mirror of
https://github.com/grblHAL/core.git
synced 2026-08-18 00:47:25 +08:00
Added HAL support for stepper driver status signals (warning and fault) and
new HAL entry point for querying/resetting driver status. Added driver capability flags and settings, $742 - $745, for enabling and inverting motor warning and fault input signals (per axis). Improved jerk acceleration. Ref. PR #660.
This commit is contained in:
Terje Io
@@ -1,6 +1,6 @@
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## grblHAL ##
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Latest build date is 20250116, see the [changelog](changelog.md) for details.
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Latest build date is 20250118, 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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20250116
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20250118
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+23
-1
@@ -1,5 +1,27 @@
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## grblHAL changelog
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<a name="20250118">Build 20250118
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Core:
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* Added HAL support for stepper driver status signals \(warning and fault\) and new HAL entry point for querying/resetting driver status.
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* Added driver capability flags and settings, `$742` - `$745`, for enabling and inverting motor warning and fault input signals \(per axis\).
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* Improved jerk acceleration. Ref. PR [#660](https://github.com/grblHAL/core/pull/660).
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Plugins:
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* Trinamic: added up to 5 seconds startup delay to allow motor power to come up. Ref. issue [#19](https://github.com/grblHAL/Plugins_motor/issues/19).
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Partially implemended new HAL entry point for querying/resetting driver status.
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Drivers:
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* STM32F4xx: added driver support for per motor stepper driver fault signals, updated SuperLongBoard EXT map/board specific code to match.
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Fixed issue with homing/hard limits alarm affecting SuperLongBoards.
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---
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<a name="20250116">Build 20250116
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Core:
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@@ -11,7 +33,7 @@ Core:
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Drivers:
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* STM32F4xx: fixed random freezes when WizNet plugin is enabled for ethernet. Ref. issue [#208](https://github.com/grblHAL/STM32F4xx/issues/208).
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* STM32F4xx: fixed random freezes when WizNet plugin is enabled for ethernet. Ref. issue [#208](https://github.com/grblHAL/STM32F4xx/issues/208).
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Added tentative board map for Sienci SuperLongBoard with external drivers \(SLB EXT\) and added support for toolsetter state for both SLB and SLB EXT.
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Plugins:
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@@ -1903,6 +1903,46 @@ For the controller the distance is unitless and and can be in degrees, radians,
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#endif
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///@}
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/*! @name $742 - Setting_MotorWarningsEnable
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\brief \ref axismask controlling the which motor warning signals to enable.
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Set this value to -1 or AXES_BITMASK to enable for all axes or specify which by mask.
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*/
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///@{
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#if !defined DEFAULT_MOTOR_WARNING_SIGNALS_ENABLE || defined __DOXYGEN__
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#define DEFAULT_MOTOR_WARNING_SIGNALS_ENABLE 0
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#endif
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///@}
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/*! @name $743 - Setting_MotorWarningsInvert
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\brief \ref axismask controlling the which motor warning signals to to invert.
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Set this value to -1 or AXES_BITMASK to invert all warning signals or specify for which axes by mask.
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*/
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///@{
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#if !defined DEFAULT_MOTOR_WARNING_SIGNALS_INVERT || defined __DOXYGEN__
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#define DEFAULT_MOTOR_WARNING_SIGNALS_INVERT 0
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#endif
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///@}
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/*! @name $744 - Setting_MotorFaultsEnable
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\brief \ref axismask controlling the which motor fault signals to enable.
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Set this value to -1 or AXES_BITMASK to enable for all axes or specify which by mask.
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*/
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///@{
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#if !defined DEFAULT_MOTOR_FAULT_SIGNALS_ENABLE || defined __DOXYGEN__
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#define DEFAULT_MOTOR_FAULT_SIGNALS_ENABLE 0
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#endif
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///@}
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/*! @name $745 - Setting_MotorFaultsInvert
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\brief \ref axismask controlling the which motor fault signals to to invert.
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Set this value to -1 or AXES_BITMASK to invert all fault signals or specify for which axes by mask.
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*/
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///@{
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#if !defined DEFAULT_MOTOR_FAULT_SIGNALS_INVERT || defined __DOXYGEN__
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#define DEFAULT_MOTOR_FAULT_SIGNALS_INVERT 0
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#endif
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///@}
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/*! @name $481 - Setting_AutoReportInterval
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Auto status report interval, allowed range is 100 - 1000. Set to 0 to disable.
