ManuelW/grbl-LPC-CoreXY
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Added 4.axes (A) and moved default settings to defaults.h and cpu-map.h

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cprezzi 2017-05-11 19:58:41 +02:00
parent 17121a2652
commit f7083b9491
19 changed files with 385 additions and 200 deletions
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8
doc/markdown/settings.md
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@ -51,6 +51,7 @@ $27=1.000
$30=1000. $30=1000.
$31=0. $31=0.
$32=0 $32=0
$33=5000
$100=250.000 $100=250.000
$101=250.000 $101=250.000
$102=250.000 $102=250.000
@ -63,6 +64,9 @@ $122=10.000
$130=200.000 $130=200.000
$131=200.000 $131=200.000
$132=200.000 $132=200.000
$140=0.000
$141=0.000
$142=0.000
``` ```
#### $x=val - Save Grbl setting #### $x=val - Save Grbl setting
@ -227,6 +231,10 @@ When enabled, Grbl will move continuously through consecutive `G1`, `G2`, or `G3
When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds. When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds.
#### $33 - Spindle/Laser PWM frequency
This sets the PWM frequency.
#### $100, $101 and $102 – [X,Y,Z] steps/mm #### $100, $101 and $102 – [X,Y,Z] steps/mm
Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know: Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know:

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2
grbl-lpc/current_control.cpp
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@ -55,7 +55,7 @@ void current_init()
set_current(0, settings.current[0]); set_current(0, settings.current[0]);
set_current(1, settings.current[1]); set_current(1, settings.current[1]);
set_current(2, settings.current[2]); set_current(2, settings.current[2]);
set_current(3, DEFAULT_A_CURRENT); set_current(3, settings.current[3]);
#endif #endif
} }

155
grbl/config.h
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@ -35,8 +35,11 @@
// NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only // NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
// one configuration file by placing their specific defaults and pin map at the bottom of this file. // one configuration file by placing their specific defaults and pin map at the bottom of this file.
// If doing so, simply comment out these two defines and see instructions below. // If doing so, simply comment out these two defines and see instructions below.
#define CPU_MAP_LPC1769 // NXP LPC1769 boards (like Smoothieboard, Cohesion3D, MKS SBase)
#define BOARD_C3D // For boards without i2c stepper current chip (like Cohesion3D).
//#define DEFAULTS_GENERIC //#define DEFAULTS_GENERIC
// #define CPU_MAP_ATMEGA328P // Arduino Uno CPU #define DEFAULTS_K40
//#define DEFAULTS_FABKIT
// Serial baud rate // Serial baud rate
// #define BAUD_RATE 230400 // #define BAUD_RATE 230400
@ -359,6 +362,7 @@
// pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max // pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max
// scales to SPINDLE_PWM_MAX_VALUE. // scales to SPINDLE_PWM_MAX_VALUE.
// Not needed anymore, as spindle PWM frequency is set by $33 param
//#define SPINDLE_PWM_PERIOD (SystemCoreClock / 40000) // SystemCoreClock / frequency //#define SPINDLE_PWM_PERIOD (SystemCoreClock / 40000) // SystemCoreClock / frequency
#define SPINDLE_PWM_OFF_VALUE 0.0 // SPINDLE_PWM_PERIOD * fraction #define SPINDLE_PWM_OFF_VALUE 0.0 // SPINDLE_PWM_PERIOD * fraction
//#define SPINDLE_PWM_MIN_VALUE (SPINDLE_PWM_PERIOD * 0.0) // SPINDLE_PWM_PERIOD * fraction //#define SPINDLE_PWM_MIN_VALUE (SPINDLE_PWM_PERIOD * 0.0) // SPINDLE_PWM_PERIOD * fraction
@ -629,154 +633,5 @@
below. below.
*/ */
// Paste CPU_MAP definitions here.
// Define serial port pins and interrupt vectors.
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT))
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
#define LIMIT_DDR LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 27 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 29 // Z-MIN=28, Z-MAX=29
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) //|(1<<Z_LIMIT_BIT)) // All limit bits
// hard limits not ported #define LIMIT_INT PCIE0 // Pin change interrupt enable pin
// hard limits not ported #define LIMIT_INT_vect PCINT0_vect
// hard limits not ported #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define spindle enable and spindle direction output pins.
/* not ported
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#else
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#endif
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#endif
*/
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// Define user-control controls (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#define CONTROL_RESET_BIT 0 // Uno Analog Pin 0
#define CONTROL_FEED_HOLD_BIT 1 // Uno Analog Pin 1
#define CONTROL_CYCLE_START_BIT 2 // Uno Analog Pin 2
#define CONTROL_SAFETY_DOOR_BIT 1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT1_vect
#define CONTROL_PCMSK NotUsed // Pin change interrupt register
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
// Define probe switch input pin.
