Fully configurable pins for NO or NC switches.
- All pins, which include limits, control command, and probe pins, can now all be configured to trigger as active-low or active-high and whether the pin has its internal pull-up resistor enabled. This should allow for just about all types of NO and NC switch configurations. - The probe pin invert setting hasn’t been added to the Grbl settings, like the others, and will have to wait until v1.0. But for now, it’s available as a compile-time option in config.h. - Fixed a variable spindle bug.
This commit is contained in:
Sonny Jeon
parent
9be7b3d930
commit
bf37ab7e7b
21
config.h
21
config.h
@ -143,6 +143,11 @@
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// have the same steps per mm internally.
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// #define COREXY // Default disabled. Uncomment to enable.
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// Inverts pin logic of the control command pins. This essentially means when this option is enabled
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// you can use normally-closed switches, rather than the default normally-open switches.
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// NOTE: Will eventually be added to Grbl settings in v1.0.
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// #define INVERT_CONTROL_PIN // Default disabled. Uncomment to enable.
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// ---------------------------------------------------------------------------------------
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// ADVANCED CONFIGURATION OPTIONS:
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@ -162,6 +167,22 @@
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// step smoothing. See stepper.c for more details on the AMASS system works.
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#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING // Default enabled. Comment to disable.
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// By default, Grbl sets all input pins to normal-high operation with their internal pull-up resistors
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// enabled. This simplifies the wiring for users by requiring only a switch connected to ground,
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// although its recommended that users take the extra step of wiring in low-pass filter to reduce
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// electrical noise detected by the pin. If the user inverts the pin in Grbl settings, this just flips
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// which high or low reading indicates an active signal. In normal operation, this means the user
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// needs to connect a normal-open switch, but if inverted, this means the user should connect a
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// normal-closed switch.
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// The following options disable the internal pull-up resistors, sets the pins to a normal-low
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// operation, and switches much be now connect to Vcc instead of ground. This also flips the meaning
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// of the invert pin Grbl setting, where an inverted setting now means the user should connect a
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// normal-open switch and vice versa.
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// WARNING: When the pull-ups are disabled, this requires additional wiring with pull-down resistors!
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//#define DISABLE_LIMIT_PIN_PULL_UP
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//#define DISABLE_PROBE_PIN_PULL_UP
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//#define DISABLE_CONTROL_PIN_PULL_UP
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// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
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// the selected axis with the tool oriented toward the negative direction. In other words, a positive
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// tool length offset value is subtracted from the current location.
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50
cpu_map.h
50
cpu_map.h
@ -60,7 +60,7 @@
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#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
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// Define homing/hard limit switch input pins and limit interrupt vectors.
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// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (pinout).
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// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
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#define LIMIT_DDR DDRB
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#define LIMIT_PIN PINB
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#define LIMIT_PORT PORTB
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@ -100,18 +100,18 @@
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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#endif
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// Define user-control pinouts (cycle start, reset, feed hold) input pins.
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// NOTE: All pinouts pins must be on the same port and not on a port with other input pins (limits).
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#define PINOUT_DDR DDRC
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#define PINOUT_PIN PINC
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#define PINOUT_PORT PORTC
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#define PIN_RESET 0 // Uno Analog Pin 0
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#define PIN_FEED_HOLD 1 // Uno Analog Pin 1
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#define PIN_CYCLE_START 2 // Uno Analog Pin 2
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#define PINOUT_INT PCIE1 // Pin change interrupt enable pin
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#define PINOUT_INT_vect PCINT1_vect
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#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
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#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
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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 DDRC
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#define CONTROL_PIN PINC
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#define CONTROL_PORT PORTC
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#define RESET_BIT 0 // Uno Analog Pin 0
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#define FEED_HOLD_BIT 1 // Uno Analog Pin 1
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#define CYCLE_START_BIT 2 // Uno Analog Pin 2
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#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
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#define CONTROL_INT_vect PCINT1_vect
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#define CONTROL_PCMSK PCMSK1 // Pin change interrupt register
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#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT))
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// Define probe switch input pin.
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#define PROBE_DDR DDRC
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@ -213,18 +213,18 @@
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#define COOLANT_MIST_BIT 6 // MEGA2560 Digital Pin 9
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#endif
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// Define user-control pinouts (cycle start, reset, feed hold) input pins.
