter, float *float_ptr) // Convert integer into floating point. float fval; - fval = __floatunsisf(intval); + fval = (float)intval; // Apply decimal. Should perform no more than two floating point multiplications for the // expected range of E0 to E-4. From 61f2bd1bc3502bc56ac05b635d3a0bf6c3555d13 Mon Sep 17 00:00:00 2001 From: Bertus Kruger Date: Wed, 13 Mar 2013 18:41:52 +1300 Subject: [PATCH 31/67] Update planner.c MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Removed inline from all functions. If this is really needed is there another way that we can get around using it? (The Arduino IDE does not recognize it)  --- planner.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planner.c b/planner.c index 846e403..7fc3e96 100644 --- a/planner.c +++ b/planner.c @@ -307,14 +307,14 @@ void plan_init() memset(&pl, 0, sizeof(pl)); // Clear planner struct } -inline void plan_discard_current_block() +void plan_discard_current_block() { if (block_buffer_head != block_buffer_tail) { block_buffer_tail = next_block_index( block_buffer_tail ); } } -inline block_t *plan_get_current_block() +block_t *plan_get_current_block() { if (block_buffer_head == block_buffer_tail) { return(NULL); } return(&block_buffer[block_buffer_tail]); From 96f7d9b78e1c6e81d17bf98c878da60327faa960 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 19 Mar 2013 11:35:19 -0600 Subject: [PATCH 32/67] G-code updates for G10 L2 and L20 - Updated g-codes G10 L2 and G10 L20 to the new descriptions on linuxcnc.org --- gcode.c | 33 +++++++++++++++++---------------- 1 file changed, 17 insertions(+), 16 deletions(-) diff --git a/gcode.c b/gcode.c index 630f5a1..478027d 100644 --- a/gcode.c +++ b/gcode.c @@ -282,28 +282,29 @@ uint8_t gc_execute_line(char *line) break; case NON_MODAL_SET_COORDINATE_DATA: int_value = trunc(p); // Convert p value to int. - if ((l != 2 && l != 20) || (int_value < 1 || int_value > N_COORDINATE_SYSTEM)) { // L2 and L20. P1=G54, P2=G55, ... + if ((l != 2 && l != 20) || (int_value < 0 || int_value > N_COORDINATE_SYSTEM)) { // L2 and L20. P1=G54, P2=G55, ... FAIL(STATUS_UNSUPPORTED_STATEMENT); } else if (!axis_words && l==2) { // No axis words. FAIL(STATUS_INVALID_STATEMENT); } else { - int_value--; // Adjust P index to EEPROM coordinate data indexing. - if (l == 20) { - settings_write_coord_data(int_value,gc.position); - // Update system coordinate system if currently active. - if (gc.coord_select == int_value) { memcpy(gc.coord_system,gc.position,sizeof(gc.position)); } - } else { - float coord_data[N_AXIS]; - if (!settings_read_coord_data(int_value,coord_data)) { return(STATUS_SETTING_READ_FAIL); } - // Update axes defined only in block. Always in machine coordinates. Can change non-active system. - uint8_t i; - for (i=0; i 0) { int_value--; } // Adjust P1-P6 index to EEPROM coordinate data indexing. + else { int_value = gc.coord_select; } // Index P0 as the active coordinate system + float coord_data[N_AXIS]; + if (!settings_read_coord_data(int_value,coord_data)) { return(STATUS_SETTING_READ_FAIL); } + uint8_t i; + // Update axes defined only in block. Always in machine coordinates. Can change non-active system. + for (i=0; i Date: Tue, 19 Mar 2013 11:43:11 -0600 Subject: [PATCH 33/67] Update README.md --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 286c634..0b858c7 100644 --- a/README.md +++ b/README.md @@ -11,9 +11,10 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-01-06 +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-03-19 _**Edge/Development Branch:**_ +* [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Updated g-code G10. * [Grbl v0.9a Build 2012-12-21](http://bit.ly/VWe4VW) : For testing only. New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). _**Archives:**_ @@ -51,4 +52,4 @@ _**Archives:**_ *Important note for Atmega 168 users:* Going forward, support for Atmega 168 will be dropped due to its limited memory and speed. However, legacy Grbl v0.51 "in the branch called 'v0_51' is still available for use. -_The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ \ No newline at end of file +_The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ From ca563cf42366a861f94aa6df45b31e939d1513ed Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 5 Apr 2013 09:29:07 -0600 Subject: [PATCH 34/67] Increased g-code parser line buffer. Added line overflow feedback. - Increased g-code parser line buffer from 50 to 70 characters. Should fix most all issues with long arc statements, provided that they are 8 digits(float) long only. - Added a line buffer overflow feedback error to let the user know when it encounters this problem. Resets the line whenever this occurs. (Thanks @BHSPitMonkey!) --- config.h | 4 ++-- protocol.c | 17 ++++++++++++----- protocol.h | 2 +- report.c | 2 ++ report.h | 1 + 5 files changed, 18 insertions(+), 8 deletions(-) diff --git a/config.h b/config.h index c0bffa4..aa427e7 100644 --- a/config.h +++ b/config.h @@ -185,11 +185,11 @@ // each of the startup blocks, as they are each stored as a string of this size. Make sure // to account for the available EEPROM at the defined memory address in settings.h and for // the number of desired startup blocks. -// NOTE: 50 characters is not a problem except for extreme cases, but the line buffer size +// NOTE: 70 characters is not a problem except for extreme cases, but the line buffer size // can be too small and g-code blocks can get truncated. Officially, the g-code standards // support up to 256 characters. In future versions, this default will be increased, when // we know how much extra memory space we can re-invest into this. -// #define LINE_BUFFER_SIZE 50 // Uncomment to override default in protocol.h +// #define LINE_BUFFER_SIZE 70 // Uncomment to override default in protocol.h // Serial send and receive buffer size. The receive buffer is often used as another streaming // buffer to store incoming blocks to be processed by Grbl when its ready. Most streaming diff --git a/protocol.c b/protocol.c index c97770a..c797036 100644 --- a/protocol.c +++ b/protocol.c @@ -37,10 +37,16 @@ static uint8_t char_counter; // Last character counter in line variable. static uint8_t iscomment; // Comment/block delete flag for processor to ignore comment characters. -void protocol_init() +static void protocol_reset_line_buffer() { char_counter = 0; // Reset line input iscomment = false; +} + + +void protocol_init() +{ + protocol_reset_line_buffer(); report_init_message(); // Welcome message PINOUT_DDR &= ~(PINOUT_MASK); // Set as input pins @@ -303,9 +309,8 @@ void protocol_process() // Empty or comment line. Skip block. report_status_message(STATUS_OK); // Send status message for syncing purposes. } - char_counter = 0; // Reset line buffer index - iscomment = false; // Reset comment flag - + protocol_reset_line_buffer(); + } else { if (iscomment) { // Throw away all comment characters @@ -322,7 +327,9 @@ void protocol_process() // Enable comments flag and ignore all characters until ')' or EOL. iscomment = true; } else if (char_counter >= LINE_BUFFER_SIZE-1) { - // Throw away any characters beyond the end of the line buffer + // Report line buffer overflow and reset + report_status_message(STATUS_OVERFLOW); + protocol_reset_line_buffer(); } else if (c >= 'a' && c <= 'z') { // Upcase lowercase line[char_counter++] = c-'a'+'A'; } else { diff --git a/protocol.h b/protocol.h index 209d19d..4d90c1c 100644 --- a/protocol.h +++ b/protocol.h @@ -30,7 +30,7 @@ // memory space we can invest into here or we re-write the g-code parser not to have his // buffer. #ifndef LINE_BUFFER_SIZE - #define LINE_BUFFER_SIZE 50 + #define LINE_BUFFER_SIZE 70 #endif // Initialize the serial protocol diff --git a/report.c b/report.c index a2602f4..35cb2be 100644 --- a/report.c +++ b/report.c @@ -74,6 +74,8 @@ void report_status_message(uint8_t status_code) printPgmString(PSTR("Busy or queued")); break; case STATUS_ALARM_LOCK: printPgmString(PSTR("Alarm lock")); break; + case STATUS_OVERFLOW: + printPgmString(PSTR("Line overflow")); break; } printPgmString(PSTR("\r\n")); } diff --git a/report.h b/report.h index 8f1555c..e3583fc 100644 --- a/report.h +++ b/report.h @@ -35,6 +35,7 @@ #define STATUS_SETTING_READ_FAIL 10 #define STATUS_IDLE_ERROR 11 #define STATUS_ALARM_LOCK 12 +#define STATUS_OVERFLOW 13 // Define Grbl alarm codes. Less than zero to distinguish alarm error from status error. #define ALARM_HARD_LIMIT -1 From fc5c497256a2d43f3e9192bcb541d598896ed513 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 5 Apr 2013 09:32:20 -0600 Subject: [PATCH 35/67] Updated readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 0b858c7..2ad1871 100644 --- a/README.md +++ b/README.md @@ -11,7 +11,7 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-03-19 +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-04-05 (Line buffer increased and overflow feedback added.) _**Edge/Development Branch:**_ * [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Updated g-code G10. From d39abee37de5557f11f3ba9a2c41c8b5d6f5d615 Mon Sep 17 00:00:00 2001 From: 0xPIT Date: Thu, 16 May 2013 21:48:44 +0200 Subject: [PATCH 36/67] fix command line parameter for avr-size --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index f0e7f41..3426db6 100644 --- a/Makefile +++ b/Makefile @@ -84,7 +84,7 @@ main.elf: $(OBJECTS) grbl.hex: main.elf rm -f grbl.hex avr-objcopy -j .text -j .data -O ihex main.elf grbl.hex - avr-size -C --mcu=$(DEVICE) main.elf + avr-size --format=berkeley --mcu=$(DEVICE) 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. From 8c781e155c0893ffba9296399ca5e7fcd3d8248c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elmo=20M=C3=A4ntynen?