#define PROBE_DDR NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control
//#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable.
#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// Paste default settings definitions here.
#define DEFAULT_X_STEPS_PER_MM 160.0
#define DEFAULT_Y_STEPS_PER_MM 160.0
#define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000 // mm/min
#define DEFAULT_Y_MAX_RATE 24000 // mm/min
#define DEFAULT_Z_MAX_RATE 24000 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_X_CURRENT 0.0 // amps
#define DEFAULT_Y_CURRENT 0.0 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif #endif

154
grbl/cpu_map.h
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@ -149,6 +149,160 @@
#endif #endif
#ifdef CPU_MAP_LPC1769 // (Boards with NXP-LPC1769 MCU, like Smoothieboard, Cohesion3D, MKS SBase) Only supported by grbl_LPC
// Define serial port pins and interrupt vectors.
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR LPC_GPIO2->FIODIR
#define STEP_PORT LPC_GPIO2->FIOPIN
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define A_STEP_BIT 3
//#define B_STEP_BIT 8
//#define C_STEP_BIT 9
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR LPC_GPIO0->FIODIR
#define DIRECTION_PORT LPC_GPIO0->FIOPIN
#define X_DIRECTION_BIT 5
#define Y_DIRECTION_BIT 11
#define Z_DIRECTION_BIT 20
#define A_DIRECTION_BIT 22
//#define B_DIRECTION_BIT 13
//#define C_DIRECTION_BIT NotUsed
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)|(1<<A_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR LPC_GPIO0->FIODIR
#define STEPPERS_DISABLE_PORT LPC_GPIO0->FIOPIN
#define X_DISABLE_BIT 4
#define Y_DISABLE_BIT 10
#define Z_DISABLE_BIT 19
#define A_DISABLE_BIT 21
//#define B_DISABLE_BIT 29
//#define C_DISABLE_BIT NotUsed
#define STEPPERS_DISABLE_MASK ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT)|(1<<A_DISABLE_BIT))
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
#define LIMIT_DDR LPC_GPIO1->FIODIR
#define LIMIT_PIN LPC_GPIO1->FIOPIN
#define LIMIT_PORT LPC_GPIO1->FIOPIN
#define X_LIMIT_BIT 24 // X-MIN=24, X-MAX=25
#define Y_LIMIT_BIT 27 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 29 // Z-MIN=28, Z-MAX=29
#define A_LIMIT_BIT 28 // reuse p1.28, as z-min is not often used
//#define B_LIMIT_BIT NotUsed
//#define C_LIMIT_BIT NotUsed
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<A_LIMIT_BIT)) // All limit bits
// hard limits not ported #define LIMIT_INT PCIE0 // Pin change interrupt enable pin
// hard limits not ported #define LIMIT_INT_vect PCINT0_vect
// hard limits not ported #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define spindle enable and spindle direction output pins.
/* not ported
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#else
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#endif
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#endif
*/
// Define flood and mist coolant enable output pins.
#define COOLANT_FLOOD_DDR NotUsed
#define COOLANT_FLOOD_PORT NotUsed
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#define COOLANT_MIST_DDR NotUsed
#define COOLANT_MIST_PORT NotUsed
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 3
// Define user-control controls (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR NotUsed
#define CONTROL_PIN NotUsed
#define CONTROL_PORT NotUsed
#define CONTROL_RESET_BIT 0 // Uno Analog Pin 0
#define CONTROL_FEED_HOLD_BIT 1 // Uno Analog Pin 1
#define CONTROL_CYCLE_START_BIT 2 // Uno Analog Pin 2
#define CONTROL_SAFETY_DOOR_BIT 1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT1_vect
#define CONTROL_PCMSK NotUsed // Pin change interrupt register
#define CONTROL_MASK ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
// Define probe switch input pin.
#define PROBE_DDR NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
//
// PWM Channel PWM1_CH1 PWM1_CH2 PWM1_CH3 PWM1_CH4 PWM1_CH5 PWM1_CH6
// Primary pin P1.18 P1.20 P1.21 P1.23 P1.24 P1.26
// Secondary pin P2.0 P2.1 P2.2 P2.3 P2.4 P2.5
#define SPINDLE_PWM_CHANNEL PWM1_CH6
#define SPINDLE_PWM_USE_PRIMARY_PIN false
#define SPINDLE_PWM_USE_SECONDARY_PIN true
// Stepper current control
#ifndef BOARD_C3D
#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable (for C3d boards!)
