mirror of
https://github.com/grblHAL/core.git
synced 2026-08-20 22:11:38 +08:00
Fix for laser incorrectly enabled in laser mode when M3S<n> commanded in G0 and G80 modal states. Ref. issue #644.
Added optional support for 3rd order acceleration (jerk) and G187 gcode. Ref. pull request #593.
This commit is contained in:
Terje Io
@@ -1,6 +1,6 @@
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## grblHAL ##
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Latest build date is 20241222, see the [changelog](changelog.md) for details.
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Latest build date is 20241230, see the [changelog](changelog.md) for details.
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> [!NOTE]
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> A settings reset will be performed on an update of builds prior to 20241208. Backup and restore of settings is recommended.
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@@ -93,4 +93,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
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Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
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---
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20241222
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20241230
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+24
-1
@@ -1,10 +1,33 @@
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## grblHAL changelog
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<a name="20241226">Build 20241230
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Core:
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* Fix for laser incorrectly enabled in laser mode when `M3S<n>` commanded in `G0` and `G80` modal states. Ref. issue [#644](https://github.com/grblHAL/core/issues/644).
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* Added support for 3rd order acceleration \(jerk\) and G187 gcode. Ref. pull request [#593](https://github.com/grblHAL/core/pull/593).
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Drivers:
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* STM32F4xx: updated ST framework to latest version, added support for ethernet via DP83848 PHY.
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* STM32F4xx, STM32F7xx: Improved SD card mount/dismount handling and added support for card detect signal.
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Now flags RTC as set if date >= grblHAL build date.
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* LPC176x: added function required for Modbus support. Renamed bootloader build option to avoid confusion.
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Plugins:
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* SD card: improved mount/dismount handling.
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---
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<a name="20241226">20241226
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Drivers:
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* STM32F4xx: fix for not enabling steppers after clearing E-stop alarm. Ref. issue [#203](https://github.com/grblHAL/STM32F4xx/issues/203).
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* STM32F4xx: SuperLongBoard - fix for not enabling steppers after clearing E-stop alarm. Ref. issue [#203](https://github.com/grblHAL/STM32F4xx/issues/203).
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Plugins:
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@@ -190,9 +190,18 @@ or EMI triggering the related interrupt falsely or too many times.
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// ADVANCED CONFIGURATION OPTIONS:
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// EXPERIMENTAL OPTIONS
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#define ENABLE_PATH_BLENDING Off // Do NOT enable unless working on adding this feature!
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#if !defined ENABLE_ACCELERATION_PROFILES || defined __DOXYGEN__
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#define ENABLE_ACCELERATION_PROFILES Off // Enable to allow G-Code changeable acceleration profiles.
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#define ENABLE_JERK_ACCELERATION Off // Enable to use 3rd order Acceleration calculations. May need more processing power, tiny chips beware.
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#endif
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#if !defined ENABLE_JERK_ACCELERATION || defined __DOXYGEN__
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#define ENABLE_JERK_ACCELERATION Off // Enable to use 3rd order acceleration calculations. May need more processing power, a FPU will help.
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#endif
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// -
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// Enables code for debugging purposes. Not for general use and always in constant flux.
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//#define DEBUG // Uncomment to enable. Default disabled.
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@@ -2022,7 +2031,6 @@ G90
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/*! @name 22x - Setting_AxisJerk
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*/
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///@{
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#if ENABLE_JERK_ACCELERATION
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#if !defined DEFAULT_X_JERK|| defined __DOXYGEN__
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#define DEFAULT_X_JERK 100.0f // mm/sec^3
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#endif
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@@ -2047,7 +2055,6 @@ G90
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#if (defined V_AXIS && !defined DEFAULT_V_JERK) || defined __DOXYGEN__
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#define DEFAULT_V_JERK 100.0f // mm/sec^3
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#endif
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#endif
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///@}
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/*! @name 13x - Setting_AxisMaxTravel
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+2
-2
@@ -445,7 +445,6 @@ typedef enum {
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PinGroup_AuxOutput,
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PinGroup_AuxInputAnalog,
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PinGroup_AuxOutputAnalog,
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PinGroup_SdCard,
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PinGroup_MotorChipSelect,
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PinGroup_MotorUART,
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PinGroup_I2C,
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@@ -471,7 +470,8 @@ typedef enum {
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PinGroup_QEI_Index = (1<<16),
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PinGroup_Motor_Warning = (1<<17),
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PinGroup_Motor_Fault = (1<<18),
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PinGroup_AuxInput = (1<<19)
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PinGroup_SdCard = (1<<19),
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PinGroup_AuxInput = (1<<20)
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} pin_group_t;
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//! Pin interrupt modes, may be or'ed when reporting pin capability.
