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Added shared files for driver motor pins allocation and options handling.

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Expanded HAL stream I/O functions. Added doxygen documentation to parts of the code.
A number of minor changes to simplify code.
This commit is contained in:
Terje Io
2021-06-27 20:55:00 +02:00
parent 7dbd285a0f
commit b685e18411
31 changed files with 2369 additions and 845 deletions
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changelog.md
+18
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@@ -1,5 +1,23 @@
## grblHAL changelog
Build 20210626:
* Standardized handling of motors for ABC- and ganged/squared axes, configuration moved to _my_machine.h_.
First number of motors required is calculated, then ABC axes are added from bottom up and then ganged/squared axes from top down.
E.g if the board map supports six motors then the following allocations will be made:
A-axis and auto-squared Y axis: A-axis -> motor 4 and second Y-axis -> motor 5. Motor 6 pins may then be assigned to auxillary I/O.
A-axis, B-axis and ganged X-axis: A-axis -> motor 4 and, B-axis -> motor 5 and second X-axis -> motor 6. Motor 6 limit pin\(s\) if available may be assigned to auxillary I/O.
Auto-squared X and Y-axis: second X-axis -> motor 4 and second Y-axis -> motor 5. Motor 6 pins may then be assigned to auxillary I/O.
etc...
__IMPORTANT:__ For those who have used auto-squared/ganged axes with previous builds be sure to check that the motors allocated matches the current wiring.
Tip: use the `$pins` system command to list the pin allocations when checking. Rewire as neccesary.
* Added ganged axis/auto-squaring support to some board maps for the [LPC176x](https://github.com/grblHAL/LPC176x) driver.
* Expanded on HAL entry points for stream communication and added [initial documentation](http://svn.io-engineering.com/grblHAL/html/hal_8h.html) for the HAL and parts of the core.
* Encapsulated UART/USB CDC code for many drivers, for most only the init function is now available for direct acccess from the outside. Simplified main driver code and plugins using streams.
__NOTE:__ For driver developers: `hal.stream.get_rx_buffer_available` has been renamed to `hal.stream.get_rx_buffer_free` as it was ambiguous \(free space vs. available characters\).
* Added preview version of [Bluetooth plugin](https://github.com/grblHAL/Plugins_Bluetooth/) - allows auto configuration and auto stream switching for drivers/boards that supports it.
* Added number of auxillary I/O ports available to `$I` command response.
* Added value read from last `M66` to the first real-time report following the read. The element `|In:<value>` is used for the report. If the value reported is `-1` the read failed.
Build 20210608:
* Fixes for `$70` setting handling, networking services. Only compile time enabled services \(or protocols\) can now be configured.
config.h
+36 -24
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@@ -30,20 +30,29 @@
// Compile time only default configuration
// Number of axes supported: minimum 3, maximum 6
// If more than 3 axes are required a compliant driver must be provided
//#define N_AXIS 3 // Number of axes
#ifndef N_AXIS
/*! Defines number of axes supported - minimum 3, maximum 6
// Defines compatibility level with the grbl 1.1 protocol.
// Additional G- and M-codes are not disabled except when level is set to >= 10.
// This does not apply to G- and M-codes dependent on driver and/or configuration settings disabled by stting level > 1.
// Set to 0 for reporting itself as "GrblHAL" with protocol extensions enabled.
// Set to 1 to disable some extensions, and for reporting itself as "Grbl".
// Set to 2 to disable new settings as well, use #define parameters for setting default values.
// These can be found in in this file and in defaults.h.
// Set to 10 to also disable new coordinate system offsets (G59.1 - G59.3) and some $# report extensions.
// NOTE: if switching to a level > 1 please reset non-volatile storage with $RST=* after reflashing!
If more than 3 axes are configured a compliant driver and map file is needed.
*/
#define N_AXIS 3 // Number of axes
#endif
#ifndef COMPATIBILITY_LEVEL
/*! Define compatibility level with the grbl 1.1 protocol.
Additional G- and M-codes are not disabled except when level is set to >= 10.
This does not apply to G- and M-codes dependent on driver and/or configuration settings disabled by setting level > 1.
<br>Set to 0 for reporting itself as "GrblHAL" with protocol extensions enabled.
<br>Set to 1 to disable some extensions, and for reporting itself as "Grbl".
<br>Set to 2 to disable new settings as well, use #define parameters for setting default values.
<br>These can be found in in this file and in defaults.h.
<br>Set to 10 to also disable new coordinate system offsets (G59.1 - G59.3) and some $# report extensions.
__NOTE:__ if switching to a level > 1 please reset non-volatile storage with \a $RST=* after reflashing!
*/
#define COMPATIBILITY_LEVEL 0
#endif
//#define KINEMATICS_API // Remove comment to add HAL entry points for custom kinematics
@@ -81,8 +90,11 @@
//#define SAFETY_DOOR_SPINDLE_DELAY 4.0f // Float (seconds)
//#define SAFETY_DOOR_COOLANT_DELAY 1.0f // Float (seconds)
// Control signals bit definitions and mask.
// NOTE: these definitions are only referenced in this file. Do NOT change!
/*! @name Control signals bit definitions and mask.
__NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
*/
///@{
#define SIGNALS_RESET_BIT (1<<0)
#define SIGNALS_FEEDHOLD_BIT (1<<1)
#define SIGNALS_CYCLESTART_BIT (1<<2)
@@ -93,7 +105,7 @@
#define SIGNALS_PROBE_CONNECTED_BIT (1<<7)
#define SIGNALS_MOTOR_FAULT_BIT (1<<8)
#define SIGNALS_BITMASK (SIGNALS_RESET_BIT|SIGNALS_FEEDHOLD_BIT|SIGNALS_CYCLESTART_BIT|SIGNALS_SAFETYDOOR_BIT|SIGNALS_BLOCKDELETE_BIT|SIGNALS_STOPDISABLE_BIT|SIGNALS_ESTOP_BIT|SIGNALS_PROBE_CONNECTED_BIT|SIGNALS_MOTOR_FAULT_BIT)
/**/
///@}
// ---------------------------------------------------------------------------------------
// ADVANCED CONFIGURATION OPTIONS:
@@ -294,7 +306,7 @@
// override immediately after coming to a stop. However, this also means that the laser still may
// be reenabled by disabling the spindle stop override, if needed. This is purely a safety feature
// to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire.
//#define DEFAULT_DISABLE_LASER_DURING_HOLD // Default enabled. Uncomment to disable.
//#define DEFAULT_ENABLE_LASER_DURING_HOLD // Default enabled. Uncomment to disable.
// This option is for what should happen on resume from feed hold.
// Default action is to restore spindle and coolant status (if overridden), this contradicts the
@@ -356,11 +368,11 @@
// instead of ground.
// WARNING: When the pull-ups are disabled, this might require additional wiring with pull-down resistors!
// Please check driver code and/or documentation.
// #define DISABLE_LIMIT_PINS_PULL_UP_MASK AXES_BITMASK
// #define DISABLE_LIMIT_PINS_PULL_UP_MASK (X_AXIS_BIT|Y_AXIS_BIT)
// #define DISABLE_LIMIT_BITS_PULL_UP_MASK AXES_BITMASK
// #define DISABLE_LIMIT_BITS_PULL_UP_MASK (X_AXIS_BIT|Y_AXIS_BIT)
// #define DISABLE_CONTROL_PINS_PULL_UP_MASK SIGNALS_BITMASK
// #define DISABLE_CONTROL_PINS_PULL_UP_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT)
// #define DISABLE_PROBE_PIN_PULL_UP
// #define DISABLE_PROBE_BIT_PULL_UP
// If your machine has two limits switches wired in parallel to one axis, you will need to enable
// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
@@ -394,9 +406,9 @@
// inverting only a few pins. See the start of this file for other signal definitions.
// #define INVERT_CONTROL_PIN_MASK SIGNALS_BITMASK // Default disabled. Uncomment to enable.
// #define INVERT_CONTROL_PIN_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT) // Default disabled. Uncomment to enable.
// #define INVERT_LIMIT_PIN_MASK AXES_BITMASK // Default disabled. Uncomment to enable. Uncomment to enable.
// #define INVERT_LIMIT_PIN_MASK (X_AXIS_BIT|Y_AXIS_BIT) // Default disabled. Uncomment to enable.
// For inverting the probe pin use DEFAULT_INVERT_PROBE_PIN in defaults.h
// #define INVERT_LIMIT_BIT_MASK AXES_BITMASK // Default disabled. Uncomment to enable. Uncomment to enable.
// #define INVERT_LIMIT_BIT_MASK (X_AXIS_BIT|Y_AXIS_BIT) // Default disabled. Uncomment to enable.
