ManuelW/grbl-LPC-CoreXY
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Increment to v1.1a, minor compile bug fix, tweaked communication protocol, more docs.

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- Incremented to v1.1a, rather than keep 1.0e. This is because there
are existing v1.0 installations. Don’t want to confuse people further.

- Certain version of the Arduino IDE did not like the `inline` in the
function header. Removed from spindle_control files to fix the problem.

- Tweaked the communication protocol slightly. Added message type
indicators for all `[]`bracketed feedback messages. It’s been
problematic for GUI dev to try to determine the context of a message
and how it should be handled. These indictors should help tremendously
to remove context all together.

- Also altered how `$N` startup lines are presented when executed. They
now start with an open chevron ‘>’ followed by the line and an ‘:ok’ to
indicate it executed. The ‘ok’ is on the same line intentionally so it
doesn’t mess up a streaming protocol counter.

- Managed to save a 100+KB from refactoring parts of report.c. (Thanks
Vasilis!) Freed up room to alter the protocol a little.

- Wrote a markdown document on interface messaging to make it clear how
it’s intended to work. See interface.md in /doc/markdown

- Started to pull in some Wiki pages from the old grbl site and
beginning to update them for v1.1.

- Created new commit log for v1.1.
This commit is contained in:
Sonny Jeon
2016-09-22 23:15:55 -06:00
parent 968e97f9ef
commit e51e691eeb
15 changed files with 1459 additions and 337 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
grbl/grbl.h
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@ -22,8 +22,8 @@
#define grbl_h
// Grbl versioning system
#define GRBL_VERSION "1.0e"
#define GRBL_VERSION_BUILD "20160921"
#define GRBL_VERSION "1.1a"
#define GRBL_VERSION_BUILD "20160922"
// Define standard libraries used by Grbl.
#include <avr/io.h>

2
grbl/print.c
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@ -190,7 +190,7 @@ void printFloat_RateValue(float n) {
}
}
void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVALUE); }
// void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVALUE); }
void printFloat_RPMValue(float n) { printFloat(n,N_DECIMAL_RPMVALUE); }

2
grbl/print.h
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@ -46,7 +46,7 @@ void printFloat(float n, uint8_t decimal_places);
// - RPMValue: Handles spindle RPM values in settings and reports.
void printFloat_CoordValue(float n);
void printFloat_RateValue(float n);
void printFloat_SettingValue(float n);
// void printFloat_SettingValue(float n);
void printFloat_RPMValue(float n);
// Debug tool to print free memory in bytes at the called point. Not used otherwise.

