Parking delay fix (#770)

* Changed delay type

- mc_dwell was causing a recursive loop the overflowed the stack
- See https://discord.com/channels/780079161460916227/786061602754396160/809288050387189782

* Changed spindle delays from floats to ints in spindle classes

- Used local copies, because I did not want to change/break the existing setting.

* Cleaning up parking

- Added a coolant delay setting
- Made an enum class for the dwell types
- Got rid of the safety door sepcific delays

* Update Grbl.h

Grbl_Esp32/src/Config.h

@@ -258,11 +258,6 @@ static const uint8_t NHomingLocateCycle = 1;  // Integer (1-128)
 // previous tool path, as if nothing happened.
 #define ENABLE_SAFETY_DOOR_INPUT_PIN  // ESP32 Leave this enabled for now .. code for undefined not ready
 
-// After the safety door switch has been toggled and restored, this setting sets the power-up delay
-// between restoring the spindle and coolant and resuming the cycle.
-const double SAFETY_DOOR_SPINDLE_DELAY = 4.0;  // Float (seconds)
-const double SAFETY_DOOR_COOLANT_DELAY = 1.0;  // Float (seconds)
-
 // Inverts select limit pin states based on the following mask. This effects all limit pin functions,
 // such as hard limits and homing. However, this is different from overall invert limits setting.
 // This build option will invert only the limit pins defined here, and then the invert limits setting
@@ -582,8 +577,8 @@ const int DEBOUNCE_PERIOD = 32;  // in milliseconds default 32 microseconds
 // Configure options for the parking motion, if enabled.
 #define PARKING_AXIS Z_AXIS                      // Define which axis that performs the parking motion
 const double PARKING_TARGET            = -5.0;   // Parking axis target. In mm, as machine coordinate.
-const double PARKING_RATE              = 500.0;  // Parking fast rate after pull-out in mm/min.
+const double PARKING_RATE              = 800.0;  // Parking fast rate after pull-out in mm/min.
-const double PARKING_PULLOUT_RATE      = 100.0;  // Pull-out/plunge slow feed rate in mm/min.
+const double PARKING_PULLOUT_RATE      = 250.0;  // Pull-out/plunge slow feed rate in mm/min.
 const double PARKING_PULLOUT_INCREMENT = 5.0;    // Spindle pull-out and plunge distance in mm. Incremental distance.
 // Must be positive value or equal to zero.
 

Grbl_Esp32/src/Defaults.h

@@ -187,6 +187,10 @@
 #    define DEFAULT_SPINDLE_DELAY_SPINUP 0
 #endif
 
+#ifndef DEFAULT_COOLANT_DELAY_TURNON
+#    define DEFAULT_COOLANT_DELAY_TURNON 1.0
+#endif
+
 #ifndef DEFAULT_SPINDLE_DELAY_SPINDOWN
 #    define DEFAULT_SPINDLE_DELAY_SPINDOWN 0
 #endif

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210204";
+const char* const GRBL_VERSION_BUILD = "20210213";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/MotionControl.cpp

@@ -225,11 +225,11 @@ void mc_arc(float*            target,
 
 // Execute dwell in seconds.
 void mc_dwell(float seconds) {
-    if (sys.state == State::CheckMode) {
+    if (seconds == 0 || sys.state == State::CheckMode) {
         return;
     }
     protocol_buffer_synchronize();
-    delay_sec(seconds, DELAY_MODE_DWELL);
+    delay_sec(seconds, DwellMode::Dwell);
 }
 
 // return true if the mask has exactly one bit set,

Grbl_Esp32/src/NutsBolts.cpp

@@ -112,15 +112,15 @@ void delay_ms(uint16_t ms) {
 }
 
 // Non-blocking delay function used for general operation and suspend features.
-void delay_sec(float seconds, uint8_t mode) {
+void delay_sec(float seconds, DwellMode mode) {
     uint16_t i = ceil(1000 / DWELL_TIME_STEP * seconds);
     while (i-- > 0) {
         if (sys.abort) {
             return;
         }
-        if (mode == DELAY_MODE_DWELL) {
+        if (mode == DwellMode::Dwell) {
             protocol_execute_realtime();
-        } else {  // DELAY_MODE_SYS_SUSPEND
+        } else {  // DwellMode::SysSuspend
             // Execute rt_system() only to avoid nesting suspend loops.
             protocol_exec_rt_system();
             if (sys.suspend.bit.restartRetract) {

Grbl_Esp32/src/NutsBolts.h

@@ -25,6 +25,11 @@
 // #define false 0
 // #define true 1
 
+enum class DwellMode : uint8_t {
+    Dwell = 0,   // (Default: Must be zero)
+    SysSuspend = 1,  //G92.1 (Do not alter value)
+};
+
 const double SOME_LARGE_VALUE = 1.0E+38;
 
 // Axis array index values. Must start with 0 and be continuous.
@@ -57,8 +62,6 @@ static inline int toMotor2(int axis) {
 const double MM_PER_INCH = (25.40);
 const double INCH_PER_MM = (0.0393701);
 
-const int DELAY_MODE_DWELL       = 0;
-const int DELAY_MODE_SYS_SUSPEND = 1;
 
 // Useful macros
 #define clear_vector(a) memset(a, 0, sizeof(a))
@@ -87,7 +90,7 @@ const int DELAY_MODE_SYS_SUSPEND = 1;
 uint8_t read_float(const char* line, uint8_t* char_counter, float* float_ptr);
 
 // Non-blocking delay function used for general operation and suspend features.
-void delay_sec(float seconds, uint8_t mode);
+void delay_sec(float seconds, DwellMode mode);
 
 // Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
 void delay_ms(uint16_t ms);

