Added grbl planner Matlab simulator for test reference. Updated line number compile-time option.
- Added a grbl planner simulation tool that was written in Matlab and Python. It was used to visualize the inner workings of the planner as a program is streamed to it. The simulation assumes that the planner buffer is empty, then filled, and kept filled. This is mainly for users to see how the planner works. - Updated some of the compile-time ifdefs when enabling line numbers. The leaving the un-used line numbers in the function calls eats a non-neglible amount of flash memory. So the new if-defs remove them.
This commit is contained in:
72
limits.c
72
limits.c
@ -50,9 +50,9 @@ void limits_init()
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}
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#ifdef ENABLE_SOFTWARE_DEBOUNCE
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MCUSR &= ~(1<<WDRF);
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WDTCSR |= (1<<WDCE) | (1<<WDE);
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WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
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MCUSR &= ~(1<<WDRF);
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WDTCSR |= (1<<WDCE) | (1<<WDE);
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WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
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#endif
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}
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@ -76,38 +76,38 @@ void limits_disable()
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// special pinout for an e-stop, but it is generally recommended to just directly connect
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// your e-stop switch to the Arduino reset pin, since it is the most correct way to do this.
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#ifndef ENABLE_SOFTWARE_DEBOUNCE
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ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
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{
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// Ignore limit switches if already in an alarm state or in-process of executing an alarm.
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// When in the alarm state, Grbl should have been reset or will force a reset, so any pending
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// moves in the planner and serial buffers are all cleared and newly sent blocks will be
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// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
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// limit setting if their limits are constantly triggering after a reset and move their axes.
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if (sys.state != STATE_ALARM) {
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
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{
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// Ignore limit switches if already in an alarm state or in-process of executing an alarm.
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// When in the alarm state, Grbl should have been reset or will force a reset, so any pending
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// moves in the planner and serial buffers are all cleared and newly sent blocks will be
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// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
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// limit setting if their limits are constantly triggering after a reset and move their axes.
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if (sys.state != STATE_ALARM) {
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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#else // OPTIONAL: Software debounce limit pin routine.
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// Upon limit pin change, enable watchdog timer to create a short delay.
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ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
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ISR(WDT_vect) // Watchdog timer ISR
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{
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WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
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if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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uint8_t bits = LIMIT_PIN;
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// Check limit pin state.
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
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if (bits & LIMIT_MASK) {
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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#else // OPTIONAL: Software debounce limit pin routine.
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// Upon limit pin change, enable watchdog timer to create a short delay.
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ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
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ISR(WDT_vect) // Watchdog timer ISR
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{
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WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
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if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
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if (bit_isfalse(sys.execute,EXEC_ALARM)) {
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uint8_t bits = LIMIT_PIN;
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// Check limit pin state.
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
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if (bits & LIMIT_MASK) {
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mc_reset(); // Initiate system kill.
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sys.execute |= EXEC_CRIT_EVENT; // Indicate hard limit critical event
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}
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}
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}
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}
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}
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}
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#endif
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@ -168,7 +168,11 @@ void limits_go_home(uint8_t cycle_mask)
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// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
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uint8_t limit_state;
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#ifdef USE_LINE_NUMBERS
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plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
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#else
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plan_buffer_line(target, homing_rate, false); // Bypass mc_line(). Directly plan homing motion.
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#endif
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st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
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st_wake_up(); // Initiate motion
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do {
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@ -225,8 +229,12 @@ void limits_go_home(uint8_t cycle_mask)
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}
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}
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plan_sync_position(); // Sync planner position to current machine position for pull-off move.
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#ifdef USE_LINE_NUMBERS
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plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
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#else
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plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
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#endif
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// Initiate pull-off using main motion control routines.
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// TODO : Clean up state routines so that this motion still shows homing state.
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sys.state = STATE_QUEUED;
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