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/*
Grbl_ESP32.ino - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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"
// Declare system global variable structure
system_t sys;
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
#ifdef DEBUG
volatile uint8_t sys_rt_exec_debug;
#endif
void setup() {
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_ini(); // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
sys.state = STATE_ALARM;
#else
sys.state = STATE_IDLE;
#endif
// Check for power-up and set system alarm if homing is enabled to force homing cycle
// by setting Grbl's alarm state. Alarm locks out all g-code commands, including the
// startup scripts, but allows access to settings and internal commands. Only a homing
// cycle '$H' or kill alarm locks '$X' will disable the alarm.
// NOTE: The startup script will run after successful completion of the homing cycle, but
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
#endif
}
void loop() {
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position,0,sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle_init();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();
// put your main code here, to run repeatedly:
report_init_message();
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}

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/*
config.h - compile time configuration
Part of Grbl
Copyright (c) 2012-2016 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/>.
*/
// This file contains compile-time configurations for Grbl's internal system. For the most part,
// users will not need to directly modify these, but they are here for specific needs, i.e.
// performance tuning or adjusting to non-typical machines.
// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
/*
ESP 32 Notes
Some features should not be changed. See notes below.
*/
#ifndef config_h
#define config_h
#include "grbl.h" // For Arduino IDE compatibility.
//#define ESP_DEBUG
// Define CPU pin map and default settings.
// NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
// one configuration file by placing their specific defaults and pin map at the bottom of this file.
// If doing so, simply comment out these two defines and see instructions below.
#define DEFAULTS_GENERIC
#define CPU_MAP_ESP32 // currently not required
// Serial baud rate
#define BAUD_RATE 115200
// Define realtime command special characters. These characters are 'picked-off' directly from the
// serial read data stream and are not passed to the grbl line execution parser. Select characters
// that do not and must not exist in the streamed g-code program. ASCII control characters may be
// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
// g-code programs, maybe selected for interface programs.
// NOTE: If changed, manually update help message in report.c.
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_STATUS_REPORT '?'
#define CMD_CYCLE_START '~'
#define CMD_FEED_HOLD '!'
// NOTE: All override realtime commands must be in the extended ASCII character set, starting
// at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
// such as status reports, feed hold, reset, and cycle start, are moved to the extended set
// space, serial.c's RX ISR will need to be modified to accomodate the change.
// #define CMD_RESET 0x80
// #define CMD_STATUS_REPORT 0x81
// #define CMD_CYCLE_START 0x82
// #define CMD_FEED_HOLD 0x83
#define CMD_SAFETY_DOOR 0x84
#define CMD_JOG_CANCEL 0x85
#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
#define CMD_FEED_OVR_RESET 0x90 // Restores feed override value to 100%.
#define CMD_FEED_OVR_COARSE_PLUS 0x91
#define CMD_FEED_OVR_COARSE_MINUS 0x92
#define CMD_FEED_OVR_FINE_PLUS 0x93
#define CMD_FEED_OVR_FINE_MINUS 0x94
#define CMD_RAPID_OVR_RESET 0x95 // Restores rapid override value to 100%.
#define CMD_RAPID_OVR_MEDIUM 0x96
#define CMD_RAPID_OVR_LOW 0x97
// #define CMD_RAPID_OVR_EXTRA_LOW 0x98 // *NOT SUPPORTED*
#define CMD_SPINDLE_OVR_RESET 0x99 // Restores spindle override value to 100%.
#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A
#define CMD_SPINDLE_OVR_COARSE_MINUS 0x9B
#define CMD_SPINDLE_OVR_FINE_PLUS 0x9C
#define CMD_SPINDLE_OVR_FINE_MINUS 0x9D
#define CMD_SPINDLE_OVR_STOP 0x9E
#define CMD_COOLANT_FLOOD_OVR_TOGGLE 0xA0
#define CMD_COOLANT_MIST_OVR_TOGGLE 0xA1
// If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
// the user to perform the homing cycle (or override the locks) before doing anything else. This is
// mainly a safety feature to remind the user to home, since position is unknown to Grbl.
#define HOMING_INIT_LOCK // Comment to disable
// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
// to quickly engage the limit switches, followed by a slower locate mode, and finished by a short
// pull-off motion to disengage the limit switches. The following HOMING_CYCLE_x defines are executed
// in order starting with suffix 0 and completes the homing routine for the specified-axes only. If
// an axis is omitted from the defines, it will not home, nor will the system update its position.
// Meaning that this allows for users with non-standard cartesian machines, such as a lathe (x then z,
// with no y), to configure the homing cycle behavior to their needs.
// NOTE: The homing cycle is designed to allow sharing of limit pins, if the axes are not in the same
// cycle, but this requires some pin settings changes in cpu_map.h file. For example, the default homing
// cycle can share the Z limit pin with either X or Y limit pins, since they are on different cycles.
// By sharing a pin, this frees up a precious IO pin for other purposes. In theory, all axes limit pins
// may be reduced to one pin, if all axes are homed with seperate cycles, or vice versa, all three axes
// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
// will not be affected by pin sharing.
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
//#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS)) // OPTIONAL: Then move X,Y at the same time.
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
#define HOMING_CYCLE_0 (1<<Z_AXIS) // REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 (1<<X_AXIS)
#define HOMING_CYCLE_2 (1<<Y_AXIS)
// NOTE: The following are two examples to setup homing for 2-axis machines.
// #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS)) // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle.
// #define HOMING_CYCLE_0 (1<<X_AXIS) // COREXY COMPATIBLE: First home X
// #define HOMING_CYCLE_1 (1<<Y_AXIS) // COREXY COMPATIBLE: Then home Y
// Number of homing cycles performed after when the machine initially jogs to limit switches.
// This help in preventing overshoot and should improve repeatability. This value should be one or
// greater.
#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
// Enables single axis homing commands. $HX, $HY, and $HZ for X, Y, and Z-axis homing. The full homing
// cycle is still invoked by the $H command. This is disabled by default. It's here only to address
// users that need to switch between a two-axis and three-axis machine. This is actually very rare.
// If you have a two-axis machine, DON'T USE THIS. Instead, just alter the homing cycle for two-axes.
#define HOMING_SINGLE_AXIS_COMMANDS // Default disabled. Uncomment to enable.
// After homing, Grbl will set by default the entire machine space into negative space, as is typical
// for professional CNC machines, regardless of where the limit switches are located. Uncomment this
// define to force Grbl to always set the machine origin at the homed location despite switch orientation.
// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
// parser state depending on user preferences.
#define N_STARTUP_LINE 2 // Integer (1-2)
// Number of floating decimal points printed by Grbl for certain value types. These settings are
// determined by realistic and commonly observed values in CNC machines. For example, position
// values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
// precise this. So, there is likely no need to change these, but you can if you need to here.
// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values
#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min.
// If your machine has two limits switches wired in parallel to one axis, you will need to enable
// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
// which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will
// alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one
// limit switch for each axis, don't enable this option. By keeping it disabled, you can perform a
// homing cycle while on the limit switch and not have to move the machine off of it.
// #define LIMITS_TWO_SWITCHES_ON_AXES
// Allows GRBL to track and report gcode line numbers. Enabling this means that the planning buffer
// goes from 16 to 15 to make room for the additional line number data in the plan_block_t struct
// #define USE_LINE_NUMBERS // Disabled by default. Uncomment to enable.
// Upon a successful probe cycle, this option provides immediately feedback of the probe coordinates
// through an automatically generated message. If disabled, users can still access the last probe
// coordinates through Grbl '$#' print parameters.
#define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.
// Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
// analog pin 4. Only use this option if you require a second coolant control pin.
// NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
#define ENABLE_M7 // Disabled by default. Uncomment to enable.
// This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
// 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
// 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.
#define SAFETY_DOOR_SPINDLE_DELAY 4.0 // Float (seconds)
#define SAFETY_DOOR_COOLANT_DELAY 1.0 // Float (seconds)
// Enable CoreXY kinematics. Use ONLY with CoreXY machines.
// IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to
// #define HOMING_CYCLE_0 (1<<X_AXIS) and #define HOMING_CYCLE_1 (1<<Y_AXIS)
// NOTE: This configuration option alters the motion of the X and Y axes to principle of operation
// defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
// described, if not, motions may move in strange directions. Grbl requires the CoreXY A and B motors
// have the same steps per mm internally.
// #define COREXY // Default disabled. Uncomment to enable.
// Inverts pin logic of the control command pins based on a mask. This essentially means you can use
// normally-closed switches on the specified pins, rather than the default normally-open switches.
// NOTE: The top option will mask and invert all control pins. The bottom option is an example of
// 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.
// 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
// will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
// normally-open(NO) and normally-closed(NC) switches installed on their machine.
// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
// #define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// NOTE: If VARIABLE_SPINDLE is enabled(default), this option has no effect as the PWM output and
// spindle enable are combined to one pin. If you need both this option and spindle speed PWM,
// uncomment the config option USE_SPINDLE_DIR_AS_ENABLE_PIN below.
// #define INVERT_SPINDLE_ENABLE_PIN // Default disabled. Uncomment to enable.
// Inverts the selected coolant pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// #define INVERT_COOLANT_FLOOD_PIN // Default disabled. Uncomment to enable.
// #define INVERT_COOLANT_MIST_PIN // Default disabled. Note: Enable M7 mist coolant in config.h
// When Grbl powers-cycles or is hard reset with the Arduino reset button, Grbl boots up with no ALARM
// by default. This is to make it as simple as possible for new users to start using Grbl. When homing
// is enabled and a user has installed limit switches, Grbl will boot up in an ALARM state to indicate
// Grbl doesn't know its position and to force the user to home before proceeding. This option forces
// Grbl to always initialize into an ALARM state regardless of homing or not. This option is more for
// OEMs and LinuxCNC users that would like this power-cycle behavior.
// #define FORCE_INITIALIZATION_ALARM // Default disabled. Uncomment to enable.
// At power-up or a reset, Grbl will check the limit switch states to ensure they are not active
// before initialization. If it detects a problem and the hard limits setting is enabled, Grbl will
// simply message the user to check the limits and enter an alarm state, rather than idle. Grbl will
// not throw an alarm message.
#define CHECK_LIMITS_AT_INIT
// ---------------------------------------------------------------------------------------
// ADVANCED CONFIGURATION OPTIONS:
// Enables code for debugging purposes. Not for general use and always in constant flux.
// #define DEBUG // Uncomment to enable. Default disabled.
// Configure rapid, feed, and spindle override settings. These values define the max and min
// allowable override values and the coarse and fine increments per command received. Please
// note the allowable values in the descriptions following each define.
#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-255). Usually 120% or 200%
#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
// #define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
#define DEFAULT_SPINDLE_SPEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_SPINDLE_SPEED_OVERRIDE 200 // Percent of programmed spindle speed (100-255). Usually 200%.
#define MIN_SPINDLE_SPEED_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
// When a M2 or M30 program end command is executed, most g-code states are restored to their defaults.
// This compile-time option includes the restoring of the feed, rapid, and spindle speed override values
// to their default values at program end.
#define RESTORE_OVERRIDES_AFTER_PROGRAM_END // Default enabled. Comment to disable.
// The status report change for Grbl v1.1 and after also removed the ability to disable/enable most data
// fields from the report. This caused issues for GUI developers, who've had to manage several scenarios
// and configurations. The increased efficiency of the new reporting style allows for all data fields to
// be sent without potential performance issues.
// NOTE: The options below are here only provide a way to disable certain data fields if a unique
// situation demands it, but be aware GUIs may depend on this data. If disabled, it may not be compatible.
#define REPORT_FIELD_BUFFER_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_PIN_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_CURRENT_FEED_SPEED // Default enabled. Comment to disable.
#define REPORT_FIELD_WORK_COORD_OFFSET // Default enabled. Comment to disable.
#define REPORT_FIELD_OVERRIDES // Default enabled. Comment to disable.
#define REPORT_FIELD_LINE_NUMBERS // Default enabled. Comment to disable.
// Some status report data isn't necessary for realtime, only intermittently, because the values don't
// change often. The following macros configures how many times a status report needs to be called before
// the associated data is refreshed and included in the status report. However, if one of these value
// changes, Grbl will automatically include this data in the next status report, regardless of what the
// count is at the time. This helps reduce the communication overhead involved with high frequency reporting
// and agressive streaming. There is also a busy and an idle refresh count, which sets up Grbl to send
// refreshes more often when its not doing anything important. With a good GUI, this data doesn't need
// to be refreshed very often, on the order of a several seconds.
// NOTE: WCO refresh must be 2 or greater. OVR refresh must be 1 or greater.
#define REPORT_OVR_REFRESH_BUSY_COUNT 20 // (1-255)
#define REPORT_OVR_REFRESH_IDLE_COUNT 10 // (1-255) Must be less than or equal to the busy count
#define REPORT_WCO_REFRESH_BUSY_COUNT 30 // (2-255)
#define REPORT_WCO_REFRESH_IDLE_COUNT 10 // (2-255) Must be less than or equal to the busy count
// The temporal resolution of the acceleration management subsystem. A higher number gives smoother
// acceleration, particularly noticeable on machines that run at very high feedrates, but may negatively
// impact performance. The correct value for this parameter is machine dependent, so it's advised to
// set this only as high as needed. Approximate successful values can widely range from 50 to 200 or more.
// NOTE: Changing this value also changes the execution time of a segment in the step segment buffer.
// When increasing this value, this stores less overall time in the segment buffer and vice versa. Make
// certain the step segment buffer is increased/decreased to account for these changes.
#define ACCELERATION_TICKS_PER_SECOND 100
// Adaptive Multi-Axis Step Smoothing (AMASS) is an advanced feature that does what its name implies,
// smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
// frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
// noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
// step smoothing. See stepper.c for more details on the AMASS system works.
#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING // Default enabled. Comment to disable.
// Sets the maximum step rate allowed to be written as a Grbl setting. This option enables an error
// check in the settings module to prevent settings values that will exceed this limitation. The maximum
// step rate is strictly limited by the CPU speed and will change if something other than an AVR running
// at 16MHz is used.
// NOTE: For now disabled, will enable if flash space permits.
// #define MAX_STEP_RATE_HZ 30000 // Hz
// By default, Grbl sets all input pins to normal-high operation with their internal pull-up resistors
// enabled. This simplifies the wiring for users by requiring only a switch connected to ground,
// although its recommended that users take the extra step of wiring in low-pass filter to reduce
// electrical noise detected by the pin. If the user inverts the pin in Grbl settings, this just flips
// which high or low reading indicates an active signal. In normal operation, this means the user
// needs to connect a normal-open switch, but if inverted, this means the user should connect a
// normal-closed switch.
// The following options disable the internal pull-up resistors, sets the pins to a normal-low
// operation, and switches must be now connect to Vcc instead of ground. This also flips the meaning
// of the invert pin Grbl setting, where an inverted setting now means the user should connect a
// normal-open switch and vice versa.
// NOTE: All pins associated with the feature are disabled, i.e. XYZ limit pins, not individual axes.
// WARNING: When the pull-ups are disabled, this requires additional wiring with pull-down resistors!
//#define DISABLE_LIMIT_PIN_PULL_UP
//#define DISABLE_PROBE_PIN_PULL_UP
//#define DISABLE_CONTROL_PIN_PULL_UP
// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
// the selected axis with the tool oriented toward the negative direction. In other words, a positive
// tool length offset value is subtracted from the current location.
#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
// Enables variable spindle output voltage for different RPM values. On the Arduino Uno, the spindle
// enable pin will output 5V for maximum RPM with 256 intermediate levels and 0V when disabled.
// NOTE: IMPORTANT for Arduino Unos! When enabled, the Z-limit pin D11 and spindle enable pin D12 switch!
// The hardware PWM output on pin D11 is required for variable spindle output voltages.
#define VARIABLE_SPINDLE // Default enabled. Comment to disable.
// Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
// The PWM pin will still read 0V when the spindle is disabled. Most users will not need this option, but
// it may be useful in certain scenarios. This minimum PWM settings coincides with the spindle rpm minimum
// setting, like rpm max to max PWM. This is handy if you need a larger voltage difference between 0V disabled
// and the voltage set by the minimum PWM for minimum rpm. This difference is 0.02V per PWM value. So, when
// minimum PWM is at 1, only 0.02 volts separate enabled and disabled. At PWM 5, this would be 0.1V. Keep
// in mind that you will begin to lose PWM resolution with increased minimum PWM values, since you have less
// and less range over the total 255 PWM levels to signal different spindle speeds.
// NOTE: Compute duty cycle at the minimum PWM by this equation: (% duty cycle)=(SPINDLE_PWM_MIN_VALUE/255)*100
// #define SPINDLE_PWM_MIN_VALUE 5 // Default disabled. Uncomment to enable. Must be greater than zero. Integer (1-255).
// By default on a 328p(Uno), Grbl combines the variable spindle PWM and the enable into one pin to help
// preserve I/O pins. For certain setups, these may need to be separate pins. This configure option uses
// the spindle direction pin(D13) as a separate spindle enable pin along with spindle speed PWM on pin D11.
// NOTE: This configure option only works with VARIABLE_SPINDLE enabled and a 328p processor (Uno).
// NOTE: Without a direction pin, M4 will not have a pin output to indicate a difference with M3.
// NOTE: BEWARE! The Arduino bootloader toggles the D13 pin when it powers up. If you flash Grbl with
// a programmer (you can use a spare Arduino as "Arduino as ISP". Search the web on how to wire this.),
// this D13 LED toggling should go away. We haven't tested this though. Please report how it goes!
// #define USE_SPINDLE_DIR_AS_ENABLE_PIN // Default disabled. Uncomment to enable.
// Alters the behavior of the spindle enable pin with the USE_SPINDLE_DIR_AS_ENABLE_PIN option . By default,
// Grbl will not disable the enable pin if spindle speed is zero and M3/4 is active, but still sets the PWM
// output to zero. This allows the users to know if the spindle is active and use it as an additional control
// input. However, in some use cases, user may want the enable pin to disable with a zero spindle speed and
// re-enable when spindle speed is greater than zero. This option does that.
// NOTE: Requires USE_SPINDLE_DIR_AS_ENABLE_PIN to be enabled.
// #define SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED // Default disabled. Uncomment to enable.
// With this enabled, Grbl sends back an echo of the line it has received, which has been pre-parsed (spaces
// removed, capitalized letters, no comments) and is to be immediately executed by Grbl. Echoes will not be
// sent upon a line buffer overflow, but should for all normal lines sent to Grbl. For example, if a user
// sendss the line 'g1 x1.032 y2.45 (test comment)', Grbl will echo back in the form '[echo: G1X1.032Y2.45]'.
// NOTE: Only use this for debugging purposes!! When echoing, this takes up valuable resources and can effect
// performance. If absolutely needed for normal operation, the serial write buffer should be greatly increased
// to help minimize transmission waiting within the serial write protocol.
// #define REPORT_ECHO_LINE_RECEIVED // Default disabled. Uncomment to enable.
// Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at
// every buffer block junction, except for starting from rest and end of the buffer, which are always
// zero. This value controls how fast the machine moves through junctions with no regard for acceleration
// limits or angle between neighboring block line move directions. This is useful for machines that can't
// tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value
// should not be much greater than zero or to the minimum value necessary for the machine to work.
#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
// Sets the minimum feed rate the planner will allow. Any value below it will be set to this minimum
// value. This also ensures that a planned motion always completes and accounts for any floating-point
// round-off errors. Although not recommended, a lower value than 1.0 mm/min will likely work in smaller
// machines, perhaps to 0.1mm/min, but your success may vary based on multiple factors.
#define MINIMUM_FEED_RATE 1.0 // (mm/min)
// Number of arc generation iterations by small angle approximation before exact arc trajectory
// correction with expensive sin() and cos() calcualtions. This parameter maybe decreased if there
// are issues with the accuracy of the arc generations, or increased if arc execution is getting
// bogged down by too many trig calculations.
#define N_ARC_CORRECTION 12 // Integer (1-255)
// The arc G2/3 g-code standard is problematic by definition. Radius-based arcs have horrible numerical
// errors when arc at semi-circles(pi) or full-circles(2*pi). Offset-based arcs are much more accurate
// but still have a problem when arcs are full-circles (2*pi). This define accounts for the floating
// point issues when offset-based arcs are commanded as full circles, but get interpreted as extremely
// small arcs with around machine epsilon (1.2e-7rad) due to numerical round-off and precision issues.
// This define value sets the machine epsilon cutoff to determine if the arc is a full-circle or not.
// NOTE: Be very careful when adjusting this value. It should always be greater than 1.2e-7 but not too
// much greater than this. The default setting should capture most, if not all, full arc error situations.
#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
// Time delay increments performed during a dwell. The default value is set at 50ms, which provides
// a maximum time delay of roughly 55 minutes, more than enough for most any application. Increasing
// this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of
// run-time command executions, like status reports, since these are performed between each dwell
// time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
// Creates a delay between the direction pin setting and corresponding step pulse by creating
// another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare)
// sets the direction pins, and does not immediately set the stepper pins, as it would in
// normal operation. The Timer2 compare fires next to set the stepper pins after the step
// pulse delay time, and Timer2 overflow will complete the step pulse, except now delayed
// by the step pulse time plus the step pulse delay. (Thanks langwadt for the idea!)
// NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
// user-supplied step pulse time, the total time must not exceed 127us. Reported successful
// values for certain setups have ranged from 5 to 20us.
// !!!!! ESP32 Not currently implemented
// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
// The number of linear motions in the planner buffer to be planned at any give time. The vast
// majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra
// available RAM, like when re-compiling for a Mega2560. Or decrease if the Arduino begins to
// crash due to the lack of available RAM or if the CPU is having trouble keeping up with planning
// new incoming motions as they are executed.
// #define BLOCK_BUFFER_SIZE 16 // Uncomment to override default in planner.h.
// Governs the size of the intermediary step segment buffer between the step execution algorithm
// and the planner blocks. Each segment is set of steps executed at a constant velocity over a
// fixed time defined by ACCELERATION_TICKS_PER_SECOND. They are computed such that the planner
// block velocity profile is traced exactly. The size of this buffer governs how much step
// execution lead time there is for other Grbl processes have to compute and do their thing
// before having to come back and refill this buffer, currently at ~50msec of step moves.
// #define SEGMENT_BUFFER_SIZE 6 // Uncomment to override default in stepper.h.
// Line buffer size from the serial input stream to be executed. Also, governs the size of
// each of the startup blocks, as they are each stored as a string of this size. Make sure
// to account for the available EEPROM at the defined memory address in settings.h and for
// the number of desired startup blocks.
// NOTE: 80 characters is not a problem except for extreme cases, but the line buffer size
// can be too small and g-code blocks can get truncated. Officially, the g-code standards
// support up to 256 characters. In future versions, this default will be increased, when
// we know how much extra memory space we can re-invest into this.
// #define LINE_BUFFER_SIZE 80 // Uncomment to override default in protocol.h
// Serial send and receive buffer size. The receive buffer is often used as another streaming
// buffer to store incoming blocks to be processed by Grbl when its ready. Most streaming
// interfaces will character count and track each block send to each block response. So,
// increase the receive buffer if a deeper receive buffer is needed for streaming and avaiable
// memory allows. The send buffer primarily handles messages in Grbl. Only increase if large
// messages are sent and Grbl begins to stall, waiting to send the rest of the message.
// NOTE: Grbl generates an average status report in about 0.5msec, but the serial TX stream at
// 115200 baud will take 5 msec to transmit a typical 55 character report. Worst case reports are
// around 90-100 characters. As long as the serial TX buffer doesn't get continually maxed, Grbl
// will continue operating efficiently. Size the TX buffer around the size of a worst-case report.
// #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 interrupt
// monitoring the hard limit switch pins will enable the Arduino's watchdog timer to re-check
// the limit pin state after a delay of about 32msec. This can help with CNC machines with
// problematic false triggering of their hard limit switches, but it WILL NOT fix issues with
// electrical interference on the signal cables from external sources. It's recommended to first
// use shielded signal cables with their shielding connected to ground (old USB/computer cables
// work well and are cheap to find) and wire in a low-pass circuit into each limit pin.
// #define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
// 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.
// Enable the '$RST=*', '$RST=$', and '$RST=#' eeprom restore commands. There are cases where
// these commands may be undesirable. Simply comment the desired macro to disable it.
// NOTE: See SETTINGS_RESTORE_ALL macro for customizing the `$RST=*` command.
#define ENABLE_RESTORE_EEPROM_WIPE_ALL // '$RST=*' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // '$RST=$' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // '$RST=#' Default enabled. Comment to disable.
// Defines the EEPROM data restored upon a settings version change and `$RST=*` command. Whenever the
// the settings or other EEPROM data structure changes between Grbl versions, Grbl will automatically
// wipe and restore the EEPROM. This macro controls what data is wiped and restored. This is useful
// particularily for OEMs that need to retain certain data. For example, the BUILD_INFO string can be
// written into the Arduino EEPROM via a seperate .INO sketch to contain product data. Altering this
// macro to not restore the build info EEPROM will ensure this data is retained after firmware upgrades.
// NOTE: Uncomment to override defaults in settings.h
// #define SETTINGS_RESTORE_ALL (SETTINGS_RESTORE_DEFAULTS | SETTINGS_RESTORE_PARAMETERS | SETTINGS_RESTORE_STARTUP_LINES | SETTINGS_RESTORE_BUILD_INFO)
// Enable the '$I=(string)' build info write command. If disabled, any existing build info data must
// be placed into EEPROM via external means with a valid checksum value. This macro option is useful
// to prevent this data from being over-written by a user, when used to store OEM product data.
// NOTE: If disabled and to ensure Grbl can never alter the build info line, you'll also need to enable
// the SETTING_RESTORE_ALL macro above and remove SETTINGS_RESTORE_BUILD_INFO from the mask.
// NOTE: See the included grblWrite_BuildInfo.ino example file to write this string seperately.
#define ENABLE_BUILD_INFO_WRITE_COMMAND // '$I=' Default enabled. Comment to disable.
// AVR processors require all interrupts to be disabled during an EEPROM write. This includes both
// the stepper ISRs and serial comm ISRs. In the event of a long EEPROM write, this ISR pause can
// cause active stepping to lose position and serial receive data to be lost. This configuration
// option forces the planner buffer to completely empty whenever the EEPROM is written to prevent
// any chance of lost steps.
// However, this doesn't prevent issues with lost serial RX data during an EEPROM write, especially
// if a GUI is premptively filling up the serial RX buffer simultaneously. It's highly advised for
// GUIs to flag these gcodes (G10,G28.1,G30.1) to always wait for an 'ok' after a block containing
// one of these commands before sending more data to eliminate this issue.
// NOTE: Most EEPROM write commands are implicitly blocked during a job (all '$' commands). However,
// coordinate set g-code commands (G10,G28/30.1) are not, since they are part of an active streaming
// job. At this time, this option only forces a planner buffer sync with these g-code commands.
#define FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // Default enabled. Comment to disable.
// In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
// may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
// can be several motions behind. This option forces the planner buffer to empty, sync, and stop
// motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`.
// This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare
// that any of these commands are used need continuous motions through them.
#define FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // Default enabled. Comment to disable.
// By default, Grbl disables feed rate overrides for all G38.x probe cycle commands. Although this
// may be different than some pro-class machine control, it's arguable that it should be this way.
// Most probe sensors produce different levels of error that is dependent on rate of speed. By
// keeping probing cycles to their programmed feed rates, the probe sensor should be a lot more
// repeatable. If needed, you can disable this behavior by uncommenting the define below.
// #define ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES // Default disabled. Uncomment to enable.
// Enables and configures parking motion methods upon a safety door state. Primarily for OEMs
// that desire this feature for their integrated machines. At the moment, Grbl assumes that
// the parking motion only involves one axis, although the parking implementation was written
// to be easily refactored for any number of motions on different axes by altering the parking
// source code. At this time, Grbl only supports parking one axis (typically the Z-axis) that
// moves in the positive direction upon retracting and negative direction upon restoring position.
// The motion executes with a slow pull-out retraction motion, power-down, and a fast park.
// Restoring to the resume position follows these set motions in reverse: fast restore to
// pull-out position, power-up with a time-out, and plunge back to the original position at the
// slower pull-out rate.
// 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
// Configure options for the parking motion, if enabled.
#define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
// Must be positive value or equal to zero.
// 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.
// The command is modal and will be set after a planner sync. Since it is g-code, it is
// executed in sync with g-code commands. It is not a real-time command.
// NOTE: PARKING_ENABLE is required. By default, M56 is active upon initialization. Use
// DEACTIVATE_PARKING_UPON_INIT to set M56 P0 as the power-up default.
// #define ENABLE_PARKING_OVERRIDE_CONTROL // Default disabled. Uncomment to enable
// #define DEACTIVATE_PARKING_UPON_INIT // Default disabled. Uncomment to enable.
// This option will automatically disable the laser during a feed hold by invoking a spindle stop
// override immediately after coming to a stop. However, this also means that the laser still may
// be reenabled by disabling the spindle stop override, if needed. This is purely a safety feature
// to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire.
#define DISABLE_LASER_DURING_HOLD // Default enabled. Comment to disable.
// Enables a piecewise linear model of the spindle PWM/speed output. Requires a solution by the
// 'fit_nonlinear_spindle.py' script in the /doc/script folder of the repo. See file comments
// on how to gather spindle data and run the script to generate a solution.
// #define ENABLE_PIECEWISE_LINEAR_SPINDLE // Default disabled. Uncomment to enable.
// N_PIECES, RPM_MAX, RPM_MIN, RPM_POINTxx, and RPM_LINE_XX constants are all set and given by
// the 'fit_nonlinear_spindle.py' script solution. Used only when ENABLE_PIECEWISE_LINEAR_SPINDLE
// is enabled. Make sure the constant values are exactly the same as the script solution.
// NOTE: When N_PIECES < 4, unused RPM_LINE and RPM_POINT defines are not required and omitted.
#define N_PIECES 4 // Integer (1-4). Number of piecewise lines used in script solution.
#define RPM_MAX 11686.4 // Max RPM of model. $30 > RPM_MAX will be limited to RPM_MAX.
#define RPM_MIN 202.5 // Min RPM of model. $31 < RPM_MIN will be limited to RPM_MIN.
#define RPM_POINT12 6145.4 // Used N_PIECES >=2. Junction point between lines 1 and 2.
#define RPM_POINT23 9627.8 // Used N_PIECES >=3. Junction point between lines 2 and 3.
#define RPM_POINT34 10813.9 // Used N_PIECES = 4. Junction point between lines 3 and 4.
#define RPM_LINE_A1 3.197101e-03 // Used N_PIECES >=1. A and B constants of line 1.
#define RPM_LINE_B1 -3.526076e-1
#define RPM_LINE_A2 1.722950e-2 // Used N_PIECES >=2. A and B constants of line 2.
#define RPM_LINE_B2 8.588176e+01
#define RPM_LINE_A3 5.901518e-02 // Used N_PIECES >=3. A and B constants of line 3.
#define RPM_LINE_B3 4.881851e+02
#define RPM_LINE_A4 1.203413e-01 // Used N_PIECES = 4. A and B constants of line 4.
#define RPM_LINE_B4 1.151360e+03
/* ---------------------------------------------------------------------------------------
OEM Single File Configuration Option
Instructions: Paste the cpu_map and default setting definitions below without an enclosing
#ifdef. Comment out the CPU_MAP_xxx and DEFAULT_xxx defines at the top of this file, and
the compiler will ignore the contents of defaults.h and cpu_map.h and use the definitions
below.
*/
// Paste CPU_MAP definitions here.
// Paste default settings definitions here.
#endif

