mirror of
https://github.com/grblHAL/core.git
synced 2026-09-21 10:35:31 +08:00
Updated settings and HAL version numbers++, see changelog for details..
This commit is contained in:
Terje Io
@@ -11,8 +11,11 @@ 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 20211117, see the [changelog](changelog.md) for details.
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__NOTE:__ Drivers built with more than three axes configured \(`N_AXIS` > `3`\) will force a settings reset when upgraded. Backup and restore of settings is recommended for these.
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Latest build date is 20211121, 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 20211121. 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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More details in the [changelog](changelog.md).
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---
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@@ -80,4 +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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2021-11-17
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2021-11-21
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+30
-1
@@ -1,5 +1,34 @@
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## grblHAL changelog
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Build 20211121:
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Core:
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* Added some data fields to the settings structures and modified a HAL API call signature.
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Due to this settings and HAL version numbers has been increased to 21 and 9 respectively.
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__NOTE:__ due to this settings will be reset to default values after an update. Backup and restore!
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* Added `$8` setting for inverting direction signals for the second motor for ganged axes.
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__NOTE:__ This setting is applied _after_ inversion is performed according to the `$3` setting.
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__NOTE:__ I have only bench tested this for a couple of drivers, correct function should be verified after updating!
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* Changed default value for `$4` stepper enable setting to invert all axes \(active low\).
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* Added reason code \(flags\) to "Incompatible driver" message, delayed halt so other POS \(Power On Self-test\) messages is not lost.
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* Some bug fixes in new ioports code.
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Plugins:
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* Updated _Bluetooth_, _Fans_, _Laser coolant_ and _Plasma_ plugins with settings for selecting aux port\(s\) to use.
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__NOTE:__ Port settings are added under the _Aux ports_ setting group even when the plugin has its own setting group.
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* Updated SD card plugin to support manual tool change on `M6` \(only available if the driver supports it\).
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Drivers:
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* Updated many for additional features in enhanced ioports API.
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* Updated drivers supporting ganged axes for the new `$8` setting.
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* iMRXT1062 \(Teensy 4\): Added full ioports support for MCP3221 I2C ADC.
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* Some bug/regression fixes.
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---
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Build 20211117:
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Core:
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@@ -19,7 +48,7 @@ Drivers:
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* Updated many for define symbol changes (harmonization) and enhanced ioports API.
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* iMRXT1062 \(Teensy 4\): Fixed bugs, one was a typo and one slowed down max USB streaming rate.
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* RP2040 \(Pi Pico\): Added support for SD card and ioports API for aux output pins on Pico CNC board.
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* RP2040 \(Pi Pico\): Added support for SD card and ioports API for aux output pins on Pico CNC board.
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* STM32F3xx: Fixed typo and some compiler warnings.
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---
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+4
-1
@@ -206,6 +206,9 @@
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#ifndef DEFAULT_DIRECTION_INVERT_MASK
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#define DEFAULT_DIRECTION_INVERT_MASK 0
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#endif
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#ifndef DEFAULT_GANGED_DIRECTION_INVERT_MASK
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#define DEFAULT_GANGED_DIRECTION_INVERT_MASK 0
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#endif
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#ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25
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#endif
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@@ -570,7 +573,7 @@
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#endif
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#ifndef INVERT_ST_ENABLE_MASK
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#define INVERT_ST_ENABLE_MASK 0
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#define INVERT_ST_ENABLE_MASK AXES_BITMASK
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#endif
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#ifndef INVERT_LIMIT_BIT_MASK
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@@ -2569,7 +2569,7 @@ status_code_t gc_execute_block(char *block)
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break;
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case 66:
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sys.var5399 = hal.port.wait_on_input(gc_block.output_command.is_digital, gc_block.output_command.port, (wait_mode_t)gc_block.values.l, gc_block.values.q);
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sys.var5399 = hal.port.wait_on_input((io_port_type_t)gc_block.output_command.is_digital, gc_block.output_command.port, (wait_mode_t)gc_block.values.l, gc_block.values.q);
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sys.report.m66result = On;
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break;
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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 20211117
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#define GRBL_BUILD 20211121
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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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@@ -50,9 +50,25 @@
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#include "wall_plotter.h"
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#endif
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typedef union {
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uint8_t ok;
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struct {
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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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};
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} driver_startup_t;
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struct system sys = {0}; //!< System global variable structure.
