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Merge branch 'grblHAL:master' into master

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Dietz0r
2024-05-23 13:41:43 +02:00
committed by GitHub
parent 2ec344e750 1de8d7b7f0
commit 0b69f6fb40
25 changed files with 432 additions and 123 deletions
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README.md
+2 -2
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@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
---
Latest build date is 20240328, see the [changelog](changelog.md) for details.
Latest build date is 20240513, see the [changelog](changelog.md) for details.
__NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.
@@ -93,4 +93,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
---
20240222
20240402
changelog.md
+197 -1
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@@ -1,6 +1,202 @@
## grblHAL changelog
<a name="202403230"/>Build 20240330
<a name="20240513"/>Build 20240513
Core:
* Fix for homing setting regression. Ref. [issue #512](https://github.com/grblHAL/core/issues/512).
Drivers:
* STM32F1xx, STM32F3xx, STM32F4xx: made UART code fully core compliant.
Plugins:
* Networking: fixed ping response when no payload present. Ref. [issue #10](https://github.com/grblHAL/Plugin_networking/issues/10).
---
<a name="20240508"/>Build 20240508
Core:
* Fix for stream regression, improved MPG stream handling. Ref. [issue #509](https://github.com/grblHAL/core/issues/509).
* Added NGC parameter 5599, debug output enabled status.
Drivers:
* ESP32: made UART code fully core compliant, fix for MQTT compilation error.
* STM32F7xx: added missing MPG code, additional I2C port support and made UART code fully core compliant.
---
<a name="20240506"/>Build 20240506
Core:
* Fix for incorrect handling of some flow control statements when nested. Ref. issue [#504](https://github.com/grblHAL/core/issues/504).
* Fixed defaults and added sanity checks for spindle linearization parameters settings.
Drivers:
* ESP32: increased max application size to 2 MB. __NOTE:__ settings and any WebUI files stored in littlefs will be overwritten on an update, backup and restore when updating!
* STM32F1xx: removed stray debug message.
* STM32F4xx: added printf/scanf support to STM32CubeIDE builds with spindle linearization enabled, due to run time issues.
Fixed incorrect EEPROM emulator flash section id, ref. core [discussion #503](https://github.com/grblHAL/core/discussions/503) and core [issue #457](https://github.com/grblHAL/core/issues/457).
---
<a name="20240427"/>Build 20240427
Core:
* Added config to enable NGC parameter reporting, default on.
Drivers:
* STM32F1xx: disabled NGC parameter reporting in order free up some flash space \(for 128K variants\).
Plugins:
* SD card (file system macros): added inbuilt `G65P2Q<tool>R<axis>` macro for reading tool offset from tool table. `<tool>` is tool number, `<axis>` is axis number: 0 = X, 1 = Y, ...
* Keypad: allow MPG to take control when estop state is active.
---
<a name="20240425"/>Build 20240425
Core:
* Now reports WCO along with radius/diameter mode changes. Ref. issue [#500](https://github.com/grblHAL/core/issues/500).
Drivers:
* STM32F1xx: fix for broken handling of control signals for RC variant processors. Ref. issue [#51](https://github.com/grblHAL/STM32F1xx/issues/51) and discussion [#499](https://github.com/grblHAL/core/discussions/499).
Plugins:
* SD card (file system macros): added inbuilt `G65P1Q<n>` macro for reading numeric setting value. `<n>` is setting number. Ref. issue [#493](https://github.com/grblHAL/core/issues/493).
---
<a name="20240420"/>Build 20240420
Core:
* Fix for bug/compiler warning. Ref. discussion [#492](https://github.com/grblHAL/core/discussions/492).
* Fix for broken initialization of wall plotter machine properties.
---
<a name="20240418"/>20240418
Core:
* Fix for compiler warning.
Drivers:
* ESP32: updated Root CNC v3 map and added Root CNC Pro map. Ref. issue [#102](https://github.com/grblHAL/ESP32/discussions/102).
Added missing comma. Ref. ioSender issue [#367](https://github.com/terjeio/ioSender/issues/367#issuecomment-2066416027).
Added tentative support for additional I2C API functions.
* STM32F4xx: removed stray debug message, fixed I2C strobe and MPG mode input handling. Updated FatFS \(SPI\) to use new task scheduler.
* STM32F7xx: fix for compiler warning.
Plugins:
* Keypad (display): workaround for ESP32 compiler complaining about `static_assert`.
Templates:
* Persistent tool: updated for core change.
---
<a name="20240416"/>Build 20240416
Core:
* Fix for random feed hold/cycle start sequence failures. Ref. issue [#491](https://github.com/grblHAL/core/issues/491).
Drivers:
* STM32F1xx: added tentative support for UART4, not tested!
* STM32F7xx: added support for SPI4, not tested!
* Simulator: added support for continuous 1ms systick event. Ref issue [#8](https://github.com/grblHAL/Simulator/issues/8).
---
<a name="20240408"/>Build 20240408
Core:
* Fix for bug in NGC expressions return statement handling. Ref. issue [#485](https://github.com/grblHAL/core/issues/485).
Drivers:
* RP2040: fix for incorrect handling of safety door input inversion. Ref. issue [#85](https://github.com/grblHAL/RP2040/issues/85).
* STM32F7xx: removed stray project folder from Eclipse debug build configuration.
