ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

Lot of refactoring for the future. CoreXY support.

Browse Source 
- Rudimentary CoreXY kinematics support. Didn’t test, but homing and
feed holds should work. See config.h. Please report successes and
issues as we find bugs.

- G40 (disable cutter comp) is now “supported”. Meaning that Grbl will
no longer issue an error when typically sent in g-code program header.

- Refactored coolant and spindle state setting into separate functions
for future features.

- Configuration option for fixing homing behavior when there are two
limit switches on the same axis sharing an input pin.

- Created a new “grbl.h” that will eventually be used as the main
include file for Grbl. Also will help simply uploading through the
Arduino IDE

- Separated out the alarms execution flags from the realtime (used be
called runtime) execution flag variable. Now reports exactly what
caused the alarm. Expandable for new alarms later on.

- Refactored the homing cycle to support CoreXY.

- Applied @EliteEng updates to Mega2560 support. Some pins were
reconfigured.

- Created a central step to position and vice versa function. Needed
for non-traditional cartesian machines. Should make it easier later.

- Removed the new CPU map for the Uno. No longer going to used. There
will be only one configuration to keep things uniform.
This commit is contained in:
Sonny Jeon
2015-01-14 22:14:52 -07:00
parent 7e67395463
commit 9be7b3d930
45 changed files with 529 additions and 15886 deletions
Download Patch File Download Diff File Expand all files Collapse all files

