Added comments throughout code
This commit is contained in:
B. Perry
parent
ac6817f7e2
commit
a7ba369987
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@ -22,11 +22,11 @@
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void delay_init()
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{
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LPC_TIM3->CTCR = 0; // timer mode
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LPC_TIM3->PR = 0; // no prescale
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LPC_TIM3->MCR = 0; // no MR actions
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LPC_TIM3->CCR = 0; // no capture
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LPC_TIM3->EMR = 0; // no external match
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LPC_TIM3->TCR = 0b10; // reset
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LPC_TIM3->TCR = 0b01; // enable
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LPC_TIM3->CTCR = 0; // Count Control (0=TimerMode, 1-3=EdgeCounterMode)
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LPC_TIM3->PR = 0; // no Prescale (TC increments ever PR+1 clocks)
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LPC_TIM3->MCR = 0; // no Match Control actions
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LPC_TIM3->CCR = 0; // no Capture Control actions
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LPC_TIM3->EMR = 0; // no External Match (controls external match pins)
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LPC_TIM3->TCR = 0b10; // reset Timer Control (0b10=Reset, 0b01=Enable)
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LPC_TIM3->TCR = 0b01; // enable Timer Control (0b10=Reset, 0b01=Enable)
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}
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@ -25,37 +25,38 @@ static constexpr unsigned flash_addr = 0xF000; // Last 4k sec
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static constexpr unsigned flash_size = 1024; // Only using 1k of a 4k sector
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static char *flash_memory = (char *)flash_addr; // Flash memory
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static char flash_buffer[flash_size] __attribute__((aligned(4))); // Copy of flash memory
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using Iap = void(unsigned[], unsigned[]); // IAP entry point
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static const Iap *iap = (Iap *)0x1FFF1FF1; // IAP entry point
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using Iap = void(unsigned[], unsigned[]); // IAP entry point function
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static const Iap *iap = (Iap *)0x1FFF1FF1; // IAP entry point address
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void eeprom_init()
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{
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memcpy(flash_buffer, flash_memory, flash_size);
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memcpy(flash_buffer, flash_memory, flash_size); // Copy flash memory into local flash buffer
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}
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void eeprom_commit()
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{
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if (!memcmp(flash_buffer, flash_memory, flash_size))
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return;
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return; // No changes to commit
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unsigned prepCommand[5] = {
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50,
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flash_sector,
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flash_sector,
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50, // Prepare sector(s) for write operation
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flash_sector, // Start sector
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flash_sector, // End sector
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};
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unsigned eraseCommand[5] = {
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52,
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flash_sector,
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flash_sector,
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SystemCoreClock / 1000,
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52, // Erase sector(s)
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flash_sector, // Start sector
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flash_sector, // End sector
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SystemCoreClock / 1000, // CPU clock frequency in kHz
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};
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unsigned writeCommand[5] = {
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51,
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flash_addr,
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(unsigned)flash_buffer,
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flash_size,
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SystemCoreClock / 1000,
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51, // Copy RAM to Flash
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flash_addr, // Destination flash address (256-byte boundary)
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(unsigned)flash_buffer, // Source RAM address (word boundary)
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flash_size, // Number of bytes to write (must be: 256, 512, 1024, 4096)
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SystemCoreClock / 1000, // CPU clock frequency in kHz
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};
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unsigned output[5];
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// Run In-Application Programming (IAP) routines
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iap(prepCommand, output);
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iap(eraseCommand, output);
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iap(prepCommand, output);
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@ -125,7 +125,7 @@
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// #define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
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// Number of homing cycles performed after when the machine initially jogs to limit switches.
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// This help in preventing overshoot and should improve repeatability. This value should be one or
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// This helps in preventing overshoot and should improve repeatability. This value should be one or
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// greater.
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#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
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@ -63,7 +63,7 @@
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#define X_LIMIT_BIT 1 // Uno Digital Pin 9
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#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
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#ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.
