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Killed some #defines

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This commit is contained in:
Mitch Bradley
2021-06-22 14:18:56 -10:00
parent a5af8d43f1
commit 0158784c46
16 changed files with 74 additions and 121 deletions
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36
Grbl_Esp32/src/Config.h
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@@ -238,42 +238,6 @@ const int DWELL_TIME_STEP = 50; // Integer (1-255) (milliseconds)
// #define RX_BUFFER_SIZE 128 // (1-254) Uncomment to override defaults in serial.h
// #define TX_BUFFER_SIZE 100 // (1-254)
// A simple software debouncing feature for hard limit switches. When enabled, the limit
// switch interrupt unblock a waiting task which will recheck the limit switch pins after
// a short delay. Default disabled
//#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
const int DEBOUNCE_PERIOD = 32; // in milliseconds default 32 microseconds
// Configures the position after a probing cycle during Grbl's check mode. Disabled sets
// the position to the probe target, when enabled sets the position to the start position.
// #define SET_CHECK_MODE_PROBE_TO_START // Default disabled. Uncomment to enable.
// Force Grbl to check the state of the hard limit switches when the processor detects a pin
// change inside the hard limit ISR routine. By default, Grbl will trigger the hard limits
// alarm upon any pin change, since bouncing switches can cause a state check like this to
// misread the pin. When hard limits are triggered, they should be 100% reliable, which is the
// reason that this option is disabled by default. Only if your system/electronics can guarantee
// that the switches don't bounce, we recommend enabling this option. This will help prevent
// triggering a hard limit when the machine disengages from the switch.
// NOTE: This option has no effect if SOFTWARE_DEBOUNCE is enabled.
// #define HARD_LIMIT_FORCE_STATE_CHECK // Default disabled. Uncomment to enable.
// Adjusts homing cycle search and locate scalars. These are the multipliers used by Grbl's
// homing cycle to ensure the limit switches are engaged and cleared through each phase of
// the cycle. The search phase uses the axes max-travel setting times the SEARCH_SCALAR to
// determine distance to look for the limit switch. Once found, the locate phase begins and
// uses the homing pull-off distance setting times the LOCATE_SCALAR to pull-off and re-engage
// the limit switch.
// NOTE: Both of these values must be greater than 1.0 to ensure proper function.
// #define HOMING_AXIS_SEARCH_SCALAR 1.5 // Uncomment to override defaults in limits.c.
// #define HOMING_AXIS_LOCATE_SCALAR 10.0 // Uncomment to override defaults in limits.c.
// Additional settings have been added to the original set that you see with the $$ command
// Some senders may not be able to parse anything different from the original set
// You can still set these like $33=5000, but you cannot read them back.
// Default is off to limit support issues...you can enable here or in your machine definition file
// #define SHOW_EXTENDED_SETTINGS
// Writing to non-volatile storage (NVS) can take a long time and interfere with timely instruction
// execution, causing problems for the stepper ISRs and serial comm ISRs and subsequent loss of
// stepper position and serial data. This configuration option forces the planner buffer to completely

8
Grbl_Esp32/src/Defaults.h
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@@ -31,14 +31,6 @@
*/
// Grbl generic default settings. Should work across different machines.
#ifndef DEFAULT_STATUS_REPORT_MASK
# define DEFAULT_STATUS_REPORT_MASK 1 // $10
#endif
#ifndef SERVO_TIMER_INTERVAL
# define SERVO_TIMER_INTERVAL 75.0 // Hz This is the update inveral in milliseconds
#endif
#ifndef DEFAULT_USER_MACRO0
# define DEFAULT_USER_MACRO0 ""
#endif

4
Grbl_Esp32/src/GCode.cpp
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@@ -93,9 +93,7 @@ void collapseGCode(char* line) {
break;
case ';':
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
#ifdef REPORT_SEMICOLON_COMMENTS
report_gcode_comment(inPtr + 1);
#endif
// report_gcode_comment(inPtr + 1);
*outPtr = '\0';
return;
case '%':

