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Code Issues Releases Wiki Activity

More ->get()s bite the dust

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This commit is contained in:
Mitch Bradley
2021-05-23 09:42:09 -10:00
parent e394035543
commit 92532e8622
19 changed files with 43 additions and 88 deletions
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7
Grbl_Esp32/src/Configuration/HandlerBase.h
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@@ -27,6 +27,13 @@ namespace Configuration {
value = uint32_t(v); value = uint32_t(v);
} }
// TODO: This will accept values that cannot fit in the variable
virtual void handle(const char* name, uint8_t& value) {
int32_t v = int32_t(value);
handle(name, v);
value = uint8_t(v);
}
virtual void handle(const char* name, double& value) = 0; virtual void handle(const char* name, double& value) = 0;
virtual void handle(const char* name, float& value) = 0; virtual void handle(const char* name, float& value) = 0;
virtual void handle(const char* name, StringRange& value) = 0; virtual void handle(const char* name, StringRange& value) = 0;

1
Grbl_Esp32/src/CoolantControl.cpp
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@@ -125,4 +125,5 @@ void CoolantControl::validate() const {}
void CoolantControl::handle(Configuration::HandlerBase& handler) { void CoolantControl::handle(Configuration::HandlerBase& handler) {
handler.handle("flood", flood_); handler.handle("flood", flood_);
handler.handle("mist", mist_); handler.handle("mist", mist_);
handler.handle("delay", delay_);
} }

4
Grbl_Esp32/src/CoolantControl.h
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@@ -31,6 +31,8 @@ class CoolantControl : public Configuration::Configurable {
Pin mist_; Pin mist_;
Pin flood_; Pin flood_;
float delay_ = 0.0;
void write(CoolantState state); void write(CoolantState state);
public: public:
@@ -52,6 +54,8 @@ public:
void off(); void off();
void set_state(CoolantState state); void set_state(CoolantState state);
float delay() { return delay_; }
// G-code parser entry-point for setting coolant states. Checks for and executes additional conditions. // G-code parser entry-point for setting coolant states. Checks for and executes additional conditions.
void sync(CoolantState state); void sync(CoolantState state);

16
Grbl_Esp32/src/Defaults.h
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@@ -38,22 +38,10 @@
*/ */
// Grbl generic default settings. Should work across different machines. // Grbl generic default settings. Should work across different machines.
#ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
# define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // $1 msec (0-254, 255 keeps steppers enabled)
#endif
#ifndef DEFAULT_STATUS_REPORT_MASK #ifndef DEFAULT_STATUS_REPORT_MASK
# define DEFAULT_STATUS_REPORT_MASK 1 // $10 # define DEFAULT_STATUS_REPORT_MASK 1 // $10
#endif #endif
#ifndef DEFAULT_VERBOSE_ERRORS
# define DEFAULT_VERBOSE_ERRORS 0
#endif
#ifndef DEFAULT_REPORT_INCHES
# define DEFAULT_REPORT_INCHES 0 // $13 false
#endif
#ifndef DEFAULT_HOMING_ENABLE #ifndef DEFAULT_HOMING_ENABLE
# define DEFAULT_HOMING_ENABLE 0 // $22 false # define DEFAULT_HOMING_ENABLE 0 // $22 false
#endif #endif
@@ -111,10 +99,6 @@
# define SPINDLE_TYPE SpindleType::NONE # define SPINDLE_TYPE SpindleType::NONE
#endif #endif
#ifndef DEFAULT_COOLANT_DELAY_TURNON
# define DEFAULT_COOLANT_DELAY_TURNON 1.0
#endif
// ================ user settings ===================== // ================ user settings =====================
#ifndef DEFAULT_USER_INT_80 #ifndef DEFAULT_USER_INT_80
# define DEFAULT_USER_INT_80 0 // $80 User integer setting # define DEFAULT_USER_INT_80 0 // $80 User integer setting