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@@ -288,6 +288,24 @@ plane_t *gc_get_plane_data (plane_t *plane, plane_select_t select)
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return plane;
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}
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#if ENABLE_ACCELERATION_PROFILES
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//Acceleration Profiles for G187 P[x] in percent of maximum machine acceleration.
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float gc_get_accel_factor (uint8_t profile)
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{
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static const float lookup[] = {
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1.0f, // 100% - Roughing - Max Acceleration Default
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0.8f, // 80% - Semi Roughing
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0.6f, // 60% - Semi Finish
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0.4f, // 40% - Finish
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0.2f // 20% - Slow AF Mode
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};
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return lookup[profile >= (sizeof(lookup) / sizeof(float)) ? 0 : profile];
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}
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#endif // ENABLE_ACCELERATION_PROFILES
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void gc_init (bool stop)
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{
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#if COMPATIBILITY_LEVEL > 1
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@@ -362,7 +380,7 @@ void gc_init (bool stop)
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ngc_modal_state_invalidate();
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#endif
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#if ENABLE_ACCELERATION_PROFILES
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gc_state.modal.acceleration_factor = 1.0f; // Initialize machine with 100% Profile
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gc_state.modal.acceleration_factor = gc_get_accel_factor(0); // Initialize machine with default
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#endif
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// if(settings.flags.lathe_mode)
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@@ -2379,7 +2397,7 @@ status_code_t gc_execute_block (char *block)
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if(gc_block.words.p && (gc_block.values.p < 1.0f || gc_block.values.p > 5.0f))
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FAIL(Status_GcodeValueOutOfRange);
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gc_state.modal.acceleration_factor = lookupfactor(gc_block.words.p ? (uint8_t)gc_block.values.p - 1 : 0);
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gc_state.modal.acceleration_factor = gc_get_accel_factor(gc_block.words.p ? (uint8_t)gc_block.values.p - 1 : 0);
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gc_block.words.p = Off;
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break;
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#endif
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@@ -3163,6 +3181,10 @@ status_code_t gc_execute_block (char *block)
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}
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sspindle->rpm = gc_block.values.s; // Update spindle speed state.
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}
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// NOTE: Pass zero spindle speed for all restricted laser motions.
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plan_data.spindle.rpm = gc_parser_flags.laser_disable ? 0.0f : gc_block.values.s;
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#if N_SYS_SPINDLE > 1
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}
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#endif
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@@ -3331,28 +3353,24 @@ status_code_t gc_execute_block (char *block)
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if((spindle_ok = sspindle->state.value != gc_block.spindle_modal.state.value)) {
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if(grbl.on_spindle_programmed)
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grbl.on_spindle_programmed(sspindle->hal, gc_block.spindle_modal.state, sspindle->rpm, sspindle->rpm_mode);
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grbl.on_spindle_programmed(sspindle->hal, gc_block.spindle_modal.state, plan_data.spindle.rpm, sspindle->rpm_mode);
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if((spindle_ok = spindle_sync(sspindle->hal, gc_block.spindle_modal.state, sspindle->rpm)))
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if((spindle_ok = spindle_sync(sspindle->hal, gc_block.spindle_modal.state, plan_data.spindle.rpm)))
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sspindle->state = sspindle->hal->param->state = gc_block.spindle_modal.state;
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spindle_event = !spindle_ok;
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}
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if(spindle_event && grbl.on_spindle_programmed)
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grbl.on_spindle_programmed(sspindle->hal, sspindle->state, sspindle->rpm, sspindle->rpm_mode);
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grbl.on_spindle_programmed(sspindle->hal, sspindle->state, plan_data.spindle.rpm, sspindle->rpm_mode);
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}
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if(sspindle != NULL)
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gc_state.spindle = sspindle; // for now
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// NOTE: Pass zero spindle speed for all restricted laser motions.
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if(!gc_parser_flags.laser_disable)
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memcpy(&plan_data.spindle, gc_state.spindle, sizeof(spindle_t)); // Record data for planner use.
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else {
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plan_data.spindle.hal = gc_state.spindle->hal;
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// plan_data.spindle.speed = 0.0f; // Initialized as zero already.
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}
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plan_data.spindle.hal = gc_state.spindle->hal;
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memcpy(&plan_data.spindle, gc_state.spindle, offsetof(spindle_t, rpm)); // Record data for planner use.