#endif
#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// Variable spindle configuration below. Do not change unless you know what you are doing.
// NOTE: Only used when variable spindle is enabled.
#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
//#define SPINDLE_PWM_OFF_VALUE 0 // Defined in config.h
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#define SPINDLE_TCCRA_REGISTER TCCR2A
#define SPINDLE_TCCRB_REGISTER TCCR2B
#define SPINDLE_OCR_REGISTER OCR2A
#define SPINDLE_COMB_BIT COM2A1
// Prescaled, 8-bit Fast PWM mode.
/* not used
#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
*/
#endif
/* /*
#ifdef CPU_MAP_CUSTOM_PROC #ifdef CPU_MAP_CUSTOM_PROC
// For a custom pin map or different processor, copy and edit one of the available cpu // For a custom pin map or different processor, copy and edit one of the available cpu

90
grbl/defaults.h
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@ -32,15 +32,33 @@
#define DEFAULT_X_STEPS_PER_MM 250.0 #define DEFAULT_X_STEPS_PER_MM 250.0
#define DEFAULT_Y_STEPS_PER_MM 250.0 #define DEFAULT_Y_STEPS_PER_MM 250.0
#define DEFAULT_Z_STEPS_PER_MM 250.0 #define DEFAULT_Z_STEPS_PER_MM 250.0
#define DEFAULT_A_STEPS_PER_MM 160.0
//#define DEFAULT_B_STEPS_PER_MM 160.0
//#define DEFAULT_C_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 500.0 // mm/min #define DEFAULT_X_MAX_RATE 500.0 // mm/min
#define DEFAULT_Y_MAX_RATE 500.0 // mm/min #define DEFAULT_Y_MAX_RATE 500.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min #define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_A_MAX_RATE 500.0 // mm/min
//#define DEFAULT_B_MAX_RATE 500.0 // mm/min
//#define DEFAULT_C_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_A_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
//#define DEFAULT_B_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
//#define DEFAULT_C_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_CURRENT 0.6 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
//#define DEFAULT_B_CURRENT 0.0 // amps
//#define DEFAULT_C_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
//#define DEFAULT_B_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
//#define DEFAULT_C_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
@ -71,19 +89,33 @@
#define DEFAULT_X_STEPS_PER_MM 160.0 #define DEFAULT_X_STEPS_PER_MM 160.0
#define DEFAULT_Y_STEPS_PER_MM 160.0 #define DEFAULT_Y_STEPS_PER_MM 160.0
#define DEFAULT_Z_STEPS_PER_MM 160.0 #define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_A_STEPS_PER_MM 160.0
//#define DEFAULT_B_STEPS_PER_MM 160.0
//#define DEFAULT_C_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000.0 // mm/min #define DEFAULT_X_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 24000.0 // mm/min #define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 24000.0 // mm/min #define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
#define DEFAULT_A_MAX_RATE 24000.0 // mm/min
//#define DEFAULT_B_MAX_RATE 24000.0 // mm/min
//#define DEFAULT_C_MAX_RATE 24000.0 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_CURRENT 0.0 // amps #define DEFAULT_A_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_CURRENT 0.0 // amps //#define DEFAULT_B_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
//#define DEFAULT_C_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_CURRENT 0.6 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps #define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps #define DEFAULT_A_CURRENT 0.0 // amps
//#define DEFAULT_B_CURRENT 0.0 // amps
//#define DEFAULT_C_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
#define DEFAULT_A_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
//#define DEFAULT_B_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
//#define DEFAULT_C_MAX_TRAVEL 1.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
@ -109,6 +141,49 @@
#define DEFAULT_HOMING_PULLOFF 1.0 // mm #define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif #endif
#ifdef DEFAULTS_FABKIT
// Paste default settings definitions here.
#define DEFAULT_X_STEPS_PER_MM 80.0
#define DEFAULT_Y_STEPS_PER_MM 80.0
#define DEFAULT_Z_STEPS_PER_MM 640.0
#define DEFAULT_X_MAX_RATE 30000 // mm/min
#define DEFAULT_Y_MAX_RATE 4500 // mm/min
#define DEFAULT_Z_MAX_RATE 1200 // mm/min
#define DEFAULT_X_ACCELERATION (4000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (250.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Z_ACCELERATION (150.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_X_CURRENT 1.5 // amps
#define DEFAULT_Y_CURRENT 1.5 // amps
#define DEFAULT_Z_CURRENT 1.5 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 680.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 460.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm
#define DEFAULT_SPINDLE_PWM_FREQ 50000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 0.7 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.08 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 1
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 2
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 60.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
#ifdef DEFAULTS_SHERLINE_5400 #ifdef DEFAULTS_SHERLINE_5400
// Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors, // Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors,
// driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding. // driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.
