Hard limits, homing direction, pull-off limits after homing, status reports in mm or inches, system alarm, and more.
- Thank you statement added for Alden Hart of Synthetos. - Hard limits option added, which also works with homing by pulling off the switches to help prevent unintended triggering. Hard limits use a interrupt to sense a falling edge pin change and immediately go into alarm mode, which stops everything and forces the user to issue a reset (Ctrl-x) or reboot. - Auto cycle start now a configuration option. - Alarm mode: A new method to kill all Grbl processes in the event of something catastrophic or potentially catastropic. Just works with hard limits for now, but will be expanded to include g-code errors (most likely) and other events. - Updated status reports to be configurable in inches or mm mode. Much more to do here, but this is the first step. - New settings: auto cycle start, hard limit enable, homing direction mask (which works the same as the stepper mask), homing pulloff distance (or distance traveled from homed machine zero to prevent accidental limit trip). - Minor memory liberation and calculation speed ups.
This commit is contained in:
Sonny Jeon
90
settings.c
90
settings.c
@ -69,14 +69,16 @@ typedef struct {
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#define DEFAULT_STEPPING_INVERT_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
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// Developmental default settings
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_AUTO_START 1 // true
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 0 // false
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#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
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#define DEFAULT_HOMING_RAPID_FEEDRATE 250.0 // mm/min
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#define DEFAULT_HOMING_FEEDRATE 50 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 100 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1 // mm
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-255)
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// #define DEFAULT_AUTO_START 1 // true
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// #define DEFAULT_INCHES_MODE 1 // true
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// #define DEFAULT_BLOCK_DELETE 0 // false
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#define DEFAULT_DECIMAL_PLACES 3
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void settings_reset(bool reset_all) {
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@ -95,12 +97,14 @@ void settings_reset(bool reset_all) {
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}
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// New settings since last version
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settings.flags = 0;
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// if (DEFAULT_AUTO_START) { settings.flags |= FLAG_BIT_AUTO_START; }
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// if (DEFAULT_INCHES_MODE) { settings.flags |= FLAG_BIT_INCHES_MODE; }
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if (DEFAULT_HOMING_ENABLE) { settings.flags |= FLAG_BIT_HOMING_ENABLE; }
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if (DEFAULT_AUTO_START) { settings.flags |= BITFLAG_AUTO_START; }
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if (DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
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if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
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settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
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settings.homing_feed_rate = DEFAULT_HOMING_FEEDRATE;
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settings.homing_seek_rate = DEFAULT_HOMING_RAPID_FEEDRATE;
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settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
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settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
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settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
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settings.decimal_places = DEFAULT_DECIMAL_PLACES;
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}
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@ -111,23 +115,29 @@ void settings_reset(bool reset_all) {
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void settings_dump() {
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printPgmString(PSTR("$0 = ")); printFloat(settings.steps_per_mm[X_AXIS]);
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printPgmString(PSTR(" (steps/mm x)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
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printPgmString(PSTR(" (steps/mm y)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
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printPgmString(PSTR(" (steps/mm z)\r\n$3 = ")); printInteger(settings.pulse_microseconds);
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printPgmString(PSTR(" (microseconds step pulse)\r\n$4 = ")); printFloat(settings.default_feed_rate);
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printPgmString(PSTR(" (mm/min default feed rate)\r\n$5 = ")); printFloat(settings.default_seek_rate);
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printPgmString(PSTR(" (mm/min default seek rate)\r\n$6 = ")); printFloat(settings.mm_per_arc_segment);
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printPgmString(PSTR(" (mm/arc segment)\r\n$7 = ")); printInteger(settings.invert_mask);
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printPgmString(PSTR(" (step port invert mask. binary = ")); print_uint8_base2(settings.invert_mask);
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printPgmString(PSTR(" (x axis, steps/mm)\r\n$1 = ")); printFloat(settings.steps_per_mm[Y_AXIS]);
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printPgmString(PSTR(" (y axis, steps/mm)\r\n$2 = ")); printFloat(settings.steps_per_mm[Z_AXIS]);
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printPgmString(PSTR(" (z axis, steps/mm)\r\n$3 = ")); printInteger(settings.pulse_microseconds);
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printPgmString(PSTR(" (step pulse, usec)\r\n$4 = ")); printFloat(settings.default_feed_rate);
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printPgmString(PSTR(" (default feed rate, mm/min)\r\n$5 = ")); printFloat(settings.default_seek_rate);
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printPgmString(PSTR(" (default seek rate, mm/min)\r\n$6 = ")); printFloat(settings.mm_per_arc_segment);
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printPgmString(PSTR(" (arc resolution, mm/segment)\r\n$7 = ")); printInteger(settings.invert_mask);
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printPgmString(PSTR(" (step port invert mask, int:binary = ")); print_uint8_base2(settings.invert_mask);
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printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration/(60*60)); // Convert from mm/min^2 for human readability
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printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