* All \(remaining\): now calls stepper enable via HAL.
Plugins:
* SD card: fix for potential expression stack issue when macro is terminated early with `M99`.
* Spindle: improved logic, switched polling to new task handling code. Ref. issue [#27](https://github.com/grblHAL/Plugins_spindle/issues/27).
---
<a name="20240404"/>Build 20240404
Core:
* Fixed polar kinematics feed rate handling, some tuning. Ref. issue [#475](https://github.com/grblHAL/core/issues/475).
* Allowed plugins to inject commands when controller is in alarm state. Ref. keypad plugin issue [#11](https://github.com/grblHAL/Plugin_keypad/issues/11).
Drivers:
* STM32F1xx, STM32F3xx, STM32F4xx, STM32F7xx and iMXRT1062: now calls stepper enable via HAL. Ref. spindle issue [#28](https://github.com/grblHAL/Plugins_spindle/issues/28).
Plugins:
* Spindle: improved motor enable support for stepper spindle. Ref. issue [#28](https://github.com/grblHAL/Plugins_spindle/issues/28).
* Plasma: removed stray code causing compilation failure.
---
<a name="20240402"/>Build 20240402
Core:
* Fixed symbol issue with Arduino Due blocking compilation of NGC parameter support.
Drivers:
* SAM3X8E: added driver support for additional aux inputs in order to support probe input.
* iMXRT1062: fixed typo in step inject code causing direction signal to fail for A+ axes.
Plugins:
* Spindle: added motor enable support for stepper spindle.
---
<a name="20240330"/>Build 20240330
Core:
config.h
+18 -5
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@@ -516,7 +516,7 @@ Number of tools in tool table, edit to enable (max. 32 allowed)
/*! \def NGC_EXPRESSIONS_ENABLE
\brief
Set to \ref On or 1 to enable experimental support for parameters and expressions.
Set to \ref On or 1 to enable experimental support for expressions.
Some LinuxCNC extensions are supported, conditionals and subroutines are not.
*/
@@ -524,6 +524,14 @@ Some LinuxCNC extensions are supported, conditionals and subroutines are not.
#define NGC_EXPRESSIONS_ENABLE Off
#endif
/*! \def NGC_PARAMETERS_ENABLE
\brief
Set to \ref On or 1 to enable experimental support for parameters.
*/
#if !defined NGC_PARAMETERS_ENABLE || defined __DOXYGEN__
#define NGC_PARAMETERS_ENABLE On
#endif
/*! \def NGC_N_ASSIGN_PARAMETERS_PER_BLOCK
\brief
Maximum number of parameters allowed in a block.
@@ -1129,7 +1137,7 @@ Defines the parameters for the first entry in the spindle RPM linearization tabl
*/
///@{
#if !defined DEFAULT_RPM_POINT01 || defined __DOXYGEN__
#define DEFAULT_RPM_POINT01 DEFAULT_SPINDLE_RPM_MIN // Don not change! Set DEFAULT_SPINDLE_RPM_MIN instead.
#define DEFAULT_RPM_POINT01 NAN // DEFAULT_SPINDLE_RPM_MIN // Replace NAN with DEFAULT_SPINDLE_RPM_MIN to enable.
#endif
#if !defined DEFAULT_RPM_LINE_A1 || defined __DOXYGEN__
#define DEFAULT_RPM_LINE_A1 3.197101e-03f
@@ -1144,7 +1152,7 @@ Defines the parameters for the second entry in the spindle RPM linearization tab
*/
///@{
#if !defined DEFAULT_RPM_POINT12 || defined __DOXYGEN__
#define DEFAULT_RPM_POINT12 9627.8 // Set to a float constant to enable.
#define DEFAULT_RPM_POINT12 NAN // Change NAN to a float constant to enable.
#endif
#if !defined DEFAULT_RPM_LINE_A2 || defined __DOXYGEN__
#define DEFAULT_RPM_LINE_A2 1.722950e-2f
@@ -1159,7 +1167,7 @@ Defines the parameters for the third entry in the spindle RPM linearization tabl
*/
///@{
#if !defined DEFAULT_RPM_POINT23 || defined __DOXYGEN__
#define DEFAULT_RPM_POINT23 10813.9 // Set to a float constant to enable.
#define DEFAULT_RPM_POINT23 NAN // Change NAN to a float constant to enable.
#endif
#if !defined DEFAULT_RPM_LINE_A3 || defined __DOXYGEN__
#define DEFAULT_RPM_LINE_A3 5.901518e-02f
@@ -1174,7 +1182,7 @@ Defines the parameters for the fourth entry in the spindle RPM linearization tab
*/
///@{
#if !defined DEFAULT_RPM_POINT34 || defined __DOXYGEN__
#define DEFAULT_RPM_POINT34 NAN // Set to a float constant to enable.
#define DEFAULT_RPM_POINT34 NAN // Change NAN to a float constant to enable.
#endif
#if !defined DEFAULT_RPM_LINE_A4 || defined __DOXYGEN__
#define DEFAULT_RPM_LINE_A4 1.203413e-01f
@@ -1987,6 +1995,11 @@ __NOTE:__ Must be a positive values.