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#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
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#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
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#else
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#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
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#endif
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@ -96,9 +96,9 @@
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#define COOLANT_FLOOD_DDR DDRC
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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// Define user-control controls (cycle start, reset, feed hold) input pins.
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// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
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@ -130,10 +130,10 @@
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#endif
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#define SPINDLE_COMB_BIT COM2A1
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// Prescaled, 8-bit Fast PWM mode.
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#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
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@ -143,11 +143,11 @@
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#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
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// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
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#define SPINDLE_PWM_DDR DDRB
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#define SPINDLE_PWM_DDR DDRB
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#define SPINDLE_PWM_PORT PORTB
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#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
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#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
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#endif
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#endif // end of CPU_MAP_ATMEGA328P
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#ifdef CPU_MAP_SMOOTHIEBOARD // (Smoothieboards)
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@ -190,7 +190,7 @@
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#define LIMIT_PORT LPC_GPIO1->FIOPIN
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#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
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#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define A_LIMIT_BIT 29 // reuse p1.29
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
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@ -200,7 +200,7 @@
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#define COOLANT_FLOOD_BIT 4 // SMALL MOSFET Q8 (P2.4)
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#define COOLANT_MIST_DDR LPC_GPIO2->FIODIR
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#define COOLANT_MIST_PORT LPC_GPIO2->FIOPIN
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#define COOLANT_MIST_BIT 6 // SMALL MOSFET Q9 (P2.6)
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#define COOLANT_MIST_BIT 6 // SMALL MOSFET Q9 (P2.6)
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#define ENABLE_M7 // enables COOLANT MIST
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// Define user-control controls (cycle start, reset, feed hold) input pins.
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@ -252,11 +252,11 @@
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#endif
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//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#endif
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#define SPINDLE_COMB_BIT COM2A1
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#endif // end of CPU_MAP_SMOOTHIEBOARD
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#ifdef CPU_MAP_C3D_REMIX // (Cohesion3D Remix Boards)
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@ -299,7 +299,7 @@
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#define LIMIT_PORT LPC_GPIO1->FIOPIN
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#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
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#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define A_LIMIT_BIT 29 // reuse p1.29 from Z-MAX
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
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@ -355,11 +355,11 @@
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#endif
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//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#endif
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#define SPINDLE_COMB_BIT COM2A1
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#endif // end of CPU_MAP_C3D_REMIX
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#ifdef CPU_MAP_C3D_MINI // (Cohesion3D Mini Boards)
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@ -402,7 +402,7 @@
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#define LIMIT_PORT LPC_GPIO1->FIOPIN
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#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
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#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define A_LIMIT_BIT 29 // reuse p1.29 from Z-MAX
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
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@ -458,11 +458,11 @@
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#endif
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//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#endif
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#define SPINDLE_COMB_BIT COM2A1
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#endif // end of CPU_MAP_C3D_MINI
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#ifdef CPU_MAP_MKS_SBASE // (MKS SBASE Boards)
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@ -505,7 +505,7 @@
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#define LIMIT_PORT LPC_GPIO1->FIOPIN
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#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
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#define Y_LIMIT_BIT 26 // Y-MIN=26, Y-MAX=27
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define Z_LIMIT_BIT 28 // Z-MIN=28, Z-MAX=29
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#define A_LIMIT_BIT 29 // reuse p1.29
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
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@ -573,11 +573,11 @@
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#endif
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//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#endif
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#define SPINDLE_COMB_BIT COM2A1
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#endif // end of CPU_MAP_MKS_SBASE
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#ifdef CPU_MAP_AZTEEG_X5 // (Azteeg X5 Boards) not tested yet!
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@ -620,7 +620,7 @@
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#define LIMIT_PORT LPC_GPIO1->FIOPIN
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#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=27
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#define Y_LIMIT_BIT 25 // Y-MIN=25, Y-MAX=28
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#define Z_LIMIT_BIT 26 // Z-MIN=26, Z-MAX=29
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#define Z_LIMIT_BIT 26 // Z-MIN=26, Z-MAX=29
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#define A_LIMIT_BIT 27 // reuse p1.27, as X-MAX is not used
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
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@ -632,7 +632,7 @@
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#define COOLANT_MIST_PORT LPC_GPIO2->FIOPIN
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#define COOLANT_MIST_BIT 7 // BED MOSFET (P2.7)
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#define ENABLE_M7 // enables COOLANT MIST
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// Define user-control controls (cycle start, reset, feed hold) input pins.
