Updated to control and door pins & reporting

- Updated Build Codes
- Improved door and control switch options
- Updated defaults to match test machine
- removed unused print.h & .cpp
- added missing reported build options
- added missing parking buffer functions

Grbl_Esp32/config.h

@@ -189,7 +189,7 @@ Some features should not be changed. See notes below.
 // immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
 // the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the
 // previous tool path, as if nothing happened.
-#define ENABLE_SAFETY_DOOR_INPUT_PIN // ESP32 Leave this enabled for now .. code for undefined not ready
+//#define ENABLE_SAFETY_DOOR_INPUT_PIN  // Default disabled. Uncomment to enable.
 
 // 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.
@@ -211,6 +211,10 @@ Some features should not be changed. See notes below.
 // inverting only two control pins, the safety door and reset. See cpu_map.h for other bit definitions.
 //#define INVERT_CONTROL_PIN_MASK CONTROL_MASK // Default disabled. Uncomment to disable.
 
+// This allows control pins to be ignored.
+// Since these are typically used on the pins that don't have pullups, they will float and cause
+// problems if not externally pulled up. Ignoring will always return not activated when read.
+//#define IGNORE_CONTROL_PINS
 
 // 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.
@@ -579,7 +583,7 @@ Some features should not be changed. See notes below.
 // NOTE: Still a work-in-progress. Machine coordinates must be in all negative space and
 // does not work with HOMING_FORCE_SET_ORIGIN enabled. Parking motion also moves only in
 // positive direction.
-// #define PARKING_ENABLE  // Default disabled. Uncomment to enable
+//#define PARKING_ENABLE  // Default disabled. Uncomment to enable
 
 // Configure options for the parking motion, if enabled.
 #define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion

Grbl_Esp32/defaults.h

@@ -40,9 +40,9 @@
   #define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
    #define DEFAULT_INVERT_ST_ENABLE 0 // boolean
   #define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
-  #define DEFAULT_INVERT_PROBE_PIN 1 // boolean 
+  #define DEFAULT_INVERT_PROBE_PIN 0 // boolean 
   
-  #define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
+  #define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
   
   #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
   #define DEFAULT_ARC_TOLERANCE 0.002 // mm
@@ -53,8 +53,8 @@
   
   #define DEFAULT_HOMING_ENABLE 0  // false
   #define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z, negative X,Y
-  #define DEFAULT_HOMING_FEED_RATE 100.0 // mm/min
+  #define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
+  #define DEFAULT_HOMING_SEEK_RATE 2000.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
 
@@ -63,17 +63,17 @@
   
   #define DEFAULT_LASER_MODE 0 // false
   
-  #define DEFAULT_X_STEPS_PER_MM 250.0
+  #define DEFAULT_X_STEPS_PER_MM 800.0
-  #define DEFAULT_Y_STEPS_PER_MM 250.0
+  #define DEFAULT_Y_STEPS_PER_MM 800.0
-  #define DEFAULT_Z_STEPS_PER_MM 250.0
+  #define DEFAULT_Z_STEPS_PER_MM 800.0
   
-  #define DEFAULT_X_MAX_RATE 6000.0 // mm/min
+  #define DEFAULT_X_MAX_RATE 5000.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 6000.0 // mm/min
+  #define DEFAULT_Y_MAX_RATE 4000.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 6000.0 // mm/min
+  #define DEFAULT_Z_MAX_RATE 3000.0 // mm/min
   
-  #define DEFAULT_X_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
+  #define DEFAULT_Z_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
   
   #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.