@ -127,6 +202,7 @@
#define DEFAULT_X_MAX_TRAVEL 225.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 225.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 125.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 125.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 170.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 170.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 2800.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 2800.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -172,6 +248,7 @@
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -217,6 +294,7 @@
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -261,6 +339,7 @@
#define DEFAULT_X_MAX_TRAVEL 425.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 425.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 465.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 465.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -306,6 +385,7 @@
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 290.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -351,6 +431,7 @@
#define DEFAULT_X_MAX_TRAVEL 740.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 740.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 790.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 790.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -394,6 +475,7 @@
#define DEFAULT_X_MAX_TRAVEL 190.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 190.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 180.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 180.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 150.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 10000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -433,6 +515,7 @@
#define DEFAULT_X_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 500.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 750.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 750.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 80.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@ -472,6 +555,7 @@
#define DEFAULT_X_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value. #define DEFAULT_X_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 1000.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10 #define DEFAULT_STEP_PULSE_MICROSECONDS 10

64
grbl/gcode.c
View File

@ -80,7 +80,7 @@ uint8_t gc_execute_line(char *line)
uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution
// Initialize bitflag tracking variables for axis indices compatible operations. // Initialize bitflag tracking variables for axis indices compatible operations.
uint8_t axis_words = 0; // XYZ tracking uint8_t axis_words = 0; // XYZA tracking
uint8_t ijk_words = 0; // IJK tracking uint8_t ijk_words = 0; // IJK tracking
// Initialize command and value words and parser flags variables. // Initialize command and value words and parser flags variables.
@ -296,7 +296,7 @@ uint8_t gc_execute_line(char *line)
legal g-code words and stores their value. Error-checking is performed later since some legal g-code words and stores their value. Error-checking is performed later since some
words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */ words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
switch(letter){ switch(letter){
// case 'A': // Not supported case 'A': word_bit = WORD_A; gc_block.values.xyza[A_AXIS] = value; axis_words |= (1<<A_AXIS); break;
// case 'B': // Not supported // case 'B': // Not supported
// case 'C': // Not supported // case 'C': // Not supported
// case 'D': // Not supported // case 'D': // Not supported
@ -316,9 +316,9 @@ uint8_t gc_execute_line(char *line)
if (value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); } if (value > MAX_TOOL_NUMBER) { FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); }
gc_block.values.t = int_value; gc_block.values.t = int_value;
break; break;
case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break; case 'X': word_bit = WORD_X; gc_block.values.xyza[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break; case 'Y': word_bit = WORD_Y; gc_block.values.xyza[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break; case 'Z': word_bit = WORD_Z; gc_block.values.xyza[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
} }
@ -475,7 +475,7 @@ uint8_t gc_execute_line(char *line)
if (gc_block.modal.units == UNITS_MODE_INCHES) { if (gc_block.modal.units == UNITS_MODE_INCHES) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) { if (bit_istrue(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] *= MM_PER_INCH; gc_block.values.xyza[idx] *= MM_PER_INCH;
} }
} }
} }
@ -549,11 +549,11 @@ uint8_t gc_execute_line(char *line)
if (gc_block.values.l == 20) { if (gc_block.values.l == 20) {
// L20: Update coordinate system axis at current position (with modifiers) with programmed value // L20: Update coordinate system axis at current position (with modifiers) with programmed value
// WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos // WPos = MPos - WCS - G92 - TLO -> WCS = MPos - G92 - TLO - WPos
gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx]; gc_block.values.ijk[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyza[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; } if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.ijk[idx] -= gc_state.tool_length_offset; }
} else { } else {
// L2: Update coordinate system axis to programmed value. // L2: Update coordinate system axis to programmed value.
gc_block.values.ijk[idx] = gc_block.values.xyz[idx]; gc_block.values.ijk[idx] = gc_block.values.xyza[idx];
} }
} // Else, keep current stored value. } // Else, keep current stored value.
} }
@ -567,10 +567,10 @@ uint8_t gc_execute_line(char *line)
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used. for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) { if (bit_istrue(axis_words,bit(idx)) ) {
// WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos // WPos = MPos - WCS - G92 - TLO -> G92 = MPos - WCS - TLO - WPos
gc_block.values.xyz[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyz[idx]; gc_block.values.xyza[idx] = gc_state.position[idx]-block_coord_system[idx]-gc_block.values.xyza[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; } if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] -= gc_state.tool_length_offset; }
} else { } else {
gc_block.values.xyz[idx] = gc_state.coord_offset[idx]; gc_block.values.xyza[idx] = gc_state.coord_offset[idx];
} }
} }
break; break;
@ -585,17 +585,17 @@ uint8_t gc_execute_line(char *line)
if (axis_words) { if (axis_words) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space. for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
if ( bit_isfalse(axis_words,bit(idx)) ) { if ( bit_isfalse(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position. gc_block.values.xyza[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
} else { } else {
// Update specified value according to distance mode or ignore if absolute override is active. // Update specified value according to distance mode or ignore if absolute override is active.
