Merge branch 'master' of https://github.com/cprezzi/grbl-LPC

DOCKER_LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 Ryan
+
+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.

DOCKER_README.md

@@ -0,0 +1,32 @@
+# Arm Embedded Docker Environment
+Minimal docker environment for building arm-embedded projects
+
+## Usage
+Run interactively with ```docker run -it --rm -v `pwd`:/root ryankurte/docker-arm-embedded /bin/bash```.  
+This will create a temporal instance (changes will be dropped on exit) with a binding from the current directory to the root user home directory.  
+
+If you are using selinux you may need to add a ```:z``` to the end of the -v parameter to indicate the mount is shared.
+
+```docker run -it --rm -v `pwd`:/root:z ryankurte/docker-arm-embedded /bin/bash```
+
+https://docs.docker.com/storage/bind-mounts/
+
+### Building grbl-LPC
+Update the grbl/config.h and uncomment the CPU_MAP define statement for the board you are compiling for
+
+```
+git submodule init
+git submodule update
+make
+```
+
+The resulting firmware file is build/firmware.bin
+
+## Includes:
+ - build-essential (native)
+ - make, cmake
+ - gawk, genromfs, ccache
+ - arm-none-eabi from [launchpad.net](https://launchpad.net/~terry.guo/+archive/ubuntu/gcc-arm-embedded)
+ - [Yotta](http://yotta.mbed.com/)
+
+ 

Dockerfile

@@ -0,0 +1,62 @@
+FROM ubuntu:latest
+MAINTAINER Ryan Kurte <ryankurte@gmail.com>
+LABEL Description="Docker image for building arm-embedded projects"
+
+# General dependencies
+RUN apt-get update && apt-get install -y \
+  git \
+  subversion \
+  curl \
+  cmake \
+  make \
+  automake \
+  autoconf \
+  python-setuptools \
+  ninja-build \
+  python-dev \
+  libtool \
+  unzip \
+  libffi-dev \
+  libssl-dev \
+  libusb-1.0.0 \
+  libusb-1.0.0-dev \
+  software-properties-common \
+  python-software-properties \
+  gawk \
+  genromfs \
+  ccache \
+  clang \
+  build-essential \
+  python3 \
+  python3-dev \
+  python3-pip \
+  libprotobuf-dev \
+  protobuf-compiler \
+  libprotobuf-c-dev \
+  protobuf-c-compiler \
+  python-protobuf
+
+# arm-none-eabi custom ppa
+RUN add-apt-repository ppa:team-gcc-arm-embedded/ppa && \
+  apt-get update && \
+  apt-get install -y gcc-arm-embedded
+
+# Yotta
+RUN easy_install pip && \
+  pip install yotta && \
+  mkdir -p /usr/local/lib/yotta_modules \
+  chown $USER /usr/local/lib/yotta_modules \
+  chmod 755 /usr/local/lib/yotta_modules
+
+# Pyserial for serial programming
+RUN pip install pyserial
+
+# STLink util
+RUN git clone https://github.com/texane/stlink.git && \
+  cd stlink && mkdir build && cd build && \
+  cmake .. && make && make install
+
+# Cleanup
+RUN apt-get clean && \
+  rm -rf /var/lib/apt
+

grbl-lpc/delay.cpp

@@ -22,11 +22,11 @@
 
 void delay_init()
 {
-    LPC_TIM3->CTCR = 0;   // timer mode
+    LPC_TIM3->CTCR = 0;   // Count Control (0=TimerMode, 1-3=EdgeCounterMode)
-    LPC_TIM3->PR = 0;     // no prescale
+    LPC_TIM3->PR = 0;     // no Prescale (TC increments ever PR+1 clocks)
-    LPC_TIM3->MCR = 0;    // no MR actions
+    LPC_TIM3->MCR = 0;    // no Match Control actions
-    LPC_TIM3->CCR = 0;    // no capture
+    LPC_TIM3->CCR = 0;    // no Capture Control actions
-    LPC_TIM3->EMR = 0;    // no external match
+    LPC_TIM3->EMR = 0;    // no External Match (controls external match pins)
-    LPC_TIM3->TCR = 0b10; // reset
+    LPC_TIM3->TCR = 0b10; // reset Timer Control (0b10=Reset, 0b01=Enable)
-    LPC_TIM3->TCR = 0b01; // enable
+    LPC_TIM3->TCR = 0b01; // enable Timer Control (0b10=Reset, 0b01=Enable)
 }