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printPgmString(PSTR(" (cornering junction deviation in mm)\r\n$10 = ")); printInteger(bit_istrue(settings.flags,FLAG_BIT_HOMING_ENABLE));
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printPgmString(PSTR(" (boolean homing enable)\r\n$11 = ")); printFloat(settings.homing_feed_rate);
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printPgmString(PSTR(" (mm/min homing feed rate)\r\n$12 = ")); printFloat(settings.homing_seek_rate);
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printPgmString(PSTR(" (mm/min homing seek rate)\r\n$13 = ")); printInteger(settings.homing_debounce_delay);
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printPgmString(PSTR(" (milliseconds homing debounce delay)\r\n$14 = ")); printInteger(settings.stepper_idle_lock_time);
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printPgmString(PSTR(" (milliseconds stepper idle lock time)\r\n$15 = ")); printInteger(settings.decimal_places);
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printPgmString(PSTR(" (float decimal places)"));
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printPgmString(PSTR(" (acceleration, mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
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printPgmString(PSTR(" (cornering junction deviation, mm)\r\n$10 = ")); printInteger(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
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printPgmString(PSTR(" (status report inches, bool)\r\n$11 = ")); printInteger(bit_istrue(settings.flags,BITFLAG_AUTO_START));
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printPgmString(PSTR(" (auto start enable, bool)\r\n$12 = ")); printInteger(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
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printPgmString(PSTR(" (hard limit enable, bool)\r\n$13 = ")); printInteger(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
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printPgmString(PSTR(" (homing enable, bool)\r\n$14 = ")); printInteger(settings.homing_dir_mask);
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printPgmString(PSTR(" (homing direction mask, int:binary = ")); print_uint8_base2(settings.homing_dir_mask);
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printPgmString(PSTR(")\r\n$15 = ")); printFloat(settings.homing_feed_rate);
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printPgmString(PSTR(" (homing feed rate, mm/min)\r\n$16 = ")); printFloat(settings.homing_seek_rate);
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printPgmString(PSTR(" (homing seek rate, mm/min)\r\n$17 = ")); printInteger(settings.homing_debounce_delay);
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printPgmString(PSTR(" (homing debounce delay, msec)\r\n$18 = ")); printFloat(settings.homing_pulloff);
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printPgmString(PSTR(" (homing pull-off travel, mm)\r\n$19 = ")); printInteger(settings.stepper_idle_lock_time);
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printPgmString(PSTR(" (stepper idle lock time, msec)\r\n$20 = ")); printInteger(settings.decimal_places);
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printPgmString(PSTR(" (decimal places, int)"));
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// char buf[4];
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// settings_startup_string((char *)buf);
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@ -262,15 +272,35 @@ void settings_store_setting(int parameter, float value) {
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case 9: settings.junction_deviation = fabs(value); break;
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case 10:
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if (value) {
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settings.flags |= FLAG_BIT_HOMING_ENABLE;
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printPgmString(PSTR("Install all axes limit switches before use\r\n"));
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} else { settings.flags &= ~FLAG_BIT_HOMING_ENABLE; }
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settings.flags |= BITFLAG_REPORT_INCHES;
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} else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
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break;
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case 11: settings.homing_feed_rate = value; break;
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case 12: settings.homing_seek_rate = value; break;
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case 13: settings.homing_debounce_delay = round(value); break;
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case 14: settings.stepper_idle_lock_time = round(value); break;
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case 15: settings.decimal_places = round(value); break;
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case 11:
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if (value) {
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settings.flags |= BITFLAG_AUTO_START;
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} else { settings.flags &= ~BITFLAG_AUTO_START; }
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break;
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case 12:
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if (value) {
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settings.flags |= BITFLAG_HARD_LIMIT_ENABLE;
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} else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
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break;
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case 13:
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if (value) {
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settings.flags |= BITFLAG_HOMING_ENABLE;
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printPgmString(PSTR("Install all axes limit switches before use\r\n"));
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} else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
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break;
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case 14: settings.homing_dir_mask = trunc(value); break;
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case 15: settings.homing_feed_rate = value; break;
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case 16: settings.homing_seek_rate = value; break;
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case 17: settings.homing_debounce_delay = round(value); break;
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case 18: settings.homing_pulloff = value; break;
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case 19:
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settings.stepper_idle_lock_time = round(value);
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// TODO: Immediately check and toggle steppers from always enable or disable?
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break;
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case 20: settings.decimal_places = round(value); break;
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default:
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printPgmString(PSTR("Unknown parameter\r\n"));
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return;
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