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grbl_t grbl;
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grbl_hal_t hal;
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static driver_startup_t driver = { .ok = 0xFF };
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#ifdef KINEMATICS_API
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@@ -90,6 +106,18 @@ static bool dummy_irq_claim (irq_type_t irq, uint_fast8_t id, irq_callback_ptr c
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return false;
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}
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static void report_driver_error (sys_state_t state)
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{
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char msg[40];
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driver.ok = ~driver.ok;
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strcpy(msg, "Fatal: Incompatible driver (");
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strcat(msg, uitoa(driver.ok));
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strcat(msg, ")");
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report_message(msg, Message_Plain);
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}
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// main entry point
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int grbl_enter (void)
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@@ -97,7 +125,7 @@ int grbl_enter (void)
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assert(NVS_ADDR_PARAMETERS + N_CoordinateSystems * (sizeof(coord_data_t) + NVS_CRC_BYTES) < NVS_ADDR_STARTUP_BLOCK);
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assert(NVS_ADDR_STARTUP_BLOCK + N_STARTUP_LINE * (sizeof(stored_line_t) + NVS_CRC_BYTES) < NVS_ADDR_BUILD_INFO);
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bool looping = true, driver_ok;
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bool looping = true;
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// Clear all and set some core function pointers
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memset(&grbl, 0, sizeof(grbl_t));
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@@ -138,7 +166,7 @@ int grbl_enter (void)
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#ifdef DEBUGOUT
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hal.debug_out = debug_out; // must be overridden by driver to have any effect
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#endif
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driver_ok = driver_init();
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driver.init = driver_init();
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#if COMPATIBILITY_LEVEL > 0
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hal.stream.suspend_read = NULL;
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@@ -147,27 +175,27 @@ int grbl_enter (void)
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#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
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hal.signals_cap.safety_door_ajar = Off;
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#else
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driver_ok &= hal.signals_cap.safety_door_ajar;
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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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nvs_buffer_init();
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#endif
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settings_init(); // Load Grbl settings from non-volatile storage
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settings_init(); // Load settings from non-volatile storage
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memset(sys.position, 0, sizeof(sys.position)); // Clear machine position.
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// check and configure driver
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#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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driver_ok = driver_ok && hal.driver_cap.amass_level >= MAX_AMASS_LEVEL;
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driver.amass = hal.driver_cap.amass_level >= MAX_AMASS_LEVEL;
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hal.driver_cap.amass_level = MAX_AMASS_LEVEL;
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#else
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hal.driver_cap.amass_level = 0;
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#endif
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#ifdef DEFAULT_STEP_PULSE_DELAY
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driver_ok = driver_ok & hal.driver_cap.step_pulse_delay;
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driver.pulse_delay = hal.driver_cap.step_pulse_delay;
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#endif
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/*
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#if AXIS_N_SETTINGS > 4
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@@ -176,19 +204,20 @@ int grbl_enter (void)
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*/
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sys.mpg_mode = false;
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driver_ok = driver_ok && hal.driver_setup(&settings);
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if(driver.ok == 0xFF)
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driver.setup = hal.driver_setup(&settings);
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#ifdef ENABLE_SPINDLE_LINEARIZATION
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driver_ok = driver_ok && hal.driver_cap.spindle_pwm_linearization;
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driver.linearization = hal.driver_cap.spindle_pwm_linearization;
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#endif
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#ifdef SPINDLE_PWM_DIRECT
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driver_ok = driver_ok && (!hal.driver_cap.variable_spindle || (hal.spindle.get_pwm != NULL && hal.spindle.update_pwm != NULL));
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driver.spindle = (!hal.driver_cap.variable_spindle || (hal.spindle.get_pwm != NULL && hal.spindle.update_pwm != NULL));
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#endif
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if(!driver_ok) {
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hal.stream.write("grblHAL: incompatible driver" ASCII_EOL);
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while(true);
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if(driver.ok != 0xFF) {
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sys.alarm = Alarm_SelftestFailed;
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protocol_enqueue_rt_command(report_driver_error);
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}
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if(hal.get_position)
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@@ -202,7 +231,7 @@ int grbl_enter (void)
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wall_plotter_init();
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#endif
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sys.driver_started = true;
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sys.driver_started = sys.alarm != Alarm_SelftestFailed;
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// "Wire" homing switches to limit switches if not provided by the driver.