grbl-lpc/flash.cpp

@@ -25,37 +25,38 @@ static constexpr unsigned flash_addr = 0xF000;                    // Last 4k sec
 static constexpr unsigned flash_size = 1024;                      // Only using 1k of a 4k sector
 static char *flash_memory = (char *)flash_addr;                   // Flash memory
 static char flash_buffer[flash_size] __attribute__((aligned(4))); // Copy of flash memory
-using Iap = void(unsigned[], unsigned[]);                         // IAP entry point
+using Iap = void(unsigned[], unsigned[]);                         // IAP entry point function
-static const Iap *iap = (Iap *)0x1FFF1FF1;                        // IAP entry point
+static const Iap *iap = (Iap *)0x1FFF1FF1;                        // IAP entry point address
 
 void eeprom_init()
 {
-    memcpy(flash_buffer, flash_memory, flash_size);
+    memcpy(flash_buffer, flash_memory, flash_size);  // Copy flash memory into local flash buffer
 }
 
 void eeprom_commit()
 {
     if (!memcmp(flash_buffer, flash_memory, flash_size))
-        return;
+        return; // No changes to commit
     unsigned prepCommand[5] = {
-        50,
+        50,                     // Prepare sector(s) for write operation
-        flash_sector,
+        flash_sector,           // Start sector
-        flash_sector,
+        flash_sector,           // End sector
     };
     unsigned eraseCommand[5] = {
-        52,
+        52,                     // Erase sector(s)
-        flash_sector,
+        flash_sector,           // Start sector
-        flash_sector,
+        flash_sector,           // End sector
-        SystemCoreClock / 1000,
+        SystemCoreClock / 1000, // CPU clock frequency in kHz
     };
     unsigned writeCommand[5] = {
-        51,
+        51,                     // Copy RAM to Flash
-        flash_addr,
+        flash_addr,             // Destination flash address (256-byte boundary)
-        (unsigned)flash_buffer,
+        (unsigned)flash_buffer, // Source RAM address (word boundary)
-        flash_size,
+        flash_size,             // Number of bytes to write (must be: 256, 512, 1024, 4096)
-        SystemCoreClock / 1000,
+        SystemCoreClock / 1000, // CPU clock frequency in kHz
     };
     unsigned output[5];
+    // Run In-Application Programming (IAP) routines
     iap(prepCommand, output);
     iap(eraseCommand, output);
     iap(prepCommand, output);

grbl/config.h

@@ -38,13 +38,15 @@
 //#define CPU_MAP_MKS_SBASE       // MKS SBASE Board (NXP LPC1768 MCU)
 //#define CPU_MAP_AZTEEG_X5       // Azteeg X5 Board (NXP LPC1769 MCU)
 
-// Force Spincle PWM Pin 2.4 (default is P2.5)
+// Force other Spindle PWM Pin (default is P2.5)
+//#define SPINDLE_PWM_PIN_1_23
 //#define SPINDLE_PWM_PIN_2_4
 
 // Define machine type for machine specific defaults
 //#define DEFAULTS_GENERIC
 #define DEFAULTS_K40
 //#define DEFAULTS_FABKIT
+//#define DEFAULTS_JONAS
 
 // Serial baud rate
 // #define BAUD_RATE 230400
@@ -111,6 +113,7 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
+// NOTE: Homing cycle pattern is defined in Machine defaults!!!
 // #define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
 // #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
@@ -120,10 +123,9 @@
 
 // #define HOMING_CYCLE_0 (1<<X_AXIS)  // COREXY COMPATIBLE: First home X
 // #define HOMING_CYCLE_1 (1<<Y_AXIS)  // COREXY COMPATIBLE: Then home Y
-// Homing cycle pattern is defined in Machine defaults!!!
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
-// This help in preventing overshoot and should improve repeatability. This value should be one or
+// This helps in preventing overshoot and should improve repeatability. This value should be one or
 // greater.
 #define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
 

grbl/cpu_map.h

@@ -147,7 +147,7 @@
   #define SPINDLE_PWM_PORT    PORTB
   #define SPINDLE_PWM_BIT     3    // Uno Digital Pin 11
 
-#endif
+#endif // end of CPU_MAP_ATMEGA328P
 
 
 #ifdef CPU_MAP_SMOOTHIEBOARD // (Smoothieboards)
@@ -268,7 +268,7 @@
   #define SPINDLE_TCCRB_REGISTER    TCCR2B
   #define SPINDLE_OCR_REGISTER      OCR2A
   #define SPINDLE_COMB_BIT          COM2A1
-#endif
+#endif // end of CPU_MAP_SMOOTHIEBOARD
 
