mirror of
https://github.com/grblHAL/core.git
synced 2026-08-17 16:41:45 +08:00
See the changelog for details.
This commit is contained in:
Terje Io
@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
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---
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Latest build date is 20220111, see the [changelog](changelog.md) for details.
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Latest build date is 20220123, see the [changelog](changelog.md) for details.
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__NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.
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__IMPORTANT!__ A new setting has been introduced for ganged axes motors in version 20211121.
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I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.
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@@ -83,4 +83,4 @@ List of Supported G-Codes:
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Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
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---
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2022-01-11
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2022-01-23
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@@ -1,5 +1,27 @@
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## grblHAL changelog
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Build 20220123:
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Core:
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* The symbol `ENABLE_SAFETY_DOOR_INPUT_PIN` in _grbl/config.h_ has been replaced with `SAFETY_DOOR_ENABLE` in _my_machine.h_.
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* Changed probe touch off handling to reduce deceleration overshoot.
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Uncomment `//#define MINIMIZE_PROBE_OVERSHOOT` in _grbl/stepper.c_ to enable this feature.
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Later it may be permanently enabled if no side-effects are experienced, test with care!
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Drivers:
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* Most: Added `\\#define SAFETY_DOOR_ENABLE 1` to options in _my_machine.h_, uncomment to enable. Requires board support for safety door input.
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* RP2040: Added pin map and support code for the [C.ITOH CX-6000 plotter project](https://hackaday.io/project/183600-citoh-cx-6000-plotter-upgrade). Uses the HPGL and keypad plugins.
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* RP2040: Added tentative support for BTT SKR Pico 1.0 board. Incomplete and untested!
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* LPC176x: Made TMC2209 UART driver support for BTT SKR E3 Turbo board available for BTT SKR V1.4 Turbo, still untested!
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Templates:
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* Added [HPGL template plugin](https://github.com/grblHAL/Templates/tree/master/my_plugin/hpgl). Replaces the G-code parser with a HPGL parser and is a good example of grblHAL programmability. _Not a single line of code was changed in the core for this!_
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---
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Build 20220111:
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Core:
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@@ -3,7 +3,7 @@
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Part of grblHAL
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Copyright (c) 2020-2021 Terje Io
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Copyright (c) 2020-2022 Terje Io
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@@ -81,12 +81,6 @@ __NOTE:__ if switching to a level > 1 please reset non-volatile storage with \a
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// the speed is not limited to 115200 baud. An example is native USB streaming.
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//#define CHECK_MODE_DELAY 0 // ms
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// This option enables the safety door switch. A safety door, when triggered,
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// immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
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// the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the
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// previous tool path, as if nothing happened.
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//#define ENABLE_SAFETY_DOOR_INPUT_PIN // Default disabled. Uncomment to enable.
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// After the safety door switch has been toggled and restored, this setting sets the power-up delay
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// between restoring the spindle and coolant and resuming the cycle.
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//#define SAFETY_DOOR_SPINDLE_DELAY 4.0f // Float (seconds)
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+5
-4
@@ -31,6 +31,7 @@
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#include "errors.h"
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#include "settings.h"
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#include "report.h"
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#include "planner.h"
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/* TODO: add to grbl pointers so that a different formatting (xml, json etc) of reports may be implemented by driver?
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typedef struct {
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@@ -63,13 +64,10 @@ typedef struct {
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// Core event handler and other entry points.
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// Most of the event handlers defaults to NULL, a few is set up to call a dummy handler for simpler code.
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// Trying to force a submodule update...
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typedef bool (*enqueue_gcode_ptr)(char *data);
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typedef bool (*protocol_enqueue_realtime_command_ptr)(char c);
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typedef void (*on_state_change_ptr)(sys_state_t state);
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typedef void (*on_probe_completed_ptr)(void);
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typedef void (*on_program_completed_ptr)(program_flow_t program_flow, bool check_mode);
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typedef void (*on_execute_realtime_ptr)(sys_state_t state);
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typedef void (*on_unknown_accessory_override_ptr)(uint8_t cmd);
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@@ -83,6 +81,8 @@ typedef void (*on_stream_changed_ptr)(stream_type_t type);
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typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
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typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, bool pulloff);
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typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
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typedef bool (*on_probe_start_ptr)(axes_signals_t axes, float *target, plan_line_data_t *pl_data);
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typedef void (*on_probe_completed_ptr)(void);
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typedef bool (*on_spindle_select_ptr)(uint_fast8_t spindle_id);
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typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
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typedef status_code_t (*on_user_command_ptr)(char *line);
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@@ -93,7 +93,6 @@ typedef struct {
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report_t report;
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// grbl core events - may be subscribed to by drivers or by the core.