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// NOTE: All pinouts pins must be on the same port and not on a port with other input pins (limits).
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#define PINOUT_DDR DDRK
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#define PINOUT_PIN PINK
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#define PINOUT_PORT PORTK
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#define PIN_RESET 0 // MEGA2560 Analog Pin 8
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#define PIN_FEED_HOLD 1 // MEGA2560 Analog Pin 9
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#define PIN_CYCLE_START 2 // MEGA2560 Analog Pin 10
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#define PINOUT_INT PCIE2 // Pin change interrupt enable pin
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#define PINOUT_INT_vect PCINT2_vect
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#define PINOUT_PCMSK PCMSK2 // Pin change interrupt register
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#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
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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 DDRK
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#define CONTROL_PIN PINK
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#define CONTROL_PORT PORTK
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#define RESET_BIT 0 // MEGA2560 Analog Pin 8
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#define FEED_HOLD_BIT 1 // MEGA2560 Analog Pin 9
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#define CYCLE_START_BIT 2 // MEGA2560 Analog Pin 10
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#define CONTROL_INT PCIE2 // Pin change interrupt enable pin
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#define CONTROL_INT_vect PCINT2_vect
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#define CONTROL_PCMSK PCMSK2 // Pin change interrupt register
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#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT))
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// Define probe switch input pin.
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#define PROBE_DDR DDRK
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@ -43,7 +43,7 @@
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#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
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#define DEFAULT_STEP_PULSE_MICROSECONDS 10
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#define DEFAULT_STEPPING_INVERT_MASK 0
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#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
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#define DEFAULT_DIRECTION_INVERT_MASK 0
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
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#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
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#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
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8
limits.c
8
limits.c
@ -41,11 +41,11 @@ void limits_init()
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{
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LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
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#ifdef DISABLE_LIMIT_PIN_PULL_UP
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LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
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} else {
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#else
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LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
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}
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#endif
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if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
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LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
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@ -224,7 +224,7 @@ void limits_go_home(uint8_t cycle_mask)
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} while (n_cycle-- > 0);
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// The active cycle axes should now be homed and machine limits have been located. By
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// default, grbl defines machine space as all negative, as do most CNCs. Since limit switches
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// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
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// can be on either side of an axes, check and set axes machine zero appropriately. Also,
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// set up pull-off maneuver from axes limit switches that have been homed. This provides
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// some initial clearance off the switches and should also help prevent them from falsely
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2
main.c
2
main.c
@ -47,7 +47,7 @@ int main(void)
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{
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// Initialize system upon power-up.
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serial_init(); // Setup serial baud rate and interrupts
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settings_init(); // Load grbl settings from EEPROM
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settings_init(); // Load Grbl settings from EEPROM
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stepper_init(); // Configure stepper pins and interrupt timers
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system_init(); // Configure pinout pins and pin-change interrupt
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@ -371,7 +371,7 @@ uint8_t plan_check_full_buffer()
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colinear with the circle center. The circular segment joining the two paths represents the
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path of centripetal acceleration. Solve for max velocity based on max acceleration about the
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radius of the circle, defined indirectly by junction deviation. This may be also viewed as
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path width or max_jerk in the previous grbl version. This approach does not actually deviate
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path width or max_jerk in the previous Grbl version. This approach does not actually deviate
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from path, but used as a robust way to compute cornering speeds, as it takes into account the
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nonlinearities of both the junction angle and junction velocity.
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6
probe.c
6
probe.c
@ -30,11 +30,11 @@ uint8_t probe_invert_mask;
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void probe_init()
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{
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PROBE_DDR &= ~(PROBE_MASK); // Configure as input pins
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if (bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN)) {
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#ifdef DISABLE_PROBE_PIN_PULL_UP
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PROBE_PORT &= ~(PROBE_MASK); // Normal low operation. Requires external pull-down.
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} else {
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#else
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PROBE_PORT |= PROBE_MASK; // Enable internal pull-up resistors. Normal high operation.
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}
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#endif
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// probe_configure_invert_mask(false); // Initialize invert mask. Not required. Updated when in-use.