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if(hal.homing.get_state == NULL)
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@@ -38,7 +38,7 @@
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#include "ioports.h"
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#include "plugins.h"
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#define HAL_VERSION 8
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#define HAL_VERSION 9
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/// Bitmap flags for driver capabilities, to be set by driver in driver_init(), flags may be cleared after to switch off option.
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typedef union {
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@@ -369,9 +369,9 @@ typedef void (*stepper_output_step_ptr)(axes_signals_t step_outbits, axes_signal
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/*! \brief Pointer to function for getting which axes are configured for auto squaring.
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\returns which axes are configured for auto squaring in an \a axes_signals_t union.
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\returns which axes are configured for ganging or auto squaring in an \a axes_signals_t union.
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*/
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typedef axes_signals_t (*stepper_get_auto_squared_ptr)(void);
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typedef axes_signals_t (*stepper_get_ganged_ptr)(bool auto_squared);
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/*! \brief Pointer to callback function for outputting the next direction and step pulse signals. _Set by the core on startup._
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@@ -388,7 +388,7 @@ typedef struct {
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stepper_cycles_per_tick_ptr cycles_per_tick; //!< Handler for setting the step pulse rate for the next motion segment.
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stepper_pulse_start_ptr pulse_start; //!< Handler for starting outputting direction signals and a step pulse.
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stepper_interrupt_callback_ptr interrupt_callback; //!< Callback for informing about the next step pulse to output. _Set by the core at startup._
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stepper_get_auto_squared_ptr get_auto_squared; //!< Optional handler getting which axes are configured for auto squaring.
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stepper_get_ganged_ptr get_ganged; //!< Optional handler getting which axes are configured for ganging or auto squaring.
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stepper_output_step_ptr output_step; //!< Optional handler for outputting a single step pulse. _Experimental._
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motor_iterator_ptr motor_iterator; //!< Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers).
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} stepper_ptrs_t;
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@@ -437,7 +437,6 @@ typedef struct {
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probe_connected_toggle_ptr connected_toggle; //!< Optional handler for toggling probe connected status.
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} probe_ptrs_t;
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/*******************************
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* Tool selection and change *
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*******************************/
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@@ -38,7 +38,7 @@ static uint8_t ioports_count (io_port_type_t type, io_port_direction_t dir)
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// determine how many ports, including claimed ports, that are available
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do {
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if((port = hal.port.get_pin_info(type, type, n_ports)))
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if((port = hal.port.get_pin_info(type, dir, n_ports)))
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n_ports++;
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} while(port != NULL);
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@@ -88,16 +88,19 @@ bool ioport_claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port,
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{
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bool ok = false;
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uint8_t n_ports = ioports_available(type, dir);
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uint8_t base = type == Port_Digital
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? (dir == Port_Input ? Input_Aux0 : Output_Aux0)
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: (dir == Port_Input ? Input_Aux0 : Output_Aux0); // TODO add analog ports?
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if(hal.port.claim != 0) {
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if(hal.port.claim != NULL) {
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xbar_t *portinfo = NULL;
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xbar_t *portinfo;
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if(n_ports > 0) do {
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n_ports--;
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portinfo = hal.port.get_pin_info(type, dir, n_ports);
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if((ok = portinfo && !portinfo->mode.claimed && (portinfo->function - Output_Aux0) == *port)) {
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hal.port.claim(type, dir, port, description);
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if((ok = portinfo && !portinfo->mode.claimed && (portinfo->function - base) == *port)) {
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ok = hal.port.claim(type, dir, port, description);
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break;
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}
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} while(n_ports && !ok);
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|
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@@ -470,8 +470,8 @@ bool limits_go_home (axes_signals_t cycle)
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axes_signals_t auto_square = {0}, auto_squared = {0};
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if(hal.stepper.get_auto_squared)
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auto_squared = hal.stepper.get_auto_squared();
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if(hal.stepper.get_ganged)
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auto_squared = hal.stepper.get_ganged(true);
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auto_squared.mask &= cycle.mask;
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@@ -33,6 +33,10 @@
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#define SQUARING_ENABLED
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#endif
|
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|
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#if N_GANGED
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#define GANGING_ENABLED
|
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#endif
|
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|
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#if Z_GANGED
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#define Z_DOUBLED N_ABC_MOTORS
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#elif Y_GANGED
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|
||||
@@ -76,6 +76,7 @@ typedef struct {
|
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uint16_t telnet_port;
|
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uint16_t websocket_port;
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uint16_t http_port;
|
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uint16_t ftp_port;
|
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ip_mode_t ip_mode;
|
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network_services_t services;
|
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} network_settings_t;
|
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|
||||
+5
-1
@@ -86,6 +86,7 @@ bool protocol_enqueue_gcode (char *gcode)
|
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bool protocol_main_loop (void)
|
||||
{
|
||||
if(sys.alarm == Alarm_SelftestFailed) {
|
||||
sys.alarm = Alarm_None;
|
||||
system_raise_alarm(Alarm_SelftestFailed);
|
||||
} else if (hal.control.get_state().e_stop) {
|
||||
// Check for e-stop active. Blocks everything until cleared.