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on_state_change_ptr on_state_change;
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on_probe_completed_ptr on_probe_completed;
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on_program_completed_ptr on_program_completed;
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on_execute_realtime_ptr on_execute_realtime;
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on_execute_realtime_ptr on_execute_delay;
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@@ -113,6 +112,8 @@ typedef struct {
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on_stream_changed_ptr on_stream_changed;
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on_homing_rate_set_ptr on_homing_rate_set;
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on_probe_fixture_ptr on_probe_fixture;
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on_probe_start_ptr on_probe_start;
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on_probe_completed_ptr on_probe_completed;
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on_laser_ppi_enable_ptr on_laser_ppi_enable;
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on_spindle_select_ptr on_spindle_select;
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// core entry points - set up by core before driver_init() is called.
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+5
-4
@@ -220,11 +220,12 @@
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#endif
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#endif
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#ifndef SAFETY_DOOR_ENABLE
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#define SAFETY_DOOR_ENABLE 0
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#endif
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#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
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#define SAFETY_DOOR_ENABLE 1
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#else
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#define SAFETY_DOOR_ENABLE 0
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#if SAFETY_DOOR_ENABLE && defined(NO_SAFETY_DOOR_SUPPORT)
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#error "Driver does not support safety door functionality!"
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#endif
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#ifndef ESTOP_ENABLE
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@@ -742,7 +742,7 @@ status_code_t gc_execute_block(char *block)
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switch(int_value) {
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case 7: case 8:
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if(settings.mode == Mode_Lathe) {
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if(sys.mode == Mode_Lathe) {
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word_bit.modal_group.G15 = On;
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gc_block.modal.diameter_mode = int_value == 7; // TODO: find specs for implementation, only affects X calculation? reporting? current position?
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} else
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@@ -915,7 +915,7 @@ status_code_t gc_execute_block(char *block)
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break;
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*/
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case 96: case 97:
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if(settings.mode == Mode_Lathe && hal.driver_cap.variable_spindle) {
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if(sys.mode == Mode_Lathe && hal.driver_cap.variable_spindle) {
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word_bit.modal_group.G14 = On;
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gc_block.modal.spindle_rpm_mode = (spindle_rpm_mode_t)((int_value - 96) ^ 1);
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} else
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@@ -2467,7 +2467,7 @@ status_code_t gc_execute_block(char *block)
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}
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// If in laser mode, setup laser power based on current and past parser conditions.
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if(settings.mode == Mode_Laser) {
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if(sys.mode == Mode_Laser) {
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if(!motion_is_lasercut(gc_block.modal.motion))
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gc_parser_flags.laser_disable = On;
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@@ -3,7 +3,7 @@
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Part of grblHAL
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Copyright (c) 2017-2021 Terje Io
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Copyright (c) 2017-2022 Terje Io
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Copyright (c) 2015-2016 Sungeun K. Jeon for Gnea Research LLC
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Grbl is free software: you can redistribute it and/or modify
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@@ -34,7 +34,7 @@
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#else
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#define GRBL_VERSION "1.1f"
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#endif
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#define GRBL_BUILD 20220111
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#define GRBL_BUILD 20220123
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// The following symbols are set here if not already set by the compiler or in config.h
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// Do NOT change here!
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@@ -57,11 +57,10 @@ typedef union {
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uint8_t init :1,
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setup :1,
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spindle :1,
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door :1,
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amass :1,
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pulse_delay :1,
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linearization :1,
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unused :1;
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unused :2;
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};
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} driver_startup_t;
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@@ -169,10 +168,8 @@ int grbl_enter (void)
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hal.stream.suspend_read = NULL;
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#endif
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#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
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#ifdef NO_SAFETY_DOOR_SUPPORT
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hal.signals_cap.safety_door_ajar = Off;
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#else
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driver.door = hal.signals_cap.safety_door_ajar;
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#endif
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#ifdef BUFFER_NVSDATA
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+39
-3
@@ -189,7 +189,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
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// Plan and queue motion into planner buffer
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// bool plan_status; // Not used in normal operation.
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if(!plan_buffer_line(target, pl_data) && settings.mode == Mode_Laser && pl_data->condition.spindle.on && !pl_data->condition.spindle.ccw) {
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if(!plan_buffer_line(target, pl_data) && sys.mode == Mode_Laser && pl_data->condition.spindle.on && !pl_data->condition.spindle.ccw) {
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// Correctly set spindle state, if there is a coincident position passed.
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// Forces a buffer sync while in M3 laser mode only.