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// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
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#define CONTROL_DDR NotUsed
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@ -658,8 +658,8 @@
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// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
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//
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// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
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// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
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// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
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// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
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// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
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#ifdef SPINDLE_PWM_PIN_2_4
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#define SPINDLE_PWM_CHANNEL PWM1_CH5 // MOSFET3 (P2.4)
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#else
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@ -678,11 +678,11 @@
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#endif
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//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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#endif
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#define SPINDLE_COMB_BIT COM2A1
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#endif // end of CPU_MAP_AZTEEG_X5
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/*
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@ -77,7 +77,7 @@
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#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0 // $34 % (% of PWM when spindle is off)
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#define DEFAULT_SPINDLE_PWM_MIN_VALUE 1 // $35 % (% of PWM when spindle is at lowest setting)
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#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100 // $36 % (% of PWM when spindle is at highest setting)
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// Up to 3 HOMING_CYCLE_x can be defined, specifying which axes are homed and in which order
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// Up to 4 HOMING_CYCLE_x can be defined (0-3), specifying which axes are homed and in which order
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#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
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#endif // end of DEFAULTS_GENERIC
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@ -158,9 +158,9 @@ void limits_go_home(uint8_t cycle_mask)
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// Initialize variables used for homing computations.
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uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
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uint32_t step_pin[N_AXIS];
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uint32_t step_pin[N_AXIS]; // Tracks which pins correspond to which axes (reduces calls to get_step_pin_mask())
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float target[N_AXIS];
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float max_travel = 0.0;
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float max_travel = 0.0; // Maximum travel distance to move searching for limits
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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// Initialize step pin masks
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@ -183,11 +183,12 @@ void limits_go_home(uint8_t cycle_mask)
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uint32_t limit_state, axislock, n_active_axis;
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do {
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// convert current sys_position (steps) to target (mm) so unused axes remain in place
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system_convert_array_steps_to_mpos(target,sys_position);
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// Initialize and declare variables needed for homing routine.
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axislock = 0;
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n_active_axis = 0;
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axislock = 0; // Track which pins still need to find limits. Lock these axes by clearing these bits.
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n_active_axis = 0; // Track number of axes being homed
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for (idx=0; idx<N_AXIS; idx++) {
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// Set target location for active axes and setup computation for homing rate.
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if (bit_istrue(cycle_mask,bit(idx))) {
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@ -215,7 +216,7 @@ void limits_go_home(uint8_t cycle_mask)
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if (approach) { target[idx] = max_travel; }
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else { target[idx] = -max_travel; }
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}
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// Apply axislock to the step port pins active in this cycle.
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// Apply axislock to the step port pins active in this cycle, allowing motion
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axislock |= step_pin[idx];
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}
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@ -235,15 +236,14 @@ void limits_go_home(uint8_t cycle_mask)
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// Check limit state. Lock out cycle axes when they change.
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limit_state = limits_get_state();
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for (idx=0; idx<N_AXIS; idx++) {
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if (axislock & step_pin[idx]) {
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if (limit_state & (1 << idx)) {
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#ifdef COREXY
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if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
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else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
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#else
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axislock &= ~(step_pin[idx]);
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#endif
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}
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if ((axislock & step_pin[idx]) && (limit_state & (1 << idx))) {
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// 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]); }
|
||||
#else
|
||||
axislock &= ~(step_pin[idx]);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
sys.homing_axis_lock = axislock;
|
||||
|
|
@ -297,7 +297,7 @@ 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++) {
|
||||
|
|
|
|||
34
grbl/main.c
34
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
|
||||
delay_init(); // Setup delay timer
|
||||
isr_init(); // Set ISR priorities (stepper ISR uses Timer1)
|
||||
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.
