diff --git a/g2core/cycle_homing.cpp b/g2core/cycle_homing.cpp
index b0521b32..cff82b80 100644
--- a/g2core/cycle_homing.cpp
+++ b/g2core/cycle_homing.cpp
@@ -86,24 +86,15 @@ static stat_t _homing_axis_move(int8_t axis, float target, float velocity);
static stat_t _homing_error_exit(int8_t axis, stat_t status);
static stat_t _homing_finalize_exit(int8_t axis);
static int8_t _get_next_axis(int8_t axis);
-static void _homing_axis_move_callback(float* vect, bool* flag);
-/**** HELPERS ***************************************************************************
- * _set_homing_func() - a convenience for setting the next dispatch vector and exiting
- */
-
-static stat_t _set_homing_func(stat_t (*func)(int8_t axis)) {
- hm.func = func;
- return (STAT_EAGAIN);
-}
/***********************************************************************************
**** G28.2 Homing Cycle ***********************************************************
***********************************************************************************/
/*****************************************************************************
- * cm_homing_cycle_start() - G28.2 homing cycle using limit switches
- * cm_homing_cycle_callback() - main loop callback for running the homing cycle
+ * cm_homing_cycle_start() - G28.2 homing cycle using limit switches
+ * cm_homing_cycle_start_no_set() - G28.4 Homing cycle - do not set values
*
* --- How does this work? ---
*
@@ -186,10 +177,14 @@ stat_t cm_homing_cycle_start(const float axes[], const bool flags[]) {
stat_t cm_homing_cycle_start_no_set(const float axes[], const bool flags[]) {
cm_homing_cycle_start(axes, flags);
- hm.set_coordinates = false; // set flag to not update position variables at the end of the cycle
+ hm.set_coordinates = false; // set flag to not update position variables at the end of the cycle
return (STAT_OK);
}
+/***********************************************************************************
+ * cm_homing_cycle_callback() - main loop callback for running the homing cycle
+ */
+
stat_t cm_homing_cycle_callback(void) {
if (cm->cycle_state != CYCLE_HOMING) { // exit if not in a homing cycle
return (STAT_NOOP);
@@ -200,18 +195,21 @@ stat_t cm_homing_cycle_callback(void) {
return (hm.func(hm.axis)); // execute the current homing move
}
-/*
- * Homing axis moves - these execute in sequence for each axis
- *
- * _homing_axis_start() - get next axis, initialize variables, call the clear
- * _homing_axis_clear_init() - initiate a clear to move off a switch that is thrown at the start
- * _homing_axis_search() - fast search for switch, closes switch
- * _homing_axis_clear() - clear off the switch
- * _homing_axis_latch() - slow drive until until switch closes again
- * _homing_axis_final() - backoff from latch location to zero position
- * _homing_axis_move() - helper that actually executes the above moves
- */
+/***********************************************************************************
+ * Homing axis moves and helpers - these execute in sequence for each axis
+ ***********************************************************************************/
+/*
+ * _set_homing_func() - a convenience for setting the next dispatch vector and exiting
+ */
+static stat_t _set_homing_func(stat_t (*func)(int8_t axis)) {
+ hm.func = func;
+ return (STAT_EAGAIN);
+}
+
+/***********************************************************************************
+ * _homing_axis_start() - get next axis, initialize variables, call the clear
+ */
static stat_t _homing_axis_start(int8_t axis) {
// get the first or next axis
@@ -247,36 +245,40 @@ static stat_t _homing_axis_start(int8_t axis) {
// However, here's a good place to stash the homing_switch:
hm.homing_input = cm->a[axis].homing_input;
gpio_set_homing_mode(hm.homing_input, true);
- hm.axis = axis; // persist the axis
- hm.search_velocity = fabs(cm->a[axis].search_velocity); // search velocity is always positive
- hm.latch_velocity = fabs(cm->a[axis].latch_velocity); // latch velocity is always positive
+ hm.axis = axis; // persist the axis
+ hm.search_velocity = fabs(cm->a[axis].search_velocity); // search velocity is always positive
+ hm.latch_velocity = fabs(cm->a[axis].latch_velocity); // latch velocity is always positive
bool homing_to_max = cm->a[axis].homing_dir;
