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c6aa574279
$700 controls whether they are scanned for internally in the main program (1) or always located externally (0). If scanned for internally the program is run twice, initially in check mode to locate the subroutines before it is rewound and run in normal mode. If stored externally the file P<macro number>.macro is run, <macro number> is the M98 P value.
266 lines
12 KiB
C
266 lines
12 KiB
C
/*
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grbl.h - main grblHAL include file for compile time configuration
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Part of grblHAL
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Copyright (c) 2017-2026 Terje Io
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Copyright (c) 2015-2016 Sungeun K. Jeon for Gnea Research LLC
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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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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _GRBL_H_
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#define _GRBL_H_
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#ifdef __SAM3X8E__
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#define _WIRING_CONSTANTS_ // for shutting up compiler warnings due to bad framework code for Arduino Due
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef ARDUINO
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#include <Arduino.h>
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#endif
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#include "config.h"
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// grblHAL versioning system
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#if COMPATIBILITY_LEVEL == 0
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#define GRBL_VERSION "1.1f"
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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 20260202
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#define GRBL_URL "https://github.com/grblHAL"
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// The following symbols are set here if not already set by the compiler or in config.h
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// Do NOT change here!
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#ifndef DCRAM
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//#if defined(__IMXRT1062__)
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//#define DCRAM DMAMEM
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//#else
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#define DCRAM
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//#endif
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#endif
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#ifdef GRBL_ESP32
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#include "esp_attr.h"
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#define ISR_CODE IRAM_ATTR
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#elif !defined(ISR_CODE)
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// #define ISR_CODE __attribute__((long_call, section(".data")))
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// Used to decorate code run in interrupt context.
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// Do not remove or change unless you know what you are doing.
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#define ISR_CODE //!< Used by some drivers to force a function to always stay in RAM to improve performance.
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#endif
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#ifdef RP2040
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#include "pico.h"
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#define ISR_FUNC(fn) __not_in_flash_func(fn)
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#else
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#define ISR_FUNC(fn) fn
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#endif
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#ifndef __IMXRT1062__
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#define FLASHMEM
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#endif
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#ifndef PROGMEM
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#define PROGMEM
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#endif
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#ifndef __STATIC_FORCEINLINE
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#define __STATIC_FORCEINLINE __attribute__((always_inline)) static inline
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#endif
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#if (COREXY || WALL_PLOTTER || DELTA_ROBOT || POLAR_ROBOT || MASLOW_ROUTER) && !defined(KINEMATICS_API)
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#define KINEMATICS_API
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#endif
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// The following symbols are default values that are unlikely to be changed
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// Do not change unless you know what you are doing!
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// Define realtime command special characters. These characters are 'picked-off' directly from the
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// serial read data stream and are not passed to the grblHAL line execution parser. Select characters
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// that do not and must not exist in the streamed g-code program. ASCII control characters may be
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// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
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// g-code programs, maybe selected for interface programs.
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// NOTE: If changed, manually update help message in report.c.
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#define CMD_EXIT 0x03 //!< ctrl-C (ETX)
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#define CMD_REBOOT 0x14 //!< ctrl-T (DC4) - only acted upon if preceded by 0x1B (ESC)
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#define CMD_RESET 0x18 //!< ctrl-X (CAN)
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#define CMD_STOP 0x19 //!< ctrl-Y (EM)
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#define CMD_STATUS_REPORT_LEGACY '?'
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#define CMD_CYCLE_START_LEGACY '~'
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#define CMD_FEED_HOLD_LEGACY '!'
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#define CMD_PROGRAM_DEMARCATION '%'
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// NOTE: All override realtime commands must be in the extended ASCII character set, starting
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// at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
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// such as status reports, feed hold, reset, and cycle start, are moved to the extended set
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// space, protocol.c's protocol_process_realtime() will need to be modified to accommodate the change.
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#define CMD_STATUS_REPORT 0x80 // (128) TODO: use 0x05 ctrl-E ENQ instead?
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#define CMD_CYCLE_START 0x81 // (129) TODO: use 0x06 ctrl-F ACK instead? or SYN/DC2/DC3?
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#define CMD_FEED_HOLD 0x82 // (130) TODO: use 0x15 ctrl-U NAK instead?
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#define CMD_GCODE_REPORT 0x83 // (131)
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#define CMD_SAFETY_DOOR 0x84 // (132)
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#define CMD_JOG_CANCEL 0x85 // (133)
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//#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
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#define CMD_STATUS_REPORT_ALL 0x87 // (135)
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#define CMD_OPTIONAL_STOP_TOGGLE 0x88 // (136)
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#define CMD_SINGLE_BLOCK_TOGGLE 0x89 // (137)
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#define CMD_OVERRIDE_FAN0_TOGGLE 0x8A //!< (138) Toggle Fan 0 on/off, not implemented by the core.
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#define CMD_MPG_MODE_TOGGLE 0x8B //!< (139) Toggle MPG mode on/off, available when the MPG stream is enabled with MPG mode 2.
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#define CMD_AUTO_REPORTING_TOGGLE 0x8C //!< (140) Toggle auto real time reporting if configured.
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#define CMD_OVERRIDE_FEED_RESET 0x90 //!< (144) Restores feed override value to 100%.
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#define CMD_OVERRIDE_FEED_COARSE_PLUS 0x91 // (145)
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#define CMD_OVERRIDE_FEED_COARSE_MINUS 0x92 // (146)
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#define CMD_OVERRIDE_FEED_FINE_PLUS 0x93 // (147)
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#define CMD_OVERRIDE_FEED_FINE_MINUS 0x94 // (148)
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#define CMD_OVERRIDE_RAPID_RESET 0x95 //!< (149) Restores rapid override value to 100%.