|
||||
|
|
@ -61,7 +61,7 @@ int main(void)
|
|||
#else
|
||||
sys.state = STATE_IDLE;
|
||||
#endif
|
||||
|
||||
|
||||
// Check for power-up and set system alarm if homing is enabled to force homing cycle
|
||||
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
|
||||
// startup scripts, but allows access to settings and internal commands. Only a homing
|
||||
|
|
@ -84,26 +84,26 @@ int main(void)
|
|||
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
|
||||
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_rt_exec_state = 0;
|
||||
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
|
||||
sys_probe_state = 0; // PROBE_OFF
|
||||
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;
|
||||
|
||||
// Reset Grbl primary systems.
|
||||
serial_reset_read_buffer(); // Clear serial read buffer
|
||||
gc_init(); // Set g-code parser to default state
|
||||
spindle_init();
|
||||
coolant_init();
|
||||
limits_init();
|
||||
probe_init();
|
||||
plan_reset(); // Clear block buffer and planner variables
|
||||
st_reset(); // Clear stepper subsystem variables.
|
||||
gc_init(); // Set g-code parser to default state
|
||||
spindle_init(); // Configure spindle pins and PWM values
|
||||
coolant_init(); // Configure coolant pins
|
||||
limits_init(); // Configure limit input pins and interrupts
|
||||
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();
|
||||
gc_sync_position();
|
||||
plan_sync_position(); // Synchronize plan position with (actual) system 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();
|
||||
|
|
|
|||
|
|
@ -100,14 +100,14 @@ void settings_restore(uint8_t restore_flag) {
|
|||
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
|
||||
|
||||
settings.flags = 0;
|
||||
if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
|
||||
if (DEFAULT_LASER_MODE) { settings.flags |= BITFLAG_LASER_MODE; }
|
||||
if (DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
|
||||
if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
|
||||
if (DEFAULT_LASER_MODE) { settings.flags |= BITFLAG_LASER_MODE; }
|
||||
if (DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
|
||||
if (DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
|
||||
if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
|
||||
if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
|
||||
if (DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
|
||||
if (DEFAULT_INVERT_LIMIT_PINS) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
|
||||
if (DEFAULT_INVERT_PROBE_PIN) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
|
||||
if (DEFAULT_INVERT_PROBE_PIN) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
|
||||
|
||||
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
|
||||
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
|
||||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
|
|
@ -44,10 +44,10 @@
|
|||
#define BITFLAG_RT_STATUS_BUFFER_STATE bit(1)
|
||||
|
||||
// Define settings restore bitflags.
|
||||
#define SETTINGS_RESTORE_DEFAULTS bit(0)
|
||||
#define SETTINGS_RESTORE_PARAMETERS bit(1)
|
||||
#define SETTINGS_RESTORE_DEFAULTS bit(0)
|
||||
#define SETTINGS_RESTORE_PARAMETERS bit(1)
|
||||
#define SETTINGS_RESTORE_STARTUP_LINES bit(2)
|
||||
#define SETTINGS_RESTORE_BUILD_INFO bit(3)
|
||||
#define SETTINGS_RESTORE_BUILD_INFO bit(3)
|
||||
#ifndef SETTINGS_RESTORE_ALL
|
||||
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
|
||||
#endif
|
||||
|
|
@ -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
|
||||
|
|
|
|||
188
grbl/stepper.c
188
grbl/stepper.c
|
|
@ -30,10 +30,10 @@
|
|||
#define RAMP_DECEL 2
|
||||
#define RAMP_DECEL_OVERRIDE 3
|
||||
|
||||
#define PREP_FLAG_RECALCULATE bit(0)
|
||||
#define PREP_FLAG_RECALCULATE bit(0)
|
||||
#define PREP_FLAG_HOLD_PARTIAL_BLOCK bit(1)
|
||||
#define PREP_FLAG_PARKING bit(2)
|
||||
#define PREP_FLAG_DECEL_OVERRIDE bit(3)
|
||||
#define PREP_FLAG_PARKING bit(2)
|
||||
#define PREP_FLAG_DECEL_OVERRIDE bit(3)
|
||||
|
||||
// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
|
||||
// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
|
||||
|
|
@ -45,11 +45,11 @@
|
|||
// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
|
||||
// and timer accuracy. Do not alter these settings unless you know what you are doing.