// setup parameters for positive or negative travel (homing to the max or min switch)
if (homing_to_max) {
- hm.search_travel = travel_distance; // search travels in positive direction
- hm.latch_backoff = fabs(cm->a[axis].latch_backoff); // latch travels in positive direction
- hm.zero_backoff = -max(0.0f, cm->a[axis].zero_backoff); // zero backoff is negative direction (or zero)
- // will set the maximum position
- // (plus any negative backoff)
+ hm.search_travel = travel_distance; // search travels in positive direction
+ hm.latch_backoff = fabs(cm->a[axis].latch_backoff); // latch travels in positive direction
+ hm.zero_backoff = -max(0.0f, cm->a[axis].zero_backoff);// zero backoff is negative direction (or zero)
+ // will set the maximum position
+ // (plus any negative backoff)
hm.setpoint = cm->a[axis].travel_max + (max(0.0f, -cm->a[axis].zero_backoff));
} else {
hm.search_travel = -travel_distance; // search travels in negative direction
- hm.latch_backoff = -fabs(cm->a[axis].latch_backoff); // latch travels in negative direction
- hm.zero_backoff = max(0.0f, cm->a[axis].zero_backoff); // zero backoff is positive direction (or zero)
+ hm.latch_backoff = -fabs(cm->a[axis].latch_backoff); // latch travels in negative direction
+ hm.zero_backoff = max(0.0f, cm->a[axis].zero_backoff); // zero backoff is positive direction (or zero)
// will set the minimum position
// (minus any negative backoff)
hm.setpoint = cm->a[axis].travel_min + (max(0.0f, -cm->a[axis].zero_backoff));
}
// if homing is disabled for the axis then skip to the next axis
- hm.saved_jerk = cm_get_axis_jerk(axis); // save the max jerk value
- return (_set_homing_func(_homing_axis_clear_init)); // perform an initial clear
+ hm.saved_jerk = cm_get_axis_jerk(axis); // save the max jerk value
+ return (_set_homing_func(_homing_axis_clear_init)); // perform an initial clear
}
-// Handle an initial switch closure by backing off the closed switch
-// NOTE: clear_init() relies on independent switches per axis (not shared)
+/***********************************************************************************
+ * _homing_axis_clear_init() - initiate a clear to move off a switch that is thrown at the start
+ *
+ * Handle an initial switch closure by backing off the closed switch
+ * NOTE: clear_init() relies on independent switches per axis (not shared)
+ */
static stat_t _homing_axis_clear_init(int8_t axis) // first clear move
{
if (gpio_read_input(hm.homing_input) == INPUT_ACTIVE) { // the switch is closed at startup
@@ -293,6 +295,9 @@ static stat_t _homing_axis_clear_init(int8_t axis) // first clear move
return (_set_homing_func(_homing_axis_search)); // start the search
}
+/***********************************************************************************
+ * _homing_axis_search() - fast search for switch, closes switch
+ */
static stat_t _homing_axis_search(int8_t axis) // drive to switch
{
cm_set_axis_jerk(axis, cm->a[axis].jerk_high); // use the high-speed jerk for search onward
@@ -300,25 +305,37 @@ static stat_t _homing_axis_search(int8_t axis) // drive to switch
return (_set_homing_func(_homing_axis_clear));
}
+/***********************************************************************************
+ * _homing_axis_clear() - clear off the switch
+ */
static stat_t _homing_axis_clear(int8_t axis) // drive away from switch at search speed
{
_homing_axis_move(axis, -hm.latch_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_latch));
}
+/***********************************************************************************
+ * _homing_axis_latch() - slow drive until until switch closes again
+ */
static stat_t _homing_axis_latch(int8_t axis) // drive to switch at low speed
{
_homing_axis_move(axis, hm.latch_backoff, hm.latch_velocity);
return (_set_homing_func(_homing_axis_setpoint_backoff));
}
-static stat_t _homing_axis_setpoint_backoff(int8_t axis) // backoff to zero or max setpoint position
+/***********************************************************************************
+ * _homing_axis_setpoint_backoff() - backoff to zero or max setpoint position
+ */
+static stat_t _homing_axis_setpoint_backoff(int8_t axis) //
{
_homing_axis_move(axis, hm.zero_backoff, hm.search_velocity);
return (_set_homing_func(_homing_axis_set_position));
}
