Mirrors_Framework/grblHAL
1
0
Fork 0
mirror of https://github.com/grblHAL/core.git synced 2026-02-05 16:50:16 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Added setting option to $21 Hard limit enable to allow exception for rotary axes.

Browse Source
This commit is contained in:
Terje Io
2023-09-19 20:22:04 +02:00
parent 4fd9b5dadd
commit 742eed9254
10 changed files with 70 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
View File

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
---
Latest build date is 20230907, see the [changelog](changelog.md) for details.
Latest build date is 20230919, see the [changelog](changelog.md) for details.
__NOTE:__ A settings reset will be performed on an update of builds earlier than 20230125. Backup and restore of settings is recommended.
__IMPORTANT!__ A new setting has been introduced for ganged axes motors in build 20211121.
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.

19
changelog.md
View File

@@ -1,5 +1,24 @@
## grblHAL changelog
<a name="20230919"/>Build 20230919
Core:
* Added setting option to _$21 - Hard limit enable_ to enable exception for rotary axes.
Plugins:
* Spindle: fix for {issue #22](https://github.com/grblHAL/Plugins_spindle/issues/22), H100 VFD driver not working.
Drivers:
* Simulator: updates for core changes and for using native libraries for Windows build. Linux and Windows executables can now be built using the [Web Builder](http://svn.io-engineering.com:8080/?driver=Simulator).
* STM32F1xx, STM32F4xx, LPC176x, RP2040: now keeps motor enable signals high until startup is completed to avoid current surges with Trinamic drivers.
Ref [RP2040 issue #74](https://github.com/grblHAL/RP2040/issues/74)
---
<a name="20230917"/>Build 20230917
Core:

3
config.h
View File

@@ -919,6 +919,9 @@ not throw an alarm message.
#if !defined DEFAULT_CHECK_LIMITS_AT_INIT || defined __DOXYGEN__
#define DEFAULT_CHECK_LIMITS_AT_INIT Off
#endif
#if !defined DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY || defined __DOXYGEN__
#define DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY Off
#endif
/*! @name Group_Limits_DualAxis
\brief Dual axis limits settings (Group_Limits_DualAxis)

2
grbl.h
View File

@@ -42,7 +42,7 @@
#else
#define GRBL_VERSION "1.1f"
#endif
#define GRBL_BUILD 20230917
#define GRBL_BUILD 20230919
#define GRBL_URL "https://github.com/grblHAL"

5
machine_limits.c
View File

@@ -87,6 +87,11 @@ ISR_CODE void ISR_FUNC(limit_interrupt_handler)(limit_signals_t state) // DEFAUL
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
#if N_AXIS > 3
if((limit_signals_merge(state).value & sys.hard_limits.mask) == 0)
return;
#endif
memcpy(&sys.last_event.limits, &state, sizeof(limit_signals_t));
if (!(state_get() & (STATE_ALARM|STATE_ESTOP)) && !sys.rt_exec_alarm) {

4
motion_control.c
View File

@@ -954,7 +954,9 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
system_add_rt_report(Report_Homed);
homed_status = settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value
homed_status = settings.limits.flags.hard_enabled &&
settings.limits.flags.check_at_init &&
(limit_signals_merge(hal.limits.get_state()).value & sys.hard_limits.mask)
? Status_LimitsEngaged
: Status_OK;

4
protocol.c
View File

@@ -149,7 +149,9 @@ bool protocol_main_loop (void)
// blocks from crashing into things uncontrollably. Very bad.
system_raise_alarm(Alarm_HomingRequired);
grbl.report.feedback_message(Message_HomingCycleRequired);
} else if (settings.limits.flags.hard_enabled && settings.limits.flags.check_at_init && limit_signals_merge(hal.limits.get_state()).value) {
} else if (settings.limits.flags.hard_enabled &&
settings.limits.flags.check_at_init &&
(limit_signals_merge(hal.limits.get_state()).value & sys.hard_limits.mask)) {
if(sys.alarm == Alarm_LimitsEngaged && hal.control.get_state().limits_override)
state_set(STATE_IDLE); // Clear alarm state to enable limit switch pulloff.
else {