139
limits.c
View File

@ -2,7 +2,7 @@
limits.c - code pertaining to limit-switches and performing the homing cycle
Part of Grbl v0.9
Copyright (c) 2012-2014 Sungeun K. Jeon
Copyright (c) 2012-2015 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
@ -89,9 +89,9 @@ void limits_disable()
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
if (sys.state != STATE_ALARM) {
if (bit_isfalse(sys.execute,EXEC_ALARM)) {
if (!(sys.rt_exec_alarm)) {
mc_reset(); // Initiate system kill.
bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate hard limit critical event
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
}
}
}
@ -102,13 +102,13 @@ void limits_disable()
{
WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
if (bit_isfalse(sys.execute,EXEC_ALARM)) {
if (!(sys.rt_exec_alarm)) {
uint8_t bits = LIMIT_PIN;
// Check limit pin state.
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
if (bits & LIMIT_MASK) {
mc_reset(); // Initiate system kill.
bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate hard limit critical event
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
}
}
}
@ -121,7 +121,7 @@ void limits_disable()
// the trigger point of the limit switches. The rapid stops are handled by a system level axis lock
// mask, which prevents the stepper algorithm from executing step pulses. Homing motions typically
// circumvent the processes for executing motions in normal operation.
// NOTE: Only the abort runtime command can interrupt this process.
// NOTE: Only the abort realtime command can interrupt this process.
// TODO: Move limit pin-specific calls to a general function for portability.
void limits_go_home(uint8_t cycle_mask)
{
@ -140,7 +140,10 @@ void limits_go_home(uint8_t cycle_mask)
// Initialize limit and step pin masks
limit_pin[idx] = get_limit_pin_mask(idx);
step_pin[idx] = get_step_pin_mask(idx);
#ifdef COREXY
if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); }
#endif
// Determine travel distance to the furthest homing switch based on user max travel settings.
// NOTE: settings.max_travel[] is stored as a negative value.
if (max_travel > settings.max_travel[idx]) { max_travel = settings.max_travel[idx]; }
@ -148,6 +151,7 @@ void limits_go_home(uint8_t cycle_mask)
max_travel *= -HOMING_AXIS_SEARCH_SCALAR; // Ensure homing switches engaged by over-estimating max travel.
plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
plan_sync_position(); // Sync planner position to current machine position.
do {
// Initialize invert_pin boolean based on approach and invert pin user setting.
@ -157,20 +161,23 @@ void limits_go_home(uint8_t cycle_mask)
// Initialize and declare variables needed for homing routine.
uint8_t n_active_axis = 0;
uint8_t axislock = 0;
system_convert_array_steps_to_mpos(target,sys.position);
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))) {
n_active_axis++;
if (!approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
} else {
target[idx] = 0.0;
if (!approach) {
// Set target direction based on cycle mask
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] += max_travel; }
else { target[idx] -= max_travel; }
} else {
// Set target direction based on cycle mask
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] -= max_travel; }
else { target[idx] += max_travel; }
}
}
// Set target direction based on cycle mask
if (bit_istrue(settings.homing_dir_mask,bit(idx))) { target[idx] = -target[idx]; }
// Apply axislock to the step port pins active in this cycle.
if (bit_istrue(cycle_mask,bit(idx))) { axislock |= step_pin[idx]; }
}
@ -199,12 +206,14 @@ void limits_go_home(uint8_t cycle_mask)
}
sys.homing_axis_lock = axislock;
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Check only for user reset. No time to run protocol_execute_runtime() in this loop.
if (sys.execute & EXEC_RESET) { protocol_execute_runtime(); return; }
// Check only for user reset. No time to run protocol_execute_realtime() in this loop.
if (sys.rt_exec_state & EXEC_RESET) { protocol_execute_realtime(); return; }
} while (STEP_MASK & axislock);
st_reset(); // Immediately force kill steppers and reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure homing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
@ -220,45 +229,73 @@ void limits_go_home(uint8_t cycle_mask)
// 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.
#ifdef COREXY
int32_t off_axis_position = 0;
#endif
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++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
// do not move them.
// NOTE: settings.max_travel[] is stored as a negative value.
if (cycle_mask & bit(idx)) {
#ifdef HOMING_FORCE_SET_ORIGIN
sys.position[idx] = 0; // Set axis homed location as axis origin
target[idx] = settings.homing_pulloff;
if ( bit_isfalse(settings.homing_dir_mask,bit(idx)) ) { target[idx] = -target[idx]; }
#else
set_axis_position = 0;
#ifndef HOMING_FORCE_SET_ORIGIN
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
target[idx] = settings.homing_pulloff+settings.max_travel[idx];
sys.position[idx] = lround(settings.max_travel[idx]*settings.steps_per_mm[idx]);
} else {
target[idx] = -settings.homing_pulloff;
sys.position[idx] = 0;
set_axis_position = lround(settings.max_travel[idx]*settings.steps_per_mm[idx]);
}
#endif
} else { // Non-active cycle axis. Set target to not move during pull-off.
target[idx] = (float)sys.position[idx]/settings.steps_per_mm[idx];
#ifdef COREXY
if (idx==X_AXIS) {
off_axis_position = (sys.position[B_MOTOR] - sys.position[A_MOTOR])/2;
sys.position[A_MOTOR] = set_axis_position - off_axis_position;
sys.position[B_MOTOR] = set_axis_position + off_axis_position;
} else if (idx==Y_AXIS) {
off_axis_position = (sys.position[A_MOTOR] + sys.position[B_MOTOR])/2;
sys.position[A_MOTOR] = off_axis_position - set_axis_position;
sys.position[B_MOTOR] = off_axis_position + set_axis_position;
} else {
sys.position[idx] = set_axis_position;
}
#else
sys.position[idx] = set_axis_position;
#endif
}
}
plan_sync_position(); // Sync planner position to current machine position for pull-off move.
plan_sync_position(); // Sync planner position to homed machine position.
// Set pull-off motion target. Seperated from above loop if target is dependent on sys.position.
if (settings.homing_pulloff > 0.0) {
for (idx=0; idx<N_AXIS; idx++) {
if (cycle_mask & bit(idx)) {
#ifdef HOMING_FORCE_SET_ORIGIN
target[idx] = settings.homing_pulloff;
if ( bit_isfalse(settings.homing_dir_mask,bit(idx)) ) { target[idx] = -target[idx]; }
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
target[idx] = settings.homing_pulloff+settings.max_travel[idx];
} else {
target[idx] = -settings.homing_pulloff;
}
#endif
} else {
// Non-active cycle axis. Set target to not move during pull-off.
target[idx] = system_convert_axis_steps_to_mpos(sys.position, idx);
}
}
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
#else
plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
#endif
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, settings.homing_seek_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan motion.
#else
plan_buffer_line(target, settings.homing_seek_rate, false); // Bypass mc_line(). Directly plan motion.
#endif
// Initiate pull-off using main motion control routines.
// TODO : Clean up state routines so that this motion still shows homing state.
sys.state = STATE_QUEUED;
bit_true_atomic(sys.execute, EXEC_CYCLE_START);
protocol_execute_runtime();
protocol_buffer_synchronize(); // Complete pull-off motion.
// Initiate pull-off using main motion control routines.
// TODO : Clean up state routines so that this motion still shows homing state.
sys.state = STATE_QUEUED;
bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START);
protocol_execute_realtime();
protocol_buffer_synchronize(); // Complete pull-off motion.
}
// Set system state to homing before returning.
sys.state = STATE_HOMING;
@ -291,16 +328,16 @@ void limits_soft_check(float *target)
// workspace volume so just come to a controlled stop so position is not lost. When complete
// enter alarm mode.
if (sys.state == STATE_CYCLE) {
bit_true_atomic(sys.execute, EXEC_FEED_HOLD);
bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD);
do {
protocol_execute_runtime();
protocol_execute_realtime();
if (sys.abort) { return; }
} while ( sys.state != STATE_IDLE || sys.state != STATE_QUEUED);
}
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
bit_true_atomic(sys.execute, (EXEC_ALARM | EXEC_CRIT_EVENT)); // Indicate soft limit critical event
protocol_execute_runtime(); // Execute to enter critical event loop and system abort
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_SOFT_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate soft limit critical event
protocol_execute_realtime(); // Execute to enter critical event loop and system abort
return;
}
}