Grbl_Esp32/grbl.h

@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20180817"
+#define GRBL_VERSION_BUILD "20180823"
 
 //#include <sdkconfig.h>
 #include <arduino.h>
@@ -44,7 +44,6 @@
 #include "gcode.h"
 #include "limits.h"
 #include "motion_control.h"
-#include "print.h"
 #include "probe.h"
 #include "protocol.h"
 #include "report.h"

Grbl_Esp32/print.cpp

@@ -1,157 +0,0 @@
-/*
-  print.c - Functions for formatting output strings
-  Part of Grbl
-
-  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-	
-	2018 -	Bart Dring This file was modifed for use on the ESP32
-					CPU. Do not use this with Grbl for atMega328P
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "grbl.h"
-
-
-
-
-// void printIntegerInBase(unsigned long n, unsigned long base)
-// {
-// 	unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
-// 	unsigned long i = 0;
-//
-// 	if (n == 0) {
-// 		serial_write('0');
-// 		return;
-// 	}
-//
-// 	while (n > 0) {
-// 		buf[i++] = n % base;
-// 		n /= base;
-// 	}
-//
-// 	for (; i > 0; i--)
-// 		serial_write(buf[i - 1] < 10 ?
-// 			'0' + buf[i - 1] :
-// 			'A' + buf[i - 1] - 10);
-// }
-
-
-// Prints an uint8 variable in base 10.
-void print_uint8_base10(uint8_t n)
-{
-  uint8_t digit_a = 0;
-  uint8_t digit_b = 0;
-  if (n >= 100) { // 100-255
-    digit_a = '0' + n % 10;
-    n /= 10;
-  }
-  if (n >= 10) { // 10-99
-    digit_b = '0' + n % 10;
-    n /= 10;
-  }
-  serial_write('0' + n);
-  if (digit_b) { serial_write(digit_b); }
-  if (digit_a) { serial_write(digit_a); }
-}
-
-
-// Prints an uint8 variable in base 2 with desired number of desired digits.
-void print_uint8_base2_ndigit(uint8_t n, uint8_t digits) {
-  unsigned char buf[digits];
-  uint8_t i = 0;
-
-  for (; i < digits; i++) {
-      buf[i] = n % 2 ;
-      n /= 2;
-  }
-
-  for (; i > 0; i--)
-      Serial.print('0' + buf[i - 1]);
-}
-
-
-void print_uint32_base10(uint32_t n)
-{
-  if (n == 0) {
-    Serial.print('0');
-    return;
-  }
-
-  unsigned char buf[10];
-  uint8_t i = 0;
-
-  while (n > 0) {
-    buf[i++] = n % 10;
-    n /= 10;
-  }
-
-  for (; i > 0; i--)
-    Serial.print('0' + buf[i-1]);
-}
-
-
-void printInteger(long n)
-{
-  if (n < 0) {
-    Serial.print('-');
-    print_uint32_base10(-n);
-  } else {
-    print_uint32_base10(n);
-  }
-}
-
-
-// Convert float to string by immediately converting to a long integer, which contains
-// more digits than a float. Number of decimal places, which are tracked by a counter,
-// may be set by the user. The integer is then efficiently converted to a string.
-// NOTE: AVR '%' and '/' integer operations are very efficient. Bitshifting speed-up
-// techniques are actually just slightly slower. Found this out the hard way.
-void printFloat(float n, uint8_t decimal_places)
-{
-  Serial.print(n, decimal_places);
-}
-
-
-// Floating value printing handlers for special variables types used in Grbl and are defined
-// in the config.h.
-//  - CoordValue: Handles all position or coordinate values in inches or mm reporting.
-//  - RateValue: Handles feed rate and current velocity in inches or mm reporting.
-void printFloat_CoordValue(float n) {
-  if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
-    printFloat(n*INCH_PER_MM,N_DECIMAL_COORDVALUE_INCH);
-  } else {
-    printFloat(n,N_DECIMAL_COORDVALUE_MM);
-  }
-}
-
-void printFloat_RateValue(float n) {
-  if (bit_istrue(settings.flags,BITFLAG_REPORT_INCHES)) {
-    printFloat(n*INCH_PER_MM,N_DECIMAL_RATEVALUE_INCH);
-  } else {
-    printFloat(n,N_DECIMAL_RATEVALUE_MM);
-  }
-}
-
-// Debug tool to print free memory in bytes at the called point.
-// NOTE: Keep commented unless using. Part of this function always gets compiled in.
-// void printFreeMemory()
-// {
-//   extern int __heap_start, *__brkval;
-//   uint16_t free;  // Up to 64k values.
-//   free = (int) &free - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
-//   printInteger((int32_t)free);
-//   printString(" ");
-// }