-static stat_t _homing_axis_set_position(int8_t axis) // set axis zero / max and finish up
+/***********************************************************************************
+ * _homing_axis_set_position() - set axis zero / max and finish up
+ */
+static stat_t _homing_axis_set_position(int8_t axis)
{
if (hm.set_coordinates) {
cm_set_position_by_axis(axis, hm.setpoint);
@@ -335,6 +352,15 @@ static stat_t _homing_axis_set_position(int8_t axis) // set axis zero / max and
return (_set_homing_func(_homing_axis_start));
}
+/***********************************************************************************
+ * _homing_axis_move() - helper that actually executes the above moves
+ * _motion_end_callback() - callback completes when motion has stopped
+ */
+static void _motion_end_callback(float* vect, bool* flag)
+{
+ hm.waiting_for_motion_end = false;
+}
+
static stat_t _homing_axis_move(int8_t axis, float target, float velocity) {
float vect[] = {0, 0, 0, 0, 0, 0};
bool flags[] = {false, false, false, false, false, false};
@@ -352,15 +378,12 @@ static stat_t _homing_axis_move(int8_t axis, float target, float velocity) {
}
// the last two arguments are ignored anyway
- mp_queue_command(_homing_axis_move_callback, nullptr, nullptr);
+ mp_queue_command(_motion_end_callback, nullptr, nullptr);
return (STAT_EAGAIN);
}
-static void _homing_axis_move_callback(float* vect, bool* flag) { hm.waiting_for_motion_end = false; }
-
-
-/*
+/***********************************************************************************
* _homing_error_exit()
*
* Generate an error message. Since the error exit returns via the homing callback
@@ -382,7 +405,7 @@ static stat_t _homing_error_exit(int8_t axis, stat_t status) {
return (STAT_HOMING_CYCLE_FAILED); // homing state remains HOMING_NOT_HOMED
}
-/*
+/***********************************************************************************
* _homing_finalize_exit() - helper to finalize homing
*/
@@ -398,7 +421,7 @@ static stat_t _homing_finalize_exit(int8_t axis) // third part of return to hom
return (STAT_OK);
}
-/*
+/***********************************************************************************
* _get_next_axis() - return next axis in sequence based on axis in arg
*
* Accepts "axis" arg as the current axis; or -1 to retrieve the first axis
diff --git a/g2core/g2core.cppproj b/g2core/g2core.cppproj
index 0014b2ec..23ff3756 100644
--- a/g2core/g2core.cppproj
+++ b/g2core/g2core.cppproj
@@ -73,7 +73,7 @@
SWD
com.atmel.avrdbg.tool.atmelice
- J41800036434
+ J41800021206
Atmel-ICE
True
@@ -100,7 +100,7 @@
True
true
- J41800036434
+ J41800021206
0x284E0A60
10000000
diff --git a/g2core/plan_exec.cpp b/g2core/plan_exec.cpp
index b17e38a5..d3117ad6 100644
--- a/g2core/plan_exec.cpp
+++ b/g2core/plan_exec.cpp
@@ -993,21 +993,24 @@ static stat_t _exec_aline_feedhold(mpBuf_t *bf)
if (mp_runtime_is_idle()) { // wait for steppers to actually finish
mp_zero_segment_velocity(); // finalize velocity for reporting purposes
- // if probing or homing exit the move and advance to the _motion_end finalization command
- if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
+ // If in a p2 hold, exit the p2 hold set up a flush of the p2 planner queue
+ if (cm == &cm2) {
+// copy_vector(mp->position, mr->position); // update planner position from runtime
+ cm->hold_state = FEEDHOLD_P2_EXIT;
+ }
+ // At this point we know we are in a p1 hold
+
+ // If probing or homing exit the move and advance to the _motion_end finalization command.
+ // Stop the runtime, clear the bun buffer and do not transition to p2 planner
+ else if ((cm->cycle_state == CYCLE_HOMING) || (cm->cycle_state == CYCLE_PROBE)) {
mr->block_state = BLOCK_INACTIVE; // disable the rest of the runtime movement
copy_vector(mp->position, mr->position); // update planner position from runtime
mp_free_run_buffer(); // free buffer and enable finalization move to get loaded
cm->hold_state = FEEDHOLD_OFF;
}
-
- // if exiting a p2 hold set up a flush of the p2 planner queue
- else if (cm == &cm2) {
-// copy_vector(mp->position, mr->position); // update planner position from runtime
- cm->hold_state = FEEDHOLD_P2_EXIT;
- }
-
- // if exiting a regular p1 hold perform Z-lift, spindle, coolant actions
+
+ // If exiting a regular p1 hold set state to FEEDHOLD_ACTIONS_START.