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*/
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+12
-1
@@ -3,7 +3,7 @@
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Part of grblHAL
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Copyright (c) 2023-2024 Terje Io
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Copyright (c) 2023-2025 Terje Io
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@@ -33,6 +33,8 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitX_Max:
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case Input_LimitX_2:
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case Input_HomeX:
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case Input_MotorFaultX:
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case Input_MotorFaultX_2:
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mask.x = On;
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break;
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@@ -40,6 +42,8 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitY_Max:
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case Input_LimitY_2:
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case Input_HomeY:
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case Input_MotorFaultY:
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case Input_MotorFaultY_2:
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mask.y = On;
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break;
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@@ -47,6 +51,8 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitZ_Max:
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case Input_LimitZ_2:
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case Input_HomeZ:
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case Input_MotorFaultZ:
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case Input_MotorFaultZ_2:
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mask.z = On;
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break;
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@@ -54,6 +60,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitA:
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case Input_LimitA_Max:
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case Input_HomeA:
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case Input_MotorFaultA:
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mask.a = On;
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break;
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#endif
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@@ -61,6 +68,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitB:
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case Input_LimitB_Max:
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case Input_HomeB:
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case Input_MotorFaultB:
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mask.b = On;
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break;
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#endif
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@@ -68,6 +76,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitC:
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case Input_LimitC_Max:
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case Input_HomeC:
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case Input_MotorFaultC:
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mask.c = On;
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break;
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#endif
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@@ -75,6 +84,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitU:
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case Input_LimitU_Max:
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case Input_HomeU:
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case Input_MotorFaultU:
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mask.u = On;
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break;
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#endif
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@@ -82,6 +92,7 @@ axes_signals_t xbar_fn_to_axismask (pin_function_t fn)
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case Input_LimitV:
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case Input_LimitV_Max:
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case Input_HomeV:
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case Input_MotorFaultV:
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mask.v = On;
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break;
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#endif
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+37
-2
@@ -3,7 +3,7 @@
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Part of grblHAL
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Copyright (c) 2021-2024 Terje Io
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Copyright (c) 2021-2025 Terje Io
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@@ -42,6 +42,17 @@ typedef enum {
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Input_ProbeOvertravel,
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Input_Probe,
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// end control_signals_t sequence
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Input_MotorFaultX,
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Input_MotorFaultY,
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Input_MotorFaultZ,
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Input_MotorFaultA,
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Input_MotorFaultB,
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Input_MotorFaultC,
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Input_MotorFaultU,
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Input_MotorFaultV,
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Input_MotorFaultX_2,
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Input_MotorFaultY_2,
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Input_MotorFaultZ_2,
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Input_Toolsetter,
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Input_ToolsetterOvertravel,
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Input_MPGSelect,
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@@ -90,7 +101,11 @@ typedef enum {
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Input_Aux9,
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Input_Aux10,
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Input_Aux11,
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Input_AuxMax = Input_Aux11,
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Input_Aux12,
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Input_Aux13,
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Input_Aux14,
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Input_Aux15,
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Input_AuxMax = Input_Aux15,
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Input_Analog_Aux0,
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Input_Analog_Aux1,
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Input_Analog_Aux2,
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@@ -250,6 +265,12 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_SingleBlock, .name = "Single block" },
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{ .function = Input_ProbeOvertravel, .name = "Probe overtravel" },
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{ .function = Input_Probe, .name = "Probe" },
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{ .function = Input_MotorFaultX, .name = "X motor fault" },
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{ .function = Input_MotorFaultY, .name = "Y motor fault" },
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{ .function = Input_MotorFaultZ, .name = "Z motor fault" },
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{ .function = Input_MotorFaultX_2, .name = "X motor fault 2" },
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{ .function = Input_MotorFaultY_2, .name = "Y motor fault 2" },
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{ .function = Input_MotorFaultZ_2, .name = "Z motor fault 2" },
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{ .function = Input_Toolsetter, .name = "Toolsetter" },
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{ .function = Input_ToolsetterOvertravel, .name = "Toolsetter overtravel" },
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{ .function = Input_MPGSelect, .name = "MPG mode select" },
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@@ -283,6 +304,10 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_Aux9, .name = "Aux in 9" },
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{ .function = Input_Aux10, .name = "Aux in 10" },
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{ .function = Input_Aux11, .name = "Aux in 11" },
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{ .function = Input_Aux12, .name = "Aux in 12" },
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{ .function = Input_Aux13, .name = "Aux in 13" },
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{ .function = Input_Aux14, .name = "Aux in 14" },
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{ .function = Input_Aux15, .name = "Aux in 15" },
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{ .function = Input_Analog_Aux0, .name = "Aux analog in 0" },
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{ .function = Input_Analog_Aux1, .name = "Aux analog in 1" },
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{ .function = Input_Analog_Aux2, .name = "Aux analog in 2" },
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@@ -317,6 +342,7 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_LimitA, .name = "A limit min" },
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{ .function = Input_LimitA_Max, .name = "A limit max" },
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{ .function = Input_HomeA, .name = "A home" },
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{ .function = Input_MotorFaultA, .name = "A motor fault" },
