Development push. Lots still broken.
- Protected planner concept works! This is a critical precursor to
enabling feedrate overrides in allowing the planner buffer and the
stepper execution operate atomically. This is done through a
intermediary segment buffer.
- Still lots of work to be done, as this was a complete overhaul of the
planner and stepper subsystems. The code can be cleaned up quite a bit,
re-enabling some of the broken features like feed holds, and finishing
up some of the concepts
- Pushed some of the fixes from the master and edge branch to here, as
this will likely replace the edge branch when done.
- **NON-FUNCTIONAL**
- Contains an old draft of separating the stepper driver direct access
to the planner buffer. This is designed to keep the stepper and planner
modules independent and prevent overwriting or other complications. In
this way, feedrate override should be able to be installed as well.
- A number of planner optimizations are installed too.
- Not sure where the bugs are. Either in the new planner optimizations,
new stepper module updates, or in both. Or it just could be that the
Arduino AVR is choking with the new things it has to do.
- Increased g-code parser line buffer to 70 characters (from 50) to
prevent some long arc commands from getting truncated.
- Decreased planner buffer from 18 to 17 blocks to free up memory for
line buffer.
- Added a line buffer overflow feedback error (Thanks @BHSPitMonkey!)
- WARNING: Completely untested. Will later when there is time. Settings
WILL be overwritten, as there are new settings.
- Soft limits installed. Homing must be enabled for soft limits to work
correctly. Errors out much like a hard limit, locking out everything
and bringing up the alarm mode. Only difference is it forces a feed
hold before doing so. Position is not lost.
- IMPORTANT: Homing had to be updated so that soft limits work better
with less CPU overhead. When homing completes, all axes are assumed to
exist in negative space. If your limit switch is other side, the homing
cycle with set this axis location to the max travel value, rather than
zero.
- Update mc_line() to accept an array, rather than individual variables.
- Added an mc_auto_cycle_start() function handle this feature.
Organization only.
-
- Changed up mc_line to accept an array rather than individual x,y,z
coordinates. Makes some of the position data handling more effective,
especially for a 4th-axis later on.
- Changed up some soft limits variable names.
These changes include a path separator fix and the removal of --gc-sections which causes ld failures, and is not needed on a pc.
This patch also changes how a compiler is selected. The makefile will now select the system compiler , which should work fine
under mingw and linux.
- Returned the max step rate to 30kHz. The new arc algorithm works uses
so much less CPU overhead, because the segments are longer, that the
planner has no problem computing through them.
- Fixed an issue with the acceleration independence scaling. Should now
work with accelerations above 400mm/sec^2 or so.
- Updated README
- Arc mm_per_segment parameter was removed and replaced with an
arc_tolerance parameter, which scales all arc segments automatically to
radius, such that the line segment error doesn't exceed the tolerance.
Significantly improves arc performance through larger radius arc,
because the segments are much longer and the planner buffer has more to
work with.
- Moved n_arc correction from the settings to config.h. Mathematically
this doesn't need to be a setting anymore, as the default config value
will work for all known CNC applications. The error does not accumulate
as much anymore, since the small angle approximation used by the arc
generation has been updated to a third-order approximation and how the
line segment length scale with radius and tolerance now. Left in
config.h for extraneous circumstances.
- Corrected the st.ramp_count variable (acceleration tick counter) to a
8-bit vs. 32-bit variable. Should make the stepper algorithm just a
touch faster overall.
- Maximum velocity for each axis is now configurable in settings. All
rapids/seek move at these maximums. All feed rates(including rapids)
may be limited and scaled down so that no axis does not exceed their
limits.
- Moved around auto-cycle start. May change later, but mainly to ensure
the planner buffer is completely full before cycle starting a streaming
program. Otherwise it should auto-start when there is a break in the
serial stream.
- Reverted old block->max_entry_speed_sqr calculations. Feedrate
overrides not close to ready at all.
- Fixed intermittent slow trailing steps for some triangle velocity
profile moves. The acceleration tick counter updating was corrected to
be exact for that particular transition. Should be ok for normal
trapezoidal profiles.
- Fixed the Timer0 disable after a step pulse falling edge. Thanks
@blinkenlight!
NOTE: This push is a work-in-progress and there are known bugs that
need to be fixed, like homing acceleration being incompatible. Released
for testing. Settings will definitely be overwritten, as new settings
were needed.
- Acceleration independence installed in planner. Each axis can now
have different accelerations and Grbl will maximize the accelerations
depending on the direction its moving. Very useful for users like on
the ShapeOko with vastly different Z-axis properties.
- More planner optimizations and re-factoring. Slightly improved some
of the older calculations, but new acceleration calculations offset
these improvements. Overall no change in processing speed.
- Removed planner nominal length checks. It was arguable whether or not
this improved planner efficiency, especially in the worst case scenario
of arcs.