 
 #ifdef CPU_MAP_C3D_REMIX // (Cohesion3D Remix Boards)
@@ -371,7 +371,7 @@
   #define SPINDLE_TCCRB_REGISTER    TCCR2B
   #define SPINDLE_OCR_REGISTER      OCR2A
   #define SPINDLE_COMB_BIT          COM2A1
-#endif
+#endif // end of CPU_MAP_C3D_REMIX
 
 
 #ifdef CPU_MAP_C3D_MINI // (Cohesion3D Mini Boards)
@@ -474,7 +474,7 @@
   #define SPINDLE_TCCRB_REGISTER    TCCR2B
   #define SPINDLE_OCR_REGISTER      OCR2A
   #define SPINDLE_COMB_BIT          COM2A1
-#endif
+#endif // end of CPU_MAP_C3D_MINI
 
 
 #ifdef CPU_MAP_MKS_SBASE // (MKS SBASE Boards)
@@ -565,13 +565,19 @@
   // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
   // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
   // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
-  #ifdef SPINDLE_PWM_PIN_2_4
-    #define SPINDLE_PWM_CHANNEL         PWM1_CH5    // MOSFET3 (P2.4)
-  #else
   #define SPINDLE_PWM_CHANNEL           PWM1_CH6    // BED MOSFET (P2.5)
-  #endif
   #define SPINDLE_PWM_USE_PRIMARY_PIN   false
   #define SPINDLE_PWM_USE_SECONDARY_PIN true
+  #ifdef SPINDLE_PWM_PIN_1_23
+    #define SPINDLE_PWM_CHANNEL           PWM1_CH4    // MOSFET3 (P1.23)
+    #define SPINDLE_PWM_USE_PRIMARY_PIN   true
+    #define SPINDLE_PWM_USE_SECONDARY_PIN false
+  #endif
+  #ifdef SPINDLE_PWM_PIN_2_4
+    #define SPINDLE_PWM_CHANNEL           PWM1_CH5    // MOSFET3 (P1.23)
+    #define SPINDLE_PWM_USE_PRIMARY_PIN   false
+    #define SPINDLE_PWM_USE_SECONDARY_PIN true
+  #endif
 
   // Stepper current control
   #define CURRENT_I2C Driver_I2C1       // I2C driver for current control. Comment out to disable (for C3d boards!)
@@ -591,7 +597,7 @@
   #define SPINDLE_TCCRB_REGISTER    TCCR2B
   #define SPINDLE_OCR_REGISTER      OCR2A
   #define SPINDLE_COMB_BIT          COM2A1
-#endif
+#endif // end of CPU_MAP_MKS_SBASE
 
 
 #ifdef CPU_MAP_AZTEEG_X5 // (Azteeg X5 Boards)  not tested yet!
@@ -696,7 +702,7 @@
   #define SPINDLE_TCCRB_REGISTER    TCCR2B
   #define SPINDLE_OCR_REGISTER      OCR2A
   #define SPINDLE_COMB_BIT          COM2A1
-#endif
+#endif // end of CPU_MAP_AZTEEG_X5
 