227
grbl/report.c
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@ -137,27 +137,28 @@ void report_alarm_message(int8_t alarm_code)
// TODO: Install silence feedback messages option in settings
void report_feedback_message(uint8_t message_code)
{
printPgmString(PSTR("[MSG:"));
switch(message_code) {
case MESSAGE_CRITICAL_EVENT:
printPgmString(PSTR("[Reset to continue")); break;
printPgmString(PSTR("Reset to continue")); break;
case MESSAGE_ALARM_LOCK:
printPgmString(PSTR("['$H'|'$X' to unlock")); break;
printPgmString(PSTR("'$H'|'$X' to unlock")); break;
case MESSAGE_ALARM_UNLOCK:
printPgmString(PSTR("[Caution: Unlocked")); break;
printPgmString(PSTR("Caution: Unlocked")); break;
case MESSAGE_ENABLED:
printPgmString(PSTR("[Enabled")); break;
printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED:
printPgmString(PSTR("[Disabled")); break;
printPgmString(PSTR("Disabled")); break;
case MESSAGE_SAFETY_DOOR_AJAR:
printPgmString(PSTR("[Check Door")); break;
printPgmString(PSTR("Check Door")); break;
case MESSAGE_CHECK_LIMITS:
printPgmString(PSTR("[Check Limits")); break;
printPgmString(PSTR("Check Limits")); break;
case MESSAGE_PROGRAM_END:
printPgmString(PSTR("[Pgm End")); break;
printPgmString(PSTR("Pgm End")); break;
case MESSAGE_RESTORE_DEFAULTS:
printPgmString(PSTR("[Restoring defaults")); break;
printPgmString(PSTR("Restoring defaults")); break;
case MESSAGE_SPINDLE_RESTORE:
printPgmString(PSTR("[Restoring spindle")); break;
printPgmString(PSTR("Restoring spindle")); break;
}
printPgmString(PSTR("]\r\n"));
}
@ -172,7 +173,7 @@ void report_init_message()
// Grbl help message
void report_grbl_help() {
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("[$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]\r\n"));
printPgmString(PSTR("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $C $X $H ~ ! ? ctrl-x]\r\n"));
#else
printPgmString(PSTR("$$ (view Grbl settings)\r\n"
"$# (view # parameters)\r\n"
@ -193,38 +194,102 @@ void report_grbl_help() {
}
static void report_int_setting(uint8_t n, int val)
{
serial_write('$');
print_uint8_base10(n);
serial_write('=');
print_uint8_base10(val);
printPgmString(PSTR("\r\n"));
}
static void report_float_setting(uint8_t n, float val, uint8_t decimal_places)
{
serial_write('$');
print_uint8_base10(n);
serial_write('=');
printFloat(val, decimal_places);
printPgmString(PSTR("\r\n"));
}
// Grbl global settings print out.
// NOTE: The numbering scheme here must correlate to storing in settings.c
void report_grbl_settings() {
// Print Grbl settings.
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
printPgmString(PSTR("\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
printPgmString(PSTR("\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
printPgmString(PSTR("\r\n$3=")); print_uint8_base10(settings.dir_invert_mask);
printPgmString(PSTR("\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
printPgmString(PSTR("\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
printPgmString(PSTR("\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
printPgmString(PSTR("\r\n$10=")); print_uint8_base10(settings.status_report_mask);
printPgmString(PSTR("\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
printPgmString(PSTR("\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
printPgmString(PSTR("\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
printPgmString(PSTR("\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
printPgmString(PSTR("\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
printPgmString(PSTR("\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
printPgmString(PSTR("\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
printPgmString(PSTR("\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate);
printPgmString(PSTR("\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate);
printPgmString(PSTR("\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay);
printPgmString(PSTR("\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff);
printPgmString(PSTR("\r\n$30=")); printFloat_RPMValue(settings.rpm_max);
printPgmString(PSTR("\r\n$31=")); printFloat_RPMValue(settings.rpm_min);
report_int_setting(0,settings.pulse_microseconds);
report_int_setting(1,settings.stepper_idle_lock_time);
report_int_setting(2,settings.step_invert_mask);
report_int_setting(3,settings.dir_invert_mask);
report_int_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
report_int_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
report_int_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
report_int_setting(10,settings.status_report_mask);
report_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
report_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
report_int_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
report_int_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
report_int_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
report_int_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
report_int_setting(23,settings.homing_dir_mask);
report_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
report_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
report_int_setting(26,settings.homing_debounce_delay);
report_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
report_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
report_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR("\r\n$32=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_LASER_MODE));
report_int_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
#else
printPgmString(PSTR("\r\n$32=0\r\n"));
report_int_setting(32,0);
#endif
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
switch (set_idx) {
case 0: report_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
case 1: report_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
case 2: report_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
case 3: report_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
}
}
val += AXIS_SETTINGS_INCREMENT;
}
// printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
// printPgmString(PSTR("\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
// printPgmString(PSTR("\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
// printPgmString(PSTR("\r\n$3=")); print_uint8_base10(settings.dir_invert_mask);
// printPgmString(PSTR("\r\n$4=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
// printPgmString(PSTR("\r\n$5=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
// printPgmString(PSTR("\r\n$6=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
// printPgmString(PSTR("\r\n$10=")); print_uint8_base10(settings.status_report_mask);