75
Grbl_Esp32/src/Limits.cpp
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@@ -32,14 +32,6 @@
xQueueHandle limit_sw_queue; // used by limit switch debouncing
// Homing axis search distance multiplier. Computed by this value times the cycle travel.
#ifndef HOMING_AXIS_SEARCH_SCALAR
# define HOMING_AXIS_SEARCH_SCALAR 1.1 // Must be > 1 to ensure limit switch will be engaged.
#endif
#ifndef HOMING_AXIS_LOCATE_SCALAR
# define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#endif
void IRAM_ATTR isr_limit_switches(void* /*unused */) {
// Ignore limit switches if already in an alarm state or in-process of executing an alarm.
// When in the alarm state, Grbl should have been reset or will force a reset, so any pending
@@ -48,24 +40,18 @@ void IRAM_ATTR isr_limit_switches(void* /*unused */) {
// limit setting if their limits are constantly triggering after a reset and move their axes.
if (sys.state != State::Alarm && sys.state != State::ConfigAlarm && sys.state != State::Homing) {
if (sys_rt_exec_alarm == ExecAlarm::None) {
#ifdef ENABLE_SOFTWARE_DEBOUNCE
// we will start a task that will recheck the switches after a small delay
int evt;
xQueueSendFromISR(limit_sw_queue, &evt, NULL);
#else
# ifdef HARD_LIMIT_FORCE_STATE_CHECK
// Check limit pin state.
if (limits_get_state()) {
debug_all("Hard limits");
mc_reset(); // Initiate system kill.
sys_rt_exec_alarm = ExecAlarm::HardLimit; // Indicate hard limit critical event
if (config->_softwareDebounceMs) {
// we will start a task that will recheck the switches after a small delay
int evt;
xQueueSendFromISR(limit_sw_queue, &evt, NULL);
} else {
// Check limit pin state.
if (limits_get_state()) {
debug_all("Hard limits");
mc_reset(); // Initiate system kill.
sys_rt_exec_alarm = ExecAlarm::HardLimit; // Indicate hard limit critical event
}
}
# else
debug_all("Hard limits");
mc_reset(); // Initiate system kill.
sys_rt_exec_alarm = ExecAlarm::HardLimit; // Indicate hard limit critical event
# endif
#endif
}
}
}
@@ -188,11 +174,13 @@ void limits_go_home(uint8_t cycle_mask, uint n_locate_cycles) {
}
}
// Scale the target array, currently in units of time, back to positions
// The SCALAR adds a small fudge factor to ensure that the limit is reached
limitingRate *= approach ? HOMING_AXIS_SEARCH_SCALAR : HOMING_AXIS_LOCATE_SCALAR;
// Add a small fudge factor to ensure that the limit is reached
for (int axis = 0; axis < n_axis; axis++) {
auto axisConfig = config->_axes->_axis[axis];
auto homing = axisConfig->_homing;
auto scaler = approach ? homing->_search_scaler : homing->_locate_scaler;
if (bitnum_istrue(axislock, axis)) {
target[axis] *= limitingRate;
target[axis] *= limitingRate * scaler;
}
}
homing_rate = sqrt(homing_rate); // Magnitude of homing rate vector
@@ -274,7 +262,7 @@ void limits_go_home(uint8_t cycle_mask, uint n_locate_cycles) {
// Set machine positions for homed limit switches. Don't update non-homed axes.
for (int axis = 0; axis < n_axis; axis++) {
Machine::Axis* axisConf = config->_axes->_axis[axis];
auto homing = axisConf->_homing;
auto homing = axisConf->_homing;
if (homing != nullptr && bitnum_istrue(cycle_mask, axis)) {
auto mpos = homing->_mpos;
auto pulloff = homing->_pulloff;
@@ -310,22 +298,22 @@ void limits_init() {
pin.detachInterrupt();
}
if (limit_sw_queue == NULL) {
info_serial("%s limit on %s", reportAxisNameMsg(axis, gang_index), pin.name().c_str());
}
info_serial("%s limit on %s", reportAxisNameMsg(axis, gang_index), pin.name().c_str());
}
}
}
// setup task used for debouncing
if (limit_sw_queue == NULL) {
limit_sw_queue = xQueueCreate(10, sizeof(int));
xTaskCreate(limitCheckTask,
"limitCheckTask",
2048,
NULL,
5, // priority
NULL);
if (limit_sw_queue == NULL && config->_softwareDebounceMs != 0) {
// setup task used for debouncing
if (limit_sw_queue == NULL) {
limit_sw_queue = xQueueCreate(10, sizeof(int));
xTaskCreate(limitCheckTask,
"limitCheckTask",
2048,
NULL,
5, // priority
NULL);
}
}
}
@@ -390,14 +378,13 @@ void limits_soft_check(float* target) {
}
}
// this is the task
void limitCheckTask(void* pvParameters) {
while (true) {
std::atomic_thread_fence(std::memory_order::memory_order_seq_cst); // read fence for settings
int evt;
xQueueReceive(limit_sw_queue, &evt, portMAX_DELAY); // block until receive queue
vTaskDelay(DEBOUNCE_PERIOD / portTICK_PERIOD_MS); // delay a while
xQueueReceive(limit_sw_queue, &evt, portMAX_DELAY); // block until receive queue
vTaskDelay(config->_softwareDebounceMs / portTICK_PERIOD_MS); // delay a while
AxisMask switch_state;
switch_state = limits_get_state();
if (switch_state) {