// For inverting the probe pin use DEFAULT_INVERT_PROBE_BIT in defaults.h
// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
@@ -496,11 +508,11 @@
//#define DEFAULT_JUNCTION_DEVIATION 0.01f // mm
//#define DEFAULT_ARC_TOLERANCE 0.002f // mm
//#define DEFAULT_REPORT_INCHES
//#define DEFAULT_INVERT_LIMIT_PINS
//#define DEFAULT_INVERT_LIMIT_BITS
//#define DEFAULT_SOFT_LIMIT_ENABLE
//#define DEFAULT_JOG_LIMIT_ENABLE
//#define DEFAULT_HARD_LIMIT_ENABLE
//#define DEFAULT_INVERT_PROBE_PIN
//#define DEFAULT_INVERT_PROBE_BIT
//#define DEFAULT_LASER_MODE
//#define DEFAULT_LATHE_MODE
//#define DEFAULT_HOMING_ENABLE
coolant_control.h
+7 -10
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@@ -23,17 +23,14 @@
#define _COOLANT_CONTROL_H_
typedef union {
uint8_t value;
uint8_t mask;
uint8_t value; //!< Bitmask value
uint8_t mask; //!< Synonym for bitmask value
struct {
uint8_t flood :1,
mist :1,
shower :1,
trough_spindle :1,
reserved4 :1,
reserved5 :1,
reserved6 :1,
reserved7 :1;
uint8_t flood :1, //!< Flood coolant.
mist :1, //!< Mist coolant, optional.
shower :1, //!< Shower coolant, currently unused.
trough_spindle :1, //!< Through spindle coolant, currently unused.
unused :4;
};
} coolant_state_t;
crossbar.h
+9 -5
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@@ -236,11 +236,15 @@ typedef enum {
PinGroup_AuxInput = (1<<15),
} pin_group_t;
//! Pin interrupt modes, may be or'ed when reporting pin capability.
typedef enum {
IRQ_Mode_None = 0b00,
IRQ_Mode_Change = 0b01,
IRQ_Mode_Rising = 0b10,
IRQ_Mode_Falling = 0b11
IRQ_Mode_None = 0b0000, //!< 0b0000 (0x00)
IRQ_Mode_Rising = 0b0001, //!< 0b0001 (0x01)
IRQ_Mode_Falling = 0b0010, //!< 0b0010 (0x02)
IRQ_Mode_Change = 0b0011, //!< 0b0011 (0x03)
IRQ_Mode_High = 0b0100, //!< 0b0100 (0x04)
IRQ_Mode_Low = 0b1000, //!< 0b1000 (0x08)
IRQ_Mode_All = 0b1111 //!< 0b1111 (0x0F) - only used to report port capability.
} pin_irq_mode_t;
typedef enum {
@@ -265,7 +269,7 @@ typedef union {
output :1,
open_drain :1,
pull_mode :2,
irq_mode :2,
irq_mode :4,
pwm :1,
analog :1,
peripheral :1,
defaults.h
+17 -17
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@@ -208,9 +208,9 @@
#define DEFAULT_ARC_TOLERANCE 0.002f
#endif
#ifdef DEFAULT_INVERT_LIMIT_PINS
#undef DEFAULT_INVERT_LIMIT_PINS
#define INVERT_LIMIT_PIN_MASK AXES_BITMASK
#ifdef DEFAULT_INVERT_LIMIT_BITS
#undef DEFAULT_INVERT_LIMIT_BITS
#define INVERT_LIMIT_BIT_MASK AXES_BITMASK
#endif
#ifdef DEFAULT_REPORT_INCHES
@@ -241,11 +241,11 @@
#define DEFAULT_HARD_LIMIT_ENABLE 0
#endif
#ifdef DEFAULT_INVERT_PROBE_PIN
#undef DEFAULT_INVERT_PROBE_PIN
#define DEFAULT_INVERT_PROBE_PIN 1
#ifdef DEFAULT_INVERT_PROBE_BIT
#undef DEFAULT_INVERT_PROBE_BIT
#define DEFAULT_INVERT_PROBE_BIT 1
#else
#define DEFAULT_INVERT_PROBE_PIN 0
#define DEFAULT_INVERT_PROBE_BIT 0
#endif
#ifndef DEFAULT_A_STEPS_PER_MM
@@ -359,11 +359,11 @@
#define DEFAULT_SLEEP_ENABLE 0
#endif
#ifdef DEFAULT_DISABLE_LASER_DURING_HOLD
#undef DEFAULT_DISABLE_LASER_DURING_HOLD
#define DEFAULT_DISABLE_LASER_DURING_HOLD 0
#ifdef DEFAULT_ENABLE_LASER_DURING_HOLD
#undef DEFAULT_ENABLE_LASER_DURING_HOLD
#define DEFAULT_ENABLE_LASER_DURING_HOLD 0
#else
#define DEFAULT_DISABLE_LASER_DURING_HOLD 1
#define DEFAULT_ENABLE_LASER_DURING_HOLD 1
#endif
@@ -561,8 +561,8 @@
#define INVERT_ST_ENABLE_MASK 0
#endif
#ifndef INVERT_LIMIT_PIN_MASK
#define INVERT_LIMIT_PIN_MASK 0
#ifndef INVERT_LIMIT_BIT_MASK
#define INVERT_LIMIT_BIT_MASK 0
#endif
#ifndef INVERT_CONTROL_PIN_MASK
@@ -581,12 +581,12 @@
#define INVERT_SPINDLE_PWM_PIN 0
#endif
#ifndef DISABLE_LIMIT_PINS_PULL_UP_MASK
#define DISABLE_LIMIT_PINS_PULL_UP_MASK 0
#ifndef DISABLE_LIMIT_BITS_PULL_UP_MASK
#define DISABLE_LIMIT_BITS_PULL_UP_MASK 0
#endif
#ifndef DISABLE_PROBE_PIN_PULL_UP
#define DISABLE_PROBE_PIN_PULL_UP 0
#ifndef DISABLE_PROBE_BIT_PULL_UP
#define DISABLE_PROBE_BIT_PULL_UP 0
#endif
#ifndef DISABLE_CONTROL_PINS_PULL_UP_MASK
driver_opts.h
+192
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@@ -0,0 +1,192 @@
/*
driver_opts.h - for preprocessing options from my_machine.h or compiler symbols
NOTE: This file is not used by the core, it may be used by drivers
Part of grblHAL
Copyright (c) 2020-2021 Terje Io
Grbl 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,
but WITHOUT ANY WARRANTY; without even the implied warranty of
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/>.
*/
//
// NOTE: do NOT change options here - edit the driver specific my_machine.h instead!
//
#pragma once
#include "hal.h"
#include "nuts_bolts.h"
#ifndef X_GANGED
#define X_GANGED 0
#endif
#ifndef X_AUTO_SQUARE
#define X_AUTO_SQUARE 0
#endif
#ifndef Y_GANGED
#define Y_GANGED 0
#endif
#ifndef Y_AUTO_SQUARE
#define Y_AUTO_SQUARE 0
#endif
#ifndef Z_GANGED
#define Z_GANGED 0
#endif
#ifndef Z_AUTO_SQUARE
#define Z_AUTO_SQUARE 0
#endif
#ifndef X_GANGED_LIM_MAX
#define X_GANGED_LIM_MAX 0
#endif
#ifndef Y_GANGED_LIM_MAX
#define Y_GANGED_LIM_MAX 0
#endif
#ifndef Z_GANGED_LIM_MAX
#define Z_GANGED_LIM_MAX 0
#endif
#if X_AUTO_SQUARE && !X_GANGED
#undef X_GANGED
#define X_GANGED 1
#endif
#if Y_AUTO_SQUARE && !Y_GANGED
#undef Y_GANGED
#define Y_GANGED 1
#endif
#if Z_AUTO_SQUARE && !Z_GANGED
#undef Z_GANGED
#define Z_GANGED 1
#endif
#define N_GANGED (X_GANGED + Y_GANGED + Z_GANGED)
#define N_AUTO_SQUARED (X_AUTO_SQUARE + Y_AUTO_SQUARE + Z_AUTO_SQUARE)
#define N_ABC_MOTORS (N_ABC_AXIS + N_GANGED)
#ifndef USB_SERIAL_CDC
#define USB_SERIAL_CDC 0 // for UART comms
#endif
#ifndef USB_SERIAL_WAIT
#define USB_SERIAL_WAIT 0
#endif
#ifndef SDCARD_ENABLE
#define SDCARD_ENABLE 0
#endif
#ifndef KEYPAD_ENABLE
#define KEYPAD_ENABLE 0
#endif
#ifndef EEPROM_ENABLE
#define EEPROM_ENABLE 0
#endif
#ifndef EEPROM_IS_FRAM
#define EEPROM_IS_FRAM 0
#endif
#ifndef SPINDLE_SYNC_ENABLE
#define SPINDLE_SYNC_ENABLE 0
#endif
#ifndef TRINAMIC_ENABLE
#define TRINAMIC_ENABLE 0
#endif
#ifndef TRINAMIC_I2C
#define TRINAMIC_I2C 0
#endif
#ifndef TRINAMIC_DEV
#define TRINAMIC_DEV 0
#endif
#ifndef PWM_RAMPED
#define PWM_RAMPED 0
#endif
#ifndef PLASMA_ENABLE
#define PLASMA_ENABLE 0
#endif
#ifndef PPI_ENABLE
#define PPI_ENABLE 0
#endif
#ifndef SPINDLE_HUANYANG
#define SPINDLE_HUANYANG 0
#endif
#ifndef QEI_ENABLE
#define QEI_ENABLE 0
#endif
#ifndef ODOMETER_ENABLE
#define ODOMETER_ENABLE 0
#endif
#ifndef BLUETOOTH_ENABLE
#define BLUETOOTH_ENABLE 0
#endif
#ifndef OPENPNP_ENABLE
#define OPENPNP_ENABLE 0
#endif
#ifndef LIMITS_OVERRIDE_ENABLE
#define LIMITS_OVERRIDE_ENABLE 0
#endif
#ifndef ESTOP_ENABLE
#if COMPATIBILITY_LEVEL <= 1
#define ESTOP_ENABLE 1
#else
#define ESTOP_ENABLE 0
#endif
#elif ESTOP_ENABLE && COMPATIBILITY_LEVEL > 1
#warning "Enabling ESTOP may not work with all senders!"