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/*
coolant_control.c - coolant control methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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 coolant_init()
{
pinMode(COOLANT_FLOOD_BIT, OUTPUT);
pinMode(COOLANT_MIST_BIT, OUTPUT);
coolant_stop();
}
// Returns current coolant output state. Overrides may alter it from programmed state.
uint8_t coolant_get_state()
{
uint8_t cl_state = COOLANT_STATE_DISABLE;
#ifdef INVERT_COOLANT_FLOOD_PIN
if (! digitalRead(COOLANT_FLOOD_BIT)) {
#else
if (digitalRead(COOLANT_FLOOD_BIT)) {
#endif
cl_state |= COOLANT_STATE_FLOOD;
}
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
if (! digitalRead(COOLANT_MIST_BIT)) {
#else
if (digitalRead(COOLANT_MIST_BIT)) {
#endif
cl_state |= COOLANT_STATE_MIST;
}
#endif
return(cl_state);
}
// Directly called by coolant_init(), coolant_set_state(), and mc_reset(), which can be at
// an interrupt-level. No report flag set, but only called by routines that don't need it.
void coolant_stop()
{
#ifdef INVERT_COOLANT_FLOOD_PIN
digitalWrite(COOLANT_FLOOD_BIT, 1);
#else
digitalWrite(COOLANT_FLOOD_BIT, 0);
#endif
#ifdef ENABLE_M7
#ifdef INVERT_COOLANT_MIST_PIN
digitalWrite(COOLANT_MIST_BIT, 1);
#else
digitalWrite(COOLANT_MIST_BIT, 0);
#endif
#endif
}
// Main program only. Immediately sets flood coolant running state and also mist coolant,
// if enabled. Also sets a flag to report an update to a coolant state.
// Called by coolant toggle override, parking restore, parking retract, sleep mode, g-code
// parser program end, and g-code parser coolant_sync().
void coolant_set_state(uint8_t mode)
{
if (sys.abort) { return; } // Block during abort.
if (mode == COOLANT_DISABLE) {
coolant_stop();
} else {
if (mode & COOLANT_FLOOD_ENABLE) {
#ifdef INVERT_COOLANT_FLOOD_PIN
digitalWrite(COOLANT_FLOOD_BIT, 0);
#else
digitalWrite(COOLANT_FLOOD_BIT, 1);
#endif
}
#ifdef ENABLE_M7
if (mode & COOLANT_MIST_ENABLE) {
#ifdef INVERT_COOLANT_MIST_PIN
digitalWrite(COOLANT_MIST_BIT, 0);
#else
digitalWrite(COOLANT_MIST_BIT, 1);
#endif
}
#endif
}
sys.report_ovr_counter = 0; // Set to report change immediately
}
// G-code parser entry-point for setting coolant state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
void coolant_sync(uint8_t mode)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
coolant_set_state(mode);
}

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/*
coolant_control.h - spindle control methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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 coolant_control_h
#define coolant_control_h
#define COOLANT_NO_SYNC false
#define COOLANT_FORCE_SYNC true
#define COOLANT_STATE_DISABLE 0 // Must be zero
#define COOLANT_STATE_FLOOD bit(0)
#define COOLANT_STATE_MIST bit(1)
// Initializes coolant control pins.
void coolant_init();
// Returns current coolant output state. Overrides may alter it from programmed state.
uint8_t coolant_get_state();
// Immediately disables coolant pins.
void coolant_stop();
// Sets the coolant pins according to state specified.
void coolant_set_state(uint8_t mode);
// G-code parser entry-point for setting coolant states. Checks for and executes additional conditions.
void coolant_sync(uint8_t mode);
#endif

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/*
cpu_map.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 cpu_map_h
#define cpu_map_h
/*
Not all pins can can work for all functions.
Check features like pull-ups, pwm, etc before
re-assigning numbers
(gpio34-39) are inputs only and don't have software pullup/down functions
Unlike the AVR version certain pins are not forced into the same port.
Therefore, bit masks are not use the same way and typically should not be
changed. They are just preserved right now to make it easy to stay in sync
with AVR grbl
*/
#define X_STEP_PIN GPIO_NUM_12
#define Y_STEP_PIN GPIO_NUM_14
#define Z_STEP_PIN GPIO_NUM_27
#define STEP_MASK B111 // don't change
#define X_STEP_BIT 0
#define Y_STEP_BIT 1
#define Z_STEP_BIT 2
#define X_DIRECTION_BIT 0
#define Y_DIRECTION_BIT 1
#define Z_DIRECTION_BIT 2
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Z_DIRECTION_PIN GPIO_NUM_33
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#define COOLANT_FLOOD_BIT GPIO_NUM_18
#define COOLANT_MIST_BIT GPIO_NUM_19
#define SPINDLE_PWM_PIN GPIO_NUM_17
#define SPINDLE_PWM_CHANNEL 0
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // TODO ESP32 Calc from resolution
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#define X_LIMIT_BIT 0
#define Y_LIMIT_BIT 1
#define Z_LIMIT_BIT 2
#define X_LIMIT_PIN GPIO_NUM_21
#define Y_LIMIT_PIN GPIO_NUM_22
#define Z_LIMIT_PIN GPIO_NUM_23
#define LIMIT_MASK B111 // don't change
#define PROBE_PIN GPIO_NUM_32
#define PROBE_MASK 1 // don't change
#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#define CONTROL_MASK B1111 // don't change
#define INVERT_CONTROL_PIN_MASK B1110
// These are some ESP32 CPU Settings that the program needs, but are generally not changed
#define F_TIMERS 80000000 // a reference to the speed of ESP32 timers
#define F_STEPPER_TIMER 20000000 // frequency of step pulse timer
#define STEPPER_OFF_TIMER_PRESCALE 8 // gives a frequency of 10MHz
#define STEPPER_OFF_PERIOD_uSEC 3 // each tick is
#define STEP_PULSE_MIN 3 // uSeconds
#define STEP_PULSE_MAX 10 // uSeconds
#define STEP_OFF_AFTER_DELAY 0xFF
#endif

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/*
defaults.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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/>.
*/
/* The defaults.h file serves as a central default settings selector for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
files listed here are supplied by users, so your results may vary. However, this should
give you a good starting point as you get to know your machine and tweak the settings for
your nefarious needs.
NOTE: Ensure one and only one of these DEFAULTS_XXX values is defined in config.h */
#ifndef defaults_h
#ifdef DEFAULTS_GENERIC
// Grbl generic default settings. Should work across different machines.
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STEPPING_INVERT_MASK 1 // uint8_t
#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
#define DEFAULT_INVERT_PROBE_PIN 1
#define DEFAULT_STATUS_REPORT_MASK 1 // 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_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#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_MAX_RATE 500.0 // mm/min
#define DEFAULT_Y_MAX_RATE 500.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#endif
#endif

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/*
eeprom.cpp - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size) {
unsigned char checksum = 0;
for(; size > 0; size--) {
checksum = (checksum << 1) || (checksum >> 7);
checksum += *source;
EEPROM.write(destination++, *(source++));
}
EEPROM.write(destination, checksum);
EEPROM.commit();
}
int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size) {
unsigned char data, checksum = 0;
for(; size > 0; size--) {
data = EEPROM.read(source++);
checksum = (checksum << 1) || (checksum >> 7);
checksum += data;
*(destination++) = data;
}
return(checksum == EEPROM.read(source));
}

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/*
eeprom.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 eeprom_h
#define eeprom_h
#include "grbl.h"
//unsigned char eeprom_get_char(unsigned int addr);
//void eeprom_put_char(unsigned int addr, unsigned char new_value);
void memcpy_to_eeprom_with_checksum(unsigned int destination, char *source, unsigned int size);
int memcpy_from_eeprom_with_checksum(char *destination, unsigned int source, unsigned int size);
#endif

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/*
gcode.h - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
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 gcode_h
#define gcode_h
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
// NOTE: Modal group define values must be sequential and starting from zero.
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 6 // [G20,G21] Units
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_G13 10 // [G61] Control mode
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
// #define OTHER_INPUT_F 14
// #define OTHER_INPUT_S 15
// #define OTHER_INPUT_T 16
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
// NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing
// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
// to see how they are used, if you need to alter them.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
// Modal Group G4: Arc IJK distance mode
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
// Modal Group M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
// Modal Group G5: Feed rate mode
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
// Modal Group G7: Cutter radius compensation mode
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
// Modal Group G13: Control mode
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
// Modal Group M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
// Modal Group G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
// Modal Group G12: Active work coordinate system
// N/A: Stores coordinate system value (54-59) to change to.
// Define parameter word mapping.
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_A 13
#define WORD_B 14
#define WORD_C 15
// Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
// Define probe cycle exit states and assign proper position updating.
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#ifdef SET_CHECK_MODE_PROBE_TO_START
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#else
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#endif
// Define gcode parser flags for handling special cases.
#define GC_PARSER_NONE 0 // Must be zero.
#define GC_PARSER_JOG_MOTION bit(0)
#define GC_PARSER_CHECK_MANTISSA bit(1)
#define GC_PARSER_ARC_IS_CLOCKWISE bit(2)
#define GC_PARSER_PROBE_IS_AWAY bit(3)
#define GC_PARSER_PROBE_IS_NO_ERROR bit(4)
#define GC_PARSER_LASER_FORCE_SYNC bit(5)
#define GC_PARSER_LASER_DISABLE bit(6)
#define GC_PARSER_LASER_ISMOTION bit(7)
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
} gc_modal_t;
typedef struct {
float f; // Feed
float ijk[N_AXIS]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
int32_t n; // Line number
float p; // G10 or dwell parameters
// float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
} gc_values_t;
typedef struct {
gc_modal_t modal;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number. NOT USED.
int32_t line_number; // Last line number sent
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} parser_state_t;
extern parser_state_t gc_state;
typedef struct {
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t;
// Initialize the parser
void gc_init();
// Execute one block of rs275/ngc/g-code
uint8_t gc_execute_line(char *line);
// Set g-code parser position. Input in steps.
void gc_sync_position();
#endif

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/*
grbl.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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/>.
*/
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20170801"
//#include <sdkconfig.h>
#include <arduino.h>
#include <EEPROM.h>
#include <driver/rmt.h>
#include <esp_task_wdt.h>
// Define the Grbl system include files. NOTE: Do not alter organization.
#include "config.h"
#include "cpu_map.h"
#include "tdef.h"
#include "nuts_bolts.h"
#include "defaults.h"
#include "settings.h"
#include "system.h"
#include "planner.h"
#include "coolant_control.h"
#include "eeprom.h"
#include "gcode.h"
#include "limits.h"
#include "motion_control.h"
#include "print.h"
#include "probe.h"
#include "protocol.h"
#include "report.h"
#include "serial.h"
#include "spindle_control.h"
#include "stepper.h"
#include "jog.h"

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/*
jog.h - Jogging methods
Part of Grbl
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
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"
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block)
{
// Initialize planner data struct for jogging motions.
// NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
pl_data->feed_rate = gc_block->values.f;
pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#ifdef USE_LINE_NUMBERS
pl_data->line_number = gc_block->values.n;
#endif
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
}
// Valid jog command. Plan, set state, and execute.
mc_line(gc_block->values.xyz,pl_data);
if (sys.state == STATE_IDLE) {
if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
sys.state = STATE_JOG;
st_prep_buffer();
st_wake_up(); // NOTE: Manual start. No state machine required.
}
}
return(STATUS_OK);
}

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/*
jog.h - Jogging methods
Part of Grbl
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
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 jog_h
#define jog_h
#include "grbl.h"
// System motion line numbers must be zero.
#define JOG_LINE_NUMBER 0
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block);
#endif