+ // This enables transition to p2 planner; then Z-lift, spindle, coolant actions
else {
cm->hold_state = FEEDHOLD_ACTIONS_START;
}
diff --git a/g2core/settings/settings_othermill.h b/g2core/settings/settings_othermill.h
index 98799bcc..6b3607d5 100644
--- a/g2core/settings/settings_othermill.h
+++ b/g2core/settings/settings_othermill.h
@@ -32,24 +32,27 @@
//**** GLOBAL / GENERAL SETTINGS ******************************************************
-#define JUNCTION_INTEGRATION_TIME 0.75 // cornering - between 0.10 and 2.00 (higher is faster)
-#define CHORDAL_TOLERANCE 0.01 // chordal accuracy for arc drawing (in mm)
+#define JUNCTION_INTEGRATION_TIME 0.75 // cornering - between 0.10 and 2.00 (higher is faster)
+#define CHORDAL_TOLERANCE 0.01 // chordal accuracy for arc drawing (in mm)
-#define SOFT_LIMIT_ENABLE 0 // 0=off, 1=on
-#define HARD_LIMIT_ENABLE 1 // 0=off, 1=on
-#define SAFETY_INTERLOCK_ENABLE 1 // 0=off, 1=on
+#define SOFT_LIMIT_ENABLE 0 // 0=off, 1=on
+#define HARD_LIMIT_ENABLE 1 // 0=off, 1=on
+#define SAFETY_INTERLOCK_ENABLE 1 // 0=off, 1=on
-#define SPINDLE_ENABLE_POLARITY 1 // 0=active low, 1=active high
-#define SPINDLE_DIR_POLARITY 0 // 0=clockwise is low, 1=clockwise is high
-#define SPINDLE_PAUSE_ON_HOLD true
-#define SPINDLE_DWELL_TIME 1.5 // after unpausing and turning the spindle on, dwell for 1.5s
+#define SPINDLE_ENABLE_POLARITY 1 // 0=active low, 1=active high
+#define SPINDLE_DIR_POLARITY 0 // 0=clockwise is low, 1=clockwise is high
+#define SPINDLE_PAUSE_ON_HOLD true
+#define SPINDLE_DWELL_TIME 1.5 // after unpausing and turning the spindle on, dwell for 1.5s
-#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
-#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
+#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
+#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
-#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
-#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
-#define COOLANT_PAUSE_ON_HOLD true
+#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
+#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
+#define COOLANT_PAUSE_ON_HOLD true
+
+#define FEEDHOLD_Z_LIFT 3 // mm to lift Z on feedhold
+#define PROBE_REPORT_ENABLE true
// WARNING: Older Othermill machines use a 15deg can stack for their Z axis.
// new machines use a stepper which has the same config as the other axis.
@@ -66,20 +69,25 @@
// Communications and reporting settings
-#define COMM_MODE JSON_MODE // one of: TEXT_MODE, JSON_MODE
-#define XIO_ENABLE_FLOW_CONTROL FLOW_CONTROL_RTS // FLOW_CONTROL_OFF, FLOW_CONTROL_RTS
+#define USB_SERIAL_PORTS_EXPOSED 1 // Valid options are 1 or 2, only!
-#define TEXT_VERBOSITY TV_VERBOSE // one of: TV_SILENT, TV_VERBOSE
-#define JSON_VERBOSITY JV_MESSAGES // one of: JV_SILENT, JV_FOOTER, JV_CONFIGS, JV_MESSAGES, JV_LINENUM, JV_VERBOSE
-#define QUEUE_REPORT_VERBOSITY QR_SINGLE // one of: QR_OFF, QR_SINGLE, QR_TRIPLE
+#define COMM_MODE JSON_MODE // one of: TEXT_MODE, JSON_MODE
+#define XIO_ENABLE_FLOW_CONTROL FLOW_CONTROL_RTS // FLOW_CONTROL_OFF, FLOW_CONTROL_RTS
-#define STATUS_REPORT_VERBOSITY SR_FILTERED // one of: SR_OFF, SR_FILTERED, SR_VERBOSE
-#define STATUS_REPORT_MIN_MS 100 // milliseconds - enforces a viable minimum