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hal.spindle.set_state(pl_data->condition.spindle, pl_data->spindle.rpm);
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@@ -247,8 +247,18 @@ void mc_arc (float *target, plan_line_data_t *pl_data, float *position, float *o
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pl_data->condition.inverse_time = Off; // Force as feed absolute mode over arc segments.
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}
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float theta_per_segment = angular_travel/segments;
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float theta_per_segment = angular_travel / segments;
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#if N_AXIS > 3
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uint_fast8_t idx = N_AXIS;
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float linear_per_segment[N_AXIS];
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do {
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idx--;
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if(!(idx == plane.axis_0 || idx == plane.axis_1))
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linear_per_segment[idx] = (target[idx] - position[idx]) / segments;
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} while(idx);
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#else
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float linear_per_segment = (target[plane.axis_linear] - position[plane.axis_linear]) / segments;
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#endif
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/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
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and phi is the angle of rotation. Solution approach by Jens Geisler.
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@@ -295,7 +305,7 @@ void mc_arc (float *target, plan_line_data_t *pl_data, float *position, float *o
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r_axis1 = r_axisi;
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count++;
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} else {
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
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// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
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// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
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cos_Ti = cosf(i * theta_per_segment);
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sin_Ti = sinf(i * theta_per_segment);
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@@ -307,7 +317,16 @@ void mc_arc (float *target, plan_line_data_t *pl_data, float *position, float *o
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// Update arc_target location
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position[plane.axis_0] = center_axis0 + r_axis0;
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position[plane.axis_1] = center_axis1 + r_axis1;
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#if N_AXIS > 3
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idx = N_AXIS;
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do {
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idx--;
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if(!(idx == plane.axis_0 || idx == plane.axis_1))
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position[idx] += linear_per_segment[idx];
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} while(idx);
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#else
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position[plane.axis_linear] += linear_per_segment;
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#endif
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// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
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if(!mc_line(position, pl_data))
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@@ -882,6 +901,23 @@ gc_probe_t mc_probe_cycle (float *target, plan_line_data_t *pl_data, gc_parser_f
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return GCProbe_FailInit; // Nothing else to do but bail.
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}
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if(grbl.on_probe_start) {
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uint_fast8_t idx = N_AXIS;
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axes_signals_t axes = {0};
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coord_data_t position;
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system_convert_array_steps_to_mpos(position.values, sys.position);
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do {
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idx--;
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if(position.values[idx] != target[idx])
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bit_true(axes.mask, bit(idx));
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} while(idx--);
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grbl.on_probe_start(axes, target, pl_data);