// NOTE: G53 is never active with G28/30 since they are in the same modal group. // NOTE: G53 is never active with G28/30 since they are in the same modal group.
if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) { if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
// Apply coordinate offsets based on distance mode. // Apply coordinate offsets based on distance mode.
if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) { if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
gc_block.values.xyz[idx] += block_coord_system[idx] + gc_state.coord_offset[idx]; gc_block.values.xyza[idx] += block_coord_system[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; } if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyza[idx] += gc_state.tool_length_offset; }
} else { // Incremental mode } else { // Incremental mode
gc_block.values.xyz[idx] += gc_state.position[idx]; gc_block.values.xyza[idx] += gc_state.position[idx];
} }
} }
} }
@ -684,12 +684,12 @@ uint8_t gc_execute_line(char *line)
// Calculate the change in position along each selected axis // Calculate the change in position along each selected axis
float x,y; float x,y;
x = gc_block.values.xyz[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target x = gc_block.values.xyza[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
y = gc_block.values.xyz[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target y = gc_block.values.xyza[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target
if (value_words & bit(WORD_R)) { // Arc Radius Mode if (value_words & bit(WORD_R)) { // Arc Radius Mode
bit_false(value_words,bit(WORD_R)); bit_false(value_words,bit(WORD_R));
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target] if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
// Convert radius value to proper units. // Convert radius value to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; } if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; }
@ -816,7 +816,7 @@ uint8_t gc_execute_line(char *line)
// an error, it issues an alarm to prevent further motion to the probe. It's also done there to // an error, it issues an alarm to prevent further motion to the probe. It's also done there to
// allow the planner buffer to empty and move off the probe trigger before another probing cycle. // allow the planner buffer to empty and move off the probe trigger before another probing cycle.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words] if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (isequal_position_vector(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target] if (isequal_position_vector(gc_state.position, gc_block.values.xyza)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
break; break;
} }
} }
@ -832,7 +832,7 @@ uint8_t gc_execute_line(char *line)
} else { } else {
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words. bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
} }
if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z))); } // Remove axis words. if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z)|bit(WORD_A))); } // Remove axis words.
if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words] if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]
/* ------------------------------------------------------------------------------------- /* -------------------------------------------------------------------------------------
@ -861,7 +861,7 @@ uint8_t gc_execute_line(char *line)
plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant); plan_data.condition = (gc_state.modal.spindle | gc_state.modal.coolant);
uint8_t status = jog_execute(&plan_data, &gc_block); uint8_t status = jog_execute(&plan_data, &gc_block);
if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); } if (status == STATUS_OK) { memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); }
return(status); return(status);
} }
@ -985,10 +985,10 @@ uint8_t gc_execute_line(char *line)
if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change. if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change.
gc_state.modal.tool_length = gc_block.modal.tool_length; gc_state.modal.tool_length = gc_block.modal.tool_length;
if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_CANCEL) { // G49 if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_CANCEL) { // G49
gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] = 0.0; gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] = 0.0;
} // else G43.1 } // else G43.1
if ( gc_state.tool_length_offset != gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS] ) { if ( gc_state.tool_length_offset != gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS] ) {
gc_state.tool_length_offset = gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS]; gc_state.tool_length_offset = gc_block.values.xyza[TOOL_LENGTH_OFFSET_AXIS];
system_flag_wco_change(); system_flag_wco_change();
} }
} }
@ -1022,7 +1022,7 @@ uint8_t gc_execute_line(char *line)
// Move to intermediate position before going home. Obeys current coordinate system and offsets // Move to intermediate position before going home. Obeys current coordinate system and offsets
// and absolute and incremental modes. // and absolute and incremental modes.
