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Changed signature of grbl.on_homing complete event to include the cycle flags.

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Added definitions for up to four additional digital aux I/O ports.
Added real time report of selected spindle in multi spindle configurations. Reported on changes only.
Removed limits override input invert config, for safety reasons it is always active low.
Added HAL entry points for second RGB channel, renamed first from hal.rgb to hal.rgb0.
Added option to setting $22 to force use of limit switches for homing when homing inputs are available in the driver/board combo.
Improved handling of aux I/O pins when claimed for core functions.
Added flag to $9 for disabling laser mode capability for primary PWM spindle. Allows leaving laser mode enabled when a secondary PWM spindle is available and this is used to control a laser.
Added some generic setting definitions for stepper drivers, currently used by the motors plugin.
This commit is contained in:
Terje Io
2024-03-19 20:32:40 +01:00
parent 06f442643a
commit 7cf86877f0
28 changed files with 1092 additions and 224 deletions
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system.c
+35 -12
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@@ -6,18 +6,18 @@
Copyright (c) 2017-2024 Terje Io
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea mResearch LLC
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>
@@ -347,7 +347,7 @@ static status_code_t toggle_optional_stop (sys_state_t state, char *args)
static status_code_t check_mode (sys_state_t state, char *args)
{
if (state == STATE_CHECK_MODE) {
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// Perform reset when toggling off. Check g-code mode should only work if grblHAL
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
mc_reset();
@@ -901,12 +901,12 @@ PROGMEM static const sys_command_t sys_commands[] = {
{ "N0", set_startup_line0, {}, { .str = "N0=<gcode> - set startup line 0" } },
{ "N1", set_startup_line1, {}, { .str = "N1=<gcode> - set startup line 1" } },
{ "EA", enumerate_alarms, { .noargs = On, .allow_blocking = On }, { .str = "enumerate alarms" } },
{ "EAG", enumerate_alarms_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate alarms, Grbl formatted" } },
{ "EAG", enumerate_alarms_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate alarms, grblHAL formatted" } },
{ "EE", enumerate_errors, { .noargs = On, .allow_blocking = On }, { .str = "enumerate status codes" } },
{ "EEG", enumerate_errors_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate status codes, Grbl formatted" } },
{ "EEG", enumerate_errors_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate status codes, grblHAL formatted" } },
{ "EG", enumerate_groups, { .noargs = On, .allow_blocking = On }, { .str = "enumerate setting groups" } },
{ "ES", enumerate_settings, { .noargs = On, .allow_blocking = On }, { .str = "enumerate settings" } },
{ "ESG", enumerate_settings_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate settings, Grbl formatted" } },
{ "ESG", enumerate_settings_grblformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate settings, grblHAL formatted" } },
{ "ESH", enumerate_settings_halformatted, { .noargs = On, .allow_blocking = On }, { .str = "enumerate settings, grblHAL formatted" } },
{ "E*", enumerate_all, { .noargs = On, .allow_blocking = On }, { .str = "enumerate alarms, status codes and settings" } },
{ "PINS", enumerate_pins, { .noargs = On, .allow_blocking = On, .help_fn = On }, { .fn = help_pins } },
@@ -986,9 +986,9 @@ void system_command_help (void)
/*! \brief Directs and executes one line of input from protocol_process.
While mostly incoming streaming g-code blocks, this also executes Grbl internal commands, such as
While mostly incoming streaming g-code blocks, this also executes grblHAL internal commands, such as
settings, initiating the homing cycle, and toggling switch states. This differs from
the realtime command module by being susceptible to when Grbl is ready to execute the
the realtime command module by being susceptible to when grblHAL is ready to execute the
next line during a cycle, so for switches like block delete, the switch only effects
the lines that are processed afterward, not necessarily real-time during a cycle,
since there are motions already stored in the buffer. However, this 'lag' should not
@@ -1104,14 +1104,37 @@ status_code_t system_execute_line (char *line)
return retval;
}
// End system commands
// End system $-commands
/*! \brief Called on homing state changes.
Clears the tool length offset (TLO) when linear axis or X- or Z-axis is homed in lathe mode.
Typically called on the grbl.on_homing complete event.
\param id a \a axes_signals_t holding the axis flags that homed status was changed for.
*/
void system_clear_tlo_reference (axes_signals_t homing_cycle)
{
plane_t plane;
#if TOOL_LENGTH_OFFSET_AXIS >= 0
plane.axis_linear = TOOL_LENGTH_OFFSET_AXIS;
#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(sys.tlo_reference_set.mask != 0) {
sys.tlo_reference_set.mask = 0; // Invalidate tool length offset reference
system_add_rt_report(Report_TLOReference);
}
}
}
/*! \brief Called on a work coordinate (WCO) changes.
If configured waits for the planner buffer to empty then fires the
grbl.on_wco_changed event and sets the #Report_WCO flag to add
the WCO report element to the next status report.
*/
*/
void system_flag_wco_change (void)
{
if(!settings.status_report.sync_on_wco_change)