#define N_SYS_SPINDLE 8
#endif
#if NGC_EXPRESSIONS_ENABLE && !NGC_PARAMETERS_ENABLE
#undef NGC_PARAMETERS_ENABLE
#define NGC_PARAMETERS_ENABLE On
#endif
#if (REPORT_WCO_REFRESH_BUSY_COUNT < REPORT_WCO_REFRESH_IDLE_COUNT)
#error "WCO busy refresh is less than idle refresh."
#endif
gcode.c
+2 -2
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@@ -3375,7 +3375,7 @@ status_code_t gc_execute_block (char *block)
case NonModal_MacroCall:
{
#if NGC_EXPRESSIONS_ENABLE
#if NGC_PARAMETERS_ENABLE
ngc_named_param_set("_value", 0.0f);
ngc_named_param_set("_value_returned", 0.0f);
#endif
@@ -3552,7 +3552,7 @@ status_code_t gc_execute_block (char *block)
// Clean out any remaining output commands (may linger on error)
while(plan_data.output_commands) {
output_command_t *next = plan_data.output_commands;
output_command_t *next = plan_data.output_commands->next;
free(plan_data.output_commands);
plan_data.output_commands = next;
}
gcode.h
+1
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@@ -539,6 +539,7 @@ typedef struct {
typedef struct {
float offset[N_AXIS]; //!< Tool offset
float radius; //!< Radius of tool (currently unsupported)
// TODO: add float max_rpm; ?
tool_id_t tool_id; //!< Tool number
} tool_data_t;
grbl.h
+1 -1
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@@ -42,7 +42,7 @@
#else
#define GRBL_VERSION "1.1f"
#endif
#define GRBL_BUILD 20240330
#define GRBL_BUILD 20240513
#define GRBL_URL "https://github.com/grblHAL"
kinematics/delta.c
+1 -1
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@@ -290,7 +290,7 @@ static float *delta_segment_line (float *target, float *position, plan_line_data
} else if(!pl_data->condition.rapid_motion && distance != 0.0f) {
float rate_multiplier = get_distance(mpos.values, machine.last_pos.values) / distance;
pl_data->feed_rate *= rate_multiplier;
pl_data->rate_multiplier = 1.0 / rate_multiplier;
pl_data->rate_multiplier = 1.0f / rate_multiplier;
}
memcpy(&machine.last_pos, &mpos, sizeof(coord_data_t));
kinematics/polar.c
+34 -15
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@@ -7,18 +7,18 @@
Note: homing is not implemented!
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#include "../grbl.h"
@@ -39,6 +39,7 @@
static bool jog_cancel = false;
static coord_data_t last_pos = {0};
static on_program_completed_ptr on_program_completed;
static on_report_options_ptr on_report_options;
// Simple hypotenuse computation function.
@@ -68,17 +69,15 @@ static float *transform_to_cartesian (float *target, float *position)
// Returns machine position in mm converted from system position steps.
static float *polar_convert_array_steps_to_mpos (float *position, int32_t *steps)
{
float cpos[N_AXIS];
coord_data_t cpos;
uint_fast8_t idx = N_AXIS;
do {
idx--;
cpos[idx] = steps[idx] / settings.axis[idx].steps_per_mm;
cpos.values[idx] = steps[idx] / settings.axis[idx].steps_per_mm;
} while(idx);
return transform_to_cartesian(position, cpos);
return position;
return transform_to_cartesian(position, cpos.values);
}
// Transform absolute position from cartesian coordinate system to polar coordinate system
@@ -130,7 +129,6 @@ static float *polar_segment_line (float *target, float *position, plan_line_data
static bool segmented;
static float r_offset, distance;
static coord_data_t delta, segment_target, final_target, cpos;
// static plan_line_data_t plan;
uint_fast8_t idx = N_AXIS;
@@ -159,6 +157,8 @@ static float *polar_segment_line (float *target, float *position, plan_line_data
delta.values[idx] = delta.values[idx] / (float)iterations;
} while(idx);
distance /= (float)iterations;
} else {
iterations = 1;
memcpy(&segment_target, &final_target, sizeof(coord_data_t));
@@ -175,7 +175,6 @@ static float *polar_segment_line (float *target, float *position, plan_line_data
idx--;
segment_target.values[idx] += delta.values[idx];
} while(idx);
} else
memcpy(&segment_target, &final_target, sizeof(coord_data_t));
@@ -183,9 +182,11 @@ static float *polar_segment_line (float *target, float *position, plan_line_data
transform_from_cartesian(cpos.values, segment_target.values);
segment_target.values[RADIUS_AXIS] += r_offset;
if(!pl_data->condition.rapid_motion) {