8
Grbl_Esp32/src/MachineConfig.cpp
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@@ -350,10 +350,16 @@ void MachineConfig::handle(Configuration::HandlerBase& handler) {
handler.handle("spi", _spi); handler.handle("spi", _spi);
handler.handle("coolant", _coolant); handler.handle("coolant", _coolant);
handler.handle("probe", _probe); handler.handle("probe", _probe);
handler.handle("laser_mode", _laserMode);
handler.handle("pulse_microseconds", _pulseMicroSeconds); handler.handle("pulse_microseconds", _pulseMicroSeconds);
handler.handle("board", _board); handler.handle("board", _board);
handler.handle("name", _name); handler.handle("name", _name);
handler.handle("idle_time", _idleTime);
// TODO: Consider putting these under a gcode: hierarchy level
handler.handle("laser_mode", _laserMode);
handler.handle("arc_tolerance", _arcTolerance);
handler.handle("junction_deviation", _junctionDeviation);
handler.handle("verbose_errors", _verboseErrors);
handler.handle("report_inches", _reportInches);
} }
void MachineConfig::afterParse() { void MachineConfig::afterParse() {

9
Grbl_Esp32/src/MachineConfig.h
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@@ -350,9 +350,12 @@ public:
int _directionDelayMilliSeconds = 0; int _directionDelayMilliSeconds = 0;
int _disableDelayMilliSeconds = 0; int _disableDelayMilliSeconds = 0;
bool _laserMode = false; bool _laserMode = false;
float _arcTolerance = 0.002; float _arcTolerance = 0.002;
float _junctionDeviation = 0.01; float _junctionDeviation = 0.01;
uint8_t _idleTime = 255;
bool _verboseErrors = false;
bool _reportInches = false;
String _board = "None"; String _board = "None";
String _name = "None"; String _name = "None";

4
Grbl_Esp32/src/Machines/atari_1020.h
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@@ -86,10 +86,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/midtbot.h
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@@ -66,10 +66,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/mpcnc_laser_module_v1p2.h
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@@ -89,10 +89,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/mpcnc_v1p1.h
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@@ -95,10 +95,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/mpcnc_v1p2.h
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@@ -99,10 +99,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/pen_laser.h
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@@ -71,10 +71,6 @@
#define DEFAULT_STATUS_REPORT_MASK 1 #define DEFAULT_STATUS_REPORT_MASK 1
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Machines/polar_coaster.h
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@@ -87,10 +87,6 @@
#define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled #define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false #define DEFAULT_HARD_LIMIT_ENABLE 0 // false

4
Grbl_Esp32/src/Protocol.cpp
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@@ -195,7 +195,7 @@ void protocol_main_loop() {
return; // Bail to main() program loop to reset system. return; // Bail to main() program loop to reset system.
} }
// check to see if we should disable the stepper drivers ... esp32 work around for disable in main loop. // check to see if we should disable the stepper drivers ... esp32 work around for disable in main loop.
if (stepper_idle && stepper_idle_lock_time->get() != 0xff) { if (stepper_idle && config->_idleTime != 0xff) {
if (esp_timer_get_time() > stepper_idle_counter) { if (esp_timer_get_time() > stepper_idle_counter) {
config->_axes->set_disable(true); config->_axes->set_disable(true);
} }
@@ -684,7 +684,7 @@ static void protocol_exec_rt_suspend() {
if (!sys.suspend.bit.restartRetract) { if (!sys.suspend.bit.restartRetract) {
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin. // NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
config->_coolant->set_state(restore_coolant); config->_coolant->set_state(restore_coolant);
delay_msec(int32_t(1000.0 * coolant_start_delay->get()), DwellMode::SysSuspend); delay_msec(int32_t(1000.0 * config->_coolant->delay()), DwellMode::SysSuspend);
} }
} }
#ifdef PARKING_ENABLE #ifdef PARKING_ENABLE