= Date: Sun, 21 Jul 2013 12:45:45 +0300 Subject: [PATCH 37/67] Make serial work with most chips by default --- serial.c | 12 ++---------- serial.h | 14 ++++++++++++++ 2 files changed, 16 insertions(+), 10 deletions(-) diff --git a/serial.c b/serial.c index 69fa717..01a1f3a 100644 --- a/serial.c +++ b/serial.c @@ -91,11 +91,7 @@ void serial_write(uint8_t data) { } // Data Register Empty Interrupt handler -#ifdef __AVR_ATmega644P__ -ISR(USART0_UDRE_vect) -#else -ISR(USART_UDRE_vect) -#endif +ISR(Serial_UDRE_vect) { // Temporary tx_buffer_tail (to optimize for volatile) uint8_t tail = tx_buffer_tail; @@ -144,11 +140,7 @@ uint8_t serial_read() } } -#ifdef __AVR_ATmega644P__ -ISR(USART0_RX_vect) -#else -ISR(USART_RX_vect) -#endif +ISR(Serial_RX_vect) { uint8_t data = UDR0; uint8_t next_head; diff --git a/serial.h b/serial.h index 723d48f..79ffb7e 100644 --- a/serial.h +++ b/serial.h @@ -27,6 +27,20 @@ #include "nuts_bolts.h" +#if defined(USART_RX_vect) // For atmega328p (Arduino Uno) etc. +#define Serial_RX_vect USART_RX_vect +#define Serial_UDRE_vect USART_UDRE_vect +#elif defined(USART0_RX_vect) // For atmega644p, atmega1280 and atmega2560 (ArduinoMEGA) etc. +#define Serial_RX_vect USART0_RX_vect +#define Serial_UDRE_vect USART0_UDRE_vect +#elif defined(USART_RXC_vect) // For some odd chips +#define Serial_RX_vect USART_RXC_vect +#define Serial_UDRE_vect USART_UDRE_vect +#elif defined(USART1_RX_vect)// Some AVRs have 1 USB and a single USART (USART1), though the USB is often preffered for serial comms (like Arduino Leonardo etc.) +#define Serial1_RX_vect USART1_RX_vect +#define Serial1_UDRE_vect USART1_UDRE_vect +#endif + #ifndef RX_BUFFER_SIZE #define RX_BUFFER_SIZE 128 #endif From 689bc6d4714610240f56c967859c20e5ffd6a204 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elmo=20M=C3=A4ntynen?= Date: Sun, 21 Jul 2013 13:54:14 +0300 Subject: [PATCH 38/67] Added pin mapping list to docs, useful for porting --- doc/pinmapping.txt | 97 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 97 insertions(+) create mode 100644 doc/pinmapping.txt diff --git a/doc/pinmapping.txt b/doc/pinmapping.txt new file mode 100644 index 0000000..021b2e9 --- /dev/null +++ b/doc/pinmapping.txt @@ -0,0 +1,97 @@ +Mega328P Arduino Pin Mapping +============================ + +Digital 0 PD0 (RX) +Digital 1 PD1 (TX) +Digital 2 PD2 +Digital 3 PD3 +Digital 4 PD4 +Digital 5 PD5 +Digital 6 PD6 +Digital 7 PD7 +Digital 8 PB0 +Digital 9 PB1 +Digital 10 PB2 +Digital 11 PB3 (MOSI) +Digital 12 PB4 (MISO) +Digital 13 PB5 (SCK) + +Analog 0 PC0 +Analog 1 PC1 +Analog 2 PC2 +Analog 3 PC3 +Analog 4 PC4 + + +Mega2560 Arduino Pin Mapping +============================ +Digital pin 22 PA0 ( AD0 ) +Digital pin 23 PA1 ( AD1 ) +Digital pin 24 PA2 ( AD2 ) +Digital pin 25 PA3 ( AD3 ) +Digital pin 26 PA4 ( AD4 ) +Digital pin 27 PA5 ( AD5 ) +Digital pin 28 PA6 ( AD6 ) +Digital pin 29 PA7 ( AD7 ) +Digital pin 53 (PWM)(RX1) PB0 ( SS/PCINT0 ) +Digital pin 52 (PWM)(SDA) PB1 ( SCK/PCINT1 ) +Digital pin 51 (PWM)(SCL) PB2 ( MOSI/PCINT2 ) +Digital pin 50 PB3 ( MISO/PCINT3 ) +Digital pin 10 (PWM) PB4 ( OC2A/PCINT4 ) +Digital pin 11 (PWM) PB5 ( OC1A/PCINT5 ) +Digital pin 12 (PWM) PB6 ( OC1B/PCINT6 ) +Digital pin 13 (PWM) PB7 ( OC0A/OC1C/PCINT7 ) +Digital pin 37 PC0 ( A8 ) +Digital pin 36 PC1 ( A9 ) +Digital pin 35 PC2 ( A10 ) +Digital pin 34 PC3 ( A11 ) +Digital pin 33 PC4 ( A12 ) +Digital pin 32 PC5 ( A13 ) +Digital pin 31 PC6 ( A14 ) +Digital pin 30 PC7 ( A15 ) +Digital pin 21 (SCL) PD0 ( SCL/INT0 ) +Digital pin 20 (SDA) PD1 ( SDA/INT1 ) +Digital pin 19 PD2 ( RXDI/INT2 ) +Digital pin 18 PD3 ( TXD1/INT3 ) +Digital pin 38 PD7 ( T0 ) +Digital pin 0 (PWM) (RX0) PE0 ( RXD0/PCINT8 ) +Digital pin 1 (PWM) (TX0) PE1 ( TXD0 ) +Digital pin 5 (PWM) PE3 ( OC3A/AIN1 ) +Digital pin 2 (PWM) PE4 ( OC3B/INT4 ) +Digital pin 3 (PWM) PE5 ( OC3C/INT5 ) +Analog pin 0 PF0 ( ADC0 ) +Analog pin 1 PF1 ( ADC1 ) +Analog pin 2 PF2 ( ADC2 ) +Analog pin 3 PF3 ( ADC3 ) +Analog pin 4 PF4 ( ADC4/TMK ) +Analog pin 5 PF5 ( ADC5/TMS ) +Analog pin 6 PF6 ( ADC6/PCINT14 ) +Analog pin 7 PF7 ( ADC7/PCINT15 ) +Digital pin 41 PG0 ( WR ) +Digital pin 40 PG1 ( RD ) +Digital pin 39 PG2 ( ALE ) +Digital pin 4 (PWM) PG5 ( OC0B ) +Digital pin 17 (PWM) PH0 ( RXD2 ) +Digital pin 16 (PWM) PH1 ( TXD2 ) +Digital pin 6 (PWM)(RX3 ) PH3 ( OC4A ) +Digital pin 7 (PWM)(TX2) PH4 ( OC4B ) +Digital pin 8 (PWM)(RX2 ) PH5 ( OC4C ) +Digital pin 9 (PWM)(TX1) PH6 ( OC2B ) +Digital pin 15 PJ0 ( RXD3/PCINT9 ) +Digital pin 14 PJ1 ( TXD3/PCINT10 ) +Analog pin 8 PK0 ( ADC8/PCINT16 ) +Analog pin 9 PK1 ( ADC9/PCINT17 ) +Analog pin 10 PK2 ( ADC10/PCINT18 ) +Analog pin 11 PK3 ( ADC11/PCINT19 ) +Analog pin 12 PK4 ( ADC12/PCINT20 ) +Analog pin 13 PK5 ( ADC13/PCINT21 ) +Analog pin 14 PK6 ( ADC14/PCINT22 ) +Analog pin 15 PK7 ( ADC15/PCINT23 ) +Digital pin 49 PL0 ( ICP4 ) +Digital pin 48 PL1 ( ICP5 ) +Digital pin 47 PL2 ( T5 ) +Digital pin 46 (PWM) PL3 ( OC5A ) +Digital pin 45 (PWM) PL4 ( OC5B ) +Digital pin 44 (PWM) PL5 ( OC5C ) +Digital pin 43 PL6 +Digital pin 42 PL7 From 72ef50b17df34a80083457f860b1922ebfde2e9d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Elmo=20M=C3=A4ntynen?= Date: Sun, 21 Jul 2013 15:11:04 +0300 Subject: [PATCH 39/67] Refactor config.h to allow defaults for chips/boards with different pin mappings --- config.h | 73 +++++++------------------------------------ config_default_2560.h | 70 +++++++++++++++++++++++++++++++++++++++++ config_default_328p.h | 66 ++++++++++++++++++++++++++++++++++++++ 3 files changed, 147 insertions(+), 62 deletions(-) create mode 100644 config_default_2560.h create mode 100644 config_default_328p.h diff --git a/config.h b/config.h index aa427e7..9c768cf 100644 --- a/config.h +++ b/config.h @@ -30,69 +30,18 @@ // Serial baud rate #define BAUD_RATE 9600 -// Define pin-assignments -// NOTE: All step bit and direction pins must be on the same port. -#define STEPPING_DDR DDRD -#define STEPPING_PORT PORTD -#define X_STEP_BIT 2 // Uno Digital Pin 2 -#define Y_STEP_BIT 3 // Uno Digital Pin 3 -#define Z_STEP_BIT 4 // Uno Digital Pin 4 -#define X_DIRECTION_BIT 5 // Uno Digital Pin 5 -#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6 -#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7 -#define STEP_MASK ((1< Date: Mon, 19 Aug 2013 15:07:47 -0600 Subject: [PATCH 40/67] Processor-independent pin mapping feature. - Cleaned up and organized pin mapping concept by @elmom. - pin_map.h allows for user-supplied pin mapping and port vector definitions in a centralized file. With more processor types, more definitions could be added. --- config.h | 25 +++--- config_default_2560.h | 70 ---------------- config_default_328p.h | 66 --------------- nuts_bolts.h | 1 + pin_map.h | 181 ++++++++++++++++++++++++++++++++++++++++++ serial.h | 14 ---- 6 files changed, 192 insertions(+), 165 deletions(-) delete mode 100644 config_default_2560.h delete mode 100644 config_default_328p.h create mode 100644 pin_map.h diff --git a/config.h b/config.h index 9c768cf..4dec02b 100644 --- a/config.h +++ b/config.h @@ -2,8 +2,8 @@ config.h - compile time configuration Part of Grbl + Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 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 @@ -19,29 +19,24 @@ along with Grbl. If not, see . */ -#ifndef config_h -#define config_h +// 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. +// performance tuning or adjusting to non-typical machines. // IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them. +#ifndef config_h +#define config_h + // Default settings. Used when resetting EEPROM. Change to desired name in defaults.h #define DEFAULTS_GENERIC // Serial baud rate #define BAUD_RATE 9600 -// Pin mappings, pick one and comment others -#define DEFAULT_328P -//#define DEFAULT_2560 -//#define CUSTOM_PINS - -if defined(DEFAULT_328P) - #include config_default_328p.h -elif defined(DEFAULT_2560) - #include config_default_2560.h -elif defined(CUSTOM_PINS) - #include config_custom.h // Create from the closest pre-existing config_default_*.h -#endif +// Default pin mappings. Grbl officially supports the Arduino Uno only. Other processor types +// may exist from user-supplied templates or directly user-defined in pin_map.h +#define ARDUINO_UNO // Define runtime 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 diff --git a/config_default_2560.h b/config_default_2560.h deleted file mode 100644 index 5ddb52e..0000000 --- a/config_default_2560.h +++ /dev/null @@ -1,70 +0,0 @@ -#ifndef config_default_2560_h -#define config_default_2560_h - -// Define pin-assignments -// NOTE: All step bit and direction pins must be on the same port. -#define STEPPING_DDR DDRA -#define STEPPING_PORT PORTA -#define STEPPING_PIN PINA -#define X_STEP_BIT 0 // MEGA2560 Digital Pin 22 -#define Y_STEP_BIT 2 // MEGA2560 Digital Pin 24 -#define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26 -#define C_STEP_BIT 6 // MEGA2560 Digital Pin 28 -#define X_DIRECTION_BIT 1 // MEGA2560 Digital Pin 23 -#define Y_DIRECTION_BIT 3 // MEGA2560 Digital Pin 25 -#define Z_DIRECTION_BIT 5 // MEGA2560 Digital Pin 27 -#define C_DIRECTION_BIT 7 // MEGA2560 Digital Pin 29 -#define STEP_MASK ((1< #include "config.h" #include "defaults.h" +#include "pin_map.h" #define false 0 #define true 1 diff --git a/pin_map.h b/pin_map.h new file mode 100644 index 0000000..0b7b5d1 --- /dev/null +++ b/pin_map.h @@ -0,0 +1,181 @@ +/* + pin_map.h - Pin mapping configuration file + Part of Grbl + + Copyright (c) 2013 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 . +*/ + +/* The pin_map.h file serves as a central pin mapping settings file for different processor + types, i.e. AVR 328p or AVR Mega 2560. Grbl officially supports the Arduino Uno, but the + other supplied pin mappings are supplied by users, so your results may vary. */ + +#ifndef pin_map_h +#define pin_map_h + +#ifdef ARDUINO_UNO // AVR 328p, Officially supported by Grbl. + + // Serial port pins + #define Serial_RX_vect USART_RX_vect + #define Serial_UDRE_vect USART_UDRE_vect + + // NOTE: All step bit and direction