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/*
limits.c - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2016 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"
// 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 isr_limit_switches()
{
// 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
// moves in the planner and serial buffers are all cleared and newly sent blocks will be
// locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
// limit setting if their limits are constantly triggering after a reset and move their axes.
if ( ( sys.state != STATE_ALARM) & (bit_isfalse(sys.state, STATE_HOMING)) ) {
if (!(sys_rt_exec_alarm)) {
#ifdef HARD_LIMIT_FORCE_STATE_CHECK
// Check limit pin state.
if (limits_get_state()) {
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
#else
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
#endif
}
}
}
// Homes the specified cycle axes, sets the machine position, and performs a pull-off motion after
// completing. Homing is a special motion case, which involves rapid uncontrolled stops to locate
// the trigger point of the limit switches. The rapid stops are handled by a system level axis lock
// mask, which prevents the stepper algorithm from executing step pulses. Homing motions typically
// circumvent the processes for executing motions in normal operation.
// NOTE: Only the abort realtime command can interrupt this process.
// TODO: Move limit pin-specific calls to a general function for portability.
void limits_go_home(uint8_t cycle_mask)
{
if (sys.abort) { return; } // Block if system reset has been issued.
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = HOMING_CYCLE_LINE_NUMBER;
#endif
// Initialize variables used for homing computations.
uint8_t n_cycle = (2*N_HOMING_LOCATE_CYCLE+1);
uint8_t step_pin[N_AXIS];
float target[N_AXIS];
float max_travel = 0.0;
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
// Initialize step pin masks
step_pin[idx] = get_step_pin_mask(idx);
#ifdef COREXY
if ((idx==A_MOTOR)||(idx==B_MOTOR)) { step_pin[idx] = (get_step_pin_mask(X_AXIS)|get_step_pin_mask(Y_AXIS)); }
#endif
if (bit_istrue(cycle_mask,bit(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
// NOTE: settings.max_travel[] is stored as a negative value.
max_travel = max(max_travel,(-HOMING_AXIS_SEARCH_SCALAR)*settings.max_travel[idx]);
}
}
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = settings.homing_seek_rate;
uint8_t limit_state, axislock, n_active_axis;
do {
system_convert_array_steps_to_mpos(target,sys_position);
// Initialize and declare variables needed for homing routine.
axislock = 0;
n_active_axis = 0;
for (idx=0; idx<N_AXIS; idx++) {
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask,bit(idx))) {
n_active_axis++;
#ifdef COREXY
if (idx == X_AXIS) {
int32_t axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = axis_position;
sys_position[B_MOTOR] = -axis_position;
} else if (idx == Y_AXIS) {
int32_t axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = sys_position[B_MOTOR] = axis_position;
} else {
sys_position[Z_AXIS] = 0;
}
#else
sys_position[idx] = 0;
#endif
// Set target direction based on cycle mask and homing cycle approach state.
// NOTE: This happens to compile smaller than any other implementation tried.
if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
if (approach) { target[idx] = -max_travel; }
else { target[idx] = max_travel; }
} else {
if (approach) { target[idx] = max_travel; }
else { target[idx] = -max_travel; }
}
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
}
}
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
pl_data->feed_rate = homing_rate; // Set current homing rate.
plan_buffer_line(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION; // Set to execute homing motion and clear existing flags.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
st_wake_up(); // Initiate motion
do {
if (approach) {
// Check limit state. Lock out cycle axes when they change.
limit_state = limits_get_state();
for (idx=0; idx<N_AXIS; idx++) {
if (axislock & step_pin[idx]) {
if (limit_state & (1 << idx)) {
#ifdef COREXY
if (idx==Z_AXIS) { axislock &= ~(step_pin[Z_AXIS]); }
else { axislock &= ~(step_pin[A_MOTOR]|step_pin[B_MOTOR]); }
#else
axislock &= ~(step_pin[idx]);
#endif
}
}
}
sys.homing_axis_lock = axislock;
}
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Exit routines: No time to run protocol_execute_realtime() in this loop.
if (sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
uint8_t rt_exec = sys_rt_exec_state;
// Homing failure condition: Reset issued during cycle.
if (rt_exec & EXEC_RESET) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
// Homing failure condition: Safety door was opened.
if (rt_exec & EXEC_SAFETY_DOOR) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_DOOR); }
// Homing failure condition: Limit switch still engaged after pull-off motion
if (!approach && (limits_get_state() & cycle_mask)) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_PULLOFF); }
// Homing failure condition: Limit switch not found during approach.
if (approach && (rt_exec & EXEC_CYCLE_STOP)) { system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_APPROACH); }
if (sys_rt_exec_alarm) {
mc_reset(); // Stop motors, if they are running.
protocol_execute_realtime();
return;
} else {
// Pull-off motion complete. Disable CYCLE_STOP from executing.
system_clear_exec_state_flag(EXEC_CYCLE_STOP);
break;
}
}
} while (STEP_MASK & axislock);
st_reset(); // Immediately force kill steppers and reset step segment buffer.
delay_ms(settings.homing_debounce_delay); // Delay to allow transient dynamics to dissipate.
// Reverse direction and reset homing rate for locate cycle(s).
approach = !approach;
// After first cycle, homing enters locating phase. Shorten search to pull-off distance.
if (approach) {
max_travel = settings.homing_pulloff*HOMING_AXIS_LOCATE_SCALAR;
homing_rate = settings.homing_feed_rate;
} else {
max_travel = settings.homing_pulloff;
homing_rate = settings.homing_seek_rate;
}
} while (n_cycle-- > 0);
// The active cycle axes should now be homed and machine limits have been located. By
// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set axes machine zero appropriately. Also,
// set up pull-off maneuver from axes limit switches that have been homed. This provides
// some initial clearance off the switches and should also help prevent them from falsely
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
for (idx=0; idx<N_AXIS; idx++) {
// NOTE: settings.max_travel[] is stored as a negative value.
if (cycle_mask & bit(idx)) {
#ifdef HOMING_FORCE_SET_ORIGIN
set_axis_position = 0;
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
} else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
}
#endif
#ifdef COREXY
if (idx==X_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
} else if (idx==Y_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
} else {
sys_position[idx] = set_axis_position;
}
#else
sys_position[idx] = set_axis_position;
#endif
}
}
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
}
void limits_init()
{
#ifndef DISABLE_LIMIT_PIN_PULL_UP
pinMode(X_LIMIT_PIN, INPUT_PULLUP); // input with pullup
pinMode(Y_LIMIT_PIN, INPUT_PULLUP);
pinMode(Z_LIMIT_PIN, INPUT_PULLUP);
#else
pinMode(X_LIMIT_PIN, INPUT); // input no pullup
pinMode(Y_LIMIT_PIN, INPUT);
pinMode(Z_LIMIT_PIN, INPUT);
#endif
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
// attach interrupt to them
attachInterrupt(digitalPinToInterrupt(X_LIMIT_PIN), isr_limit_switches, CHANGE);
attachInterrupt(digitalPinToInterrupt(Y_LIMIT_PIN), isr_limit_switches, CHANGE);
attachInterrupt(digitalPinToInterrupt(Z_LIMIT_PIN), isr_limit_switches, CHANGE);
} else {
limits_disable();
}
// TODO Debounce
/*
#ifdef ENABLE_SOFTWARE_DEBOUNCE
MCUSR &= ~(1<<WDRF);
WDTCSR |= (1<<WDCE) | (1<<WDE);
WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
#endif
*/
}
// Disables hard limits.
void limits_disable()
{
detachInterrupt(X_LIMIT_BIT);
detachInterrupt(Y_LIMIT_BIT);
detachInterrupt(Z_LIMIT_BIT);
}
// Returns limit state as a bit-wise uint8 variable. Each bit indicates an axis limit, where
// triggered is 1 and not triggered is 0. Invert mask is applied. Axes are defined by their
// number in bit position, i.e. Z_AXIS is (1<<2) or bit 2, and Y_AXIS is (1<<1) or bit 1.
uint8_t limits_get_state()
{
uint8_t limit_state = 0;
uint8_t pin = (digitalRead(X_LIMIT_PIN) + (digitalRead(Y_LIMIT_PIN) << Y_AXIS) + (digitalRead(Z_LIMIT_PIN) << Z_AXIS) );
#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
pin ^= INVERT_LIMIT_PIN_MASK;
#endif
if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS))
{
pin ^= LIMIT_MASK;
}
if (pin) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
}
}
return(limit_state);
}
// Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,
// the workspace volume is in all negative space, and the system is in normal operation.
// NOTE: Used by jogging to limit travel within soft-limit volume.
void limits_soft_check(float *target)
{
if (system_check_travel_limits(target)) {
sys.soft_limit = true;
// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
// workspace volume so just come to a controlled stop so position is not lost. When complete
// enter alarm mode.
if (sys.state == STATE_CYCLE) {
system_set_exec_state_flag(EXEC_FEED_HOLD);
do {
protocol_execute_realtime();
if (sys.abort) { return; }
} while ( sys.state != STATE_IDLE );
}
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_SOFT_LIMIT); // Indicate soft limit critical event
protocol_execute_realtime(); // Execute to enter critical event loop and system abort
return;
}
}

46
Grbl_Esp32/limits.h Normal file
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/*
limits.h - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2016 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 limits_h
#define limits_h
// Initialize the limits module
void limits_init();
// Disables hard limits.
void limits_disable();
// Returns limit state as a bit-wise uint8 variable.
uint8_t limits_get_state();
// Perform one portion of the homing cycle based on the input settings.
void limits_go_home(uint8_t cycle_mask);
// Check for soft limit violations
void limits_soft_check(float *target);
void isr_limit_switches();
#endif

383
Grbl_Esp32/motion_control.cpp Normal file
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/*
motion_control.c - high level interface for issuing motion commands
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"
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
// NOTE: This is the primary gateway to the grbl planner. All line motions, including arc line
// segments, must pass through this routine before being passed to the planner. The seperation of
// mc_line and plan_buffer_line is done primarily to place non-planner-type functions from being
// in the planner and to let backlash compensation or canned cycle integration simple and direct.
void mc_line(float *target, plan_line_data_t *pl_data)
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != STATE_JOG) { limits_soft_check(target); }
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_realtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
else { break; }
} while (1);
// Plan and queue motion into planner buffer
// uint8_t plan_status; // Not used in normal operation.
plan_buffer_line(target, pl_data);
}
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_X defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
// for vector transformation direction.
// The arc is approximated by generating a huge number of tiny, linear segments. The chordal tolerance
// of each segment is configured in settings.arc_tolerance, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc)
{
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if (is_clockwise_arc) { // Correct atan2 output per direction
if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel -= 2*M_PI; }
} else {
if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) { angular_travel += 2*M_PI; }
}
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) settings.arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5*angular_travel*radius)/
sqrt(settings.arc_tolerance*(2*radius - settings.arc_tolerance)) );
if (segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME) {
pl_data->feed_rate *= segments;
bit_false(pl_data->condition,PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
}
float theta_per_segment = angular_travel/segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear])/segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. Single precision values can accumulate error greater than tool precision in rare
cases. So, exact arc path correction is implemented. This approach avoids the problem of too many very
expensive trig operations [sin(),cos(),tan()] which can take 100-200 usec each to compute.
Small angle approximation may be used to reduce computation overhead further. A third-order approximation
(second order sin() has too much error) holds for most, if not, all CNC applications. Note that this
approximation will begin to accumulate a numerical drift error when theta_per_segment is greater than
~0.25 rad(14 deg) AND the approximation is successively used without correction several dozen times. This
scenario is extremely unlikely, since segment lengths and theta_per_segment are automatically generated
and scaled by the arc tolerance setting. Only a very large arc tolerance setting, unrealistic for CNC
applications, would cause this numerical drift error. However, it is best to set N_ARC_CORRECTION from a
low of ~4 to a high of ~20 or so to avoid trig operations while keeping arc generation accurate.
This approximation also allows mc_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
This is important when there are successive arc motions.
*/
// Computes: cos_T = 1 - theta_per_segment^2/2, sin_T = theta_per_segment - theta_per_segment^3/6) in ~52usec
float cos_T = 2.0 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4.0);
cos_T *= 0.5;
float sin_Ti;
float cos_Ti;
float r_axisi;
uint16_t i;
uint8_t count = 0;
for (i = 1; i<segments; i++) { // Increment (segments-1).
if (count < N_ARC_CORRECTION) {
// Apply vector rotation matrix. ~40 usec
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
r_axis1 = r_axisi;
count++;
} else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
count = 0;
}
// Update arc_target location
position[axis_0] = center_axis0 + r_axis0;
position[axis_1] = center_axis1 + r_axis1;
position[axis_linear] += linear_per_segment;
mc_line(position, pl_data);
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) { return; }
}
}
// Ensure last segment arrives at target location.
mc_line(target, pl_data);
}
// Execute dwell in seconds.
void mc_dwell(float seconds)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize();
delay_sec(seconds, DELAY_MODE_DWELL);
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle(uint8_t cycle_mask)
{
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT);
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
else
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
#ifdef HOMING_CYCLE_1
limits_go_home(HOMING_CYCLE_1); // Homing cycle 1
#endif
#ifdef HOMING_CYCLE_2
limits_go_home(HOMING_CYCLE_2); // Homing cycle 2
#endif
#ifdef HOMING_CYCLE_3
limits_go_home(HOMING_CYCLE_3); // Homing cycle 3
#endif
#ifdef HOMING_CYCLE_4
limits_go_home(HOMING_CYCLE_4); // Homing cycle 4
#endif
#ifdef HOMING_CYCLE_5
limits_go_home(HOMING_CYCLE_5); // Homing cycle 5
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) { return; } // Did not complete. Alarm state set by mc_alarm.
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Sync gcode parser and planner positions to homed position.
gc_sync_position();
plan_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
limits_init();
}
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags)
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return(GC_PROBE_CHECK_MODE); }
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
if (sys.abort) { return(GC_PROBE_ABORT); } // Return if system reset has been issued.
// Initialize probing control variables
uint8_t is_probe_away = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = bit_istrue(parser_flags,GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if ( probe_get_state() ) { // Check probe pin state.
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
protocol_execute_realtime();
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return(GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);
// Activate the probing state monitor in the stepper module.
sys_probe_state = PROBE_ACTIVE;
// Perform probing cycle. Wait here until probe is triggered or motion completes.
system_set_exec_state_flag(EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) { return(GC_PROBE_ABORT); } // Check for system abort
} while (sys.state != STATE_IDLE);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == PROBE_ACTIVE) {
if (is_no_error) { memcpy(sys_probe_position, sys_position, sizeof(sys_position)); }
else { system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT); }
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
probe_configure_invert_mask(false); // Re-initialize invert mask.
protocol_execute_realtime(); // Check and execute run-time commands
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
if (sys.probe_succeeded) { return(GC_PROBE_FOUND); } // Successful probe cycle.
else { return(GC_PROBE_FAIL_END); } // Failed to trigger probe within travel. With or without error.
}
// Plans and executes the single special motion case for parking. Independent of main planner buffer.
// NOTE: Uses the always free planner ring buffer head to store motion parameters for execution.
void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data)
{
if (sys.abort) { return; } // Block during abort.
uint8_t plan_status = plan_buffer_line(parking_target, pl_data);
if (plan_status) {
bit_true(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
bit_false(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
st_parking_setup_buffer(); // Setup step segment buffer for special parking motion case
st_prep_buffer();
st_wake_up();
do {
protocol_exec_rt_system();
if (sys.abort) { return; }
} while (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION);
st_parking_restore_buffer(); // Restore step segment buffer to normal run state.
} else {
bit_false(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
protocol_exec_rt_system();
}
}
// Method to ready the system to reset by setting the realtime reset command and killing any
// active processes in the system. This also checks if a system reset is issued while Grbl
// is in a motion state. If so, kills the steppers and sets the system alarm to flag position
// lost, since there was an abrupt uncontrolled deceleration. Called at an interrupt level by
// realtime abort command and hard limits. So, keep to a minimum.
void mc_reset()
{
// Only this function can set the system reset. Helps prevent multiple kill calls.
if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
system_set_exec_state_flag(EXEC_RESET);
// Kill spindle and coolant.
spindle_stop();
coolant_stop();
// Kill steppers only if in any motion state, i.e. cycle, actively holding, or homing.
// NOTE: If steppers are kept enabled via the step idle delay setting, this also keeps
// the steppers enabled by avoiding the go_idle call altogether, unless the motion state is
// violated, by which, all bets are off.
if ((sys.state & (STATE_CYCLE | STATE_HOMING | STATE_JOG)) ||
(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
if (sys.state == STATE_HOMING) {
if (!sys_rt_exec_alarm) {system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET); }
} else { system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE); }
st_go_idle(); // Force kill steppers. Position has likely been lost.
}
}
}

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/*
motion_control.h - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
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 motion_control_h
#define motion_control_h
#include "grbl.h"
// System motion commands must have a line number of zero.
#define HOMING_CYCLE_LINE_NUMBER 0
#define PARKING_MOTION_LINE_NUMBER 0
#define HOMING_CYCLE_ALL 0 // Must be zero.
#define HOMING_CYCLE_X bit(X_AXIS)
#define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS)
#define HOMING_CYCLE_A bit(A_AXIS)
#define HOMING_CYCLE_B bit(B_AXIS)
#define HOMING_CYCLE_C bit(C_AXIS)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.
void mc_line(float *target, plan_line_data_t *pl_data);
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
void mc_arc(float *target, plan_line_data_t *pl_data, float *position, float *offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
// Dwell for a specific number of seconds
void mc_dwell(float seconds);
// Perform homing cycle to locate machine zero. Requires limit switches.
void mc_homing_cycle(uint8_t cycle_mask);
// Perform tool length probe cycle. Requires probe switch.
uint8_t mc_probe_cycle(float *target, plan_line_data_t *pl_data, uint8_t parser_flags);
// Plans and executes the single special motion case for parking. Independent of main planner buffer.
void mc_parking_motion(float *parking_target, plan_line_data_t *pl_data);
// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset();
#endif

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/*
nuts_bolts.c - Shared functions
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"
#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
// Extracts a floating point value from a string. The following code is based loosely on
// the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely
// available conversion method examples, but has been highly optimized for Grbl. For known
// CNC applications, the typical decimal value is expected to be in the range of E0 to E-4.
// Scientific notation is officially not supported by g-code, and the 'E' character may
// be a g-code word on some CNC systems. So, 'E' notation will not be recognized.
// NOTE: Thanks to Radu-Eosif Mihailescu for identifying the issues with using strtod().
uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
{
char *ptr = line + *char_counter;
unsigned char c;
// Grab first character and increment pointer. No spaces assumed in line.
c = *ptr++;
// Capture initial positive/minus character
bool isnegative = false;
if (c == '-') {
isnegative = true;
c = *ptr++;
} else if (c == '+') {
c = *ptr++;
}
// Extract number into fast integer. Track decimal in terms of exponent value.
uint32_t intval = 0;
int8_t exp = 0;
uint8_t ndigit = 0;
bool isdecimal = false;
while(1) {
c -= '0';
if (c <= 9) {
ndigit++;
if (ndigit <= MAX_INT_DIGITS) {
if (isdecimal) { exp--; }
intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
} else {
if (!(isdecimal)) { exp++; } // Drop overflow digits
}
} else if (c == (('.'-'0') & 0xff) && !(isdecimal)) {
isdecimal = true;
} else {
break;
}
c = *ptr++;
}
// Return if no digits have been read.
if (!ndigit) { return(false); };
// Convert integer into floating point.
float fval;
fval = (float)intval;
// Apply decimal. Should perform no more than two floating point multiplications for the
// expected range of E0 to E-4.
if (fval != 0) {
while (exp <= -2) {
fval *= 0.01;
exp += 2;
}
if (exp < 0) {
fval *= 0.1;
} else if (exp > 0) {
do {
fval *= 10.0;
} while (--exp > 0);
}
}
// Assign floating point value with correct sign.
if (isnegative) {
*float_ptr = -fval;
} else {
*float_ptr = fval;
}
*char_counter = ptr - line - 1; // Set char_counter to next statement
return(true);
}
void delay_ms(uint16_t ms)
{
delay(ms);
}
// Non-blocking delay function used for general operation and suspend features.
void delay_sec(float seconds, uint8_t mode)
{
uint16_t i = ceil(1000/DWELL_TIME_STEP*seconds);
while (i-- > 0) {
if (sys.abort) { return; }
if (mode == DELAY_MODE_DWELL) {
protocol_execute_realtime();
} else { // DELAY_MODE_SYS_SUSPEND
// Execute rt_system() only to avoid nesting suspend loops.
protocol_exec_rt_system();
if (sys.suspend & SUSPEND_RESTART_RETRACT) { return; } // Bail, if safety door reopens.
}
delay(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
}
// Simple hypotenuse computation function.
float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }
float convert_delta_vector_to_unit_vector(float *vector)
{
uint8_t idx;
float magnitude = 0.0;
for (idx=0; idx<N_AXIS; idx++) {
if (vector[idx] != 0.0) {
magnitude += vector[idx]*vector[idx];
}
}
magnitude = sqrt(magnitude);
float inv_magnitude = 1.0/magnitude;
for (idx=0; idx<N_AXIS; idx++) { vector[idx] *= inv_magnitude; }
return(magnitude);
}
float limit_value_by_axis_maximum(float *max_value, float *unit_vec)
{
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
for (idx=0; idx<N_AXIS; idx++) {
if (unit_vec[idx] != 0) { // Avoid divide by zero.
limit_value = min(limit_value,fabs(max_value[idx]/unit_vec[idx]));
}
}
return(limit_value);
}
// int constrain(int val, int min, int max) {
// return (val < min)? min : (val > max)? max : val;
// }
// long map(long x, long in_min, long in_max, long out_min, long out_max)
// {
// return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
// }
long mapConstrain(long x, long in_min, long in_max, long out_min, long out_max)
{
x = constrain(x, out_min, out_max);
return map(x, in_min, in_max, out_min, out_max);
}

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/*
nuts_bolts.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 nuts_bolts_h
#define nuts_bolts_h
#define false 0
#define true 1
#define SOME_LARGE_VALUE 1.0E+38
// Axis array index values. Must start with 0 and be continuous.
#define N_AXIS 3 // Number of axes
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
// #define A_AXIS 3
// Conversions
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (F_STEPPER_TIMER/1000000) // Diffferent from AVR version
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define max(a,b) (((a) > (b)) ? (a) : (b))
#define min(a,b) (((a) < (b)) ? (a) : (b))
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
// Bit field and masking macros
#define bit(n) (1 << n)
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)
// Read a floating point value from a string. Line points to the input buffer, char_counter
// is the indexer pointing to the current character of the line, while float_ptr is
// a pointer to the result variable. Returns true when it succeeds
uint8_t read_float(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);
// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
void delay_ms(uint16_t ms);
// Computes hypotenuse, avoiding avr-gcc's bloated version and the extra error checking.
float hypot_f(float x, float y);
float convert_delta_vector_to_unit_vector(float *vector);
float limit_value_by_axis_maximum(float *max_value, float *unit_vec);
//int constrain(int val, int min, int max);
//long map(long x, long in_min, long in_max, long out_min, long out_max);
long mapConstrain(long x, long in_min, long in_max, long out_min, long out_max);
#endif