|
||||
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
|
||||
#define MAX_AMASS_LEVEL 3
|
||||
// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
|
||||
#define AMASS_LEVEL1 (F_CPU/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
|
||||
#define AMASS_LEVEL2 (F_CPU/4000) // Over-drives ISR (x4)
|
||||
#define AMASS_LEVEL3 (F_CPU/2000) // Over-drives ISR (x8)
|
||||
#define MAX_AMASS_LEVEL 3
|
||||
// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
|
||||
#define AMASS_LEVEL1 (F_CPU/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
|
||||
#define AMASS_LEVEL2 (F_CPU/4000) // Over-drives ISR (x4)
|
||||
#define AMASS_LEVEL3 (F_CPU/2000) // Over-drives ISR (x8)
|
||||
|
||||
#if MAX_AMASS_LEVEL <= 0
|
||||
error "AMASS must have 1 or more levels to operate correctly."
|
||||
|
|
@ -167,7 +167,7 @@ typedef struct {
|
|||
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
float inv_rate; // Used by PWM laser mode to speed up segment calculations.
|
||||
uint32_t current_spindle_pwm;
|
||||
uint32_t current_spindle_pwm;
|
||||
#endif
|
||||
} st_prep_t;
|
||||
static st_prep_t prep;
|
||||
|
|
@ -235,9 +235,9 @@ void st_wake_up()
|
|||
#endif
|
||||
|
||||
// Enable Stepper Driver Interrupt Timer
|
||||
LPC_TIM1->TCR = 0b10; // reset
|
||||
LPC_TIM1->MR0 = 4000; // Generate first interrupt soon
|
||||
LPC_TIM1->TCR = 0b01; // enable
|
||||
LPC_TIM1->TCR = 0b10; // reset Timer Control (0b10=Reset, 0b01=Enable)
|
||||
LPC_TIM1->MR0 = 4000; // Generate first interrupt soon (Match Register for TC)
|
||||
LPC_TIM1->TCR = 0b01; // enable Timer Control (0b10=Reset, 0b01=Enable)
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -245,19 +245,19 @@ 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 disableStepper = false; // 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.
|
||||
delay_ms(settings.stepper_idle_lock_time);
|
||||
pin_state = true; // Override. Disable steppers.
|
||||
disableStepper = true; // Override. Disable steppers.
|
||||
}
|
||||
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert.
|
||||
if (pin_state) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
|
||||
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { disableStepper = !disableStepper; } // Apply pin invert.
|
||||
if (disableStepper) { STEPPERS_DISABLE_PORT |= STEPPERS_DISABLE_MASK; }
|
||||
else { STEPPERS_DISABLE_PORT &= ~STEPPERS_DISABLE_MASK; }
|
||||
}
|
||||
|
||||
|
|
@ -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.
|
||||
|
|
@ -503,7 +503,7 @@ extern "C" void TIMER1_IRQHandler()
|
|||
cause issues at high step rates if another high frequency asynchronous interrupt is
|
||||
added to Grbl.
|
||||
*/
|
||||
/* Not ported; the main ISR assumes short pulse widths and handles it. Stepper drivers with
|
||||
/* Not ported; the main ISR assumes short pulse widths and handles it. Stepper drivers with
|
||||
long pulse widths may need this instead if they cause the main ISR to consume too much time.