 
 /*

grbl/defaults.h

@@ -29,54 +29,57 @@
 
 #ifdef DEFAULTS_GENERIC
   // Grbl generic default settings. Should work across different machines.
-  #define DEFAULT_X_STEPS_PER_MM 250.0
+  // See https://github.com/gnea/grbl/wiki/Grbl-v1.1-Configuration for setting descriptions.
-  #define DEFAULT_Y_STEPS_PER_MM 250.0
+  #define DEFAULT_X_STEPS_PER_MM 250.0       // $100 steps (X steps per mm)
-  #define DEFAULT_Z_STEPS_PER_MM 250.0
+  #define DEFAULT_Y_STEPS_PER_MM 250.0       // $101 steps (Y steps per mm)
-  #define DEFAULT_A_STEPS_PER_MM 160.0
+  #define DEFAULT_Z_STEPS_PER_MM 250.0       // $102 steps (Z steps per mm)
-  #define DEFAULT_X_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_A_STEPS_PER_MM 160.0       // $103 steps (A steps per mm)
-  #define DEFAULT_Y_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_X_MAX_RATE 500.0           // $110 mm/min (X max speed)
-  #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_Y_MAX_RATE 500.0           // $111 mm/min (Y max speed)
-  #define DEFAULT_A_MAX_RATE 500.0 // mm/min
+  #define DEFAULT_Z_MAX_RATE 500.0           // $112 mm/min (Z max speed)
-  #define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_A_MAX_RATE 500.0           // $113 mm/min (A max speed)
-  #define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_X_ACCELERATION (10.0*60*60)// $120 mm/min^2 (X max acceleration)
-  #define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (10.0*60*60)// $121 mm/min^2 (Y max acceleration)
-  #define DEFAULT_A_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (10.0*60*60)// $122 mm/min^2 (Z max acceleration)
-  #define DEFAULT_X_CURRENT 0.6 // amps
+  #define DEFAULT_A_ACCELERATION (10.0*60*60)// $123 mm/min^2 (A max acceleration)
-  #define DEFAULT_Y_CURRENT 0.6 // amps
+  #define DEFAULT_X_MAX_TRAVEL 200.0         // $130 mm (X max travel; must be positive)
-  #define DEFAULT_Z_CURRENT 0.0 // amps
+  #define DEFAULT_Y_MAX_TRAVEL 200.0         // $131 mm (Y max travel; must be positive)
-  #define DEFAULT_A_CURRENT 0.0 // amps
+  #define DEFAULT_Z_MAX_TRAVEL 200.0         // $132 mm (Z max travel; must be positive)
-  #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_A_MAX_TRAVEL 1.0           // $133 mm (A max travel; must be positive)
-  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_X_CURRENT 0.6              // $140 amps (X stepper current [disabled])
-  #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_Y_CURRENT 0.6              // $141 amps (Y stepper current [disabled])
-  #define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
+  #define DEFAULT_Z_CURRENT 0.0              // $142 amps (Z stepper current [disabled])
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz
+  #define DEFAULT_A_CURRENT 0.0              // $143 amps (A stepper current [disabled])
-  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+
-  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10 // $0  usec (stepper pulse time)
-  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25  // $1  msec (0-254, 255 keeps steppers enabled)
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_STEPPING_INVERT_MASK 0     // $2  ZYX (e.g., 0x5 inverts Z and X stepper pulses)
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
+  #define DEFAULT_DIRECTION_INVERT_MASK 0    // $3  ZYX (e.g., 0x2 inverts Y stepper direction)
-  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_INVERT_ST_ENABLE 0         // $4  bool (inverts stepper enable pin)
-  #define DEFAULT_STEPPING_INVERT_MASK 0
+  #define DEFAULT_INVERT_LIMIT_PINS 0        // $5  bool (inverts limit switches to trigger on high)
-  #define DEFAULT_DIRECTION_INVERT_MASK 0
+  #define DEFAULT_INVERT_PROBE_PIN 0         // $6  bool (inverts probe to trigger on high)
-  #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
+  #define DEFAULT_STATUS_REPORT_MASK 0       // $10 bits (Reports: [0=WPos or 1=MPos] and [2=Buffer])
-  #define DEFAULT_STATUS_REPORT_MASK 0      // WPos enabled
+  #define DEFAULT_JUNCTION_DEVIATION 0.01    // $11 mm (determines machine speed through corners)
-  #define DEFAULT_JUNCTION_DEVIATION 0.01   // mm
+  #define DEFAULT_ARC_TOLERANCE 0.002        // $12 mm (error tolerance on arcs/cicles)
-  #define DEFAULT_ARC_TOLERANCE 0.002       // mm
+  #define DEFAULT_REPORT_INCHES 0            // $13 bool (sets position reporting to inches)
-  #define DEFAULT_REPORT_INCHES 0           // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 0        // $20 bool (prevents moves outside *_MAX_TRAVEL; requires $23=1)
-  #define DEFAULT_INVERT_ST_ENABLE 0        // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 0        // $21 bool ([ignored] stops moving when limit switches triggered)
-  #define DEFAULT_INVERT_LIMIT_PINS 0       // false
+  #define DEFAULT_HOMING_ENABLE 0            // $22 bool (enables homing on startup)
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0       // false
+  #define DEFAULT_HOMING_DIR_MASK 0          // $23 ZYX (e.g., 0x3 reverses XY homing to negative direction)
-  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_HOMING_FEED_RATE 25.0      // $24 mm/min (homing precision location speed)
-  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_HOMING_SEEK_RATE 500.0     // $25 mm/min (homing search speed)
-  #define DEFAULT_LASER_MODE 0              // false
+  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250  // $26 msec (homing switch debounce: 0-65k)
-  #define DEFAULT_HOMING_ENABLE 0           // false
+  #define DEFAULT_HOMING_PULLOFF 1.0         // $27 mm (retracts this far from homing switch)
-  #define DEFAULT_HOMING_DIR_MASK 0         // move positive dir
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0     // $30 RPM (spindle speed for max 5V PWM output)
-  #define DEFAULT_HOMING_FEED_RATE 25.0     // mm/min
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0        // $31 RPM (spindle speed for min 20mV PWM output)
-  #define DEFAULT_HOMING_SEEK_RATE 500.0    // mm/min
+  #define DEFAULT_LASER_MODE 0               // $32 bool (adjusts spindle power with speed for lasers)
-  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000      // $33 Hz (PWM frequency for spindle)
-  #define DEFAULT_HOMING_PULLOFF 1.0        // mm
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0    // $34 % (% of PWM when spindle is off)
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1    // $35 % (% of PWM when spindle is at lowest setting)
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100  // $36 % (% of PWM when spindle is at highest setting)
+  // Up to 4 HOMING_CYCLE_x can be defined (0-3), specifying which axes are homed and in which order
   #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
-#endif
+#endif // end of DEFAULTS_GENERIC
 