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// TODO: Recheck spindle running in CCS mode (is_rpm_pos_adjusted == On)?
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plan_data.spindle.state = gc_state.spindle->state; // Set condition flag for planner use.
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@@ -3846,9 +3864,9 @@ status_code_t gc_execute_block (char *block)
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gc_state.modal.coolant = (coolant_state_t){0};
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gc_state.modal.override_ctrl.feed_rate_disable = Off;
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gc_state.modal.override_ctrl.spindle_rpm_disable = Off;
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#if ENABLE_ACCELERATION_PROFILES
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gc_state.modal.acceleration_factor = 1.0f;
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#endif
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#if ENABLE_ACCELERATION_PROFILES
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gc_state.modal.acceleration_factor = gc_get_accel_factor(0);
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#endif
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#if N_SYS_SPINDLE > 1
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@@ -502,11 +502,22 @@ typedef struct {
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const gc_value_type_t type;
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} gc_value_ptr_t;
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typedef union {
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uint8_t value;
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struct {
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uint8_t is_rpm_rate_adjusted :1,
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is_laser_ppi_mode :1,
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unassigned :6;
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};
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} spindle_cond_t;
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typedef struct {
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float rpm; //!< Spindle speed
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spindle_state_t state; //!< {M3,M4,M5}
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spindle_rpm_mode_t rpm_mode; //!< {G96,G97}
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spindle_css_data_t *css; //!< Data used for Constant Surface Speed Mode calculations
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spindle_cond_t condition; //!< TODO: move data from planner_cond_t here
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float rpm; //!< Spindle speed. Must be second last!
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spindle_ptrs_t *hal; //!< Spindle function pointers etc. Must be last!
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} spindle_t;
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@@ -701,4 +712,8 @@ parameter_words_t gc_get_g65_arguments (void);
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bool gc_modal_state_restore (gc_modal_t *copy);
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#endif
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#if ENABLE_ACCELERATION_PROFILES
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float gc_get_accel_factor (uint8_t profile);
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#endif
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#endif // _GCODE_H_
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@@ -42,7 +42,7 @@
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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 20241222
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#define GRBL_BUILD 20241230
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#define GRBL_URL "https://github.com/grblHAL"
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+12
-4
@@ -127,6 +127,14 @@
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#endif
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#endif
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#ifndef SD_DETECT_BIT
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#ifdef SD_DETECT_PIN
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#define SD_DETECT_BIT (1<<SD_DETECT_PIN)
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#else
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#define SD_DETECT_BIT 0
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#endif
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#endif
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// Optional control signals
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#ifndef SAFETY_DOOR_BIT
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@@ -633,11 +641,11 @@ static inline void aux_ctrl_claim_out_ports (aux_claim_explicit_out_ptr aux_clai
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#ifndef DEVICES_IRQ_MASK
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#ifdef AUX_DEVICES
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#define DEVICES_IRQ_MASK (SPI_IRQ_BIT|SPINDLE_INDEX_BIT|QEI_A_BIT|QEI_B_BIT)
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#define DEVICES_IRQ_MASK_SUM (SPI_IRQ_BIT+SPINDLE_INDEX_BIT+QEI_A_BIT+QEI_B_BIT)
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#define DEVICES_IRQ_MASK (SPI_IRQ_BIT|SPINDLE_INDEX_BIT|QEI_A_BIT|QEI_B_BIT|SD_DETECT_BIT)
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#define DEVICES_IRQ_MASK_SUM (SPI_IRQ_BIT+SPINDLE_INDEX_BIT+QEI_A_BIT+QEI_B_BIT+SD_DETECT_BIT)
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#else
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#define DEVICES_IRQ_MASK (MPG_MODE_BIT|I2C_STROBE_BIT|QEI_SELECT_BIT|SPI_IRQ_BIT|SPINDLE_INDEX_BIT|QEI_A_BIT|QEI_B_BIT)
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#define DEVICES_IRQ_MASK_SUM (MPG_MODE_BIT+I2C_STROBE_BIT+QEI_SELECT_BIT+SPI_IRQ_BIT+SPINDLE_INDEX_BIT+QEI_A_BIT+QEI_B_BIT)
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#define DEVICES_IRQ_MASK (MPG_MODE_BIT|I2C_STROBE_BIT|QEI_SELECT_BIT|SPI_IRQ_BIT|SPINDLE_INDEX_BIT|QEI_A_BIT|QEI_B_BIT|SD_DETECT_BIT)
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#define DEVICES_IRQ_MASK_SUM (MPG_MODE_BIT+I2C_STROBE_BIT+QEI_SELECT_BIT+SPI_IRQ_BIT+SPINDLE_INDEX_BIT+QEI_A_BIT+QEI_B_BIT+SD_DETECT_BIT)
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#endif
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#endif
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@@ -336,6 +336,7 @@ inline static float plan_compute_profile_parameters (plan_block_t *block, float
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block->max_entry_speed_sqr = nominal_speed > prev_nominal_speed ? (prev_nominal_speed * prev_nominal_speed) : (nominal_speed * nominal_speed);
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if (block->max_entry_speed_sqr > block->max_junction_speed_sqr)
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block->max_entry_speed_sqr = block->max_junction_speed_sqr;
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return nominal_speed;
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}
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@@ -348,6 +349,7 @@ static inline float limit_acceleration_by_axis_maximum (float *unit_vec)
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if (unit_vec[--idx] != 0.0f) // Avoid divide by zero.