- Updated readme and changed to markdown format.
- Improved planner execution speed by 5% or more. Re-factored most of
the calculations in terms of the square of velocity. This removed a lot
of sqrt() calculations for every planner_recalculate.
- Oops again. Thought the new planner changes made things much better,
but there was a bug. Improvements we on the order of 20% execution time
reduction, rather than half. The increase to 30kHz Ranade timer
frequency also increased the overall overhead, so the total planner
change? Zero. But, it's still better.
- Planner execute speed has been more than halved from 4ms to 1.9ms
when computing a plan for a single line segment during arc generation.
This means that Grbl can now run through an arc (or complex curve)
twice as fast as before without starving the buffer. For 0.1mm arc
segments, this means about the theoretical feed rate limit is about
3000mm/min for arcs now.
- Increased the Ranade timer frequency to 30kHz, as there doesn't seem
to be any problems with increasing the frequency. This means that the
maximum step frequency is now back at 30kHz.
- Added Zen Toolworks 7x7 defaults.
- Brand-new stepper algorithm. Based on the Pramod Ranade inverse time
algorithm, but modified to ensure step events are exact. Currently
limited to about 15kHz step rates, much more to be done to enable 30kHz
again.
- Removed Timer1. Stepper algorithm now uses Timer0 and Timer2.
- Much improved step generation during accelerations. Smoother. Allows
much higher accelerations (and speeds) than before on the same machine.
- Cleaner algorithm that is more easily portable to other CPU types.
- Streamlined planner calculations. Removed accelerate_until and
final_rate variables from block buffer since the new stepper algorithm
is that much more accurate.
- Improved planner efficiency by about 15-20% during worst case
scenarios (arcs).
- New config.h options to tune new stepper algorithm.
- Updated interface protocol to play nicer with interface programs. All
Grbl responses beginning with '$' signifies a setting. Bracketed '[]'
responses are feedback messages containing either state, parameter, or
general messages. Chevron '<>' response are from the real-time status
messages, i.e. position.
- M2 Program end command was causing a system alarm. Fixed. Thanks
@blinkenlight !
- The homing sequence is now a compile-time option, where a user can
choose which axes(s) move in sequence during the search phase. Up to 3
sequences. Works with the locating phase and the pull-off maneuver.
- New defaults.h file to store user generated default settings for
different machines. Mainly to be used as a central repo, but each set
may be select to be compiled in as a config.h define.
- Added Grbl state (Idle, Running, Queued, Hold, etc) to the real-time
status reporting feature as feedback to the user of what Grbl is doing.
Updated the help message to reflect this change.
- Removed switches (dry run, block delete, single block mode). To keep
Grbl simple and not muddled up from things that can easily be taken
care of by an external interface, these were removed.
- Check g-code mode was retained, but the command was moved to '$C'
from '$S0'.
- Refactored system states to be more clear and concise. Alarm locks
processes when position is unknown to indicate to user something has
gone wrong.
- Changed mc_alarm to mc_reset, which now manages the system reset
function. Centralizes it.
- Renamed '$X' kill homing lock to kill alarm lock.
- Created an alarm error reporting method to clear up what is an alarm:
message vs a status error: message. For GUIs mainly. Alarm codes are
negative. Status codes are positive.
- Serial baud support upto 115200. Previous baudrate calc was unstable
for 57600 and above.
- Alarm state locks out all g-code blocks, including startup scripts,
but allows user to access settings and internal commands. For example,
to disable hard limits, if they are problematic.
- Hard limits do not respond in an alarm state.
- Fixed a problem with the hard limit interrupt during the homing
cycle. The interrupt register is still active during the homing cycle
and still signal the interrupt to trigger when re-enabled. Instead,
just disabled the register.
- Homing rate adjusted. All axes move at homing seek rate, regardless
of how many axes move at the same time. This is unlike how the stepper
module does it as a point to point rate.
- New config.h settings to disable the homing rate adjustment and the
force homing upon powerup.
- Reduced the number of startup lines back down to 2 from 3. This
discourages users from placing motion block in there, which can be very
dangerous.
- Startup blocks now run only after an alarm-free reset or after a
homing cycle. Does not run when $X kill is called. For satefy reasons
- Fixed a minor issue where the seek rates would not immediately be
used and only would after a reset. Should update live now.
- A full circle IJ offset CCW arc would not do anything. Fixed bug via
a simple if-then statement.
- Radius mode tweaks to check for negative value in sqrt() rather than
isnan() it. Error report updated to indicate what actually happened.
- Added some more notes to config.h.
- Added the ability to override some of the #defines around Grbl in
config.h, like planner buffer size, line buffer size, serial
send/receive buffers. Mainly to centralize the configurations to be
able to port to different microcontrollers later.