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/*
planner.c - buffers movement commands and manages the acceleration profile plan
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Jens Geisler
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"
#include <stdlib.h> // PSoc Required for labs
static plan_block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static uint8_t block_buffer_tail; // Index of the block to process now
static uint8_t block_buffer_head; // Index of the next block to be pushed
static uint8_t next_buffer_head; // Index of the next buffer head
static uint8_t block_buffer_planned; // Index of the optimally planned block
// Define planner variables
typedef struct {
int32_t position[N_AXIS]; // The planner position of the tool in absolute steps. Kept separate
// from g-code position for movements requiring multiple line motions,
// i.e. arcs, canned cycles, and backlash compensation.
float previous_unit_vec[N_AXIS]; // Unit vector of previous path line segment
float previous_nominal_speed; // Nominal speed of previous path line segment
} planner_t;
static planner_t pl;
// Returns the index of the next block in the ring buffer. Also called by stepper segment buffer.
uint8_t plan_next_block_index(uint8_t block_index)
{
block_index++;
if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
return(block_index);
}
// Returns the index of the previous block in the ring buffer
static uint8_t plan_prev_block_index(uint8_t block_index)
{
if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
block_index--;
return(block_index);
}
/* PLANNER SPEED DEFINITION
+--------+ <- current->nominal_speed
/ \
current->entry_speed -> + \
| + <- next->entry_speed (aka exit speed)
+-------------+
time -->
Recalculates the motion plan according to the following basic guidelines:
1. Go over every feasible block sequentially in reverse order and calculate the junction speeds
(i.e. current->entry_speed) such that:
a. No junction speed exceeds the pre-computed maximum junction speed limit or nominal speeds of
neighboring blocks.
b. A block entry speed cannot exceed one reverse-computed from its exit speed (next->entry_speed)
with a maximum allowable deceleration over the block travel distance.
c. The last (or newest appended) block is planned from a complete stop (an exit speed of zero).
2. Go over every block in chronological (forward) order and dial down junction speed values if
a. The exit speed exceeds the one forward-computed from its entry speed with the maximum allowable
acceleration over the block travel distance.
When these stages are complete, the planner will have maximized the velocity profiles throughout the all
of the planner blocks, where every block is operating at its maximum allowable acceleration limits. In
other words, for all of the blocks in the planner, the plan is optimal and no further speed improvements
are possible. If a new block is added to the buffer, the plan is recomputed according to the said
guidelines for a new optimal plan.
To increase computational efficiency of these guidelines, a set of planner block pointers have been
created to indicate stop-compute points for when the planner guidelines cannot logically make any further
changes or improvements to the plan when in normal operation and new blocks are streamed and added to the
planner buffer. For example, if a subset of sequential blocks in the planner have been planned and are
bracketed by junction velocities at their maximums (or by the first planner block as well), no new block
added to the planner buffer will alter the velocity profiles within them. So we no longer have to compute
them. Or, if a set of sequential blocks from the first block in the planner (or a optimal stop-compute
point) are all accelerating, they are all optimal and can not be altered by a new block added to the
planner buffer, as this will only further increase the plan speed to chronological blocks until a maximum
junction velocity is reached. However, if the operational conditions of the plan changes from infrequently
used feed holds or feedrate overrides, the stop-compute pointers will be reset and the entire plan is
recomputed as stated in the general guidelines.
Planner buffer index mapping:
- block_buffer_tail: Points to the beginning of the planner buffer. First to be executed or being executed.
- block_buffer_head: Points to the buffer block after the last block in the buffer. Used to indicate whether
the buffer is full or empty. As described for standard ring buffers, this block is always empty.
- next_buffer_head: Points to next planner buffer block after the buffer head block. When equal to the
buffer tail, this indicates the buffer is full.
- block_buffer_planned: Points to the first buffer block after the last optimally planned block for normal
streaming operating conditions. Use for planning optimizations by avoiding recomputing parts of the
planner buffer that don't change with the addition of a new block, as describe above. In addition,
this block can never be less than block_buffer_tail and will always be pushed forward and maintain
this requirement when encountered by the plan_discard_current_block() routine during a cycle.
NOTE: Since the planner only computes on what's in the planner buffer, some motions with lots of short
line segments, like G2/3 arcs or complex curves, may seem to move slow. This is because there simply isn't
enough combined distance traveled in the entire buffer to accelerate up to the nominal speed and then
decelerate to a complete stop at the end of the buffer, as stated by the guidelines. If this happens and
becomes an annoyance, there are a few simple solutions: (1) Maximize the machine acceleration. The planner
will be able to compute higher velocity profiles within the same combined distance. (2) Maximize line
motion(s) distance per block to a desired tolerance. The more combined distance the planner has to use,
the faster it can go. (3) Maximize the planner buffer size. This also will increase the combined distance
for the planner to compute over. It also increases the number of computations the planner has to perform
to compute an optimal plan, so select carefully. The Arduino 328p memory is already maxed out, but future
ARM versions should have enough memory and speed for look-ahead blocks numbering up to a hundred or more.
*/
static void planner_recalculate()
{
// Initialize block index to the last block in the planner buffer.
uint8_t block_index = plan_prev_block_index(block_buffer_head);
// Bail. Can't do anything with one only one plan-able block.
if (block_index == block_buffer_planned) { return; }
// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
// NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
float entry_speed_sqr;
plan_block_t *next;
plan_block_t *current = &block_buffer[block_index];
// Calculate maximum entry speed for last block in buffer, where the exit speed is always zero.
current->entry_speed_sqr = min( current->max_entry_speed_sqr, 2*current->acceleration*current->millimeters);
block_index = plan_prev_block_index(block_index);
if (block_index == block_buffer_planned) { // Only two plannable blocks in buffer. Reverse pass complete.
// Check if the first block is the tail. If so, notify stepper to update its current parameters.
if (block_index == block_buffer_tail) { st_update_plan_block_parameters(); }
} else { // Three or more plan-able blocks
while (block_index != block_buffer_planned) {
next = current;
current = &block_buffer[block_index];
block_index = plan_prev_block_index(block_index);
// Check if next block is the tail block(=planned block). If so, update current stepper parameters.
if (block_index == block_buffer_tail) { st_update_plan_block_parameters(); }
// Compute maximum entry speed decelerating over the current block from its exit speed.
if (current->entry_speed_sqr != current->max_entry_speed_sqr) {
entry_speed_sqr = next->entry_speed_sqr + 2*current->acceleration*current->millimeters;
if (entry_speed_sqr < current->max_entry_speed_sqr) {
current->entry_speed_sqr = entry_speed_sqr;
} else {
current->entry_speed_sqr = current->max_entry_speed_sqr;
}
}
}
}
// Forward Pass: Forward plan the acceleration curve from the planned pointer onward.
// Also scans for optimal plan breakpoints and appropriately updates the planned pointer.
next = &block_buffer[block_buffer_planned]; // Begin at buffer planned pointer
block_index = plan_next_block_index(block_buffer_planned);
while (block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
// Any acceleration detected in the forward pass automatically moves the optimal planned
// pointer forward, since everything before this is all optimal. In other words, nothing
// can improve the plan from the buffer tail to the planned pointer by logic.
if (current->entry_speed_sqr < next->entry_speed_sqr) {
entry_speed_sqr = current->entry_speed_sqr + 2*current->acceleration*current->millimeters;
// If true, current block is full-acceleration and we can move the planned pointer forward.
if (entry_speed_sqr < next->entry_speed_sqr) {
next->entry_speed_sqr = entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
block_buffer_planned = block_index; // Set optimal plan pointer.
}
}
// Any block set at its maximum entry speed also creates an optimal plan up to this
// point in the buffer. When the plan is bracketed by either the beginning of the
// buffer and a maximum entry speed or two maximum entry speeds, every block in between
// cannot logically be further improved. Hence, we don't have to recompute them anymore.
if (next->entry_speed_sqr == next->max_entry_speed_sqr) { block_buffer_planned = block_index; }
block_index = plan_next_block_index( block_index );
}
}
void plan_reset()
{
memset(&pl, 0, sizeof(planner_t)); // Clear planner struct
plan_reset_buffer();
}
void plan_reset_buffer()
{
block_buffer_tail = 0;
block_buffer_head = 0; // Empty = tail
next_buffer_head = 1; // plan_next_block_index(block_buffer_head)
block_buffer_planned = 0; // = block_buffer_tail;
}
void plan_discard_current_block()
{
if (block_buffer_head != block_buffer_tail) { // Discard non-empty buffer.
uint8_t block_index = plan_next_block_index( block_buffer_tail );
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned) { block_buffer_planned = block_index; }
block_buffer_tail = block_index;
}
}
// Returns address of planner buffer block used by system motions. Called by segment generator.
plan_block_t *plan_get_system_motion_block()
{
return(&block_buffer[block_buffer_head]);
}
// Returns address of first planner block, if available. Called by various main program functions.
plan_block_t *plan_get_current_block()
{
if (block_buffer_head == block_buffer_tail) { return(NULL); } // Buffer empty
return(&block_buffer[block_buffer_tail]);
}
float plan_get_exec_block_exit_speed_sqr()
{
uint8_t block_index = plan_next_block_index(block_buffer_tail);
if (block_index == block_buffer_head) { return( 0.0 ); }
return( block_buffer[block_index].entry_speed_sqr );
}
// Returns the availability status of the block ring buffer. True, if full.
uint8_t plan_check_full_buffer()
{
if (block_buffer_tail == next_buffer_head) { return(true); }
return(false);
}
// Computes and returns block nominal speed based on running condition and override values.
// NOTE: All system motion commands, such as homing/parking, are not subject to overrides.
float plan_compute_profile_nominal_speed(plan_block_t *block)
{
float nominal_speed = block->programmed_rate;
if (block->condition & PL_COND_FLAG_RAPID_MOTION) { nominal_speed *= (0.01*sys.r_override); }
else {
if (!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE)) { nominal_speed *= (0.01*sys.f_override); }
if (nominal_speed > block->rapid_rate) { nominal_speed = block->rapid_rate; }
}
if (nominal_speed > MINIMUM_FEED_RATE) { return(nominal_speed); }
return(MINIMUM_FEED_RATE);
}
// Computes and updates the max entry speed (sqr) of the block, based on the minimum of the junction's
// previous and current nominal speeds and max junction speed.
static void plan_compute_profile_parameters(plan_block_t *block, float nominal_speed, float prev_nominal_speed)
{
// Compute the junction maximum entry based on the minimum of the junction speed and neighboring nominal speeds.
if (nominal_speed > prev_nominal_speed) { block->max_entry_speed_sqr = prev_nominal_speed*prev_nominal_speed; }
else { block->max_entry_speed_sqr = nominal_speed*nominal_speed; }
if (block->max_entry_speed_sqr > block->max_junction_speed_sqr) { block->max_entry_speed_sqr = block->max_junction_speed_sqr; }
}
// Re-calculates buffered motions profile parameters upon a motion-based override change.
void plan_update_velocity_profile_parameters()
{
uint8_t block_index = block_buffer_tail;
plan_block_t *block;
float nominal_speed;
float prev_nominal_speed = SOME_LARGE_VALUE; // Set high for first block nominal speed calculation.
while (block_index != block_buffer_head) {
block = &block_buffer[block_index];
nominal_speed = plan_compute_profile_nominal_speed(block);
plan_compute_profile_parameters(block, nominal_speed, prev_nominal_speed);
prev_nominal_speed = nominal_speed;
block_index = plan_next_block_index(block_index);
}
pl.previous_nominal_speed = prev_nominal_speed; // Update prev nominal speed for next incoming block.
}
uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
{
// Prepare and initialize new block. Copy relevant pl_data for block execution.
plan_block_t *block = &block_buffer[block_buffer_head];
memset(block,0,sizeof(plan_block_t)); // Zero all block values.
block->condition = pl_data->condition;
#ifdef VARIABLE_SPINDLE
block->spindle_speed = pl_data->spindle_speed;
#endif
#ifdef USE_LINE_NUMBERS
block->line_number = pl_data->line_number;
#endif
// Compute and store initial move distance data.
int32_t target_steps[N_AXIS], position_steps[N_AXIS];
float unit_vec[N_AXIS], delta_mm;
uint8_t idx;
// Copy position data based on type of motion being planned.
if (block->condition & PL_COND_FLAG_SYSTEM_MOTION) {
#ifdef COREXY
position_steps[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
position_steps[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
position_steps[Z_AXIS] = sys_position[Z_AXIS];
#else
memcpy(position_steps, sys_position, sizeof(sys_position));
#endif
} else { memcpy(position_steps, pl.position, sizeof(pl.position)); }
#ifdef COREXY
target_steps[A_MOTOR] = lround(target[A_MOTOR]*settings.steps_per_mm[A_MOTOR]);
target_steps[B_MOTOR] = lround(target[B_MOTOR]*settings.steps_per_mm[B_MOTOR]);
block->steps[A_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) + (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
block->steps[B_MOTOR] = labs((target_steps[X_AXIS]-position_steps[X_AXIS]) - (target_steps[Y_AXIS]-position_steps[Y_AXIS]));
#endif
for (idx=0; idx<N_AXIS; idx++) {
// Calculate target position in absolute steps, number of steps for each axis, and determine max step events.
// Also, compute individual axes distance for move and prep unit vector calculations.
// NOTE: Computes true distance from converted step values.
#ifdef COREXY
if ( !(idx == A_MOTOR) && !(idx == B_MOTOR) ) {
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
}
block->step_event_count = max(block->step_event_count, block->steps[idx]);
if (idx == A_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] + target_steps[Y_AXIS]-position_steps[Y_AXIS])/settings.steps_per_mm[idx];
} else if (idx == B_MOTOR) {
delta_mm = (target_steps[X_AXIS]-position_steps[X_AXIS] - target_steps[Y_AXIS]+position_steps[Y_AXIS])/settings.steps_per_mm[idx];
} else {
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
}
#else
target_steps[idx] = lround(target[idx]*settings.steps_per_mm[idx]);
block->steps[idx] = labs(target_steps[idx]-position_steps[idx]);
block->step_event_count = max(block->step_event_count, block->steps[idx]);
delta_mm = (target_steps[idx] - position_steps[idx])/settings.steps_per_mm[idx];
#endif
unit_vec[idx] = delta_mm; // Store unit vector numerator
// Set direction bits. Bit enabled always means direction is negative.
if (delta_mm < 0.0 ) { block->direction_bits |= get_direction_pin_mask(idx); }
}
// Bail if this is a zero-length block. Highly unlikely to occur.
if (block->step_event_count == 0) { return(PLAN_EMPTY_BLOCK); }
// Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
// down such that no individual axes maximum values are exceeded with respect to the line direction.
// NOTE: This calculation assumes all axes are orthogonal (Cartesian) and works with ABC-axes,
// if they are also orthogonal/independent. Operates on the absolute value of the unit vector.
block->millimeters = convert_delta_vector_to_unit_vector(unit_vec);
block->acceleration = limit_value_by_axis_maximum(settings.acceleration, unit_vec);
block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
// Store programmed rate.
if (block->condition & PL_COND_FLAG_RAPID_MOTION) { block->programmed_rate = block->rapid_rate; }
else {
block->programmed_rate = pl_data->feed_rate;
if (block->condition & PL_COND_FLAG_INVERSE_TIME) { block->programmed_rate *= block->millimeters; }
}
// TODO: Need to check this method handling zero junction speeds when starting from rest.
if ((block_buffer_head == block_buffer_tail) || (block->condition & PL_COND_FLAG_SYSTEM_MOTION)) {
// Initialize block entry speed as zero. Assume it will be starting from rest. Planner will correct this later.
// If system motion, the system motion block always is assumed to start from rest and end at a complete stop.
block->entry_speed_sqr = 0.0;
block->max_junction_speed_sqr = 0.0; // Starting from rest. Enforce start from zero velocity.
} else {
// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// Let a circle be tangent to both previous and current path line segments, where the junction
// deviation is defined as the distance from the junction to the closest edge of the circle,
// colinear with the circle center. The circular segment joining the two paths represents the
// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
// path width or max_jerk in the previous Grbl version. This approach does not actually deviate
// from path, but used as a robust way to compute cornering speeds, as it takes into account the
// nonlinearities of both the junction angle and junction velocity.
//
// NOTE: If the junction deviation value is finite, Grbl executes the motions in an exact path
// mode (G61). If the junction deviation value is zero, Grbl will execute the motion in an exact
// stop mode (G61.1) manner. In the future, if continuous mode (G64) is desired, the math here
// is exactly the same. Instead of motioning all the way to junction point, the machine will
// just follow the arc circle defined here. The Arduino doesn't have the CPU cycles to perform
// a continuous mode path, but ARM-based microcontrollers most certainly do.
//
// NOTE: The max junction speed is a fixed value, since machine acceleration limits cannot be
// changed dynamically during operation nor can the line move geometry. This must be kept in
// memory in the event of a feedrate override changing the nominal speeds of blocks, which can
// change the overall maximum entry speed conditions of all blocks.
float junction_unit_vec[N_AXIS];
float junction_cos_theta = 0.0;
for (idx=0; idx<N_AXIS; idx++) {
junction_cos_theta -= pl.previous_unit_vec[idx]*unit_vec[idx];
junction_unit_vec[idx] = unit_vec[idx]-pl.previous_unit_vec[idx];
}
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
if (junction_cos_theta > 0.999999) {
// For a 0 degree acute junction, just set minimum junction speed.
block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED;
} else {
if (junction_cos_theta < -0.999999) {
// Junction is a straight line or 180 degrees. Junction speed is infinite.
block->max_junction_speed_sqr = SOME_LARGE_VALUE;
} else {
convert_delta_vector_to_unit_vector(junction_unit_vec);
float junction_acceleration = limit_value_by_axis_maximum(settings.acceleration, junction_unit_vec);
float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive.
block->max_junction_speed_sqr = max( MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED,
(junction_acceleration * settings.junction_deviation * sin_theta_d2)/(1.0-sin_theta_d2) );
}
}
}
// Block system motion from updating this data to ensure next g-code motion is computed correctly.
if (!(block->condition & PL_COND_FLAG_SYSTEM_MOTION)) {
float nominal_speed = plan_compute_profile_nominal_speed(block);
plan_compute_profile_parameters(block, nominal_speed, pl.previous_nominal_speed);
pl.previous_nominal_speed = nominal_speed;
// Update previous path unit_vector and planner position.
memcpy(pl.previous_unit_vec, unit_vec, sizeof(unit_vec)); // pl.previous_unit_vec[] = unit_vec[]
memcpy(pl.position, target_steps, sizeof(target_steps)); // pl.position[] = target_steps[]
// New block is all set. Update buffer head and next buffer head indices.
block_buffer_head = next_buffer_head;
next_buffer_head = plan_next_block_index(block_buffer_head);
// Finish up by recalculating the plan with the new block.
planner_recalculate();
}
return(PLAN_OK);
}
// Reset the planner position vectors. Called by the system abort/initialization routine.
void plan_sync_position()
{
// TODO: For motor configurations not in the same coordinate frame as the machine position,
// this function needs to be updated to accomodate the difference.
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
#ifdef COREXY
if (idx==X_AXIS) {
pl.position[X_AXIS] = system_convert_corexy_to_x_axis_steps(sys_position);
} else if (idx==Y_AXIS) {
pl.position[Y_AXIS] = system_convert_corexy_to_y_axis_steps(sys_position);
} else {
pl.position[idx] = sys_position[idx];
}
#else
pl.position[idx] = sys_position[idx];
#endif
}
}
// Returns the number of available blocks are in the planner buffer.
uint8_t plan_get_block_buffer_available()
{
if (block_buffer_head >= block_buffer_tail) { return((BLOCK_BUFFER_SIZE-1)-(block_buffer_head-block_buffer_tail)); }
return((block_buffer_tail-block_buffer_head-1));
}
// Returns the number of active blocks are in the planner buffer.
// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h
uint8_t plan_get_block_buffer_count()
{
if (block_buffer_head >= block_buffer_tail) { return(block_buffer_head-block_buffer_tail); }
return(BLOCK_BUFFER_SIZE - (block_buffer_tail-block_buffer_head));
}
// Re-initialize buffer plan with a partially completed block, assumed to exist at the buffer tail.
// Called after a steppers have come to a complete stop for a feed hold and the cycle is stopped.
void plan_cycle_reinitialize()
{
// Re-plan from a complete stop. Reset planner entry speeds and buffer planned pointer.
st_update_plan_block_parameters();
block_buffer_planned = block_buffer_tail;
planner_recalculate();
}

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/*
planner.h - buffers movement commands and manages the acceleration profile plan
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 planner_h
#define planner_h
// The number of linear motions that can be in the plan at any give time
#ifndef BLOCK_BUFFER_SIZE
#ifdef USE_LINE_NUMBERS
#define BLOCK_BUFFER_SIZE 15
#else
#define BLOCK_BUFFER_SIZE 16
#endif
#endif
// Returned status message from planner.
#define PLAN_OK true
#define PLAN_EMPTY_BLOCK false
// Define planner data condition flags. Used to denote running conditions of a block.
#define PL_COND_FLAG_RAPID_MOTION bit(0)
#define PL_COND_FLAG_SYSTEM_MOTION bit(1) // Single motion. Circumvents planner state. Used by home/park.
#define PL_COND_FLAG_NO_FEED_OVERRIDE bit(2) // Motion does not honor feed override.
#define PL_COND_FLAG_INVERSE_TIME bit(3) // Interprets feed rate value as inverse time when set.
#define PL_COND_FLAG_SPINDLE_CW bit(4)
#define PL_COND_FLAG_SPINDLE_CCW bit(5)
#define PL_COND_FLAG_COOLANT_FLOOD bit(6)
#define PL_COND_FLAG_COOLANT_MIST bit(7)
#define PL_COND_MOTION_MASK (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
#define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
// are as specified in the source g-code.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
// Block condition data to ensure correct execution depending on states and overrides.
uint8_t condition; // Block bitflag variable defining block run conditions. Copied from pl_line_data.
#ifdef USE_LINE_NUMBERS
int32_t line_number; // Block line number for real-time reporting. Copied from pl_line_data.
#endif
// Fields used by the motion planner to manage acceleration. Some of these values may be updated
// by the stepper module during execution of special motion cases for replanning purposes.
float entry_speed_sqr; // The current planned entry speed at block junction in (mm/min)^2
float max_entry_speed_sqr; // Maximum allowable entry speed based on the minimum of junction limit and
// neighboring nominal speeds with overrides in (mm/min)^2
float acceleration; // Axis-limit adjusted line acceleration in (mm/min^2). Does not change.
float millimeters; // The remaining distance for this block to be executed in (mm).
// NOTE: This value may be altered by stepper algorithm during execution.
// Stored rate limiting data used by planner when changes occur.
float max_junction_speed_sqr; // Junction entry speed limit based on direction vectors in (mm/min)^2
float rapid_rate; // Axis-limit adjusted maximum rate for this block direction in (mm/min)
float programmed_rate; // Programmed rate of this block (mm/min).
//#ifdef VARIABLE_SPINDLE
// Stored spindle speed data used by spindle overrides and resuming methods.
float spindle_speed; // Block spindle speed. Copied from pl_line_data.
//#endif
} plan_block_t;
// Planner data prototype. Must be used when passing new motions to the planner.
typedef struct {
float feed_rate; // Desired feed rate for line motion. Value is ignored, if rapid motion.
float spindle_speed; // Desired spindle speed through line motion.
uint8_t condition; // Bitflag variable to indicate planner conditions. See defines above.
#ifdef USE_LINE_NUMBERS
int32_t line_number; // Desired line number to report when executing.
#endif
} plan_line_data_t;
// Initialize and reset the motion plan subsystem
void plan_reset(); // Reset all
void plan_reset_buffer(); // Reset buffer only.
// Add a new linear movement to the buffer. target[N_AXIS] is the signed, absolute target position
// in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data);
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
void plan_discard_current_block();
// Gets the planner block for the special system motion cases. (Parking/Homing)
plan_block_t *plan_get_system_motion_block();
// Gets the current block. Returns NULL if buffer empty
plan_block_t *plan_get_current_block();
// Called periodically by step segment buffer. Mostly used internally by planner.
uint8_t plan_next_block_index(uint8_t block_index);
// Called by step segment buffer when computing executing block velocity profile.
float plan_get_exec_block_exit_speed_sqr();
// Called by main program during planner calculations and step segment buffer during initialization.
float plan_compute_profile_nominal_speed(plan_block_t *block);
// Re-calculates buffered motions profile parameters upon a motion-based override change.
void plan_update_velocity_profile_parameters();
// Reset the planner position vector (in steps)
void plan_sync_position();
// Reinitialize plan with a partially completed block
void plan_cycle_reinitialize();
// Returns the number of available blocks are in the planner buffer.
uint8_t plan_get_block_buffer_available();
// Returns the number of active blocks are in the planner buffer.
// NOTE: Deprecated. Not used unless classic status reports are enabled in config.h
uint8_t plan_get_block_buffer_count();
// Returns the status of the block ring buffer. True, if buffer is full.
uint8_t plan_check_full_buffer();
void plan_get_planner_mpos(float *target);
#endif

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/*
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(" ");
// }

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/*
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

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/*
probe.c - code pertaining to probing methods
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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"
// Inverts the probe pin state depending on user settings and probing cycle mode.
uint8_t probe_invert_mask;
// Probe pin initialization routine.
void probe_init()
{
#ifdef DISABLE_PROBE_PIN_PULL_UP
pinMode(PROBE_PIN, INPUT);
#else
pinMode(PROBE_PIN, INPUT_PULLUP); // Enable internal pull-up resistors. Normal high operation.
#endif
probe_configure_invert_mask(false); // Initialize invert mask.
}
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void probe_configure_invert_mask(uint8_t is_probe_away)
{
probe_invert_mask = 0; // Initialize as zero.
if (bit_isfalse(settings.flags,BITFLAG_INVERT_PROBE_PIN)) { probe_invert_mask ^= PROBE_MASK; }
if (is_probe_away) { probe_invert_mask ^= PROBE_MASK; }
}
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state()
{
return((digitalRead(PROBE_PIN)) ^ probe_invert_mask);
}
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
void probe_state_monitor()
{
if (probe_get_state()) {
sys_probe_state = PROBE_OFF;
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
bit_true(sys_rt_exec_state, EXEC_MOTION_CANCEL);
}
}

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/*
probe.h - code pertaining to probing methods
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 probe_h
#define probe_h
// Values that define the probing state machine.
#define PROBE_OFF 0 // Probing disabled or not in use. (Must be zero.)
#define PROBE_ACTIVE 1 // Actively watching the input pin.
// Probe pin initialization routine.
void probe_init();
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void probe_configure_invert_mask(uint8_t is_probe_away);
// Returns probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state();
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
void probe_state_monitor();
#endif