-#define STATUS_REPORT_INTERVAL_MS 250 // milliseconds - set $SV=0 to disable
-#define STATUS_REPORT_DEFAULTS \
- "mpox", "mpoy", "mpoz", "ofsx", "ofsy", "ofsz", "g55x", "g55y", "g55z", "unit", "stat", "coor", "momo", "dist", \
- "home", "mots", "plan", "line", "path", "frmo", "hold", "macs", "cycs"
-// "path","frmo","prbe","safe","spe","spd","hold","macs","cycs","sps"
+#define TEXT_VERBOSITY TV_VERBOSE // one of: TV_SILENT, TV_VERBOSE
+#define JSON_VERBOSITY JV_MESSAGES // one of: JV_SILENT, JV_FOOTER, JV_CONFIGS, JV_MESSAGES, JV_LINENUM, JV_VERBOSE
+#define QUEUE_REPORT_VERBOSITY QR_SINGLE // one of: QR_OFF, QR_SINGLE, QR_TRIPLE
+
+#define STATUS_REPORT_VERBOSITY SR_FILTERED // one of: SR_OFF, SR_FILTERED, SR_VERBOSE
+#define STATUS_REPORT_MIN_MS 100 // milliseconds - enforces a viable minimum
+#define STATUS_REPORT_INTERVAL_MS 250 // milliseconds - set $SV=0 to disable
+#define STATUS_REPORT_DEFAULTS "mpox", "mpoy", "mpoz", \
+ "ofsx", "ofsy", "ofsz", \
+ "g55x", "g55y", "g55z", \
+ "unit", "stat", "coor", "momo", "dist", \
+ "home", "mots", "plan", "line", "path", \
+ "frmo", "hold", "macs", "cycs"
+// "prbe", "safe", "spe", "spd", "sps"
// Gcode startup defaults
#define GCODE_DEFAULT_UNITS MILLIMETERS // MILLIMETERS or INCHES
@@ -92,49 +100,126 @@
// NOTE: Motor numbers are reversed from TinyGv8 in order to maintain compatibility with wiring harnesses
-#define MOTOR_POWER_LEVEL_XY 0.375 // default motor power level 0.00 - 1.00
-#define MOTOR_POWER_LEVEL_XY_IDLE 0.15
-#define MOTOR_POWER_LEVEL_Z 0.375
-#define MOTOR_POWER_LEVEL_Z_IDLE 0.15
-#define MOTOR_POWER_LEVEL_DISABLED 0.05
+#define MOTOR_POWER_LEVEL_XY 0.375 // default motor power level 0.00 - 1.00
+#define MOTOR_POWER_LEVEL_XY_IDLE 0.15
+#define MOTOR_POWER_LEVEL_Z 0.375
+#define MOTOR_POWER_LEVEL_Z_IDLE 0.15
+#define MOTOR_POWER_LEVEL_DISABLED 0.05
-#define MOTOR_POWER_MODE MOTOR_POWERED_IN_CYCLE
-#define MOTOR_POWER_TIMEOUT 2.00 // motor power timeout in seconds
+#define MOTOR_POWER_MODE MOTOR_POWERED_IN_CYCLE
+#define MOTOR_POWER_TIMEOUT 2.00 // motor power timeout in seconds
-#define M1_MOTOR_MAP AXIS_X // 1ma
-#define M1_STEP_ANGLE 1.8 // 1sa
-#define M1_TRAVEL_PER_REV 4.8768 // 1tr
-#define M1_MICROSTEPS 8 // 1mi 1,2,4,8,16,32
-#define M1_POLARITY 1 // 1po 0=normal, 1=reversed
-#define M1_POWER_MODE MOTOR_POWER_MODE // 1pm See enum cmMotorPowerMode in stepper.h
-#define M1_POWER_LEVEL MOTOR_POWER_LEVEL_XY // 0.00=off, 1.00=max
-#define M1_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
+#define M1_MOTOR_MAP AXIS_X // 1ma
+#define M1_STEP_ANGLE 1.8 // 1sa
+#define M1_TRAVEL_PER_REV 4.8768 // 1tr
+#define M1_MICROSTEPS 8 // 1mi 1,2,4,8,16,32
+#define M1_POLARITY 1 // 1po 0=normal, 1=reversed
+#define M1_POWER_MODE MOTOR_POWER_MODE // 1pm See enum cmMotorPowerMode in stepper.h
+#define M1_POWER_LEVEL MOTOR_POWER_LEVEL_XY // 0.00=off, 1.00=max
+#define M1_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
-#define M2_MOTOR_MAP AXIS_Y
-#define M2_STEP_ANGLE 1.8
-#define M2_TRAVEL_PER_REV 4.8768
-#define M2_MICROSTEPS 8
-#define M2_POLARITY 1
-#define M2_POWER_MODE MOTOR_POWER_MODE
-#define M2_POWER_LEVEL MOTOR_POWER_LEVEL_XY
-#define M2_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
