Delta kinematics improvements. Added setting for base > floor distance, $DELTA command for work envelope info. Still WIP.

Changed signature of grbl.on_homing_completed event.

changelog.md

@@ -1,6 +1,20 @@
 ## grblHAL changelog
 
-<a name="20230818"/>20230818
+<a name="20230820"/>Build 20230820
+
+Core:
+
+* Delta kinematics improvements. Added setting for base > floor distance, `$DELTA` command for work envelope info. Still WIP.
+
+* Changed signature of `grbl.on_homing_completed` event.
+
+Drivers:
+
+* RP2040: Fix for [issue #72](https://github.com/grblHAL/RP2040/discussions/72) \(typo\), improved SPI chip select handling.
+
+---
+
+<a name="20230818"/>Build 20230818
 
 Core:
 

config.h

@@ -137,6 +137,9 @@ Experimental - testing required and homing needs to be worked out.
 */
 #if !defined DELTA_ROBOT || defined __DOXYGEN__
 #define DELTA_ROBOT Off
+#if !defined MINIMUM_FEED_RATE
+#define MINIMUM_FEED_RATE 0.1f // (radians/min)
+#endif
 #endif
 
 /*! \def POLAR_ROBOT

core_handlers.h

@@ -97,7 +97,7 @@ typedef void (*on_unknown_feedback_message_ptr)(stream_write_ptr stream_write);
 typedef void (*on_stream_changed_ptr)(stream_type_t type);
 typedef bool (*on_laser_ppi_enable_ptr)(uint_fast16_t ppi, uint_fast16_t pulse_length);
 typedef void (*on_homing_rate_set_ptr)(axes_signals_t axes, float rate, homing_mode_t mode);
-typedef void (*on_homing_completed_ptr)(void);
+typedef void (*on_homing_completed_ptr)(bool succes);
 typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
 typedef bool (*on_probe_start_ptr)(axes_signals_t axes, float *target, plan_line_data_t *pl_data);
 typedef void (*on_probe_completed_ptr)(void);

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20230818
+#define GRBL_BUILD 20230820
 
 #define GRBL_URL "https://github.com/grblHAL"
 

motion_control.c

@@ -80,6 +80,7 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
 
 #ifdef KINEMATICS_API
     float feed_rate = pl_data->feed_rate;
+    pl_data->rate_multiplier = 1.0;
     target = kinematics.segment_line(target, plan_get_position(), pl_data, true);
 #endif
 
@@ -894,14 +895,22 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
 
     if(cycle.mask) {
 
-        if(!protocol_execute_realtime()) // Check for reset and set system abort.
-            return Status_Unhandled;     // Did not complete. Alarm state set by mc_alarm.
+        if(!protocol_execute_realtime()) {  // Check for reset and set system abort.
+
+            if(grbl.on_homing_completed)
+                grbl.on_homing_completed(false);
+
+            return Status_Unhandled;        // Did not complete. Alarm state set by mc_alarm.
+        }
 
         if(homed_status != Status_OK) {
 
             if(state_get() == STATE_HOMING)
                 state_set(STATE_IDLE);
 
+            if(grbl.on_homing_completed)
+                grbl.on_homing_completed(false);
+
             return homed_status;
         }
 
@@ -929,13 +938,11 @@ status_code_t mc_homing_cycle (axes_signals_t cycle)
                     ? Status_LimitsEngaged
                     : Status_OK;
 
-    if(homed_status == Status_OK) {
-
+    if(homed_status == Status_OK)
         limits_set_work_envelope();
 
-        if(grbl.on_homing_completed)
-            grbl.on_homing_completed();
-    }
+    if(grbl.on_homing_completed)
+        grbl.on_homing_completed(homed_status == Status_OK);
 
     return homed_status;
 }

nuts_bolts.h

@@ -42,9 +42,15 @@
 
 #define TOLERANCE_EQUAL 0.0001f
 
-#define TAN_30 0.57735f         // Used for threading calculations (60 degree inserts)
-#define RADDEG 0.0174532925f    // Radians per degree
-#define DEGRAD 57.29577951f     // Degrees per radians
+#define RADDEG  0.01745329251994329577f // Radians per degree
+#define DEGRAD 57.29577951308232087680f // Degrees per radians
+#define SQRT3   1.73205080756887729353f
+#define SIN120  0.86602540378443864676f
+#define COS120 -0.5f
+#define TAN60   1.73205080756887729353f
+#define SIN30   0.5f
+#define TAN30   0.57735026918962576451f
+#define TAN30_2 0.28867513459481288225f
 
 #define ABORTED (sys.abort || sys.cancel)
 

planner.c

@@ -524,6 +524,9 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
         block->programmed_rate = block->rapid_rate;
     else {
         block->programmed_rate = pl_data->feed_rate;
+#ifdef KINEMATICS_API
+        block->rate_multiplier = pl_data->rate_multiplier;
+#endif
         if (block->condition.inverse_time)
             block->programmed_rate *= block->millimeters;
     }

planner.h

@@ -67,7 +67,9 @@ typedef struct plan_block {
     float max_junction_speed_sqr;   // Junction entry speed limit based on direction vectors in (mm/min)^2
     float rapid_rate;               // Axis-limit adjusted maximum rate for this block direction in (mm/min)
     float programmed_rate;          // Programmed rate of this block (mm/min).
-
+#ifdef KINEMATICS_API
+    float rate_multiplier;          // Rate multiplier of this block.
+#endif
     // Stored spindle speed data used by spindle overrides and resuming methods.
     spindle_t spindle;              // Block spindle parameters. Copied from pl_line_data.
 
