Homing and limit updates. Minor bug fixes.
- Updated new homing cycle to error out when a pull-off motion detects the limit is still active. - Created a limits_get_state() function to centralize it. It reports state as a bit-wise booleans according to axis numbering. - Updated the print uint8 functions. Generalized it to allow both base2 and base10 printouts, while allowing base2 prints with N_AXIS digits for limit state status reports. Doing this saved about 100bytes of flash as well. - Applied CoreXY status reporting bug fix by @phd0. Thanks!
This commit is contained in:
Sonny Jeon
parent
e704862f11
commit
f85c481ded
@ -1,3 +1,84 @@
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----------------
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Date: 2015-05-22
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Author: Sonny Jeon
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Subject: Merge pull request #702 from ashelly/default-split
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Moving defaults to individual files in subdirectory
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----------------
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Date: 2015-05-22
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Author: ashelly
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Subject: Moving defaults to individual files in subdirectory
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----------------
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Date: 2015-05-22
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Author: Sonny Jeon
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Subject: Merge pull request #700 from ashelly/header-split
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Header split
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----------------
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Date: 2015-05-22
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Author: ashelly
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Subject: Fixing up comment blocks in headers
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----------------
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Date: 2015-05-22
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Author: ashelly
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Subject: Splitting Cpu map into separate files.
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Makes comparison, addition of new ones easier
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----------------
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Date: 2015-05-17
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Author: Sonny Jeon
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Subject: Critical M0/2/30 fix. Homing updates.
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- Critical fix for M0 program pause. Due to its recent change, it would
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cause Grbl to suspend but wouldn’t notify the user of why Grbl was not
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doing anything. The state would show IDLE and a cycle start would
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resume it. Grbl now enters a HOLD state to better indicate the state
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change.
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- Critical fix for M2 and M30 program end. As with M0, the state
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previously would show IDLE while suspended. Grbl now does not suspend
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upon program end and leaves job control to the GUI. Grbl simply reports
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a `[Pgm End]` as a feedback message and resets certain g-code modes.
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- M2/30 g-code reseting fix. Previously Grbl would soft-reset after an
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M2/30, but this was not complaint to the (linuxcnc) g-code standard. It
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simply resets [G1,G17,G90,G94,G40,G54,M5,M9,M48] and keeps all other
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modes the same.
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- M0/M2/M30 check-mode fix. It now does not suspend the machine during
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check-mode.
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- Minor bug fix related to commands similar to G90.1, but not G90.1,
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not reporting an unsupported command.
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- Homing cycle refactoring. To help reduce the chance of users
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misunderstanding their limit switch wiring, Grbl only moves a short
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distance for the locate cycles only. In addition, the homing cycle
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pulls-off the limit switch by the pull-off distance to re-engage and
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locate home. This should improve its accuracy.
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- HOMING_FORCE_ORIGIN now sets the origin to the pull-off location,
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rather than where the limit switch was triggered.
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- Updated default junction deviation to 0.01mm. Recent tests showed
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that this improves Grbl’s cornering behavior a bit.
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- Added the ShapeOko3 defaults.
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- Added new feedback message `[Pgm End]` for M2/30 notification.
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- Limit pin reporting is now a $10 status report option. Requested by
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OEMs to help simplify support troubleshooting.
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----------------
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Date: 2015-03-29
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Author: Sonny Jeon
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@ -26,7 +26,9 @@
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Ensure one and only one of these DEFAULTS_XXX values is defined in config.h */
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#ifndef defaults_h
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// Don't #define defaults_h here, let the selected file do it. Prevents incuding more than one.
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// Only define the DEFAULT_XXX with where to find the corresponding default_XXX.h file.
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// Don't #define defaults_h here, let the selected file do it. Prevents including more than one.
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#ifdef DEFAULTS_GENERIC
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// Grbl generic default settings. Should work across different machines.
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@ -23,7 +23,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "0.9i"
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#define GRBL_VERSION_BUILD "20150516"
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#define GRBL_VERSION_BUILD "20150523"
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// Define standard libraries used by Grbl.
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#include <avr/io.h>
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@ -55,6 +55,7 @@ void limits_init()
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}
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// Disables hard limits.
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void limits_disable()
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{
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LIMIT_PCMSK &= ~LIMIT_MASK; // Disable specific pins of the Pin Change Interrupt
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@ -62,6 +63,24 @@ void limits_disable()
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}
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// Returns limit state as a bit-wise uint8 variable. Each bit indicates an axis limit, where
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// triggered is 1 and not triggered is 0. Invert mask is applied. Axes are defined by their
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// number in bit position, i.e. Z_AXIS is (1<<2) or bit 2, and Y_AXIS is (1<<1) or bit 1.