+#define M2_MOTOR_MAP AXIS_Y
+#define M2_STEP_ANGLE 1.8
+#define M2_TRAVEL_PER_REV 4.8768
+#define M2_MICROSTEPS 8
+#define M2_POLARITY 1
+#define M2_POWER_MODE MOTOR_POWER_MODE
+#define M2_POWER_LEVEL MOTOR_POWER_LEVEL_XY
+#define M2_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_XY_IDLE
-#define M3_MOTOR_MAP AXIS_Z
+#define M3_MOTOR_MAP AXIS_Z
#if HAS_CANSTACK_Z_AXIS
-#define M3_STEP_ANGLE 15
-#define M3_TRAVEL_PER_REV 1.27254
+#define M3_STEP_ANGLE 15
+#define M3_TRAVEL_PER_REV 1.27254
#else
-#define M3_STEP_ANGLE 1.8
-#define M3_TRAVEL_PER_REV 4.8768
+#define M3_STEP_ANGLE 1.8
+#define M3_TRAVEL_PER_REV 4.8768
#endif
-#define M3_MICROSTEPS 8
-#define M3_POLARITY 0
-#define M3_POWER_MODE MOTOR_POWER_MODE
-#define M3_POWER_LEVEL MOTOR_POWER_LEVEL_Z
-#define M3_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_Z_IDLE
+#define M3_MICROSTEPS 8
+#define M3_POLARITY 0
+#define M3_POWER_MODE MOTOR_POWER_MODE
+#define M3_POWER_LEVEL MOTOR_POWER_LEVEL_Z
+#define M3_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_Z_IDLE
+
+#define M4_MOTOR_MAP AXIS_A
+#define M4_STEP_ANGLE 1.8
+#define M4_TRAVEL_PER_REV 360 // degrees moved per motor rev
+#define M4_MICROSTEPS 8
+#define M4_POLARITY 1
+#define M4_POWER_MODE MOTOR_DISABLED
+#define M4_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
+#define M4_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
+
+#define M5_MOTOR_MAP AXIS_B
+#define M5_STEP_ANGLE 1.8
+#define M5_TRAVEL_PER_REV 360 // degrees moved per motor rev
+#define M5_MICROSTEPS 8
+#define M5_POLARITY 0
+#define M5_POWER_MODE MOTOR_DISABLED
+#define M5_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
+#define M5_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
+
+#define M6_MOTOR_MAP AXIS_C
+#define M6_STEP_ANGLE 1.8
+#define M6_TRAVEL_PER_REV 360 // degrees moved per motor rev
+#define M6_MICROSTEPS 8
+#define M6_POLARITY 0
+#define M6_POWER_MODE MOTOR_DISABLED
+#define M6_POWER_LEVEL MOTOR_POWER_LEVEL_DISABLED
+#define M6_POWER_LEVEL_IDLE MOTOR_POWER_LEVEL_DISABLED
// *** axis settings **********************************************************************************
+#define JERK_MAX 500 // 500 million mm/(min^3)
+#define JERK_HIGH_SPEED 1000 // 1000 million mm/(min^3) // Jerk during homing needs to stop *fast*
+#define VELOCITY_MAX 1500
+#define SEARCH_VELOCITY (VELOCITY_MAX / 3)
+#define LATCH_VELOCITY 25 // reeeeally slow for accuracy
+
+#define X_AXIS_MODE AXIS_STANDARD // xam see canonical_machine.h cmAxisMode for valid values
+#define X_VELOCITY_MAX VELOCITY_MAX // xvm G0 max velocity in mm/min
+#define X_FEEDRATE_MAX X_VELOCITY_MAX // xfr G1 max feed rate in mm/min
+#define X_TRAVEL_MIN 0 // xtn minimum travel for soft limits
+#define X_TRAVEL_MAX 145.6 // xtr travel between switches or crashes
+#define X_JERK_MAX JERK_MAX // xjm
+#define X_JERK_HIGH_SPEED JERK_HIGH_SPEED // xjh
+#define X_HOMING_INPUT 1 // xhi input used for homing or 0 to disable
+#define X_HOMING_DIRECTION 0 // xhd 0=search moves negative, 1= search moves positive
+#define X_SEARCH_VELOCITY SEARCH_VELOCITY // xsv
+#define X_LATCH_VELOCITY LATCH_VELOCITY // xlv mm/min
+#define X_LATCH_BACKOFF 2 // xlb mm
+#define X_ZERO_BACKOFF 0.4 // xzb mm
+
+#define Y_AXIS_MODE AXIS_STANDARD
