Mirrors_Framework/grblHAL
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Updated settings and HAL version numbers++, see changelog for details..

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This commit is contained in:
Terje Io
2021-11-21 16:40:37 +01:00
parent 0c47a688b5
commit a5dfb953f8
18 changed files with 173 additions and 72 deletions
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55
grbllib.c
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@@ -50,9 +50,25 @@
#include "wall_plotter.h"
#endif
typedef union {
uint8_t ok;
struct {
uint8_t init :1,
setup :1,
spindle :1,
door :1,
amass :1,
pulse_delay :1,
linearization :1,
unused :1;
};
} driver_startup_t;
struct system sys = {0}; //!< System global variable structure.
grbl_t grbl;
grbl_hal_t hal;
static driver_startup_t driver = { .ok = 0xFF };
#ifdef KINEMATICS_API
@@ -90,6 +106,18 @@ static bool dummy_irq_claim (irq_type_t irq, uint_fast8_t id, irq_callback_ptr c
return false;
}
static void report_driver_error (sys_state_t state)
{
char msg[40];
driver.ok = ~driver.ok;
strcpy(msg, "Fatal: Incompatible driver (");
strcat(msg, uitoa(driver.ok));
strcat(msg, ")");
report_message(msg, Message_Plain);
}
// main entry point
int grbl_enter (void)
@@ -97,7 +125,7 @@ int grbl_enter (void)
assert(NVS_ADDR_PARAMETERS + N_CoordinateSystems * (sizeof(coord_data_t) + NVS_CRC_BYTES) < NVS_ADDR_STARTUP_BLOCK);
assert(NVS_ADDR_STARTUP_BLOCK + N_STARTUP_LINE * (sizeof(stored_line_t) + NVS_CRC_BYTES) < NVS_ADDR_BUILD_INFO);
bool looping = true, driver_ok;
bool looping = true;
// Clear all and set some core function pointers
memset(&grbl, 0, sizeof(grbl_t));
@@ -138,7 +166,7 @@ int grbl_enter (void)
#ifdef DEBUGOUT
hal.debug_out = debug_out; // must be overridden by driver to have any effect
#endif
driver_ok = driver_init();
driver.init = driver_init();
#if COMPATIBILITY_LEVEL > 0
hal.stream.suspend_read = NULL;
@@ -147,27 +175,27 @@ int grbl_enter (void)
#ifndef ENABLE_SAFETY_DOOR_INPUT_PIN
hal.signals_cap.safety_door_ajar = Off;
#else
driver_ok &= hal.signals_cap.safety_door_ajar;
driver.door = hal.signals_cap.safety_door_ajar;
#endif
#ifdef BUFFER_NVSDATA
nvs_buffer_init();
#endif
settings_init(); // Load Grbl settings from non-volatile storage
settings_init(); // Load settings from non-volatile storage
memset(sys.position, 0, sizeof(sys.position)); // Clear machine position.
// check and configure driver
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
driver_ok = driver_ok && hal.driver_cap.amass_level >= MAX_AMASS_LEVEL;
driver.amass = hal.driver_cap.amass_level >= MAX_AMASS_LEVEL;
hal.driver_cap.amass_level = MAX_AMASS_LEVEL;
#else
hal.driver_cap.amass_level = 0;
#endif
#ifdef DEFAULT_STEP_PULSE_DELAY
driver_ok = driver_ok & hal.driver_cap.step_pulse_delay;
driver.pulse_delay = hal.driver_cap.step_pulse_delay;
#endif
/*
#if AXIS_N_SETTINGS > 4
@@ -176,19 +204,20 @@ int grbl_enter (void)
*/
sys.mpg_mode = false;
driver_ok = driver_ok && hal.driver_setup(&settings);
if(driver.ok == 0xFF)
driver.setup = hal.driver_setup(&settings);
#ifdef ENABLE_SPINDLE_LINEARIZATION
driver_ok = driver_ok && hal.driver_cap.spindle_pwm_linearization;
driver.linearization = hal.driver_cap.spindle_pwm_linearization;
#endif
#ifdef SPINDLE_PWM_DIRECT
driver_ok = driver_ok && (!hal.driver_cap.variable_spindle || (hal.spindle.get_pwm != NULL && hal.spindle.update_pwm != NULL));
driver.spindle = (!hal.driver_cap.variable_spindle || (hal.spindle.get_pwm != NULL && hal.spindle.update_pwm != NULL));
#endif
if(!driver_ok) {
hal.stream.write("grblHAL: incompatible driver" ASCII_EOL);
while(true);
if(driver.ok != 0xFF) {
sys.alarm = Alarm_SelftestFailed;
protocol_enqueue_rt_command(report_driver_error);
}
if(hal.get_position)
@@ -202,7 +231,7 @@ int grbl_enter (void)
wall_plotter_init();
#endif
sys.driver_started = true;
sys.driver_started = sys.alarm != Alarm_SelftestFailed;
// "Wire" homing switches to limit switches if not provided by the driver.
if(hal.homing.get_state == NULL)