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
if (axis_command) { mc_line(gc_block.values.xyz, pl_data); } if (axis_command) { mc_line(gc_block.values.xyza, pl_data); }
mc_line(gc_block.values.ijk, pl_data); mc_line(gc_block.values.ijk, pl_data);
memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float)); memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float));
break; break;
@ -1033,7 +1033,7 @@ uint8_t gc_execute_line(char *line)
settings_write_coord_data(SETTING_INDEX_G30,gc_state.position,false,true); settings_write_coord_data(SETTING_INDEX_G30,gc_state.position,false,true);
break; break;
case NON_MODAL_SET_COORDINATE_OFFSET: case NON_MODAL_SET_COORDINATE_OFFSET:
memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz)); memcpy(gc_state.coord_offset,gc_block.values.xyza,sizeof(gc_block.values.xyza));
system_flag_wco_change(); system_flag_wco_change();
break; break;
case NON_MODAL_RESET_COORDINATE_OFFSET: case NON_MODAL_RESET_COORDINATE_OFFSET:
@ -1051,27 +1051,27 @@ uint8_t gc_execute_line(char *line)
if (axis_command == AXIS_COMMAND_MOTION_MODE) { if (axis_command == AXIS_COMMAND_MOTION_MODE) {
uint8_t gc_update_pos = GC_UPDATE_POS_TARGET; uint8_t gc_update_pos = GC_UPDATE_POS_TARGET;
if (gc_state.modal.motion == MOTION_MODE_LINEAR) { if (gc_state.modal.motion == MOTION_MODE_LINEAR) {
mc_line(gc_block.values.xyz, pl_data); mc_line(gc_block.values.xyza, pl_data);
} else if (gc_state.modal.motion == MOTION_MODE_SEEK) { } else if (gc_state.modal.motion == MOTION_MODE_SEEK) {
pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag.
mc_line(gc_block.values.xyz, pl_data); mc_line(gc_block.values.xyza, pl_data);
} else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) { } else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) {
mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r, mc_arc(gc_block.values.xyza, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r,
axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE)); axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE));
} else { } else {
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So // NOTE: gc_block.values.xyza is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same. // upon a successful probing cycle, the machine position and the returned value should be the same.
#ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES #ifndef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE; pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#endif #endif
gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags); gc_update_pos = mc_probe_cycle(gc_block.values.xyza, pl_data, gc_parser_flags);
} }
// As far as the parser is concerned, the position is now == target. In reality the // As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position // motion control system might still be processing the action and the real tool position
// in any intermediate location. // in any intermediate location.
if (gc_update_pos == GC_UPDATE_POS_TARGET) { if (gc_update_pos == GC_UPDATE_POS_TARGET) {
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[] memcpy(gc_state.position, gc_block.values.xyza, sizeof(gc_block.values.xyza)); // gc_state.position[] = gc_block.values.xyza[]
} else if (gc_update_pos == GC_UPDATE_POS_SYSTEM) { } else if (gc_update_pos == GC_UPDATE_POS_SYSTEM) {
gc_sync_position(); // gc_state.position[] = sys_position gc_sync_position(); // gc_state.position[] = sys_position
} // == GC_UPDATE_POS_NONE } // == GC_UPDATE_POS_NONE

3
grbl/gcode.h
View File

@ -149,6 +149,7 @@
#define WORD_X 10 #define WORD_X 10
#define WORD_Y 11 #define WORD_Y 11
#define WORD_Z 12 #define WORD_Z 12
#define WORD_A 13
// Define g-code parser position updating flags // Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero #define GC_UPDATE_POS_TARGET 0 // Must be zero
@ -206,7 +207,7 @@ typedef struct {
float r; // Arc radius float r; // Arc radius
float s; // Spindle speed float s; // Spindle speed
uint8_t t; // Tool selection uint8_t t; // Tool selection
float xyz[3]; // X,Y,Z Translational axes float xyza[N_AXIS]; // X,Y,Z,A Translational axes
} gc_values_t; } gc_values_t;

2
grbl/grbl.h
View File

@ -23,7 +23,7 @@
// Grbl versioning system // Grbl versioning system
#define GRBL_VERSION "1.1f" #define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20170131" #define GRBL_VERSION_BUILD "20170511"
// Define standard libraries used by Grbl. // Define standard libraries used by Grbl.
#include <avr/io.h> #include <avr/io.h>

4
grbl/jog.c
View File

@ -33,11 +33,11 @@ uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
#endif #endif
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) { if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); } if (system_check_travel_limits(gc_block->values.xyza)) { return(STATUS_TRAVEL_EXCEEDED); }
} }
// Valid jog command. Plan, set state, and execute. // Valid jog command. Plan, set state, and execute.
mc_line(gc_block->values.xyz,pl_data); mc_line(gc_block->values.xyza,pl_data);
if (sys.state == STATE_IDLE) { if (sys.state == STATE_IDLE) {
if (plan_get_current_block() != NULL) { // Check if there is a block to execute. if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
sys.state = STATE_JOG; sys.state = STATE_JOG;

3
grbl/motion_control.c
View File

@ -227,6 +227,9 @@ void mc_homing_cycle(uint8_t cycle_mask)
#ifdef HOMING_CYCLE_2 #ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2 limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif #endif
#ifdef HOMING_CYCLE_3
limits_go_home(HOMING_CYCLE_3); // Homing cycle 3
#endif
} }
protocol_execute_realtime(); // Check for reset and set system abort. protocol_execute_realtime(); // Check for reset and set system abort.