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}
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// Setup and queue probing motion. Auto cycle-start should not start the cycle.
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if(!mc_line(target, pl_data))
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return GCProbe_Abort;
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+2
-2
@@ -167,9 +167,9 @@ bool protocol_main_loop (void)
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grbl.report.feedback_message(Message_AlarmLock);
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} else {
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state_set(STATE_IDLE);
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#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
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#ifndef NO_SAFETY_DOOR_SUPPORT
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// Check if the safety door is open.
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if (!settings.safety_door.flags.ignore_when_idle && hal.control.get_state().safety_door_ajar) {
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if (hal.signals_cap.safety_door_ajar && !settings.safety_door.flags.ignore_when_idle && hal.control.get_state().safety_door_ajar) {
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system_set_exec_state_flag(EXEC_SAFETY_DOOR);
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protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
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}
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@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2021 Terje Io
|
||||
Copyright (c) 2017-2022 Terje Io
|
||||
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
@@ -715,7 +715,7 @@ void report_gcode_modes (void)
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#endif
|
||||
|
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if(settings.mode == Mode_Lathe)
|
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if(sys.mode == Mode_Lathe)
|
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hal.stream.write(gc_state.modal.diameter_mode ? " G7" : " G8");
|
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|
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hal.stream.write(" G");
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@@ -728,7 +728,7 @@ void report_gcode_modes (void)
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hal.stream.write(" G");
|
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hal.stream.write(uitoa((uint32_t)(94 - gc_state.modal.feed_mode)));
|
||||
|
||||
if(settings.mode == Mode_Lathe && hal.driver_cap.variable_spindle)
|
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if(sys.mode == Mode_Lathe && hal.driver_cap.variable_spindle)
|
||||
hal.stream.write(gc_state.modal.spindle_rpm_mode == SpindleSpeedMode_RPM ? " G97" : " G96");
|
||||
|
||||
#if COMPATIBILITY_LEVEL < 10
|
||||
@@ -1319,7 +1319,7 @@ void report_realtime_status (void)
|
||||
hal.stream.write_all(appendbuf(2, ",", uitoa(sys.homed.mask)));
|
||||
}
|
||||
|
||||
if(sys.report.xmode && settings.mode == Mode_Lathe)
|
||||
if(sys.report.xmode && sys.mode == Mode_Lathe)
|
||||
hal.stream.write_all(gc_state.modal.diameter_mode ? "|D:1" : "|D:0");
|
||||
|
||||
if(sys.report.tool)
|
||||
|
||||
+46
-25
@@ -349,7 +349,7 @@ static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16
|
||||
static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_value);
|
||||
static status_code_t set_tool_change_probing_distance (setting_id_t id, float value);
|
||||
static status_code_t set_ganged_dir_invert (setting_id_t id, uint_fast16_t int_value);
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value);
|
||||
static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_value);
|
||||
#endif
|
||||
@@ -435,9 +435,9 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ Setting_SpindlePPR, Group_Spindle, "Spindle pulses per revolution (PPR)", NULL, Format_Int16, "###0", NULL, NULL, Setting_IsExtended, &settings.spindle.ppr, NULL, is_setting_available },
|
||||
{ Setting_EnableLegacyRTCommands, Group_General, "Enable legacy RT commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_enable_legacy_rt_commands, get_int, NULL },
|
||||
{ Setting_JogSoftLimited, Group_Jogging, "Limit jog commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_jog_soft_limited, get_int, NULL },
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
{ Setting_ParkingEnable, Group_SafetyDoor, "Parking cycle", NULL, Format_XBitfield, "Enable,Enable parking override control,Deactivate upon init", NULL, NULL, Setting_IsExtendedFn, set_parking_enable, get_int, NULL },
|
||||
{ Setting_ParkingAxis, Group_SafetyDoor, "Parking axis", NULL, Format_RadioButtons, "X,Y,Z", NULL, NULL, Setting_IsExtended, &settings.parking.axis, NULL, NULL },
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
{ Setting_ParkingEnable, Group_SafetyDoor, "Parking cycle", NULL, Format_XBitfield, "Enable,Enable parking override control,Deactivate upon init", NULL, NULL, Setting_IsExtendedFn, set_parking_enable, get_int, is_setting_available },
|
||||