|
||||
@@ -127,7 +128,7 @@ bool protocol_main_loop (void)
|
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state_set(STATE_IDLE);
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
// Check if the safety door is open.
|
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if (!settings.flags.safety_door_ignore_when_idle && hal.control.get_state().safety_door_ajar) {
|
||||
if (!settings.safety_door.flags.ignore_when_idle && hal.control.get_state().safety_door_ajar) {
|
||||
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
|
||||
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
|
||||
}
|
||||
@@ -887,6 +888,9 @@ static void protocol_execute_rt_commands (void)
|
||||
}
|
||||
realtime_queue.tail = (bptr + 1) & (RT_QUEUE_SIZE - 1);
|
||||
}
|
||||
|
||||
if(!sys.driver_started)
|
||||
while(true);
|
||||
}
|
||||
|
||||
void protocol_execute_noop (sys_state_t state)
|
||||
|
||||
@@ -921,7 +921,7 @@ void report_build_info (char *line, bool extended)
|
||||
if(!settings.status_report.sync_on_wco_change) // NOTE: Shown when disabled.
|
||||
*append++ = 'W';
|
||||
|
||||
if(hal.stepper.get_auto_squared)
|
||||
if(hal.stepper.get_ganged)
|
||||
*append++ = '2';
|
||||
|
||||
*append++ = ',';
|
||||
|
||||
+39
-21
@@ -103,6 +103,7 @@ PROGMEM const settings_t defaults = {
|
||||
.steppers.idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME,
|
||||
.steppers.step_invert.mask = DEFAULT_STEPPING_INVERT_MASK,
|
||||
.steppers.dir_invert.mask = DEFAULT_DIRECTION_INVERT_MASK,
|
||||
.steppers.ganged_dir_invert.mask = DEFAULT_GANGED_DIRECTION_INVERT_MASK,
|
||||
.steppers.enable_invert.mask = INVERT_ST_ENABLE_MASK,
|
||||
.steppers.deenergize.mask = ST_DEENERGIZE_MASK,
|
||||
#if N_AXIS > 3
|
||||
@@ -284,7 +285,10 @@ PROGMEM const settings_t defaults = {
|
||||
.parking.target = DEFAULT_PARKING_TARGET,
|
||||
.parking.rate = DEFAULT_PARKING_RATE,
|
||||
.parking.pullout_rate = DEFAULT_PARKING_PULLOUT_RATE,
|
||||
.parking.pullout_increment = DEFAULT_PARKING_PULLOUT_INCREMENT
|
||||
.parking.pullout_increment = DEFAULT_PARKING_PULLOUT_INCREMENT,
|
||||
|
||||
.safety_door.spindle_on_delay = SAFETY_DOOR_SPINDLE_DELAY,
|
||||
.safety_door.coolant_on_delay = SAFETY_DOOR_COOLANT_DELAY
|
||||
};
|
||||
|
||||
PROGMEM static const setting_group_detail_t setting_group_detail [] = {
|
||||
@@ -344,10 +348,10 @@ static status_code_t set_force_initialization_alarm (setting_id_t id, uint_fast1
|
||||
static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16_t int_value);
|
||||
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
|
||||
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);
|
||||
static status_code_t set_door_options (setting_id_t id, uint_fast16_t int_value);
|
||||
#endif
|
||||
#ifdef ENABLE_SPINDLE_LINEARIZATION
|
||||
static status_code_t set_linear_piece (setting_id_t id, char *svalue);
|
||||
@@ -367,17 +371,17 @@ static float get_float (setting_id_t setting);
|
||||
static uint32_t get_int (setting_id_t id);
|
||||
static bool is_setting_available (const setting_detail_t *setting);
|
||||
|
||||
|
||||
static char control_signals[] = "Reset,Feed hold,Cycle start,Safety door,Block delete,Optional stop,EStop,Probe connected,Motor fault";
|
||||
static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
|
||||
static char coolant_signals[] = "Flood,Mist";
|
||||
static char ganged_axes[] = "X-Axis,Y-Axis,Z-Axis";
|
||||
|
||||
PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ Setting_PulseMicroseconds, Group_Stepper, "Step pulse time", "microseconds", Format_Decimal, "#0.0", "2.0", NULL, Setting_IsLegacy, &settings.steppers.pulse_microseconds, NULL, NULL },
|
||||
{ Setting_StepperIdleLockTime, Group_Stepper, "Step idle delay", "milliseconds", Format_Int16, "####0", NULL, "65535", Setting_IsLegacy, &settings.steppers.idle_lock_time, NULL, NULL },