12
Grbl_Esp32/src/Report.cpp
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@@ -162,7 +162,7 @@ static void report_util_axis_values(float* axis_value, char* rpt) {
float unit_conv = 1.0; // unit conversion multiplier..default is mm float unit_conv = 1.0; // unit conversion multiplier..default is mm
const char* format = "%4.3f"; // Default - report mm to 3 decimal places const char* format = "%4.3f"; // Default - report mm to 3 decimal places
rpt[0] = '\0'; rpt[0] = '\0';
if (report_inches->get()) { if (config->_reportInches) {
unit_conv = 1.0 / MM_PER_INCH; unit_conv = 1.0 / MM_PER_INCH;
format = "%4.4f"; // Report inches to 4 decimal places format = "%4.4f"; // Report inches to 4 decimal places
} }
@@ -183,7 +183,7 @@ static String report_util_axis_values(const float* axis_value) {
char axisVal[coordStringLen]; char axisVal[coordStringLen];
float unit_conv = 1.0; // unit conversion multiplier..default is mm float unit_conv = 1.0; // unit conversion multiplier..default is mm
int decimals = 3; // Default - report mm to 3 decimal places int decimals = 3; // Default - report mm to 3 decimal places
if (report_inches->get()) { if (config->_reportInches) {
unit_conv = 1.0 / MM_PER_INCH; unit_conv = 1.0 / MM_PER_INCH;
decimals = 4; // Report inches to 4 decimal places decimals = 4; // Report inches to 4 decimal places
} }
@@ -236,7 +236,7 @@ void report_status_message(Error status_code, uint8_t client) {
// With verbose errors, the message text is displayed instead of the number. // With verbose errors, the message text is displayed instead of the number.
// Grbl 0.9 used to display the text, while Grbl 1.1 switched to the number. // Grbl 0.9 used to display the text, while Grbl 1.1 switched to the number.
// Many senders support both formats. // Many senders support both formats.
if (verbose_errors->get()) { if (config->_verboseErrors) {
grbl_sendf(client, "error: %s\r\n", errorString(status_code)); grbl_sendf(client, "error: %s\r\n", errorString(status_code));
} else { } else {
grbl_sendf(client, "error:%d\r\n", static_cast<int>(status_code)); grbl_sendf(client, "error:%d\r\n", static_cast<int>(status_code));
@@ -333,7 +333,7 @@ void report_ngc_parameters(uint8_t client) {
ngc_rpt += "]\r\n"; ngc_rpt += "]\r\n";
ngc_rpt += "[TLO:"; // Print tool length offset ngc_rpt += "[TLO:"; // Print tool length offset
float tlo = gc_state.tool_length_offset; float tlo = gc_state.tool_length_offset;
if (report_inches->get()) { if (config->_reportInches) {
tlo *= INCH_PER_MM; tlo *= INCH_PER_MM;
} }
ngc_rpt += String(tlo, 3); ngc_rpt += String(tlo, 3);
@@ -492,7 +492,7 @@ void report_gcode_modes(uint8_t client) {
sprintf(temp, " T%d", gc_state.tool); sprintf(temp, " T%d", gc_state.tool);
strcat(modes_rpt, temp); strcat(modes_rpt, temp);
sprintf(temp, report_inches->get() ? " F%.1f" : " F%.0f", gc_state.feed_rate); sprintf(temp, config->_reportInches ? " F%.1f" : " F%.0f", gc_state.feed_rate);
strcat(modes_rpt, temp); strcat(modes_rpt, temp);
sprintf(temp, " S%d", uint32_t(gc_state.spindle_speed)); sprintf(temp, " S%d", uint32_t(gc_state.spindle_speed));
strcat(modes_rpt, temp); strcat(modes_rpt, temp);
@@ -637,7 +637,7 @@ void report_realtime_status(uint8_t client) {
#endif #endif
// Report realtime feed speed // Report realtime feed speed
#ifdef REPORT_FIELD_CURRENT_FEED_SPEED #ifdef REPORT_FIELD_CURRENT_FEED_SPEED
if (report_inches->get()) { if (config->_reportInches) {
sprintf(temp, "|FS:%.1f,%d", st_get_realtime_rate() / MM_PER_INCH, sys.spindle_speed); sprintf(temp, "|FS:%.1f,%d", st_get_realtime_rate() / MM_PER_INCH, sys.spindle_speed);
} else { } else {
sprintf(temp, "|FS:%.0f,%d", st_get_realtime_rate(), sys.spindle_speed); sprintf(temp, "|FS:%.0f,%d", st_get_realtime_rate(), sys.spindle_speed);

2
Grbl_Esp32/src/Serial.cpp
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@@ -47,7 +47,7 @@
Realtime commands can be anywhere in the stream. Realtime commands can be anywhere in the stream.
To allow the realtime commands to be randomly mixed in the stream of data, we To allow the realtime commands to be randomly mixed in the stream of data, we
read all clients as fast as possible. The realtime commands are acted upon and the other charcters are read all clients as fast as possible. The realtime commands are acted upon and the other characters are
placed into a client_buffer[client]. placed into a client_buffer[client].
The main protocol loop reads from client_buffer[] The main protocol loop reads from client_buffer[]