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/*
protocol.c - controls Grbl execution protocol and procedures
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"
// Define line flags. Includes comment type tracking and line overflow detection.
#define LINE_FLAG_OVERFLOW bit(0)
#define LINE_FLAG_COMMENT_PARENTHESES bit(1)
#define LINE_FLAG_COMMENT_SEMICOLON bit(2)
static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
static void protocol_exec_rt_suspend();
/*
GRBL PRIMARY LOOP:
*/
void protocol_main_loop()
{
// Perform some machine checks to make sure everything is good to go.
#ifdef CHECK_LIMITS_AT_INIT
if (bit_istrue(settings.flags, BITFLAG_HARD_LIMIT_ENABLE)) {
if (limits_get_state()) {
sys.state = STATE_ALARM; // Ensure alarm state is active.
report_feedback_message(MESSAGE_CHECK_LIMITS);
}
}
#endif
// Check for and report alarm state after a reset, error, or an initial power up.
// NOTE: Sleep mode disables the stepper drivers and position can't be guaranteed.
// Re-initialize the sleep state as an ALARM mode to ensure user homes or acknowledges.
if (sys.state & (STATE_ALARM | STATE_SLEEP)) {
report_feedback_message(MESSAGE_ALARM_LOCK);
sys.state = STATE_ALARM; // Ensure alarm state is set.
} else {
// Check if the safety door is open.
sys.state = STATE_IDLE;
if (system_check_safety_door_ajar()) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
}
// All systems go!
system_execute_startup(line); // Execute startup script.
}
// ---------------------------------------------------------------------------------
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
// This is also where Grbl idles while waiting for something to do.
// ---------------------------------------------------------------------------------
uint8_t line_flags = 0;
uint8_t char_counter = 0;
uint8_t c;
for (;;) {
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to calling function upon system abort
line[char_counter] = 0; // Set string termination character.
#ifdef REPORT_ECHO_LINE_RECEIVED
report_echo_line_received(line);
#endif
// Direct and execute one line of formatted input, and report status of execution.
if (line_flags & LINE_FLAG_OVERFLOW) {
// Report line overflow error.
report_status_message(STATUS_OVERFLOW);
} else if (line[0] == 0) {
// Empty or comment line. For syncing purposes.
report_status_message(STATUS_OK);
} else if (line[0] == '$') {
// Grbl '$' system command
report_status_message(system_execute_line(line));
} else if (sys.state & (STATE_ALARM | STATE_JOG)) {
// Everything else is gcode. Block if in alarm or jog mode.
report_status_message(STATUS_SYSTEM_GC_LOCK);
} else {
// Parse and execute g-code block.
report_status_message(gc_execute_line(line));
}
// Reset tracking data for next line.
line_flags = 0;
char_counter = 0;
} else {
if (line_flags) {
// Throw away all (except EOL) comment characters and overflow characters.
if (c == ')') {
// End of '()' comment. Resume line allowed.
if (line_flags & LINE_FLAG_COMMENT_PARENTHESES) { line_flags &= ~(LINE_FLAG_COMMENT_PARENTHESES); }
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Block delete NOT SUPPORTED. Ignore character.
// NOTE: If supported, would simply need to check the system if block delete is enabled.
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
// In the future, we could simply remove the items within the comments, but retain the
// comment control characters, so that the g-code parser can error-check it.
line_flags |= LINE_FLAG_COMMENT_PARENTHESES;
} else if (c == ';') {
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
line_flags |= LINE_FLAG_COMMENT_SEMICOLON;
// TODO: Install '%' feature
// } else if (c == '%') {
// Program start-end percent sign NOT SUPPORTED.
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
// where, during a program, the system auto-cycle start will continue to execute
// everything until the next '%' sign. This will help fix resuming issues with certain
// functions that empty the planner buffer to execute its task on-time.
} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
// Detect line buffer overflow and set flag.
line_flags |= LINE_FLAG_OVERFLOW;
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
// If there are no more characters in the serial read buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.
protocol_auto_cycle_start();
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { 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.
if (stepper_idle)
{
if (esp_timer_get_time() > stepper_idle_counter)
{
set_stepper_disable(true);
}
}
}
return; /* Never reached */
}
// Block until all buffered steps are executed or in a cycle state. Works with feed hold
// during a synchronize call, if it should happen. Also, waits for clean cycle end.
void protocol_buffer_synchronize()
{
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
do {
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
}
// Auto-cycle start triggers when there is a motion ready to execute and if the main program is not
// actively parsing commands.
// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
// is finished, single commands), a command that needs to wait for the motions in the buffer to
// execute calls a buffer sync, or the planner buffer is full and ready to go.
void protocol_auto_cycle_start()
{
if (plan_get_current_block() != NULL) { // Check if there are any blocks in the buffer.
system_set_exec_state_flag(EXEC_CYCLE_START); // If so, execute them!
}
}
// This function is the general interface to Grbl's real-time command execution system. It is called
// from various check points in the main program, primarily where there may be a while loop waiting
// for a buffer to clear space or any point where the execution time from the last check point may
// be more than a fraction of a second. This is a way to execute realtime commands asynchronously
// (aka multitasking) with grbl's g-code parsing and planning functions. This function also serves
// as an interface for the interrupts to set the system realtime flags, where only the main program
// handles them, removing the need to define more computationally-expensive volatile variables. This
// also provides a controlled way to execute certain tasks without having two or more instances of
// the same task, such as the planner recalculating the buffer upon a feedhold or overrides.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
// limit switches, or the main program.
void protocol_execute_realtime()
{
protocol_exec_rt_system();
if (sys.suspend) { protocol_exec_rt_suspend(); }
}
// Executes run-time commands, when required. This function primarily operates as Grbl's state
// machine and controls the various real-time features Grbl has to offer.
// NOTE: Do not alter this unless you know exactly what you are doing!
void protocol_exec_rt_system()
{
uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.
rt_exec = sys_rt_exec_alarm; // Copy volatile sys_rt_exec_alarm.
if (rt_exec) { // Enter only if any bit flag is true
// System alarm. Everything has shutdown by something that has gone severely wrong. Report
// the source of the error to the user. If critical, Grbl disables by entering an infinite
// loop until system reset/abort.
sys.state = STATE_ALARM; // Set system alarm state
report_alarm_message(rt_exec);
// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
if ((rt_exec == EXEC_ALARM_HARD_LIMIT) || (rt_exec == EXEC_ALARM_SOFT_LIMIT)) {
report_feedback_message(MESSAGE_CRITICAL_EVENT);
system_clear_exec_state_flag(EXEC_RESET); // Disable any existing reset
do {
// Block everything, except reset and status reports, until user issues reset or power
// cycles. Hard limits typically occur while unattended or not paying attention. Gives
// the user and a GUI time to do what is needed before resetting, like killing the
// incoming stream. The same could be said about soft limits. While the position is not
// lost, continued streaming could cause a serious crash if by chance it gets executed.
} while (bit_isfalse(sys_rt_exec_state,EXEC_RESET));
}
system_clear_exec_alarm(); // Clear alarm
}
rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.
if (rt_exec) {
// Execute system abort.
if (rt_exec & EXEC_RESET) {
sys.abort = true; // Only place this is set true.
return; // Nothing else to do but exit.
}
// Execute and serial print status
if (rt_exec & EXEC_STATUS_REPORT) {
report_realtime_status();
system_clear_exec_state_flag(EXEC_STATUS_REPORT);
}
// NOTE: Once hold is initiated, the system immediately enters a suspend state to block all
// main program processes until either reset or resumed. This ensures a hold completes safely.
if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR | EXEC_SLEEP)) {
// State check for allowable states for hold methods.
if (!(sys.state & (STATE_ALARM | STATE_CHECK_MODE))) {
// If in CYCLE or JOG states, immediately initiate a motion HOLD.
if (sys.state & (STATE_CYCLE | STATE_JOG)) {
if (!(sys.suspend & (SUSPEND_MOTION_CANCEL | SUSPEND_JOG_CANCEL))) { // Block, if already holding.
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
sys.step_control = STEP_CONTROL_EXECUTE_HOLD; // Initiate suspend state with active flag.
if (sys.state == STATE_JOG) { // Jog cancelled upon any hold event, except for sleeping.
if (!(rt_exec & EXEC_SLEEP)) { sys.suspend |= SUSPEND_JOG_CANCEL; }
}
}
}
// If IDLE, Grbl is not in motion. Simply indicate suspend state and hold is complete.
if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_HOLD_COMPLETE; }
// Execute and flag a motion cancel with deceleration and return to idle. Used primarily by probing cycle
// to halt and cancel the remainder of the motion.
if (rt_exec & EXEC_MOTION_CANCEL) {
// MOTION_CANCEL only occurs during a CYCLE, but a HOLD and SAFETY_DOOR may been initiated beforehand
// to hold the CYCLE. Motion cancel is valid for a single planner block motion only, while jog cancel
// will handle and clear multiple planner block motions.
if (!(sys.state & STATE_JOG)) { sys.suspend |= SUSPEND_MOTION_CANCEL; } // NOTE: State is STATE_CYCLE.
}
// Execute a feed hold with deceleration, if required. Then, suspend system.
if (rt_exec & EXEC_FEED_HOLD) {
// Block SAFETY_DOOR, JOG, and SLEEP states from changing to HOLD state.
if (!(sys.state & (STATE_SAFETY_DOOR | STATE_JOG | STATE_SLEEP))) { sys.state = STATE_HOLD; }
}
// Execute a safety door stop with a feed hold and disable spindle/coolant.
// NOTE: Safety door differs from feed holds by stopping everything no matter state, disables powered
// devices (spindle/coolant), and blocks resuming until switch is re-engaged.
if (rt_exec & EXEC_SAFETY_DOOR) {
report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
// If jogging, block safety door methods until jog cancel is complete. Just flag that it happened.
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Check if the safety re-opened during a restore parking motion only. Ignore if
// already retracting, parked or in sleep state.
if (sys.state == STATE_SAFETY_DOOR) {
if (sys.suspend & SUSPEND_INITIATE_RESTORE) { // Actively restoring
#ifdef PARKING_ENABLE
// Set hold and reset appropriate control flags to restart parking sequence.
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
st_update_plan_block_parameters(); // Notify stepper module to recompute for hold deceleration.
sys.step_control = (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION);
sys.suspend &= ~(SUSPEND_HOLD_COMPLETE);
} // else NO_MOTION is active.
#endif
sys.suspend &= ~(SUSPEND_RETRACT_COMPLETE | SUSPEND_INITIATE_RESTORE | SUSPEND_RESTORE_COMPLETE);
sys.suspend |= SUSPEND_RESTART_RETRACT;
}
}
if (sys.state != STATE_SLEEP) { sys.state = STATE_SAFETY_DOOR; }
}
// NOTE: This flag doesn't change when the door closes, unlike sys.state. Ensures any parking motions
// are executed if the door switch closes and the state returns to HOLD.
sys.suspend |= SUSPEND_SAFETY_DOOR_AJAR;
}
}
if (rt_exec & EXEC_SLEEP) {
if (sys.state == STATE_ALARM) { sys.suspend |= (SUSPEND_RETRACT_COMPLETE|SUSPEND_HOLD_COMPLETE); }
sys.state = STATE_SLEEP;
}
system_clear_exec_state_flag((EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR | EXEC_SLEEP));
}
// Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
if (rt_exec & EXEC_CYCLE_START) {
// Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
// Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) {
// Resume door state when parking motion has retracted and door has been closed.
if ((sys.state == STATE_SAFETY_DOOR) && !(sys.suspend & SUSPEND_SAFETY_DOOR_AJAR)) {
if (sys.suspend & SUSPEND_RESTORE_COMPLETE) {
sys.state = STATE_IDLE; // Set to IDLE to immediately resume the cycle.
} else if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
// Flag to re-energize powered components and restore original position, if disabled by SAFETY_DOOR.
// NOTE: For a safety door to resume, the switch must be closed, as indicated by HOLD state, and
// the retraction execution is complete, which implies the initial feed hold is not active. To
// restore normal operation, the restore procedures must be initiated by the following flag. Once,
// they are complete, it will call CYCLE_START automatically to resume and exit the suspend.
sys.suspend |= SUSPEND_INITIATE_RESTORE;
}
}
// Cycle start only when IDLE or when a hold is complete and ready to resume.
if ((sys.state == STATE_IDLE) || ((sys.state & STATE_HOLD) && (sys.suspend & SUSPEND_HOLD_COMPLETE))) {
if (sys.state == STATE_HOLD && sys.spindle_stop_ovr) {
sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE_CYCLE; // Set to restore in suspend routine and cycle start after.
} else {
// Start cycle only if queued motions exist in planner buffer and the motion is not canceled.
sys.step_control = STEP_CONTROL_NORMAL_OP; // Restore step control to normal operation
if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
sys.suspend = SUSPEND_DISABLE; // Break suspend state.
sys.state = STATE_CYCLE;
st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
st_wake_up();
} else { // Otherwise, do nothing. Set and resume IDLE state.
sys.suspend = SUSPEND_DISABLE; // Break suspend state.
sys.state = STATE_IDLE;
}
}
}
}
system_clear_exec_state_flag(EXEC_CYCLE_START);
}
if (rt_exec & EXEC_CYCLE_STOP) {
// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
// realtime command execution in the main program, ensuring that the planner re-plans safely.
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.
if ((sys.state & (STATE_HOLD|STATE_SAFETY_DOOR|STATE_SLEEP)) && !(sys.soft_limit) && !(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
// has issued a resume command or reset.
plan_cycle_reinitialize();
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { sys.suspend |= SUSPEND_HOLD_COMPLETE; }
bit_false(sys.step_control,(STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION));
} else {
// Motion complete. Includes CYCLE/JOG/HOMING states and jog cancel/motion cancel/soft limit events.
// NOTE: Motion and jog cancel both immediately return to idle after the hold completes.
if (sys.suspend & SUSPEND_JOG_CANCEL) { // For jog cancel, flush buffers and sync positions.
sys.step_control = STEP_CONTROL_NORMAL_OP;
plan_reset();
st_reset();
gc_sync_position();
plan_sync_position();
}
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) { // Only occurs when safety door opens during jog.
sys.suspend &= ~(SUSPEND_JOG_CANCEL);
sys.suspend |= SUSPEND_HOLD_COMPLETE;
sys.state = STATE_SAFETY_DOOR;
} else {
sys.suspend = SUSPEND_DISABLE;
sys.state = STATE_IDLE;
}
}
system_clear_exec_state_flag(EXEC_CYCLE_STOP);
}
}
// Execute overrides.
rt_exec = sys_rt_exec_motion_override; // Copy volatile sys_rt_exec_motion_override
if (rt_exec) {
system_clear_exec_motion_overrides(); // Clear all motion override flags.
uint8_t new_f_override = sys.f_override;
if (rt_exec & EXEC_FEED_OVR_RESET) { new_f_override = DEFAULT_FEED_OVERRIDE; }
if (rt_exec & EXEC_FEED_OVR_COARSE_PLUS) { new_f_override += FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_COARSE_MINUS) { new_f_override -= FEED_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_PLUS) { new_f_override += FEED_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_FEED_OVR_FINE_MINUS) { new_f_override -= FEED_OVERRIDE_FINE_INCREMENT; }
new_f_override = min(new_f_override,MAX_FEED_RATE_OVERRIDE);
new_f_override = max(new_f_override,MIN_FEED_RATE_OVERRIDE);
uint8_t new_r_override = sys.r_override;
if (rt_exec & EXEC_RAPID_OVR_RESET) { new_r_override = DEFAULT_RAPID_OVERRIDE; }
if (rt_exec & EXEC_RAPID_OVR_MEDIUM) { new_r_override = RAPID_OVERRIDE_MEDIUM; }
if (rt_exec & EXEC_RAPID_OVR_LOW) { new_r_override = RAPID_OVERRIDE_LOW; }
if ((new_f_override != sys.f_override) || (new_r_override != sys.r_override)) {
sys.f_override = new_f_override;
sys.r_override = new_r_override;
sys.report_ovr_counter = 0; // Set to report change immediately
plan_update_velocity_profile_parameters();
plan_cycle_reinitialize();
}
}
rt_exec = sys_rt_exec_accessory_override;
if (rt_exec) {
system_clear_exec_accessory_overrides(); // Clear all accessory override flags.
// NOTE: Unlike motion overrides, spindle overrides do not require a planner reinitialization.
uint8_t last_s_override = sys.spindle_speed_ovr;
if (rt_exec & EXEC_SPINDLE_OVR_RESET) { last_s_override = DEFAULT_SPINDLE_SPEED_OVERRIDE; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_PLUS) { last_s_override += SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_COARSE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_COARSE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_PLUS) { last_s_override += SPINDLE_OVERRIDE_FINE_INCREMENT; }
if (rt_exec & EXEC_SPINDLE_OVR_FINE_MINUS) { last_s_override -= SPINDLE_OVERRIDE_FINE_INCREMENT; }
last_s_override = min(last_s_override,MAX_SPINDLE_SPEED_OVERRIDE);
last_s_override = max(last_s_override,MIN_SPINDLE_SPEED_OVERRIDE);
if (last_s_override != sys.spindle_speed_ovr) {
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
sys.spindle_speed_ovr = last_s_override;
sys.report_ovr_counter = 0; // Set to report change immediately
}
if (rt_exec & EXEC_SPINDLE_OVR_STOP) {
// Spindle stop override allowed only while in HOLD state.
// NOTE: Report counters are set in spindle_set_state() when spindle stop is executed.
if (sys.state == STATE_HOLD) {
if (!(sys.spindle_stop_ovr)) { sys.spindle_stop_ovr = SPINDLE_STOP_OVR_INITIATE; }
else if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_ENABLED) { sys.spindle_stop_ovr |= SPINDLE_STOP_OVR_RESTORE; }
}
}
// NOTE: Since coolant state always performs a planner sync whenever it changes, the current
// run state can be determined by checking the parser state.
if (rt_exec & (EXEC_COOLANT_FLOOD_OVR_TOGGLE | EXEC_COOLANT_MIST_OVR_TOGGLE)) {
if ((sys.state == STATE_IDLE) || (sys.state & (STATE_CYCLE | STATE_HOLD))) {
uint8_t coolant_state = gc_state.modal.coolant;
#ifdef ENABLE_M7
if (rt_exec & EXEC_COOLANT_MIST_OVR_TOGGLE) {
if (coolant_state & COOLANT_MIST_ENABLE) { bit_false(coolant_state,COOLANT_MIST_ENABLE); }
else { coolant_state |= COOLANT_MIST_ENABLE; }
}
if (rt_exec & EXEC_COOLANT_FLOOD_OVR_TOGGLE) {
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
}
#else
if (coolant_state & COOLANT_FLOOD_ENABLE) { bit_false(coolant_state,COOLANT_FLOOD_ENABLE); }
else { coolant_state |= COOLANT_FLOOD_ENABLE; }
#endif
coolant_set_state(coolant_state); // Report counter set in coolant_set_state().
gc_state.modal.coolant = coolant_state;
}
}
}
#ifdef DEBUG
if (sys_rt_exec_debug) {
report_realtime_debug();
sys_rt_exec_debug = 0;
}
#endif
// Reload step segment buffer
if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_SAFETY_DOOR | STATE_HOMING | STATE_SLEEP| STATE_JOG)) {
st_prep_buffer();
}
}
// Handles Grbl system suspend procedures, such as feed hold, safety door, and parking motion.
// The system will enter this loop, create local variables for suspend tasks, and return to
// whatever function that invoked the suspend, such that Grbl resumes normal operation.
// This function is written in a way to promote custom parking motions. Simply use this as a
// template
static void protocol_exec_rt_suspend()
{
#ifdef PARKING_ENABLE
// Declare and initialize parking local variables
float restore_target[N_AXIS];
float parking_target[N_AXIS];
float retract_waypoint = PARKING_PULLOUT_INCREMENT;
plan_line_data_t plan_data;
plan_line_data_t *pl_data = &plan_data;
memset(pl_data,0,sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
#ifdef USE_LINE_NUMBERS
pl_data->line_number = PARKING_MOTION_LINE_NUMBER;
#endif
#endif
plan_block_t *block = plan_get_current_block();
uint8_t restore_condition;
#ifdef VARIABLE_SPINDLE
float restore_spindle_speed;
if (block == NULL) {
restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
restore_spindle_speed = gc_state.spindle_speed;
} else {
restore_condition = block->condition;
restore_spindle_speed = block->spindle_speed;
}
#ifdef DISABLE_LASER_DURING_HOLD
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP);
}
#endif
#else
if (block == NULL) { restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant); }
else { restore_condition = block->condition; }
#endif
while (sys.suspend) {
if (sys.abort) { return; }
// Block until initial hold is complete and the machine has stopped motion.
if (sys.suspend & SUSPEND_HOLD_COMPLETE) {
// Parking manager. Handles de/re-energizing, switch state checks, and parking motions for
// the safety door and sleep states.
if (sys.state & (STATE_SAFETY_DOOR | STATE_SLEEP)) {
// Handles retraction motions and de-energizing.
if (bit_isfalse(sys.suspend,SUSPEND_RETRACT_COMPLETE)) {
// Ensure any prior spindle stop override is disabled at start of safety door routine.
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED;
#ifndef PARKING_ENABLE
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
#else
// Get current position and store restore location and spindle retract waypoint.
system_convert_array_steps_to_mpos(parking_target,sys_position);
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
memcpy(restore_target,parking_target,sizeof(parking_target));
retract_waypoint += restore_target[PARKING_AXIS];
retract_waypoint = min(retract_waypoint,PARKING_TARGET);
}
// Execute slow pull-out parking retract motion. Parking requires homing enabled, the
// current location not exceeding the parking target location, and laser mode disabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
(parking_target[PARKING_AXIS] < PARKING_TARGET) &&
bit_isfalse(settings.flags,BITFLAG_LASER_MODE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) &&
(parking_target[PARKING_AXIS] < PARKING_TARGET) &&
bit_isfalse(settings.flags,BITFLAG_LASER_MODE)) {
#endif
// Retract spindle by pullout distance. Ensure retraction motion moves away from
// the workpiece and waypoint motion doesn't exceed the parking target location.
if (parking_target[PARKING_AXIS] < retract_waypoint) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Retain accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(parking_target, pl_data);
}
// NOTE: Clear accessory state after retract and after an aborted restore motion.
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->spindle_speed = 0.0;
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
// Execute fast parking retract motion to parking target location.
if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
parking_target[PARKING_AXIS] = PARKING_TARGET;
pl_data->feed_rate = PARKING_RATE;
mc_parking_motion(parking_target, pl_data);
}
} else {
// Parking motion not possible. Just disable the spindle and coolant.
// NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
}
#endif
sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
sys.suspend |= SUSPEND_RETRACT_COMPLETE;
} else {
if (sys.state == STATE_SLEEP) {
report_feedback_message(MESSAGE_SLEEP_MODE);
// Spindle and coolant should already be stopped, but do it again just to be sure.
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize
st_go_idle(); // Disable steppers
while (!(sys.abort)) { protocol_exec_rt_system(); } // Do nothing until reset.
return; // Abort received. Return to re-initialize.
}
// Allows resuming from parking/safety door. Actively checks if safety door is closed and ready to resume.
if (sys.state == STATE_SAFETY_DOOR) {
if (!(system_check_safety_door_ajar())) {
sys.suspend &= ~(SUSPEND_SAFETY_DOOR_AJAR); // Reset door ajar flag to denote ready to resume.
}
}
// Handles parking restore and safety door resume.
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
#ifdef PARKING_ENABLE
// Execute fast restore motion to the pull-out position. Parking requires homing enabled.
// NOTE: State is will remain DOOR, until the de-energizing and retract is complete.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
// Check to ensure the motion doesn't move below pull-out position.
if (parking_target[PARKING_AXIS] <= PARKING_TARGET) {
parking_target[PARKING_AXIS] = retract_waypoint;
pl_data->feed_rate = PARKING_RATE;
mc_parking_motion(parking_target, pl_data);
}
}
#endif
// Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
} else {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
}
if (gc_state.modal.coolant != COOLANT_DISABLE) {
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
// NOTE: Laser mode will honor this delay. An exhaust system is often controlled by this pin.
coolant_set_state((restore_condition & (PL_COND_FLAG_COOLANT_FLOOD | PL_COND_FLAG_COOLANT_FLOOD)));
delay_sec(SAFETY_DOOR_COOLANT_DELAY, DELAY_MODE_SYS_SUSPEND);
}
}
#ifdef PARKING_ENABLE
// Execute slow plunge motion from pull-out position to resume position.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
if (((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) &&
(sys.override_ctrl == OVERRIDE_PARKING_MOTION)) {
#else
if ((settings.flags & (BITFLAG_HOMING_ENABLE|BITFLAG_LASER_MODE)) == BITFLAG_HOMING_ENABLE) {
#endif
// Block if safety door re-opened during prior restore actions.
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
// Regardless if the retract parking motion was a valid/safe motion or not, the
// restore parking motion should logically be valid, either by returning to the
// original position through valid machine space or by not moving at all.
pl_data->feed_rate = PARKING_PULLOUT_RATE;
pl_data->condition |= (restore_condition & PL_COND_ACCESSORY_MASK); // Restore accessory state
pl_data->spindle_speed = restore_spindle_speed;
mc_parking_motion(restore_target, pl_data);
}
}
#endif
if (bit_isfalse(sys.suspend,SUSPEND_RESTART_RETRACT)) {
sys.suspend |= SUSPEND_RESTORE_COMPLETE;
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
}
}
}
} else {
// Feed hold manager. Controls spindle stop override states.
// NOTE: Hold ensured as completed by condition check at the beginning of suspend routine.
if (sys.spindle_stop_ovr) {
// Handles beginning of spindle stop
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
} else {
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
}
// Handles restoring of spindle state
} else if (sys.spindle_stop_ovr & (SPINDLE_STOP_OVR_RESTORE | SPINDLE_STOP_OVR_RESTORE_CYCLE)) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) {
report_feedback_message(MESSAGE_SPINDLE_RESTORE);
if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
} else {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
}
}
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
}
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
}
} else {
// Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state.
// NOTE: STEP_CONTROL_UPDATE_SPINDLE_PWM is automatically reset upon resume in step generator.
if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
}
}
}
protocol_exec_rt_system();
}
}