Grbl_Esp32/print.h

@@ -1,54 +0,0 @@
-/*
-  print.h - Functions for formatting output strings
-  Part of Grbl
-
-  Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-	
-	2018 -	Bart Dring This file was modifed for use on the ESP32
-					CPU. Do not use this with Grbl for atMega328P
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef print_h
-#define print_h
-
-
-void printString(const char *s);
-
-void printPgmString(const char *s);
-
-void printInteger(long n);
-
-void print_uint32_base10(uint32_t n);
-
-// Prints an uint8 variable in base 10.
-void print_uint8_base10(uint8_t n);
-
-// Prints an uint8 variable in base 2 with desired number of desired digits.
-void print_uint8_base2_ndigit(uint8_t n, uint8_t digits);
-
-void printFloat(float n, uint8_t decimal_places);
-
-// Floating value printing handlers for special variables types used in Grbl.
-//  - CoordValue: Handles all position or coordinate values in inches or mm reporting.
-//  - RateValue: Handles feed rate and current velocity in inches or mm reporting.
-void printFloat_CoordValue(float n);
-void printFloat_RateValue(float n);
-
-// Debug tool to print free memory in bytes at the called point. Not used otherwise.
-void printFreeMemory();
-
-#endif

Grbl_Esp32/report.cpp

@@ -466,14 +466,38 @@ void report_build_info(char *line)
     strcat(build_info,"H");
   #endif
   #ifdef LIMITS_TWO_SWITCHES_ON_AXES
-    strcat(build_info,"L");
+    strcat(build_info,"T");
+  #endif
+	#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
+		strcat(build_info,"A");
+  #endif
+	#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+		strcat(build_info,"+");
   #endif
   #ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
-    strcat(build_info,"A");
+		strcat(build_info,"A");
+  #endif
+	#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
+		strcat(build_info,"D");
+  #endif
+  #ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
+		strcat(build_info,"0");
+  #endif
+  #ifdef ENABLE_SOFTWARE_DEBOUNCE
+		strcat(build_info,"S");
+  #endif
+  #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
+		strcat(build_info,"R");
+  #endif
+  #ifndef HOMING_INIT_LOCK
+		strcat(build_info,"L");
   #endif
 	#ifdef ENABLE_BLUETOOTH
 		strcat(build_info,"B");
 	#endif
+	 #ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+    strcat(build_info,"+");
+  #endif
   #ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
     strcat(build_info,"*");
   #endif

Grbl_Esp32/report.h

@@ -63,6 +63,16 @@
 #define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
 #define STATUS_GCODE_MAX_VALUE_EXCEEDED 38
 
+#define STATUS_SD_FAILED_MOUNT 60 // SD Failed to mount
+#define STATUS_SD_FAILED_READ 61 // SD Failed to read file
+#define STATUS_SD_FAILED_OPEN_DIR 62 // SD card failed to open directory
+#define STATUS_SD_DIR_NOT_FOUND 63 // SD Card directory not found
+#define STATUS_SD_FILE_EMPTY 64 // SD Card directory not found
+
+#define STATUS_BT_FAIL_BEGIN 70  // Bluetooth failed to start
+
+
+
 // Define Grbl alarm codes. Valid values (1-255). 0 is reserved.
 #define ALARM_HARD_LIMIT_ERROR      EXEC_ALARM_HARD_LIMIT
 #define ALARM_SOFT_LIMIT_ERROR      EXEC_ALARM_SOFT_LIMIT
@@ -87,6 +97,8 @@
 #define MESSAGE_SPINDLE_RESTORE 10
 #define MESSAGE_SLEEP_MODE 11
 