3
grbl/motion_control.h
View File

@ -31,6 +31,9 @@
#define HOMING_CYCLE_X bit(X_AXIS) #define HOMING_CYCLE_X bit(X_AXIS)
#define HOMING_CYCLE_Y bit(Y_AXIS) #define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS) #define HOMING_CYCLE_Z bit(Z_AXIS)
#define HOMING_CYCLE_A bit(A_AXIS)
//#define HOMING_CYCLE_B bit(B_AXIS)
//#define HOMING_CYCLE_C bit(C_AXIS)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second

6
grbl/nuts_bolts.h
View File

@ -30,11 +30,13 @@
#define SOME_LARGE_VALUE 1.0E+38 #define SOME_LARGE_VALUE 1.0E+38
// Axis array index values. Must start with 0 and be continuous. // Axis array index values. Must start with 0 and be continuous.
#define N_AXIS 3 // Number of axes #define N_AXIS 4 // Number of axes
#define X_AXIS 0 // Axis indexing value. #define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1 #define Y_AXIS 1
#define Z_AXIS 2 #define Z_AXIS 2
// #define A_AXIS 3 #define A_AXIS 3
//#define B_AXIS 4
//#define C_AXIS 5
// CoreXY motor assignments. DO NOT ALTER. // CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations. // NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.

1
grbl/planner.c
View File

@ -336,6 +336,7 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position); position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position); position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS]; position_steps[Z_AXIS] = sys_position[Z_AXIS];
position_steps[A_AXIS] = sys_position[A_AXIS];
#else #else
memcpy(position_steps, sys_position, sizeof(sys_position)); memcpy(position_steps, sys_position, sizeof(sys_position));
#endif #endif

3
grbl/report.c
View File

@ -578,6 +578,9 @@ void report_realtime_status()
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); } if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); } if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); } if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
if (bit_istrue(lim_pin_state,bit(A_AXIS))) { serial_write('A'); }
//if (bit_istrue(lim_pin_state,bit(B_AXIS))) { serial_write('B'); }
//if (bit_istrue(lim_pin_state,bit(C_AXIS))) { serial_write('C'); }
} }
if (ctrl_pin_state) { if (ctrl_pin_state) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN

33
grbl/settings.c
View File

@ -109,18 +109,33 @@ void settings_restore(uint8_t restore_flag) {
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM; settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM; settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM; settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_MM;
//settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_MM;
//settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE; settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE; settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE; settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
//settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
//settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION; settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION; settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION; settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
//settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
//settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION;
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL); settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL); settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL); settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
//settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
//settings.max_travel[C_AXIS] = (-DEFAULT_C_MAX_TRAVEL);
settings.current[X_AXIS] = DEFAULT_X_CURRENT; settings.current[X_AXIS] = DEFAULT_X_CURRENT;
settings.current[Y_AXIS] = DEFAULT_Y_CURRENT; settings.current[Y_AXIS] = DEFAULT_Y_CURRENT;
settings.current[Z_AXIS] = DEFAULT_Z_CURRENT; settings.current[Z_AXIS] = DEFAULT_Z_CURRENT;
settings.current[A_AXIS] = DEFAULT_A_CURRENT;
//settings.current[B_AXIS] = DEFAULT_B_CURRENT;
//settings.current[C_AXIS] = DEFAULT_C_CURRENT;
write_global_settings(false); write_global_settings(false);
} }
@ -343,7 +358,11 @@ uint32_t get_step_pin_mask(uint8_t axis_idx)
{ {
if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); } if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); } if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
return((1<<Z_STEP_BIT)); if ( axis_idx == Z_AXIS ) { return((1<<Z_STEP_BIT)); }
return((1<<A_STEP_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_STEP_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_STEP_BIT)); }
//return((1<<C_STEP_BIT));
} }
@ -352,7 +371,11 @@ uint32_t get_direction_pin_mask(uint8_t axis_idx)
{ {
if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); } if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); } if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
return((1<<Z_DIRECTION_BIT)); if ( axis_idx == Z_AXIS ) { return((1<<Z_DIRECTION_BIT)); }
return((1<<A_DIRECTION_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_DIRECTION_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_DIRECTION_BIT)); }
//return((1<<C_DIRECTION_BIT));
} }
@ -361,5 +384,9 @@ uint32_t get_limit_pin_mask(uint8_t axis_idx)
{ {
if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); } if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); } if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
return((1<<Z_LIMIT_BIT)); if ( axis_idx == Z_AXIS ) { return((1<<Z_LIMIT_BIT)); }
return((1<<A_LIMIT_BIT));
//if ( axis_idx == A_AXIS ) { return((1<<A_LIMIT_BIT)); }
//if ( axis_idx == B_AXIS ) { return((1<<B_LIMIT_BIT)); }
//return((1<<C_LIMIT_BIT));
} }

2
grbl/settings.h
View File

@ -27,7 +27,7 @@
// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl // 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 10 // NOTE: Check settings_reset() when moving to next version. #define SETTINGS_VERSION 11 // NOTE: Check settings_reset() when moving to next version.
