From 50c13a18682945aabd030e1f7b76677f2e054e78 Mon Sep 17 00:00:00 2001
From: cprezzi <cprezzi@comsulting.ch>
Date: Thu, 18 May 2017 23:10:44 +0200
Subject: [PATCH] Moved homing origin to bottom/left instead of top/right

---
 README.md       | 26 ++++++++++++--------------
 grbl/config.h   | 37 ++++++++++++++++++++-----------------
 grbl/defaults.h | 44 --------------------------------------------
 grbl/limits.c   | 12 ++++++++++--
 grbl/report.c   |  6 ------
 grbl/system.c   |  6 +++++-
 6 files changed, 47 insertions(+), 84 deletions(-)

diff --git a/README.md b/README.md
index 02d983f..24a28c7 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,8 @@
 ![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)
 
 ***
-_Click the `Release` tab to download pre-compiled `.bin` files or just [click here](https://github.com/cprezzi/grbl-LPC/releases)_
+Old releases are in the `Release` tab. See [cprezzi's branch](https://github.com/cprezzi/grbl-LPC) for more recent releases.
+Note: cprezzi's branch disables current control and has defaults more suitable for other boards.
 ***
 This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.
 
@@ -12,23 +13,20 @@ Usage notes:
 * Only tested with lasers with PWM. Non-PWM spindle control not ported.
 * These are defaults for easy-to-change config values.
   * WPos enabled for LaserWeb compatability ($10=0)
-  * Maximum S value: 1000.0 ($30)
+  * Laser mode: ON ($32)
   * Minimum S value: 0.0 ($31)
-  * Laser mode: 1 ($32)
-* New configuration settings
-  * $33 is PWM frequency in Hz
-  * $34 is PWM off value in %
-  * $35 is PWM min value in %
-  * $36 is PWM max value in %
-  * $140 is X current (amps)
-  * $141 is Y current (amps)
-  * $142 is Z current (amps)
-  * Currents default to 0.0 amps to avoid burning out your motors/drivers
-  * Your motors will likely stall if you don't set these!
-
+  * Maximum S value: 1.0 ($30)
 * Hard limits not yet ported
 * Control inputs not yet ported (e.g. Cycle Start and Safety Door switches)
 
+New configuration settings
+* $33 is PWM frequency in Hz
+* $34 is PWM off value in %
+* $35 is PWM min value in %
+* $36 is PWM max value in %
+* $140, $141, $142 are X, Y, Z current (amps)
+  * Default to 0.0 A to avoid burning out your motors
+  * Your motors will likely stall if you don't set these!
 
 Build notes:
 * Include ```make``` and the ```arm-none-eabi-*``` tools in your path.
diff --git a/grbl/config.h b/grbl/config.h
index 460a361..2637640 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -129,6 +129,9 @@
 // define to force Grbl to always set the machine origin at the homed location despite switch orientation.
 // #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
 
+// Uncomment this define to force Grbl to always set the machine origin at bottom left.
+#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
+
 // Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
 // and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
 // be stored and executed in order. These startup blocks would typically be used to set the g-code
@@ -661,7 +664,7 @@
 #define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
 #define Y_LIMIT_BIT       26  // Y-MIN=26, Y-MAX=27
 #define Z_LIMIT_BIT	      29  // Z-MIN=28, Z-MAX=29
-#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) //|(1<<Z_LIMIT_BIT)) // All limit bits
+#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
 // hard limits not ported    #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
 // hard limits not ported    #define LIMIT_INT_vect   PCINT0_vect
 // hard limits not ported    #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
@@ -712,10 +715,10 @@
 #define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
 
 // Define probe switch input pin.
-#define PROBE_DDR       NotUsed
-#define PROBE_PIN       NotUsed
-#define PROBE_PORT      NotUsed
-#define PROBE_BIT       5  // Uno Analog Pin 5
+#define PROBE_DDR       NotUsed // LPC_GPIO1->FIODIR
+#define PROBE_PIN       NotUsed // LPC_GPIO1->FIOPIN
+#define PROBE_PORT      NotUsed // LPC_GPIO1->FIOPIN
+#define PROBE_BIT       5
 #define PROBE_MASK      (1<<PROBE_BIT)
 
 // The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
@@ -729,9 +732,9 @@
 
 // Stepper current control
 //#define CURRENT_I2C Driver_I2C1         // I2C driver for current control. Comment out to disable.
-#define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
-#define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
-#define CURRENT_FACTOR 113.33           // Convert amps to digipot value
+//#define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
+//#define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
+//#define CURRENT_FACTOR 113.33           // Convert amps to digipot value
 