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}
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@ -29,7 +29,7 @@
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#define GRBL_VERSION "0.9h"
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#define GRBL_VERSION_BUILD "20150114"
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#define GRBL_VERSION_BUILD "20150117"
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// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
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// when firmware is upgraded. Always stored in byte 0 of eeprom
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@ -113,7 +113,7 @@ void spindle_set_state(uint8_t state, float rpm)
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void spindle_run(uint8_t state, float rpm)
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{
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if (sys.state != STATE_CHECK_MODE) { return; }
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if (sys.state == STATE_CHECK_MODE) { return; }
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protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
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spindle_set_state(state, rpm);
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}
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38
system.c
38
system.c
@ -30,10 +30,14 @@
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void system_init()
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{
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PINOUT_DDR &= ~(PINOUT_MASK); // Configure as input pins
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PINOUT_PORT |= PINOUT_MASK; // Enable internal pull-up resistors. Normal high operation.
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PINOUT_PCMSK |= PINOUT_MASK; // Enable specific pins of the Pin Change Interrupt
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PCICR |= (1 << PINOUT_INT); // Enable Pin Change Interrupt
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CONTROL_DDR &= ~(CONTROL_MASK); // Configure as input pins
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#ifdef DISABLE_CONTROL_PIN_PULL_UP
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CONTROL_PORT &= ~(CONTROL_MASK); // Normal low operation. Requires external pull-down.
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#else
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CONTROL_PORT |= CONTROL_MASK; // Enable internal pull-up resistors. Normal high operation.
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#endif
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CONTROL_PCMSK |= CONTROL_MASK; // Enable specific pins of the Pin Change Interrupt
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PCICR |= (1 << CONTROL_INT); // Enable Pin Change Interrupt
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}
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@ -41,15 +45,19 @@ void system_init()
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// only the realtime command execute variable to have the main program execute these when
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// its ready. This works exactly like the character-based realtime commands when picked off
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// directly from the incoming serial data stream.
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ISR(PINOUT_INT_vect)
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ISR(CONTROL_INT_vect)
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{
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// Enter only if any pinout pin is actively low.
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if ((PINOUT_PIN & PINOUT_MASK) ^ PINOUT_MASK) {
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if (bit_isfalse(PINOUT_PIN,bit(PIN_RESET))) {
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uint8_t pin = (CONTROL_PIN & CONTROL_MASK);
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#ifndef INVERT_CONTROL_PIN
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pin ^= CONTROL_MASK;
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#endif
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// Enter only if any CONTROL pin is detected as active.
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if (pin) {
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if (bit_istrue(pin,bit(RESET_BIT))) {
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mc_reset();
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} else if (bit_isfalse(PINOUT_PIN,bit(PIN_FEED_HOLD))) {
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} else if (bit_istrue(pin,bit(FEED_HOLD_BIT))) {
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bit_true(sys.rt_exec_state, EXEC_FEED_HOLD);
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} else if (bit_isfalse(PINOUT_PIN,bit(PIN_CYCLE_START))) {
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} else if (bit_istrue(pin,bit(CYCLE_START_BIT))) {
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bit_true(sys.rt_exec_state, EXEC_CYCLE_START);
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}
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}
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@ -208,15 +216,17 @@ uint8_t system_execute_line(char *line)
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float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
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{
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float pos;
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#ifdef COREXY
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if (idx==A_MOTOR) {
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return((0.5*(steps[A_MOTOR] + steps[B_MOTOR]))/settings.steps_per_mm[idx]);
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} else if (idx==B_MOTOR) {
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return((0.5*(steps[A_MOTOR] - steps[B_MOTOR]))/settings.steps_per_mm[idx]);
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pos = 0.5*((steps[A_MOTOR] + steps[B_MOTOR])/settings.steps_per_mm[idx]);
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} else { // (idx==B_MOTOR)
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pos = 0.5*((steps[A_MOTOR] - steps[B_MOTOR])/settings.steps_per_mm[idx]);
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}
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#else
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return((float)steps[idx]/settings.steps_per_mm[idx]);
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pos = steps[idx]/settings.steps_per_mm[idx];
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#endif
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return(pos);
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}
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