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Grbl_Esp32/protocol.h Normal file
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/*
protocol.h - controls Grbl execution protocol and procedures
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 protocol_h
#define protocol_h
// Line buffer size from the serial input stream to be executed.
// NOTE: Not a problem except for extreme cases, but the line buffer size can be too small
// and g-code blocks can get truncated. Officially, the g-code standards support up to 256
// characters. In future versions, this will be increased, when we know how much extra
// memory space we can invest into here or we re-write the g-code parser not to have this
// buffer.
#ifndef LINE_BUFFER_SIZE
#define LINE_BUFFER_SIZE 80
#endif
// Starts Grbl main loop. It handles all incoming characters from the serial port and executes
// them as they complete. It is also responsible for finishing the initialization procedures.
void protocol_main_loop();
// Checks and executes a realtime command at various stop points in main program
void protocol_execute_realtime();
void protocol_exec_rt_system();
// Executes the auto cycle feature, if enabled.
void protocol_auto_cycle_start();
// Block until all buffered steps are executed
void protocol_buffer_synchronize();
// Executes the auto cycle feature, if enabled.
void protocol_auto_cycle_start();
#endif

667
Grbl_Esp32/report.cpp Normal file
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/*
report.c - reporting and messaging methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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/>.
*/
/*
This file functions as the primary feedback interface for Grbl. Any outgoing data, such
as the protocol status messages, feedback messages, and status reports, are stored here.
For the most part, these functions primarily are called from protocol.c methods. If a
different style feedback is desired (i.e. JSON), then a user can change these following
methods to accomodate their needs.
*/
#include "grbl.h"
#define printPgmString Serial.print
#define PSTR
#define printString Serial.print
// Internal report utilities to reduce flash with repetitive tasks turned into functions.
void report_util_setting_prefix(uint8_t n) { serial_write('$'); print_uint8_base10(n); serial_write('='); }
static void report_util_line_feed() { printPgmString(PSTR("\r\n")); }
static void report_util_feedback_line_feed() { serial_write(']'); report_util_line_feed(); }
static void report_util_gcode_modes_G() { printPgmString(PSTR(" G")); }
static void report_util_gcode_modes_M() { printPgmString(PSTR(" M")); }
// static void report_util_comment_line_feed() { serial_write(')'); report_util_line_feed(); }
static void report_util_axis_values(float *axis_value) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
printFloat_CoordValue(axis_value[idx]);
if (idx < (N_AXIS-1)) { serial_write(','); }
}
}
void get_state(char *foo)
{
// pad them to same length
switch (sys.state) {
case STATE_IDLE: strcpy(foo," Idle ");; break;
case STATE_CYCLE: strcpy(foo," Run "); break;
case STATE_HOLD: strcpy(foo," Hold "); break;
case STATE_HOMING: strcpy(foo," Home "); break;
case STATE_ALARM: strcpy(foo," Alarm"); break;
case STATE_CHECK_MODE: strcpy(foo," Check"); break;
case STATE_SAFETY_DOOR: strcpy(foo," Door "); break;
default:strcpy(foo," ? "); break;
}
}
/*
static void report_util_setting_string(uint8_t n) {
serial_write(' ');
serial_write('(');
switch(n) {
case 0: printPgmString(PSTR("stp pulse")); break;
case 1: printPgmString(PSTR("idl delay")); break;
case 2: printPgmString(PSTR("stp inv")); break;
case 3: printPgmString(PSTR("dir inv")); break;
case 4: printPgmString(PSTR("stp en inv")); break;
case 5: printPgmString(PSTR("lim inv")); break;
case 6: printPgmString(PSTR("prb inv")); break;
case 10: printPgmString(PSTR("rpt")); break;
case 11: printPgmString(PSTR("jnc dev")); break;
case 12: printPgmString(PSTR("arc tol")); break;
case 13: printPgmString(PSTR("rpt inch")); break;
case 20: printPgmString(PSTR("sft lim")); break;
case 21: printPgmString(PSTR("hrd lim")); break;
case 22: printPgmString(PSTR("hm cyc")); break;
case 23: printPgmString(PSTR("hm dir inv")); break;
case 24: printPgmString(PSTR("hm feed")); break;
case 25: printPgmString(PSTR("hm seek")); break;
case 26: printPgmString(PSTR("hm delay")); break;
case 27: printPgmString(PSTR("hm pulloff")); break;
case 30: printPgmString(PSTR("rpm max")); break;
case 31: printPgmString(PSTR("rpm min")); break;
case 32: printPgmString(PSTR("laser")); break;
default:
n -= AXIS_SETTINGS_START_VAL;
uint8_t idx = 0;
while (n >= AXIS_SETTINGS_INCREMENT) {
n -= AXIS_SETTINGS_INCREMENT;
idx++;
}
serial_write(n+'x');
switch (idx) {
case 0: printPgmString(PSTR(":stp/mm")); break;
case 1: printPgmString(PSTR(":mm/min")); break;
case 2: printPgmString(PSTR(":mm/s^2")); break;
case 3: printPgmString(PSTR(":mm max")); break;
}
break;
}
report_util_comment_line_feed();
}
*/
static void report_util_uint8_setting(uint8_t n, int val) {
report_util_setting_prefix(n);
print_uint8_base10(val);
report_util_line_feed(); // report_util_setting_string(n);
}
static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
report_util_setting_prefix(n);
printFloat(val,n_decimal);
report_util_line_feed(); // report_util_setting_string(n);
}
// Handles the primary confirmation protocol response for streaming interfaces and human-feedback.
// For every incoming line, this method responds with an 'ok' for a successful command or an
// 'error:' to indicate some error event with the line or some critical system error during
// operation. Errors events can originate from the g-code parser, settings module, or asynchronously
// from a critical error, such as a triggered hard limit. Interface should always monitor for these
// responses.
void report_status_message(uint8_t status_code)
{
switch(status_code) {
case STATUS_OK: // STATUS_OK
printPgmString(PSTR("ok\r\n")); break;
default:
printPgmString(PSTR("error:"));
print_uint8_base10(status_code);
report_util_line_feed();
}
}
// Prints alarm messages.
void report_alarm_message(uint8_t alarm_code)
{
printPgmString(PSTR("ALARM:"));
print_uint8_base10(alarm_code);
report_util_line_feed();
delay_ms(500); // Force delay to ensure message clears serial write buffer.
}
// Prints feedback messages. This serves as a centralized method to provide additional
// user feedback for things that are not of the status/alarm message protocol. These are
// messages such as setup warnings, switch toggling, and how to exit alarms.
// NOTE: For interfaces, messages are always placed within brackets. And if silent mode
// is installed, the message number codes are less than zero.
void report_feedback_message(uint8_t message_code)
{
printPgmString(PSTR("[MSG:"));
switch(message_code) {
case MESSAGE_CRITICAL_EVENT:
printPgmString(PSTR("Reset to continue")); break;
case MESSAGE_ALARM_LOCK:
printPgmString(PSTR("'$H'|'$X' to unlock")); break;
case MESSAGE_ALARM_UNLOCK:
printPgmString(PSTR("Caution: Unlocked")); break;
case MESSAGE_ENABLED:
printPgmString(PSTR("Enabled")); break;
case MESSAGE_DISABLED:
printPgmString(PSTR("Disabled")); break;
case MESSAGE_SAFETY_DOOR_AJAR:
printPgmString(PSTR("Check Door")); break;
case MESSAGE_CHECK_LIMITS:
printPgmString(PSTR("Check Limits")); break;
case MESSAGE_PROGRAM_END:
printPgmString(PSTR("Pgm End")); break;
case MESSAGE_RESTORE_DEFAULTS:
printPgmString(PSTR("Restoring defaults")); break;
case MESSAGE_SPINDLE_RESTORE:
printPgmString(PSTR("Restoring spindle")); break;
case MESSAGE_SLEEP_MODE:
printPgmString(PSTR("Sleeping")); break;
}
report_util_feedback_line_feed();
}
// Welcome message
void report_init_message()
{
printPgmString(PSTR("\r\nGrbl " GRBL_VERSION " ['$' for help]\r\n"));
}
// Grbl help message
void report_grbl_help() {
printPgmString(PSTR("[HLP:$$ $# $G $I $N $x=val $Nx=line $J=line $SLP $C $X $H ~ ! ? ctrl-x]\r\n"));
}
// Grbl global settings print out.
// NOTE: The numbering scheme here must correlate to storing in settings.c
void report_grbl_settings() {
// Print Grbl settings.
report_util_uint8_setting(0,settings.pulse_microseconds);
report_util_uint8_setting(1,settings.stepper_idle_lock_time);
report_util_uint8_setting(2,settings.step_invert_mask);
report_util_uint8_setting(3,settings.dir_invert_mask);
report_util_uint8_setting(4,bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE));
report_util_uint8_setting(5,bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS));
report_util_uint8_setting(6,bit_istrue(settings.flags,BITFLAG_INVERT_PROBE_PIN));
report_util_uint8_setting(10,settings.status_report_mask);
report_util_float_setting(11,settings.junction_deviation,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(12,settings.arc_tolerance,N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(13,bit_istrue(settings.flags,BITFLAG_REPORT_INCHES));
report_util_uint8_setting(20,bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE));
report_util_uint8_setting(21,bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE));
report_util_uint8_setting(22,bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE));
report_util_uint8_setting(23,settings.homing_dir_mask);
report_util_float_setting(24,settings.homing_feed_rate,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(25,settings.homing_seek_rate,N_DECIMAL_SETTINGVALUE);
report_util_uint8_setting(26,settings.homing_debounce_delay);
report_util_float_setting(27,settings.homing_pulloff,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(30,settings.rpm_max,N_DECIMAL_RPMVALUE);
report_util_float_setting(31,settings.rpm_min,N_DECIMAL_RPMVALUE);
#ifdef VARIABLE_SPINDLE
report_util_uint8_setting(32,bit_istrue(settings.flags,BITFLAG_LASER_MODE));
#else
report_util_uint8_setting(32,0);
#endif
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
for (set_idx=0; set_idx<AXIS_N_SETTINGS; set_idx++) {
for (idx=0; idx<N_AXIS; idx++) {
switch (set_idx) {
case 0: report_util_float_setting(val+idx,settings.steps_per_mm[idx],N_DECIMAL_SETTINGVALUE); break;
case 1: report_util_float_setting(val+idx,settings.max_rate[idx],N_DECIMAL_SETTINGVALUE); break;
case 2: report_util_float_setting(val+idx,settings.acceleration[idx]/(60*60),N_DECIMAL_SETTINGVALUE); break;
case 3: report_util_float_setting(val+idx,-settings.max_travel[idx],N_DECIMAL_SETTINGVALUE); break;
}
}
val += AXIS_SETTINGS_INCREMENT;
}
}
// Prints current probe parameters. Upon a probe command, these parameters are updated upon a
// successful probe or upon a failed probe with the G38.3 without errors command (if supported).
// These values are retained until Grbl is power-cycled, whereby they will be re-zeroed.
void report_probe_parameters()
{
// Report in terms of machine position.
printPgmString(PSTR("[PRB:"));
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position,sys_probe_position);
report_util_axis_values(print_position);
serial_write(':');
print_uint8_base10(sys.probe_succeeded);
report_util_feedback_line_feed();
}
// Prints Grbl NGC parameters (coordinate offsets, probing)
void report_ngc_parameters()
{
float coord_data[N_AXIS];
uint8_t coord_select;
for (coord_select = 0; coord_select <= SETTING_INDEX_NCOORD; coord_select++) {
if (!(settings_read_coord_data(coord_select,coord_data))) {
report_status_message(STATUS_SETTING_READ_FAIL);
return;
}
printPgmString(PSTR("[G"));
switch (coord_select) {
case 6: printPgmString(PSTR("28")); break;
case 7: printPgmString(PSTR("30")); break;
default: print_uint8_base10(coord_select+54); break; // G54-G59
}
serial_write(':');
report_util_axis_values(coord_data);
report_util_feedback_line_feed();
}
printPgmString(PSTR("[G92:")); // Print G92,G92.1 which are not persistent in memory
report_util_axis_values(gc_state.coord_offset);
report_util_feedback_line_feed();
printPgmString(PSTR("[TLO:")); // Print tool length offset value
printFloat_CoordValue(gc_state.tool_length_offset);
report_util_feedback_line_feed();
report_probe_parameters(); // Print probe parameters. Not persistent in memory.
}
// Print current gcode parser mode state
void report_gcode_modes()
{
printPgmString(PSTR("[GC:G"));
if (gc_state.modal.motion >= MOTION_MODE_PROBE_TOWARD) {
printPgmString(PSTR("38."));
print_uint8_base10(gc_state.modal.motion - (MOTION_MODE_PROBE_TOWARD-2));
} else {
print_uint8_base10(gc_state.modal.motion);
}
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.coord_select+54);
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.plane_select+17);
report_util_gcode_modes_G();
print_uint8_base10(21-gc_state.modal.units);
report_util_gcode_modes_G();
print_uint8_base10(gc_state.modal.distance+90);
report_util_gcode_modes_G();
print_uint8_base10(94-gc_state.modal.feed_rate);
if (gc_state.modal.program_flow) {
report_util_gcode_modes_M();
switch (gc_state.modal.program_flow) {
case PROGRAM_FLOW_PAUSED : serial_write('0'); break;
// case PROGRAM_FLOW_OPTIONAL_STOP : serial_write('1'); break; // M1 is ignored and not supported.
case PROGRAM_FLOW_COMPLETED_M2 :
case PROGRAM_FLOW_COMPLETED_M30 :
print_uint8_base10(gc_state.modal.program_flow);
break;
}
}
report_util_gcode_modes_M();
switch (gc_state.modal.spindle) {
case SPINDLE_ENABLE_CW : serial_write('3'); break;
case SPINDLE_ENABLE_CCW : serial_write('4'); break;
case SPINDLE_DISABLE : serial_write('5'); break;
}
report_util_gcode_modes_M();
#ifdef ENABLE_M7
if (gc_state.modal.coolant) { // Note: Multiple coolant states may be active at the same time.
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_MIST) { serial_write('7'); }
if (gc_state.modal.coolant & PL_COND_FLAG_COOLANT_FLOOD) { serial_write('8'); }
} else { serial_write('9'); }
#else
if (gc_state.modal.coolant) { serial_write('8'); }
else { serial_write('9'); }
#endif
printPgmString(PSTR(" T"));
print_uint8_base10(gc_state.tool);
printPgmString(PSTR(" F"));
printFloat_RateValue(gc_state.feed_rate);
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR(" S"));
printFloat(gc_state.spindle_speed,N_DECIMAL_RPMVALUE);
#endif
report_util_feedback_line_feed();
}
// Prints specified startup line
void report_startup_line(uint8_t n, char *line)
{
printPgmString(PSTR("$N"));
print_uint8_base10(n);
serial_write('=');
printString(line);
report_util_line_feed();
}
void report_execute_startup_message(char *line, uint8_t status_code)
{
serial_write('>');
printString(line);
serial_write(':');
report_status_message(status_code);
}
// Prints build info line
void report_build_info(char *line)
{
printPgmString(PSTR("[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":"));
printString(line);
report_util_feedback_line_feed();
printPgmString(PSTR("[OPT:")); // Generate compile-time build option list
#ifdef VARIABLE_SPINDLE
serial_write('V');
#endif
#ifdef USE_LINE_NUMBERS
serial_write('N');
#endif
#ifdef ENABLE_M7
serial_write('M');
#endif
#ifdef COREXY
serial_write('C');
#endif
#ifdef PARKING_ENABLE
serial_write('P');
#endif
#ifdef HOMING_FORCE_SET_ORIGIN
serial_write('Z');
#endif
#ifdef HOMING_SINGLE_AXIS_COMMANDS
serial_write('H');
#endif
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
serial_write('L');
#endif
#ifdef ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES
serial_write('A');
#endif
#ifndef ENABLE_RESTORE_EEPROM_WIPE_ALL // NOTE: Shown when disabled.
serial_write('*');
#endif
#ifndef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // NOTE: Shown when disabled.
serial_write('$');
#endif
#ifndef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // NOTE: Shown when disabled.
serial_write('#');
#endif
#ifndef ENABLE_BUILD_INFO_WRITE_COMMAND // NOTE: Shown when disabled.
serial_write('I');
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // NOTE: Shown when disabled.
serial_write('E');
#endif
#ifndef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // NOTE: Shown when disabled.
serial_write('W');
#endif
// NOTE: Compiled values, like override increments/max/min values, may be added at some point later.
// These will likely have a comma delimiter to separate them.
report_util_feedback_line_feed();
}
// Prints the character string line Grbl has received from the user, which has been pre-parsed,
// and has been sent into protocol_execute_line() routine to be executed by Grbl.
void report_echo_line_received(char *line)
{
printPgmString(PSTR("[echo: ")); printString(line);
report_util_feedback_line_feed();
}
// Prints real-time data. This function grabs a real-time snapshot of the stepper subprogram
// and the actual location of the CNC machine. Users may change the following function to their
// specific needs, but the desired real-time data report must be as short as possible. This is
// requires as it minimizes the computational overhead and allows grbl to keep running smoothly,
// especially during g-code programs with fast, short line segments and high frequency reports (5-20Hz).
void report_realtime_status()
{
uint8_t idx;
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position,sys_position,sizeof(sys_position));
float print_position[N_AXIS];
system_convert_array_steps_to_mpos(print_position,current_position);
// Report current machine state and sub-states
serial_write('<');
switch (sys.state) {
case STATE_IDLE: printPgmString(("Idle")); break;
case STATE_CYCLE: printPgmString(PSTR("Run")); break;
case STATE_HOLD:
if (!(sys.suspend & SUSPEND_JOG_CANCEL)) {
printPgmString(PSTR("Hold:"));
if (sys.suspend & SUSPEND_HOLD_COMPLETE) { serial_write('0'); } // Ready to resume
else { serial_write('1'); } // Actively holding
break;
} // Continues to print jog state during jog cancel.
case STATE_JOG: printPgmString(PSTR("Jog")); break;
case STATE_HOMING: printPgmString(PSTR("Home")); break;
case STATE_ALARM: printPgmString(PSTR("Alarm")); break;
case STATE_CHECK_MODE: printPgmString(PSTR("Check")); break;
case STATE_SAFETY_DOOR:
printPgmString(PSTR("Door:"));
if (sys.suspend & SUSPEND_INITIATE_RESTORE) {
serial_write('3'); // Restoring
} else {
if (sys.suspend & SUSPEND_RETRACT_COMPLETE) {
if (sys.suspend & SUSPEND_SAFETY_DOOR_AJAR) {
serial_write('1'); // Door ajar
} else {
serial_write('0');
} // Door closed and ready to resume
} else {
serial_write('2'); // Retracting
}
}
break;
case STATE_SLEEP: printPgmString(PSTR("Sleep")); break;
}
float wco[N_AXIS];
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE) ||
(sys.report_wco_counter == 0) ) {
for (idx=0; idx< N_AXIS; idx++) {
// Apply work coordinate offsets and tool length offset to current position.
wco[idx] = gc_state.coord_system[idx]+gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { wco[idx] += gc_state.tool_length_offset; }
if (bit_isfalse(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
print_position[idx] -= wco[idx];
}
}
}
// Report machine position
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
printPgmString(PSTR("|MPos:"));
} else {
printPgmString(PSTR("|WPos:"));
}
report_util_axis_values(print_position);
// Returns planner and serial read buffer states.
#ifdef REPORT_FIELD_BUFFER_STATE
if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_BUFFER_STATE)) {
printPgmString(PSTR("|Bf:"));
print_uint8_base10(plan_get_block_buffer_available());
serial_write(',');
print_uint8_base10(serial_get_rx_buffer_available());
}
#endif
#ifdef USE_LINE_NUMBERS
#ifdef REPORT_FIELD_LINE_NUMBERS
// Report current line number
plan_block_t * cur_block = plan_get_current_block();
if (cur_block != NULL) {
uint32_t ln = cur_block->line_number;
if (ln > 0) {
printPgmString(PSTR("|Ln:"));
printInteger(ln);
}
}
#endif
#endif
// Report realtime feed speed
#ifdef REPORT_FIELD_CURRENT_FEED_SPEED
#ifdef VARIABLE_SPINDLE
printPgmString(PSTR("|FS:"));
printFloat_RateValue(st_get_realtime_rate());
serial_write(',');
printFloat(sys.spindle_speed,N_DECIMAL_RPMVALUE);
#else
printPgmString(PSTR("|F:"));
printFloat_RateValue(st_get_realtime_rate());
#endif
#endif
#ifdef REPORT_FIELD_PIN_STATE
uint8_t lim_pin_state = limits_get_state();
uint8_t ctrl_pin_state = system_control_get_state();
uint8_t prb_pin_state = probe_get_state();
if (lim_pin_state | ctrl_pin_state | prb_pin_state) {
printPgmString(PSTR("|Pn:"));
if (prb_pin_state) { serial_write('P'); }
if (lim_pin_state) {
if (bit_istrue(lim_pin_state,bit(X_AXIS))) { serial_write('X'); }
if (bit_istrue(lim_pin_state,bit(Y_AXIS))) { serial_write('Y'); }
if (bit_istrue(lim_pin_state,bit(Z_AXIS))) { serial_write('Z'); }
#ifdef A_AXIS
if (bit_istrue(lim_pin_state,bit(A_AXIS))) { serial_write('A'); }
#endif
#ifdef B_AXIS
if (bit_istrue(lim_pin_state,bit(B_AXIS))) { serial_write('B'); }
#endif
#ifdef C_AXIS
if (bit_istrue(lim_pin_state,bit(C_AXIS))) { serial_write('C'); }
#endif
}
if (ctrl_pin_state) {
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_SAFETY_DOOR)) { serial_write('D'); }
#endif
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_RESET)) { serial_write('R'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_FEED_HOLD)) { serial_write('H'); }
if (bit_istrue(ctrl_pin_state,CONTROL_PIN_INDEX_CYCLE_START)) { serial_write('S'); }
}
}
#endif
#ifdef REPORT_FIELD_WORK_COORD_OFFSET
if (sys.report_wco_counter > 0) { sys.report_wco_counter--; }
else {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_wco_counter = (REPORT_WCO_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
} else { sys.report_wco_counter = (REPORT_WCO_REFRESH_IDLE_COUNT-1); }
if (sys.report_ovr_counter == 0) { sys.report_ovr_counter = 1; } // Set override on next report.
printPgmString(PSTR("|WCO:"));
report_util_axis_values(wco);
}
#endif
#ifdef REPORT_FIELD_OVERRIDES
if (sys.report_ovr_counter > 0) { sys.report_ovr_counter--; }
else {
if (sys.state & (STATE_HOMING | STATE_CYCLE | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)) {
sys.report_ovr_counter = (REPORT_OVR_REFRESH_BUSY_COUNT-1); // Reset counter for slow refresh
} else { sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT-1); }
printPgmString(PSTR("|Ov:"));
print_uint8_base10(sys.f_override);
serial_write(',');
print_uint8_base10(sys.r_override);
serial_write(',');
print_uint8_base10(sys.spindle_speed_ovr);
uint8_t sp_state = spindle_get_state();
uint8_t cl_state = coolant_get_state();
if (sp_state || cl_state) {
printPgmString(PSTR("|A:"));
if (sp_state) { // != SPINDLE_STATE_DISABLE
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
serial_write('S'); // CW
#else
if (sp_state == SPINDLE_STATE_CW) { serial_write('S'); } // CW
else { serial_write('C'); } // CCW
#endif
#else
if (sp_state & SPINDLE_STATE_CW) { serial_write('S'); } // CW
else { serial_write('C'); } // CCW
#endif
}
if (cl_state & COOLANT_STATE_FLOOD) { serial_write('F'); }
#ifdef ENABLE_M7
if (cl_state & COOLANT_STATE_MIST) { serial_write('M'); }
#endif
}
}
#endif
serial_write('>');
report_util_line_feed();
}
void report_realtime_steps()
{
uint8_t idx;
for (idx=0; idx< N_AXIS; idx++) {
Serial.println(sys_position[idx]);
}
}
#ifdef DEBUG
void report_realtime_debug()
{
}
#endif