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#endif
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#ifdef B_AXIS
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{ .function = Output_StepB, .name = "B step" },
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@@ -326,6 +352,7 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_LimitB, .name = "B limit min" },
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{ .function = Input_LimitB_Max, .name = "B limit max" },
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{ .function = Input_HomeB, .name = "B home" },
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{ .function = Input_MotorFaultB, .name = "B motor fault" },
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#endif
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#ifdef C_AXIS
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{ .function = Output_StepC, .name = "C step" },
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@@ -334,6 +361,7 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_LimitC, .name = "C limit min" },
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{ .function = Input_LimitC_Max, .name = "C limit max" },
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{ .function = Input_HomeC, .name = "C home" },
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{ .function = Input_MotorFaultC, .name = "C motor fault" },
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#endif
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#ifdef U_AXIS
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{ .function = Output_StepU, .name = "U step" },
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@@ -342,6 +370,7 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_LimitU, .name = "U limit min" },
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{ .function = Input_LimitU_Max, .name = "U limit max" },
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{ .function = Input_HomeU, .name = "U home" },
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{ .function = Input_MotorFaultU, .name = "U motor fault" },
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#endif
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#ifdef V_AXIS
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{ .function = Output_StepV, .name = "V step" },
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@@ -350,6 +379,7 @@ PROGMEM static const pin_name_t pin_names[] = {
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{ .function = Input_LimitV, .name = "V limit min" },
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{ .function = Input_LimitV_Max, .name = "V limit max" },
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{ .function = Input_HomeV, .name = "V home" },
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{ .function = Input_MotorFaultV, .name = "V motor fault" },
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#endif
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#ifndef NO_SETTINGS_DESCRIPTIONS
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{ .function = Output_MotorChipSelect, .name = "Motor CS" },
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@@ -684,6 +714,11 @@ typedef union {
|
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};
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} pin_debounce_t;
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static inline uint8_t xbar_fault_pin_to_axis (pin_function_t fn)
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{
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return fn >= Input_MotorFaultX && fn <= Input_MotorFaultV ? fn - Input_MotorFaultX : (fn >= Input_MotorFaultX_2 && fn <= Input_MotorFaultZ_2 ? fn - Input_MotorFaultX_2 : 0);
|
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}
|
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|
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void xbar_set_homing_source (void);
|
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limit_signals_t xbar_get_homing_source (void);
|
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limit_signals_t xbar_get_homing_source_from_cycle (axes_signals_t homing_cycle);
|
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|
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@@ -51,6 +51,12 @@
|
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|
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#define MACH3_SCALING
|
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|
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#ifdef NO_SETTINGS_DESCRIPTIONS
|
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#define GCODE_ADVANCED 0
|
||||
#else
|
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#define GCODE_ADVANCED 1
|
||||
#endif
|
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|
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// Do not change, must be same as axis indices
|
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#define I_VALUE X_AXIS
|
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#define J_VALUE Y_AXIS
|
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@@ -117,7 +123,6 @@ parser_state_t gc_state;
|
||||
|
||||
#define FAIL(status) return(status);
|
||||
|
||||
static gc_thread_data thread;
|
||||
static output_command_t *output_commands = NULL; // Linked list
|
||||
static scale_factor_t scale_factor = {
|
||||
.ijk[X_AXIS] = 1.0f,
|
||||
@@ -492,6 +497,10 @@ static bool add_output_command (output_command_t *command)
|
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return add_cmd != NULL;
|
||||
}
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
|
||||
static gc_thread_data thread;
|
||||
|
||||
static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
|
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{
|
||||
if(pl_data->spindle.hal->get_data == NULL)
|
||||
@@ -519,6 +528,8 @@ static status_code_t init_sync_motion (plan_line_data_t *pl_data, float pitch)
|
||||
return Status_OK;
|
||||
}
|
||||
|
||||
#endif // GCODE_ADVANCED
|
||||
|
||||
// Output and free previously allocated message
|
||||
void gc_output_message (char *message)
|
||||
{
|
||||
@@ -698,6 +709,8 @@ status_code_t gc_execute_block (char *block)
|
||||
#endif
|
||||
};
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
|
||||
static const parameter_words_t pq_words = {
|
||||
.p = On,
|
||||
.q = On
|
||||
@@ -708,6 +721,8 @@ status_code_t gc_execute_block (char *block)
|
||||
.j = On
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
static const parameter_words_t positive_only_words = {
|
||||
.d = On,
|
||||
.f = On,
|
||||
@@ -1053,7 +1068,7 @@ status_code_t gc_execute_block (char *block)
|
||||
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
||||
}
|
||||
break;
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
case 33: case 76:
|
||||
if(mantissa != 0)
|
||||
FAIL(Status_GcodeUnsupportedCommand); // [G33.1 not yet supported]
|
||||
@@ -1066,7 +1081,7 @@ status_code_t gc_execute_block (char *block)
|
||||
// gc_block.modal.motion = MotionMode_RigidTapping;
|
||||
gc_block.modal.canned_cycle_active = false;
|
||||
break;
|
||||
|
||||
#endif
|
||||
case 38:
|
||||
if(!(hal.probe.get_state && ((mantissa == 20) || (mantissa == 30) || (mantissa == 40) || (mantissa == 50))))
|
||||
FAIL(Status_GcodeUnsupportedCommand); // [probing not supported by driver or unsupported G38.x command]
|
||||
@@ -1074,7 +1089,10 @@ status_code_t gc_execute_block (char *block)
|
||||
mantissa = 0; // Set to zero to indicate valid non-integer G command.
|
||||
// No break. Continues to next line.
|
||||
|
||||
case 0: case 1: case 2: case 3: case 5:
|
||||
case 0: case 1: case 2: case 3:
|
||||
#if GCODE_ADVANCED
|
||||
case 5:
|
||||
#endif
|
||||
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
|
||||
// * G43.1 is also an axis command but is not explicitly defined this way.
|
||||
if (axis_command)
|
||||
@@ -1094,7 +1112,7 @@ status_code_t gc_execute_block (char *block)
|
||||
gc_block.modal.motion = (motion_mode_t)int_value;
|
||||
gc_block.modal.canned_cycle_active = false;
|
||||
break;
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
case 73: case 81: case 82: case 83: case 85: case 86: case 89:
|
||||
if (axis_command)
|
||||
FAIL(Status_GcodeAxisCommandConflict); // [Axis word/command conflict]
|
||||
@@ -1104,7 +1122,7 @@ status_code_t gc_execute_block (char *block)
|
||||
gc_block.modal.motion = (motion_mode_t)int_value;
|
||||
gc_parser_flags.canned_cycle_change = gc_block.modal.motion != gc_state.modal.motion;
|
||||
break;
|
||||
|
||||
#endif
|
||||
case 17: case 18: case 19:
|
||||
word_bit.modal_group.G2 = On;
|
||||
gc_block.modal.plane_select = (plane_select_t)(int_value - 17);
|
||||
@@ -2562,6 +2580,8 @@ status_code_t gc_execute_block (char *block)
|
||||
if(gc_block.spindle_modal.rpm_mode == SpindleSpeedMode_CSS && (!gc_block.spindle_modal.state.on || gc_block.values.s == 0.0f))
|
||||
FAIL(Status_GcodeSpindleNotRunning);
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
|
||||
// Check if feed rate is defined for the motion modes that require it.
|
||||
if(gc_block.modal.motion == MotionMode_SpindleSynchronized) {
|
||||
|
||||
@@ -2666,10 +2686,10 @@ status_code_t gc_execute_block (char *block)
|
||||
|
||||
gc_block.words.e = gc_block.words.h = gc_block.words.i = gc_block.words.j = gc_block.words.k = gc_block.words.l = gc_block.words.p = gc_block.words.q = gc_block.words.r = Off;
|
||||
|
||||
} else if (gc_block.values.f == 0.0f)
|
||||
} else if(gc_block.values.f == 0.0f)
|
||||
FAIL(Status_GcodeUndefinedFeedRate); // [Feed rate undefined]
|
||||
|
||||
if (gc_block.modal.canned_cycle_active) {
|
||||
if(gc_block.modal.canned_cycle_active) {
|
||||
|
||||
if(gc_parser_flags.canned_cycle_change) {
|
||||
|
||||
@@ -2757,8 +2777,15 @@ status_code_t gc_execute_block (char *block)
|
||||
break;
|
||||
|
||||
} // end switch gc_state.canned.motion
|
||||
} else
|
||||
#else
|
||||
|
||||
} else switch (gc_block.modal.motion) {
|
||||
if(gc_block.values.f == 0.0f)
|
||||
FAIL(Status_GcodeUndefinedFeedRate); // [Feed rate undefined]
|
||||
|
||||
#endif // GCODE_ADVANCED
|
||||
|
||||
switch (gc_block.modal.motion) {
|
||||
|
||||
case MotionMode_Linear:
|
||||
// [G1 Errors]: Feed rate undefined. Axis letter not configured or without real value.