25
Grbl_Esp32/src/SettingsDefinitions.cpp
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@@ -1,20 +1,12 @@
#include "Grbl.h" #include "Grbl.h"
FlagSetting* verbose_errors;
StringSetting* startup_line_0; StringSetting* startup_line_0;
StringSetting* startup_line_1; StringSetting* startup_line_1;
StringSetting* build_info; StringSetting* build_info;
IntSetting* stepper_idle_lock_time;
// TODO Settings - need to call st_generate_step_invert_masks;
AxisMaskSetting* homing_dir_mask; AxisMaskSetting* homing_dir_mask;
AxisMaskSetting* homing_squared_axes; AxisMaskSetting* homing_squared_axes;
FlagSetting* report_inches;
// TODO Settings - need to call limits_init;
FlagSetting* homing_enable; FlagSetting* homing_enable;
IntSetting* status_mask; IntSetting* status_mask;
@@ -134,14 +126,10 @@ void make_settings() {
make_coordinate(CoordIndex::G28, "G28"); make_coordinate(CoordIndex::G28, "G28");
make_coordinate(CoordIndex::G30, "G30"); make_coordinate(CoordIndex::G30, "G30");
verbose_errors = new FlagSetting(EXTENDED, WG, NULL, "Errors/Verbose", DEFAULT_VERBOSE_ERRORS);
// Spindle Settings // Spindle Settings
spindle_type = spindle_type =
new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", static_cast<int8_t>(SPINDLE_TYPE), &spindleTypes, checkSpindleChange); new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", static_cast<int8_t>(SPINDLE_TYPE), &spindleTypes, checkSpindleChange);
coolant_start_delay = new FloatSetting(EXTENDED, WG, NULL, "Coolant/Delay/TurnOn", DEFAULT_COOLANT_DELAY_TURNON, 0, 30);
// GRBL Non-numbered settings // GRBL Non-numbered settings
startup_line_0 = new StringSetting(EXTENDED, WG, "N0", "GCode/Line0", "", checkStartupLine); startup_line_0 = new StringSetting(EXTENDED, WG, "N0", "GCode/Line0", "", checkStartupLine);
startup_line_1 = new StringSetting(EXTENDED, WG, "N1", "GCode/Line1", "", checkStartupLine); startup_line_1 = new StringSetting(EXTENDED, WG, "N1", "GCode/Line1", "", checkStartupLine);
@@ -153,20 +141,19 @@ void make_settings() {
homing_feed_rate = new FloatSetting(GRBL, WG, "24", "Homing/Feed", DEFAULT_HOMING_FEED_RATE, 0, 10000); homing_feed_rate = new FloatSetting(GRBL, WG, "24", "Homing/Feed", DEFAULT_HOMING_FEED_RATE, 0, 10000);
homing_squared_axes = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Squared", DEFAULT_HOMING_SQUARED_AXES); homing_squared_axes = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Squared", DEFAULT_HOMING_SQUARED_AXES);
// TODO Settings - need to call st_generate_step_invert_masks()
homing_dir_mask = new AxisMaskSetting(GRBL, WG, "23", "Homing/DirInvert", DEFAULT_HOMING_DIR_MASK); homing_dir_mask = new AxisMaskSetting(GRBL, WG, "23", "Homing/DirInvert", DEFAULT_HOMING_DIR_MASK);
// TODO Settings - need to call limits_init();
homing_enable = new FlagSetting(GRBL, WG, "22", "Homing/Enable", DEFAULT_HOMING_ENABLE); homing_enable = new FlagSetting(GRBL, WG, "22", "Homing/Enable", DEFAULT_HOMING_ENABLE);
// TODO Settings - need to check for HOMING_ENABLE
build_info = new StringSetting(EXTENDED, WG, NULL, "Firmware/Build", ""); build_info = new StringSetting(EXTENDED, WG, NULL, "Firmware/Build", "");
report_inches = new FlagSetting(GRBL, WG, "13", "Report/Inches", DEFAULT_REPORT_INCHES);
// TODO: These affect the sender communication protocol so they
// need to be be available as $ commands
// verbose_errors = new FlagSetting(EXTENDED, WG, NULL, "Errors/Verbose", DEFAULT_VERBOSE_ERRORS);
// report_inches = new FlagSetting(GRBL, WG, "13", "Report/Inches", DEFAULT_REPORT_INCHES);
status_mask = new IntSetting(GRBL, WG, "10", "Report/Status", DEFAULT_STATUS_REPORT_MASK, 0, 3); status_mask = new IntSetting(GRBL, WG, "10", "Report/Status", DEFAULT_STATUS_REPORT_MASK, 0, 3);
stepper_idle_lock_time = new IntSetting(GRBL, WG, "1", "Stepper/IdleTime", DEFAULT_STEPPER_IDLE_LOCK_TIME, 0, 255);
homing_cycle[5] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle5", DEFAULT_HOMING_CYCLE_5); homing_cycle[5] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle5", DEFAULT_HOMING_CYCLE_5);
homing_cycle[4] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle4", DEFAULT_HOMING_CYCLE_4); homing_cycle[4] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle4", DEFAULT_HOMING_CYCLE_4);
homing_cycle[3] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle3", DEFAULT_HOMING_CYCLE_3); homing_cycle[3] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle3", DEFAULT_HOMING_CYCLE_3);