#endif
#ifndef ETHERNET_ENABLE
#define ETHERNET_ENABLE 0
#endif
#ifndef TELNET_ENABLE
#define TELNET_ENABLE 0
#endif
#ifndef WEBSOCKET_ENABLE
#define WEBSOCKET_ENABLE 0
#endif
#ifndef FTP_ENABLE
#define FTP_ENABLE 0
#elif !SDCARD_ENABLE
#undef FTP_ENABLE
#define FTP_ENABLE 0
#endif
#if ETHERNET_ENABLE
#ifndef NETWORK_HOSTNAME
#define NETWORK_HOSTNAME "GRBL"
#endif
#ifndef NETWORK_IPMODE
#define NETWORK_IPMODE 1 // 0 = static, 1 = DHCP, 2 = AutoIP
#endif
#ifndef NETWORK_IP
#define NETWORK_IP "192.168.5.1"
#endif
#ifndef NETWORK_GATEWAY
#define NETWORK_GATEWAY "192.168.5.1"
#endif
#ifndef NETWORK_MASK
#define NETWORK_MASK "255.255.255.0"
#endif
#ifndef NETWORK_TELNET_PORT
#define NETWORK_TELNET_PORT 23
#endif
#ifndef NETWORK_WEBSOCKET_PORT
#define NETWORK_WEBSOCKET_PORT 80
#endif
#ifndef NETWORK_HTTP_PORT
#define NETWORK_HTTP_PORT 80
#endif
#if NETWORK_IPMODE < 0 || NETWORK_IPMODE > 2
#error "Invalid IP mode selected!"
#endif
#endif
/*EOF*/
gcode.c
+113 -104
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File diff suppressed because it is too large Load Diff
gcode.h
+319 -250
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File diff suppressed because it is too large Load Diff
grbl.h
+3 -11
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@@ -34,7 +34,7 @@
#else
#define GRBL_VERSION "1.1f"
#endif
#define GRBL_VERSION_BUILD "20210608"
#define GRBL_VERSION_BUILD "20210626"
// The following symbols are set here if not already set by the compiler or in config.h
// Do NOT change here!
@@ -43,10 +43,10 @@
#include "esp_attr.h"
#define ISR_CODE IRAM_ATTR
#else
//#define ISR_CODE __attribute__((long_call, section(".data")))
// #define ISR_CODE __attribute__((long_call, section(".data")))
// Used to decorate code run in interrupt context.
// Do not remove or change unless you know what you are doing.
#define ISR_CODE
#define ISR_CODE //!< Used by some drivers to force a function to always stay in RAM to improve performance.
#endif
#ifdef ARDUINO
@@ -57,14 +57,6 @@
#define PROGMEM
#endif
#ifndef N_AXIS
#define N_AXIS 3 // Number of axes
#endif
#ifndef COMPATIBILITY_LEVEL
#define COMPATIBILITY_LEVEL 0
#endif
#if (defined(COREXY) || defined(WALL_PLOTTER) || defined(MASLOW_ROUTER)) && !defined(KINEMATICS_API)
#define KINEMATICS_API
#endif
grbllib.c
+2 -2
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@@ -49,8 +49,7 @@
#include "wall_plotter.h"
#endif
// Declare system global variable structure
system_t sys = {0};
struct system sys = {0}; //!< System global variable structure.
grbl_t grbl;
grbl_hal_t hal;
@@ -229,6 +228,7 @@ int grbl_enter (void)
else
memset(&sys, 0, offsetof(system_t, alarm)); // Clear system variables except state & alarm.
sys.var5933 = -2; // Clear last M66 result
sys.override.feed_rate = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.override.rapid_rate = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.override.spindle_rpm = DEFAULT_SPINDLE_RPM_OVERRIDE; // Set to 100%
hal.h
+604 -132
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File diff suppressed because it is too large Load Diff
motion_control.c
+1 -1
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@@ -770,7 +770,7 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
// TODO: Move the pin-specific LIMIT_BIT call to limits.c as a function.
if (settings.limits.flags.two_switches && hal.homing.get_state == hal.limits.get_state && limit_signals_merge(hal.limits.get_state()).value) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(Alarm_HardLimit);
motor_pins.h
+607
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File diff suppressed because it is too large Load Diff
nuts_bolts.h
+15 -4
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@@ -95,6 +95,16 @@
#define AXES_BITMASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT|A_AXIS_BIT|B_AXIS_BIT|C_AXIS_BIT|U_AXIS_BIT|V_AXIS_BIT)
#endif
#ifdef C_AXIS
#define N_ABC_AXIS 3
#elif defined(B_AXIS)
#define N_ABC_AXIS 2
#elif defined(A_AXIS)
#define N_ABC_AXIS 1
#else
#define N_ABC_AXIS 0
#endif
extern char const *const axis_letter[];
typedef union {
@@ -114,11 +124,12 @@ typedef union {
#pragma pack(push, 1)
//! \brief Limit switches struct, consists of four packed axes_signals_t structs.
typedef struct {
axes_signals_t min;
axes_signals_t max;
axes_signals_t min2;
axes_signals_t max2;
axes_signals_t min; //!< Min limit switches status, required.
axes_signals_t max; //!< Max limit switches status, optional.
axes_signals_t min2; //!< Secondary min limit switch(es) status, required for auto squaring enabled axes.
axes_signals_t max2; //!< Secondary max limit switches status, optional (of no practical use?).
} limit_signals_t;
#pragma pack(pop)
nvs.h
+85 -23
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@@ -24,16 +24,27 @@
#define _NVS_H_
#ifndef NVS_SIZE
/*! \brief Total size in bytes of the NVS.
Minimum 1024 bytes required, more if space for driver and/or plugin data and settings is required.
*/
#define NVS_SIZE 2048
#endif
/*! \brief Number of bytes at the start of the NVS area reserved for core settings and parameters.
Minimum 1024 bytes required.
*/
#define GRBL_NVS_SIZE 1024
//! Number of bytes used for storing CRC values. Do not change this!
#define NVS_CRC_BYTES 1
// Define persistent storage memory address location values for Grbl settings and parameters
// NOTE: 1KB persistent storage is the minimum required. The upper half is reserved for parameters and
// the startup script. The lower half contains the global settings and space for future
// developments.
/*! @name Define persistent storage memory address location values for core settings and parameters.
The upper half is reserved for parameters and the startup script.
The lower half contains the global settings and space for future developments.
__NOTE:__ 1024 bytes of persistent storage is the minimum required.
*/
///@{
#define NVS_ADDR_GLOBAL 1U
#define NVS_ADDR_PARAMETERS 512U
#define NVS_ADDR_BUILD_INFO 942U
@@ -41,37 +52,88 @@
#ifdef N_TOOLS
#define NVS_ADDR_TOOL_TABLE (NVS_ADDR_PARAMETERS - 1 - N_TOOLS * (sizeof(tool_data_t) + NVS_CRC_BYTES))
#endif
///@}
typedef enum {
NVS_None = 0,
NVS_EEPROM,
NVS_FRAM,
NVS_Flash,
NVS_Emulated
NVS_None = 0, //!< 0
NVS_EEPROM, //!< 1
NVS_FRAM, //!< 2
NVS_Flash, //!< 3
NVS_Emulated //!< 4 - used by the core for buffered read and write
} nvs_type;
//! Structure for keeping track of NVS area used by driver and/or plugin code.
typedef struct {
uint8_t *mem_address;
uint16_t address;
uint16_t size;
uint8_t *mem_address; //!< Pointer to location in RAM where driver area is located.
uint16_t address; //!< Index based address into the storage area where the driver area starts.
uint16_t size; //!< Actual size of driver area in bytes.
} nvs_driver_area_t;
typedef enum {
NVS_TransferResult_Failed = 0,
NVS_TransferResult_Busy,
NVS_TransferResult_OK,
NVS_TransferResult_Failed = 0, //!< 0
NVS_TransferResult_Busy, //!< 1
NVS_TransferResult_OK, //!< 2
} nvs_transfer_result_t;
/*! \brief Pointer to function for getting a byte from NVS storage.
\param addr index base address into the area.
\returns byte read.
*/
typedef uint8_t (*get_byte_ptr)(uint32_t addr);
/*! \brief Pointer to function for putting a byte into NVS storage.
\param addr index based address into the storage area.
\param new_value byte to write.
*/
typedef void (*put_byte_ptr)(uint32_t addr, uint8_t new_value);
/*! \brief Pointer to function for reading a block of data from NVS storage
\param dest pointer to destination of data.
\param source index based address into the storage area.
\param number of bytes to write.
\param with_checksum \a true calculate and verify checksum at the end of the data block, \a false do not calculate and verify checksum.
\returns #nvs_transfer_result_t enum.
*/
typedef nvs_transfer_result_t (*memcpy_from_nvs_ptr)(uint8_t *dest, uint32_t source, uint32_t size, bool with_checksum);
/*! \brief Pointer to function for writing a block of data to NVS storage
\param dest index based address into the storage area.
\param source pointer to source data
\param number of bytes to write
\param with_checksum \a true calculate and add a checksum at the end of the data block, \a false do not add checksum.
\returns #nvs_transfer_result_t enum.
*/
typedef nvs_transfer_result_t (*memcpy_to_nvs_ptr)(uint32_t dest, uint8_t *source, uint32_t size, bool with_checksum);
/*! \brief Pointer to function for reading a block of data from flash based NVS storage.
\param dest pointer to destination of data.
\returns true if successful, false otherwise.
*/
typedef bool (*memcpy_from_flash_ptr)(uint8_t *dest);
/*! \brief Pointer to function for reading a block of data from flash based NVS storage.
