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Spindle handling refactoring for improved management and configuration of multiple spindles.

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NOTE: this is a relatively large change and may have introduced bugs and/or unintended side-effects. Please report any issues!

Added setting $519 for binding spindle encoder to given spindle in multi spindle configurations.

Added machine readable spindle enumeration report, $SPINDLESH.

Increased default value for setting $398 (number of planner blocs) from 35 to 100 for faster laser engraving.
NOTE: the $398 setting value will not change on an upgrade!
NOTE: STM32F103 builds for the 128K flash variants does not have enough free RAM and will keep 35 as the default value.

Increased allowed number of decimal places from 3 to 5 for $10x stepper step/mm settings. Ref. ioSender issue 346.

Added setting $650 for filing system options. Ref. issue 397.
Currently the following bits are available (depending on the configuration):
0 - Auto mount SD card on startup (1).
1 - Do not add littlefs files when listing the root directory (2).

Added build option for lathe UVW mode.
When enabled UVW words can be used to command relative moves for XYZ without switching to relative mode with G91.
NOTE: This permanently sets lathe mode and disables the $32 mode setting.

There are signature changes to some spindle, ioports enumeration and VFS filing system mount functions.

Added events to allow plugin code to handle tool table data, possibly stored on a SD card.
This commit is contained in:
Terje Io
2023-12-12 09:51:59 +01:00
parent 04a5edcf83
commit 2c58f0de09
34 changed files with 1467 additions and 831 deletions
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motion_control.c
+8 -4
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@@ -176,7 +176,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
// if there is a coincident position passed.
if(!plan_buffer_line(target, pl_data) && pl_data->spindle.hal->cap.laser && pl_data->spindle.state.on && !pl_data->spindle.state.ccw) {
protocol_buffer_synchronize();
pl_data->spindle.hal->set_state(pl_data->spindle.state, pl_data->spindle.rpm);
pl_data->spindle.hal->set_state(pl_data->spindle.hal, pl_data->spindle.state, pl_data->spindle.rpm);
}
#ifdef KINEMATICS_API
@@ -287,9 +287,13 @@ void mc_arc (float *target, plan_line_data_t *pl_data, float *position, float *o
// (2x) settings.arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint_fast16_t segments = (uint_fast16_t)floorf(fabsf(0.5f * angular_travel * radius) / sqrtf(settings.arc_tolerance * (2.0f * radius - settings.arc_tolerance)));
if (segments) {
uint_fast16_t segments = 0;
if(2.0f * radius > settings.arc_tolerance)
segments = (uint_fast16_t)floorf(fabsf(0.5f * angular_travel * radius) / sqrtf(settings.arc_tolerance * (2.0f * radius - settings.arc_tolerance)));
if(segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
@@ -602,7 +606,7 @@ void mc_canned_drill (motion_mode_t motion, float *target, plan_line_data_t *pl_
mc_dwell(canned->dwell);
if(canned->spindle_off)
pl_data->spindle.hal->set_state((spindle_state_t){0}, 0.0f);
pl_data->spindle.hal->set_state(pl_data->spindle.hal, (spindle_state_t){0}, 0.0f);
// rapid retract
switch(motion) {