8
Grbl_Esp32/src/SettingsDefinitions.h
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@@ -1,18 +1,13 @@
#pragma once #pragma once
extern FlagSetting* verbose_errors;
extern StringSetting* startup_line_0; extern StringSetting* startup_line_0;
extern StringSetting* startup_line_1; extern StringSetting* startup_line_1;
extern StringSetting* build_info; extern StringSetting* build_info;
extern IntSetting* stepper_idle_lock_time;
extern AxisMaskSetting* homing_dir_mask; extern AxisMaskSetting* homing_dir_mask;
extern AxisMaskSetting* homing_squared_axes; extern AxisMaskSetting* homing_squared_axes;
extern AxisMaskSetting* homing_cycle[MAX_N_AXIS]; extern AxisMaskSetting* homing_cycle[MAX_N_AXIS];
extern FlagSetting* report_inches;
extern FlagSetting* homing_enable; extern FlagSetting* homing_enable;
extern IntSetting* status_mask; extern IntSetting* status_mask;
@@ -21,9 +16,6 @@ extern FloatSetting* homing_feed_rate;
extern FloatSetting* homing_seek_rate; extern FloatSetting* homing_seek_rate;
extern FloatSetting* homing_debounce; extern FloatSetting* homing_debounce;
extern FloatSetting* homing_pulloff; extern FloatSetting* homing_pulloff;
extern FloatSetting* coolant_start_delay;
extern IntSetting* spindle_pwm_bit_precision;
extern EnumSetting* spindle_type; extern EnumSetting* spindle_type;

7
Grbl_Esp32/src/Stepper.cpp
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@@ -439,16 +439,15 @@ void st_go_idle() {
Stepper_Timer_Stop(); Stepper_Timer_Stop();
// Set stepper driver idle state, disabled or enabled, depending on settings and circumstances. // Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
if (((stepper_idle_lock_time->get() != 0xff) || sys_rt_exec_alarm != ExecAlarm::None || sys.state == State::Sleep) && if (((config->_idleTime != 0xff) || sys_rt_exec_alarm != ExecAlarm::None || sys.state == State::Sleep) && sys.state != State::Homing) {
sys.state != State::Homing) {
// Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete // Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
// stop and not drift from residual inertial forces at the end of the last movement. // stop and not drift from residual inertial forces at the end of the last movement.
if (sys.state == State::Sleep || sys_rt_exec_alarm != ExecAlarm::None) { if (sys.state == State::Sleep || sys_rt_exec_alarm != ExecAlarm::None) {
config->_axes->set_disable(true); config->_axes->set_disable(true);
} else { } else {
stepper_idle = true; // esp32 work around for disable in main loop stepper_idle = true; // esp32 work around for disable in main loop
stepper_idle_counter = esp_timer_get_time() + (stepper_idle_lock_time->get() * 1000); // * 1000 because the time is in uSecs stepper_idle_counter = esp_timer_get_time() + (config->_idleTime * 1000); // * 1000 because the time is in uSecs
// after idle countdown will be disabled in protocol loop // after idle countdown will be disabled in protocol loop
} }
} else { } else {