|
||||
{ Setting_StepInvertMask, Group_Stepper, "Step pulse invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.step_invert.mask, NULL, NULL },
|
||||
{ Setting_DirInvertMask, Group_Stepper, "Step direction invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.dir_invert.mask, NULL, NULL },
|
||||
{ Setting_InvertStepperEnable, Group_Stepper, "Invert step enable pin(s)", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.enable_invert.mask, NULL, NULL },
|
||||
{ Setting_InvertStepperEnable, Group_Stepper, "Invert stepper enable pin(s)", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.enable_invert.mask, NULL, NULL },
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
{ Setting_LimitPinsInvertMask, Group_Limits, "Invert limit pins", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.limits.invert.mask, NULL, NULL },
|
||||
#else
|
||||
@@ -386,6 +390,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ Setting_InvertProbePin, Group_Probing, "Invert probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_probe_invert, get_int, NULL },
|
||||
{ Setting_SpindlePWMBehaviour, Group_Spindle, "Disable spindle with zero speed", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtended, &settings.spindle.flags.mask, NULL, is_setting_available },
|
||||
// { Setting_SpindlePWMBehaviour, Group_Spindle, "Spindle enable vs. speed behaviour", NULL, Format_RadioButtons, "No action,Disable spindle with zero speed,Enable spindle with all speeds", NULL, NULL, Setting_IsExtended, &settings.spindle.flags.mask, NULL, NULL },
|
||||
{ Setting_GangedDirInvertMask, Group_Stepper, "Ganged axes direction invert", NULL, Format_Bitfield, ganged_axes, NULL, NULL, Setting_IsExtendedFn, set_ganged_dir_invert, get_int, NULL },
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
{ Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state,Line numbers,Feed & speed,Pin state,Work coordinate offset,Overrides,Probe coordinates,Buffer sync on WCO change,Parser state,Alarm substatus,Run substatus", NULL, NULL, Setting_IsExtendedFn, set_report_mask, get_int, NULL },
|
||||
#else
|
||||
@@ -452,7 +457,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ 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_IsExtendedFn, set_door_options, 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 },
|
||||
#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 },
|
||||
@@ -511,10 +516,13 @@ PROGMEM static const setting_descr_t setting_descr[] = {
|
||||
{ Setting_StepperIdleLockTime, "Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled." },
|
||||
{ Setting_StepInvertMask, "Inverts the step signals (active low)." },
|
||||
{ Setting_DirInvertMask, "Inverts the direction signals (active low)." },
|
||||
{ Setting_InvertStepperEnable, "Inverts the stepper driver enable signals (active low). If the stepper drivers shares the same enable signal only X is used." },
|
||||
{ Setting_InvertStepperEnable, "Inverts the stepper driver enable signals. Most drivers uses active low enable requiring inversion.\\n"
|
||||
"NOTE: If the stepper drivers shares the same enable signal only X is used."
|
||||
},
|
||||
{ Setting_LimitPinsInvertMask, "Inverts the axis limit input signals." },
|
||||
{ Setting_InvertProbePin, "Inverts the probe input pin signal." },
|
||||
{ Setting_SpindlePWMBehaviour, "" },
|
||||
{ Setting_GangedDirInvertMask, "Inverts the direction signals for ganged axes." },
|
||||
{ Setting_StatusReportMask, "Specifies optional data included in status reports.\\n"
|
||||
"If Run substatus is enabled it may be used for simple probe protection.\\n\\n"
|
||||
"Note that Parser state will be sent separately after the status report and only on changes."