pins must be on the same port. + #define STEPPING_DDR DDRD + #define STEPPING_PORT PORTD + #define X_STEP_BIT 2 // Uno Digital Pin 2 + #define Y_STEP_BIT 3 // Uno Digital Pin 3 + #define Z_STEP_BIT 4 // Uno Digital Pin 4 + #define X_DIRECTION_BIT 5 // Uno Digital Pin 5 + #define Y_DIRECTION_BIT 6 // Uno Digital Pin 6 + #define Z_DIRECTION_BIT 7 // Uno Digital Pin 7 + #define STEP_MASK ((1< Date: Tue, 20 Aug 2013 20:05:16 -0600 Subject: [PATCH 41/67] Pin map definition cleanup. --- config.h | 2 +- pin_map.h | 14 +++++++------- serial.c | 4 ++-- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/config.h b/config.h index 4dec02b..1dde3bc 100644 --- a/config.h +++ b/config.h @@ -36,7 +36,7 @@ // Default pin mappings. Grbl officially supports the Arduino Uno only. Other processor types // may exist from user-supplied templates or directly user-defined in pin_map.h -#define ARDUINO_UNO +#define PIN_MAP_ARDUINO_UNO // Define runtime 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 diff --git a/pin_map.h b/pin_map.h index 0b7b5d1..6efd286 100644 --- a/pin_map.h +++ b/pin_map.h @@ -25,11 +25,11 @@ #ifndef pin_map_h #define pin_map_h -#ifdef ARDUINO_UNO // AVR 328p, Officially supported by Grbl. +#ifdef PIN_MAP_ARDUINO_UNO // AVR 328p, Officially supported by Grbl. // Serial port pins - #define Serial_RX_vect USART_RX_vect - #define Serial_UDRE_vect USART_UDRE_vect + #define SERIAL_RX USART_RX_vect + #define SERIAL_UDRE USART_UDRE_vect // NOTE: All step bit and direction pins must be on the same port. #define STEPPING_DDR DDRD @@ -97,11 +97,11 @@ #endif -#ifdef ARDUINO_MEGA_2560 // Unsupported. Doesn't work. Supplied by @elmom. +#ifdef PIN_MAP_ARDUINO_MEGA_2560 // Unsupported. Doesn't work. Supplied by @elmom. // Serial port pins - #define Serial_RX_vect USART0_RX_vect - #define Serial_UDRE_vect USART0_UDRE_vect + #define SERIAL_RX USART0_RX_vect + #define SERIAL_UDRE USART0_UDRE_vect // NOTE: All step bit and direction pins must be on the same port. #define STEPPING_DDR DDRA @@ -171,7 +171,7 @@ #endif /* -#ifdef CUSTOM_PROC +#ifdef PIN_MAP_CUSTOM_PROC // For a custom pin map or different processor, copy and paste one of the default pin map // settings above and modify it to your needs. Then, make sure the defined name is also // changed in the config.h file. diff --git a/serial.c b/serial.c index 01a1f3a..d3325c7 100644 --- a/serial.c +++ b/serial.c @@ -91,7 +91,7 @@ void serial_write(uint8_t data) { } // Data Register Empty Interrupt handler -ISR(Serial_UDRE_vect) +ISR(SERIAL_UDRE) { // Temporary tx_buffer_tail (to optimize for volatile) uint8_t tail = tx_buffer_tail; @@ -140,7 +140,7 @@ uint8_t serial_read() } } -ISR(Serial_RX_vect) +ISR(SERIAL_RX) { uint8_t data = UDR0; uint8_t next_head; From 24280f95a5b0c257b73a1755df376de44acff271 Mon Sep 17 00:00:00 2001 From: 0xPIT Date: Sun, 25 Aug 2013 14:54:10 +0200 Subject: [PATCH 42/67] remove mcu argument for avr-size in makefile as it is not present in GNU Binutils 2.22 --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 3426db6..78c1032 100644 --- a/Makefile +++ b/Makefile @@ -84,7 +84,7 @@ main.elf: $(OBJECTS) grbl.hex: main.elf rm -f grbl.hex avr-objcopy -j .text -j .data -O ihex main.elf grbl.hex - avr-size --format=berkeley --mcu=$(DEVICE) main.elf + avr-size --format=berkeley 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. From 3e92fef3b434e72bf31f913d03f12dacfd2ddf17 Mon Sep 17 00:00:00 2001 From: Rob Brown Date: Thu, 17 Oct 2013 17:05:08 +0800 Subject: [PATCH 43/67] Update Pin Change Interrupts so it works PCIE1 - Interrupt 8 on the Mega is attached to USART0 RX so when any serial communication was transmitted it was triggering the Reset Interrupt --- pin_map.h | 43 +++++++++++++++++++++++-------------------- 1 file changed, 23 insertions(+), 20 deletions(-) diff --git a/pin_map.h b/pin_map.h index 6efd286..2d9cd57 100644 --- a/pin_map.h +++ b/pin_map.h @@ -97,12 +97,18 @@ #endif -#ifdef PIN_MAP_ARDUINO_MEGA_2560 // Unsupported. Doesn't work. Supplied by @elmom. +#ifdef PIN_MAP_ARDUINO_MEGA_2560 // Working @EliteEng // Serial port pins #define SERIAL_RX USART0_RX_vect #define SERIAL_UDRE USART0_UDRE_vect + // Increase Buffers to make use of extra SRAM + #define RX_BUFFER_SIZE 256 + #define TX_BUFFER_SIZE 128 + #define BLOCK_BUFFER_SIZE 36 + #define LINE_BUFFER_SIZE 100 + // NOTE: All step bit and direction pins must be on the same port. #define STEPPING_DDR DDRA #define STEPPING_PORT PORTA @@ -110,11 +116,9 @@ #define X_STEP_BIT 0 // MEGA2560 Digital Pin 22 #define Y_STEP_BIT 1 // MEGA2560 Digital Pin 23 #define Z_STEP_BIT 2 // MEGA2560 Digital Pin 24 - // #define C_STEP_BIT 3 // MEGA2560 Digital Pin 25 #define X_DIRECTION_BIT 4 // MEGA2560 Digital Pin 26 #define Y_DIRECTION_BIT 5 // MEGA2560 Digital Pin 27 #define Z_DIRECTION_BIT 6 // MEGA2560 Digital Pin 28 - // #define C_DIRECTION_BIT 7 // MEGA2560 Digital Pin 29 #define STEP_MASK ((1< Date: Fri, 18 Oct 2013 10:06:07 +0800 Subject: [PATCH 44/67] Changed Stepper Pins Changed Stepper Pins so the Step Port Invert Mask matches the UNO --- pin_map.h | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/pin_map.h b/pin_map.h index 2d9cd57..cb7e2ef 100644 --- a/pin_map.h +++ b/pin_map.h @@ -113,19 +113,19 @@ #define STEPPING_DDR DDRA #define STEPPING_PORT PORTA #define STEPPING_PIN PINA - #define X_STEP_BIT 0 // MEGA2560 Digital Pin 22 - #define Y_STEP_BIT 1 // MEGA2560 Digital Pin 23 - #define Z_STEP_BIT 2 // MEGA2560 Digital Pin 24 - #define X_DIRECTION_BIT 4 // MEGA2560 Digital Pin 26 - #define Y_DIRECTION_BIT 5 // MEGA2560 Digital Pin 27 - #define Z_DIRECTION_BIT 6 // MEGA2560 Digital Pin 28 + #define X_STEP_BIT 2 // MEGA2560 Digital Pin 24 + #define Y_STEP_BIT 3 // MEGA2560 Digital Pin 25 + #define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26 + #define X_DIRECTION_BIT 5 // MEGA2560 Digital Pin 27 + #define Y_DIRECTION_BIT 6 // MEGA2560 Digital Pin 28 + #define Z_DIRECTION_BIT 7 // MEGA2560 Digital Pin 29 #define STEP_MASK ((1< Date: Fri, 22 Nov 2013 18:12:29 -0800 Subject: [PATCH 45/67] Add support for active-high limit switches --- config.h | 6 ++++++ limits.c | 11 ++++++++++- 2 files changed, 16 insertions(+), 1 deletion(-) diff --git a/config.h b/config.h index 1dde3bc..38354af 100644 --- a/config.h +++ b/config.h @@ -171,6 +171,12 @@ // successful values for certain setups have ranged from 10 to 20us. // #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled. +// Uncomment the following define if you are using hardware that drives high when your limits +// are reached. You will need to ensure that you have appropriate pull-down resistors on the +// limit switch input pins, or that your hardware drives the pins low when they are open (non- +// triggered). +// #define LIMIT_SWITCHES_ACTIVE_HIGH + // --------------------------------------------------------------------------------------- // TODO: Install compile-time option to send numeric status codes rather than strings. diff --git a/limits.c b/limits.c index 81280a3..95fc781 100644 --- a/limits.c +++ b/limits.c @@ -38,7 +38,11 @@ void limits_init() { LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins - LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation. + #ifndef LIMIT_SWITCHES_ACTIVE_HIGH + LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation. + #else // LIMIT_SWITCHES_ACTIVE_HIGH + LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down. + #endif // !LIMIT_SWITCHES_ACTIVE_HIGH if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt @@ -89,6 +93,11 @@ ISR(LIMIT_INT_vect) // NOTE: Only the abort runtime command can interrupt this process. static void homing_cycle(uint8_t cycle_mask, int8_t pos_dir, bool invert_pin, float homing_rate) { + #ifdef LIMIT_SWITCHES_ACTIVE_HIGH + // When in an active-high switch configuration, invert_pin needs to be adjusted. + invert_pin = !invert_pin; + #endif + // Determine governing axes with finest step resolution per distance for the Bresenham // algorithm. This solves the issue when homing multiple axes that have different // resolutions without exceeding system acceleration setting. It doesn't have to be From d00525d384aa5cba6399ebcccb0b1368b2c970f8 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 7 Dec 2013 10:10:36 -0700 Subject: [PATCH 46/67] Pushed bug fixes. Updated readme. - G18 plane select fix from XZ-plane to ZX-plane per right hand rule. - Added volatile declaration for rx_buffer_tail in serial.c. No real effect to operation as avr-gcc adds this upon compilation. Helps with porting issues when using a different compiler. --- README.md | 14 +++++++++----- gcode.c | 2 +- serial.c | 14 ++++++++------ 3 files changed, 18 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index 2ad1871..aeb8c97 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ 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 m aintain more than 30kHz of stable, jitter free control pulses. +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, other basic functional g-code commands. Functions and variables are not currently supported, but may be included in future releases in a form of a pre-processor. @@ -11,12 +11,16 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) Last updated: 2013-04-05 (Line buffer increased and overflow feedback added.) +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) (Last updated: 2013-12-07) + - 2013-12-07: G18 and serial volatile fixes. + - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Updated g-code G10. -* [Grbl v0.9a Build 2012-12-21](http://bit.ly/VWe4VW) : For testing only. New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). - +* [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Edge Branch + - New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. Updated g-code G10. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). +* [Grbl v0.9b Build 2013-12-07](http://bit.ly/1jxQIFg) : Dev Branch (Baudrate: 115200) + - Developmental branch build. Protected planner buffer and new step segment buffer allow performance increases over 4x in limited testing. No more racing conditions when jogging. Fearlessly drive at the maximum speeds of your machine. New soft limits feature that will safely prevent your machine exceed its travel limits and retain true positioning (only works with homing enabled). CAUTION: Bugs still exist and fixes will be pushed Settings WILL be over-written. Please let us know of any lingering bugs. + _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) * [Grbl v0.7d Atmega328p 16mhz 9600baud](http://bit.ly/ZhL15G) diff --git a/gcode.c b/gcode.c index 478027d..ad516b5 100644 --- a/gcode.c +++ b/gcode.c @@ -131,7 +131,7 @@ uint8_t gc_execute_line(char *line) case 4: non_modal_action = NON_MODAL_DWELL; break; case 10: non_modal_action = NON_MODAL_SET_COORDINATE_DATA; break; case 17: select_plane(X_AXIS, Y_AXIS, Z_AXIS); break; - case 18: select_plane(X_AXIS, Z_AXIS, Y_AXIS); break; + case 18: select_plane(Z_AXIS, X_AXIS, Y_AXIS); break; case 19: select_plane(Y_AXIS, Z_AXIS, X_AXIS); break; case 20: gc.inches_mode = true; break; case 21: gc.inches_mode = false; break; diff --git a/serial.c b/serial.c index d3325c7..da4380b 100644 --- a/serial.c +++ b/serial.c @@ -30,7 +30,7 @@ uint8_t rx_buffer[RX_BUFFER_SIZE]; uint8_t rx_buffer_head = 0; -uint8_t rx_buffer_tail = 0; +volatile uint8_t rx_buffer_tail = 0; uint8_t tx_buffer[TX_BUFFER_SIZE]; uint8_t tx_buffer_head = 0; @@ -122,13 +122,15 @@ ISR(SERIAL_UDRE) uint8_t serial_read() { - if (rx_buffer_head == rx_buffer_tail) { + uint8_t tail = rx_buffer_tail; // Temporary rx_buffer_tail (to optimize for volatile) + if (rx_buffer_head == tail) { return SERIAL_NO_DATA; } else { - uint8_t data = rx_buffer[rx_buffer_tail]; - rx_buffer_tail++; - if (rx_buffer_tail == RX_BUFFER_SIZE) { rx_buffer_tail = 0; } - + uint8_t data = rx_buffer[tail]; + tail++; + if (tail == RX_BUFFER_SIZE) { tail = 0; } + rx_buffer_tail = tail; + #ifdef ENABLE_XONXOFF if ((get_rx_buffer_count() < RX_BUFFER_LOW) && flow_ctrl == XOFF_SENT) { flow_ctrl = SEND_XON; From bfa8ebcac1a3f9f12aee933dcf02bbb52bc42aa5 Mon Sep 17 00:00:00 2001 From: Edward Date: Tue, 10 Dec 2013 11:10:36 -0600 Subject: [PATCH 47/67] added shapeoko2 profile shapeoko 2 uses 2mm GT2 belting and 20tooth pulleys --- defaults.h | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/defaults.h b/defaults.h index 30e575d..c17e95a 100644 --- a/defaults.h +++ b/defaults.h @@ -119,6 +119,41 @@ #define DEFAULT_N_ARC_CORRECTION 25 #endif +#ifdef DEFAULTS_SHAPEOKO_2 + // Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos + // grblShield with a 24V, 4.2A power supply. + #define MICROSTEPS_XY 8 + #define STEP_REVS_XY 200 + #define MM_PER_REV_XY (2*20) // 2mm belt pitch, 20 pulley teeth + #define MICROSTEPS_Z 2 + #define STEP_REVS_Z 200 + #define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew + #define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY) + #define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY) + #define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z) + #define DEFAULT_STEP_PULSE_MICROSECONDS 10 + #define DEFAULT_MM_PER_ARC_SEGMENT 0.1 + #define DEFAULT_RAPID_FEEDRATE 800.0 // mm/min + #define DEFAULT_FEEDRATE 250.0 + #define DEFAULT_ACCELERATION (15.0*60*60) // 15 mm/min^2 + #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm + #define DEFAULT_STEPPING_INVERT_MASK ((1< Date: Tue, 10 Dec 2013 22:36:35 -0700 Subject: [PATCH 48/67] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index aeb8c97..82f6830 100644 --- a/README.md +++ b/README.md @@ -18,8 +18,8 @@ _**Master Branch:**_ _**Edge/Development Branch:**_ * [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Edge Branch - New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. Updated g-code G10. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). -* [Grbl v0.9b Build 2013-12-07](http://bit.ly/1jxQIFg) : Dev Branch (Baudrate: 115200) - - Developmental branch build. Protected planner buffer and new step segment buffer allow performance increases over 4x in limited testing. No more racing conditions when jogging. Fearlessly drive at the maximum speeds of your machine. New soft limits feature that will safely prevent your machine exceed its travel limits and retain true positioning (only works with homing enabled). CAUTION: Bugs still exist and fixes will be pushed Settings WILL be over-written. Please let us know of any lingering bugs. +* [Grbl v0.9b Build 2013-12-10](http://bit.ly/1bChskB) : Dev Branch (Baudrate: 115200) + - Developmental branch build. Protected planner buffer and new step segment buffer allow performance increases over 4x in limited testing. No more racing conditions when jogging. Fearlessly drive at the maximum speeds of your machine. New soft limits feature that will safely prevent your machine exceed its travel limits and retain true positioning (only works with homing enabled). Homing cycle improvement. CAUTION: Bugs still exist and fixes will be pushed Settings WILL be over-written. Please let us know of any lingering bugs. _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) From 4f987d2a5e2ebdfd4c0d7c1472b3c036fe473742 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Thu, 2 Jan 2014 09:24:46 -0700 Subject: [PATCH 49/67] Update README.md --- README.md | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/README.md b/README.md index 82f6830..3e908c3 100644 --- a/README.md +++ b/README.md @@ -57,3 +57,10 @@ _**Archives:**_ *Important note for Atmega 168 users:* Going forward, support for Atmega 168 will be dropped due to its limited memory and speed. However, legacy Grbl v0.51 "in the branch called 'v0_51' is still available for use. _The project was initially inspired by the Arduino GCode Interpreter by Mike Ellery_ + +------------- +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 fund supporting hardware and testing 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) + + From 3bb92b2530ac7875b65316a0674dac28d5099763 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 14 Jan 2014 10:37:37 -0500 Subject: [PATCH 50/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3e908c3..60bc915 100644 --- a/README.md +++ b/README.md @@ -61,6 +61,6 @@ _The project was initially inspired by the Arduino GCode Interpreter by Mike Ell ------------- 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 fund supporting hardware and testing 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) +[![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=YNQZV7GRGQKVY) From cdb6de3f4b947e8cd6ee20920780b9a9977b1224 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Wed, 15 Jan 2014 07:56:02 -0500 Subject: [PATCH 51/67] Update README.md --- README.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/README.md b/README.md index 60bc915..49df0d9 100644 --- a/README.md +++ b/README.md @@ -61,6 +61,4 @@ _The project was initially inspired by the Arduino GCode Interpreter by Mike Ell ------------- 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 fund supporting hardware and testing 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=YNQZV7GRGQKVY) - - +[![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) From c3e4ca73019e00caa26c5b0509252b4633286fd5 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 2 Feb 2014 10:45:40 -0700 Subject: [PATCH 52/67] Update README.md --- README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/README.md b/README.md index 49df0d9..9377d5d 100644 --- a/README.md +++ b/README.md @@ -18,8 +18,7 @@ _**Master Branch:**_ _**Edge/Development Branch:**_ * [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Edge Branch - New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. Updated g-code G10. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). -* [Grbl v0.9b Build 2013-12-10](http://bit.ly/1bChskB) : Dev Branch (Baudrate: 115200) - - Developmental branch build. Protected planner buffer and new step segment buffer allow performance increases over 4x in limited testing. No more racing conditions when jogging. Fearlessly drive at the maximum speeds of your machine. New soft limits feature that will safely prevent your machine exceed its travel limits and retain true positioning (only works with homing enabled). Homing cycle improvement. CAUTION: Bugs still exist and fixes will be pushed Settings WILL be over-written. Please let us know of any lingering bugs. + _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) From 8c103d09eb5e7be5211c3156558725926253b5a7 Mon Sep 17 00:00:00 2001 From: Martin Stingl Date: Mon, 10 Mar 2014 20:37:12 +0100 Subject: [PATCH 53/67] Corrected units of default acceleration values --- defaults.h | 10 +++++----- planner.c | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/defaults.h b/defaults.h index c17e95a..dd46144 100644 --- a/defaults.h +++ b/defaults.h @@ -36,7 +36,7 @@ #define DEFAULT_MM_PER_ARC_SEGMENT 0.1 #define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min #define DEFAULT_FEEDRATE 250.0 - #define DEFAULT_ACCELERATION (10.0*60*60) // 10 mm/min^2 + #define DEFAULT_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/s^2 #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm #define DEFAULT_STEPPING_INVERT_MASK ((1<rate_delta = ceil( block->step_event_count*inverse_millimeters * From 9a83dd01711d5c04bb4df3482231421d40ecb552 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 14 Mar 2014 08:50:36 -0600 Subject: [PATCH 54/67] Update README.md --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 9377d5d..7a710e3 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,8 @@ It accepts standards-compliant G-code and has been tested with the output of sev 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. +* 