float fr_mul = distance / get_distance(last_pos.values, cpos.values);
pl_data->feed_rate *= fr_mul == 0.0f ? 1.0 : (fr_mul < 0.5f ? 0.5f : fr_mul);
if(!pl_data->condition.rapid_motion && segmented) {
float rate_multiplier = get_distance(last_pos.values, cpos.values) / distance;
rate_multiplier = rate_multiplier == 0.0f ? 1.0 : (rate_multiplier < 0.5f ? 0.5f : rate_multiplier);
pl_data->feed_rate *= rate_multiplier;
pl_data->rate_multiplier = 1.0f / rate_multiplier;
}
memcpy(&last_pos, &cpos, sizeof(coord_data_t));
@@ -228,7 +229,7 @@ static void report_options (bool newopt)
on_report_options(newopt);
if(!newopt)
hal.stream.write("[KINEMATICS:Polar v0.01]" ASCII_EOL);
hal.stream.write("[KINEMATICS:Polar v0.02]" ASCII_EOL);
}
static bool polar_homing_cycle (axes_signals_t cycle, axes_signals_t auto_square)
@@ -238,6 +239,21 @@ static bool polar_homing_cycle (axes_signals_t cycle, axes_signals_t auto_square
return false;
}
static void onProgramCompleted (program_flow_t program_flow, bool check_mode)
{
coord_data_t cpos;
memset(last_pos.values, 0, sizeof(coord_data_t));
transform_from_cartesian(cpos.values, gc_state.position);
memcpy(&last_pos, &cpos, sizeof(coord_data_t));
sys.position[POLAR_AXIS] = lroundf(last_pos.values[POLAR_AXIS] * settings.axis[POLAR_AXIS].steps_per_mm);
plan_sync_position();
if(on_program_completed)
on_program_completed(program_flow, check_mode);
}
// Initialize API pointers for Wall Plotter kinematics
void polar_init (void)
{
@@ -251,6 +267,9 @@ void polar_init (void)
grbl.home_machine = polar_homing_cycle;
grbl.on_jog_cancel = cancel_jog;
on_program_completed = grbl.on_program_completed;
grbl.on_program_completed = onProgramCompleted;
on_report_options = grbl.on_report_options;
grbl.on_report_options = report_options;
}
kinematics/wall_plotter.c
+25 -9
View File
@@ -59,6 +59,7 @@ typedef struct {
static bool jog_cancel = false;
static machine_t machine = {0};
static on_report_options_ptr on_report_options;
static settings_changed_ptr settings_changed;
// Returns machine position in mm converted from system position steps.
// TODO: perhaps change to double precision here - float calculation results in errors of a couple of micrometers.
@@ -290,7 +291,7 @@ static void report_options (bool newopt)
on_report_options(newopt);
if(!newopt)
hal.stream.write("[KINEMATICS:WallPlotter v2.00]" ASCII_EOL);
hal.stream.write("[KINEMATICS:WallPlotter v2.01]" ASCII_EOL);
}
static bool wp_homing_cycle (axes_signals_t cycle, axes_signals_t auto_square)
@@ -300,22 +301,34 @@ static bool wp_homing_cycle (axes_signals_t cycle, axes_signals_t auto_square)
return false;
}
// Initialize API pointers for Wall Plotter kinematics
void wall_plotter_init (void)
static void wp_settings_changed (settings_t *settings, settings_changed_flags_t changed)
{
machine.width_mm = -settings.axis[A_MOTOR].max_travel;
machine.width = (int32_t)(machine.width_mm * settings.axis[A_MOTOR].steps_per_mm);
static bool init_ok = false;
if(settings_changed)
settings_changed(settings, changed);
machine.width_mm = -settings->axis[A_MOTOR].max_travel;
machine.width = (int32_t)(machine.width_mm * settings->axis[A_MOTOR].steps_per_mm);
machine.width_2 = machine.width >> 1;
machine.width_pow = machine.width_mm * machine.width_mm;
machine.height = (int32_t)((float)settings.axis[B_MOTOR].max_travel * settings.axis[B_MOTOR].steps_per_mm);
machine.height = (int32_t)((float)settings->axis[B_MOTOR].max_travel * settings->axis[B_MOTOR].steps_per_mm);
machine.height_2 = machine.height >> 1;
machine.spindlezero[A_MOTOR] = 0; // machine.width_2;
machine.spindlezero[B_MOTOR] = 0; // machine.height_2;
machine.spindlezero_mm[A_MOTOR] = (float)machine.spindlezero[A_MOTOR] / settings.axis[A_MOTOR].steps_per_mm;
machine.spindlezero_mm[B_MOTOR] = (float)machine.spindlezero[B_MOTOR] / settings.axis[B_MOTOR].steps_per_mm;
machine.spindlezero_mm[A_MOTOR] = (float)machine.spindlezero[A_MOTOR] / settings->axis[A_MOTOR].steps_per_mm;
machine.spindlezero_mm[B_MOTOR] = (float)machine.spindlezero[B_MOTOR] / settings->axis[B_MOTOR].steps_per_mm;
sys.position[B_MOTOR] = machine.width;
if(!init_ok) {
sys.position[B_MOTOR] = machine.width;
init_ok = false;
} // else do what? recalculate or issue warning?