+void grbl_send(char *text);
+
 // Prints system status messages.
 void report_status_message(uint8_t status_code);
 void report_realtime_steps();

Grbl_Esp32/stepper.cpp

@@ -496,6 +496,43 @@ void st_update_plan_block_parameters()
   }
 }
 
+#ifdef PARKING_ENABLE
+  // Changes the run state of the step segment buffer to execute the special parking motion.
+  void st_parking_setup_buffer()
+  {
+    // Store step execution data of partially completed block, if necessary.
+    if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
+      prep.last_st_block_index = prep.st_block_index;
+      prep.last_steps_remaining = prep.steps_remaining;
+      prep.last_dt_remainder = prep.dt_remainder;
+      prep.last_step_per_mm = prep.step_per_mm;
+    }
+    // Set flags to execute a parking motion
+    prep.recalculate_flag |= PREP_FLAG_PARKING;
+    prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE);
+    pl_block = NULL; // Always reset parking motion to reload new block.
+  }
+
+
+  // Restores the step segment buffer to the normal run state after a parking motion.
+  void st_parking_restore_buffer()
+  {
+    // Restore step execution data and flags of partially completed block, if necessary.
+    if (prep.recalculate_flag & PREP_FLAG_HOLD_PARTIAL_BLOCK) {
+      st_prep_block = &st_block_buffer[prep.last_st_block_index];
+      prep.st_block_index = prep.last_st_block_index;
+      prep.steps_remaining = prep.last_steps_remaining;
+      prep.dt_remainder = prep.last_dt_remainder;
+      prep.step_per_mm = prep.last_step_per_mm;
+      prep.recalculate_flag = (PREP_FLAG_HOLD_PARTIAL_BLOCK | PREP_FLAG_RECALCULATE);
+      prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm; // Recompute this value.
+    } else {
+      prep.recalculate_flag = false;
+    }
+    pl_block = NULL; // Set to reload next block.
+  }
+#endif
+
 // Generates the step and direction port invert masks used in the Stepper Interrupt Driver.
 void st_generate_step_dir_invert_masks()
 {

Grbl_Esp32/system.cpp

@@ -24,7 +24,9 @@
 void system_ini() // Renamed from system_init() due to conflict with esp32 files
 {	
 	// setup control inputs
-	pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT);
+	#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
+		pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT);
+  #endif
   pinMode(CONTROL_RESET_PIN, INPUT);
   pinMode(CONTROL_FEED_HOLD_PIN, INPUT);
   pinMode(CONTROL_CYCLE_START_PIN, INPUT);
@@ -378,8 +380,15 @@ uint8_t system_check_travel_limits(float *target)
 // defined by the CONTROL_PIN_INDEX in the header file.
 uint8_t system_control_get_state()
 {
+	#ifdef IGNORE_CONTROL_PINS
+		return 0;
+	#endif	
+	
+	
   uint8_t control_state = 0;
+	#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
   if (digitalRead(CONTROL_SAFETY_DOOR_PIN)) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; } 
+	#endif
   if (digitalRead(CONTROL_RESET_PIN)) { control_state |= CONTROL_PIN_INDEX_RESET; }
   if (digitalRead(CONTROL_FEED_HOLD_PIN)) { control_state |= CONTROL_PIN_INDEX_FEED_HOLD; }
   if (digitalRead(CONTROL_CYCLE_START_PIN)) { control_state |= CONTROL_PIN_INDEX_CYCLE_START; }   

doc/csv/build_option_codes_en_US.csv

@@ -20,3 +20,4 @@ I,Build info write user string command,Disabled
 E,Force sync upon EEPROM write,Disabled
 W,Force sync upon work coordinate offset change,Disabled
 L,Homing initialization auto-lock,Disabled
+B,Bluetooth Enabled