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! + ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ * [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) (Last updated: 2013-12-07) From 94489c3c41c04c549599eb4b5f27d5677c34e578 Mon Sep 17 00:00:00 2001 From: Paul Kaplan Date: Mon, 14 Apr 2014 12:00:23 -0500 Subject: [PATCH 55/67] updated shapeoko2 defaults --- defaults.h | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/defaults.h b/defaults.h index dd46144..7f45f2b 100644 --- a/defaults.h +++ b/defaults.h @@ -131,11 +131,11 @@ #define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY) #define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY) #define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z) - #define DEFAULT_STEP_PULSE_MICROSECONDS 10 + #define DEFAULT_STEP_PULSE_MICROSECONDS 30 #define DEFAULT_MM_PER_ARC_SEGMENT 0.1 - #define DEFAULT_RAPID_FEEDRATE 800.0 // mm/min - #define DEFAULT_FEEDRATE 250.0 - #define DEFAULT_ACCELERATION (15.0*60*60) // 15*60*60 mm/min^2 = 15 mm/s^2 + #define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min + #define DEFAULT_FEEDRATE 500.0 + #define DEFAULT_ACCELERATION (25.0*60*60) // 25*60*60 mm/min^2 = 25 mm/s^2 #define DEFAULT_JUNCTION_DEVIATION 0.05 // mm #define DEFAULT_STEPPING_INVERT_MASK ((1< Date: Sun, 18 May 2014 10:01:05 -0600 Subject: [PATCH 56/67] MIT-licensing change --- COPYING | 216 +++++++++++++++------------------------------- Makefile | 28 +++--- README.md | 2 + config.h | 30 ++++--- coolant_control.c | 28 +++--- coolant_control.h | 28 +++--- defaults.h | 29 ++++--- eeprom.h | 28 ++++++ gcode.c | 30 ++++--- gcode.h | 30 ++++--- limits.c | 31 ++++--- limits.h | 28 +++--- main.c | 32 ++++--- motion_control.c | 34 +++++--- motion_control.h | 30 ++++--- nuts_bolts.c | 28 +++--- nuts_bolts.h | 30 ++++--- pin_map.h | 28 +++--- planner.c | 34 +++++--- print.c | 32 ++++--- print.h | 31 ++++--- protocol.c | 30 ++++--- protocol.h | 28 +++--- report.c | 31 ++++--- report.h | 29 ++++--- serial.c | 31 ++++--- serial.h | 31 ++++--- settings.c | 30 ++++--- settings.h | 30 ++++--- spindle_control.c | 28 +++--- spindle_control.h | 29 ++++--- stepper.c | 32 ++++--- stepper.h | 28 +++--- 33 files changed, 656 insertions(+), 488 deletions(-) diff --git a/COPYING b/COPYING index 3f9959f..6162c2d 100644 --- a/COPYING +++ b/COPYING @@ -1,165 +1,85 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 +------------------------------------------------------------------------------ +COMMENTS FROM THE AUTHORS: +------------------------------------------------------------------------------ - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. +GRBL(tm) is free software distributed under the terms of the MIT License +reproduced below. GRBL may be used for any purpose, including commercial +purposes, at absolutely no cost. No paperwork, no royalties, no GNU-like +"copyleft" restrictions, either. Just download it and use it. + +GRBL is certified open-source software. Its license is simple, liberal, and +compatible with GPL. GRBL is not in the public domain and its authors retain +its copyright. + +The spirit of the GRBL license is that you are free to use GRBL for any +purpose at no cost without having to ask us. The only requirement is that if +you use GRBL, then you should give us credit by including the copyright +notice somewhere in your product documentation. A nice, but optional, way to +give us further credit is to include a statement like "This product contains +source code from the GRBL CNC project" and link to our site in a web page for +your product. + +GRBL is entirely designed, implemented, and maintained by the authors of Grbl +and its altruistic contributors. - This version of the GNU Lesser General Public License incorporates -the terms and conditions of version 3 of the GNU General Public -License, supplemented by the additional permissions listed below. +------------------------------------------------------------------------------ +LICENSING INFORMATION BELOW: +------------------------------------------------------------------------------ - 0. Additional Definitions. +The MIT License (MIT) - As used herein, "this License" refers to version 3 of the GNU Lesser -General Public License, and the "GNU GPL" refers to version 3 of the GNU -General Public License. +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 - "The Library" refers to a covered work governed by this License, -other than an Application or a Combined Work as defined below. +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: - An "Application" is any work that makes use of an interface provided -by the Library, but which is not otherwise based on the Library. -Defining a subclass of a class defined by the Library is deemed a mode -of using an interface provided by the Library. +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. - A "Combined Work" is a work produced by combining or linking an -Application with the Library. The particular version of the Library -with which the Combined Work was made is also called the "Linked -Version". +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. - The "Minimal Corresponding Source" for a Combined Work means the -Corresponding Source for the Combined Work, excluding any source code -for portions of the Combined Work that, considered in isolation, are -based on the Application, and not on the Linked Version. +------------------------------------------------------------------------------ - The "Corresponding Application Code" for a Combined Work means the -object code and/or source code for the Application, including any data -and utility programs needed for reproducing the Combined Work from the -Application, but excluding the System Libraries of the Combined Work. +This software includes source code (eeprom.c) from: - 1. Exception to Section 3 of the GNU GPL. +Copyright (c) 2008, Atmel Corporation All rights reserved. - You may convey a covered work under sections 3 and 4 of this License -without being bound by section 3 of the GNU GPL. +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: - 2. Conveying Modified Versions. +1. Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. - If you modify a copy of the Library, and, in your modifications, a -facility refers to a function or data to be supplied by an Application -that uses the facility (other than as an argument passed when the -facility is invoked), then you may convey a copy of the modified -version: +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. - a) under this License, provided that you make a good faith effort to - ensure that, in the event an Application does not supply the - function or data, the facility still operates, and performs - whatever part of its purpose remains meaningful, or +3. The name of ATMEL may not be used to endorse or promote products derived + from this software without specific prior written permission. - b) under the GNU GPL, with none of the additional permissions of - this License applicable to that copy. +THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED +WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND +SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, +INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY +OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, +EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - 3. Object Code Incorporating Material from Library Header Files. - - The object code form of an Application may incorporate material from -a header file that is part of the Library. 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Combined Works. - - You may convey a Combined Work under terms of your choice that, -taken together, effectively do not restrict modification of the -portions of the Library contained in the Combined Work and reverse -engineering for debugging such modifications, if you also do each of -the following: - - a) Give prominent notice with each copy of the Combined Work that - the Library is used in it and that the Library and its use are - covered by this License. - - b) Accompany the Combined Work with a copy of the GNU GPL and this license - document. - - c) For a Combined Work that displays copyright notices during - execution, include the copyright notice for the Library among - these notices, as well as a reference directing the user to the - copies of the GNU GPL and this license document. - - d) Do one of the following: - - 0) Convey the Minimal Corresponding Source under the terms of this - License, and the Corresponding Application Code in a form - suitable for, and under terms that permit, the user to - recombine or relink the Application with a modified version of - the Linked Version to produce a modified Combined Work, in the - manner specified by section 6 of the GNU GPL for conveying - Corresponding Source. - - 1) Use a suitable shared library mechanism for linking with the - Library. A suitable mechanism is one that (a) uses at run time - a copy of the Library already present on the user's computer - system, and (b) will operate properly with a modified version - of the Library that is interface-compatible with the Linked - Version. - - e) Provide Installation Information, but only if you would otherwise - be required to provide such information under section 6 of the - GNU GPL, and only to the extent that such information is - necessary to install and execute a modified version of the - Combined Work produced by recombining or relinking the - Application with a modified version of the Linked Version. (If - you use option 4d0, the Installation Information must accompany - the Minimal Corresponding Source and Corresponding Application - Code. If you use option 4d1, you must provide the Installation - Information in the manner specified by section 6 of the GNU GPL - for conveying Corresponding Source.) - - 