}
// Initialize API pointers for Wall Plotter kinematics
void wall_plotter_init (void)
{
kinematics.limits_set_target_pos = wp_limits_set_target_pos;
kinematics.limits_get_axis_mask = wp_limits_get_axis_mask;
kinematics.limits_set_machine_positions = wp_limits_set_machine_positions;
@@ -328,6 +341,9 @@ void wall_plotter_init (void)
on_report_options = grbl.on_report_options;
grbl.on_report_options = report_options;
settings_changed = hal.settings_changed;
hal.settings_changed = wp_settings_changed;
}
#endif
motion_control.c
+1 -1
View File
@@ -79,7 +79,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
{
#ifdef KINEMATICS_API
float feed_rate = pl_data->feed_rate;
pl_data->rate_multiplier = 1.0;
pl_data->rate_multiplier = 1.0f;
target = kinematics.segment_line(target, plan_get_position(), pl_data, true);
#endif
ngc_flowctrl.c
+27 -20
View File
@@ -5,20 +5,20 @@
Part of grblHAL
Copyright (c) 2023 Terje Io
Copyright (c) 2023-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#include "hal.h"
@@ -192,9 +192,14 @@ static bool stack_pull (void)
return ok;
}
// Public functions
void ngc_flowctrl_unwind_stack (vfs_file_t *file)
{
while(stack_idx >= 0 && stack[stack_idx].file == file)
stack_pull();
}
void ngc_flowctrl_init (void)
{
while(stack_idx >= 0)
@@ -300,7 +305,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
case NGCFlowCtrl_EndWhile:
if(hal.stream.file) {
if(last_op == NGCFlowCtrl_While) {
if(o_label == stack[stack_idx].o_label) {
if(!skipping && o_label == stack[stack_idx].o_label) {
uint_fast8_t pos = 0;
if(!stack[stack_idx].skip && (status = ngc_eval_expression(stack[stack_idx].expr, &pos, &value)) == Status_OK) {
if(!(stack[stack_idx].skip = value == 0))
@@ -309,7 +314,7 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
if(stack[stack_idx].skip)
stack_pull();
}
} else
} else if(!skipping)
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
@@ -333,13 +338,13 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
case NGCFlowCtrl_EndRepeat:
if(hal.stream.file) {
if(last_op == NGCFlowCtrl_Repeat) {
if(o_label == stack[stack_idx].o_label) {
if(!skipping && o_label == stack[stack_idx].o_label) {
if(stack[stack_idx].repeats && --stack[stack_idx].repeats)
vfs_seek(stack[stack_idx].file, stack[stack_idx].file_pos);
else
stack_pull();
}
} else
} else if(!skipping)
status = Status_FlowControlSyntaxError;
} else
status = Status_FlowControlNotExecutingMacro;
@@ -417,16 +422,16 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
break;
case NGCFlowCtrl_Return:
if(!skipping && grbl.on_macro_return) {
vfs_file_t *file = stack[stack_idx].file;
while(stack_idx >= 0 && file == stack[stack_idx].file)
stack_pull();
if(ngc_eval_expression(line, pos, &value) == Status_OK) {
ngc_named_param_set("_value", value);
ngc_named_param_set("_value_returned", 1.0f);
} else
ngc_named_param_set("_value_returned", 0.0f);
grbl.on_macro_return();
if(hal.stream.file) {
if(!skipping && grbl.on_macro_return) {
ngc_flowctrl_unwind_stack(stack[stack_idx].file);
if(ngc_eval_expression(line, pos, &value) == Status_OK) {
ngc_named_param_set("_value", value);
ngc_named_param_set("_value_returned", 1.0f);
} else
ngc_named_param_set("_value_returned", 0.0f);
grbl.on_macro_return();
}
} else
status = Status_FlowControlNotExecutingMacro;
break;
@@ -438,6 +443,8 @@ status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, boo
if(status != Status_OK) {
ngc_flowctrl_init();
*skip = false;
if(settings.flags.ngc_debug_out)
report_message(line, Message_Plain);
} else
*skip = stack_idx >= 0 && stack[stack_idx].skip;
ngc_flowctrl.h
+6 -5
View File
@@ -5,26 +5,27 @@
Part of grblHAL
Copyright (c) 2023 Terje Io
Copyright (c) 2023-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _NGC_FLOWCTRL_H_
#define _NGC_FLOWCTRL_H_
void ngc_flowctrl_init (void);
void ngc_flowctrl_unwind_stack (vfs_file_t *file);
status_code_t ngc_flowctrl (uint32_t o_label, char *line, uint_fast8_t *pos, bool *skip);
#endif
ngc_params.c
+18 -6
View File
@@ -3,20 +3,20 @@
Part of grblHAL
Copyright (c) 2021-2023 Terje Io
Copyright (c) 2021-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
/*
@@ -24,6 +24,10 @@
Most additional predefined parameters defined by LinuxCNC (ref section 5.2.3.1) are implemented.
*/
#include "hal.h"
#if NGC_PARAMETERS_ENABLE
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
@@ -207,6 +211,11 @@ static float work_position (ngc_param_id_t id)
return value;
}
static float debug_output (ngc_param_id_t id)
{
return (float)settings.flags.ngc_debug_out;
}
PROGMEM static const ngc_ro_param_t ngc_ro_params[] = {
{ .id_min = 5061, .id_max = 5069, .get = probe_coord }, // LinuxCNC
{ .id_min = 5070, .id_max = 5070, .get = probe_result }, // LinuxCNC
@@ -228,7 +237,8 @@ PROGMEM static const ngc_ro_param_t ngc_ro_params[] = {
{ .id_min = 5399, .id_max = 5399, .get = m66_result }, // LinuxCNC
{ .id_min = 5400, .id_max = 5400, .get = tool_number }, // LinuxCNC
{ .id_min = 5401, .id_max = 5409, .get = tool_offset }, // LinuxCNC
{ .id_min = 5420, .id_max = 5428, .get = work_position } // LinuxCNC
{ .id_min = 5420, .id_max = 5428, .get = work_position }, // LinuxCNC
{ .id_min = 5599, .id_max = 5599, .get = debug_output } // LinuxCNC
};
bool ngc_param_get (ngc_param_id_t id, float *value)
@@ -655,3 +665,5 @@ bool ngc_named_param_set (char *name, float value)
return ok;
}
#endif // NGC_PARAMETERS_ENABLE
planner.c
+6 -6
View File
@@ -527,15 +527,15 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
block->acceleration = limit_acceleration_by_axis_maximum(unit_vec);
#endif
block->rapid_rate = limit_max_rate_by_axis_maximum(unit_vec);
#ifdef KINEMATICS_API
block->rate_multiplier = pl_data->rate_multiplier;
#endif
// Store programmed rate.