\param source pointer to source data.
\returns true if successful, false otherwise.
*/
typedef bool (*memcpy_to_flash_ptr)(uint8_t *source);
//! \brief Handler functions and variables for NVS storage of settings and data.
typedef struct {
nvs_type type;
uint16_t size;
nvs_type type; //!< Type of NVS storage.
uint16_t size; //!< Actual size of non-volatile storage area.
nvs_driver_area_t driver_area;
uint8_t (*get_byte)(uint32_t addr);
void (*put_byte)(uint32_t addr, uint8_t new_value);
nvs_transfer_result_t (*memcpy_to_nvs)(uint32_t destination, uint8_t *source, uint32_t size, bool with_checksum);
nvs_transfer_result_t (*memcpy_from_nvs)(uint8_t *destination, uint32_t source, uint32_t size, bool with_checksum);
bool (*memcpy_from_flash)(uint8_t *dest);
bool (*memcpy_to_flash)(uint8_t *source);
//! @name Handler functions for EEPROM or FRAM based storage.
//@{
get_byte_ptr get_byte; //!< Handler for reading a byte from EEPROM or FRAM.
put_byte_ptr put_byte; //!< Handler for writing a byte to EEPROM or FRAM.
memcpy_to_nvs_ptr memcpy_to_nvs; //!< Handler for reading a block of data from EEPROM or FRAM.
memcpy_from_nvs_ptr memcpy_from_nvs; //!< Handler for writing a block of data to EEPROM or FRAM.
//@}
//! @name Handler functions for Flash based storage.
//@{
memcpy_from_flash_ptr memcpy_from_flash; //!< Handler for reading a block of data from flash.
memcpy_to_flash_ptr memcpy_to_flash; //!< Handler for writing a block of data to flash.
//@}
} nvs_io_t;
#endif
planner.h
+1 -1
View File
@@ -54,7 +54,7 @@ typedef struct plan_block {
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
axes_signals_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
axes_signals_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_PIN in config.h)
// Block condition data to ensure correct execution depending on states and overrides.
planner_cond_t condition; // Block bitfield variable defining block run conditions. Copied from pl_line_data.
plugins.h
+6 -6
View File
@@ -130,8 +130,8 @@ typedef enum {
typedef enum {
Setting_EncoderMode = 0,
Setting_EncoderCPR = 1, // Count Per Revolution
Setting_EncoderCPD = 2, // Count Per Detent
Setting_EncoderCPR = 1, //!< Count Per Revolution.
Setting_EncoderCPD = 2, //!< Count Per Detent.
Setting_EncoderDblClickWindow = 3 // ms
} encoder_setting_id_t;
@@ -156,16 +156,16 @@ typedef union {
typedef struct {
encoder_mode_t mode;
uint32_t cpr; // count per revolution
uint32_t cpd; // count per detent
uint32_t dbl_click_window; // ms
uint32_t cpr; //!< Count per revolution.
uint32_t cpd; //!< Count per detent.
uint32_t dbl_click_window; //!< ms.
encoder_flags_t flags;
} encoder_settings_t;
typedef struct {
encoder_mode_t mode;
uint_fast8_t id;
uint_fast8_t axis; // axis index for MPG encoders, 0xFF for others
uint_fast8_t axis; //!< Axis index for MPG encoders, 0xFF for others.
int32_t position;
uint32_t velocity;
encoder_event_t event;
probe.h
+6 -6
View File
@@ -25,17 +25,17 @@
// Values that define the probing state machine.
typedef enum {
Probing_Off = 0,
Probing_Active
Probing_Off = 0, //!< 0
Probing_Active //!< 0
} probing_state_t;
typedef union {
uint8_t value;
struct {
uint8_t triggered :1,
connected :1,
inverted :1, // For driver use
is_probing :1, // For driver use
uint8_t triggered :1, //<! Set to true when probe is triggered.
connected :1, //<! Set to true when probe is connected. Always set to true if the driver does not have a probe connected input.
inverted :1, //<! For driver use
is_probing :1, //<! For driver use
unassigned :4;
};
} probe_state_t;
protocol.c
+3 -2
View File
@@ -398,7 +398,7 @@ bool protocol_execute_realtime (void)
// NOTE: Do not alter this unless you know exactly what you are doing!
bool protocol_exec_rt_system (void)
{
uint_fast16_t rt_exec;
rt_exec_t rt_exec;
bool killed = false;
if (sys.rt_exec_alarm && (rt_exec = system_clear_exec_alarm())) { // Enter only if any bit flag is true
@@ -758,8 +758,9 @@ ISR_CODE bool protocol_enqueue_realtime_command (char c)
case CMD_STATUS_REPORT_ALL: // Add all statuses on to report
{
bool tlo = sys.report.tool_offset;
sys.report.value = (uint16_t)-1;
sys.report.value = (uint32_t)-1;
sys.report.tool_offset = tlo;
sys.report.m66result = sys.var5933 > -2;
}
// no break
report.c
+20 -1
View File
@@ -1079,6 +1079,18 @@ void report_build_info (char *line, bool extended)
hal.stream.write("]" ASCII_EOL);
#endif
if(hal.port.num_digital_in + hal.port.num_digital_out + hal.port.num_analog_in + hal.port.num_analog_out > 0) {
hal.stream.write("[AUX IO:");
hal.stream.write(uitoa(hal.port.num_digital_in));
hal.stream.write(",");
hal.stream.write(uitoa(hal.port.num_digital_out));
hal.stream.write(",");
hal.stream.write(uitoa(hal.port.num_analog_in));
hal.stream.write(",");
hal.stream.write(uitoa(hal.port.num_analog_out));
hal.stream.write("]" ASCII_EOL);
}
grbl.on_report_options(false);
}
}
@@ -1197,7 +1209,7 @@ void report_realtime_status (void)
hal.stream.write_all("|Bf:");
hal.stream.write_all(uitoa((uint32_t)plan_get_block_buffer_available()));
hal.stream.write_all(",");
hal.stream.write_all(uitoa(hal.stream.get_rx_buffer_available()));
hal.stream.write_all(uitoa(hal.stream.get_rx_buffer_free()));
}
if(settings.status_report.line_numbers) {
@@ -1346,6 +1358,13 @@ void report_realtime_status (void)
if(sys.report.tlo_reference)
hal.stream.write_all(appendbuf(2, "|TLR:", uitoa(sys.tlo_reference_set.mask != 0)));
if(sys.report.m66result && sys.var5933 > -2) { // M66 result
if(sys.var5933 >= 0)
hal.stream.write_all(appendbuf(2, "|In:", uitoa(sys.var5933)));
else
hal.stream.write_all("|In:-1");
}
}
if(grbl.on_realtime_report)
settings.c
+54 -65
View File
@@ -79,7 +79,7 @@ PROGMEM const settings_t defaults = {
.flags.sleep_enable = DEFAULT_SLEEP_ENABLE,
#if DEFAULT_LASER_MODE
.mode = Mode_Laser,
.flags.disable_laser_during_hold = DEFAULT_DISABLE_LASER_DURING_HOLD,
.flags.disable_laser_during_hold = DEFAULT_ENABLE_LASER_DURING_HOLD,
#else
.flags.disable_laser_during_hold = 0,
#if DEFAULT_LATHE_MODE
@@ -89,9 +89,9 @@ PROGMEM const settings_t defaults = {
.flags.restore_after_feed_hold = DEFAULT_RESTORE_AFTER_FEED_HOLD,
.flags.force_initialization_alarm = DEFAULT_FORCE_INITIALIZATION_ALARM,
.probe.disable_probe_pullup = DISABLE_PROBE_PIN_PULL_UP,
.probe.disable_probe_pullup = DISABLE_PROBE_BIT_PULL_UP,
.probe.allow_feed_override = ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES,
.probe.invert_probe_pin = DEFAULT_INVERT_PROBE_PIN,
.probe.invert_probe_pin = DEFAULT_INVERT_PROBE_BIT,
.steppers.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS,
.steppers.pulse_delay_microseconds = DEFAULT_STEP_PULSE_DELAY,
@@ -141,8 +141,8 @@ PROGMEM const settings_t defaults = {
.limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
.limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES,
.limits.invert.mask = INVERT_LIMIT_PIN_MASK,
.limits.disable_pullup.mask = DISABLE_LIMIT_PINS_PULL_UP_MASK,
.limits.invert.mask = INVERT_LIMIT_BIT_MASK,
.limits.disable_pullup.mask = DISABLE_LIMIT_BITS_PULL_UP_MASK,
.control_invert.mask = INVERT_CONTROL_PIN_MASK,
.control_disable_pullup.mask = DISABLE_CONTROL_PINS_PULL_UP_MASK,
@@ -355,8 +355,8 @@ 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 control_signals_map[] = "0,1,2,3,4,5,6,7,8";
static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
static char coolant_signals[] = "Flood,Mist";
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 },
@@ -380,10 +380,10 @@ PROGMEM static const setting_detail_t setting_detail[] = {
{ Setting_JunctionDeviation, Group_General, "Junction deviation", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.junction_deviation, NULL, NULL },
{ Setting_ArcTolerance, Group_General, "Arc tolerance", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.arc_tolerance, NULL, NULL },