|
||||
@@ -723,6 +731,16 @@ static status_code_t set_probe_invert (setting_id_t id, uint_fast16_t int_value)
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
static status_code_t set_ganged_dir_invert (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
if(!hal.stepper.get_ganged)
|
||||
return Status_SettingDisabled;
|
||||
|
||||
settings.steppers.ganged_dir_invert.mask = int_value & hal.stepper.get_ganged(false).mask;
|
||||
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
static status_code_t set_report_mask (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
@@ -892,14 +910,6 @@ static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_v
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
static status_code_t set_door_options (setting_id_t id, uint_fast16_t int_value)
|
||||
{
|
||||
settings.flags.safety_door_ignore_when_idle = bit_istrue(int_value, bit(0));
|
||||
settings.flags.keep_coolant_state_on_door_open = bit_istrue(int_value, bit(1));
|
||||
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
static status_code_t set_sleep_enable (setting_id_t id, uint_fast16_t int_value)
|
||||
@@ -1078,7 +1088,7 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
|
||||
break;
|
||||
|
||||
case Setting_AxisAutoSquareOffset:
|
||||
if(hal.stepper.get_auto_squared && bit_istrue(hal.stepper.get_auto_squared().mask, bit(idx)))
|
||||
if(hal.stepper.get_ganged && bit_istrue(hal.stepper.get_ganged(true).mask, bit(idx)))
|
||||
settings.axis[idx].dual_axis_offset = value;
|
||||
else
|
||||
status = Status_SettingDisabled;
|
||||
@@ -1164,6 +1174,10 @@ static uint32_t get_int (setting_id_t id)
|
||||
value = settings.probe.invert_probe_pin;
|
||||
break;
|
||||
|
||||
case Setting_GangedDirInvertMask:
|
||||
value = settings.steppers.ganged_dir_invert.mask;
|
||||
break;
|
||||
|
||||
case Setting_StatusReportMask:
|
||||
#if COMPATIBILITY_LEVEL <= 1
|
||||
value = settings.status_report.mask;
|
||||
@@ -1233,10 +1247,6 @@ static uint32_t get_int (setting_id_t id)
|
||||
value = settings.flags.restore_overrides;
|
||||
break;
|
||||
|
||||
case Setting_DoorOptions:
|
||||
value = settings.flags.safety_door_ignore_when_idle | (settings.flags.keep_coolant_state_on_door_open << 1) ;
|
||||
break;
|
||||
|
||||
case Setting_SleepEnable:
|
||||
value = settings.flags.sleep_enable;
|
||||
break;
|
||||
@@ -1358,6 +1368,10 @@ static bool is_setting_available (const setting_detail_t *setting)
|
||||
|
||||
if(setting) switch(normalize_id(setting->id)) {
|
||||
|
||||
case Setting_GangedDirInvertMask:
|
||||
available = hal.stepper.get_ganged && hal.stepper.get_ganged(false).mask != 0;
|
||||
break;
|
||||
|
||||
case Setting_SpindlePWMBehaviour:
|
||||
available = hal.driver_cap.variable_spindle;
|
||||
break;
|
||||
@@ -1380,7 +1394,8 @@ static bool is_setting_available (const setting_detail_t *setting)
|
||||
break;
|
||||
|
||||
case Setting_AxisAutoSquareOffset:
|
||||
available = hal.stepper.get_auto_squared != NULL;
|
||||
available = hal.stepper.get_ganged && hal.stepper.get_ganged(true).mask != 0;
|
||||
// available = hal.stepper.get_ganged && bit_istrue(hal.stepper.get_ganged(true).mask, setting->id - Setting_AxisAutoSquareOffset);
|
||||
break;
|
||||
|
||||
default:
|
||||
@@ -1614,7 +1629,7 @@ bool settings_is_group_available (setting_group_t group)
|
||||
break;
|
||||
|
||||
case Group_Limits_DualAxis:
|
||||
available = hal.stepper.get_auto_squared != NULL;
|
||||
available = hal.stepper.get_ganged && hal.stepper.get_ganged(true).mask != 0;
|
||||
break;
|
||||
|
||||
case Group_General:
|
||||
@@ -2124,6 +2139,9 @@ void settings_init (void)
|
||||
setting_remove_elements(Setting_SpindleInvertMask, spindle_cap.mask);
|
||||
setting_remove_elements(Setting_ControlInvertMask, hal.signals_cap.mask);
|
||||
|
||||
if(hal.stepper.get_ganged)
|
||||
setting_remove_elements(Setting_GangedDirInvertMask, hal.stepper.get_ganged(false).mask);
|
||||
|
||||
if(!hal.driver_cap.mist_control)
|
||||
setting_remove_element(Setting_CoolantInvertMask, 1);
|
||||
|
||||
|
||||
+17
-9
@@ -30,14 +30,7 @@
|
||||
|
||||
// Version of the persistent storage data. Will be used to migrate existing data from older versions of Grbl
|
||||
// when firmware is upgraded. Always stored in byte 0 of non-volatile storage
|
||||
|
||||
// TODO: add ftp port to network settings, enable safety_door settings
|
||||
|
||||
#if N_AXIS > 3 // TODO: remove on next version update
|
||||
#define SETTINGS_VERSION 20 // NOTE: Check settings_reset() when moving to next version.