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limit_value = min(limit_value, fabsf(settings.axis[idx].acceleration / unit_vec[idx]));
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} while(idx);
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return limit_value;
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}
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@@ -361,6 +363,7 @@ static inline float limit_jerk_by_axis_maximum (float *unit_vec)
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if (unit_vec[--idx] != 0.0f) // Avoid divide by zero.
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limit_value = min(limit_value, fabsf(settings.axis[idx].jerk / unit_vec[idx]));
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} while(idx);
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return limit_value;
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}
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#endif
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@@ -738,7 +741,7 @@ void plan_data_init (plan_line_data_t *plan_data)
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#ifdef KINEMATICS_API
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plan_data->rate_multiplier = 1.0f;
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#endif
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#ifdef ENABLE_ACCELERATION_PROFILES
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plan_data->acceleration_factor = 1.0f;
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#if ENABLE_ACCELERATION_PROFILES
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plan_data->acceleration_factor = gc_get_accel_factor(0);
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#endif
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}
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@@ -78,7 +78,7 @@ typedef struct plan_block {
|
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#ifdef KINEMATICS_API
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float rate_multiplier; // Rate multiplier of this block.
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#endif
|
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#ifdef ENABLE_ACCELERATION_PROFILES
|
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#if ENABLE_ACCELERATION_PROFILES
|
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float acceleration_factor; // Stores the currently used acceleration factor.
|
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#endif
|
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// Stored spindle speed data used by spindle overrides and resuming methods.
|
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@@ -96,7 +96,7 @@ typedef struct {
|
||||
#ifdef KINEMATICS_API
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float rate_multiplier; // Feed rate multiplier.
|
||||
#endif
|
||||
#ifdef ENABLE_ACCELERATION_PROFILES
|
||||
#if ENABLE_ACCELERATION_PROFILES
|
||||
float acceleration_factor; // Stores the currently used acceleration factor.
|
||||
#endif
|
||||
#if ENABLE_PATH_BLENDING
|
||||
|
||||
+17
-51
@@ -210,9 +210,7 @@ PROGMEM const settings_t defaults = {
|
||||
.axis[X_AXIS].steps_per_mm = DEFAULT_X_STEPS_PER_MM,
|
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.axis[X_AXIS].max_rate = DEFAULT_X_MAX_RATE,
|
||||
.axis[X_AXIS].acceleration = (DEFAULT_X_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
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.axis[X_AXIS].jerk = (DEFAULT_X_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[X_AXIS].max_travel = (-DEFAULT_X_MAX_TRAVEL),
|
||||
.axis[X_AXIS].dual_axis_offset = 0.0f,
|
||||
.axis[X_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
|
||||
@@ -225,9 +223,7 @@ PROGMEM const settings_t defaults = {
|
||||
.axis[Y_AXIS].max_rate = DEFAULT_Y_MAX_RATE,
|
||||
.axis[Y_AXIS].max_travel = (-DEFAULT_Y_MAX_TRAVEL),
|
||||
.axis[Y_AXIS].acceleration = (DEFAULT_Y_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[Y_AXIS].jerk = (DEFAULT_Y_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[Y_AXIS].dual_axis_offset = 0.0f,