@@ -80,6 +82,9 @@ typedef struct plan_block {
 // Planner data prototype. Must be used when passing new motions to the planner.
 typedef struct {
     float feed_rate;                // Desired feed rate for line motion. Value is ignored, if rapid motion.
+#ifdef KINEMATICS_API
+    float rate_multiplier;          // Feed rate multiplier.
+#endif
     //  float blending_tolerance;   // Motion blending tolerance
     spindle_t spindle;              // Desired spindle parameters, such as RPM, through line motion.
     planner_cond_t condition;       // Bitfield variable to indicate planner conditions. See defines above.

settings.c

@@ -424,8 +424,11 @@ static char spindle_types[100] = "";
 static char axis_dist[4] = "mm";
 static char axis_rate[8] = "mm/min";
 static char axis_accel[10] = "mm/sec^2";
+#if DELTA_ROBOT
+static char axis_steps[9] = "step/rev";
+#else
 static char axis_steps[9] = "step/mm";
-
+#endif
 #define AXIS_OPTS { .subgroups = On, .increment = 1 }
 
 PROGMEM static const setting_detail_t setting_detail[] = {
@@ -721,7 +724,11 @@ PROGMEM static const setting_descr_t setting_descr[] = {
     { Setting_PositionIGain, "" },
     { Setting_PositionDGain, "" },
     { Setting_PositionIMaxError, "Spindle sync PID max integrator error." },
+#if DELTA_ROBOT
+    { Setting_AxisStepsPerMM, "Travel resolution in steps per revolution." },
+#else
     { Setting_AxisStepsPerMM, "Travel resolution in steps per millimeter." },
+#endif
     { (setting_id_t)(Setting_AxisStepsPerMM + 1), "Travel resolution in steps per degree." }, // "Hack" to get correct description for rotary axes
     { Setting_AxisMaxRate, "Maximum rate. Used as G0 rapid rate." },
     { Setting_AxisAcceleration, "Acceleration. Used for motion planning to not exceed motor torque and lose steps." },

stepper.c

@@ -125,6 +125,9 @@ typedef struct {
     float current_speed;    // Current speed at the end of the segment buffer (mm/min)
     float maximum_speed;    // Maximum speed of executing block. Not always nominal speed. (mm/min)
     float exit_speed;       // Exit speed of executing block (mm/min)
+#ifdef KINEMATICS_API
+    float rate_multiplier;  // Rate multiplier of executing block.
+#endif
     float accelerate_until; // Acceleration ramp end measured from end of block (mm)
     float decelerate_after; // Deceleration ramp start measured from end of block (mm)
     float target_position;  //
@@ -726,6 +729,7 @@ void st_prep_buffer (void)
 
                 st_prep_block->direction_bits = pl_block->direction_bits;
                 st_prep_block->programmed_rate = pl_block->programmed_rate;
+//                st_prep_block->r = pl_block->programmed_rate;
                 st_prep_block->millimeters = pl_block->millimeters;
                 st_prep_block->steps_per_mm = (float)pl_block->step_event_count / pl_block->millimeters;
                 st_prep_block->output_commands = pl_block->output_commands;
@@ -739,7 +743,9 @@ void st_prep_buffer (void)
                 prep.steps_remaining = pl_block->step_event_count;
                 prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR / prep.steps_per_mm;
                 prep.dt_remainder = prep.target_position = 0.0f; // Reset for new segment block
-
+#ifdef KINEMATICS_API
+                prep.rate_multiplier = pl_block->rate_multiplier;
+#endif
                 if (sys.step_control.execute_hold || prep.recalculate.decel_override) {
                     // New block loaded mid-hold. Override planner block entry speed to enforce deceleration.
                     prep.current_speed = prep.exit_speed;
@@ -1116,5 +1122,11 @@ void st_prep_buffer (void)
 // divided by the ACCELERATION TICKS PER SECOND in seconds.
 float st_get_realtime_rate (void)
 {
-    return state_get() & (STATE_CYCLE|STATE_HOMING|STATE_HOLD|STATE_JOG|STATE_SAFETY_DOOR) ? prep.current_speed : 0.0f;
+    return state_get() & (STATE_CYCLE|STATE_HOMING|STATE_HOLD|STATE_JOG|STATE_SAFETY_DOOR)
+#ifdef KINEMATICS_API
+            ? prep.current_speed * prep.rate_multiplier
+#else
+            ? prep.current_speed
+#endif
+            : 0.0f;
 }