{ Setting_ParkingAxis, Group_SafetyDoor, "Parking axis", NULL, Format_RadioButtons, "X,Y,Z", NULL, NULL, Setting_IsExtended, &settings.parking.axis, NULL, is_setting_available },
|
||||
#endif
|
||||
{ Setting_HomingLocateCycles, Group_Homing, "Homing passes", NULL, Format_Int8, "##0", "1", "128", Setting_IsExtended, &settings.homing.locate_cycles, NULL, NULL },
|
||||
{ Setting_HomingCycle_1, Group_Homing, "Axes homing, first pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
|
||||
@@ -452,13 +452,13 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
#ifdef C_AXIS
|
||||
{ Setting_HomingCycle_6, Group_Homing, "Axes homing, sixth pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
|
||||
#endif
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
{ Setting_ParkingPulloutIncrement, Group_SafetyDoor, "Parking pull-out distance", "mm", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_increment, NULL, NULL },
|
||||
{ Setting_ParkingPulloutRate, Group_SafetyDoor, "Parking pull-out rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_rate, NULL, NULL },
|
||||
{ Setting_ParkingTarget, Group_SafetyDoor, "Parking target", "mm", Format_Decimal, "-###0.0", "-100000", NULL, Setting_IsExtended, &settings.parking.target, NULL, NULL },
|
||||
{ Setting_ParkingFastRate, Group_SafetyDoor, "Parking fast rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.rate, NULL, NULL },
|
||||
{ Setting_RestoreOverrides, Group_General, "Restore overrides", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_restore_overrides, get_int, NULL },
|
||||
{ Setting_DoorOptions, Group_SafetyDoor, "Safety door options", NULL, Format_Bitfield, "Ignore when idle,Keep coolant state on open", NULL, NULL, Setting_IsExtended, &settings.safety_door.flags.value, NULL, NULL },
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
{ Setting_ParkingPulloutIncrement, Group_SafetyDoor, "Parking pull-out distance", "mm", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_increment, NULL, is_setting_available },
|
||||
{ Setting_ParkingPulloutRate, Group_SafetyDoor, "Parking pull-out rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_rate, NULL, is_setting_available },
|
||||
{ Setting_ParkingTarget, Group_SafetyDoor, "Parking target", "mm", Format_Decimal, "-###0.0", "-100000", NULL, Setting_IsExtended, &settings.parking.target, NULL, is_setting_available },
|
||||
{ Setting_ParkingFastRate, Group_SafetyDoor, "Parking fast rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.rate, NULL, is_setting_available },
|
||||
{ Setting_RestoreOverrides, Group_General, "Restore overrides", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_restore_overrides, get_int, is_setting_available },
|
||||
{ Setting_DoorOptions, Group_SafetyDoor, "Safety door options", NULL, Format_Bitfield, "Ignore when idle,Keep coolant state on open", NULL, NULL, Setting_IsExtended, &settings.safety_door.flags.value, NULL, is_setting_available },
|
||||
#endif
|
||||
{ Setting_SleepEnable, Group_General, "Sleep enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_sleep_enable, get_int, NULL },
|
||||
{ Setting_HoldActions, Group_General, "Feed hold actions", NULL, Format_Bitfield, "Disable laser during hold,Restore spindle and coolant state on resume", NULL, NULL, Setting_IsExtendedFn, set_hold_actions, get_int, NULL },
|
||||
@@ -506,12 +506,11 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
#elif N_AXIS > 5
|
||||
{ Settings_Axis_Rotational, Group_Stepper, "Rotational axes", NULL, Format_Bitfield, "A-Axis,B-Axis,C-Axis", NULL, NULL, Setting_IsExtendedFn, set_rotational_axes, get_int, NULL },
|
||||
#endif
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
{ Setting_DoorSpindleOnDelay, Group_SafetyDoor, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, NULL },
|
||||
{ Setting_DoorCoolantOnDelay, Group_SafetyDoor, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.coolant_on_delay, NULL, NULL },
|
||||
#else
|
||||
{ Setting_DoorSpindleOnDelay, Group_Spindle, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, is_setting_available },
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
{ Setting_DoorSpindleOnDelay, Group_SafetyDoor, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, is_setting_available },
|
||||
{ Setting_DoorCoolantOnDelay, Group_SafetyDoor, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.coolant_on_delay, NULL, is_setting_available },
|
||||
#endif
|
||||
{ Setting_SpindleOnDelay, Group_Spindle, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, is_setting_available },
|
||||
};
|
||||
|
||||
#ifndef NO_SETTINGS_DESCRIPTIONS
|
||||
@@ -599,7 +598,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
|
||||
{ Setting_JogStepDistance, "Jog distance for single step jogging." },
|
||||
{ Setting_JogSlowDistance, "Jog distance before automatic stop." },
|
||||
{ Setting_JogFastDistance, "Jog distance before automatic stop." },
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
{ Setting_ParkingPulloutIncrement, "Spindle pull-out and plunge distance in mm.Incremental distance." },
|
||||
{ Setting_ParkingPulloutRate, "Spindle pull-out/plunge slow feed rate in mm/min." },
|
||||
{ Setting_ParkingTarget, "Parking axis target. In mm, as machine coordinate [-max_travel, 0]." },
|
||||