|
||||
.axis[Y_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
|
||||
.axis[Y_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
|
||||
@@ -238,9 +234,7 @@ PROGMEM const settings_t defaults = {
|
||||
.axis[Z_AXIS].steps_per_mm = DEFAULT_Z_STEPS_PER_MM,
|
||||
.axis[Z_AXIS].max_rate = DEFAULT_Z_MAX_RATE,
|
||||
.axis[Z_AXIS].acceleration = (DEFAULT_Z_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[Z_AXIS].jerk = (DEFAULT_Z_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[Z_AXIS].max_travel = (-DEFAULT_Z_MAX_TRAVEL),
|
||||
.axis[Z_AXIS].dual_axis_offset = 0.0f,
|
||||
.axis[Z_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
|
||||
@@ -253,9 +247,7 @@ PROGMEM const settings_t defaults = {
|
||||
.axis[A_AXIS].steps_per_mm = DEFAULT_A_STEPS_PER_MM,
|
||||
.axis[A_AXIS].max_rate = DEFAULT_A_MAX_RATE,
|
||||
.axis[A_AXIS].acceleration =(DEFAULT_A_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[A_AXIS].jerk = (DEFAULT_A_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[A_AXIS].max_travel = (-DEFAULT_A_MAX_TRAVEL),
|
||||
.axis[A_AXIS].dual_axis_offset = 0.0f,
|
||||
.axis[A_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
|
||||
@@ -270,9 +262,7 @@ PROGMEM const settings_t defaults = {
|
||||
.axis[B_AXIS].steps_per_mm = DEFAULT_B_STEPS_PER_MM,
|
||||
.axis[B_AXIS].max_rate = DEFAULT_B_MAX_RATE,
|
||||
.axis[B_AXIS].acceleration = (DEFAULT_B_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[B_AXIS].jerk = (DEFAULT_B_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[B_AXIS].max_travel = (-DEFAULT_B_MAX_TRAVEL),
|
||||
.axis[B_AXIS].dual_axis_offset = 0.0f,
|
||||
.axis[B_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
|
||||
@@ -286,9 +276,7 @@ PROGMEM const settings_t defaults = {
|
||||
#ifdef C_AXIS
|
||||
.axis[C_AXIS].steps_per_mm = DEFAULT_C_STEPS_PER_MM,
|
||||
.axis[C_AXIS].acceleration = (DEFAULT_C_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[C_AXIS].jerk = (DEFAULT_C_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[C_AXIS].max_rate = DEFAULT_C_MAX_RATE,
|
||||
.axis[C_AXIS].max_travel = (-DEFAULT_C_MAX_TRAVEL),
|
||||
.axis[C_AXIS].dual_axis_offset = 0.0f,
|
||||
@@ -303,9 +291,7 @@ PROGMEM const settings_t defaults = {
|
||||
#ifdef U_AXIS
|
||||
.axis[U_AXIS].steps_per_mm = DEFAULT_U_STEPS_PER_MM,
|
||||
.axis[U_AXIS].acceleration = (DEFAULT_U_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[U_AXIS].jerk = (DEFAULT_U_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[U_AXIS].max_rate = DEFAULT_U_MAX_RATE,
|
||||
.axis[U_AXIS].max_travel = (-DEFAULT_U_MAX_TRAVEL),
|
||||
.axis[U_AXIS].dual_axis_offset = 0.0f,
|
||||
@@ -319,9 +305,7 @@ PROGMEM const settings_t defaults = {
|
||||
#ifdef V_AXIS
|
||||
.axis[V_AXIS].steps_per_mm = DEFAULT_V_STEPS_PER_MM,
|
||||
.axis[V_AXIS].acceleration = (DEFAULT_V_ACCELERATION * 60.0f * 60.0f),
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
.axis[V_AXIS].jerk = (DEFAULT_V_JERK * 60.0f * 60.0f * 60.0f),
|
||||
#endif
|
||||
.axis[V_AXIS].max_rate = DEFAULT_V_MAX_RATE,
|
||||
.axis[V_AXIS].max_travel = (-DEFAULT_V_MAX_TRAVEL),
|
||||
.axis[V_AXIS].dual_axis_offset = 0.0f,
|
||||
@@ -446,7 +430,7 @@ static char axis_dist[4] = "mm";
|
||||
static char axis_rate[8] = "mm/min";
|
||||
static char axis_accel[10] = "mm/sec^2";
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
static char axis_jerk[15] = "mm/sec^3";
|
||||
static char axis_jerk[10] = "mm/sec^3";
|
||||
#endif
|
||||
#if DELTA_ROBOT
|
||||
static char axis_steps[9] = "step/rev";
|
||||
@@ -499,29 +483,12 @@ bool settings_override_acceleration (uint8_t axis, float acceleration)
|
||||
} else {
|
||||
if(!override_backup.valid)
|
||||
save_override_backup();
|
||||
settings.axis[axis].acceleration = (override_backup.acceleration[axis] >= (acceleration * 60.0f * 60.0f)) ? (acceleration * 60.0f * 60.0f) : override_backup.acceleration[axis]; // Limited to max setting value
|
||||
settings.axis[axis].acceleration = acceleration * 60.0f * 60.0f; // Limit max to setting value?