|
||||
@@ -2950,6 +2977,8 @@ status_code_t gc_execute_block (char *block)
|
||||
}
|
||||
break;
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
|
||||
case MotionMode_CubicSpline:
|
||||
// [G5 Errors]: Feed rate undefined.
|
||||
// [G5 Plane Errors]: The active plane is not G17.
|
||||
@@ -3030,6 +3059,8 @@ status_code_t gc_execute_block (char *block)
|
||||
gc_block.words.i = gc_block.words.j = Off;
|
||||
break;
|
||||
|
||||
#endif // GCODE_ADVANCED
|
||||
|
||||
case MotionMode_ProbeTowardNoError:
|
||||
case MotionMode_ProbeAwayNoError:
|
||||
gc_parser_flags.probe_is_no_error = On;
|
||||
@@ -3720,6 +3751,8 @@ status_code_t gc_execute_block (char *block)
|
||||
plane, gc_parser_flags.arc_is_clockwise ? -gc_block.arc_turns : gc_block.arc_turns);
|
||||
break;
|
||||
|
||||
#if GCODE_ADVANCED
|
||||
|
||||
case MotionMode_CubicSpline:
|
||||
{
|
||||
point_2d_t cp1 = {
|
||||
@@ -3792,6 +3825,8 @@ status_code_t gc_execute_block (char *block)
|
||||
mc_canned_drill(gc_state.modal.motion, gc_block.values.xyz, &plan_data, gc_state.position, plane, gc_block.values.l, &gc_state.canned);
|
||||
break;
|
||||
|
||||
#endif // GCODE_ADVANCED
|
||||
|
||||
case MotionMode_ProbeToward:
|
||||
case MotionMode_ProbeTowardNoError:
|
||||
case MotionMode_ProbeAway:
|
||||
|
||||
@@ -42,7 +42,7 @@
|
||||
#else
|
||||
#define GRBL_VERSION "1.1f"
|
||||
#endif
|
||||
#define GRBL_BUILD 20250116
|
||||
#define GRBL_BUILD 20250118
|
||||
|
||||
#define GRBL_URL "https://github.com/grblHAL"
|
||||
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2016-2024 Terje Io
|
||||
Copyright (c) 2016-2025 Terje Io
|
||||
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@@ -314,6 +314,13 @@ typedef axes_signals_t (*stepper_get_ganged_ptr)(bool auto_squared);
|
||||
*/
|
||||
typedef void (*stepper_claim_motor_ptr)(uint_fast8_t axis_id, bool claim);
|
||||
|
||||
/*! \brief Pointer to function for querying or resetting stepper driver status.
|
||||
|
||||
\param reset \a true to reset status, \a false to query it.
|
||||
\returns stepper driver warning and fault status in a \a stepper_status_t struct.
|
||||
*/
|
||||
typedef stepper_status_t (*stepper_status_ptr)(bool reset);
|
||||
|
||||
/*! \brief Pointer to callback function for outputting the next direction and step pulse signals. _Set by the core on startup._
|
||||
|
||||
To be called by the driver from the main stepper interrupt handler (when the timer times out).
|
||||
@@ -333,6 +340,7 @@ typedef struct {
|
||||
stepper_claim_motor_ptr claim_motor; //!< Optional handler for claiming/releasing motor(s) from normal step/dir control.
|
||||
stepper_output_step_ptr output_step; //!< Optional handler for outputting a single step pulse. _Experimental._ Called from interrupt context.
|
||||
motor_iterator_ptr motor_iterator; //!< Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers).
|
||||
stepper_status_ptr stepper_status; //!< Optional handler handler for querying steppper driver status or attempting to reset it.
|
||||
} stepper_ptrs_t;
|
||||
|
||||
|
||||
@@ -662,7 +670,8 @@ typedef struct {
|
||||
limit_signals_t limits_cap; //!< Limit input signals supported by the driver.
|
||||
home_signals_t home_cap; //!< Home input signals supported by the driver.
|
||||
coolant_state_t coolant_cap; //!< Coolant outputs supported by the driver.
|
||||
|
||||
home_signals_t motor_warning_cap; //!< Motor warning input signals (per motor) supported by the driver.
|
||||
home_signals_t motor_fault_cap; //!< Motor fault input signals (per motor) supported by the driver.
|
||||
} grbl_hal_t;
|
||||
|
||||
extern grbl_hal_t hal; //!< Global HAL struct.