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uint8_t limits_get_state()
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{
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uint8_t limit_state = 0;
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uint8_t pin = (LIMIT_PIN & LIMIT_MASK);
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; }
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if (pin) {
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
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}
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}
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return(limit_state);
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}
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// This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing
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// limit switch can cause a lot of problems, like false readings and multiple interrupt calls.
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// If a switch is triggered at all, something bad has happened and treat it as such, regardless
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@ -84,10 +103,8 @@ void limits_disable()
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if (sys.state != STATE_ALARM) {
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if (!(sys.rt_exec_alarm)) {
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#ifdef HARD_LIMIT_FORCE_STATE_CHECK
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uint8_t bits = (LIMIT_PIN & LIMIT_MASK);
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// Check limit pin state.
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
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if (bits) {
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if (limits_get_state()) {
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mc_reset(); // Initiate system kill.
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bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
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}
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@ -106,10 +123,8 @@ void limits_disable()
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WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
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if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
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if (!(sys.rt_exec_alarm)) {
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uint8_t bits = (LIMIT_PIN & LIMIT_MASK);
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// Check limit pin state.
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { bits ^= LIMIT_MASK; }
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if (bits) {
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if (limits_get_state()) {
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mc_reset(); // Initiate system kill.
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bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
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}
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@ -118,7 +133,7 @@ void limits_disable()
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}
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#endif
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// Homes the specified cycle axes, sets the machine position, and performs a pull-off motion after
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// completing. Homing is a special motion case, which involves rapid uncontrolled stops to locate
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// the trigger point of the limit switches. The rapid stops are handled by a system level axis lock
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@ -132,13 +147,12 @@ void limits_go_home(uint8_t cycle_mask)
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// Initialize
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uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
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uint8_t limit_pin[N_AXIS], step_pin[N_AXIS];
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uint8_t step_pin[N_AXIS];
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float target[N_AXIS];
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float max_travel = 0.0;
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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// Initialize limit and step pin masks
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limit_pin[idx] = get_limit_pin_mask(idx);
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// Initialize step pin masks
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step_pin[idx] = get_step_pin_mask(idx);
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#ifdef COREXY
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if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); }
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@ -199,11 +213,10 @@ void limits_go_home(uint8_t cycle_mask)
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do {
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if (approach) {
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// Check limit state. Lock out cycle axes when they change.
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limit_state = LIMIT_PIN;
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; }
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limit_state = limits_get_state();
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for (idx=0; idx<N_AXIS; idx++) {
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if (axislock & step_pin[idx]) {
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if (limit_state & limit_pin[idx]) { axislock &= ~(step_pin[idx]); }
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if (limit_state & (1 << idx)) { axislock &= ~(step_pin[idx]); }
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}
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}
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sys.homing_axis_lock = axislock;
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@ -211,16 +224,18 @@ void limits_go_home(uint8_t cycle_mask)
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st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
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// Exit routines: User abort homing and alarm upon safety door or no limit switch found.
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// No time to run protocol_execute_realtime() in this loop.
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// Exit routines: No time to run protocol_execute_realtime() in this loop.
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if (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
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if ((sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) ||
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((approach) && (sys.rt_exec_state & EXEC_CYCLE_STOP))) {
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mc_reset();
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// Homing failure: Limit switches are still engaged after pull-off motion
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if ( (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) || // Safety door or reset issued
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(!approach && (limits_get_state() & cycle_mask)) || // Limit switch still engaged after pull-off motion
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( approach && (sys.rt_exec_state & EXEC_CYCLE_STOP)) ) { // Limit switch not found during approach.
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mc_reset(); // Stop motors, if they are running.
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protocol_execute_realtime();
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return;
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} else {
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bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
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// Pull-off motion complete. Disable CYCLE_STOP from executing.
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bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
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break;
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}
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}
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@ -245,7 +260,7 @@ void limits_go_home(uint8_t cycle_mask)
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}
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} while (n_cycle-- > 0);
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// The active cycle axes should now be homed and machine limits have been located. By
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// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
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// can be on either side of an axes, check and set axes machine zero appropriately. Also,
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@ -289,9 +304,8 @@ void limits_go_home(uint8_t cycle_mask)
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}
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}
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plan_sync_position(); // Sync planner position to homed machine position.
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// Set system state to homing before returning.
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sys.state = STATE_HOMING;
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// sys.state = STATE_HOMING; // Ensure system state set as homing before returning.
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}
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@ -26,8 +26,12 @@
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// Initialize the limits module
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void limits_init();
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// Disables hard limits.
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void limits_disable();
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// Returns limit state as a bit-wise uint8 variable.
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uint8_t limits_get_state();
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// Perform one portion of the homing cycle based on the input settings.
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void limits_go_home(uint8_t cycle_mask);
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@ -225,9 +225,7 @@ void mc_homing_cycle()
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// with machines with limits wired on both ends of travel to one limit pin.