if (block->condition.rapid_motion)
block->programmed_rate = block->rapid_rate;
else {
block->programmed_rate = pl_data->feed_rate;
#ifdef KINEMATICS_API
block->rate_multiplier = pl_data->rate_multiplier;
#endif
if (block->condition.inverse_time)
block->programmed_rate *= block->millimeters;
}
@@ -668,8 +668,8 @@ void plan_cycle_reinitialize (void)
{
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
st_update_plan_block_parameters();
block_buffer_planned = block_buffer_tail;
planner_recalculate();
if((block_buffer_planned = block_buffer_tail) != block_buffer_head)
planner_recalculate();
}
// Re-calculates buffered motions profile parameters upon a motion-based override change.
@@ -723,6 +723,6 @@ void plan_data_init (plan_line_data_t *plan_data)
plan_data->spindle.hal = gc_state.spindle.hal ? gc_state.spindle.hal : spindle_get(0);
plan_data->condition.target_validated = plan_data->condition.target_valid = sys.soft_limits.mask == 0;
#ifdef KINEMATICS_API
plan_data->rate_multiplier = 1.0;
plan_data->rate_multiplier = 1.0f;
#endif
}
platform.h
+1 -1
View File
@@ -22,7 +22,7 @@
#pragma once
#if defined(STM32F103xB) || defined(STM32F103xE) || defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F407xx) || defined(STM32F411xE) || \
defined(STM32F412Vx) || defined(STM32F446xx) || defined(STM32F756xx) || defined(STM32H743xx) || defined(STM32H723xx)
defined(STM32F412Vx) || defined(STM32F446xx) || defined(STM32F756xx) || defined(STM32F765xx) || defined(STM32H743xx) || defined(STM32H723xx)
#define STM32_PLATFORM
#endif
protocol.c
+1 -1
View File
@@ -74,7 +74,7 @@ static void protocol_exec_rt_suspend (sys_state_t state);
bool protocol_enqueue_gcode (char *gcode)
{
bool ok = xcommand[0] == '\0' &&
(state_get() == STATE_IDLE || (state_get() & (STATE_JOG|STATE_TOOL_CHANGE))) &&
(state_get() == STATE_IDLE || (state_get() & (STATE_ALARM|STATE_JOG|STATE_TOOL_CHANGE))) &&
bit_isfalse(sys.rt_exec_state, EXEC_MOTION_CANCEL);
if(ok && gc_state.file_run)
report.c
+3
View File
@@ -542,6 +542,8 @@ void report_tool_offsets (void)
hal.stream.write("]" ASCII_EOL);
}
#if NGC_PARAMETERS_ENABLE
// Prints NIST/LinuxCNC NGC parameter value
status_code_t report_ngc_parameter (ngc_param_id_t id)
{
@@ -576,6 +578,7 @@ status_code_t report_named_ngc_parameter (char *arg)
return Status_OK;
}
#endif
// Prints Grbl NGC parameters (coordinate offsets, probing, tool table)
void report_ngc_parameters (void)
report.h
+4
View File
@@ -70,12 +70,16 @@ void report_probe_parameters (void);
// Prints current tool offsets.
void report_tool_offsets (void);
#if NGC_PARAMETERS_ENABLE
// Prints NIST/LinuxCNC NGC parameter value
status_code_t report_ngc_parameter (ngc_param_id_t id);
// Prints named LinuxCNC NGC parameter value
status_code_t report_named_ngc_parameter (char *arg);
#endif
// Prints Grbl NGC parameters (coordinate offsets, probe).
void report_ngc_parameters (void);
settings.c
+3 -3
View File
@@ -1231,7 +1231,7 @@ static status_code_t set_homing_enable (setting_id_t id, uint_fast16_t int_value
settings.homing.flags.use_limit_switches = DEFAULT_HOMING_USE_LIMIT_SWITCHES;
settings.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES;
#else
settings.homing.flags.value = int_value & 0b111;
settings.homing.flags.value = int_value & 0b1111;
settings.limits.flags.two_switches = homing.two_switches;
settings.homing.flags.manual = homing.manual;
settings.homing.flags.override_locks = homing.override_locks;
@@ -1740,7 +1740,7 @@ static uint32_t get_int (setting_id_t id)
homing.use_limit_switches = settings.homing.flags.use_limit_switches;
value = homing.value;
#else
value = settings.homing.flags.enable;
value = settings.homing.flags.enabled;
#endif
break;
@@ -3055,7 +3055,7 @@ void settings_init (void)
if(hal.stepper.get_ganged)
setting_remove_elements(Setting_GangedDirInvertMask, hal.stepper.get_ganged(false).mask);
setting_remove_element(Setting_CoolantInvertMask, hal.coolant_cap.mask);
setting_remove_elements(Setting_CoolantInvertMask, hal.coolant_cap.mask);
#if COMPATIBILITY_LEVEL <= 1
if(hal.homing.get_state == NULL) {
spindle_control.c
+2 -2
View File
@@ -51,7 +51,6 @@ typedef struct {
static uint8_t n_spindle = 0;
static spindle_sys_t sys_spindle[N_SYS_SPINDLE] = {0};
static spindle_reg_t spindles[N_SPINDLE] = {0}, *pwm_spindle = NULL;
static spindle_cap_t spindle_cap;
/*! \internal \brief Activates and registers a spindle as enabled with a specific spindle number.