@@ -647,7 +646,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
{ Setting_DisableG92Persistence, "Disables save/restore of G92 offset to non-volatile storage (NVS)." },
|
||||
#endif
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
{ Setting_DoorSpindleOnDelay, "Delay to allow spindle to spin up after safety door is opened." },
|
||||
{ Setting_DoorCoolantOnDelay, "Delay to allow coolant to restart after safety door is opened." },
|
||||
#else
|
||||
@@ -912,12 +911,12 @@ static status_code_t set_mode (setting_id_t id, uint_fast16_t int_value)
|
||||
return Status_InvalidStatement;
|
||||
}
|
||||
|
||||
settings.mode = (machine_mode_t)int_value;
|
||||
settings.mode = sys.mode = (machine_mode_t)int_value;
|
||||
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
|
||||
static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
@@ -1415,11 +1414,6 @@ static bool is_setting_available (const setting_detail_t *setting)
|
||||
available = hal.driver_cap.spindle_sync || hal.driver_cap.spindle_pid;
|
||||
break;
|
||||
|
||||
case Setting_SpindleAtSpeedTolerance:
|
||||
case Setting_DoorSpindleOnDelay:
|
||||
available = hal.driver_cap.spindle_at_speed;
|
||||
break;
|
||||
|
||||
case Setting_RpmMax:
|
||||
case Setting_RpmMin:
|
||||
case Setting_PWMFreq:
|
||||
@@ -1437,6 +1431,29 @@ static bool is_setting_available (const setting_detail_t *setting)
|
||||
// available = hal.stepper.get_ganged && bit_istrue(hal.stepper.get_ganged(true).mask, setting->id - Setting_AxisAutoSquareOffset);
|
||||
break;
|
||||
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
case Setting_ParkingEnable:
|
||||
case Setting_ParkingAxis:
|
||||
case Setting_ParkingPulloutIncrement:
|
||||
case Setting_ParkingPulloutRate:
|
||||
case Setting_ParkingTarget:
|
||||
case Setting_ParkingFastRate:
|
||||
case Setting_RestoreOverrides:
|
||||
case Setting_DoorOptions:
|
||||
case Setting_DoorSpindleOnDelay:
|
||||
case Setting_DoorCoolantOnDelay:
|
||||
available = hal.signals_cap.safety_door_ajar;
|
||||
break;
|
||||
#endif
|
||||
|
||||
case Setting_SpindleAtSpeedTolerance:
|
||||
available = hal.driver_cap.spindle_at_speed;
|
||||
break;
|
||||
|
||||
case Setting_SpindleOnDelay:
|
||||
available = !hal.signals_cap.safety_door_ajar && hal.driver_cap.spindle_at_speed;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
@@ -1559,6 +1576,8 @@ bool read_global_settings ()
|
||||
if(settings.mode == Mode_Laser && !hal.driver_cap.variable_spindle)
|
||||
settings.mode = Mode_Standard;
|
||||
|
||||
sys.mode = settings.mode;
|
||||
|
||||
if(!(hal.driver_cap.spindle_sync || hal.driver_cap.spindle_pid))
|
||||
settings.spindle.ppr = 0;
|
||||
|
||||
@@ -1593,8 +1612,10 @@ void settings_restore (settings_restore_t restore)
|
||||
hal.nvs.put_byte(0, SETTINGS_VERSION); // Forces write to physical storage
|
||||
|
||||
if (restore.defaults) {
|
||||
|
||||
memcpy(&settings, &defaults, sizeof(settings_t));
|
||||
|
||||
sys.mode = settings.mode;
|
||||
settings.control_invert.mask &= hal.signals_cap.mask;
|
||||
settings.spindle.invert.ccw &= hal.driver_cap.spindle_dir;
|
||||
settings.spindle.invert.pwm &= hal.driver_cap.spindle_pwm_invert;
|
||||
|
||||
+2
-7
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2021 Terje Io
|
||||
Copyright (c) 2017-2022 Terje Io
|
||||
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
@@ -254,6 +254,7 @@ typedef enum {
|
||||
Setting_CoolantOkPort = 391,
|
||||
Setting_DoorSpindleOnDelay = 392,
|
||||
Setting_DoorCoolantOnDelay = 393,
|
||||
Setting_SpindleOnDelay = 394, // made available if safety door input not provided
|
||||
|
||||
Setting_EncoderSettingsBase = 400, // NOTE: Reserving settings values >= 400 for encoder settings. Up to 449.
|
||||
Setting_EncoderSettingsMax = 449,
|
||||
@@ -545,12 +546,6 @@ typedef struct {
|
||||
ioport_bus_t od_enable_out;
|
||||
} ioport_signals_t;
|
||||
|
||||
typedef enum {
|
||||
Mode_Standard = 0,
|
||||
Mode_Laser,
|
||||
Mode_Lathe
|
||||
} machine_mode_t;
|
||||
|
||||
typedef enum {
|
||||
ToolChange_Disabled = 0,
|
||||
ToolChange_Manual,
|
||||
|
||||
+3
-3
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2021 Terje Io
|
||||
Copyright (c) 2017-2022 Terje Io
|
||||
Copyright (c) 2012-2015 Sungeun K. Jeon
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
@@ -59,7 +59,7 @@ bool spindle_set_state (spindle_state_t state, float rpm)
|
||||
} else {
|
||||
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
|
||||
// TODO: alarm/interlock if going from CW to CCW directly in non-laser mode?
|
||||
if (settings.mode == Mode_Laser && state.ccw)
|
||||
if (sys.mode == Mode_Laser && state.ccw)
|
||||
rpm = 0.0f; // TODO: May need to be rpm_min*(100/MAX_SPINDLE_RPM_OVERRIDE);
|
||||
|
||||
hal.spindle.set_state(state, spindle_set_rpm(rpm, sys.override.spindle_rpm));
|
||||
@@ -109,7 +109,7 @@ bool spindle_restore (spindle_state_t state, float rpm)
|
||||
{
|
||||
bool ok = true;
|
||||
|
||||
if(settings.mode == Mode_Laser) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
|
||||
if(sys.mode == Mode_Laser) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
|
||||
sys.step_control.update_spindle_rpm = On;
|
||||
else { // TODO: add check for current spindle state matches restore state?