// printPgmString(PSTR("\r\n$11=")); printFloat_SettingValue(settings.junction_deviation);
// printPgmString(PSTR("\r\n$12=")); printFloat_SettingValue(settings.arc_tolerance);
// printPgmString(PSTR("\r\n$13=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
// printPgmString(PSTR("\r\n$20=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
// printPgmString(PSTR("\r\n$21=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
// printPgmString(PSTR("\r\n$22=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
// printPgmString(PSTR("\r\n$23=")); print_uint8_base10(settings.homing_dir_mask);
// printPgmString(PSTR("\r\n$24=")); printFloat_SettingValue(settings.homing_feed_rate);
// printPgmString(PSTR("\r\n$25=")); printFloat_SettingValue(settings.homing_seek_rate);
// printPgmString(PSTR("\r\n$26=")); print_uint8_base10(settings.homing_debounce_delay);
// printPgmString(PSTR("\r\n$27=")); printFloat_SettingValue(settings.homing_pulloff);
// printPgmString(PSTR("\r\n$30=")); printFloat_RPMValue(settings.rpm_max);
// printPgmString(PSTR("\r\n$31=")); printFloat_RPMValue(settings.rpm_min);
// #ifdef VARIABLE_SPINDLE
// printPgmString(PSTR("\r\n$32=")); print_uint8_base10(bit_istrue(settings.flags,BITFLAG_LASER_MODE));
// printPgmString(PSTR("\r\n"));
// #else
// printPgmString(PSTR("\r\n$32=0\r\n"));
// #endif
#else
printPgmString(PSTR("$0=")); print_uint8_base10(settings.pulse_microseconds);
printPgmString(PSTR(" (step pulse, usec)\r\n$1=")); print_uint8_base10(settings.stepper_idle_lock_time);
printPgmString(PSTR(" (step idle delay, msec)\r\n$2=")); print_uint8_base10(settings.step_invert_mask);
@ -252,25 +317,20 @@ void report_grbl_settings() {
#else
printPgmString(PSTR(" (rpm min)\r\n$32=0 (laser mode, bool)\r\n"));
#endif
#endif
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
serial_write('$');
print_uint8_base10(val+idx);
serial_write('=');
switch (set_idx) {
case 0: printFloat_SettingValue(settings.steps_per_mm[idx]); break;
case 1: printFloat_SettingValue(settings.max_rate[idx]); break;
case 2: printFloat_SettingValue(settings.acceleration[idx]/(60*60)); break;
case 3: printFloat_SettingValue(-settings.max_travel[idx]); break;
}
#ifdef REPORT_GUI_MODE
printPgmString(PSTR("\r\n"));
#else
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
serial_write('$');
print_uint8_base10(val+idx);
serial_write('=');
switch (set_idx) {
case 0: printFloat_SettingValue(settings.steps_per_mm[idx]); break;
case 1: printFloat_SettingValue(settings.max_rate[idx]); break;
case 2: printFloat_SettingValue(settings.acceleration[idx]/(60*60)); break;
case 3: printFloat_SettingValue(-settings.max_travel[idx]); break;
}
serial_write(' ');
serial_write('(');
switch (idx) {
@ -285,10 +345,11 @@ void report_grbl_settings() {
case 3: printPgmString(PSTR(" max travel, mm")); break;
}
printPgmString(PSTR(")\r\n"));
#endif
}
val += AXIS_SETTINGS_INCREMENT;
}
val += AXIS_SETTINGS_INCREMENT;
}
#endif
}
@ -352,24 +413,26 @@ void report_ngc_parameters()
// Print current gcode parser mode state
void report_gcode_modes()
{
printPgmString(PSTR("[GC:G"));
switch (gc_state.modal.motion) {
case MOTION_MODE_SEEK : printPgmString(PSTR("[G0")); break;
case MOTION_MODE_LINEAR : printPgmString(PSTR("[G1")); break;
case MOTION_MODE_CW_ARC : printPgmString(PSTR("[G2")); break;
case MOTION_MODE_CCW_ARC : printPgmString(PSTR("[G3")); break;
case MOTION_MODE_NONE : printPgmString(PSTR("[G80")); break;
case MOTION_MODE_SEEK : serial_write('0'); break;
case MOTION_MODE_LINEAR : serial_write('1'); break;
case MOTION_MODE_CW_ARC : serial_write('2'); break;
case MOTION_MODE_CCW_ARC : serial_write('3'); break;
case MOTION_MODE_NONE : printPgmString(PSTR("80")); break;
default:
printPgmString(PSTR("[G38."));
printPgmString(PSTR("38."));
print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
}
printPgmString(PSTR(" G"));
print_uint8_base10(gc_state.modal.coord_select+54);
printPgmString(PSTR(" G1"));
switch (gc_state.modal.plane_select) {
case PLANE_SELECT_XY : printPgmString(PSTR(" G17")); break;
case PLANE_SELECT_ZX : printPgmString(PSTR(" G18")); break;
case PLANE_SELECT_YZ : printPgmString(PSTR(" G19")); break;
case PLANE_SELECT_XY : serial_write('7'); break;
case PLANE_SELECT_ZX : serial_write('8'); break;
case PLANE_SELECT_YZ : serial_write('9'); break;
}
if (gc_state.modal.units == UNITS_MODE_MM) { printPgmString(PSTR(" G21")); }
@ -381,26 +444,29 @@ void report_gcode_modes()
if (gc_state.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { printPgmString(PSTR(" G93")); }
else { printPgmString(PSTR(" G94")); }
printPgmString(PSTR(" M"));
switch (gc_state.modal.program_flow) {
case PROGRAM_FLOW_RUNNING : printPgmString(PSTR(" M0")); break;
case PROGRAM_FLOW_PAUSED : printPgmString(PSTR(" M1")); break;
case PROGRAM_FLOW_COMPLETED : printPgmString(PSTR(" M2")); break;
case PROGRAM_FLOW_RUNNING : serial_write('0'); break;
case PROGRAM_FLOW_PAUSED : serial_write('1'); break;
case PROGRAM_FLOW_COMPLETED : serial_write('2'); break;
}
printPgmString(PSTR(" M"));
switch (gc_state.modal.spindle) {
case SPINDLE_ENABLE_CW : printPgmString(PSTR(" M3")); break;
case SPINDLE_ENABLE_CCW : printPgmString(PSTR(" M4")); break;
case SPINDLE_DISABLE : printPgmString(PSTR(" M5")); break;
case SPINDLE_ENABLE_CW : serial_write('3'); break;
case SPINDLE_ENABLE_CCW : serial_write('4'); break;
case SPINDLE_DISABLE : serial_write('5'); break;
}
printPgmString(PSTR(" M"));
#ifdef ENABLE_M7
if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { printPgmString(PSTR(" M7")); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { printPgmString(PSTR(" M8")); }
} else { printPgmString(PSTR(" M9")); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { serial_write('7'); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { serial_write('8'); }
} else { serial_write('9'); }
#else
if (gc_state.modal.coolant) { printPgmString(PSTR(" M8")); }
else { printPgmString(PSTR(" M9")); }
if (gc_state.modal.coolant) { serial_write('8'); }
else { serial_write('9'); }
#endif
printPgmString(PSTR(" T"));
@ -427,11 +493,18 @@ void report_startup_line(uint8_t n, char *line)
printPgmString(PSTR("\r\n"));
}
void report_execute_startup_message(char *line, uint8_t status_code)
{
serial_write('>');
printString(line); // Echo startup line to indicate execution.
serial_write(':');
report_status_message(status_code);
}
// Prints build info line
void report_build_info(char *line)
{
printPgmString(PSTR("[" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
printString(line);
printPgmString(PSTR("]\r\n"));
}