 // Paste default settings definitions here.
 #define DEFAULT_X_STEPS_PER_MM 160.0
@@ -739,17 +742,17 @@
 #define DEFAULT_Z_STEPS_PER_MM 160.0
 #define DEFAULT_X_MAX_RATE 24000 // mm/min
 #define DEFAULT_Y_MAX_RATE 24000 // mm/min
-#define DEFAULT_Z_MAX_RATE 24000 // mm/min
+#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
 #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
 #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
 #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_X_CURRENT 0.0 // amps
-#define DEFAULT_Y_CURRENT 0.0 // amps
+#define DEFAULT_X_CURRENT 0.4 // amps
+#define DEFAULT_Y_CURRENT 0.6 // amps
 #define DEFAULT_Z_CURRENT 0.0 // amps
 #define DEFAULT_A_CURRENT 0.0  // amps
 #define DEFAULT_X_MAX_TRAVEL 300.0 // mm
 #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
+#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
 #define DEFAULT_SPINDLE_PWM_FREQ          5000        // Hz
 #define DEFAULT_SPINDLE_PWM_OFF_VALUE     0.0         // Percent
 #define DEFAULT_SPINDLE_PWM_MIN_VALUE     0.0         // Percent
@@ -758,23 +761,23 @@
 #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
 #define DEFAULT_STEPPING_INVERT_MASK 0
-#define DEFAULT_DIRECTION_INVERT_MASK 0
+#define DEFAULT_DIRECTION_INVERT_MASK 3
 #define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
 #define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
 #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
 #define DEFAULT_ARC_TOLERANCE 0.002 // mm
 #define DEFAULT_REPORT_INCHES 0 // false
 #define DEFAULT_INVERT_ST_ENABLE 0 // false
-#define DEFAULT_INVERT_LIMIT_PINS 3 // false
+#define DEFAULT_INVERT_LIMIT_PINS 1 // false
 #define DEFAULT_SOFT_LIMIT_ENABLE 1 // false
 #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
 #define DEFAULT_INVERT_PROBE_PIN 0 // false
 #define DEFAULT_LASER_MODE 1 // true
-#define DEFAULT_HOMING_ENABLE 0  // false
-#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
+#define DEFAULT_HOMING_ENABLE 1  // false
+#define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
 #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
 #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
 #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-#define DEFAULT_HOMING_PULLOFF 1.0 // mm
+#define DEFAULT_HOMING_PULLOFF 2.0 // mm
 
 #endif
diff --git a/grbl/defaults.h b/grbl/defaults.h
index ff30f8a..84508f2 100644
--- a/grbl/defaults.h
+++ b/grbl/defaults.h
@@ -41,7 +41,6 @@
   #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
   #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
   #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@@ -66,49 +65,6 @@
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
 #endif
 
-#ifdef DEFAULTS_K40
-  // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
-  #define DEFAULT_X_STEPS_PER_MM 160.0
-  #define DEFAULT_Y_STEPS_PER_MM 160.0
-  #define DEFAULT_Z_STEPS_PER_MM 160.0
-  #define DEFAULT_X_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_X_CURRENT 0.0 // amps
-  #define DEFAULT_Y_CURRENT 0.0 // amps
-  #define DEFAULT_Z_CURRENT 0.0 // amps
-  #define DEFAULT_A_CURRENT 0.0  // amps
-  #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
-  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
-  #define DEFAULT_STEPPING_INVERT_MASK 0
-  #define DEFAULT_DIRECTION_INVERT_MASK 0
-  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-  #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-  #define DEFAULT_ARC_TOLERANCE 0.002 // mm
-  #define DEFAULT_REPORT_INCHES 0 // false
-  #define DEFAULT_INVERT_ST_ENABLE 0 // false
-  #define DEFAULT_INVERT_LIMIT_PINS 1 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_INVERT_PROBE_PIN 0 // false
-  #define DEFAULT_LASER_MODE 1 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
-  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
-
 #ifdef DEFAULTS_SHERLINE_5400
   // 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.
diff --git a/grbl/limits.c b/grbl/limits.c
index d4eeb23..beee6c8 100644
--- a/grbl/limits.c
+++ b/grbl/limits.c
@@ -307,9 +307,17 @@ void limits_go_home(uint8_t cycle_mask)
         set_axis_position = 0;
       #else
         if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
-          set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround((settings.max_travel[idx]-settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #endif
         } else {
-          set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = lround(-settings.max_travel[idx]*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #endif
         }
       #endif
 
diff --git a/grbl/report.c b/grbl/report.c
index 288c4a6..a63ebb7 100644
--- a/grbl/report.c
+++ b/grbl/report.c
@@ -71,7 +71,6 @@ static void report_util_setting_string(uint8_t n) {
     case 30: printPgmString(PSTR("rpm max")); break;
     case 31: printPgmString(PSTR("rpm min")); break;
     case 32: printPgmString(PSTR("laser")); break;
-    case 33: printPgmString(PSTR("spindle_pwm_freq")); break;
     default:
       n -= AXIS_SETTINGS_START_VAL;
       uint8_t idx = 0;
@@ -97,11 +96,6 @@ static void report_util_uint8_setting(uint8_t n, int val) {
   print_uint8_base10(val); 
   report_util_line_feed(); // report_util_setting_string(n); 
 }
-static void report_util_uint32_setting(uint8_t n, int val) { 
-  report_util_setting_prefix(n); 
-  print_uint32_base10(val); 
-  report_util_line_feed(); // report_util_setting_string(n); 
-}
 static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) { 
   report_util_setting_prefix(n); 
   printFloat(val,n_decimal);
diff --git a/grbl/system.c b/grbl/system.c
index 413aa7b..03a8aeb 100644
--- a/grbl/system.c
+++ b/grbl/system.c
@@ -342,7 +342,11 @@ uint8_t system_check_travel_limits(float *target)
       }
     #else
       // NOTE: max_travel is stored as negative
-      if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+      #ifdef HOMING_FORCE_POSITIVE_SPACE
+        if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
+      #else
+        if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
+      #endif
     #endif
   }
   return(false);