30
settings.c
View File

@@ -143,6 +143,7 @@ PROGMEM const settings_t defaults = {
.limits.flags.soft_enabled = DEFAULT_SOFT_LIMIT_ENABLE,
.limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
.limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
.limits.flags.hard_disabled_rotary = DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY,
.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES,
.limits.invert.mask = DEFAULT_LIMIT_SIGNALS_INVERT_MASK,
.limits.disable_pullup.mask = DEFAULT_LIMIT_SIGNALS_PULLUP_DISABLE_MASK,
@@ -467,7 +468,11 @@ PROGMEM static const setting_detail_t setting_detail[] = {
{ Setting_ProbePullUpDisable, Group_Probing, "Pullup disable probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_probe_disable_pullup, get_int, is_setting_available },
{ Setting_SoftLimitsEnable, Group_Limits, "Soft limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_soft_limits_enable, get_int, NULL },
#if COMPATIBILITY_LEVEL <= 1
#if N_AXIS > 3
{ Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode,Disable for rotary axes", NULL, NULL, Setting_IsExpandedFn, set_hard_limits_enable, get_int, NULL },
#else
{ Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode", NULL, NULL, Setting_IsExpandedFn, set_hard_limits_enable, get_int, NULL },
#endif
#else
{ Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_hard_limits_enable, get_int, NULL },
#endif
@@ -1062,12 +1067,28 @@ static status_code_t set_offset_lock (setting_id_t id, uint_fast16_t int_value)
return Status_OK;
}
static inline void tmp_set_hard_limits (void)
{
sys.hard_limits.mask = settings.limits.flags.hard_enabled ? AXES_BITMASK : 0;
#if N_AXIS > 3
if(settings.limits.flags.hard_disabled_rotary)
sys.hard_limits.mask &= ~settings.steppers.is_rotational.mask;
#endif
}
static status_code_t set_hard_limits_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0));
if((settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0)))) {
#if COMPATIBILITY_LEVEL <= 1
settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
#if N_AXIS > 3
settings.limits.flags.hard_disabled_rotary = bit_istrue(int_value, bit(2));
#endif
#endif
} else
settings.limits.flags.check_at_init = settings.limits.flags.hard_disabled_rotary = Off;
tmp_set_hard_limits();
hal.limits.enable(settings.limits.flags.hard_enabled, (axes_signals_t){0}); // Change immediately. NOTE: Nice to have but could be problematic later.
return Status_OK;
@@ -1553,7 +1574,9 @@ static uint32_t get_int (setting_id_t id)
break;
case Setting_HardLimitsEnable:
value = ((settings.limits.flags.hard_enabled & bit(0)) ? bit(0) | (settings.limits.flags.check_at_init ? bit(1) : 0) : 0);
value = ((settings.limits.flags.hard_enabled & bit(0)) ? bit(0) |
(settings.limits.flags.check_at_init ? bit(1) : 0) |
(settings.limits.flags.hard_disabled_rotary ? bit(2) : 0) : 0);
break;
case Setting_JogSoftLimited:
@@ -2784,6 +2807,7 @@ void settings_init (void)
xbar_set_homing_source();
tmp_set_soft_limits();
tmp_set_hard_limits();
if(spindle_get_count() == 0)
spindle_add_null();

13
settings.h
View File

@@ -640,12 +640,13 @@ typedef struct {
typedef union {
uint8_t value;
struct {
uint8_t hard_enabled :1,
soft_enabled :1,
check_at_init :1,
jog_soft_limited :1,
two_switches :1,
unassigned :3;
uint8_t hard_enabled :1,
soft_enabled :1,
check_at_init :1,
jog_soft_limited :1,
two_switches :1,
hard_disabled_rotary :1,
unassigned :2;
};
} limit_settings_flags_t;

1
system.h
View File

@@ -307,6 +307,7 @@ typedef struct system {
bool mpg_mode; //!< To be moved to system_flags_t
signal_event_t last_event; //!< Last signal events (control and limits signal).
int32_t position[N_AXIS]; //!< Real-time machine (aka home) position vector in steps.
axes_signals_t hard_limits; //!< temporary?, will be removed when available in settings.
axes_signals_t soft_limits; //!< temporary, will be removed when available in settings.
//@}
} system_t;