|
||||
spindle_set_state(state, rpm);
|
||||
|
||||
+3
-3
@@ -110,7 +110,7 @@ bool initiate_hold (uint_fast16_t new_state)
|
||||
restore_spindle_rpm = block->spindle.rpm;
|
||||
}
|
||||
|
||||
if (settings.mode == Mode_Laser && settings.flags.disable_laser_during_hold)
|
||||
if (sys.mode == Mode_Laser && settings.flags.disable_laser_during_hold)
|
||||
enqueue_accessory_override(CMD_OVERRIDE_SPINDLE_STOP);
|
||||
|
||||
if (sys_state & (STATE_CYCLE|STATE_JOG)) {
|
||||
@@ -267,7 +267,7 @@ void state_suspend_manager (void)
|
||||
// Handles restoring of spindle state
|
||||
if (sys.override.spindle_stop.restore) {
|
||||
grbl.report.feedback_message(Message_SpindleRestore);
|
||||
if (settings.mode == Mode_Laser) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
|
||||
if (sys.mode == Mode_Laser) // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
|
||||
sys.step_control.update_spindle_rpm = On;
|
||||
else
|
||||
spindle_set_state(restore_condition.spindle, restore_spindle_rpm);
|
||||
@@ -409,7 +409,7 @@ static void state_await_hold (uint_fast16_t rt_exec)
|
||||
|
||||
// Parking requires parking axis homed, the current location not exceeding the???
|
||||
// parking target location, and laser mode disabled.
|
||||
if (settings.parking.flags.enabled && !sys.override.control.parking_disable && settings.mode != Mode_Laser) {
|
||||
if (settings.parking.flags.enabled && !sys.override.control.parking_disable && sys.mode != Mode_Laser) {
|
||||
|
||||
// Get current position and store as restore location.
|
||||
if (!park.flags.active) {
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2016-2021 Terje Io
|
||||
Copyright (c) 2016-2022 Terje Io
|
||||
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
@@ -29,6 +29,8 @@
|
||||
#include "protocol.h"
|
||||
#include "state_machine.h"
|
||||
|
||||
//#define MINIMIZE_PROBE_OVERSHOOT
|
||||
|
||||
//#include "debug.h"
|
||||
|
||||
//! \cond
|
||||
@@ -90,10 +92,14 @@ static amass_t amass;
|
||||
// Message to be output by foreground process
|
||||
static char *message = NULL; // TODO: do we need a queue for this?
|
||||
|
||||
// Used for blocking new segments beeing added to the seqment buffer until deceleration starts
|
||||
// after probe signal has been asserted.
|
||||
static volatile bool probe_asserted = false;
|
||||
|
||||
// Stepper timer ticks per minute
|
||||
static float cycles_per_min;
|
||||
|
||||
// Step segment ring buffer indices
|
||||
// Step segment ring buffer pointers
|
||||
static volatile segment_t *segment_buffer_tail;
|
||||
static segment_t *segment_buffer_head, *segment_next_head;
|
||||
|
||||
@@ -213,7 +219,6 @@ void st_wake_up (void)
|
||||
hal.stepper.wake_up();
|
||||
}
|
||||
|
||||
|
||||
// Stepper shutdown
|
||||
ISR_CODE void ISR_FUNC(st_go_idle)(void)
|
||||
{
|
||||
@@ -406,7 +411,7 @@ ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
|
||||
st_go_idle();
|
||||
|
||||
// Ensure pwm is set properly upon completion of rate-controlled motion.
|
||||
if (st.exec_block->dynamic_rpm && settings.mode == Mode_Laser) {
|
||||
if (st.exec_block->dynamic_rpm && sys.mode == Mode_Laser) {
|
||||
#ifndef GRBL_ESP32
|
||||
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
|
||||
#else
|
||||
@@ -425,9 +430,20 @@ ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
|
||||
// Monitors probe pin state and records the system position when detected.
|
||||
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
|
||||
if (sys.probing_state == Probing_Active && hal.probe.get_state().triggered) {
|
||||
|
||||
sys.probing_state = Probing_Off;
|
||||
memcpy(sys.probe_position, sys.position, sizeof(sys.position));
|
||||
bit_true(sys.rt_exec_state, EXEC_MOTION_CANCEL);
|
||||
|
||||
#ifdef MINIMIZE_PROBE_OVERSHOOT
|
||||
// "Flush" segment buffer if full in order to start deceleration early.