137
Grbl_Esp32/report.h Normal file
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/*
report.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 report_h
#define report_h
#include "grbl.h"
// Define Grbl status codes. Valid values (0-255)
#define STATUS_OK 0
#define STATUS_EXPECTED_COMMAND_LETTER 1
#define STATUS_BAD_NUMBER_FORMAT 2
#define STATUS_INVALID_STATEMENT 3
#define STATUS_NEGATIVE_VALUE 4
#define STATUS_SETTING_DISABLED 5
#define STATUS_SETTING_STEP_PULSE_MIN 6
#define STATUS_SETTING_READ_FAIL 7
#define STATUS_IDLE_ERROR 8
#define STATUS_SYSTEM_GC_LOCK 9
#define STATUS_SOFT_LIMIT_ERROR 10
#define STATUS_OVERFLOW 11
#define STATUS_MAX_STEP_RATE_EXCEEDED 12
#define STATUS_CHECK_DOOR 13
#define STATUS_LINE_LENGTH_EXCEEDED 14
#define STATUS_TRAVEL_EXCEEDED 15
#define STATUS_INVALID_JOG_COMMAND 16
#define STATUS_SETTING_DISABLED_LASER 17
#define STATUS_GCODE_UNSUPPORTED_COMMAND 20
#define STATUS_GCODE_MODAL_GROUP_VIOLATION 21
#define STATUS_GCODE_UNDEFINED_FEED_RATE 22
#define STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER 23
#define STATUS_GCODE_AXIS_COMMAND_CONFLICT 24
#define STATUS_GCODE_WORD_REPEATED 25
#define STATUS_GCODE_NO_AXIS_WORDS 26
#define STATUS_GCODE_INVALID_LINE_NUMBER 27
#define STATUS_GCODE_VALUE_WORD_MISSING 28
#define STATUS_GCODE_UNSUPPORTED_COORD_SYS 29
#define STATUS_GCODE_G53_INVALID_MOTION_MODE 30
#define STATUS_GCODE_AXIS_WORDS_EXIST 31
#define STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE 32
#define STATUS_GCODE_INVALID_TARGET 33
#define STATUS_GCODE_ARC_RADIUS_ERROR 34
#define STATUS_GCODE_NO_OFFSETS_IN_PLANE 35
#define STATUS_GCODE_UNUSED_WORDS 36
#define STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR 37
#define STATUS_GCODE_MAX_VALUE_EXCEEDED 38
// 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
#define ALARM_ABORT_CYCLE EXEC_ALARM_ABORT_CYCLE
#define ALARM_PROBE_FAIL_INITIAL EXEC_ALARM_PROBE_FAIL_INITIAL
#define ALARM_PROBE_FAIL_CONTACT EXEC_ALARM_PROBE_FAIL_CONTACT
#define ALARM_HOMING_FAIL_RESET EXEC_ALARM_HOMING_FAIL_RESET
#define ALARM_HOMING_FAIL_DOOR EXEC_ALARM_HOMING_FAIL_DOOR
#define ALARM_HOMING_FAIL_PULLOFF EXEC_ALARM_HOMING_FAIL_PULLOFF
#define ALARM_HOMING_FAIL_APPROACH EXEC_ALARM_HOMING_FAIL_APPROACH
// Define Grbl feedback message codes. Valid values (0-255).
#define MESSAGE_CRITICAL_EVENT 1
#define MESSAGE_ALARM_LOCK 2
#define MESSAGE_ALARM_UNLOCK 3
#define MESSAGE_ENABLED 4
#define MESSAGE_DISABLED 5
#define MESSAGE_SAFETY_DOOR_AJAR 6
#define MESSAGE_CHECK_LIMITS 7
#define MESSAGE_PROGRAM_END 8
#define MESSAGE_RESTORE_DEFAULTS 9
#define MESSAGE_SPINDLE_RESTORE 10
#define MESSAGE_SLEEP_MODE 11
// Prints system status messages.
void report_status_message(uint8_t status_code);
void report_realtime_steps();
// Prints system alarm messages.
void report_alarm_message(uint8_t alarm_code);
// Prints miscellaneous feedback messages.
void report_feedback_message(uint8_t message_code);
// Prints welcome message
void report_init_message();
// Prints Grbl help and current global settings
void report_grbl_help();
// Prints Grbl global settings
void report_grbl_settings();
// Prints an echo of the pre-parsed line received right before execution.
void report_echo_line_received(char *line);
// Prints realtime status report
void report_realtime_status();
// Prints recorded probe position
void report_probe_parameters();
// Prints Grbl NGC parameters (coordinate offsets, probe)
void report_ngc_parameters();
// Prints current g-code parser mode state
void report_gcode_modes();
// Prints startup line when requested and executed.
void report_startup_line(uint8_t n, char *line);
void report_execute_startup_message(char *line, uint8_t status_code);
// Prints build info and user info
void report_build_info(char *line);
#ifdef DEBUG
void report_realtime_debug();
#endif
#endif

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/*
serial.cpp - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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"
#define RX_RING_BUFFER (RX_BUFFER_SIZE+1)
#define TX_RING_BUFFER (TX_BUFFER_SIZE+1)
uint8_t serial_rx_buffer[RX_RING_BUFFER];
uint8_t serial_rx_buffer_head = 0;
volatile uint8_t serial_rx_buffer_tail = 0;
//ISR(SERIAL_RX)
uint8_t check_action_command(uint8_t data)
{
// Pick off realtime command characters directly from the serial stream. These characters are
// not passed into the main buffer, but these set system state flag bits for realtime execution.
switch (data) {
case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
case CMD_STATUS_REPORT: system_set_exec_state_flag(EXEC_STATUS_REPORT); break; // Set as true
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
}
break;
#ifdef DEBUG
case CMD_DEBUG_REPORT: {uint8_t sreg = SREG; cli(); bit_true(sys_rt_exec_debug,EXEC_DEBUG_REPORT); SREG = sreg;} break;
#endif
case CMD_FEED_OVR_RESET: system_set_exec_motion_override_flag(EXEC_FEED_OVR_RESET); break;
case CMD_FEED_OVR_COARSE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_PLUS); break;
case CMD_FEED_OVR_COARSE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_MINUS); break;
case CMD_FEED_OVR_FINE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_PLUS); break;
case CMD_FEED_OVR_FINE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_MINUS); break;
case CMD_RAPID_OVR_RESET: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_RESET); break;
case CMD_RAPID_OVR_MEDIUM: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_MEDIUM); break;
case CMD_RAPID_OVR_LOW: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_LOW); break;
case CMD_SPINDLE_OVR_RESET: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_RESET); break;
case CMD_SPINDLE_OVR_COARSE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS); break;
case CMD_SPINDLE_OVR_COARSE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS); break;
case CMD_SPINDLE_OVR_FINE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_PLUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS); break;
case CMD_SPINDLE_OVR_STOP: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP); break;
case CMD_COOLANT_FLOOD_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE); break;
#ifdef ENABLE_M7
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
}
else
{
return false;
}
}
}
// Returns the number of bytes available in the RX serial buffer.
uint8_t serial_get_rx_buffer_available()
{
uint8_t rtail = serial_rx_buffer_tail; // Copy to limit multiple calls to volatile
if (serial_rx_buffer_head >= rtail) { return(RX_BUFFER_SIZE - (serial_rx_buffer_head-rtail)); }
return((rtail-serial_rx_buffer_head-1));
}
void serial_init()
{
Serial.begin(BAUD_RATE);
}
void serial_reset_read_buffer()
{
serial_rx_buffer_tail = serial_rx_buffer_head;
}
// Writes one byte to the TX serial buffer. Called by main program.
void serial_write(uint8_t data) {
Serial.write((char)data);
}
// Fetches the first byte in the serial read buffer. Called by main program.
uint8_t serial_read()
{
uint8_t c;
if (Serial.available())
{
c = Serial.read();
if (check_action_command(c))
{
// it got processed so throw it away
return SERIAL_NO_DATA;
}
else
{
return c;
}
}
else
{
return SERIAL_NO_DATA;
}
}

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/*
serial.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 serial_h
#define serial_h
#include "grbl.h"
#ifndef RX_BUFFER_SIZE
#define RX_BUFFER_SIZE 128
#endif
#ifndef TX_BUFFER_SIZE
#ifdef USE_LINE_NUMBERS
#define TX_BUFFER_SIZE 112
#else
#define TX_BUFFER_SIZE 104
#endif
#endif
#define SERIAL_NO_DATA 0xff
void serial_write(uint8_t data);
// Fetches the first byte in the serial read buffer. Called by main program.
uint8_t serial_read();
// See if the character is an action command like feedhold or jogging. If so, do the action and return true
uint8_t check_action_command(uint8_t data);
void serial_init();
void serial_reset_read_buffer();
// Returns the number of bytes available in the RX serial buffer.
uint8_t serial_get_rx_buffer_available();
#endif

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/*
settings.c - eeprom configuration handling
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"
settings_t settings;
// Method to store startup lines into EEPROM
void settings_store_startup_line(uint8_t n, char *line)
{
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
protocol_buffer_synchronize(); // A startup line may contain a motion and be executing.
#endif
uint32_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
memcpy_to_eeprom_with_checksum(addr,(char*)line, LINE_BUFFER_SIZE);
}
void settings_init()
{
EEPROM.begin(EEPROM_SIZE);
if(!read_global_settings()) {
report_status_message(STATUS_SETTING_READ_FAIL);
settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
report_grbl_settings();
}
}
// Method to restore EEPROM-saved Grbl global settings back to defaults.
void settings_restore(uint8_t restore_flag) {
if (restore_flag & SETTINGS_RESTORE_DEFAULTS) {
settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.flags = 0;
if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
if (DEFAULT_LASER_MODE) { settings.flags |= BITFLAG_LASER_MODE; }
if (DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
if (DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
if (DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
if (DEFAULT_INVERT_LIMIT_PINS) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
if (DEFAULT_INVERT_PROBE_PIN) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
write_global_settings();
}
if (restore_flag & SETTINGS_RESTORE_PARAMETERS) {
uint8_t idx;
float coord_data[N_AXIS];
memset(&coord_data, 0, sizeof(coord_data));
for (idx=0; idx <= SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data); }
}
if (restore_flag & SETTINGS_RESTORE_STARTUP_LINES) {
#if N_STARTUP_LINE > 0
EEPROM.write(EEPROM_ADDR_STARTUP_BLOCK, 0);
EEPROM.write(EEPROM_ADDR_STARTUP_BLOCK+1, 0); // Checksum
EEPROM.commit();
#endif
#if N_STARTUP_LINE > 1
EEPROM.write(EEPROM_ADDR_STARTUP_BLOCK+(LINE_BUFFER_SIZE+1), 0);
EEPROM.write(EEPROM_ADDR_STARTUP_BLOCK+(LINE_BUFFER_SIZE+2), 0); // Checksum
EEPROM.commit();
#endif
}
if (restore_flag & SETTINGS_RESTORE_BUILD_INFO) {
EEPROM.write(EEPROM_ADDR_BUILD_INFO , 0);
EEPROM.write(EEPROM_ADDR_BUILD_INFO+1 , 0); // Checksum
EEPROM.commit();
}
}
// Reads Grbl global settings struct from EEPROM.
uint8_t read_global_settings() {
// Check version-byte of eeprom
uint8_t version = EEPROM.read(0);
if (version == SETTINGS_VERSION) {
// Read settings-record and check checksum
if (!(memcpy_from_eeprom_with_checksum((char*)&settings, EEPROM_ADDR_GLOBAL, sizeof(settings_t)))) {
return(false);
}
} else {
return(false);
}
return(true);
}
// Method to store Grbl global settings struct and version number into EEPROM
// NOTE: This function can only be called in IDLE state.
void write_global_settings()
{
EEPROM.write(0, SETTINGS_VERSION);
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_GLOBAL, (char*)&settings, sizeof(settings_t));
}
// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
{
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
if (!(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float)*N_AXIS))) {
// Reset with default zero vector
clear_vector_float(coord_data);
settings_write_coord_data(coord_select,coord_data);
return(false);
}
return(true);
}
// Method to store coord data parameters into EEPROM
void settings_write_coord_data(uint8_t coord_select, float *coord_data)
{
#ifdef FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE
protocol_buffer_synchronize();
#endif
uint32_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
memcpy_to_eeprom_with_checksum(addr,(char*)coord_data, sizeof(float)*N_AXIS);
}
// Method to store build info into EEPROM
// NOTE: This function can only be called in IDLE state.
void settings_store_build_info(char *line)
{
// Build info can only be stored when state is IDLE.
memcpy_to_eeprom_with_checksum(EEPROM_ADDR_BUILD_INFO,(char*)line, LINE_BUFFER_SIZE);
}
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_build_info(char *line)
{
if (!(memcpy_from_eeprom_with_checksum((char*)line, EEPROM_ADDR_BUILD_INFO, LINE_BUFFER_SIZE))) {
// Reset line with default value
line[0] = 0; // Empty line
settings_store_build_info(line);
return(false);
}
return(true);
}
// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_startup_line(uint8_t n, char *line)
{
uint32_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
if (!(memcpy_from_eeprom_with_checksum((char*)line, addr, LINE_BUFFER_SIZE))) {
// Reset line with default value
line[0] = 0; // Empty line
settings_store_startup_line(n, line);
return(false);
}
return(true);
}
// A helper method to set settings from command line
uint8_t settings_store_global_setting(uint8_t parameter, float value) {
if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); }
if (parameter >= AXIS_SETTINGS_START_VAL) {
// Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
// NOTE: Ensure the setting index corresponds to the report.c settings printout.
parameter -= AXIS_SETTINGS_START_VAL;
uint8_t set_idx = 0;
while (set_idx < AXIS_N_SETTINGS) {
if (parameter < N_AXIS) {
// Valid axis setting found.
switch (set_idx) {
case 0:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.max_rate[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
settings.steps_per_mm[parameter] = value;
break;
case 1:
#ifdef MAX_STEP_RATE_HZ
if (value*settings.steps_per_mm[parameter] > (MAX_STEP_RATE_HZ*60.0)) { return(STATUS_MAX_STEP_RATE_EXCEEDED); }
#endif
settings.max_rate[parameter] = value;
break;
case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 3: settings.max_travel[parameter] = -value; break; // Store as negative for grbl internal use.
}
break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
} else {
set_idx++;
// If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
parameter -= AXIS_SETTINGS_INCREMENT;
}
}
} else {
// Store non-axis Grbl settings
uint8_t int_value = trunc(value);
switch(parameter) {
case 0:
if (int_value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = int_value; break;
case 1: settings.stepper_idle_lock_time = int_value; break;
case 2:
settings.step_invert_mask = int_value;
st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
break;
case 3:
settings.dir_invert_mask = int_value;
st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
break;
case 4: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 5: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
break;
case 6: // Reset to ensure change. Immediate re-init may cause problems.
if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
probe_configure_invert_mask(false);
break;
case 10: settings.status_report_mask = int_value; break;
case 11: settings.junction_deviation = value; break;
case 12: settings.arc_tolerance = value; break;
case 13:
if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
system_flag_wco_change(); // Make sure WCO is immediately updated.
break;
case 20:
if (int_value) {
if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE;
} else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
break;
case 21:
if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 22:
if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else {
settings.flags &= ~BITFLAG_HOMING_ENABLE;
settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
}
break;
case 23: settings.homing_dir_mask = int_value; break;
case 24: settings.homing_feed_rate = value; break;
case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 32:
#ifdef VARIABLE_SPINDLE
if (int_value) { settings.flags |= BITFLAG_LASER_MODE; }
else { settings.flags &= ~BITFLAG_LASER_MODE; }
#else
return(STATUS_SETTING_DISABLED_LASER);
#endif
break;
default:
return(STATUS_INVALID_STATEMENT);
}
}
write_global_settings();
return(STATUS_OK);
}
// Returns step pin mask according to Grbl internal axis indexing.
uint8_t get_step_pin_mask(uint8_t axis_idx)
{
// todo clean this up further up stream
return(1<<axis_idx);
}
// Returns direction pin mask according to Grbl internal axis indexing.
uint8_t get_direction_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
return((1<<Z_DIRECTION_BIT));
}

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/*
settings.h - eeprom configuration handling
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 settings_h
#define settings_h
#include "grbl.h"
// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
// when firmware is upgraded. Always stored in byte 0 of eeprom
#define SETTINGS_VERSION 10 // NOTE: Check settings_reset() when moving to next version.
// Define bit flag masks for the boolean settings in settings.flag.
#define BITFLAG_REPORT_INCHES bit(0)
#define BITFLAG_LASER_MODE bit(1)
#define BITFLAG_INVERT_ST_ENABLE bit(2)
#define BITFLAG_HARD_LIMIT_ENABLE bit(3)
#define BITFLAG_HOMING_ENABLE bit(4)
#define BITFLAG_SOFT_LIMIT_ENABLE bit(5)
#define BITFLAG_INVERT_LIMIT_PINS bit(6)
#define BITFLAG_INVERT_PROBE_PIN bit(7)
// Define status reporting boolean enable bit flags in settings.status_report_mask
#define BITFLAG_RT_STATUS_POSITION_TYPE bit(0)
#define BITFLAG_RT_STATUS_BUFFER_STATE bit(1)
// Define settings restore bitflags.
#define SETTINGS_RESTORE_DEFAULTS bit(0)
#define SETTINGS_RESTORE_PARAMETERS bit(1)
#define SETTINGS_RESTORE_STARTUP_LINES bit(2)
#define SETTINGS_RESTORE_BUILD_INFO bit(3)
#ifndef SETTINGS_RESTORE_ALL
#define SETTINGS_RESTORE_ALL 0xFF // All bitflags
#endif
// Define EEPROM memory address location values for Grbl settings and parameters
// NOTE: The Atmega328p has 1KB EEPROM. The upper half is reserved for parameters and
// the startup script. The lower half contains the global settings and space for future
// developments.
#define EEPROM_SIZE 1024U
#define EEPROM_ADDR_GLOBAL 1U
#define EEPROM_ADDR_PARAMETERS 512U
#define EEPROM_ADDR_STARTUP_BLOCK 768U
#define EEPROM_ADDR_BUILD_INFO 942U
// Define EEPROM address indexing for coordinate parameters
#define N_COORDINATE_SYSTEM 6 // Number of supported work coordinate systems (from index 1)
#define SETTING_INDEX_NCOORD N_COORDINATE_SYSTEM+1 // Total number of system stored (from index 0)
// NOTE: Work coordinate indices are (0=G54, 1=G55, ... , 6=G59)
#define SETTING_INDEX_G28 N_COORDINATE_SYSTEM // Home position 1
#define SETTING_INDEX_G30 N_COORDINATE_SYSTEM+1 // Home position 2
// #define SETTING_INDEX_G92 N_COORDINATE_SYSTEM+2 // Coordinate offset (G92.2,G92.3 not supported)
// Define Grbl axis settings numbering scheme. Starts at START_VAL, every INCREMENT, over N_SETTINGS.
#define AXIS_N_SETTINGS 4
#define AXIS_SETTINGS_START_VAL 100 // NOTE: Reserving settings values >= 100 for axis settings. Up to 255.
#define AXIS_SETTINGS_INCREMENT 10 // Must be greater than the number of axis settings
// Global persistent settings (Stored from byte EEPROM_ADDR_GLOBAL onwards)
typedef struct {
// Axis settings
float steps_per_mm[N_AXIS];
float max_rate[N_AXIS];
float acceleration[N_AXIS];
float max_travel[N_AXIS];
// Remaining Grbl settings
uint8_t pulse_microseconds;
uint8_t step_invert_mask;
uint8_t dir_invert_mask;
uint8_t stepper_idle_lock_time; // If max value 255, steppers do not disable.
uint8_t status_report_mask; // Mask to indicate desired report data.
float junction_deviation;
float arc_tolerance;
float rpm_max;
float rpm_min;
uint8_t flags; // Contains default boolean settings
uint8_t homing_dir_mask;
float homing_feed_rate;
float homing_seek_rate;
uint16_t homing_debounce_delay;
float homing_pulloff;
} settings_t;
extern settings_t settings;
// Initialize the configuration subsystem (load settings from EEPROM)
void settings_init();
void settings_restore(uint8_t restore_flag);
void write_global_settings();
uint8_t read_global_settings();
uint8_t settings_read_startup_line(uint8_t n, char *line);
void settings_store_startup_line(uint8_t n, char *line);
uint8_t settings_read_build_info(char *line);
void settings_store_build_info(char *line);
uint8_t settings_store_global_setting(uint8_t parameter, float value);
// Writes selected coordinate data to EEPROM
void settings_write_coord_data(uint8_t coord_select, float *coord_data);
// Reads selected coordinate data from EEPROM
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data);
// Returns the step pin mask according to Grbl's internal axis numbering
uint8_t get_step_pin_mask(uint8_t i);
// Returns the direction pin mask according to Grbl's internal axis numbering
uint8_t get_direction_pin_mask(uint8_t i);
#endif

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/*
spindle_control.cpp - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 spindle_init()
{
// use the LED control feature to setup PWM https://esp-idf.readthedocs.io/en/v1.0/api/ledc.html
ledcSetup(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_BASE_FREQ, SPINDLE_PWM_BIT_PRECISION); // setup the channel
ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
// Start with PWM off
spindle_stop();
}
void spindle_stop()
{
ledcWrite(SPINDLE_PWM_CHANNEL, 0);
}
uint8_t spindle_get_state()
{
}
void spindle_set_speed(uint8_t pwm_value)
{
ledcWrite(SPINDLE_PWM_CHANNEL, pwm_value);
}
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t spindle_compute_pwm_value(float rpm)
{
//
uint8_t pwm_value;
pwm_value = map(rpm, settings.rpm_min, settings.rpm_max, SPINDLE_PWM_OFF_VALUE, SPINDLE_PWM_MAX_VALUE);
// TODO_ESP32 .. make it 16 bit
return(pwm_value);
}
void spindle_set_state(uint8_t state, float rpm)
{
if (sys.abort) { return; } // Block during abort.
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
sys.spindle_speed = 0.0;
spindle_stop();
} else {
// TODO ESP32 Enable and direction control
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
if (settings.flags & BITFLAG_LASER_MODE) {
if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
}
spindle_set_speed(spindle_compute_pwm_value(rpm));
}
sys.report_ovr_counter = 0; // Set to report change immediately
}
void spindle_sync(uint8_t state, float rpm)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
spindle_set_state(state,rpm);
}