|
||||
// This interrupt is enabled by ISR_TIMER1_COMPAREA when it sets the motor port bits to execute
|
||||
// a step. This ISR resets the motor port after a short period (settings.pulse_microseconds)
|
||||
|
|
@ -570,17 +570,17 @@ void st_reset()
|
|||
void stepper_init()
|
||||
{
|
||||
// Configure step and direction interface pins
|
||||
STEP_DDR |= STEP_MASK;
|
||||
STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK;
|
||||
DIRECTION_DDR |= DIRECTION_MASK;
|
||||
STEP_DDR |= STEP_MASK; // Set selected stepper step pins as outputs
|
||||
STEPPERS_DISABLE_DDR |= STEPPERS_DISABLE_MASK; // Set selected stepper disable pins as outputs
|
||||
DIRECTION_DDR |= DIRECTION_MASK; // Set selected stepper direction pins as outputs
|
||||
|
||||
// Configure Timer 1: Stepper Driver Interrupt
|
||||
LPC_TIM1->TCR = 0; // disable
|
||||
LPC_TIM1->CTCR = 0; // timer mode
|
||||
LPC_TIM1->PR = 0; // no prescale
|
||||
LPC_TIM1->MCR = 0b011; // MR0: !stop, reset, interrupt
|
||||
LPC_TIM1->CCR = 0; // no capture
|
||||
LPC_TIM1->EMR = 0; // no external match
|
||||
LPC_TIM1->TCR = 0; // disable Timer Control (0b10=Reset, 0b01=Enable)
|
||||
LPC_TIM1->CTCR = 0; // Count Control (0=TimerMode, 1-3=EdgeCounterMode)
|
||||
LPC_TIM1->PR = 0; // no Prescale (TC increments every PR+1 clocks)
|
||||
LPC_TIM1->MCR = 0b011; // Match Control (0b001=InterruptEnbl, 0b010=Reset_Enbl, 0b100=Stop_Enbl)
|
||||
LPC_TIM1->CCR = 0; // no Capture Control actions
|
||||
LPC_TIM1->EMR = 0; // no External Match (controls external match pins)
|
||||
NVIC_EnableIRQ(TIMER1_IRQn); // Enable Stepper Driver Interrupt
|
||||
}
|
||||
|
||||
|
|
@ -717,49 +717,49 @@ void st_prep_buffer()
|
|||
} else {
|
||||
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
|
||||
}
|
||||
|
||||
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
// Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
|
||||
// spindle off.
|
||||
// spindle off.
|
||||
st_prep_block->is_pwm_rate_adjusted = false;
|
||||
if (settings.flags & BITFLAG_LASER_MODE) {
|
||||
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
|
||||
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
|
||||
// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
|
||||
prep.inv_rate = 1.0/pl_block->programmed_rate;
|
||||
st_prep_block->is_pwm_rate_adjusted = true;
|
||||
st_prep_block->is_pwm_rate_adjusted = true;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* ---------------------------------------------------------------------------------
|
||||
Compute the velocity profile of a new planner block based on its entry and exit
|
||||
speeds, or recompute the profile of a partially-completed planner block if the
|
||||
planner has updated it. For a commanded forced-deceleration, such as from a feed
|
||||
hold, override the planner velocities and decelerate to the target exit speed.
|
||||
*/
|
||||
prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block.
|
||||
float inv_2_accel = 0.5/pl_block->acceleration;
|
||||
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { // [Forced Deceleration to Zero Velocity]
|
||||
// Compute velocity profile parameters for a feed hold in-progress. This profile overrides
|
||||
// the planner block profile, enforcing a deceleration to zero speed.
|
||||
prep.ramp_type = RAMP_DECEL;
|
||||
// Compute decelerate distance relative to end of block.
|
||||
float decel_dist = pl_block->millimeters - inv_2_accel*pl_block->entry_speed_sqr;
|
||||
if (decel_dist < 0.0) {
|
||||
// Deceleration through entire planner block. End of feed hold is not in this block.
|
||||
prep.exit_speed = sqrt(pl_block->entry_speed_sqr-2*pl_block->acceleration*pl_block->millimeters);
|
||||
} else {
|
||||
prep.mm_complete = decel_dist; // End of feed hold.