4
Grbl_Esp32/src/Machine/Homing.h
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@@ -33,6 +33,8 @@ namespace Machine {
float _seekRate = 100;
float _pulloff = 1.0; // mm
int _debounce = 10;
float _search_scaler = 1.1;
float _locate_scaler = 5.0;
// Configuration system helpers:
void validate() const override { Assert(_cycle >= 1, "Cycle has to be defined as >= 1 for homing sequence."); }
@@ -46,6 +48,8 @@ namespace Machine {
handler.item("debounce", _debounce);
handler.item("pulloff", _pulloff);
handler.item("square", _square);
handler.item("search_scaler", _search_scaler);
handler.item("locate_scaler", _locate_scaler);
}
};
}

1
Grbl_Esp32/src/Machine/MachineConfig.cpp
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@@ -60,6 +60,7 @@ namespace Machine {
handler.item("idle_time", _idleTime);
handler.section("user_outputs", _userOutputs);
handler.section("sdcard", _sdCard);
handler.item("software_debounce_ms", _softwareDebounceMs);
handler.item("step_type", _stepType, stepTypes);
// TODO: Consider putting these under a gcode: hierarchy level? Or motion control?

19
Grbl_Esp32/src/Machine/MachineConfig.h
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@@ -38,8 +38,6 @@
#include "Communications.h"
#include "UserOutputs.h"
// TODO FIXME: Split this file up into several files, perhaps put it in some folder and namespace Machine?
namespace Machine {
class MachineConfig : public Configuration::Configurable {
public:
@@ -61,14 +59,15 @@ namespace Machine {
int _directionDelayMicroSeconds = 0;
int _disableDelayMicroSeconds = 0;
bool _laserMode = false;
float _arcTolerance = 0.002;
float _junctionDeviation = 0.01;
uint8_t _idleTime = 255;
bool _verboseErrors = false;
bool _reportInches = false;
bool _homingInitLock = false;
int _stepType = ST_RMT;
bool _laserMode = false;
float _arcTolerance = 0.002;
float _junctionDeviation = 0.01;
uint8_t _idleTime = 255;
bool _verboseErrors = false;
bool _reportInches = false;
bool _homingInitLock = false;
int _softwareDebounceMs = 0;
int _stepType = ST_RMT;
// Enables a special set of M-code commands that enables and disables the parking motion.
// These are controlled by `M56`, `M56 P1`, or `M56 Px` to enable and `M56 P0` to disable.

6
Grbl_Esp32/src/MotionControl.cpp
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@@ -403,11 +403,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
}
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == State::CheckMode) {
#ifdef SET_CHECK_MODE_PROBE_TO_START
return GCUpdatePos::None;
#else
return GCUpdatePos::Target;
#endif
return config->_probe->_check_mode_start ? GCUpdatePos::None : GCUpdatePos::Target;
}
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();

2
Grbl_Esp32/src/Motors/Dynamixel2.cpp
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@@ -54,7 +54,7 @@ namespace Motors {
vTaskDelay(100);
LED_on(false);
startUpdateTask();
startUpdateTask(_timer_ms);
}
void Dynamixel2::config_message() {

2
Grbl_Esp32/src/Motors/RcServo.cpp
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@@ -47,7 +47,7 @@ namespace Motors {
_disabled = true;
config_message();
startUpdateTask();
startUpdateTask(_timer_ms);
}
void RcServo::config_message() {