5. Combined Libraries. - - You may place library facilities that are a work based on the -Library side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - - a) Accompany the combined library with a copy of the same work based - on the Library, uncombined with any other library facilities, - conveyed under the terms of this License. - - b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - - 6. Revised Versions of the GNU Lesser General Public License. - - The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - - Each version is given a distinguishing version number. If the -Library as you received it specifies that a certain numbered version -of the GNU Lesser General Public License "or any later version" -applies to it, you have the option of following the terms and -conditions either of that published version or of any later version -published by the Free Software Foundation. If the Library as you -received it does not specify a version number of the GNU Lesser -General Public License, you may choose any version of the GNU Lesser -General Public License ever published by the Free Software Foundation. - - If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. \ No newline at end of file +------------------------------------------------------------------------------ diff --git a/Makefile b/Makefile index 78c1032..8ca0b26 100644 --- a/Makefile +++ b/Makefile @@ -1,20 +1,28 @@ # Part of Grbl # +# The MIT License (MIT) +# +# Grbl(tm) - Embedded CNC g-code interpreter and motion-controller # Copyright (c) 2009-2011 Simen Svale Skogsrud # Copyright (c) 2012 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. +# 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: # -# 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. +# The above copyright notice and this permission notice shall be included in +# all copies or substantial portions of the Software. # -# You should have received a copy of the GNU General Public License -# along with Grbl. If not, see . +# 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 is a prototype Makefile. Modify it according to your needs. diff --git a/README.md b/README.md index 7a710e3..1c46526 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,8 @@ It accepts standards-compliant G-code and has been tested with the output of sev 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. +* Note on licensing: Grbl has been re-licensed to the MIT software license. Please see the COPYING text for details. + * 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! ##Downloads (Right-Click and Save-Link-As): diff --git a/config.h b/config.h index 38354af..6cf70bc 100644 --- a/config.h +++ b/config.h @@ -2,21 +2,29 @@ config.h - compile time configuration Part of Grbl - Copyright (c) 2011-2013 Sungeun K. Jeon + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011-2013 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 file contains compile-time configurations for Grbl's internal system. For the most part, diff --git a/coolant_control.c b/coolant_control.c index 8abd674..eed2fa0 100644 --- a/coolant_control.c +++ b/coolant_control.c @@ -2,20 +2,28 @@ coolant_control.c - coolant control methods Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ #include "coolant_control.h" diff --git a/coolant_control.h b/coolant_control.h index fd2d549..b5e6e8c 100644 --- a/coolant_control.h +++ b/coolant_control.h @@ -2,20 +2,28 @@ coolant_control.h - spindle control methods Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 coolant_control_h diff --git a/defaults.h b/defaults.h index 7f45f2b..4050f24 100644 --- a/defaults.h +++ b/defaults.h @@ -1,23 +1,30 @@ /* defaults.h - defaults settings configuration file Part of Grbl + + The MIT License (MIT) + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ - /* The defaults.h file serves as a central default settings file for different machine types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings here are supplied by users, so your results may vary. However, this should give you diff --git a/eeprom.h b/eeprom.h index 311eee3..255812f 100644 --- a/eeprom.h +++ b/eeprom.h @@ -1,3 +1,31 @@ +/* + 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 diff --git a/gcode.c b/gcode.c index ad516b5..90637f0 100644 --- a/gcode.c +++ b/gcode.c @@ -2,21 +2,29 @@ gcode.c - rs274/ngc parser. Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 code is inspired by the Arduino GCode Interpreter by Mike Ellery and the NIST RS274/NGC Interpreter diff --git a/gcode.h b/gcode.h index f3671c2..523adc0 100644 --- a/gcode.h +++ b/gcode.h @@ -2,21 +2,29 @@ gcode.h - rs274/ngc parser. Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 gcode_h diff --git a/limits.c b/limits.c index 95fc781..b5495bb 100644 --- a/limits.c +++ b/limits.c @@ -2,23 +2,30 @@ limits.c - code pertaining to limit-switches and performing the homing cycle Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . -*/ - + 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. +*/ #include #include #include diff --git a/limits.h b/limits.h index 847c667..3dc5fae 100644 --- a/limits.h +++ b/limits.h @@ -2,20 +2,28 @@ limits.h - code pertaining to limit-switches and performing the homing cycle Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 limits_h diff --git a/main.c b/main.c index c03735f..ba64a7a 100644 --- a/main.c +++ b/main.c @@ -2,27 +2,31 @@ main.c - An embedded CNC Controller with rs274/ngc (g-code) support Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ -/* A big thanks to Alden Hart of Synthetos, supplier of grblshield and TinyG, who has - been integral throughout the development of the higher level details of Grbl, as well - as being a consistent sounding board for the future of accessible and free CNC. */ - #include #include #include "config.h" diff --git a/motion_control.c b/motion_control.c index be98600..914d2c2 100644 --- a/motion_control.c +++ b/motion_control.c @@ -5,21 +5,31 @@ Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon 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. + The MIT License (MIT) - 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. + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011-2012 Sungeun K. Jeon + Copyright (c) 2011 Jens Geisler - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ - #include #include #include diff --git a/motion_control.h b/motion_control.h index 20ecf08..2c2ae7b 100644 --- a/motion_control.h +++ b/motion_control.h @@ -2,21 +2,29 @@ motion_control.h - high level interface for issuing motion commands Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 motion_control_h diff --git a/nuts_bolts.c b/nuts_bolts.c index af6d163..0c2ec2a 100644 --- a/nuts_bolts.c +++ b/nuts_bolts.c @@ -2,21 +2,29 @@ nuts_bolts.c - Shared functions Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ #include diff --git a/nuts_bolts.h b/nuts_bolts.h index fed0f45..956e2a0 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -2,21 +2,29 @@ nuts_bolts.h - Header file for shared definitions, variables, and functions Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon + Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 nuts_bolts_h diff --git a/pin_map.h b/pin_map.h index cb7e2ef..979ad90 100644 --- a/pin_map.h +++ b/pin_map.h @@ -2,20 +2,28 @@ pin_map.h - Pin mapping configuration file Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2013 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ /* The pin_map.h file serves as a central pin mapping settings file for different processor diff --git a/planner.c b/planner.c index 44248c4..2473474 100644 --- a/planner.c +++ b/planner.c @@ -2,26 +2,32 @@ planner.c - buffers movement commands and manages the acceleration profile plan Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 Sungeun K. Jeon - 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. + Copyright (c) 2011 Jens Geisler - 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ -/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ - #include #include #include "planner.h" diff --git a/print.c b/print.c index 2f820d5..c06f3f1 100644 --- a/print.c +++ b/print.c @@ -2,27 +2,31 @@ print.c - Functions for formatting output strings Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 code was initially inspired by the wiring_serial module by David A. Mellis which - used to be a part of the Arduino project. */ - - #include #include "config.h" #include "serial.h" diff --git a/print.h b/print.h index 9983aee..bd187d2 100644 --- a/print.h +++ b/print.h @@ -2,26 +2,31 @@ print.h - Functions for formatting output strings Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 code was initially inspired by the wiring_serial module by David A. Mellis which - used to be a part of the Arduino project. */ - #ifndef print_h #define print_h diff --git a/protocol.c b/protocol.c index c797036..95a9016 100644 --- a/protocol.c +++ b/protocol.c @@ -2,21 +2,29 @@ protocol.c - the serial protocol master control unit Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon + Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ #include diff --git a/protocol.h b/protocol.h index 4d90c1c..787d47e 100644 --- a/protocol.h +++ b/protocol.h @@ -2,21 +2,29 @@ protocol.h - the serial protocol master control unit Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 protocol_h #define protocol_h diff --git a/report.c b/report.c index 35cb2be..6cca787 100644 --- a/report.c +++ b/report.c @@ -2,22 +2,29 @@ report.c - reporting and messaging methods Part of Grbl - Copyright (c) 2012 Sungeun K. Jeon + The MIT License (MIT) - 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(tm) - Embedded CNC g-code interpreter and motion-controller + Copyright (c) 2012 Sungeun K. Jeon - 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 file functions as the primary feedback interface for Grbl. Any outgoing data, such