|
||||
prep.exit_speed = 0.0;
|
||||
}
|
||||
} else { // [Normal Operation]
|
||||
// Compute or recompute velocity profile parameters of the prepped planner block.
|
||||
prep.ramp_type = RAMP_ACCEL; // Initialize as acceleration ramp.
|
||||
prep.accelerate_until = pl_block->millimeters;
|
||||
/* ---------------------------------------------------------------------------------
|
||||
Compute the velocity profile of a new planner block based on its entry and exit
|
||||
speeds, or recompute the profile of a partially-completed planner block if the
|
||||
planner has updated it. For a commanded forced-deceleration, such as from a feed
|
||||
hold, override the planner velocities and decelerate to the target exit speed.
|
||||
*/
|
||||
prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block.
|
||||
float inv_2_accel = 0.5/pl_block->acceleration;
|
||||
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { // [Forced Deceleration to Zero Velocity]
|
||||
// Compute velocity profile parameters for a feed hold in-progress. This profile overrides
|
||||
// the planner block profile, enforcing a deceleration to zero speed.
|
||||
prep.ramp_type = RAMP_DECEL;
|
||||
// Compute decelerate distance relative to end of block.
|
||||
float decel_dist = pl_block->millimeters - inv_2_accel*pl_block->entry_speed_sqr;
|
||||
if (decel_dist < 0.0) {
|
||||
// Deceleration through entire planner block. End of feed hold is not in this block.
|
||||
prep.exit_speed = sqrt(pl_block->entry_speed_sqr-2*pl_block->acceleration*pl_block->millimeters);
|
||||
} else {
|
||||
prep.mm_complete = decel_dist; // End of feed hold.
|
||||
prep.exit_speed = 0.0;
|
||||
}
|
||||
} else { // [Normal Operation]
|
||||
// Compute or recompute velocity profile parameters of the prepped planner block.
|
||||
prep.ramp_type = RAMP_ACCEL; // Initialize as acceleration ramp.
|
||||
prep.accelerate_until = pl_block->millimeters;
|
||||
|
||||
float exit_speed_sqr;
|
||||
float nominal_speed;
|
||||
float exit_speed_sqr;
|
||||
float nominal_speed;
|
||||
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
|
||||
prep.exit_speed = exit_speed_sqr = 0.0; // Enforce stop at end of system motion.
|
||||
} else {
|
||||
|
|
@ -768,9 +768,9 @@ void st_prep_buffer()
|
|||
}
|
||||
|
||||
nominal_speed = plan_compute_profile_nominal_speed(pl_block);
|
||||
float nominal_speed_sqr = nominal_speed*nominal_speed;
|
||||
float intersect_distance =
|
||||
0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr));
|
||||
float nominal_speed_sqr = nominal_speed*nominal_speed;
|
||||
float intersect_distance =
|
||||
0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr));
|
||||
|
||||
if (pl_block->entry_speed_sqr > nominal_speed_sqr) { // Only occurs during override reductions.
|
||||
prep.accelerate_until = pl_block->millimeters - inv_2_accel*(pl_block->entry_speed_sqr-nominal_speed_sqr);
|
||||
|
|
@ -793,41 +793,41 @@ void st_prep_buffer()
|
|||
prep.maximum_speed = nominal_speed;
|
||||
prep.ramp_type = RAMP_DECEL_OVERRIDE;
|
||||
}
|
||||
} else if (intersect_distance > 0.0) {
|
||||
if (intersect_distance < pl_block->millimeters) { // Either trapezoid or triangle types
|
||||
// NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0.
|
||||
prep.decelerate_after = inv_2_accel*(nominal_speed_sqr-exit_speed_sqr);
|
||||
if (prep.decelerate_after < intersect_distance) { // Trapezoid type
|
||||
prep.maximum_speed = nominal_speed;
|
||||
if (pl_block->entry_speed_sqr == nominal_speed_sqr) {
|
||||
// Cruise-deceleration or cruise-only type.