9
Grbl_Esp32/src/Motors/Servo.cpp
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@@ -42,13 +42,16 @@ namespace Motors {
List = this;
}
void Servo::startUpdateTask() {
void Servo::startUpdateTask(int ms) {
if (_timer_ms == 0 || ms < _timer_ms) {
_timer_ms = ms;
}
info_serial("Servo Update Task Started");
if (this == List) {
xTaskCreatePinnedToCore(updateTask, // task
"servoUpdateTask", // name for task
4096, // size of task stack
NULL, // parameters
(void*)_timer_ms, // parameters
1, // priority
NULL, // handle
SUPPORT_TASK_CORE // core
@@ -58,7 +61,7 @@ namespace Motors {
void Servo::updateTask(void* pvParameters) {
TickType_t xLastWakeTime;
const TickType_t xUpdate = SERVO_TIMER_INTERVAL; // in ticks (typically ms)
const TickType_t xUpdate = TickType_t(pvParameters) / portTICK_PERIOD_MS; // in ticks (typically ms)
auto n_axis = config->_axes->_numberAxis;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.

9
Grbl_Esp32/src/Motors/Servo.h
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@@ -28,6 +28,8 @@
namespace Motors {
class Servo : public Motor {
public:
int _timer_ms = 75;
Servo();
#if 0
// Overrides for inherited methods
@@ -37,13 +39,14 @@ namespace Motors {
void set_disable(bool disable) override;
#endif
virtual void update() = 0; // This must be implemented by derived classes
void group(Configuration::HandlerBase& handler) override { handler.item("timer_ms", _timer_ms); }
protected:
// Start the servo update task. Each derived subclass instance calls this
// during init(), which happens after all objects have been constructed.
// startUpdateTask() ignores all such calls except for the last one, where
// it starts the task.
void startUpdateTask();
// startUpdateTask(ms) finds the smallest update interval among all
// the calls, and starts the task on the final call.
void startUpdateTask(int ms);
private:
// Linked list of servo instances, used by the servo task

1
Grbl_Esp32/src/Probe.cpp
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@@ -59,4 +59,5 @@ void Probe::validate() const {}
void Probe::group(Configuration::HandlerBase& handler) {
handler.item("pin", _probePin);
handler.item("check_mode_start", _check_mode_start);
}

11
Grbl_Esp32/src/Probe.h
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@@ -34,12 +34,19 @@ enum class ProbeState : uint8_t {
};
class Probe : public Configuration::Configurable {
Pin _probePin;
// Inverts the probe pin state depending on user settings and probing cycle mode.
bool _isProbeAway = false;
// Configurable
Pin _probePin;
public:
// Configurable
bool _check_mode_start = true;
// _check_mode_start configures the position after a probing cycle
// during check mode. false sets the position to the probe target,
// true sets the position to the start position.
Probe() = default;
bool exists() const { return _probePin.defined(); }

6
Grbl_Esp32/src/Serial.cpp
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@@ -324,11 +324,9 @@ void client_write(uint8_t client, const char* text) {
}
if (client == CLIENT_SERIAL || client == CLIENT_ALL) {
#ifdef REVERT_TO_ARDUINO_SERIAL
Serial.write(text);
#else
// This used to be Serial.write(text) before we made the Uart class
// The Arduino HardwareSerial class is buggy in some versions.
Uart0.write(text);
#endif
}
}

2
Grbl_Esp32/src/SettingsDefinitions.cpp
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@@ -66,7 +66,7 @@ void make_settings() {
// GRBL Numbered Settings
build_info = new StringSetting(EXTENDED, WG, NULL, "Firmware/Build", "");
status_mask = new IntSetting(GRBL, WG, "10", "Report/Status", DEFAULT_STATUS_REPORT_MASK, 0, 3);
status_mask = new IntSetting(GRBL, WG, "10", "Report/Status", 1, 0, 3);
user_macro3 = new StringSetting(EXTENDED, WG, NULL, "User/Macro3", DEFAULT_USER_MACRO3);
user_macro2 = new StringSetting(EXTENDED, WG, NULL, "User/Macro2", DEFAULT_USER_MACRO2);