|
||||
|
||||
+225
-1
@@ -5,7 +5,7 @@
|
||||
|
||||
Part of grblHAL
|
||||
|
||||
Copyright (c) 2021-2024 Terje Io
|
||||
Copyright (c) 2021-2025 Terje Io
|
||||
|
||||
grblHAL is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@@ -98,6 +98,11 @@
|
||||
#define X2_ENABLE_PIN M3_ENABLE_PIN
|
||||
#define X2_ENABLE_BIT (1<<M3_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M3_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_PORT M3_MOTOR_FAULT_PORT
|
||||
#define X2_MOTOR_FAULT_PIN M3_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_BIT (1<<M3_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif X_DOUBLED == 2
|
||||
|
||||
@@ -142,6 +147,11 @@
|
||||
#define X2_ENABLE_PIN M4_ENABLE_PIN
|
||||
#define X2_ENABLE_BIT (1<<M4_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M4_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_PORT M4_MOTOR_FAULT_PORT
|
||||
#define X2_MOTOR_FAULT_PIN M4_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_BIT (1<<M4_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif X_DOUBLED == 3
|
||||
|
||||
@@ -186,6 +196,11 @@
|
||||
#define X2_ENABLE_PIN M5_ENABLE_PIN
|
||||
#define X2_ENABLE_BIT (1<<M5_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M5_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_PORT M5_MOTOR_FAULT_PORT
|
||||
#define X2_MOTOR_FAULT_PIN M5_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_BIT (1<<M5_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif X_DOUBLED == 4
|
||||
|
||||
@@ -230,6 +245,11 @@
|
||||
#define X2_ENABLE_PIN M6_ENABLE_PIN
|
||||
#define X2_ENABLE_BIT (1<<M6_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M6_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_PORT M6_MOTOR_FAULT_PORT
|
||||
#define X2_MOTOR_FAULT_PIN M6_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_BIT (1<<M6_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif X_DOUBLED == 5
|
||||
|
||||
@@ -274,6 +294,11 @@
|
||||
#define X2_ENABLE_PIN M7_ENABLE_PIN
|
||||
#define X2_ENABLE_BIT (1<<M7_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M7_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_PORT M7_MOTOR_FAULT_PORT
|
||||
#define X2_MOTOR_FAULT_PIN M7_MOTOR_FAULT_PIN
|
||||
#define X2_MOTOR_FAULT_BIT (1<<M7_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // X_DOUBLED
|
||||
|
||||
@@ -320,6 +345,11 @@
|
||||
#define Y2_ENABLE_PIN M3_ENABLE_PIN
|
||||
#define Y2_ENABLE_BIT (1<<M3_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M3_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_PORT M3_MOTOR_FAULT_PORT
|
||||
#define Y2_MOTOR_FAULT_PIN M3_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_BIT (1<<M3_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Y_DOUBLED == 2
|
||||
|
||||
@@ -364,6 +394,11 @@
|
||||
#define Y2_ENABLE_PIN M4_ENABLE_PIN
|
||||
#define Y2_ENABLE_BIT (1<<M4_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M4_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_PORT M4_MOTOR_FAULT_PORT
|
||||
#define Y2_MOTOR_FAULT_PIN M4_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_BIT (1<<M4_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Y_DOUBLED == 3
|
||||
|
||||
@@ -408,6 +443,11 @@
|
||||
#define Y2_ENABLE_PIN M5_ENABLE_PIN
|
||||
#define Y2_ENABLE_BIT (1<<M5_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M5_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_PORT M5_MOTOR_FAULT_PORT
|
||||
#define Y2_MOTOR_FAULT_PIN M5_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_BIT (1<<M5_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Y_DOUBLED == 4
|
||||
|
||||
@@ -452,6 +492,11 @@
|
||||
#define Y2_ENABLE_PIN M6_ENABLE_PIN
|
||||
#define Y2_ENABLE_BIT (1<<M6_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M6_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_PORT M6_MOTOR_FAULT_PORT
|
||||
#define Y2_MOTOR_FAULT_PIN M6_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_BIT (1<<M6_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Y_DOUBLED == 5
|
||||
|
||||
@@ -496,6 +541,11 @@
|
||||
#define Y2_ENABLE_PIN M7_ENABLE_PIN
|
||||
#define Y2_ENABLE_BIT (1<<M7_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M7_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_PORT M7_MOTOR_FAULT_PORT
|
||||
#define Y2_MOTOR_FAULT_PIN M7_MOTOR_FAULT_PIN
|
||||
#define Y2_MOTOR_FAULT_BIT (1<<M7_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // Y_DOUBLED
|
||||
|
||||
@@ -542,6 +592,11 @@
|
||||
#define Z2_ENABLE_PIN M3_ENABLE_PIN
|
||||
#define Z2_ENABLE_BIT (1<<M3_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M3_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_PORT M3_MOTOR_FAULT_PORT
|
||||
#define Z2_MOTOR_FAULT_PIN M3_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_BIT (1<<M3_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Z_DOUBLED == 2