{ Setting_ReportInches, Group_General, "Report in inches", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_report_inches, get_int, NULL },
{ Setting_ControlInvertMask, Group_ControlSignals, "Invert control pins", NULL, Format_Bitfield, control_signals, control_signals_map, NULL, Setting_IsExpandedFn, set_control_invert, get_int, NULL },
{ Setting_CoolantInvertMask, Group_Coolant, "Invert coolant pins", NULL, Format_Bitfield, "Flood,Mist", NULL, NULL, Setting_IsExtended, &settings.coolant_invert.mask, NULL, NULL },
{ Setting_ControlInvertMask, Group_ControlSignals, "Invert control pins", NULL, Format_Bitfield, control_signals, NULL, NULL, Setting_IsExpandedFn, set_control_invert, get_int, NULL },
{ Setting_CoolantInvertMask, Group_Coolant, "Invert coolant pins", NULL, Format_Bitfield, coolant_signals, NULL, NULL, Setting_IsExtended, &settings.coolant_invert.mask, NULL, NULL },
{ Setting_SpindleInvertMask, Group_Spindle, "Invert spindle signals", NULL, Format_Bitfield, spindle_signals, NULL, NULL, Setting_IsExtendedFn, set_spindle_invert, get_int, NULL },
{ Setting_ControlPullUpDisableMask, Group_ControlSignals, "Pullup disable control pins", NULL, Format_Bitfield, control_signals, control_signals_map, NULL, Setting_IsExtendedFn, set_control_disable_pullup, get_int, NULL },
{ Setting_ControlPullUpDisableMask, Group_ControlSignals, "Pullup disable control pins", NULL, Format_Bitfield, control_signals, NULL, NULL, Setting_IsExtendedFn, set_control_disable_pullup, get_int, NULL },
{ Setting_LimitPullUpDisableMask, Group_Limits, "Pullup disable limit pins", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.limits.disable_pullup.mask, NULL, NULL },
{ Setting_ProbePullUpDisable, Group_Probing, "Pullup disable probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_probe_disable_pullup, get_int, NULL },
{ Setting_SoftLimitsEnable, Group_Limits, "Soft limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_soft_limits_enable, get_int, NULL },
@@ -547,7 +547,7 @@ setting_details_t *settings_get_details (void)
#if COMPATIBILITY_LEVEL > 1
static status_code_t set_limits_invert_mask (setting_id_t id, uint_fast16_t int_value)
{
settings.limits.invert.mask = (int_value ? ~(INVERT_LIMIT_PIN_MASK) : INVERT_LIMIT_PIN_MASK) & AXES_BITMASK;
settings.limits.invert.mask = (int_value ? ~(INVERT_LIMIT_BIT_MASK) : INVERT_LIMIT_BIT_MASK) & AXES_BITMASK;
return Status_OK;
}
@@ -700,7 +700,7 @@ static status_code_t set_mode (setting_id_t id, uint_fast16_t int_value)
if(!hal.driver_cap.variable_spindle)
return Status_SettingDisabledLaser;
if(settings.mode != Mode_Laser)
settings.flags.disable_laser_during_hold = DEFAULT_DISABLE_LASER_DURING_HOLD;
settings.flags.disable_laser_during_hold = DEFAULT_ENABLE_LASER_DURING_HOLD;
gc_state.modal.diameter_mode = false;
break;
@@ -967,7 +967,7 @@ static uint32_t get_int (setting_id_t id)
#if COMPATIBILITY_LEVEL > 1
case Setting_LimitPinsInvertMask:
value = settings.limits.invert.mask == INVERT_LIMIT_PIN_MASK ? 0 : 1;
value = settings.limits.invert.mask == INVERT_LIMIT_BIT_MASK ? 0 : 1;
break;
#endif
@@ -992,7 +992,7 @@ static uint32_t get_int (setting_id_t id)
break;
case Setting_ControlInvertMask:
value = settings.control_invert.mask;
value = settings.control_invert.mask & hal.signals_cap.mask;
break;
case Setting_SpindleInvertMask:
@@ -1000,7 +1000,7 @@ static uint32_t get_int (setting_id_t id)
break;
case Setting_ControlPullUpDisableMask:
value = settings.control_disable_pullup.mask;
value = settings.control_disable_pullup.mask & hal.signals_cap.mask;
break;
case Setting_ProbePullUpDisable:
@@ -1630,20 +1630,18 @@ bool setting_is_list (const setting_detail_t *setting)
static char *remove_element (char *s, uint_fast8_t entry)
{
if(entry) {
while(*s && entry) {
if(*s == ',' && --entry == 0)
*s = '\0';
else
s++;
}
while(entry && *s) {
if(*s == ',')
entry--;
s++;
}
if(entry == 0) {
char *s2 = s + 1;
if(*s2 == ',')
s2++;
else while(*s2 && *s2 != ',')
*s++ = 'N';
*s++ = '/';
*s++ = 'A';
char *s2 = s;
while(*s2 && *s2 != ',')
s2++;
while(*s2)
*s++ = *s2++;
@@ -1657,10 +1655,28 @@ static void setting_remove_element (setting_id_t id, uint_fast8_t pos)
{
const setting_detail_t *setting = setting_get_details(id, NULL);
if(setting && setting_is_list(setting)) {
if(setting && setting_is_list(setting))
remove_element((char *)setting->format, pos);
if(setting->min_value)
remove_element((char *)setting->min_value, pos);
}
// Flag setting elements for bitfields as N/A according to a mask
// Note: setting format string has to reside in RAM.
void setting_remove_elements (setting_id_t id, uint32_t mask)
{
char *format = (char *)setting_get_details(id, NULL)->format, *s;
uint_fast8_t idx, entries = strnumentries(format, ',');
for(idx = 0; idx < entries; idx++ ) {
if(!(mask & 0x1))
setting_remove_element(id, idx);
mask >>= 1;
}
// Strip trailing N/A's
while((s = strrchr(format, ','))) {
if(strncmp(s, ",N/A", 4))
break;
*s = '\0';
}
}
@@ -1673,22 +1689,7 @@ inline static bool setting_is_core (setting_type_t type)
{
return !(type == Setting_NonCore || type == Setting_NonCoreFn);
}
/*
static uint32_t get_mask (const char *bits)
{
uint32_t mask = 0;
uint_fast8_t set_idx = 0;
float value;
while(read_float((char *)bits, &set_idx, &value)) {
mask |= (1 << (uint8_t)value);
if(bits[set_idx] == ',')
set_idx++;
}
return mask;
}
*/
status_code_t setting_validate_me (const setting_detail_t *setting, float value, char *svalue)
{
status_code_t status = Status_OK;
@@ -1702,9 +1703,7 @@ status_code_t setting_validate_me (const setting_detail_t *setting, float value,
case Format_Bitfield:
case Format_XBitfield:;
if(!(isintf(value) && /* (setting->min_value
? (((uint32_t)value & ~get_mask(setting->min_value)) == 0)
: */ ((uint32_t)value < (1UL << strnumentries(setting->format, ','))))) //)
if(!(isintf(value) && ((uint32_t)value < (1UL << strnumentries(setting->format, ','))))) //)
status = Status_SettingValueOutOfRange;
break;
@@ -1887,27 +1886,17 @@ void settings_init (void)
hal.probe.configure(false, false);
}
if(!hal.driver_cap.spindle_pwm_invert)
setting_remove_element(Setting_SpindleInvertMask, 2);
spindle_state_t spindle_cap = {
.on = On,
.ccw = hal.driver_cap.spindle_dir,
.pwm = hal.driver_cap.spindle_pwm_invert
};
if(!hal.signals_cap.motor_fault)
setting_remove_element(Setting_ControlInvertMask, 8);
/* TODO
if(!hal.signals_cap.probe_disconnected)
setting_remove_element(Setting_ControlInvertMask, 7);
setting_remove_elements(Setting_SpindleInvertMask, spindle_cap.mask);
setting_remove_elements(Setting_ControlInvertMask, hal.signals_cap.mask);
if(!hal.signals_cap.e_stop)
setting_remove_element(Setting_ControlInvertMask, 6);
if(!hal.signals_cap.stop_disable)
setting_remove_element(Setting_ControlInvertMask, 5);
if(!hal.signals_cap.block_delete)
setting_remove_element(Setting_ControlInvertMask, 4);
if(!hal.signals_cap.safety_door_ajar)
setting_remove_element(Setting_ControlInvertMask, 3);
*/
if(!hal.driver_cap.mist_control)
setting_remove_element(Setting_CoolantInvertMask, 1);
setting_details_t *details = settings_get_details();
settings.h
+6
View File
@@ -227,6 +227,7 @@ typedef enum {
Settings_ModBus_BaudRate = 374,
Settings_ModBus_RXTimeout = 375,
Settings_Axis_Rotational = 376,
Setting_BlueToothInitOK = 377,
Setting_EncoderSettingsBase = 400, // NOTE: Reserving settings values >= 400 for encoder settings. Up to 449.
Setting_EncoderSettingsMax = 449,
@@ -661,7 +662,11 @@ typedef float (*setting_get_float_ptr)(setting_id_t id);
typedef char *(*setting_get_string_ptr)(setting_id_t id);
typedef bool (*setting_output_ptr)(const setting_detail_t *setting, uint_fast16_t offset, void *data);
/*! \brief Pointer to callback function to be called when settings are loaded or changed.
\param pointer to \a settings_t struct containing the settings.