 #ifdef DEFAULTS_K40
   // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
@@ -127,7 +130,7 @@
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 2.0        // mm
   #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
-#endif
+#endif // end of DEFAULTS_K40
 
 #ifdef DEFAULTS_FABKIT
   // Paste default settings definitions here.
@@ -179,7 +182,7 @@
   #define DEFAULT_HOMING_PULLOFF 2.0        // mm
   #define HOMING_CYCLE_0 (1<<Z_AXIS)
   #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))
-#endif
+#endif // end of DEFAULTS_FABKIT
 
 #ifdef DEFAULTS_SHERLINE_5400
   // Description: Sherline 5400 mill with three NEMA 23 Keling  KL23H256-21-8B 185 oz-in stepper motors,
@@ -222,7 +225,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 635.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_SHERLINE_5400
 
 #ifdef DEFAULTS_SHAPEOKO
   // Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
@@ -268,7 +271,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_SHAPEOKO
 
 #ifdef DEFAULTS_SHAPEOKO_2
   // Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
@@ -314,7 +317,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_SHAPEOKO_2
 
 #ifdef DEFAULTS_SHAPEOKO_3
   // Description: Shapeoko CNC mill with three NEMA 23 stepper motors, driven by CarbideMotion
@@ -359,7 +362,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 25 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 5.0 // mm
-#endif
+#endif // end of DEFAULTS_SHAPEOKO_3
 
 #ifdef DEFAULTS_X_CARVE_500MM
   // Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
@@ -405,7 +408,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 750.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_X_CARVE_500MM
 
 #ifdef DEFAULTS_X_CARVE_1000MM
   // Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
@@ -451,7 +454,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 750.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_X_CARVE_1000MM
 
 #ifdef DEFAULTS_ZEN_TOOLWORKS_7x7
   // Description: Zen Toolworks 7x7 mill with three Shinano SST43D2121 65oz-in NEMA 17 stepper motors.
@@ -495,7 +498,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 250.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_ZEN_TOOLWORKS_7x7
 
 #ifdef DEFAULTS_OXCNC
   // Grbl settings for OpenBuilds OX CNC Machine
@@ -535,7 +538,7 @@
   #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_OXCNC
 
 #ifdef DEFAULTS_SIMULATOR
   // Settings only for Grbl Simulator (www.github.com/grbl/grbl-sim)
@@ -575,6 +578,59 @@
   #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
+#endif // end of DEFAULTS_SIMULATOR
+
+#ifdef DEFAULTS_JONAS
+  // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
+  #define DEFAULT_X_STEPS_PER_MM 160.0      // 200 stepps/rev. * 32 microstepps / 40mm/rev
+  #define DEFAULT_Y_STEPS_PER_MM 160.0
+  #define DEFAULT_Z_STEPS_PER_MM 160.0
+  #define DEFAULT_A_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_A_MAX_RATE 24000.0        // mm/min
+  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_A_ACCELERATION (2500.0*60*60) // 2500*60*60 mm/min^2 = 2500 mm/sec^2
+  #define DEFAULT_X_CURRENT 0.6             // 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 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_A_MAX_TRAVEL 100.0        // mm NOTE: Must be a positive value.
+  #define DEFAULT_SPINDLE_PWM_FREQ 5000     // Hz (2000 - 20000)
+  #define DEFAULT_SPINDLE_PWM_OFF_VALUE 0   // %
+  #define DEFAULT_SPINDLE_PWM_MIN_VALUE 1   // %
+  #define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // %
+  #define DEFAULT_SPINDLE_RPM_MAX 1000.0    // rpm (S-value)
+  #define DEFAULT_SPINDLE_RPM_MIN 0.0       // rpm (S-value)
+  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
+  #define DEFAULT_STEPPING_INVERT_MASK 0
+  #define DEFAULT_DIRECTION_INVERT_MASK 3   // 3 = invert X+Y
+  #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 1       // true for microswitches / false for optical sensors
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1       // true
+  #define DEFAULT_HARD_LIMIT_ENABLE 0       // false
+  #define DEFAULT_INVERT_PROBE_PIN 0        // false
+  #define DEFAULT_LASER_MODE 1              // true
+  #define DEFAULT_HOMING_ENABLE 1           // true
+  #define DEFAULT_HOMING_DIR_MASK 1         // move top/left
+  #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 2.0        // mm
+  #define HOMING_CYCLE_0 (1<<Z_AXIS)  // First home Z to clear workspace
+  #define HOMING_CYCLE_1 (1<<X_AXIS)  // Then home X
+  #define HOMING_CYCLE_2 (1<<Y_AXIS)  // Then home Y
+#endif // end of DEFAULTS_JONAS
 