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#if ENABLE_ACCELERATION_PROFILES
|
||||
//Acceleration Profiles for G187 P[x] in percent of maximum machine acceleration.
|
||||
float lookupfactor(uint8_t profile) {
|
||||
static const float lookup[5] = {
|
||||
1.0f, // 100% - Roughing - Max Acceleration Default
|
||||
0.8f, // 80% - Semi Roughing
|
||||
0.6f, // 60% - Semi Finish
|
||||
0.4f, // 40% - Finish
|
||||
0.2f, // 20% - Slow AF Mode
|
||||
};
|
||||
if (profile >= sizeof(lookup) / sizeof(lookup[0])) {
|
||||
profile = 0;
|
||||
}
|
||||
return lookup[profile];
|
||||
}
|
||||
#endif
|
||||
|
||||
// ---
|
||||
|
||||
static void homing_pulloff_init (float pulloff)
|
||||
@@ -1194,12 +1161,12 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
|
||||
break;
|
||||
|
||||
case Setting_AxisAcceleration:
|
||||
settings.axis[idx].acceleration = override_backup.acceleration[idx] = value * 60.0f * 60.0f; // Convert to mm/min^2 for grbl internal use.
|
||||
settings.axis[idx].acceleration = override_backup.acceleration[idx] = value * 60.0f * 60.0f; // Convert to mm/min^2 for internal use.
|
||||
break;
|
||||
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
case Setting_AxisJerk:
|
||||
settings.axis[idx].jerk = value * 60.0f * 60.0f * 60.0f; // Convert to mm/min^3 for grbl internal use.
|
||||
settings.axis[idx].jerk = value * 60.0f * 60.0f * 60.0f; // Convert to mm/min^3 for internal use.
|
||||
break;
|
||||
#endif
|
||||
|
||||
@@ -1208,7 +1175,7 @@ static status_code_t set_axis_setting (setting_id_t setting, float value)
|
||||
bit_false(sys.homed.mask, bit(idx));
|
||||
system_add_rt_report(Report_Homed);
|
||||
}
|
||||
settings.axis[idx].max_travel = -value; // Store as negative for grbl internal use.
|
||||
settings.axis[idx].max_travel = -value; // Store as negative for internal use.
|
||||
if(settings.homing.flags.init_lock && (sys.homing.mask & sys.homed.mask) != sys.homing.mask) {
|
||||
system_raise_alarm(Alarm_HomingRequired);
|
||||
grbl.report.feedback_message(Message_HomingCycleRequired);
|
||||
@@ -1262,7 +1229,8 @@ static float get_float (setting_id_t setting)
|
||||
{
|
||||
float value = 0.0f;
|
||||
|
||||
if(setting >= Setting_AxisSettingsBase && setting <= Setting_AxisSettingsMax) {
|
||||
if((setting >= Setting_AxisSettingsBase && setting <= Setting_AxisSettingsMax) ||
|
||||
(setting >= Setting_AxisSettingsBase1 && setting <= Setting_AxisSettingsMax1)) {
|
||||
|
||||
uint_fast8_t idx;
|
||||
|
||||
@@ -1281,7 +1249,7 @@ static float get_float (setting_id_t setting)
|
||||
break;
|
||||
|
||||
case Setting_AxisMaxTravel:
|
||||
value = -settings.axis[idx].max_travel; // Store as negative for grbl internal use.
|
||||
value = -settings.axis[idx].max_travel; // Store as negative for internal use.
|
||||
break;
|
||||
|
||||
#if ENABLE_BACKLASH_COMPENSATION
|
||||
@@ -1302,25 +1270,15 @@ static float get_float (setting_id_t setting)
|
||||
value = settings.axis[idx].homing_seek_rate;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
} else if(setting >= Setting_AxisSettingsBase1 && setting <= Setting_AxisSettingsMax1) {
|
||||
|
||||
uint_fast8_t idx;
|
||||
|
||||
switch(settings_get_axis_base(setting, &idx)) {
|
||||
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
case Setting_AxisJerk:
|
||||
value = settings.axis[idx].jerk / (60.0f * 60.0f * 60.0f); // Convert from mm/min^3 to mm/sec^3.