|
||||
|
||||
@@ -586,6 +641,11 @@
|
||||
#define Z2_ENABLE_PIN M4_ENABLE_PIN
|
||||
#define Z2_ENABLE_BIT (1<<M4_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M4_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_PORT M4_MOTOR_FAULT_PORT
|
||||
#define Z2_MOTOR_FAULT_PIN M4_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_BIT (1<<M4_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Z_DOUBLED == 3
|
||||
|
||||
@@ -630,6 +690,11 @@
|
||||
#define Z2_ENABLE_PIN M5_ENABLE_PIN
|
||||
#define Z2_ENABLE_BIT (1<<M5_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M5_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_PORT M5_MOTOR_FAULT_PORT
|
||||
#define Z2_MOTOR_FAULT_PIN M5_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_BIT (1<<M5_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Z_DOUBLED == 4
|
||||
|
||||
@@ -674,6 +739,11 @@
|
||||
#define Z2_ENABLE_PIN M6_ENABLE_PIN
|
||||
#define Z2_ENABLE_BIT (1<<M6_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M6_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_PORT M6_MOTOR_FAULT_PORT
|
||||
#define Z2_MOTOR_FAULT_PIN M6_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_BIT (1<<M6_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#elif Z_DOUBLED == 5
|
||||
|
||||
@@ -718,6 +788,12 @@
|
||||
#define Z2_ENABLE_PIN M7_ENABLE_PIN
|
||||
#define Z2_ENABLE_BIT (1<<M7_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M7_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_PORT M7_MOTOR_FAULT_PORT
|
||||
#define Z2_MOTOR_FAULT_PIN M7_MOTOR_FAULT_PIN
|
||||
#define Z2_MOTOR_FAULT_BIT (1<<M7_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // Z_DOUBLED
|
||||
|
||||
#ifdef X_DOUBLED
|
||||
@@ -750,6 +826,24 @@
|
||||
#define HOME2_MASK_SUM 0
|
||||
#endif
|
||||
|
||||
#if defined(X2_MOTOR_FAULT_PIN) || defined(Y2_MOTOR_FAULT_PIN) || defined(Z2_MOTOR_FAULT_PIN)
|
||||
#define DUAL_MOTOR_FAULT_SWITCHES
|
||||
#ifndef X2_MOTOR_FAULT_BIT
|
||||
#define X2_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#ifndef Y2_MOTOR_FAULT_BIT
|
||||
#define Y2_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#ifndef Z2_MOTOR_FAULT_BIT
|
||||
#define Z2_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#define MOTOR_FAULT2_MASK (X2_MOTOR_FAULT_BIT|Y2_MOTOR_FAULT_BIT|Z2_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT2_MASK_SUM (X2_MOTOR_FAULT_BIT+Y2_MOTOR_FAULT_BIT+Z2_MOTOR_FAULT_BIT)
|
||||
#else
|
||||
#define MOTOR_FAULT2_MASK 0
|
||||
#define MOTOR_FAULT2_MASK_SUM 0
|
||||
#endif
|
||||
|
||||
#if defined(X2_LIMIT_PIN) || defined(Y2_LIMIT_PIN) || defined(Z2_LIMIT_PIN)
|
||||
#define DUAL_LIMIT_SWITCHES
|
||||
#ifndef X2_LIMIT_BIT
|
||||
@@ -773,6 +867,7 @@
|
||||
#endif
|
||||
|
||||
#ifdef A_AXIS
|
||||
|
||||
#ifndef M3_AVAILABLE
|
||||
#error "A_AXIS pins are not available"
|
||||
#endif
|
||||
@@ -802,9 +897,16 @@
|
||||
#define A_ENABLE_PIN M3_ENABLE_PIN
|
||||
#define A_ENABLE_BIT (1<<M3_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M3_MOTOR_FAULT_PIN
|
||||
#define A_MOTOR_FAULT_PORT M3_MOTOR_FAULT_PORT
|
||||
#define A_MOTOR_FAULT_PIN M3_MOTOR_FAULT_PIN
|
||||
#define A_MOTOR_FAULT_BIT (1<<M3_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // A_AXIS
|
||||
|
||||
#ifdef B_AXIS
|
||||
|
||||
#ifndef M4_AVAILABLE
|
||||
#error "B_AXIS pins are not available"
|
||||
#endif
|
||||
@@ -834,9 +936,16 @@
|
||||
#define B_ENABLE_PIN M4_ENABLE_PIN
|
||||
#define B_ENABLE_BIT (1<<M4_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M4_MOTOR_FAULT_PIN
|
||||
#define B_MOTOR_FAULT_PORT M4_MOTOR_FAULT_PORT
|
||||
#define B_MOTOR_FAULT_PIN M4_MOTOR_FAULT_PIN
|
||||
#define B_MOTOR_FAULT_BIT (1<<M4_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif //B_AXIS
|
||||
|
||||
#ifdef C_AXIS
|
||||
|
||||
#ifndef M5_AVAILABLE
|
||||
#error "C_AXIS pins are not available"
|
||||
#endif
|
||||
@@ -866,9 +975,16 @@
|
||||
#define C_ENABLE_PIN M5_ENABLE_PIN
|
||||
#define C_ENABLE_BIT (1<<M5_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M5_MOTOR_FAULT_PIN
|
||||
#define C_MOTOR_FAULT_PORT M5_MOTOR_FAULT_PORT
|
||||
#define C_MOTOR_FAULT_PIN M5_MOTOR_FAULT_PIN
|
||||
#define C_MOTOR_FAULT_BIT (1<<M5_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // C_AXIS
|
||||
|
||||
#ifdef U_AXIS
|
||||
|
||||
#ifndef M6_AVAILABLE
|
||||
#error "U_AXIS pins are not available"
|
||||
#endif
|
||||
@@ -898,9 +1014,16 @@
|
||||
#define U_ENABLE_PIN M6_ENABLE_PIN
|
||||
#define U_ENABLE_BIT (1<<M6_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M6_MOTOR_FAULT_PIN
|
||||
#define U_MOTOR_FAULT_PORT M6_MOTOR_FAULT_PORT
|
||||
#define U_MOTOR_FAULT_PIN M6_MOTOR_FAULT_PIN
|
||||