as the protocol status messages, feedback messages, and status reports, are stored here. diff --git a/report.h b/report.h index e3583fc..a464076 100644 --- a/report.h +++ b/report.h @@ -2,21 +2,30 @@ report.h - reporting and messaging methods Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 report_h #define report_h diff --git a/serial.c b/serial.c index da4380b..0fa36d5 100644 --- a/serial.c +++ b/serial.c @@ -2,26 +2,31 @@ serial.c - Low level functions for sending and recieving bytes via the serial port Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 code was initially inspired by the wiring_serial module by David A. Mellis which - used to be a part of the Arduino project. */ - #include #include "serial.h" #include "config.h" diff --git a/serial.h b/serial.h index 723d48f..9b8e505 100644 --- a/serial.h +++ b/serial.h @@ -2,26 +2,31 @@ serial.c - Low level functions for sending and recieving bytes via the serial port Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 code was initially inspired by the wiring_serial module by David A. Mellis which - used to be a part of the Arduino project. */ - #ifndef serial_h #define serial_h diff --git a/settings.c b/settings.c index dc8c09e..82a7d08 100644 --- a/settings.c +++ b/settings.c @@ -2,21 +2,29 @@ settings.c - eeprom configuration handling Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon + Copyright (c) 2011-2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ #include diff --git a/settings.h b/settings.h index bf3bb16..9ed2884 100644 --- a/settings.h +++ b/settings.h @@ -2,21 +2,29 @@ settings.h - eeprom configuration handling Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 settings_h diff --git a/spindle_control.c b/spindle_control.c index 5bfe621..cc2623b 100644 --- a/spindle_control.c +++ b/spindle_control.c @@ -2,21 +2,29 @@ spindle_control.c - spindle control 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 Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ #include "settings.h" diff --git a/spindle_control.h b/spindle_control.h index d3fca1e..9783021 100644 --- a/spindle_control.h +++ b/spindle_control.h @@ -2,23 +2,30 @@ spindle_control.h - spindle control 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 Copyright (c) 2012 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 spindle_control_h #define spindle_control_h diff --git a/stepper.c b/stepper.c index 7c0770b..5c17c52 100644 --- a/stepper.c +++ b/stepper.c @@ -2,25 +2,31 @@ stepper.c - stepper motor driver: executes motion plans using stepper motors Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011-2012 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. + 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: - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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. */ -/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith - and Philipp Tiefenbacher. */ #include #include "stepper.h" diff --git a/stepper.h b/stepper.h index 0cb4189..b2f25b7 100644 --- a/stepper.h +++ b/stepper.h @@ -2,21 +2,29 @@ stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors Part of Grbl + The MIT License (MIT) + + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2011 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. + 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . + 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 stepper_h From dcb4f6fc1bb795a271a55f15e2b5e82980ebdd70 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 18 May 2014 10:05:37 -0600 Subject: [PATCH 57/67] MIT-licensing change. --- planner.h | 32 ++++++++++++++++++++------------ script/simple_stream.py | 21 +++++++++++++++++++++ script/stream.py | 22 +++++++++++++++++++++- 3 files changed, 62 insertions(+), 13 deletions(-) diff --git a/planner.h b/planner.h index b0fffa6..d76174c 100644 --- a/planner.h +++ b/planner.h @@ -1,22 +1,30 @@ /* planner.h - buffers movement commands and manages the acceleration profile plan Part of Grbl + + The MIT License (MIT) + GRBL(tm) - Embedded CNC g-code interpreter and motion-controller Copyright (c) 2009-2011 Simen Svale Skogsrud - Copyright (c) 2011-2012 Sungeun K. Jeon + Copyright (c) 2011-2012 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: - 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. + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. - 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 . + 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 planner_h diff --git a/script/simple_stream.py b/script/simple_stream.py index 5119db4..e47a1b5 100644 --- a/script/simple_stream.py +++ b/script/simple_stream.py @@ -10,6 +10,27 @@ grbl will not send a response until the planner buffer clears space. G02/03 arcs are special exceptions, where they inject short line segments directly into the planner. So there may not be a response from grbl for the duration of the arc. + + The MIT License (MIT) + Copyright (c) 2012 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. """ import serial diff --git a/script/stream.py b/script/stream.py index 5b82c94..2fc730a 100644 --- a/script/stream.py +++ b/script/stream.py @@ -11,7 +11,27 @@ buffer layer to prevent buffer starvation. TODO: - Add runtime command capabilities -Version: SKJ.20120110 + The MIT License (MIT) + Copyright (c) 2012 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. + """ import serial From f4f7d7d05e56aca28aa0d45d8e57526949b5d9d6 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Thu, 3 Jul 2014 18:16:47 -0600 Subject: [PATCH 58/67] G18 reporting bug fix. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - G18 wasn’t getting reported back to the user correctly, even though it has been set internally. Fixed the reporting code to reflect this accurately. --- report.c | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/report.c b/report.c index 6cca787..ab0c937 100644 --- a/report.c +++ b/report.c @@ -235,10 +235,11 @@ void report_gcode_modes() printPgmString(PSTR(" G")); printInteger(gc.coord_select+54); - if (gc.plane_axis_0 == X_AXIS) { - if (gc.plane_axis_1 == Y_AXIS) { printPgmString(PSTR(" G17")); } - else { printPgmString(PSTR(" G18")); } - } else { printPgmString(PSTR(" G19")); } + switch (gc.plane_axis_0) { + case X_AXIS: printPgmString(PSTR(" G17")); break; + case Z_AXIS: printPgmString(PSTR(" G18")); break; + default: printPgmString(PSTR(" G19")); + } if (gc.inches_mode) { printPgmString(PSTR(" G20")); } else { printPgmString(PSTR(" G21")); } From 67a87b46780d9883c1ea1ca86613df07ee98a37d Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Thu, 3 Jul 2014 18:20:05 -0600 Subject: [PATCH 59/67] Update README.md --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 1c46526..596e4a7 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,8 @@ Grbl includes full acceleration management with look ahead. That means the contr ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ -* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) (Last updated: 2013-12-07) +* [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) (Last updated: 2014-07-03) + - 2014-07-03: G18 reporting fix. - 2013-12-07: G18 and serial volatile fixes. - 2013-04-05: Line buffer increased and overflow feedback added. From 3aeb5d3d06d0b7852990595603008277855becd2 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Thu, 17 Jul 2014 07:33:53 -0600 Subject: [PATCH 60/67] Update README.md --- README.md | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 596e4a7..b3de7c0 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,8 @@ Grbl includes full acceleration management with look ahead. That means the contr * 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 Developers: Sonny Jeon, Ph.D. (2011-2014) and Simen Svale Skogsrud, a.k.a the O.G. (2009-2011) + ##Downloads (Right-Click and Save-Link-As): _**Master Branch:**_ * [Grbl v0.8c Atmega328p 16mhz 9600baud](http://bit.ly/SSdCJE) (Last updated: 2014-07-03) @@ -21,9 +23,18 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9a Build 2013-03-19](http://bit.ly/Y0tMHo) : Edge Branch - - New experimental stepper algorithm. Smoother. Axes acceleration and maximum velocity limits. Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. Updated g-code G10. 30kHz step rate absolute max. CAUTION: Bugs still exist. Settings WILL be over-written. Please let us know of any lingering bugs (except with homing). - +* [Grbl v0.9f Build 2014-07-07](http://bit.ly/UcljPG) : Edge Branch + - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! + - **IMPORTANT:** Baudrate is now 115200 (Up from 9600). Settings WILL be overwritten. Please make sure you have a backup. + - New super smooth stepping algorithm and (4x) planner optimizations and speed. + - Stability and robustness updates that allow you now put the pedal to the metal (up to 10x speed.) + - Independent axes settings and dynamic scaling for acceleration, max velocity, and travel. + - Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. + - Completely overhauled g-code parser with 100%* g-code compliance and error checking. + - Grbl SIMULATOR: Directly compile a virtual Grbl into an executable that doesn't require an Arduino! + - Other stuff: Soft limits, probing, tool length offsets, CPU pin mapping, updated homing routine. + - Optional features: Limit pin sharing, variable spindle speed output, line number tracking, real-time feed rate reporting, and more! + _**Archives:**_ * [Grbl v0.8a Atmega328p 16mhz 9600baud](http://bit.ly/TVCTVv) From 299c09d1776923728d28c936cf454424d15a7dcf Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sat, 26 Jul 2014 15:11:42 -0600 Subject: [PATCH 61/67] Updates to allow Arduino IDE direct compiling. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Only minor changes were required to make the Arduino IDE compile all of the Grbl’s source code (correctly using the C-compiler). Tested in Windows and Mac and with the normal USB upload and with a programmer. --- README.md | 2 ++ serial.c | 60 +++++++++++++++++++++++++++---------------------------- 2 files changed, 32 insertions(+), 30 deletions(-) diff --git a/README.md b/README.md index b3de7c0..8465638 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,8 @@ Grbl includes full acceleration management with look ahead. That means the contr * 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! +* Grbl may now be easily compiled and installed directly through the Arduino IDE! See the Wiki to learn how to do it. + * Lead Developers: Sonny Jeon, Ph.D. (2011-2014) and Simen Svale Skogsrud, a.k.a the O.G. (2009-2011) ##Downloads (Right-Click and Save-Link-As): diff --git a/serial.c b/serial.c index 0fa36d5..b341312 100644 --- a/serial.c +++ b/serial.c @@ -33,24 +33,24 @@ #include "motion_control.h" #include "protocol.h" -uint8_t rx_buffer[RX_BUFFER_SIZE]; -uint8_t rx_buffer_head = 0; -volatile uint8_t rx_buffer_tail = 0; +uint8_t serial_rx_buffer[RX_BUFFER_SIZE]; +uint8_t serial_rx_buffer_head = 0; +volatile uint8_t serial_rx_buffer_tail = 0; -uint8_t tx_buffer[TX_BUFFER_SIZE]; -uint8_t tx_buffer_head = 0; -volatile uint8_t tx_buffer_tail = 0; +uint8_t serial_tx_buffer[RX_BUFFER_SIZE]; +uint8_t serial_tx_buffer_head = 0; +volatile uint8_t serial_tx_buffer_tail = 0; #ifdef ENABLE_XONXOFF volatile uint8_t flow_ctrl = XON_SENT; // Flow control state variable // Returns the number of bytes in the RX buffer. This replaces a typical byte counter to prevent // the interrupt and main programs from writing to the counter at the same time. - static uint8_t get_rx_buffer_count() + static uint8_t get_serial_rx_buffer_count() { - if (rx_buffer_head == rx_buffer_tail) { return(0); } - if (rx_buffer_head < rx_buffer_tail) { return(rx_buffer_tail-rx_buffer_head); } - return (RX_BUFFER_SIZE - (rx_buffer_head-rx_buffer_tail)); + if (serial_rx_buffer_head == serial_rx_buffer_tail) { return(0); } + if (serial_rx_buffer_head < serial_rx_buffer_tail) { return(serial_rx_buffer_tail-serial_rx_buffer_head); } + return (RX_BUFFER_SIZE - (serial_rx_buffer_head-serial_rx_buffer_tail)); } #endif @@ -79,17 +79,17 @@ void serial_init() void serial_write(uint8_t data) { // Calculate next head - uint8_t next_head = tx_buffer_head + 1; + uint8_t next_head = serial_tx_buffer_head + 1; if (next_head == TX_BUFFER_SIZE) { next_head = 0; } // Wait until there is space in the buffer - while (next_head == tx_buffer_tail) { + while (next_head == serial_tx_buffer_tail) { if (sys.execute & EXEC_RESET) { return; } // Only check for abort to avoid an endless loop. } // Store data and advance head - tx_buffer[tx_buffer_head] = data; - tx_buffer_head = next_head; + serial_tx_buffer[serial_tx_buffer_head] = data; + serial_tx_buffer_head = next_head; // Enable Data Register Empty Interrupt to make sure tx-streaming is running UCSR0B |= (1 << UDRIE0); @@ -98,8 +98,8 @@ void serial_write(uint8_t data) { // Data Register Empty Interrupt handler ISR(SERIAL_UDRE) { - // Temporary tx_buffer_tail (to optimize for volatile) - uint8_t tail = tx_buffer_tail; + // Temporary serial_tx_buffer_tail (to optimize for volatile) + uint8_t tail = serial_tx_buffer_tail; #ifdef ENABLE_XONXOFF if (flow_ctrl == SEND_XOFF) { @@ -112,32 +112,32 @@ ISR(SERIAL_UDRE) #endif { // Send a byte from the buffer - UDR0 = tx_buffer[tail]; + UDR0 = serial_tx_buffer[tail]; // Update tail position tail++; if (tail == TX_BUFFER_SIZE) { tail = 0; } - tx_buffer_tail = tail; + serial_tx_buffer_tail = tail; } // Turn off Data Register Empty Interrupt to stop tx-streaming if this concludes the transfer - if (tail == tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); } + if (tail == serial_tx_buffer_head) { UCSR0B &= ~(1 << UDRIE0); } } uint8_t serial_read() { - uint8_t tail = rx_buffer_tail; // Temporary rx_buffer_tail (to optimize for volatile) - if (rx_buffer_head == tail) { + uint8_t tail = serial_rx_buffer_tail; // Temporary serial_rx_buffer_tail (to optimize for volatile) + if (serial_rx_buffer_head == tail) { return SERIAL_NO_DATA; } else { - uint8_t data = rx_buffer[tail]; + uint8_t data = serial_rx_buffer[tail]; tail++; if (tail == RX_BUFFER_SIZE) { tail = 0; } - rx_buffer_tail = tail; + serial_rx_buffer_tail = tail; #ifdef ENABLE_XONXOFF - if ((get_rx_buffer_count() < RX_BUFFER_LOW) && flow_ctrl == XOFF_SENT) { + if ((get_serial_rx_buffer_count() < serial_rx_buffer_LOW) && flow_ctrl == XOFF_SENT) { flow_ctrl = SEND_XON; UCSR0B |= (1 << UDRIE0); // Force TX } @@ -160,16 +160,16 @@ ISR(SERIAL_RX) case CMD_FEED_HOLD: sys.execute |= EXEC_FEED_HOLD; break; // Set as true case CMD_RESET: mc_reset(); break; // Call motion control reset routine. default: // Write character to buffer - next_head = rx_buffer_head + 1; + next_head = serial_rx_buffer_head + 1; if (next_head == RX_BUFFER_SIZE) { next_head = 0; } // Write data to buffer unless it is full. - if (next_head != rx_buffer_tail) { - rx_buffer[rx_buffer_head] = data; - rx_buffer_head = next_head; + if (next_head != serial_rx_buffer_tail) { + serial_rx_buffer[serial_rx_buffer_head] = data; + serial_rx_buffer_head = next_head; #ifdef ENABLE_XONXOFF - if ((get_rx_buffer_count() >= RX_BUFFER_FULL) && flow_ctrl == XON_SENT) { + if ((get_serial_rx_buffer_count() >= serial_rx_buffer_FULL) && flow_ctrl == XON_SENT) { flow_ctrl = SEND_XOFF; UCSR0B |= (1 << UDRIE0); // Force TX } @@ -181,7 +181,7 @@ ISR(SERIAL_RX) void serial_reset_read_buffer() { - rx_buffer_tail = rx_buffer_head; + serial_rx_buffer_tail = serial_rx_buffer_head; #ifdef ENABLE_XONXOFF flow_ctrl = XON_SENT; From 3081be8e7646328fea7c5e85529526184d395fd0 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Mon, 28 Jul 2014 06:55:43 -0600 Subject: [PATCH 62/67] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 8465638..b3716ef 100644 --- a/README.md +++ b/README.md @@ -25,16 +25,16 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9f Build 2014-07-07](http://bit.ly/UcljPG) : Edge Branch +* [Grbl v0.9g Build 2014-07-28](http://bit.ly/UFvD2T) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - - **IMPORTANT:** Baudrate is now 115200 (Up from 9600). Settings WILL be overwritten. Please make sure you have a backup. + - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed. - Stability and robustness updates that allow you now put the pedal to the metal (up to 10x speed.) - Independent axes settings and dynamic scaling for acceleration, max velocity, and travel. - - Automatic arc segment scaling by tolerance setting, leading to much faster feedrates about them. + - Automatic arc segment scaling by tolerance setting, leading to an order of magnitude faster feedrates about them. - Completely overhauled g-code parser with 100%* g-code compliance and error checking. - Grbl SIMULATOR: Directly compile a virtual Grbl into an executable that doesn't require an Arduino! - - Other stuff: Soft limits, probing, tool length offsets, CPU pin mapping, updated homing routine. + - Other stuff: Soft limits, probing, tool length offsets, status reporting mask and new data, CPU pin mapping, updated homing routine. - Optional features: Limit pin sharing, variable spindle speed output, line number tracking, real-time feed rate reporting, and more! From 4c97bfc929ee85e6b2adfab2bf0d738995853d61 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Fri, 1 Aug 2014 08:39:04 -0600 Subject: [PATCH 63/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b3716ef..15ef210 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9g Build 2014-07-28](http://bit.ly/UFvD2T) : Edge Branch +* [Grbl v0.9g Build 2014-08-01](http://bit.ly/1odKyNo) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed. From aa314776e01d90bf2c2b2d79f3263f0b985f2ef5 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Sun, 3 Aug 2014 21:12:51 -0600 Subject: [PATCH 64/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 15ef210..86af29f 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9g Build 2014-08-01](http://bit.ly/1odKyNo) : Edge Branch +* [Grbl v0.9g Build 2014-08-03](http://bit.ly/1opVkjK) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed. From b33c2dd842de324238df002835cf941e936dcae3 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Mon, 4 Aug 2014 05:54:15 -0600 Subject: [PATCH 65/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 86af29f..8388cf4 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9g Build 2014-08-03](http://bit.ly/1opVkjK) : Edge Branch +* [Grbl v0.9g Build 2014-08-04](http://bit.ly/1s4lpod) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed. From de5fa07d8a4f39fc6aec91c133280dca00bb303c Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Tue, 5 Aug 2014 16:21:18 -0600 Subject: [PATCH 66/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 8388cf4..634a9f7 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9g Build 2014-08-04](http://bit.ly/1s4lpod) : Edge Branch +* [Grbl v0.9g Build 2014-08-05](http://bit.ly/UZP32B) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed. From 86e7c9764cc3ac7236308e39daaea150d01191b3 Mon Sep 17 00:00:00 2001 From: Sonny Jeon Date: Wed, 13 Aug 2014 21:15:55 -0600 Subject: [PATCH 67/67] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 634a9f7..3b4022a 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ _**Master Branch:**_ - 2013-04-05: Line buffer increased and overflow feedback added. _**Edge/Development Branch:**_ -* [Grbl v0.9g Build 2014-08-05](http://bit.ly/UZP32B) : Edge Branch +* [Grbl v0.9g Build 2014-08-13](http://bit.ly/1Bfza9D) : Edge Branch - **BETA!** Bugs may exist. Please let us know of any bugs so we can quickly fix them and push this to master! - **IMPORTANT:** 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 Wiki for details. - New super smooth stepping algorithm and (4x) planner optimizations and speed.