|
||||
break;
|
||||
#endif
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
} else switch(setting) {
|
||||
} else switch(setting) {
|
||||
|
||||
case Setting_HomingFeedRate:
|
||||
value = settings.axis[0].homing_feed_rate;
|
||||
@@ -3246,6 +3204,14 @@ void settings_init (void)
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_JERK_ACCELERATION
|
||||
uint_fast8_t idx = N_AXIS;
|
||||
do {
|
||||
if(settings.axis[--idx].jerk == 0.0f)
|
||||
settings.axis[idx].jerk = settings.axis[idx].acceleration * 60.0f * 10.0f;
|
||||
} while(idx);
|
||||
#endif
|
||||
|
||||
setting_details_t *details = setting_details.next;
|
||||
|
||||
if(details) do {
|
||||
|
||||
@@ -1081,10 +1081,6 @@ bool settings_read_coord_data(coord_system_id_t id, float (*coord_data)[N_AXIS])
|
||||
// Temporarily override acceleration, if 0 restore to configured setting value
|
||||
bool settings_override_acceleration (uint8_t axis, float acceleration);
|
||||
|
||||
#if ENABLE_ACCELERATION_PROFILES
|
||||
float lookupfactor (uint8_t profile);
|
||||
#endif
|
||||
|
||||
void settings_register (setting_details_t *details);
|
||||
setting_details_t *settings_get_details (void);
|
||||
bool settings_is_group_available (setting_group_t group);
|
||||
|
||||
+10
-2
@@ -76,14 +76,20 @@ static parking_data_t park = {0};
|
||||
|
||||
static void state_spindle_restore (spindle_t *spindle)
|
||||
{
|
||||
if(spindle->hal)
|
||||
if(spindle->hal) {
|
||||
if(grbl.on_spindle_programmed)
|
||||
grbl.on_spindle_programmed(spindle->hal, spindle->state, spindle->rpm, spindle->rpm_mode);
|
||||
spindle_restore(spindle->hal, spindle->state, spindle->rpm);
|
||||
}
|
||||
}
|
||||
|
||||
static void state_spindle_set_state (spindle_t *spindle)
|
||||
{
|
||||
if(spindle->hal)
|
||||
if(spindle->hal) {
|
||||
if(grbl.on_spindle_programmed)
|
||||
grbl.on_spindle_programmed(spindle->hal, spindle->state, spindle->rpm, spindle->rpm_mode);
|
||||
spindle_set_state(spindle->hal, spindle->state, spindle->rpm);
|
||||
}
|
||||
}
|
||||
|
||||
static void state_restore_conditions (restore_condition_t *condition)
|
||||
@@ -360,6 +366,8 @@ void state_suspend_manager (void)
|
||||
// Handles beginning of spindle stop
|
||||
if (sys.override.spindle_stop.initiate) {
|
||||
sys.override.spindle_stop.value = 0; // Clear stop override state
|
||||
if(grbl.on_spindle_programmed)
|
||||
grbl.on_spindle_programmed(restore_condition.spindle[restore_condition.spindle_num].hal, (spindle_state_t){0}, 0.0f, 0);
|
||||
spindle_set_state(restore_condition.spindle[restore_condition.spindle_num].hal, (spindle_state_t){0}, 0.0f); // De-energize
|
||||
sys.override.spindle_stop.enabled = On; // Set stop override state to enabled, if de-energized.
|
||||
if(grbl.on_override_changed)
|
||||
|
||||
@@ -223,7 +223,7 @@ ISR_CODE void ISR_FUNC(st_go_idle)(void)
|
||||
}
|
||||
|
||||
|
||||
/* "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. Grbl employs
|
||||
/* "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of grblHAL. grblHAL employs
|
||||
the venerable Bresenham line algorithm to manage and exactly synchronize multi-axis moves.
|
||||
Unlike the popular DDA algorithm, the Bresenham algorithm is not susceptible to numerical
|
||||
round-off errors and only requires fast integer counters, meaning low computational overhead
|
||||
@@ -232,7 +232,7 @@ ISR_CODE void ISR_FUNC(st_go_idle)(void)
|
||||
pulse trains, or aliasing, which can lead to strange audible noises or shaking. This is
|
||||
particularly noticeable or may cause motion issues at low step frequencies (0-5kHz), but
|
||||
is usually not a physical problem at higher frequencies, although audible.