 #endif

grbl/limits.c

@@ -158,9 +158,9 @@ void limits_go_home(uint8_t cycle_mask)
 
   // Initialize variables used for homing computations.
   uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
-  uint32_t step_pin[N_AXIS];
+  uint32_t step_pin[N_AXIS]; // Tracks which pins correspond to which axes (reduces calls to get_step_pin_mask())
   float target[N_AXIS];
-  float max_travel = 0.0;
+  float max_travel = 0.0; // Maximum travel distance to move searching for limits
   uint8_t idx;
   for (idx=0; idx<N_AXIS; idx++) {
     // Initialize step pin masks
@@ -183,11 +183,12 @@ void limits_go_home(uint8_t cycle_mask)
   uint32_t limit_state, axislock, n_active_axis;
   do {
 
+    // convert current sys_position (steps) to target (mm) so unused axes remain in place
     system_convert_array_steps_to_mpos(target,sys_position);
 
     // Initialize and declare variables needed for homing routine.
-    axislock = 0;
+    axislock = 0; // Track which pins still need to find limits. Lock these axes by clearing these bits.
-    n_active_axis = 0;
+    n_active_axis = 0; // Track number of axes being homed
     for (idx=0; idx<N_AXIS; idx++) {
       // Set target location for active axes and setup computation for homing rate.
       if (bit_istrue(cycle_mask,bit(idx))) {
@@ -215,7 +216,7 @@ void limits_go_home(uint8_t cycle_mask)
           if (approach) { target[idx] = max_travel; }
           else { target[idx] = -max_travel; }
         }
-        // Apply axislock to the step port pins active in this cycle.
+        // Apply axislock to the step port pins active in this cycle, allowing motion
         axislock |= step_pin[idx];
       }
 
@@ -237,6 +238,7 @@ void limits_go_home(uint8_t cycle_mask)
         for (idx=0; idx<N_AXIS; idx++) {
           if (axislock & step_pin[idx]) {
             if (limit_state & (1 << idx)) {
+                // Clear the axislock bits to prevent axis from moving after limit is hit
                 #ifdef COREXY
                   if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
                   else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
@@ -297,7 +299,7 @@ void limits_go_home(uint8_t cycle_mask)
   // can be on either side of an axes, check and set axes machine zero appropriately. Also,
   // set up pull-off maneuver from axes limit switches that have been homed. This provides
   // some initial clearance off the switches and should also help prevent them from falsely
-  // triggering when hard limits are enabled or when more than one axes shares a limit pin.
+  // triggering when hard limits are enabled or when more than one axis shares a limit pin.
   int32_t set_axis_position;
   // Set machine positions for homed limit switches. Don't update non-homed axes.
   for (idx=0; idx<N_AXIS; idx++) {

grbl/main.c

@@ -42,13 +42,13 @@ int main(void)
 {
   // Initialize system upon power-up.
   debug_init();    // Initialize debug leds
-  isr_init();      // Set ISR priorities
+  isr_init();      // Set ISR priorities (stepper ISR uses Timer1)
-  delay_init();    // Setup delay timer
+  delay_init();    // Setup delay timer (uses Timer3)
   serial_init();   // Setup serial baud rate and interrupts
-  eeprom_init();   // Init EEPROM or FLASH
+  eeprom_init();   // Init EEPROM or Flash
   settings_init(); // Load Grbl settings from EEPROM
   current_init();  // Configure stepper driver current
-  stepper_init();  // Configure stepper pins and interrupt timers
+  stepper_init();  // Configure stepper pins and interrupt timers (uses Timer1)
   system_init();   // Configure pinout pins and pin-change interrupt
 
   memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
@@ -85,8 +85,8 @@ int main(void)
     sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
     sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
     memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
-    sys_probe_state = 0;
+    sys_probe_state = 0;   // PROBE_OFF
-    sys_rt_exec_state = 0;
+    sys_rt_exec_state = 0; // EXEC_STATUS_REPORT
     sys_rt_exec_alarm = 0;
     sys_rt_exec_motion_override = 0;
     sys_rt_exec_accessory_override = 0;
@@ -94,16 +94,16 @@ int main(void)
     // Reset Grbl primary systems.
     serial_reset_read_buffer(); // Clear serial read buffer
     gc_init();      // Set g-code parser to default state
-    spindle_init();
+    spindle_init(); // Configure spindle pins and PWM values
-    coolant_init();
+    coolant_init(); // Configure coolant pins
-    limits_init();
+    limits_init();  // Configure limit input pins and interrupts
-    probe_init();
+    probe_init();   // Configure probe input pin
     plan_reset();   // Clear block buffer and planner variables
     st_reset();     // Clear stepper subsystem variables.
 
     // Sync cleared gcode and planner positions to current system position.
-    plan_sync_position();
+    plan_sync_position(); // Synchronize plan position with (actual) system position
-    gc_sync_position();
+    gc_sync_position();   // Synchronize g-code position with (actual) system position
 
     // Print welcome message. Indicates an initialization has occured at power-up or with a reset.
     report_init_message();

grbl/probe.c

@@ -50,7 +50,13 @@ void probe_configure_invert_mask(uint8_t is_probe_away)
 
 
 // Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
-uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask); }
+uint8_t probe_get_state() { 
+	if ((PROBE_PIN & PROBE_MASK) ^ probe_invert_mask) {
+		return 1;
+	} else {
+		return 0;
+	}
+}
 
 
 // Monitors probe pin state and records the system position when detected. Called by the

grbl/settings.c

@@ -177,7 +177,7 @@ uint8_t settings_read_startup_line(uint8_t n, char *line)
   if (!(memcpy_from_eeprom_with_checksum((char*)line, addr, LINE_BUFFER_SIZE))) {
     // Reset line with default value
     line[0] = 0; // Empty line
-    settings_store_startup_line(n, line);
+    settings_store_startup_line(n, line); // Clear this startup line because it's corrupted
     return(false);
   }
   return(true);
@@ -190,7 +190,7 @@ uint8_t settings_read_build_info(char *line)
   if (!(memcpy_from_eeprom_with_checksum((char*)line, EEPROM_ADDR_BUILD_INFO, LINE_BUFFER_SIZE))) {
     // Reset line with default value
     line[0] = 0; // Empty line
-    settings_store_build_info(line);
+    settings_store_build_info(line); // Clear out build info string because it's corrupted
     return(false);
   }
   return(true);

grbl/settings.h

@@ -26,7 +26,7 @@
 
 
 // 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
+// when firmware is upgraded. Always stored in byte 0 of EEPROM.
 #define SETTINGS_VERSION 11  // NOTE: Check settings_reset() when moving to next version.
 
 // Define bit flag masks for the boolean settings in settings.flag.
@@ -56,6 +56,7 @@
 // NOTE: The Atmega328p has 1KB EEPROM. The upper half is reserved for parameters and
 // the startup script. The lower half contains the global settings and space for future
 // developments.
+// Note: Address 0 of EEPROM is reserved for SETTINGS_VERSION.
 #define EEPROM_ADDR_GLOBAL         1U
 #define EEPROM_ADDR_PARAMETERS     512U
 #define EEPROM_ADDR_STARTUP_BLOCK  768U
@@ -80,7 +81,7 @@ typedef struct {
   float steps_per_mm[N_AXIS];
   float max_rate[N_AXIS];
   float acceleration[N_AXIS];
-  float max_travel[N_AXIS];
+  float max_travel[N_AXIS];  // NOTE: Stored as a negative value
   float current[N_AXIS];
 