|
||||
if((probe_asserted = segment_buffer_head->next == segment_buffer_tail)) {
|
||||
segment_buffer_head = segment_buffer_tail->next;
|
||||
if(st.step_count < 3 || st.step_count < (st.exec_segment->n_step >> 3))
|
||||
segment_buffer_head = segment_buffer_head->next;
|
||||
segment_next_head = segment_next_head->next;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
register axes_signals_t step_outbits = (axes_signals_t){0};
|
||||
@@ -839,9 +855,15 @@ void st_prep_buffer (void)
|
||||
}
|
||||
|
||||
if(state_get() != STATE_HOMING)
|
||||
sys.step_control.update_spindle_rpm |= (settings.mode == Mode_Laser); // Force update whenever updating block in laser mode.
|
||||
sys.step_control.update_spindle_rpm |= (sys.mode == Mode_Laser); // Force update whenever updating block in laser mode.
|
||||
|
||||
probe_asserted = false;
|
||||
}
|
||||
|
||||
// Block adding new segments after probe is asserted until deceleration is started.
|
||||
if(probe_asserted)
|
||||
return;
|
||||
|
||||
// Initialize new segment
|
||||
segment_t *prep_segment = segment_buffer_head;
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2021 Terje Io
|
||||
Copyright (c) 2017-2022 Terje Io
|
||||
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
@@ -105,15 +105,15 @@ ISR_CODE void ISR_FUNC(control_interrupt_handler)(control_signals_t signals)
|
||||
if ((signals.reset || signals.e_stop || signals.motor_fault) && state_get() != STATE_ESTOP)
|
||||
mc_reset();
|
||||
else {
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
if (signals.safety_door_ajar) {
|
||||
#ifndef NO_SAFETY_DOOR_SUPPORT
|
||||
if (signals.safety_door_ajar && hal.signals_cap.safety_door_ajar) {
|
||||
if(settings.safety_door.flags.ignore_when_idle) {
|
||||
// Only stop the spindle (laser off) when idle or jogging,
|
||||
// this to allow positioning the controlled point (spindle) when door is open.
|
||||
// NOTE: at least for lasers there should be an external interlock blocking laser power.
|
||||
if(state_get() != STATE_IDLE && state_get() != STATE_JOG)
|
||||
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
|
||||
if(settings.mode == Mode_Laser) // Turn off spindle imeediately (laser) when in laser mode
|
||||
if(sys.mode == Mode_Laser) // Turn off spindle imeediately (laser) when in laser mode
|
||||
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
|
||||
} else
|
||||
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2017-2021 Terje Io
|
||||
Copyright (c) 2017-2022 Terje Io
|
||||
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
@@ -81,6 +81,12 @@ __NOTE:__ flags are mutually exclusive, bit map allows testing for multiple stat
|
||||
#define STATE_TOOL_CHANGE bit(9) //!< Manual tool change, similar to #STATE_HOLD - but stops spindle and allows jogging.
|
||||
///@}
|
||||
|
||||
typedef enum {
|
||||
Mode_Standard = 0,
|
||||
Mode_Laser,
|
||||
Mode_Lathe
|
||||
} machine_mode_t;
|
||||
|
||||
typedef enum {
|
||||
Parking_DoorClosed = 0, //!< 0
|
||||
Parking_DoorAjar, //!< 1
|
||||
@@ -222,6 +228,7 @@ typedef struct system {
|
||||
bool suspend; //!< System suspend state flag.
|
||||
bool position_lost; //!< Set when mc_reset is called when machine is moving.
|
||||
volatile bool steppers_deenergize; //!< Set to true to deenergize stepperes
|
||||
machine_mode_t mode; //!< Current machine mode, copied from settings.mode on startup.
|
||||
axes_signals_t tlo_reference_set; //!< Axes with tool length reference offset set
|
||||
int32_t tlo_reference[N_AXIS]; //!< Tool length reference offset
|
||||
alarm_code_t alarm_pending; //!< Delayed alarm, currently used for probe protection
|
||||
|
||||
+2
-2
@@ -5,7 +5,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2020-2021 Terje Io
|
||||
Copyright (c) 2020-2022 Terje Io
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@@ -423,7 +423,7 @@ void tc_clear_tlo_reference (axes_signals_t homing_cycle)
|
||||
#else
|
||||
gc_get_plane_data(&plane, gc_state.modal.plane_select);
|
||||
#endif
|
||||
if(homing_cycle.mask & (settings.mode == Mode_Lathe ? (X_AXIS_BIT|Z_AXIS_BIT) : bit(plane.axis_linear))) {
|
||||
if(homing_cycle.mask & (sys.mode == Mode_Lathe ? (X_AXIS_BIT|Z_AXIS_BIT) : bit(plane.axis_linear))) {
|
||||
sys.report.tlo_reference = sys.tlo_reference_set.mask != 0;
|
||||
sys.tlo_reference_set.mask = 0; // Invalidate tool length offset reference
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user