#define U_MOTOR_FAULT_BIT (1<<M6_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // U_AXIS
|
||||
|
||||
#ifdef V_AXIS
|
||||
|
||||
#ifndef M7_AVAILABLE
|
||||
#error "V_AXIS pins are not available"
|
||||
#endif
|
||||
@@ -930,8 +1053,13 @@
|
||||
#define V_ENABLE_PIN M7_ENABLE_PIN
|
||||
#define V_ENABLE_BIT (1<<M7_ENABLE_PIN)
|
||||
#endif
|
||||
#ifdef M7_MOTOR_FAULT_PIN
|
||||
#define V_MOTOR_FAULT_PORT M7_MOTOR_FAULT_PORT
|
||||
#define V_MOTOR_FAULT_PIN M7_MOTOR_FAULT_PIN
|
||||
#define V_MOTOR_FAULT_BIT (1<<M6_MOTOR_FAULT_PIN)
|
||||
#endif
|
||||
|
||||
#endif // V_AXIS
|
||||
|
||||
#ifdef STEP_PORT
|
||||
#ifndef X_STEP_PORT
|
||||
@@ -1056,6 +1184,28 @@
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef X_MOTOR_FAULT_BIT
|
||||
#ifdef X_MOTOR_FAULT_PIN
|
||||
#define X_MOTOR_FAULT_BIT (1<<X_MOTOR_FAULT_PIN)
|
||||
#else
|
||||
#define X_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#endif
|
||||
#ifndef Y_MOTOR_FAULT_BIT
|
||||
#ifdef Y_MOTOR_FAULT_PIN
|
||||
#define Y_MOTOR_FAULT_BIT (1<<Y_MOTOR_FAULT_PIN)
|
||||
#else
|
||||
#define Y_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#endif
|
||||
#ifndef Z_MOTOR_FAULT_BIT
|
||||
#ifdef Z_MOTOR_FAULT_PIN
|
||||
#define Z_MOTOR_FAULT_BIT (1<<Z_MOTOR_FAULT_PIN)
|
||||
#else
|
||||
#define Z_MOTOR_FAULT_BIT 0
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef X_LIMIT_BIT
|
||||
#define X_LIMIT_BIT (1<<X_LIMIT_PIN)
|
||||
#endif
|
||||
@@ -1263,6 +1413,34 @@
|
||||
|
||||
#endif // LIMIT_MASK
|
||||
|
||||
#ifndef MOTOR_FAULT_MASK
|
||||
|
||||
#define MOTOR_FAULT_MASK_BASE (X_MOTOR_FAULT_BIT|Y_MOTOR_FAULT_BIT|Z_MOTOR_FAULT_BIT|MOTOR_FAULT2_MASK)
|
||||
#define MOTOR_FAULT_MASK_BASE_SUM (X_MOTOR_FAULT_BIT+Y_MOTOR_FAULT_BIT+Z_MOTOR_FAULT_BIT+MOTOR_FAULT2_MASK_SUM)
|
||||
|
||||
#if N_AXIS == 3
|
||||
#define MOTOR_FAULT_MASK MOTOR_FAULT_MASK_BASE
|
||||
#define MOTOR_FAULT_MASK_SUM MOTOR_FAULT_MASK_BASE_SUM
|
||||
#define MOTOR_FAULT_MIN_CAP AXES_BITMASK
|
||||
#elif N_AXIS == 4
|
||||
#define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT)
|
||||
#elif N_AXIS == 5
|
||||
#define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT)
|
||||
#elif N_AXIS == 6
|
||||
#define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT)
|
||||
#elif N_AXIS == 7
|
||||
#define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT|U_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT+U_MOTOR_FAULT_BIT)
|
||||
#else
|
||||
#define MOTOR_FAULT_MASK (MOTOR_FAULT_MASK_BASE|A_MOTOR_FAULT_BIT|B_MOTOR_FAULT_BIT|C_MOTOR_FAULT_BIT|U_MOTOR_FAULT_BIT|V_MOTOR_FAULT_BIT)
|
||||
#define MOTOR_FAULT_MASK_SUM (MOTOR_FAULT_MASK_BASE_SUM+A_MOTOR_FAULT_BIT+B_MOTOR_FAULT_BIT+C_MOTOR_FAULT_BIT+U_MOTOR_FAULT_BIT+V_MOTOR_FAULT_BIT)
|
||||
#endif
|
||||
|
||||
#endif // MOTOR_FAULT_MASK
|
||||
|
||||
#ifndef N_GANGED
|
||||
#define N_GANGED 0
|
||||
#endif
|
||||
@@ -1409,4 +1587,50 @@ static inline home_signals_t get_home_cap (void)
|
||||
return home;
|
||||
}
|
||||
|
||||
static inline home_signals_t get_motor_fault_cap (void)
|
||||
{
|
||||
home_signals_t motor_fault = {0};
|
||||
|
||||
#if MOTOR_FAULT_MASK
|
||||
|
||||
#if X_MOTOR_FAULT_BIT
|
||||
motor_fault.a.x = On;
|
||||
#endif
|
||||
#if Y_MOTOR_FAULT_BIT
|
||||
motor_fault.a.y = On;
|
||||
#endif
|
||||
#if Z_MOTOR_FAULT_BIT
|
||||
motor_fault.a.z = On;
|
||||
#endif
|
||||
#if A_MOTOR_FAULT_BIT
|
||||
motor_fault.a.a = On;
|
||||
#endif
|
||||
#if B_MOTOR_FAULT_BIT
|
||||
motor_fault.a.b = On;
|
||||
#endif
|
||||
#if C_MOTOR_FAULT_BIT
|
||||
motor_fault.a.c = On;
|
||||
#endif
|
||||
#if U_MOTOR_FAULT_BIT
|
||||
motor_fault.a.u = On;
|
||||
#endif
|
||||
#if V_MOTOR_FAULT_BIT
|
||||
motor_fault.a.v = On;
|
||||
#endif
|
||||
|
||||
#if X2_MOTOR_FAULT_BIT
|
||||
motor_fault.b.x = On;
|
||||
#endif
|
||||
#if Y2_MOTOR_FAULT_BIT
|
||||
motor_fault.b.y = On;
|
||||
#endif
|
||||
#if Z2_MOTOR_FAULT_BIT
|
||||
motor_fault.b.z = On;
|
||||
#endif
|
||||
|
||||
#endif // MOTOR_FAULT_MASK
|
||||
|
||||
return motor_fault;
|
||||
}
|
||||
|
||||
/*EOF*/
|
||||
|
||||
@@ -162,6 +162,18 @@ typedef struct {
|
||||
axes_signals_t b; //!< Secondary home switch(es) status, required for auto squaring enabled axes if primary switches are available.
|
||||
} home_signals_t;
|
||||
|
||||
//! \brief Stepper driver states struct.
|
||||
typedef union {
|
||||
uint16_t state;
|
||||
home_signals_t details; // Stepper driver signals states.
|
||||
} stepper_state_t;
|
||||
|
||||
//! \brief // Stepper driver warning and fault signal states, consists of two packed stepper_state_t structs in 32 bits.
|
||||
typedef struct {
|
||||
stepper_state_t warning; //!< Stepper drivers warning states.
|
||||
stepper_state_t fault; //!< Stepper drivers fault states.