*/
typedef void (*settings_changed_ptr)(settings_t *settings);
typedef void (*driver_settings_load_ptr)(void);
typedef void (*driver_settings_save_ptr)(void);
typedef void (*driver_settings_restore_ptr)(void);
@@ -728,5 +733,6 @@ setting_group_t settings_normalize_group (setting_group_t group);
char *setting_get_value (const setting_detail_t *setting, uint_fast16_t offset);
setting_id_t settings_get_axis_base (setting_id_t id, uint_fast8_t *idx);
bool setting_is_list (const setting_detail_t *setting);
void setting_remove_elements (setting_id_t id, uint32_t mask);
#endif
sleep.c
+2 -2
View File
@@ -38,11 +38,11 @@ static void sleep_execute()
hal.delay_ms((uint32_t)(SLEEP_DURATION * 1000.0f * 60.0f), fall_asleep);
// Fetch current number of buffered characters in input stream buffer.
uint16_t rx_initial = hal.stream.get_rx_buffer_available();
uint16_t rx_initial = hal.stream.get_rx_buffer_free();
do {
// Monitor for any new input stream data or external events (queries, buttons, alarms) to exit.
if ((hal.stream.get_rx_buffer_available() != rx_initial) || sys.rt_exec_state || sys.rt_exec_alarm ) {
if ((hal.stream.get_rx_buffer_free() != rx_initial) || sys.rt_exec_state || sys.rt_exec_alarm ) {
// Disable sleep timeout and return to normal operation.
hal.delay_ms(0, NULL);
return;
spindle_control.h
+16 -5
View File
@@ -73,9 +73,9 @@ typedef struct {
} spindle_data_t;
typedef enum {
SpindleData_Counters,
SpindleData_RPM,
SpindleData_AngularPosition
SpindleData_Counters, //!< 0
SpindleData_RPM, //!< 1
SpindleData_AngularPosition //!< 2
} spindle_data_request_t;
void spindle_set_override (uint_fast8_t speed_override);
@@ -100,10 +100,21 @@ bool spindle_restore (spindle_state_t state, float rpm);
// The following functions are not called by the core, may be called by driver code.
//
// Precompute PWM values for faster conversion.
/*! \brief Precompute PWM values for faster conversion.
\param pwm_data pointer t a \a spindle_pwm_t structure.
\param clock_hz timer clock frequency used for PWM generation.
\returns true if successful, false if no PWM range possible - driver should revert to simple on/off spindle control if so.
*/
bool spindle_precompute_pwm_values (spindle_pwm_t *pwm_data, uint32_t clock_hz);
// Spindle speed to PWM conversion.
/*! \brief Spindle RPM to PWM conversion.
\param pwm_data pointer t a \a spindle_pwm_t structure.
\param rpm spindle RPM.
\param pid_limit boolean, true if PID based spindle sync is used, false otherwise.
__NOTE:__ \a spindle_precompute_pwm_values() must be called to precompute values before this function is called.
Typically this is done in the \a hal.driver_setup handler.
*/
uint_fast16_t spindle_compute_pwm_value (spindle_pwm_t *pwm_data, float rpm, bool pid_limit);
#endif
state_machine.c
+2 -2
View File
@@ -126,7 +126,7 @@ bool state_door_reopened (void)
return settings.parking.flags.enabled && park.restart_retract;
}
void state_update (uint_fast16_t rt_exec)
void state_update (rt_exec_t rt_exec)
{
if((rt_exec & EXEC_SAFETY_DOOR) && sys_state != STATE_SAFETY_DOOR)
state_set(STATE_SAFETY_DOOR);
@@ -139,7 +139,7 @@ sys_state_t state_get (void)
return sys_state;
}
void state_set (uint_fast16_t new_state)
void state_set (sys_state_t new_state)
{
if(new_state != sys_state) {
state_machine.h
+2 -2
View File
@@ -25,8 +25,8 @@
#define _STATE_MACHINE_H_
sys_state_t state_get (void);
void state_set (uint_fast16_t state);
void state_update (uint_fast16_t rt_exec);
void state_set (sys_state_t state);
void state_update (rt_exec_t rt_exec);
bool state_door_reopened (void);
void state_suspend_manager (void);
stepper.c
+10
View File
@@ -31,6 +31,8 @@
//#include "debug.h"
//! \cond
#ifndef ACCELERATION_TICKS_PER_SECOND
#define ACCELERATION_TICKS_PER_SECOND 100
#endif
@@ -39,6 +41,7 @@
#define DT_SEGMENT (1.0f/(ACCELERATION_TICKS_PER_SECOND*60.0f)) // min/segment
#define REQ_MM_INCREMENT_SCALAR 1.25f
typedef enum {
Ramp_Accel,
Ramp_Cruise,
@@ -129,6 +132,8 @@ typedef struct {
float current_spindle_rpm;
} st_prep_t;
//! \endcond
static st_prep_t prep;
@@ -274,6 +279,9 @@ ISR_CODE void st_go_idle ()
ISR is 5usec typical and 25usec maximum, well below requirement.
NOTE: This ISR expects at least one step to be executed per segment.
*/
//! \cond
ISR_CODE void stepper_driver_interrupt_handler (void)
{
#ifdef ENABLE_BACKLASH_COMPENSATION
@@ -522,6 +530,8 @@ ISR_CODE void stepper_driver_interrupt_handler (void)
}
}
//! \endcond
// Reset and clear stepper subsystem variables
void st_reset ()
{
stepper.h
+48 -48
View File
@@ -31,83 +31,83 @@
#endif
typedef enum {
SquaringMode_Both = 0,
SquaringMode_A,
SquaringMode_B,
SquaringMode_Both = 0, //!< 0
SquaringMode_A, //!< 1
SquaringMode_B, //!< 2
} squaring_mode_t;
// Holds the planner block Bresenham algorithm execution data for the segments in the segment buffer.
// NOTE: This data is copied from the prepped planner blocks so that the planner blocks may be
// discarded when entirely consumed and completed by the segment buffer. Also, AMASS alters this
// data for its own use.
/*! \brief Holds the planner block Bresenham algorithm execution data for the segments in the segment buffer.
__NOTE:__ This data is copied from the prepped planner blocks so that the planner blocks may be
discarded when entirely consumed and completed by the segment buffer. Also, AMASS alters this
data for its own use. */
typedef struct st_block {
uint_fast8_t id; // Id may be used by driver to track changes
struct st_block *next; // Pointer to next element in cirular list of blocks
uint_fast8_t id; //!< Id may be used by driver to track changes
struct st_block *next; //!< Pointer to next element in cirular list of blocks
uint32_t steps[N_AXIS];
uint32_t step_event_count;
axes_signals_t direction_bits;
gc_override_flags_t overrides; // Block bitfield variable for overrides
gc_override_flags_t overrides; //!< Block bitfield variable for overrides
float steps_per_mm;
float millimeters;
float programmed_rate;
char *message; // Message to be displayed when block is executed
output_command_t *output_commands; // Output commands (linked list) to be performed when block is executed
bool dynamic_rpm; // Tracks motions that require dynamic RPM adjustment
char *message; //!< Message to be displayed when block is executed
output_command_t *output_commands; //!< Output commands (linked list) to be performed when block is executed
bool dynamic_rpm; //!< Tracks motions that require dynamic RPM adjustment
bool backlash_motion;
} st_block_t;
typedef struct st_segment {
uint_fast8_t id; // Id may be used by driver to track changes
struct st_segment *next; // Pointer to next element in cirular list of segments
st_block_t *exec_block; // Pointer to the block data for the segment
uint32_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate.
uint_fast8_t id; //!< Id may be used by driver to track changes
struct st_segment *next; //!< Pointer to next element in cirular list of segments
st_block_t *exec_block; //!< Pointer to the block data for the segment
uint32_t cycles_per_tick; //!< Step distance traveled per ISR tick, aka step rate.
float current_rate;
float target_position; // Target position of segment relative to block start, used by spindle sync code
uint_fast16_t n_step; // Number of step events to be executed for this segment
float target_position; //!< Target position of segment relative to block start, used by spindle sync code
uint_fast16_t n_step; //!< Number of step events to be executed for this segment
#ifdef SPINDLE_PWM_DIRECT
uint_fast16_t spindle_pwm; // Spindle PWM to be set at the start of segment execution
uint_fast16_t spindle_pwm; //!< Spindle PWM to be set at the start of segment execution
#else
float spindle_rpm; // Spindle RPM to be set at the start of the segment execution
float spindle_rpm; //!< Spindle RPM to be set at the start of the segment execution
#endif
bool update_rpm; // True if set spindle speed at the start of the segment execution
bool spindle_sync; // True if block is spindle synchronized
bool cruising; // True when in cruising part of profile, only set for spindle synced moves
uint_fast8_t amass_level; // Indicates AMASS level for the ISR to execute this segment
bool update_rpm; //!< True if set spindle speed at the start of the segment execution
bool spindle_sync; //!< True if block is spindle synchronized
bool cruising; //!< True when in cruising part of profile, only set for spindle synced moves
uint_fast8_t amass_level; //!< Indicates AMASS level for the ISR to execute this segment
} segment_t;
// Stepper ISR data struct. Contains the running data for the main stepper ISR.
typedef struct {
// Used by the bresenham line algorithm
uint32_t counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z
//! Stepper ISR data struct. Contains the running data for the main stepper ISR.
typedef struct stepper {
uint32_t counter_x, //!< Counter variable for the Bresenham line tracer, X-axis
counter_y, //!< Counter variable for the Bresenham line tracer, Y-axis
counter_z //!< Counter variable for the Bresenham line tracer, Z-axis
#ifdef A_AXIS
, counter_a
, counter_a //!< Counter variable for the Bresenham line tracer, A-axis
#endif
#ifdef B_AXIS
, counter_b
, counter_b //!< Counter variable for the Bresenham line tracer, B-axis
#endif
#ifdef C_AXIS
, counter_c
, counter_c //!< Counter variable for the Bresenham line tracer, C-axis
#endif
#ifdef C_AXIS
, counter_u
#ifdef U_AXIS
, counter_u //!< Counter variable for the Bresenham line tracer, U-axis
#endif
#ifdef C_AXIS
, counter_v
#ifdef V_AXIS
, counter_v //!< Counter variable for the Bresenham line tracer, V-axis
#endif
;
bool new_block; // Set to true when a new block is started, might be used by driver for advanced functionality
bool dir_change; // Set to true on direction changes, might be used by driver for advanced functionality
axes_signals_t step_outbits; // The next stepping-bits to be output
axes_signals_t dir_outbits; // The next direction-bits to be output
uint32_t steps[N_AXIS];
uint_fast8_t amass_level; // AMASS level for this segment
bool new_block; //!< Set to true when a new block is started, might be referenced by driver code for advanced functionality.
bool dir_change; //!< Set to true on direction changes, might be referenced by driver for advanced functionality.
axes_signals_t step_outbits; //!< The stepping signals to be output.
axes_signals_t dir_outbits; //!< The direction signals to be output. The direction signals may be output only when \ref stepper.dir_change is true to reduce overhead.
uint32_t steps[N_AXIS]; //!< Number of step pulse event events per axis step pulse generated.
uint_fast8_t amass_level; //!< AMASS level for this segment.