|
||||
prep.ramp_type = RAMP_CRUISE;
|
||||
} else {
|
||||
// Full-trapezoid or acceleration-cruise types
|
||||
prep.accelerate_until -= inv_2_accel*(nominal_speed_sqr-pl_block->entry_speed_sqr);
|
||||
}
|
||||
} else { // Triangle type
|
||||
prep.accelerate_until = intersect_distance;
|
||||
prep.decelerate_after = intersect_distance;
|
||||
prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr);
|
||||
}
|
||||
} else { // Deceleration-only type
|
||||
} else if (intersect_distance > 0.0) {
|
||||
if (intersect_distance < pl_block->millimeters) { // Either trapezoid or triangle types
|
||||
// NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0.
|
||||
prep.decelerate_after = inv_2_accel*(nominal_speed_sqr-exit_speed_sqr);
|
||||
if (prep.decelerate_after < intersect_distance) { // Trapezoid type
|
||||
prep.maximum_speed = nominal_speed;
|
||||
if (pl_block->entry_speed_sqr == nominal_speed_sqr) {
|
||||
// Cruise-deceleration or cruise-only type.
|
||||
prep.ramp_type = RAMP_CRUISE;
|
||||
} else {
|
||||
// Full-trapezoid or acceleration-cruise types
|
||||
prep.accelerate_until -= inv_2_accel*(nominal_speed_sqr-pl_block->entry_speed_sqr);
|
||||
}
|
||||
} else { // Triangle type
|
||||
prep.accelerate_until = intersect_distance;
|
||||
prep.decelerate_after = intersect_distance;
|
||||
prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr);
|
||||
}
|
||||
} else { // Deceleration-only type
|
||||
prep.ramp_type = RAMP_DECEL;
|
||||
// prep.decelerate_after = pl_block->millimeters;
|
||||
// prep.maximum_speed = prep.current_speed;
|
||||
}
|
||||
} else { // Acceleration-only type
|
||||
prep.accelerate_until = 0.0;
|
||||
// prep.decelerate_after = 0.0;
|
||||
prep.maximum_speed = prep.exit_speed;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} else { // Acceleration-only type
|
||||
prep.accelerate_until = 0.0;
|
||||
// prep.decelerate_after = 0.0;
|
||||
prep.maximum_speed = prep.exit_speed;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM); // Force update whenever updating block.
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
// Initialize new segment
|
||||
segment_t *prep_segment = &segment_buffer[segment_buffer_head];
|
||||
|
||||
|
|
@ -937,16 +937,16 @@ void st_prep_buffer()
|
|||
/* -----------------------------------------------------------------------------------
|
||||
Compute spindle speed PWM output for step segment
|
||||
*/
|
||||
|
||||
|
||||
if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
|
||||
if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
|
||||
float rpm = pl_block->spindle_speed;
|
||||
// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
|
||||
// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
|
||||
if (st_prep_block->is_pwm_rate_adjusted) { rpm *= (prep.current_speed * prep.inv_rate); }
|
||||
// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
|
||||
// but this would be instantaneous only and during a motion. May not matter at all.
|
||||
prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
|
||||
} else {
|
||||
} else {
|
||||
sys.spindle_speed = 0.0;
|
||||
prep.current_spindle_pwm = spindle_pwm_off_value;
|
||||
}
|
||||
|
|
@ -955,7 +955,7 @@ void st_prep_buffer()
|
|||
prep_segment->spindle_pwm = prep.current_spindle_pwm; // Reload segment PWM value
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/* -----------------------------------------------------------------------------------
|
||||
Compute segment step rate, steps to execute, and apply necessary rate corrections.
|
||||
NOTE: Steps are computed by direct scalar conversion of the millimeter distance
|
||||
|
|
|
|||
|
|
@ -23,14 +23,15 @@
|
|||
|
||||
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.
|
||||
#else
|
||||
CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
|
||||
CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
|
||||
#endif
|
||||
CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
|
||||
PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
|
||||
CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
|
||||
PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -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]
|
||||
|
|
|
|||
Loading…
Reference in New Issue