+#define Y_VELOCITY_MAX X_VELOCITY_MAX
+#define Y_FEEDRATE_MAX Y_VELOCITY_MAX
+#define Y_TRAVEL_MIN 0
+#define Y_TRAVEL_MAX 119.1
+#define Y_JERK_MAX JERK_MAX
+#define Y_JERK_HIGH_SPEED JERK_HIGH_SPEED
+#define Y_HOMING_INPUT 3
+#define Y_HOMING_DIRECTION 0
+#define Y_SEARCH_VELOCITY (Y_FEEDRATE_MAX / 3)
+#define Y_LATCH_VELOCITY LATCH_VELOCITY
+#define Y_LATCH_BACKOFF 2
+#define Y_ZERO_BACKOFF 0.4
+
+#define Z_AXIS_MODE AXIS_STANDARD
+#define Z_VELOCITY_MAX X_VELOCITY_MAX
+#define Z_FEEDRATE_MAX Z_VELOCITY_MAX
+#define Z_TRAVEL_MIN -60.1
+#define Z_TRAVEL_MAX 0
+#define Z_JERK_MAX JERK_MAX
+#define Z_JERK_HIGH_SPEED JERK_HIGH_SPEED
+#define Z_HOMING_INPUT 6
+#define Z_HOMING_DIRECTION 1
+#define Z_SEARCH_VELOCITY (Z_FEEDRATE_MAX / 3)
+#define Z_LATCH_VELOCITY LATCH_VELOCITY
+#define Z_LATCH_BACKOFF 2
+#define Z_ZERO_BACKOFF 0.4
+
+
+/*
#define JERK_MAX 500 // 500 million mm/(min^3)
#define JERK_HIGH_SPEED 1000 // 1000 million mm/(min^3) // Jerk during homing needs to stop *fast*
#define VELOCITY_MAX 1500
@@ -186,6 +271,7 @@
#define Z_LATCH_VELOCITY LATCH_VELOCITY
#define Z_LATCH_BACKOFF 1
#define Z_ZERO_BACKOFF 0.4
+*/
//*** Input / output settings ***
/*
@@ -212,65 +298,68 @@
*/
// Xmin on v9 board // X homing - see X axis setup
-#define DI1_MODE NORMALLY_CLOSED
-#define DI1_ACTION INPUT_ACTION_NONE
-#define DI1_FUNCTION INPUT_FUNCTION_NONE
+#define DI1_MODE NORMALLY_CLOSED
+#define DI1_ACTION INPUT_ACTION_NONE
+#define DI1_FUNCTION INPUT_FUNCTION_NONE
// Xmax // External ESTOP
-#define DI2_MODE IO_ACTIVE_HIGH
-#define DI2_ACTION INPUT_ACTION_HALT
-#define DI2_FUNCTION INPUT_FUNCTION_SHUTDOWN
+#define DI2_MODE IO_ACTIVE_HIGH
+#define DI2_ACTION INPUT_ACTION_HALT
+#define DI2_FUNCTION INPUT_FUNCTION_SHUTDOWN
// Ymin // Y homing - see Y axis setup
-#define DI3_MODE NORMALLY_CLOSED
-#define DI3_ACTION INPUT_ACTION_NONE
-#define DI3_FUNCTION INPUT_FUNCTION_NONE
+#define DI3_MODE NORMALLY_CLOSED
+#define DI3_ACTION INPUT_ACTION_NONE
+#define DI3_FUNCTION INPUT_FUNCTION_NONE
// Ymax // Safety interlock
-#define DI4_MODE IO_ACTIVE_HIGH
-#define DI4_ACTION INPUT_ACTION_NONE // (hold is performed by Interlock function)
-#define DI4_FUNCTION INPUT_FUNCTION_INTERLOCK
+#define DI4_MODE IO_ACTIVE_HIGH
+#define DI4_ACTION INPUT_ACTION_NONE // (hold is performed by Interlock function)
+#define DI4_FUNCTION INPUT_FUNCTION_INTERLOCK
// Zmin // Z probe
-#define DI5_MODE IO_ACTIVE_LOW
-#define DI5_ACTION INPUT_ACTION_NONE
-#define DI5_FUNCTION INPUT_FUNCTION_NONE
+#define DI5_MODE IO_ACTIVE_LOW
+#define DI5_ACTION INPUT_ACTION_NONE
+#define DI5_FUNCTION INPUT_FUNCTION_PROBE
// Zmax // Z homing - see Z axis for setup
-#define DI6_MODE NORMALLY_CLOSED
-#define DI6_ACTION INPUT_ACTION_NONE
-#define DI6_FUNCTION INPUT_FUNCTION_NONE
+#define DI6_MODE NORMALLY_CLOSED
+#define DI6_ACTION INPUT_ACTION_NONE
+#define DI6_FUNCTION INPUT_FUNCTION_NONE
// Amin // Unused
-#define DI7_MODE IO_MODE_DISABLED
-#define DI7_ACTION INPUT_ACTION_NONE
-#define DI7_FUNCTION INPUT_FUNCTION_NONE
+#define DI7_MODE IO_MODE_DISABLED
+#define DI7_ACTION INPUT_ACTION_NONE
+#define DI7_FUNCTION INPUT_FUNCTION_NONE
// Amax // Unused
-#define DI8_MODE IO_MODE_DISABLED
-#define DI8_ACTION INPUT_ACTION_NONE