// uint_fast16_t spindle_pwm;
uint_fast16_t step_count; // Steps remaining in line segment motion
uint32_t step_event_count;
st_block_t *exec_block; // Pointer to the block data for the segment being executed
segment_t *exec_segment; // Pointer to the segment being executed
uint_fast16_t step_count; //!< Steps remaining in line segment motion.
uint32_t step_event_count; //!< Number of step pulse events to be output by this segment.
st_block_t *exec_block; //!< Pointer to the block data for the segment being executed.
segment_t *exec_segment; //!< Pointer to the segment beeing executed.
} stepper_t;
// Initialize and setup the stepper motor subsystem
stream.h
+17
View File
@@ -19,6 +19,10 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/*! \file
Helper functions for saving away and restoring a stream input buffer. _Not referenced by the core._
*/
#ifndef _STREAM_H_
#define _STREAM_H_
@@ -111,8 +115,21 @@ typedef struct {
extern "C" {
#endif
/*! \brief Dummy function for reading data from a virtual empty input buffer.
\returns always -1 as there is no data available.
*/
int16_t stream_get_null (void);
/*! \brief Function for blocking reads from or restoring an input buffer.
\param rxbuffer pointer to a stream_rx_buffer_t.
\param suspend when true _hal.stream.read_ is changed to stream_get_null(), if false it is restored if already saved.
\returns true if there is data in the buffer, false otherwise.
*/
bool stream_rx_suspend (stream_rx_buffer_t *rxbuffer, bool suspend);
/*! \brief Function for saving away an input buffer.
\param rxbuffer pointer to a stream_rx_buffer_t.
*/
void stream_rx_backup (stream_rx_buffer_t *rxbuffer);
#ifdef __cplusplus
system.c
+6 -4
View File
@@ -847,8 +847,10 @@ void system_apply_jog_limits (float *target)
void system_raise_alarm (alarm_code_t alarm)
{
sys.alarm = alarm;
state_set(alarm == Alarm_EStop ? STATE_ESTOP : STATE_ALARM);
if(sys.driver_started)
report_alarm_message(alarm);
if(sys.alarm != alarm) {
sys.alarm = alarm;
state_set(alarm == Alarm_EStop ? STATE_ESTOP : STATE_ALARM);
if(sys.driver_started)
report_alarm_message(alarm);
}
}
system.h
+142 -118
View File
@@ -27,11 +27,17 @@
#include "probe.h"
#include "alarms.h"
// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
// which notifies the main program to execute the specified realtime command asynchronously.
// NOTE: The system executor uses an unsigned 16-bit volatile variable (16 flag limit.) The default
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
// know when there is a realtime command to execute.
/*! @name System executor bit map.
\anchor rt_exec
Used internally by realtime protocol as realtime command flags,
which notifies the main program to execute the specified realtime command asynchronously.
__NOTE__: The system executor uses an unsigned 16-bit volatile variable (16 flag limit.) The default
flags are always false, so the realtime protocol only needs to check for a non-zero value to
know when there is a realtime command to execute.
*/
///@{
#define EXEC_STATUS_REPORT bit(0)
#define EXEC_CYCLE_START bit(1)
#define EXEC_CYCLE_COMPLETE bit(2)
@@ -46,60 +52,71 @@
#define EXEC_GCODE_REPORT bit(11)
#define EXEC_TLO_REPORT bit(12)
#define EXEC_RT_COMMAND bit(13)
///@}
// Define system state bit map. The state variable primarily tracks the individual functions
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
// critical events.
// NOTE: flags are mutually exclusive, bit map allows testing for multiple states (except STATE_IDLE) in a single statement
#define STATE_IDLE 0 // Must be zero. No flags.
#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only.
#define STATE_HOMING bit(2) // Performing homing cycle
#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed.
#define STATE_HOLD bit(4) // Active feed hold
#define STATE_JOG bit(5) // Jogging mode.
#define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP bit(7) // Sleep state.
#define STATE_ESTOP bit(8) // EStop mode, reports and is mainly handled similar to alarm state
#define STATE_TOOL_CHANGE bit(9) // Manual tool change, similar to STATE_HOLD - but stops spindle and allows jogging.
//! \def sys_state
/*! @name System state bit map.
\anchor sys_state
// Define Grbl feedback message codes. Valid values (0-255).
The state variable (type \ref sys_state_t) primarily tracks the individual states of grblHAL to manage each without overlapping.
It is also used as a messaging flag for critical events.
It is encapsulated by the main state machine in state_machine.c and can only be set via the state_set() or state_update() functions and read via the state_get() function.
__NOTE:__ flags are mutually exclusive, bit map allows testing for multiple states (except #STATE_IDLE) in a single statement
*/
///@{
#define STATE_IDLE 0 //!< Must be zero. No flags.
#define STATE_ALARM bit(0) //!< In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE bit(1) //!< G-code check mode. Locks out planner and motion only.
#define STATE_HOMING bit(2) //!< Performing homing cycle
#define STATE_CYCLE bit(3) //!< Cycle is running or motions are being executed.
#define STATE_HOLD bit(4) //!< Active feed hold
#define STATE_JOG bit(5) //!< Jogging mode.
#define STATE_SAFETY_DOOR bit(6) //!< Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP bit(7) //!< Sleep state.
#define STATE_ESTOP bit(8) //!< EStop mode, reports and is mainly handled similar to alarm state
#define STATE_TOOL_CHANGE bit(9) //!< Manual tool change, similar to #STATE_HOLD - but stops spindle and allows jogging.
///@}
// Define feedback message codes. Valid values (0-255).
typedef enum {
Message_None = 0, // Reserved, do not change value
Message_CriticalEvent = 1,
Message_AlarmLock = 2,
Message_AlarmUnlock = 3,
Message_Enabled = 4,
Message_Disabled = 5,
Message_SafetyDoorAjar = 6,
Message_CheckLimits = 7,
Message_ProgramEnd = 8,
Message_RestoreDefaults = 9,
Message_SpindleRestore = 10,
Message_SleepMode = 11,
Message_EStop = 12,
Message_HomingCycleRequired = 13,
Message_CycleStartToRerun = 14,
Message_ReferenceTLOEstablished = 15,
Message_MotorFault = 16,
Message_NextMessage // Next unassigned message number
Message_None = 0, //!< 0 - reserved, do not change value.
Message_CriticalEvent = 1, //!< 1
Message_AlarmLock = 2, //!< 2
Message_AlarmUnlock = 3, //!< 3
Message_Enabled = 4, //!< 4
Message_Disabled = 5, //!< 5
Message_SafetyDoorAjar = 6, //!< 6
Message_CheckLimits = 7, //!< 7
Message_ProgramEnd = 8, //!< 8
Message_RestoreDefaults = 9, //!< 9
Message_SpindleRestore = 10, //!< 10
Message_SleepMode = 11, //!< 11
Message_EStop = 12, //!< 12
Message_HomingCycleRequired = 13, //!< 13
Message_CycleStartToRerun = 14, //!< 14
Message_ReferenceTLOEstablished = 15, //!< 15
Message_MotorFault = 16, //!< 16
Message_NextMessage //!< 17 - next unassigned message number.
} message_code_t;
typedef enum {
Parking_DoorClosed = 0,
Parking_DoorAjar,
Parking_Retracting,
Parking_Cancel,
Parking_Resuming
Parking_DoorClosed = 0, //!< 0
Parking_DoorAjar, //!< 1
Parking_Retracting, //!< 2
Parking_Cancel, //!< 3
Parking_Resuming //!< 4
} parking_state_t;
typedef enum {
Hold_NotHolding = 0,
Hold_Complete = 1,
Hold_Pending = 2
Hold_NotHolding = 0, //!< 0
Hold_Complete = 1, //!< 1
Hold_Pending = 2 //!< 2
} hold_state_t;
typedef uint_fast16_t sys_state_t;
typedef uint_fast16_t rt_exec_t; //!< See \ref rt_exec
typedef uint_fast16_t sys_state_t; //!< See \ref sys_state
// Define step segment generator state flags.
typedef union {
@@ -123,7 +140,7 @@ typedef union {
cycle_start :1,
safety_door_ajar :1,
block_delete :1,
stop_disable :1, // M1
stop_disable :1, //! M1
e_stop :1,
probe_disconnected :1,
motor_fault :1,
@@ -131,8 +148,8 @@ typedef union {
limits_override :1,
single_block :1,
unassigned :2,
probe_triggered :1, // used for probe protection
deasserted :1; // this flag is set if signals are deasserted. Note: do NOT pass on to Grbl control_interrupt_handler if set.
probe_triggered :1, //! used for probe protection
deasserted :1; //! this flag is set if signals are deasserted. Note: do NOT pass on to the control_interrupt_handler if set.