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#define CMD_OVERRIDE_RAPID_MEDIUM 0x96 // (150)
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#define CMD_OVERRIDE_RAPID_LOW 0x97 // (151)
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// #define CMD_OVERRIDE_RAPID_EXTRA_LOW 0x98 // *NOT SUPPORTED*
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#define CMD_OVERRIDE_SPINDLE_RESET 0x99 // (153) Restores spindle override value to 100%.
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#define CMD_OVERRIDE_SPINDLE_COARSE_PLUS 0x9A // (154)
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#define CMD_OVERRIDE_SPINDLE_COARSE_MINUS 0x9B // (155)
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#define CMD_OVERRIDE_SPINDLE_FINE_PLUS 0x9C // (156)
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#define CMD_OVERRIDE_SPINDLE_FINE_MINUS 0x9D // (157)
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#define CMD_OVERRIDE_SPINDLE_STOP 0x9E // (158)
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#define CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE 0xA0 // (160)
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#define CMD_OVERRIDE_COOLANT_MIST_TOGGLE 0xA1 // (161)
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#define CMD_PID_REPORT 0xA2 // (162)
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#define CMD_TOOL_ACK 0xA3 // (163)
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#define CMD_PROBE_CONNECTED_TOGGLE 0xA4 // (164)
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// The following character codes are reserved for plugin use
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#define CMD_MACRO_0 0xB0 // (176)
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#define CMD_MACRO_1 0xB1 // (177)
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#define CMD_MACRO_2 0xB2 // (178)
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#define CMD_MACRO_3 0xB3 // (179)
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#define CMD_MACRO_4 0xB4 // (180)
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#define CMD_MACRO_5 0xB5 // (181)
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#define CMD_MACRO_6 0xB6 // (182)
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#define CMD_MACRO_7 0xB7 // (183)
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// System motion line numbers must be zero.
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#define JOG_LINE_NUMBER 0
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// Number of blocks grblHAL executes upon startup. These blocks are stored in non-volatile storage, where the size
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// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
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// be stored and executed in order. These startup blocks would typically be used to set the g-code
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// parser state depending on user preferences.
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#define N_STARTUP_LINE 2 // Integer (1-2)
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// Number of decimal places (scale) output by grblHAL for certain value types. These settings
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// are determined by realistic and commonly observed values in CNC machines. For example, position
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// values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
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// precise this. So, there is likely no need to change these, but you can if you need to here.
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// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
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#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
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#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
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#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
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#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
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#define N_DECIMAL_SETTINGVALUE 3 // Floating point setting values
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#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min
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#define N_DECIMAL_PIDVALUE 3 // PID value
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// ---------------------------------------------------------------------------------------
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// ADVANCED CONFIGURATION OPTIONS:
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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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// Configure rapid, feed, and spindle override settings. These values define the max and min
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// allowable override values and the coarse and fine increments per command received. Please
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// note the allowable values in the descriptions following each define.
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#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
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#ifndef MAX_FEED_RATE_OVERRIDE
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#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-65535). Usually 120% or 200%
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#endif
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#ifndef MIN_FEED_RATE_OVERRIDE
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#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
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#endif
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#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
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#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
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#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
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#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
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#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
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// #define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
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#define DEFAULT_SPINDLE_RPM_OVERRIDE 100 // 100%. Don't change this value.
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#ifndef MAX_SPINDLE_RPM_OVERRIDE
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#define MAX_SPINDLE_RPM_OVERRIDE 200 // Percent of programmed spindle speed (100-65535). Usually 200%.
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#endif
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#ifndef MIN_SPINDLE_RPM_OVERRIDE
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#define MIN_SPINDLE_RPM_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
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#endif
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#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
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#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
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// Adaptive Multi-Axis Step Smoothing (AMASS) is an advanced feature that does what its name implies,
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// smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
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// frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
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// noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
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// step smoothing. See stepper.c for more details on the AMASS system works.
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#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING 1 // Default enabled. Set to 0 to disable.
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#endif
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// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
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// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
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// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
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// be considered carefully against how much it over-drives the stepper ISR, the accuracy of the 16-bit
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// timer, and the CPU overhead. Level 0 (no AMASS, normal operation) frequency bin starts at the
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// Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
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// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
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// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
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// and timer accuracy. Do not alter these settings unless you know what you are doing.
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#if ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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#ifndef MAX_AMASS_LEVEL
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#define MAX_AMASS_LEVEL 3
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#endif
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#if MAX_AMASS_LEVEL <= 0
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error "AMASS must have 1 or more levels to operate correctly."
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#endif
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#endif
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// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
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// the selected axis with the tool oriented toward the negative direction. In other words, a positive
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// tool length offset value is subtracted from the current location.
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#if COMPATIBILITY_LEVEL > 2 && TOOL_LENGTH_OFFSET_AXIS == -1
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#undef TOOL_LENGTH_OFFSET_AXIS
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#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
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#endif
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// Max length of gcode lines (blocks) stored in non-volatile storage
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#if N_AXIS == 6 && COMPATIBILITY_LEVEL <= 1
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#define MAX_STORED_LINE_LENGTH 60 // do not change!
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#else
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#define MAX_STORED_LINE_LENGTH 70 // do not set > 70 unless less than 5 axes are enabled or COMPATIBILITY_LEVEL > 1
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#endif
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#if N_SPINDLE > 4
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#define N_SPINDLE_SELECTABLE 4 // Max 4. for now!
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#else
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#define N_SPINDLE_SELECTABLE N_SPINDLE
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#endif
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typedef uint_fast16_t override_t;
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#endif
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