   // Remaining Grbl settings

grbl/stepper.c

@@ -235,9 +235,9 @@ void st_wake_up()
   #endif
 
   // Enable Stepper Driver Interrupt Timer
-  LPC_TIM1->TCR = 0b10;   // reset
+  LPC_TIM1->TCR = 0b10;   // reset Timer Control (0b10=Reset, 0b01=Enable)
-  LPC_TIM1->MR0 = 4000;   // Generate first interrupt soon
+  LPC_TIM1->MR0 = 4000;   // Generate first interrupt soon (Match Register for TC)
-  LPC_TIM1->TCR = 0b01;   // enable
+  LPC_TIM1->TCR = 0b01;   // enable Timer Control (0b10=Reset, 0b01=Enable)
 }
 
 
@@ -245,11 +245,11 @@ void st_wake_up()
 void st_go_idle()
 {
   // Disable Stepper Driver Interrupt. Allow Stepper Port Reset Interrupt to finish, if active.
-  LPC_TIM1->TCR = 0;          // Disable Timer1
+  LPC_TIM1->TCR = 0;          // Disable Timer1 Control (0b10=Reset, 0b01=Enable)
   busy = false;
 
   // Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
-  bool pin_state = false; // Keep enabled.
+  bool pin_state = false; // Stepper is disabled when pin_state is true. Keep enabled by default.
   if (((settings.stepper_idle_lock_time != 0xff) || sys_rt_exec_alarm || sys.state == STATE_SLEEP) && sys.state != STATE_HOMING) {
     // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
     // stop and not drift from residual inertial forces at the end of the last movement.
@@ -355,7 +355,7 @@ extern "C" void TIMER1_IRQHandler()
       #endif
 
       // Initialize step segment timing per step and load number of steps to execute.
-      LPC_TIM1->MR0 = st.exec_segment->cycles_per_tick;
+      LPC_TIM1->MR0 = st.exec_segment->cycles_per_tick;  // Set Match Register to wait one tick
       st.step_count = st.exec_segment->n_step; // NOTE: Can sometimes be zero when moving slow.
       // If the new segment starts a new planner block, initialize stepper variables and counters.
       // NOTE: When the segment data index changes, this indicates a new planner block.
@@ -570,17 +570,17 @@ void st_reset()
 void stepper_init()
 {
   // Configure step and direction interface pins
-  STEP_DDR |= STEP_MASK;
+  STEP_DDR |= STEP_MASK;                         // Set selected stepper step pins as outputs
-  STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK;
+  STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK; // Set selected stepper disable pins as outputs
-  DIRECTION_DDR |= DIRECTION_MASK;
+  DIRECTION_DDR |= DIRECTION_MASK;               // Set selected stepper direction pins as outputs
 
   // Configure Timer 1: Stepper Driver Interrupt
-  LPC_TIM1->TCR = 0;            // disable
+  LPC_TIM1->TCR = 0;            // disable Timer Control (0b10=Reset, 0b01=Enable)
-  LPC_TIM1->CTCR = 0;           // timer mode
+  LPC_TIM1->CTCR = 0;           // Count Control (0=TimerMode, 1-3=EdgeCounterMode)
-  LPC_TIM1->PR = 0;             // no prescale
+  LPC_TIM1->PR = 0;             // no Prescale (TC increments every PR+1 clocks)
-  LPC_TIM1->MCR = 0b011;        // MR0: !stop, reset, interrupt
+  LPC_TIM1->MCR = 0b011;        // Match Control (0b001=InterruptEnbl, 0b010=Reset_Enbl, 0b100=Stop_Enbl)
-  LPC_TIM1->CCR = 0;            // no capture
+  LPC_TIM1->CCR = 0;            // no Capture Control actions
-  LPC_TIM1->EMR = 0;            // no external match
+  LPC_TIM1->EMR = 0;            // no External Match (controls external match pins)
   NVIC_EnableIRQ(TIMER1_IRQn);  // Enable Stepper Driver Interrupt
 }
 

grbl/system.c

@@ -23,6 +23,7 @@
 
 void system_init()
 {
+  // Configure user control pins (for cycle start, reset, feed hold, etc.)
   CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
   #ifdef DISABLE_CONTROL_PIN_PULL_UP
     CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
@@ -195,7 +196,7 @@ uint8_t system_execute_line(char *line)
           if (!sys.abort) {  // Execute startup scripts after successful homing.
             sys.state = STATE_IDLE; // Set to IDLE when complete.
             st_go_idle(); // Set steppers to the settings idle state before returning.
-            if (line[2] == 0) { system_execute_startup(line); }
+            if (line[2] == 0) { system_execute_startup(line); } // Execute startup script again.
           }
           break;
         case 'S' : // Puts Grbl to sleep [IDLE/ALARM]