|
||||
#else
|
||||
#define SETTINGS_VERSION 19 // NOTE: Check settings_reset() when moving to next version.
|
||||
#endif
|
||||
#define SETTINGS_VERSION 21 // NOTE: Check settings_reset() when moving to next version.
|
||||
|
||||
// Define axis settings numbering scheme. Starts at Setting_AxisSettingsBase, every INCREMENT, over N_SETTINGS.
|
||||
#define AXIS_SETTINGS_INCREMENT 10 // Must be greater than the number of axis settings.
|
||||
@@ -47,6 +40,8 @@
|
||||
#define ENCODER_N_SETTINGS_MAX 5 // NOTE: This is the maximum number of encoders allowed.
|
||||
#define ENCODER_SETTINGS_INCREMENT 10
|
||||
|
||||
#define SETTINGS_HARD_RESET_REQUIRED "\\n\\nNOTE: A hard reset of the controller is required after changing this setting."
|
||||
|
||||
typedef enum {
|
||||
Setting_PulseMicroseconds = 0,
|
||||
Setting_StepperIdleLockTime = 1,
|
||||
@@ -56,6 +51,7 @@ typedef enum {
|
||||
Setting_LimitPinsInvertMask = 5,
|
||||
Setting_InvertProbePin = 6,
|
||||
Setting_SpindlePWMBehaviour = 7,
|
||||
Setting_GangedDirInvertMask = 8,
|
||||
Setting_StatusReportMask = 10,
|
||||
Setting_JunctionDeviation = 11,
|
||||
Setting_ArcTolerance = 12,
|
||||
@@ -226,6 +222,10 @@ typedef enum {
|
||||
Setting_Arc_HeightPerVolt = 363,
|
||||
Setting_Arc_OkHighVoltage = 364,
|
||||
Setting_Arc_OkLowVoltage = 365,
|
||||
Setting_Arc_VoltagePort = 366,
|
||||
Setting_Arc_OkPort = 367,
|
||||
Setting_THC_CutterDownPort = 368,
|
||||
Setting_THC_CutterUpPort = 369,
|
||||
|
||||
Settings_IoPort_InvertIn = 370,
|
||||
Settings_IoPort_Pullup_Disable = 371,
|
||||
@@ -242,6 +242,13 @@ typedef enum {
|
||||
Setting_CoolantOffset = 382,
|
||||
Setting_CoolantGain = 383,
|
||||
Setting_DisableG92Persistence = 384,
|
||||
Setting_BlueToothStateInput = 385,
|
||||
Setting_FanPort0 = 386,
|
||||
Setting_FanPort1 = 387,
|
||||
Setting_FanPort2 = 388,
|
||||
Setting_FanPort3 = 389,
|
||||
Setting_CoolantTempPort = 390,
|
||||
Setting_CoolantOkPort = 391,
|
||||
|
||||
Setting_EncoderSettingsBase = 400, // NOTE: Reserving settings values >= 400 for encoder settings. Up to 449.