};
} control_signals_t;
@@ -162,47 +179,49 @@ typedef struct {
#endif
typedef union {
uint16_t value;
uint32_t value;
struct {
uint16_t mpg_mode :1, // MPG mode changed.
scaling :1, // Scaling (G50/G51) changed.
homed :1, // Homed state changed.
xmode :1, // Lathe radius/diameter mode changed.
spindle :1, // Spindle state changed.
coolant :1, // Coolant state changed.
overrides :1, // Overrides changed.
tool :1, // Tool changed.
wco :1, // Add work coordinates.
gwco :1, // Add work coordinate.
tool_offset :1, // Tool offsets changed.
pwm :1, // Add PWM information (optional: to be added by driver).
motor :1, // Add motor information (optional: to be added by driver).
encoder :1, // Add encoder information (optional: to be added by driver).
tlo_reference :1, // Tool length offset reference changed
all :1; // Set when CMD_STATUS_REPORT_ALL is requested, may be used by user code
uint32_t mpg_mode :1, //!< MPG mode changed.
scaling :1, //!< Scaling (G50/G51) changed.
homed :1, //!< Homed state changed.
xmode :1, //!< Lathe radius/diameter mode changed.
spindle :1, //!< Spindle state changed.
coolant :1, //!< Coolant state changed.
overrides :1, //!< Overrides changed.
tool :1, //!< Tool changed.
wco :1, //!< Add work coordinates.
gwco :1, //!< Add work coordinate.
tool_offset :1, //!< Tool offsets changed.
m66result :1, //!< M66 result updated
pwm :1, //!< Add PWM information (optional: to be added by driver).
motor :1, //!< Add motor information (optional: to be added by driver).
encoder :1, //!< Add encoder information (optional: to be added by driver).
tlo_reference :1, //!< Tool length offset reference changed
unassigned :15, //
all :1; //!< Set when CMD_STATUS_REPORT_ALL is requested, may be used by user code
};
} report_tracking_flags_t;
typedef struct {
uint8_t feed_rate; // Feed rate override value in percent
uint8_t rapid_rate; // Rapids override value in percent
uint8_t spindle_rpm; // Spindle speed override value in percent
spindle_stop_t spindle_stop; // Tracks spindle stop override states
gc_override_flags_t control; // Tracks override control states.
uint8_t feed_rate; //!< Feed rate override value in percent
uint8_t rapid_rate; //!< Rapids override value in percent
uint8_t spindle_rpm; //!< Spindle speed override value in percent
spindle_stop_t spindle_stop; //!< Tracks spindle stop override states
gc_override_flags_t control; //!< Tracks override control states.
} overrides_t;
typedef union {
uint16_t value;
struct {
uint16_t mpg_mode :1, // MPG mode flag. Set when switched to secondary input stream. (unused for now)
probe_succeeded :1, // Tracks if last probing cycle was successful.
soft_limit :1, // Tracks soft limit errors for the state machine.
exit :1, // System exit flag. Used in combination with abort to terminate main loop.
block_delete_enabled :1, // Set to true to enable block delete
uint16_t mpg_mode :1, //!< MPG mode flag. Set when switched to secondary input stream. (unused for now)
probe_succeeded :1, //!< Tracks if last probing cycle was successful.
soft_limit :1, //!< Tracks soft limit errors for the state machine.
exit :1, //!< System exit flag. Used in combination with abort to terminate main loop.
block_delete_enabled :1, //!< Set to true to enable block delete
feed_hold_pending :1,
delay_overrides :1,
optional_stop_disable :1,
single_block :1; // Set to true to disable M1 (optional stop), via realtime command
single_block :1; //!< Set to true to disable M1 (optional stop), via realtime command
};
} system_flags_t;
@@ -212,43 +231,48 @@ typedef struct
limit_signals_t limits;
} signal_event_t;
// Define global system variables
//! Global system variables struct.
// NOTE: probe_position and position variables may need to be declared as volatiles, if problems arise.
typedef struct {
bool abort; // System abort flag. Forces exit back to main loop for reset.
bool cancel; // System cancel flag.
bool suspend; // System suspend state flag.
bool position_lost; // Set when mc_reset is called when machine is moving.
volatile bool steppers_deenergize; // Set to true to deenergize stepperes
axes_signals_t tlo_reference_set; // Axes with tool length reference offset set
int32_t tlo_reference[N_AXIS]; // Tool length reference offset
alarm_code_t alarm_pending; // Delayed alarm, currently used for probe protection
system_flags_t flags; // Assorted state flags
step_control_t step_control; // Governs the step segment generator depending on system state.
axes_signals_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
axes_signals_t homing; // Axes with homing enabled.
overrides_t override; // Override values & states
report_tracking_flags_t report; // Tracks when to add data to status reports.
parking_state_t parking_state; // Tracks parking state
hold_state_t holding_state; // Tracks holding state
int32_t probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
volatile probing_state_t probing_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile uint_fast16_t rt_exec_state; // Realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint_fast16_t rt_exec_alarm; // Realtime executor bitflag variable for setting various alarms.
float spindle_rpm;
typedef struct system {
bool abort; //!< System abort flag. Forces exit back to main loop for reset.
bool cancel; //!< System cancel flag.
bool suspend; //!< System suspend state flag.
bool position_lost; //!< Set when mc_reset is called when machine is moving.
volatile bool steppers_deenergize; //!< Set to true to deenergize stepperes
axes_signals_t tlo_reference_set; //!< Axes with tool length reference offset set
int32_t tlo_reference[N_AXIS]; //!< Tool length reference offset
alarm_code_t alarm_pending; //!< Delayed alarm, currently used for probe protection
system_flags_t flags; //!< Assorted state flags
step_control_t step_control; //!< Governs the step segment generator depending on system state.
axes_signals_t homing_axis_lock; //!< Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
axes_signals_t homing; //!< Axes with homing enabled.
overrides_t override; //!< Override values & states
report_tracking_flags_t report; //!< Tracks when to add data to status reports.
parking_state_t parking_state; //!< Tracks parking state
hold_state_t holding_state; //!< Tracks holding state
int32_t probe_position[N_AXIS]; //!< Last probe position in machine coordinates and steps.
volatile probing_state_t probing_state; //!< Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile rt_exec_t rt_exec_state; //!< Realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint_fast16_t rt_exec_alarm; //!< Realtime executor bitflag variable for setting various alarms.
float spindle_rpm; //!< Current spindle RPM
int32_t var5933; //!< Last result from M66 - wait on input
#ifdef PID_LOG
pid_data_t pid_log;
#endif
// The following variables are only cleared upon soft reset if position is likely lost, do NOT move. homed must be first!
axes_signals_t homed; // Indicates which axes has been homed.
float home_position[N_AXIS]; // Home position for homed axes
// The following variables are not cleared upon soft reset, do NOT move. alarm must be first!
alarm_code_t alarm; // Current alarm, only valid if system state is STATE_ALARM.
bool cold_start; // Set to true on boot, is false on subsequent soft resets.
bool driver_started; // Set to true when driver initialization is completed.
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.
//! @name The following variables are only cleared upon soft reset if position is likely lost, do NOT move. homed must be first!
//@{
axes_signals_t homed; //!< Indicates which axes has been homed.
float home_position[N_AXIS]; //!< Home position for homed axes
//@}
//! @name The following variables are not cleared upon soft reset, do NOT move. alarm must be first!
//@{
alarm_code_t alarm; //!< Current alarm, only valid if system state is STATE_ALARM.
bool cold_start; //!< Set to true on boot, is false on subsequent soft resets.
bool driver_started; //!< Set to true when driver initialization is completed.
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.
//@}
} system_t;
typedef status_code_t (*sys_command_ptr)(sys_state_t state, char *args);
@@ -268,10 +292,10 @@ typedef struct sys_commands_str {
extern system_t sys;
// Executes an internal system command, defined as a string starting with a '$'
//! Executes an internal system command, defined as a string starting with a '$'
status_code_t system_execute_line (char *line);
// Execute the startup script lines stored in non-volatile storage upon initialization
//! Execute the startup script lines stored in non-volatile storage upon initialization
void system_execute_startup (void);
void system_flag_wco_change (void);
@@ -279,16 +303,16 @@ void system_flag_wco_change (void);
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
//float system_convert_axis_steps_to_mpos(int32_t *steps, uint_fast8_t idx);
// Updates a machine 'position' array based on the 'step' array sent.
//! Updates a machine 'position' array based on the 'step' array sent.
void system_convert_array_steps_to_mpos (float *position, int32_t *steps);
// Checks and reports if target array exceeds machine travel limits.
//! Checks and reports if target array exceeds machine travel limits.
bool system_check_travel_limits (float *target);
// Checks and limit jog commands to within machine travel limits.
//! Checks and limit jog commands to within machine travel limits.
void system_apply_jog_limits (float *target);
// Raise and report alarm state
//! Raise and report alarm state
void system_raise_alarm (alarm_code_t alarm);
// Special handlers for setting and clearing Grbl's real-time execution flags.