// Define bit flag masks for the boolean settings in settings.flag. // Define bit flag masks for the boolean settings in settings.flag.
#define BITFLAG_REPORT_INCHES bit(0) #define BITFLAG_REPORT_INCHES bit(0)

43
grbl/stepper.c
View File

@ -97,7 +97,10 @@ typedef struct {
// Used by the bresenham line algorithm // Used by the bresenham line algorithm
uint32_t counter_x, // Counter variables for the bresenham line tracer uint32_t counter_x, // Counter variables for the bresenham line tracer
counter_y, counter_y,
counter_z; counter_z,
counter_a;
//counter_b,
//counter_c;
#ifdef STEP_PULSE_DELAY #ifdef STEP_PULSE_DELAY
uint32_t step_bits; // Stores out_bits output to complete the step pulse delay uint32_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif #endif
@ -370,6 +373,9 @@ extern "C" void TIMER1_IRQHandler()
st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level; st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level; st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level; st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
st.steps[A_AXIS] = st.exec_block->steps[A_AXIS] >> st.exec_segment->amass_level;
//st.steps[B_AXIS] = st.exec_block->steps[B_AXIS] >> st.exec_segment->amass_level;
//st.steps[C_AXIS] = st.exec_block->steps[C_AXIS] >> st.exec_segment->amass_level;
#endif #endif
#ifdef VARIABLE_SPINDLE #ifdef VARIABLE_SPINDLE
@ -433,6 +439,41 @@ extern "C" void TIMER1_IRQHandler()
if (st.exec_block->direction_bits & (1<<Z_DIRECTION_BIT)) { sys_position[Z_AXIS]--; } if (st.exec_block->direction_bits & (1<<Z_DIRECTION_BIT)) { sys_position[Z_AXIS]--; }
else { sys_position[Z_AXIS]++; } else { sys_position[Z_AXIS]++; }
} }
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_a += st.steps[A_AXIS];
#else
st.counter_a += st.exec_block->steps[A_AXIS];
#endif
if (st.counter_a > st.exec_block->step_event_count) {
st.step_outbits |= (1<<A_STEP_BIT);
st.counter_a -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<A_DIRECTION_BIT)) { sys_position[A_AXIS]--; }
else { sys_position[A_AXIS]++; }
}
/*
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_b += st.steps[B_AXIS];
#else
st.counter_b += st.exec_block->steps[B_AXIS];
#endif
if (st.counter_b > st.exec_block->step_event_count) {
st.step_outbits |= (1<<B_STEP_BIT);
st.counter_b -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<B_DIRECTION_BIT)) { sys_position[B_AXIS]--; }
else { sys_position[B_AXIS]++; }
}
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_c += st.steps[C_AXIS];
#else
st.counter_c += st.exec_block->steps[C_AXIS];
#endif
if (st.counter_c > st.exec_block->step_event_count) {
st.step_outbits |= (1<<C_STEP_BIT);
st.counter_c -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<C_DIRECTION_BIT)) { sys_position[C_AXIS]--; }
else { sys_position[C_AXIS]++; }
}
*/
// During a homing cycle, lock out and prevent desired axes from moving. // During a homing cycle, lock out and prevent desired axes from moving.
if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; } if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; }

3
grbl/system.c
View File

@ -185,6 +185,9 @@ uint8_t system_execute_line(char *line)
case 'X': mc_homing_cycle(HOMING_CYCLE_X); break; case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break; case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break; case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
//case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
//case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
default: return(STATUS_INVALID_STATEMENT); default: return(STATUS_INVALID_STATEMENT);
} }
#endif #endif