|
||||
Setting_EncoderSettingsMax = 449,
|
||||
@@ -471,6 +478,7 @@ typedef struct {
|
||||
typedef struct {
|
||||
axes_signals_t step_invert;
|
||||
axes_signals_t dir_invert;
|
||||
axes_signals_t ganged_dir_invert; // applied after inversion for the master motor
|
||||
axes_signals_t enable_invert;
|
||||
axes_signals_t deenergize;
|
||||
#if N_AXIS > 3
|
||||
@@ -575,7 +583,7 @@ typedef struct {
|
||||
homing_settings_t homing;
|
||||
limit_settings_t limits;
|
||||
parking_settings_t parking;
|
||||
// safety_door_settings_t safety_door;
|
||||
safety_door_settings_t safety_door;
|
||||
position_pid_t position; // Used for synchronized motion
|
||||
ioport_signals_t ioport;
|
||||
} settings_t;
|
||||
|
||||
+3
-3
@@ -90,7 +90,7 @@ bool spindle_sync (spindle_state_t state, float rpm)
|
||||
delay += 0.1f;
|
||||
if(ABORTED)
|
||||
break;
|
||||
if(delay >= SAFETY_DOOR_SPINDLE_DELAY) {
|
||||
if(delay >= settings.safety_door.spindle_on_delay) {
|
||||
system_raise_alarm(Alarm_Spindle);
|
||||
break;
|
||||
}
|
||||
@@ -114,7 +114,7 @@ bool spindle_restore (spindle_state_t state, float rpm)
|
||||
spindle_set_state(state, rpm);
|
||||
if(state.on) {
|
||||
if((ok = !hal.driver_cap.spindle_at_speed))
|
||||
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DelayMode_SysSuspend);
|
||||
delay_sec(settings.safety_door.spindle_on_delay, DelayMode_SysSuspend);
|
||||
else if((ok == (settings.spindle.at_speed_tolerance <= 0.0f))) {
|
||||
float delay = 0.0f;
|
||||
while(!(ok = hal.spindle.get_state().at_speed)) {
|
||||
@@ -122,7 +122,7 @@ bool spindle_restore (spindle_state_t state, float rpm)
|
||||
delay += 0.1f;
|
||||
if(ABORTED)
|
||||
break;
|
||||
if(delay >= SAFETY_DOOR_SPINDLE_DELAY) {
|
||||
if(delay >= settings.safety_door.spindle_on_delay) {
|
||||
system_raise_alarm(Alarm_Spindle);
|
||||
break;
|
||||
}
|
||||
|
||||
+2
-2
@@ -81,7 +81,7 @@ static void state_restore_conditions (planner_cond_t *condition, float rpm)
|
||||
if (gc_state.modal.coolant.value != hal.coolant.get_state().value) {
|
||||
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
|
||||
coolant_set_state(condition->coolant);
|
||||
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DelayMode_SysSuspend);
|
||||
delay_sec(settings.safety_door.coolant_on_delay, DelayMode_SysSuspend);
|
||||
}
|
||||
|
||||
park.flags.restoring = Off;
|
||||
@@ -554,7 +554,7 @@ static void state_await_resume (uint_fast16_t rt_exec)
|
||||
if (restore_condition.coolant.value != hal.coolant.get_state().value) {
|
||||
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by coolant signals.
|
||||
coolant_set_state(restore_condition.coolant);
|
||||
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DelayMode_SysSuspend);
|
||||
delay_sec(settings.safety_door.coolant_on_delay, DelayMode_SysSuspend);
|
||||
}
|
||||
|
||||
sys.override.spindle_stop.value = 0; // Clear spindle stop override states
|
||||
|
||||
@@ -107,7 +107,7 @@ ISR_CODE void control_interrupt_handler (control_signals_t signals)
|
||||
else {
|
||||
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
|
||||
if (signals.safety_door_ajar) {
|
||||
if(settings.flags.safety_door_ignore_when_idle) {
|
||||
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.
|
||||
@@ -613,7 +613,7 @@ static status_code_t go_home (sys_state_t state, axes_signals_t axes)
|
||||
else if (!(settings.homing.flags.enabled && (sys.homing.mask || settings.homing.flags.single_axis_commands || settings.homing.flags.manual)))
|
||||
retval = Status_HomingDisabled;
|
||||
// Block if safety door is ajar.
|
||||
else if (control_signals.safety_door_ajar && !settings.flags.safety_door_ignore_when_idle)
|
||||
else if (control_signals.safety_door_ajar && !settings.safety_door.flags.ignore_when_idle)
|
||||
retval = Status_CheckDoor;
|
||||
// Block if safety reset is active.
|
||||
else if(control_signals.reset)
|
||||
@@ -983,7 +983,7 @@ void system_raise_alarm (alarm_code_t alarm)
|
||||
if(sys.alarm != alarm) {
|
||||
sys.alarm = alarm;
|
||||
state_set(alarm == Alarm_EStop ? STATE_ESTOP : STATE_ALARM);
|
||||
if(sys.driver_started)
|
||||
if(sys.driver_started || sys.alarm == Alarm_SelftestFailed)
|
||||
report_alarm_message(alarm);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user