-#define DI8_FUNCTION INPUT_FUNCTION_NONE
+#define DI8_MODE IO_MODE_DISABLED
+#define DI8_ACTION INPUT_ACTION_NONE
+#define DI8_FUNCTION INPUT_FUNCTION_NONE
// Safety line w/HW timer // Unused
-#define DI9_MODE IO_MODE_DISABLED
-#define DI9_ACTION INPUT_ACTION_NONE
-#define DI9_FUNCTION INPUT_FUNCTION_NONE
+#define DI9_MODE IO_MODE_DISABLED
+#define DI9_ACTION INPUT_ACTION_NONE
+#define DI9_FUNCTION INPUT_FUNCTION_NONE
+
// *** PWM SPINDLE CONTROL ***
-#define P1_PWM_FREQUENCY 100 // in Hz
-#define P1_CW_SPEED_LO 10500 // in RPM (arbitrary units)
-#define P1_CW_SPEED_HI 16400
-#define P1_CW_PHASE_LO 0.13 // phase [0..1]
-#define P1_CW_PHASE_HI 0.17
-#define P1_CCW_SPEED_LO 0
-#define P1_CCW_SPEED_HI 0
-#define P1_CCW_PHASE_LO 0.1
-#define P1_CCW_PHASE_HI 0.1
-#define P1_PWM_PHASE_OFF 0.1
+#define P1_PWM_FREQUENCY 100 // in Hz
+#define P1_CW_SPEED_LO 10500 // in RPM (arbitrary units)
+#define P1_CW_SPEED_HI 16400
+#define P1_CW_PHASE_LO 0.13 // phase [0..1]
+#define P1_CW_PHASE_HI 0.17
+#define P1_CCW_SPEED_LO 0
+#define P1_CCW_SPEED_HI 0
+#define P1_CCW_PHASE_LO 0.1
+#define P1_CCW_PHASE_HI 0.1
+#define P1_PWM_PHASE_OFF 0.1
+/*
#define P1_USE_MAPPING_CUBIC
#define P1_MAPPING_CUBIC_X3 2.1225328766717546e-013
#define P1_MAPPING_CUBIC_X2 -7.2900167282605129e-009
#define P1_MAPPING_CUBIC_X1 8.5854646785876479e-005
#define P1_MAPPING_CUBIC_X0 -2.1301489219406905e-001
+*/
\ No newline at end of file
diff --git a/g2core/settings/settings_othermill_test.h b/g2core/settings/settings_othermill_test.h
index 077b2357..2c8720af 100644
--- a/g2core/settings/settings_othermill_test.h
+++ b/g2core/settings/settings_othermill_test.h
@@ -47,9 +47,12 @@
#define ESC_BOOT_TIME 5000 // how long the ESC takes to boot, in milliseconds
#define ESC_LOCKOUT_TIME 900 // how long the interlock needs to be engaged before killing power... actually 1s, but be conservative
-#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
-#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
-#define COOLANT_PAUSE_ON_HOLD true
+#define COOLANT_MIST_POLARITY 1 // 0=active low, 1=active high
+#define COOLANT_FLOOD_POLARITY 1 // 0=active low, 1=active high
+#define COOLANT_PAUSE_ON_HOLD true
+
+#define FEEDHOLD_Z_LIFT 3 // mm to lift Z on feedhold
+#define PROBE_REPORT_ENABLE true
// Communications and reporting settings
@@ -196,8 +199,8 @@
#define Z_ZERO_BACKOFF 0.4
// Rotary values are chosen to make the motor react the same as X for testing
-#define A_AXIS_MODE AXIS_DISABLED // DISABLED
-#define A_VELOCITY_MAX ((X_VELOCITY_MAX / M1_TRAVEL_PER_REV) * 360) // set to the same speed as X axis
+#define A_AXIS_MODE AXIS_DISABLED // DISABLED
+#define A_VELOCITY_MAX ((X_VELOCITY_MAX / M1_TRAVEL_PER_REV) * 360) // set to the same speed as X axis
#define A_FEEDRATE_MAX A_VELOCITY_MAX
#define A_TRAVEL_MIN -1 // min/max the same means infinite, no limit
#define A_TRAVEL_MAX -1
@@ -323,8 +326,10 @@
#define P1_CCW_PHASE_HI 0.1
#define P1_PWM_PHASE_OFF 0.1
+/*
#define P1_USE_MAPPING_CUBIC
#define P1_MAPPING_CUBIC_X3 2.1225328766717546e-013
#define P1_MAPPING_CUBIC_X2 -7.2900167282605129e-009
#define P1_MAPPING_CUBIC_X1 8.5854646785876479e-005
#define P1_MAPPING_CUBIC_X0 -2.1301489219406905e-001
+*/
\ No newline at end of file