3
grbl/report.h
View File

@ -114,8 +114,9 @@ void report_ngc_parameters();
// Prints current g-code parser mode state
void report_gcode_modes();
// Prints startup line
// Prints startup line when requested and executed.
void report_startup_line(uint8_t n, char *line);
void report_execute_startup_message(char *line, uint8_t status_code);
// Prints build info and user info
void report_build_info(char *line);

4
grbl/spindle_control.c
View File

@ -64,7 +64,7 @@ void spindle_init()
// Stop and start spindle routines. Called by all spindle routines and stepper ISR.
inline void spindle_stop()
void spindle_stop()
{
// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
#ifdef VARIABLE_SPINDLE
@ -87,7 +87,7 @@ inline void spindle_stop()
#ifdef VARIABLE_SPINDLE
inline void spindle_set_speed(uint8_t pwm_value)
void spindle_set_speed(uint8_t pwm_value)
{
if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
spindle_stop();

4
grbl/spindle_control.h
View File

@ -34,8 +34,8 @@ void spindle_run(uint8_t direction, float rpm);
void spindle_set_state(uint8_t state, uint8_t pwm_value);
// Stop and start spindle routines. Called by all spindle routines and stepper ISR.
inline void spindle_stop();
inline void spindle_set_speed(uint8_t pwm_value); // Variable spindle only.
void spindle_stop();
void spindle_set_speed(uint8_t pwm_value); // Variable spindle only.
uint8_t spindle_compute_pwm_value(float rpm); // 328p PWM register is 8-bit. Variable spindle only.

7
grbl/system.c
View File

@ -97,11 +97,12 @@ void system_execute_startup(char *line)
uint8_t n;
for (n=0; n < N_STARTUP_LINE; n++) {
if (!(settings_read_startup_line(n, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
line[0] = 0;
report_execute_startup_message(line,STATUS_SETTING_READ_FAIL);
} else {
if (line[0] != 0) {
printString(line); // Echo startup line to indicate execution.
report_status_message(gc_execute_line(line));
uint8_t status_code = gc_execute_line(line);
report_execute_startup_message(line,status_code);
}
}
}