Grbl_Esp32/src/Protocol.cpp

@@ -666,7 +666,8 @@ static void protocol_exec_rt_suspend() {
                                     sys.step_control.updateSpindleRpm = true;
                                 } else {                                    
                                     spindle->set_state(restore_spindle, (uint32_t)restore_spindle_speed);
-                                    delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
+                                    // restore delay is done in the spindle class
+                                    //delay_sec(spindle_delay_spinup->get(), DwellMode::SysSuspend);
                                 }
                             }
                         }
@@ -675,7 +676,7 @@ static void protocol_exec_rt_suspend() {
                             if (!sys.suspend.bit.restartRetract) {
                                 // NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
                                 coolant_set_state(restore_coolant);
-                                delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SYS_SUSPEND);
+                                delay_sec(coolant_start_delay->get(), DwellMode::SysSuspend);
                             }
                         }
 #ifdef PARKING_ENABLE

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -46,6 +46,7 @@ FloatSetting*    rpm_max;
 FloatSetting*    rpm_min;
 FloatSetting*    spindle_delay_spinup;
 FloatSetting*    spindle_delay_spindown;
+FloatSetting*    coolant_start_delay;
 FlagSetting*     spindle_enbl_off_with_zero_speed;
 FlagSetting*     spindle_enable_invert;
 FlagSetting*     spindle_output_invert;
@@ -345,8 +346,12 @@ void make_settings() {
     spindle_pwm_freq = new FloatSetting(EXTENDED, WG, "33", "Spindle/PWM/Frequency", DEFAULT_SPINDLE_FREQ, 0, 100000, checkSpindleChange);
     spindle_output_invert = new FlagSetting(GRBL, WG, NULL, "Spindle/PWM/Invert", DEFAULT_INVERT_SPINDLE_OUTPUT_PIN, checkSpindleChange);
 
-    spindle_delay_spinup   = new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinUp", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30);
+    spindle_delay_spinup =
-    spindle_delay_spindown = new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinDown", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30);
+        new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinUp", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30, checkSpindleChange);
+    spindle_delay_spindown =
+        new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinDown", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30, checkSpindleChange);
+    coolant_start_delay =
+        new FloatSetting(EXTENDED, WG, NULL, "Coolant/Delay/TurnOn", DEFAULT_COOLANT_DELAY_TURNON, 0, 30);
 
     spindle_enbl_off_with_zero_speed =
         new FlagSetting(GRBL, WG, NULL, "Spindle/Enable/OffWithSpeed", DEFAULT_SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED, checkSpindleChange);

Grbl_Esp32/src/SettingsDefinitions.h

@@ -48,6 +48,7 @@ extern FloatSetting* rpm_max;
 extern FloatSetting* rpm_min;
 extern FloatSetting* spindle_delay_spinup;
 extern FloatSetting* spindle_delay_spindown;
+extern FloatSetting* coolant_start_delay;
 extern FlagSetting*  spindle_enbl_off_with_zero_speed;
 extern FlagSetting*  spindle_enable_invert;
 extern FlagSetting*  spindle_output_invert;

Grbl_Esp32/src/Spindles/PWMSpindle.cpp

@@ -114,6 +114,9 @@ namespace Spindles {
         // _pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
 
         _pwm_chan_num = 0;  // Channel 0 is reserved for spindle use
+
+        _spinup_delay   = spindle_delay_spinup->get() * 1000.0;
+        _spindown_delay = spindle_delay_spindown->get() * 1000.0;
     }
 
     uint32_t PWM::set_rpm(uint32_t rpm) {
@@ -163,14 +166,14 @@ namespace Spindles {
             sys.spindle_speed = 0;
             stop();
             if (use_delays && (_current_state != state)) {
-                mc_dwell(spindle_delay_spindown->get());
+                delay(_spinup_delay);
             }
         } else {
             set_dir_pin(state == SpindleState::Cw);
             set_rpm(rpm);
             set_enable_pin(state != SpindleState::Disable);  // must be done after setting rpm for enable features to work
             if (use_delays && (_current_state != state)) {
-                mc_dwell(spindle_delay_spinup->get());
+                delay(_spindown_delay);
             }
         }
 

Grbl_Esp32/src/Spindles/Spindle.h

@@ -73,6 +73,8 @@ namespace Spindles {
         bool                  is_reversable;
         bool                  use_delays;  // will SpinUp and SpinDown delays be used.
         volatile SpindleState _current_state = SpindleState::Disable;
+        uint32_t              _spinup_delay;
+        uint32_t              _spindown_delay;
 
         static void select();
     };

Grbl_Esp32/src/Spindles/VFDSpindle.cpp

@@ -326,6 +326,9 @@ namespace Spindles {
         _min_rpm = rpm_min->get();
         _max_rpm = rpm_max->get();
 
+        _spinup_delay   = spindle_delay_spinup->get() * 1000.0;
+        _spindown_delay = spindle_delay_spindown->get() * 1000.0;
+
         return pins_settings_ok;
     }
 
@@ -348,16 +351,18 @@ namespace Spindles {
         if (_current_state != state) {  // already at the desired state. This function gets called a lot.
             set_mode(state, critical);  // critical if we are in a job
             set_rpm(rpm);
+
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Spin1");
+
             if (state == SpindleState::Disable) {
                 sys.spindle_speed = 0;
-                if (_current_state != state) {
+                delay(_spindown_delay);
-                    mc_dwell(spindle_delay_spindown->get());
+
-                }
             } else {
-                if (_current_state != state) {
+                delay(_spinup_delay);
-                    mc_dwell(spindle_delay_spinup->get());
-                }
             }
+            
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Spin2");
         } else {
             if (_current_rpm != rpm) {
                 set_rpm(rpm);