|
||||
} stepper_status_t;
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
typedef enum {
|
||||
|
||||
+27
-2
@@ -110,6 +110,11 @@ PROGMEM const settings_t defaults = {
|
||||
.steppers.is_rotary.mask = (DEFAULT_AXIS_ROTATIONAL_MASK & AXES_BITMASK) & 0b11111000,
|
||||
.steppers.rotary_wrap.mask = (DEFAULT_AXIS_ROTARY_WRAP_MASK & AXES_BITMASK) & 0b11111000,
|
||||
#endif
|
||||
.motor_warning_enable.mask = DEFAULT_MOTOR_WARNING_SIGNALS_ENABLE,
|
||||
.motor_warning_invert.mask = DEFAULT_MOTOR_WARNING_SIGNALS_INVERT,
|
||||
.motor_fault_enable.mask = DEFAULT_MOTOR_FAULT_SIGNALS_ENABLE,
|
||||
.motor_fault_invert.mask = DEFAULT_MOTOR_FAULT_SIGNALS_INVERT,
|
||||
|
||||
#if DEFAULT_HOMING_ENABLE
|
||||
.homing.flags.enabled = DEFAULT_HOMING_ENABLE,
|
||||
.homing.flags.init_lock = DEFAULT_HOMING_INIT_LOCK,
|
||||
@@ -1843,7 +1848,17 @@ static bool is_setting_available (const setting_detail_t *setting, uint_fast16_t
|
||||
break;
|
||||
|
||||
case Setting_CoolantOnDelay:
|
||||
available = hal.coolant_cap.mask;
|
||||
available = hal.coolant_cap.mask != 0;
|
||||
break;
|
||||
|
||||
case Setting_MotorWarningsEnable:
|
||||
case Setting_MotorWarningsInvert:
|
||||
available = hal.motor_warning_cap.a.mask != 0;
|
||||
break;
|
||||
|
||||
case Setting_MotorFaultsEnable:
|
||||
case Setting_MotorFaultsInvert:
|
||||
available = hal.motor_fault_cap.a.mask != 0;
|
||||
break;
|
||||
|
||||
default:
|
||||
@@ -2074,7 +2089,11 @@ PROGMEM static const setting_detail_t setting_detail[] = {
|
||||
{ Setting_SpindleOffDelay, Group_Spindle, "Spindle off delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtendedFn, set_float, get_float, is_setting_available, { .allow_null = On } },
|
||||
{ Setting_FSOptions, Group_General, "File systems options", NULL, Format_Bitfield, fs_options, NULL, NULL, Setting_IsExtended, &settings.fs_options.mask, NULL, is_setting_available },
|
||||
{ Setting_HomePinsInvertMask, Group_Limits, "Invert home inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.home_invert.mask, NULL, is_setting_available },
|
||||
{ Setting_CoolantOnDelay, Group_Coolant, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtendedFn, set_float, get_float, is_setting_available, { .allow_null = On } }
|
||||
{ Setting_CoolantOnDelay, Group_Coolant, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtendedFn, set_float, get_float, is_setting_available, { .allow_null = On } },
|
||||
{ Setting_MotorWarningsEnable, Group_Stepper, "Motor warning inputs enable", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_warning_enable, NULL, is_setting_available },
|
||||
{ Setting_MotorWarningsInvert, Group_Stepper, "Invert motor warning inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_warning_invert, NULL, is_setting_available },
|
||||
{ Setting_MotorFaultsEnable, Group_Stepper, "Motor fault inputs enable", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_fault_enable, NULL, is_setting_available },
|
||||
{ Setting_MotorFaultsInvert, Group_Stepper, "Invert motor fault inputs", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.motor_fault_invert, NULL, is_setting_available }
|
||||
};
|
||||
|
||||
#ifndef NO_SETTINGS_DESCRIPTIONS
|
||||
@@ -2273,6 +2292,12 @@ PROGMEM static const setting_descr_t setting_descr[] = {
|
||||
{ Setting_FSOptions, "Auto mount SD card on startup." },
|
||||
{ Setting_HomePinsInvertMask, "Inverts the axis home input signals." },
|
||||
{ Setting_CoolantOnDelay, "Delay to allow coolant to start. 0 or 0.5 - 20s" }
|
||||
/*
|
||||
{ Setting_MotorWarningsEnable, "Motor warning enable" },
|
||||
{ Setting_MotorWarningsInvert, "Invert motor warning inputs" },
|
||||
{ Setting_MotorFaultsEnable, "Motor fault enable" },
|
||||
{ Setting_MotorFaultsInvert, "Invert motor fault inputs" }
|
||||
*/
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
+10
-1
@@ -470,6 +470,11 @@ typedef enum {
|
||||
Setting_LinearSpindle1Piece3 = 739,
|
||||
Setting_LinearSpindle1Piece4 = 740,
|
||||
|
||||
Setting_MotorWarningsEnable = 742,
|
||||
Setting_MotorWarningsInvert = 743,
|
||||
Setting_MotorFaultsEnable = 744,
|
||||
Setting_MotorFaultsInvert = 745,
|
||||
|
||||
Setting_Action0 = 750,
|
||||
Setting_ActionBase = Setting_Action0,
|
||||
Setting_Action1 = 751,
|
||||
@@ -853,7 +858,11 @@ typedef struct {
|
||||
position_pid_t position; // Used for synchronized motion
|
||||
ioport_signals_t ioport;
|
||||
homing_settings_t homing;
|
||||
char reserved[24]; // Reserved For future expansion
|
||||
axes_signals_t motor_warning_enable;
|
||||
axes_signals_t motor_warning_invert;
|
||||
axes_signals_t motor_fault_enable;
|
||||
axes_signals_t motor_fault_invert;
|
||||
char reserved[20]; // Reserved For future expansion
|
||||
} settings_t;
|
||||
|
||||
typedef enum {
|
||||
|
||||
Reference in New Issue
Block a user