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// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
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#ifdef LIMITS_TWO_SWITCHES_ON_AXES
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uint8_t limit_state = (LIMIT_PIN & LIMIT_MASK);
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if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { limit_state ^= LIMIT_MASK; }
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if (limit_state) {
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if (limits_get_state()) {
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mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
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bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT));
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return;
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@ -256,7 +254,7 @@ void mc_homing_cycle()
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// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
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gc_sync_position();
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// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
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limits_init();
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}
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71
grbl/print.c
71
grbl/print.c
@ -60,38 +60,36 @@ void printPgmString(const char *s)
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// }
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void print_uint8_base2(uint8_t n)
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// Prints an uint8 variable with base and number of desired digits.
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void print_unsigned_int8(uint8_t n, uint8_t base, uint8_t digits)
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{
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unsigned char buf[8];
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uint8_t i = 0;
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for (; i < 8; i++) {
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buf[i] = n & 1;
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n >>= 1;
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}
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for (; i > 0; i--)
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serial_write('0' + buf[i - 1]);
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}
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void print_uint8_base10(uint8_t n)
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{
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if (n == 0) {
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serial_write('0');
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return;
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}
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unsigned char buf[3];
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unsigned char buf[digits];
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uint8_t i = 0;
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while (n > 0) {
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buf[i++] = n % 10 + '0';
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n /= 10;
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for (; i < digits; i++) {
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buf[i] = n % base ;
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n /= base;
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}
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for (; i > 0; i--)
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serial_write(buf[i - 1]);
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serial_write('0' + buf[i - 1]);
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}
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// Prints an uint8 variable in base 2.
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void print_uint8_base2(uint8_t n) {
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print_unsigned_int8(n,2,8);
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}
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// Prints an uint8 variable in base 10.
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void print_uint8_base10(uint8_t n)
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{
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uint8_t digits;
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if (n < 10) { digits = 1; }
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else if (n < 100) { digits = 2; }
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else { digits = 3; }
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print_unsigned_int8(n,10,digits);
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}
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@ -119,7 +117,7 @@ void printInteger(long n)
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{
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if (n < 0) {
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serial_write('-');
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print_uint32_base10((-n));
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print_uint32_base10(-n);
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} else {
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print_uint32_base10(n);
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}
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@ -194,12 +192,13 @@ void printFloat_RateValue(float n) {
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void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVALUE); }
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// Debug tool to print free memory in bytes at the called point. Not used otherwise.
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void printFreeMemory()
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{
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extern int __heap_start, *__brkval;
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uint16_t free; // Up to 64k values.
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free = (int) &free - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
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printInteger((int32_t)free);
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printString(" ");
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}
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// Debug tool to print free memory in bytes at the called point.
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// NOTE: Keep commented unless using. Part of this function always gets compiled in.
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// void printFreeMemory()
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// {
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// extern int __heap_start, *__brkval;
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// uint16_t free; // Up to 64k values.
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// free = (int) &free - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
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// printInteger((int32_t)free);
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// printString(" ");
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// }
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@ -31,8 +31,13 @@ void printInteger(long n);
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void print_uint32_base10(uint32_t n);
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// Prints uint8 variable with base and number of desired digits.
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void print_unsigned_int8(uint8_t n, uint8_t base, uint8_t digits);
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// Prints an uint8 variable in base 2.
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void print_uint8_base2(uint8_t n);
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// Prints an uint8 variable in base 10.
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void print_uint8_base10(uint8_t n);
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void printFloat(float n, uint8_t decimal_places);
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@ -496,10 +496,7 @@ void report_realtime_status()
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if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_LIMIT_PINS)) {
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printPgmString(PSTR(",Lim:"));
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for (idx=0; idx<N_AXIS; idx++) {
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if (LIMIT_PIN & get_limit_pin_mask(idx)) { printPgmString(PSTR("1")); }
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else { printPgmString(PSTR("0")); }
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}
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print_unsigned_int8(limits_get_state(),2,N_AXIS);
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}
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#ifdef REPORT_CONTROL_PIN_STATE
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@ -252,8 +252,10 @@ float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
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#ifdef COREXY
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if (idx==A_MOTOR) {
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pos = 0.5*((steps[A_MOTOR] + steps[B_MOTOR])/settings.steps_per_mm[idx]);
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} else { // (idx==B_MOTOR)
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} else if (idx==B_MOTOR) {
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pos = 0.5*((steps[A_MOTOR] - steps[B_MOTOR])/settings.steps_per_mm[idx]);
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} else {
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pos = steps[idx]/settings.steps_per_mm[idx];
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}
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#else
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pos = steps[idx]/settings.steps_per_mm[idx];
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Loading…
Reference in New Issue
Block a user