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Updated to control and door pins & reporting

Browse Source 
- 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
This commit is contained in:
bdring
2018-08-23 21:04:54 -05:00
parent 315dc7a7a7
commit 8b20ae8572
10 changed files with 109 additions and 234 deletions
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8
Grbl_Esp32/config.h
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@@ -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

26
Grbl_Esp32/defaults.h
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@@ -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_SEEK_RATE 500.0 // mm/min
#define DEFAULT_HOMING_FEED_RATE 200.0 // 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_Y_STEPS_PER_MM 250.0
#define DEFAULT_Z_STEPS_PER_MM 250.0
#define DEFAULT_X_STEPS_PER_MM 800.0
#define DEFAULT_Y_STEPS_PER_MM 800.0
#define DEFAULT_Z_STEPS_PER_MM 800.0
#define DEFAULT_X_MAX_RATE 6000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 6000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 6000.0 // mm/min
#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 4000.0 // 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_Y_ACCELERATION (50.0*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_X_ACCELERATION (200.0*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 (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.

3
Grbl_Esp32/grbl.h
View File

@@ -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"

157
Grbl_Esp32/print.cpp
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@@ -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(" ");
// }

54
Grbl_Esp32/print.h
View File

@@ -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

26
Grbl_Esp32/report.cpp
View File

@@ -466,13 +466,37 @@ 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");
#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,"*");

12
Grbl_Esp32/report.h
View File

@@ -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();

37
Grbl_Esp32/stepper.cpp
View File

@@ -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()
{

9
Grbl_Esp32/system.cpp
View File

@@ -24,7 +24,9 @@
void system_ini() // Renamed from system_init() due to conflict with esp32 files
{
// setup control inputs
#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; }

1
doc/csv/build_option_codes_en_US.csv
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@@ -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
Can't render this file because it has a wrong number of fields in line 23.