\param spindle_id spindle id of spindle to activate as a \ref spindle_id_t.
@@ -808,9 +807,10 @@ bool spindle_precompute_pwm_values (spindle_ptrs_t *spindle, spindle_pwm_t *pwm_
static spindle1_settings_t sp1_settings;
static uint32_t nvs_address;
static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
static spindle1_settings_changed_ptr on_settings_changed;
static bool ports_ok = false;
static char max_aport[4], max_dport[4];
static spindle_cap_t spindle_cap;
static spindle1_settings_changed_ptr on_settings_changed;
#if ENABLE_SPINDLE_LINEARIZATION
stepper.c
+6 -6
View File
@@ -7,18 +7,18 @@
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
@@ -748,11 +748,11 @@ void st_prep_buffer (void)
prep.ramp_type = Ramp_Decel;
// Compute decelerate distance relative to end of block.
float decel_dist = pl_block->millimeters - inv_2_accel * pl_block->entry_speed_sqr;
if (decel_dist < 0.0f) {
if(decel_dist < -0.0001f) {
// Deceleration through entire planner block. End of feed hold is not in this block.
prep.exit_speed = sqrtf(pl_block->entry_speed_sqr - 2.0f * pl_block->acceleration * pl_block->millimeters);
} else {
prep.mm_complete = decel_dist; // End of feed hold.
prep.mm_complete = decel_dist < 0.0001f ? 0.0f : decel_dist; // End of feed hold.
prep.exit_speed = 0.0f;
}
} else { // [Normal Operation]
stream.c
+37 -21
View File
@@ -37,9 +37,9 @@ typedef struct {
typedef union {
uint8_t value;
struct {
uint8_t is_mpg :1,
is_mpg_tx :1,
unused :6;
uint8_t mpg_control :1,
is_mpg_tx :1,
unused :6;
};
} stream_connection_flags_t;
@@ -169,7 +169,9 @@ ISR_CODE bool ISR_FUNC(stream_enqueue_realtime_command)(char c)
return drop;
}
static bool is_connected (void)
// helper function for (UART) stream implementations.
bool stream_connected (void)
{
return true;
}
@@ -235,7 +237,7 @@ static stream_connection_t *add_connection (const io_stream_t *stream)
connection->is_up = stream->is_connected ?
stream->is_connected :
(stream->state.is_usb && base.stream != stream ? is_not_connected : is_connected);
(stream->state.is_usb && base.stream != stream ? is_not_connected : stream_connected);
return connection;
}
@@ -247,7 +249,7 @@ static bool stream_select (const io_stream_t *stream, bool add)
bool send_init_message = false;
if(stream == base.stream) {
base.is_up = add ? (stream->is_connected ? stream->is_connected : is_connected) : is_not_connected;
base.is_up = add ? (stream->is_connected ? stream->is_connected : stream_connected) : is_not_connected;
return true;
}
@@ -258,18 +260,23 @@ static bool stream_select (const io_stream_t *stream, bool add)
} else { // disconnect
const io_stream_t *org_stream;
stream_connection_t *prev, *last = connections;
while(last->next) {
prev = last;
last = last->next;
if(prev->stream != mpg.stream)
org_stream = prev->stream;
if(last->stream == stream) {
prev->next = last->next;
free(last);
if(prev->next)
return false;
else {
stream = prev->stream;
if(mpg.flags.mpg_control || stream->type == StreamType_MPG)
protocol_enqueue_foreground_task(stream_mpg_set_mode, (void *)1);
stream = org_stream;
break;
}
}
@@ -284,54 +291,62 @@ static bool stream_select (const io_stream_t *stream, bool add)
if(active_stream && active_stream->type != StreamType_Serial && connection_is_up((io_stream_t *)stream)) {
hal.stream.write = stream->write;
report_message("SERIAL STREAM ACTIVE", Message_Plain);
if(stream->get_tx_buffer_count)
while(stream->get_tx_buffer_count());
else
hal.delay_ms(100, NULL);
}
break;
case StreamType_Telnet:
if(connection_is_up(&hal.stream))
report_message("TELNET STREAM ACTIVE", Message_Plain);
if((send_init_message = add && sys.driver_started))
hal.stream.write_all = stream->write;
send_init_message = add && sys.driver_started;
break;
case StreamType_WebSocket:
if(connection_is_up(&hal.stream))
report_message("WEBSOCKET STREAM ACTIVE", Message_Plain);
if((send_init_message = add && sys.driver_started && !hal.stream.state.webui_connected))
hal.stream.write_all = stream->write;
send_init_message = add && sys.driver_started && !hal.stream.state.webui_connected;
break;
case StreamType_Bluetooth:
if(connection_is_up(&hal.stream))
report_message("BLUETOOTH STREAM ACTIVE", Message_Plain);
if((send_init_message = add && sys.driver_started))
hal.stream.write_all = stream->write;