|
||||
To improve Bresenham multi-axis performance, Grbl uses what we call an Adaptive Multi-Axis
|
||||
To improve Bresenham multi-axis performance, grblHAL uses what we call an Adaptive Multi-Axis
|
||||
Step Smoothing (AMASS) algorithm, which does what the name implies. At lower step frequencies,
|
||||
AMASS artificially increases the Bresenham resolution without effecting the algorithm's
|
||||
innate exactness. AMASS adapts its resolution levels automatically depending on the step
|
||||
@@ -246,7 +246,7 @@ ISR_CODE void ISR_FUNC(st_go_idle)(void)
|
||||
Level 2, we simply bit-shift again, so the non-dominant Bresenham axes can step within any
|
||||
of the four ISR ticks, the dominant axis steps every four ISR ticks, and quadruple the
|
||||
stepper ISR frequency. And so on. This, in effect, virtually eliminates multi-axis aliasing
|
||||
issues with the Bresenham algorithm and does not significantly alter Grbl's performance, but
|
||||
issues with the Bresenham algorithm and does not significantly alter grblHAL's performance, but
|
||||
in fact, more efficiently utilizes unused CPU cycles overall throughout all configurations.
|
||||
AMASS retains the Bresenham algorithm exactness by requiring that it always executes a full
|
||||
Bresenham step, regardless of AMASS Level. Meaning that for an AMASS Level 2, all four
|
||||
@@ -263,9 +263,7 @@ ISR_CODE void ISR_FUNC(st_go_idle)(void)
|
||||
after each pulse. The bresenham line tracer algorithm controls all stepper outputs
|
||||
simultaneously with these two interrupts.
|
||||
|
||||
NOTE: This interrupt must be as efficient as possible and complete before the next ISR tick,
|
||||
which for Grbl must be less than 33.3usec (@30kHz ISR rate). Oscilloscope measured time in
|
||||
ISR is 5usec typical and 25usec maximum, well below requirement.
|
||||
NOTE: This interrupt must be as efficient as possible and complete before the next ISR tick.
|
||||
NOTE: This ISR expects at least one step to be executed per segment.
|
||||
*/
|
||||
|
||||
@@ -393,8 +391,10 @@ ISR_CODE void ISR_FUNC(stepper_driver_interrupt_handler)(void)
|
||||
st_go_idle();
|
||||
|
||||
// Ensure pwm is set properly upon completion of rate-controlled motion.
|
||||
if (st.exec_block->dynamic_rpm && st.exec_block->spindle->cap.laser)
|
||||
if(st.exec_block->dynamic_rpm && st.exec_block->spindle->cap.laser) {
|
||||
prep.current_spindle_rpm = 0.0f;
|
||||
st.exec_block->spindle->update_pwm(st.exec_block->spindle, st.exec_block->spindle->pwm_off_value);
|
||||
}
|
||||
|
||||
st.exec_block = NULL;
|
||||
system_set_exec_state_flag(EXEC_CYCLE_COMPLETE); // Flag main program for cycle complete
|
||||
@@ -1033,7 +1033,7 @@ void st_prep_buffer (void)
|
||||
However, since floats have only 7.2 significant digits, long moves with extremely
|
||||
high step counts can exceed the precision of floats, which can lead to lost steps.
|
||||
Fortunately, this scenario is highly unlikely and unrealistic in CNC machines
|
||||
supported by Grbl (i.e. exceeding 10 meters axis travel at 200 step/mm).
|
||||
supported by grblHAL (i.e. exceeding 10 meters axis travel at 200 step/mm).
|
||||
*/
|
||||
float step_dist_remaining = prep.steps_per_mm * mm_remaining; // Convert mm_remaining to steps
|
||||
uint32_t n_steps_remaining = (uint32_t)ceilf(step_dist_remaining); // Round-up current steps remaining
|
||||
@@ -1056,7 +1056,7 @@ void st_prep_buffer (void)
|
||||
// compensate, we track the time to execute the previous segment's partial step and simply
|
||||
// apply it with the partial step distance to the current segment, so that it minutely
|
||||
// adjusts the whole segment rate to keep step output exact. These rate adjustments are
|
||||
// typically very small and do not adversely effect performance, but ensures that Grbl
|
||||
// typically very small and do not adversely effect performance, but ensures that grblHAL
|
||||
// outputs the exact acceleration and velocity profiles as computed by the planner.
|
||||
dt += prep.dt_remainder; // Apply previous segment partial step execute time
|
||||
float inv_rate = dt / ((float)prep.steps_remaining - step_dist_remaining); // Compute adjusted step rate inverse
|
||||
|
||||
Reference in New Issue
Block a user