send_init_message = add && sys.driver_started;
break;
default:
break;
}
if(hal.stream.type == StreamType_MPG) {
stream_mpg_enable(false);
mpg.flags.mpg_control = On;
}
memcpy(&hal.stream, stream, sizeof(io_stream_t));
hal.stream.write_all = stream_write_all;
if(stream == base.stream && base.is_up == is_not_connected)
base.is_up = is_connected;
base.is_up = stream_connected;
if(hal.stream.is_connected == NULL)
hal.stream.is_connected = stream == base.stream ? base.is_up : is_connected;
hal.stream.is_connected = stream == base.stream ? base.is_up : stream_connected;
if(stream->type == StreamType_WebSocket && !stream->state.webui_connected)
hal.stream.state.webui_connected = webui_connected;
if(send_init_message) {
hal.stream.write_all = stream->write;
grbl.report.init_message();
}
hal.stream.write_all = stream_write_all;
hal.stream.set_enqueue_rt_handler(protocol_enqueue_realtime_command);
if(hal.stream.disable_rx)
hal.stream.disable_rx(false);
if(send_init_message)
grbl.report.init_message();
if(grbl.on_stream_changed)
grbl.on_stream_changed(hal.stream.type);
@@ -462,7 +477,7 @@ bool stream_mpg_register (const io_stream_t *stream, bool rx_only, stream_write_
if(stream->write == NULL || rx_only) {
mpg.stream = stream;
mpg.is_up = is_connected;
mpg.is_up = stream_connected;
if(hal.periph_port.set_pin_description)
hal.periph_port.set_pin_description(Input_RX, (pin_group_t)(PinGroup_UART + stream->instance), "MPG");
@@ -537,6 +552,7 @@ bool stream_mpg_enable (bool on)
hal.stream.reset_read_buffer();
sys.mpg_mode = on;
mpg.flags.mpg_control = Off;
system_add_rt_report(Report_MPGMode);
// Force a realtime status report, all reports when MPG mode active
@@ -601,7 +617,7 @@ const io_stream_t *stream_null_init (uint32_t baud_rate)
{
static const io_stream_t stream = {
.type = StreamType_Null,
.is_connected = is_connected,
.is_connected = stream_connected,
.read = stream_get_null,
.write = null_write_string,
.write_n = null_write,
stream.h
+2
View File
@@ -345,6 +345,8 @@ bool stream_connect_instance (uint8_t instance, uint32_t baud_rate);
void stream_disconnect (const io_stream_t *stream);
bool stream_connected (void);
const io_stream_t *stream_get_base (void);
io_stream_flags_t stream_get_flags (io_stream_t stream);
system.c
+26 -6
View File
@@ -558,12 +558,16 @@ static status_code_t output_ngc_parameters (sys_state_t state, char *args)
status_code_t retval = Status_OK;
if(args) {
#if NGC_PARAMETERS_ENABLE
int32_t id;
retval = read_int(args, &id);
if(retval == Status_OK && id >= 0)
retval = report_ngc_parameter((ngc_param_id_t)id);
else
retval = report_named_ngc_parameter(args);
#else
retval = Status_InvalidStatement;
#endif
} else
report_ngc_parameters();
@@ -831,7 +835,9 @@ PROGMEM static const sys_command_t sys_commands[] = {
{ "J", jog, {}, { .str = "$J=<gcode> - jog machine" } },
{ "#", output_ngc_parameters, { .allow_blocking = On }, {
.str = "output offsets, tool table, probing and home position"
#if NGC_PARAMETERS_ENABLE
ASCII_EOL "$#=<n> - output value for parameter <n>"
#endif
} },
{ "$", output_settings, { .allow_blocking = On }, {
.str = "$<n> - output setting <n> value"
@@ -1221,12 +1227,26 @@ Fires the \ref grbl.on_rt_reports_added event.
*/
void system_add_rt_report (report_tracking_t report)
{
if(report == Report_ClearAll)
sys.report.value = 0;
else if(report == Report_MPGMode)
sys.report.mpg_mode = hal.driver_cap.mpg_mode;
else
sys.report.value |= (uint32_t)report;
switch(report) {
case Report_ClearAll:
sys.report.value = 0;
return;
case Report_MPGMode:
if(!hal.driver_cap.mpg_mode)
return;
break;
case Report_LatheXMode:
sys.report.wco = settings.status_report.work_coord_offset;
break;
default:
break;
}
sys.report.value |= (uint32_t)report;
if(sys.report.value && grbl.on_rt_reports_added)
grbl.on_rt_reports_added((report_tracking_flags_t)((uint32_t)report));
vfs.c
+8 -9
View File
@@ -7,28 +7,29 @@
Copyright (c) 2022-2024 Terje Io
Grbl is free software: you can redistribute it and/or modify
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string.h>
#include <stdlib.h>
#ifndef ARDUINO_SAM_DUE
#include "hal.h"
#include "vfs.h"
//#include <errno.h>
#ifdef ARDUINO_SAM_DUE
#undef feof
#endif
// NULL file system
@@ -632,5 +633,3 @@ int vfs_drive_format (vfs_drive_t *drive)
return fs->format ? fs->format() : -1;
}
#endif