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/*
spindle.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 spindle_control_h
#define spindle_control_h
#include "grbl.h"
#define SPINDLE_NO_SYNC false
#define SPINDLE_FORCE_SYNC true
#define SPINDLE_STATE_DISABLE 0 // Must be zero.
#define SPINDLE_STATE_CW bit(0)
#define SPINDLE_STATE_CCW bit(1)
void spindle_init();
void spindle_stop();
uint8_t spindle_get_state();
void spindle_set_speed(uint8_t pwm_value);
uint8_t spindle_compute_pwm_value(float rpm);
void spindle_set_state(uint8_t state, float rpm);
void spindle_sync(uint8_t state, float rpm);
#endif

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#include "grbl.h"
/*
stepper.c - stepper motor driver: executes motion plans using stepper motors
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"
// Stores the planner block Bresenham algorithm execution data for the segments in the segment
// buffer. Normally, this buffer is partially in-use, but, for the worst case scenario, it will
// never exceed the number of accessible stepper buffer segments (SEGMENT_BUFFER_SIZE-1).
// NOTE: This data is copied from the prepped planner blocks so that the planner blocks may be
// discarded when entirely consumed and completed by the segment buffer. Also, AMASS alters this
// data for its own use.
typedef struct {
uint32_t steps[N_AXIS];
uint32_t step_event_count;
uint8_t direction_bits;
#ifdef VARIABLE_SPINDLE
uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
#endif
} st_block_t;
static st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE-1];
// Primary stepper segment ring buffer. Contains small, short line segments for the stepper
// algorithm to execute, which are "checked-out" incrementally from the first block in the
// planner buffer. Once "checked-out", the steps in the segments buffer cannot be modified by
// the planner, where the remaining planner block steps still can.
typedef struct {
uint16_t n_step; // Number of step events to be executed for this segment
uint16_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate.
uint8_t st_block_index; // Stepper block data index. Uses this information to execute this segment.
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint8_t amass_level; // Indicates AMASS level for the ISR to execute this segment
#else
uint8_t prescaler; // Without AMASS, a prescaler is required to adjust for slow timing.
#endif
#ifdef VARIABLE_SPINDLE
uint8_t spindle_pwm;
#endif
} segment_t;
static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
// Stepper ISR data struct. Contains the running data for the main stepper ISR.
typedef struct {
// Used by the bresenham line algorithm
uint32_t counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z;
#ifdef STEP_PULSE_DELAY
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif
uint8_t execute_step; // Flags step execution for each interrupt.
uint8_t step_pulse_time; // Step pulse reset time after step rise
uint8_t step_outbits; // The next stepping-bits to be output
uint8_t dir_outbits;
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint32_t steps[N_AXIS];
#endif
uint16_t step_count; // Steps remaining in line segment motion
uint8_t exec_block_index; // Tracks the current st_block index. Change indicates new block.
st_block_t *exec_block; // Pointer to the block data for the segment being executed
segment_t *exec_segment; // Pointer to the segment being executed
} stepper_t;
static stepper_t st;
// Step segment ring buffer indices
static volatile uint8_t segment_buffer_tail;
static uint8_t segment_buffer_head;
static uint8_t segment_next_head;
// Step and direction port invert masks.
static uint8_t step_port_invert_mask;
static uint8_t dir_port_invert_mask;
// Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though.
static volatile uint8_t busy;
// Pointers for the step segment being prepped from the planner buffer. Accessed only by the
// main program. Pointers may be planning segments or planner blocks ahead of what being executed.
static plan_block_t *pl_block; // Pointer to the planner block being prepped
static st_block_t *st_prep_block; // Pointer to the stepper block data being prepped
// esp32 work around for diable in main loop
uint64_t stepper_idle_counter; // used to count down until time to disable stepper drivers
bool stepper_idle;
// Segment preparation data struct. Contains all the necessary information to compute new segments
// based on the current executing planner block.
typedef struct {
uint8_t st_block_index; // Index of stepper common data block being prepped
uint8_t recalculate_flag;
float dt_remainder;
float steps_remaining;
float step_per_mm;
float req_mm_increment;
#ifdef PARKING_ENABLE
uint8_t last_st_block_index;
float last_steps_remaining;
float last_step_per_mm;
float last_dt_remainder;
#endif
uint8_t ramp_type; // Current segment ramp state
float mm_complete; // End of velocity profile from end of current planner block in (mm).
// NOTE: This value must coincide with a step(no mantissa) when converted.
float current_speed; // Current speed at the end of the segment buffer (mm/min)
float maximum_speed; // Maximum speed of executing block. Not always nominal speed. (mm/min)
float exit_speed; // Exit speed of executing block (mm/min)
float accelerate_until; // Acceleration ramp end measured from end of block (mm)
float decelerate_after; // Deceleration ramp start measured from end of block (mm)
#ifdef VARIABLE_SPINDLE
float inv_rate; // Used by PWM laser mode to speed up segment calculations.
uint8_t current_spindle_pwm;
#endif
} st_prep_t;
static st_prep_t prep;
hw_timer_t * stepperDriverTimer = NULL; // The main stepper driver timer
hw_timer_t * stepPulseOffTimer = NULL; // This turns the step pulse off after xx uSeconds
hw_timer_t * directionDelayTimer = NULL; // This allows step pins to wait a few uSeconds after direction pin is set.
rmt_config_t step_x_config;
rmt_config_t step_y_config;
rmt_config_t step_z_config;
rmt_item32_t rmt_items[1];
/*
* check the busy flag
* Set the direction pins
* Turn on the step pin, which turns itself off after a few usecs
* set the busy flag
*/
void IRAM_ATTR onStepperOffTimer()
{
//digitalWrite(X_STEP_PIN, 0); // TODO ... inverted step pins
//digitalWrite(Y_STEP_PIN, 0); // TODO ... inverted step pins
//digitalWrite(Z_STEP_PIN, 0); // TODO ... inverted step pins
set_stepper_pins_on(0); // all off
}
void IRAM_ATTR onStepperDriverTimer() // ISR It is time to take a step =======================================================================================
{
if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
// Set the direction pins a couple of nanoseconds before we step the steppers
set_direction_pins_on(st.dir_outbits);
// TO DO ... do we need a direction change delay?
set_stepper_pins_on(st.step_outbits);
set_stepper_pins_on(STEP_OFF_AFTER_DELAY); // turns on off timers
busy = true;
// If there is no step segment, attempt to pop one from the stepper buffer
if (st.exec_segment == NULL) {
// Anything in the buffer? If so, load and initialize next step segment.
if (segment_buffer_head != segment_buffer_tail) {
// Initialize new step segment and load number of steps to execute
st.exec_segment = &segment_buffer[segment_buffer_tail];
// Initialize step segment timing per step and load number of steps to execute.
Stepper_Timer_WritePeriod(st.exec_segment->cycles_per_tick);
st.step_count = st.exec_segment->n_step; // NOTE: Can sometimes be zero when moving slow.
// If the new segment starts a new planner block, initialize stepper variables and counters.
// NOTE: When the segment data index changes, this indicates a new planner block.
if ( st.exec_block_index != st.exec_segment->st_block_index ) {
st.exec_block_index = st.exec_segment->st_block_index;
st.exec_block = &st_block_buffer[st.exec_block_index];
// Initialize Bresenham line and distance counters
st.counter_x = st.counter_y = st.counter_z = (st.exec_block->step_event_count >> 1);
}
st.dir_outbits = st.exec_block->direction_bits ^ settings.dir_invert_mask;
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
// With AMASS enabled, adjust Bresenham axis increment counters according to AMASS level.
st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
#endif
#ifdef VARIABLE_SPINDLE
// Set real-time spindle output as segment is loaded, just prior to the first step.
spindle_set_speed(st.exec_segment->spindle_pwm);
#endif
} else {
// Segment buffer empty. Shutdown.
st_go_idle();
#ifdef VARIABLE_SPINDLE
// Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
#endif
system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
return; // Nothing to do but exit.
}
}
// Check probing state.
if (sys_probe_state == PROBE_ACTIVE) { probe_state_monitor(); }
// Reset step out bits.
st.step_outbits = 0;
// Execute step displacement profile by Bresenham line algorithm
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_x += st.steps[X_AXIS];
#else
st.counter_x += st.exec_block->steps[X_AXIS];
#endif
if (st.counter_x > st.exec_block->step_event_count) {
st.step_outbits |= (1<<X_STEP_BIT);
st.counter_x -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<X_DIRECTION_BIT)) { sys_position[X_AXIS]--; }
else { sys_position[X_AXIS]++; }
}
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_y += st.steps[Y_AXIS];
#else
st.counter_y += st.exec_block->steps[Y_AXIS];
#endif
if (st.counter_y > st.exec_block->step_event_count) {
st.step_outbits |= (1<<Y_STEP_BIT);
st.counter_y -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<Y_DIRECTION_BIT)) { sys_position[Y_AXIS]--; }
else { sys_position[Y_AXIS]++; }
}
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_z += st.steps[Z_AXIS];
#else
st.counter_z += st.exec_block->steps[Z_AXIS];
#endif
if (st.counter_z > st.exec_block->step_event_count) {
st.step_outbits |= (1<<Z_STEP_BIT);
st.counter_z -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<Z_DIRECTION_BIT)) { sys_position[Z_AXIS]--; }
else { sys_position[Z_AXIS]++; }
}
// During a homing cycle, lock out and prevent desired axes from moving.
if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; }
st.step_count--; // Decrement step events count
if (st.step_count == 0) {
// Segment is complete. Discard current segment and advance segment indexing.
st.exec_segment = NULL;
if ( ++segment_buffer_tail == SEGMENT_BUFFER_SIZE) { segment_buffer_tail = 0; }
}
st.step_outbits ^= step_port_invert_mask; // Apply step port invert mask
busy = false;
}
void stepper_init()
{
// make the direction pins outputs
pinMode(X_DIRECTION_PIN, OUTPUT);
pinMode(Y_DIRECTION_PIN, OUTPUT);
pinMode(Z_DIRECTION_PIN, OUTPUT);
// make the step pins outputs
pinMode(X_STEP_PIN, OUTPUT);
pinMode(Y_STEP_PIN, OUTPUT);
pinMode(Z_STEP_PIN, OUTPUT);
// make the stepper disable pin an output
pinMode(STEPPERS_DISABLE_PIN, OUTPUT);
// setup stepper timer interrupt
stepperDriverTimer = timerBegin( 0, // timer number
F_TIMERS / F_STEPPER_TIMER, // prescaler
true // auto reload
);
// attach the interrupt
timerAttachInterrupt(stepperDriverTimer, &onStepperDriverTimer, true);
// setup the stepper pin off timer interrupt
stepPulseOffTimer = timerBegin( 1, // timer number
STEPPER_OFF_TIMER_PRESCALE, // prescaler
false // auto reload
);
// attach the interrupt
timerAttachInterrupt(stepPulseOffTimer, // the timer
&onStepperOffTimer, // the function to run
true // edge trigger
);
/*
timerAlarmWrite( stepPulseOffTimer, // the timer
STEPPER_OFF_PERIOD_uSEC * 10, // 10x because each tick is 0.1uSec
false // auto reload
);
*/
}
// enabled. Startup init and limits call this function but shouldn't start the cycle.
void st_wake_up()
{
#ifdef ESP_DEBUG
//Serial.println("st_wake_up()");
#endif
// Enable stepper drivers.
set_stepper_disable(false);
stepper_idle = false;
// Initialize stepper output bits to ensure first ISR call does not step.
st.step_outbits = step_port_invert_mask;
// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
#ifdef STEP_PULSE_DELAY
// Step pulse delay handling is not require with ESP32...the RMT function does it.
#else // Normal operation
// Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
st.step_pulse_time = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3);
#endif
// Enable Stepper Driver Interrupt
Stepper_Timer_Start();
}
// Reset and clear stepper subsystem variables
void st_reset()
{
#ifdef ESP_DEBUG
//Serial.println("st_reset()");
#endif
// Initialize stepper driver idle state.
st_go_idle();
// Initialize stepper algorithm variables.
memset(&prep, 0, sizeof(st_prep_t));
memset(&st, 0, sizeof(stepper_t));
st.exec_segment = NULL;
pl_block = NULL; // Planner block pointer used by segment buffer
segment_buffer_tail = 0;
segment_buffer_head = 0; // empty = tail
segment_next_head = 1;
busy = false;
st_generate_step_dir_invert_masks();
st.dir_outbits = dir_port_invert_mask; // Initialize direction bits to default.
// TODO do we need to turn step pins off?
}
void set_direction_pins_on(uint8_t onMask)
{
// inverts are applied in step generation
digitalWrite(X_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
digitalWrite(Y_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
}
void set_stepper_pins_on(uint8_t onMask)
{
if (onMask == 0xFF) // if all off use the timer to do it. This adds the step pulse delay
{
// setup the timer to turn them off
timerAlarmWrite(stepPulseOffTimer, (settings.pulse_microseconds * 10), false);
timerAlarmEnable(stepPulseOffTimer);
}
//else if (onMask == 0)
//{
// should already be off
//}
else
{
onMask ^= settings.step_invert_mask; // invert pins
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
}
}
// Stepper shutdown
void st_go_idle()
{
// Disable Stepper Driver Interrupt. Allow Stepper Port Reset Interrupt to finish, if active.
Stepper_Timer_Stop();
busy = false;
bool pin_state = false;
// Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
if (((settings.stepper_idle_lock_time != 0xff) || sys_rt_exec_alarm || sys.state == STATE_SLEEP) && sys.state != STATE_HOMING) {
// 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.
stepper_idle = true; // esp32 work around for disable in main loop
stepper_idle_counter = esp_timer_get_time() + (settings.stepper_idle_lock_time * 1000); // * 1000 because the time is in uSecs
//vTaskDelay(settings.stepper_idle_lock_time / portTICK_PERIOD_MS); // this probably does not work when called from ISR
//pin_state = true;
}
else
{
set_stepper_disable(pin_state);
}
set_stepper_pins_on(0);
}
// Called by planner_recalculate() when the executing block is updated by the new plan.
void st_update_plan_block_parameters()
{
if (pl_block != NULL) { // Ignore if at start of a new block.
prep.recalculate_flag |= PREP_FLAG_RECALCULATE;
pl_block->entry_speed_sqr = prep.current_speed*prep.current_speed; // Update entry speed.
pl_block = NULL; // Flag st_prep_segment() to load and check active velocity profile.
}
}
// Generates the step and direction port invert masks used in the Stepper Interrupt Driver.
void st_generate_step_dir_invert_masks()
{
/*
uint8_t idx;
step_port_invert_mask = 0;
dir_port_invert_mask = 0;
for (idx=0; idx<N_AXIS; idx++) {
if (bit_istrue(settings.step_invert_mask,bit(idx))) { step_port_invert_mask |= get_step_pin_mask(idx); }
if (bit_istrue(settings.dir_invert_mask,bit(idx))) { dir_port_invert_mask |= get_direction_pin_mask(idx); }
}
*/
// simpler with ESP32, but let's do it here for easier change management
step_port_invert_mask = settings.step_invert_mask;
dir_port_invert_mask = settings.dir_invert_mask;
}
// Increments the step segment buffer block data ring buffer.
static uint8_t st_next_block_index(uint8_t block_index)
{
block_index++;
if ( block_index == (SEGMENT_BUFFER_SIZE-1) ) { return(0); }
return(block_index);
}
/* Prepares step segment buffer. Continuously called from main program.
The segment buffer is an intermediary buffer interface between the execution of steps
by the stepper algorithm and the velocity profiles generated by the planner. The stepper
algorithm only executes steps within the segment buffer and is filled by the main program
when steps are "checked-out" from the first block in the planner buffer. This keeps the
step execution and planning optimization processes atomic and protected from each other.
The number of steps "checked-out" from the planner buffer and the number of segments in
the segment buffer is sized and computed such that no operation in the main program takes
longer than the time it takes the stepper algorithm to empty it before refilling it.
Currently, the segment buffer conservatively holds roughly up to 40-50 msec of steps.
NOTE: Computation units are in steps, millimeters, and minutes.
*/
void st_prep_buffer()
{
// Block step prep buffer, while in a suspend state and there is no suspend motion to execute.
if (bit_istrue(sys.step_control,STEP_CONTROL_END_MOTION)) { return; }
while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer.
// Determine if we need to load a new planner block or if the block needs to be recomputed.
if (pl_block == NULL) {
// Query planner for a queued block
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) { pl_block = plan_get_system_motion_block(); }
else { pl_block = plan_get_current_block(); }
if (pl_block == NULL) { return; } // No planner blocks. Exit.
// Check if we need to only recompute the velocity profile or load a new block.
if (prep.recalculate_flag & PREP_FLAG_RECALCULATE) {
#ifdef PARKING_ENABLE
if (prep.recalculate_flag & PREP_FLAG_PARKING) { prep.recalculate_flag &= ~(PREP_FLAG_RECALCULATE); }
else { prep.recalculate_flag = false; }
#else
prep.recalculate_flag = false;
#endif
} else {
// Load the Bresenham stepping data for the block.
prep.st_block_index = st_next_block_index(prep.st_block_index);
// Prepare and copy Bresenham algorithm segment data from the new planner block, so that
// when the segment buffer completes the planner block, it may be discarded when the
// segment buffer finishes the prepped block, but the stepper ISR is still executing it.
st_prep_block = &st_block_buffer[prep.st_block_index];
st_prep_block->direction_bits = pl_block->direction_bits;
uint8_t idx;
#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = pl_block->steps[idx]; }
st_prep_block->step_event_count = pl_block->step_event_count;
#else
// With AMASS enabled, simply bit-shift multiply all Bresenham data by the max AMASS
// level, such that we never divide beyond the original data anywhere in the algorithm.
// If the original data is divided, we can lose a step from integer roundoff.
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = pl_block->steps[idx] << MAX_AMASS_LEVEL; }
st_prep_block->step_event_count = pl_block->step_event_count << MAX_AMASS_LEVEL;
#endif
// Initialize segment buffer data for generating the segments.
prep.steps_remaining = (float)pl_block->step_event_count;
prep.step_per_mm = prep.steps_remaining/pl_block->millimeters;
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm;
prep.dt_remainder = 0.0; // Reset for new segment block
if ((sys.step_control & STEP_CONTROL_EXECUTE_HOLD) || (prep.recalculate_flag & PREP_FLAG_DECEL_OVERRIDE)) {
// New block loaded mid-hold. Override planner block entry speed to enforce deceleration.
prep.current_speed = prep.exit_speed;
pl_block->entry_speed_sqr = prep.exit_speed*prep.exit_speed;
prep.recalculate_flag &= ~(PREP_FLAG_DECEL_OVERRIDE);
} else {
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
}
#ifdef VARIABLE_SPINDLE
// Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
// spindle off.
st_prep_block->is_pwm_rate_adjusted = false;
if (settings.flags & BITFLAG_LASER_MODE) {
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0/pl_block->programmed_rate;
st_prep_block->is_pwm_rate_adjusted = true;
}
}
#endif
}
/* ---------------------------------------------------------------------------------
Compute the velocity profile of a new planner block based on its entry and exit
speeds, or recompute the profile of a partially-completed planner block if the
planner has updated it. For a commanded forced-deceleration, such as from a feed
hold, override the planner velocities and decelerate to the target exit speed.
*/
prep.mm_complete = 0.0; // Default velocity profile complete at 0.0mm from end of block.
float inv_2_accel = 0.5/pl_block->acceleration;
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) { // [Forced Deceleration to Zero Velocity]
// Compute velocity profile parameters for a feed hold in-progress. This profile overrides
// the planner block profile, enforcing a deceleration to zero speed.
prep.ramp_type = RAMP_DECEL;
// Compute decelerate distance relative to end of block.
float decel_dist = pl_block->millimeters - inv_2_accel*pl_block->entry_speed_sqr;
if (decel_dist < 0.0) {
// Deceleration through entire planner block. End of feed hold is not in this block.
prep.exit_speed = sqrt(pl_block->entry_speed_sqr-2*pl_block->acceleration*pl_block->millimeters);
} else {
prep.mm_complete = decel_dist; // End of feed hold.
prep.exit_speed = 0.0;
}
} else { // [Normal Operation]
// Compute or recompute velocity profile parameters of the prepped planner block.
prep.ramp_type = RAMP_ACCEL; // Initialize as acceleration ramp.
prep.accelerate_until = pl_block->millimeters;
float exit_speed_sqr;
float nominal_speed;
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
prep.exit_speed = exit_speed_sqr = 0.0; // Enforce stop at end of system motion.
} else {
exit_speed_sqr = plan_get_exec_block_exit_speed_sqr();
prep.exit_speed = sqrt(exit_speed_sqr);
}
nominal_speed = plan_compute_profile_nominal_speed(pl_block);
float nominal_speed_sqr = nominal_speed*nominal_speed;
float intersect_distance =
0.5*(pl_block->millimeters+inv_2_accel*(pl_block->entry_speed_sqr-exit_speed_sqr));
if (pl_block->entry_speed_sqr > nominal_speed_sqr) { // Only occurs during override reductions.
prep.accelerate_until = pl_block->millimeters - inv_2_accel*(pl_block->entry_speed_sqr-nominal_speed_sqr);
if (prep.accelerate_until <= 0.0) { // Deceleration-only.
prep.ramp_type = RAMP_DECEL;
// prep.decelerate_after = pl_block->millimeters;
// prep.maximum_speed = prep.current_speed;
// Compute override block exit speed since it doesn't match the planner exit speed.
prep.exit_speed = sqrt(pl_block->entry_speed_sqr - 2*pl_block->acceleration*pl_block->millimeters);
prep.recalculate_flag |= PREP_FLAG_DECEL_OVERRIDE; // Flag to load next block as deceleration override.
// TODO: Determine correct handling of parameters in deceleration-only.
// Can be tricky since entry speed will be current speed, as in feed holds.
// Also, look into near-zero speed handling issues with this.
} else {
// Decelerate to cruise or cruise-decelerate types. Guaranteed to intersect updated plan.
prep.decelerate_after = inv_2_accel*(nominal_speed_sqr-exit_speed_sqr);
prep.maximum_speed = nominal_speed;
prep.ramp_type = RAMP_DECEL_OVERRIDE;
}
} else if (intersect_distance > 0.0) {
if (intersect_distance < pl_block->millimeters) { // Either trapezoid or triangle types
// NOTE: For acceleration-cruise and cruise-only types, following calculation will be 0.0.
prep.decelerate_after = inv_2_accel*(nominal_speed_sqr-exit_speed_sqr);
if (prep.decelerate_after < intersect_distance) { // Trapezoid type
prep.maximum_speed = nominal_speed;
if (pl_block->entry_speed_sqr == nominal_speed_sqr) {
// Cruise-deceleration or cruise-only type.
prep.ramp_type = RAMP_CRUISE;
} else {
// Full-trapezoid or acceleration-cruise types
prep.accelerate_until -= inv_2_accel*(nominal_speed_sqr-pl_block->entry_speed_sqr);
}
} else { // Triangle type
prep.accelerate_until = intersect_distance;
prep.decelerate_after = intersect_distance;
prep.maximum_speed = sqrt(2.0*pl_block->acceleration*intersect_distance+exit_speed_sqr);
}
} else { // Deceleration-only type
prep.ramp_type = RAMP_DECEL;
// prep.decelerate_after = pl_block->millimeters;
// prep.maximum_speed = prep.current_speed;
}
} else { // Acceleration-only type
prep.accelerate_until = 0.0;
// prep.decelerate_after = 0.0;
prep.maximum_speed = prep.exit_speed;
}
}
#ifdef VARIABLE_SPINDLE
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM); // Force update whenever updating block.
#endif
}
// Initialize new segment
segment_t *prep_segment = &segment_buffer[segment_buffer_head];
// Set new segment to point to the current segment data block.
prep_segment->st_block_index = prep.st_block_index;
/*------------------------------------------------------------------------------------
Compute the average velocity of this new segment by determining the total distance
traveled over the segment time DT_SEGMENT. The following code first attempts to create
a full segment based on the current ramp conditions. If the segment time is incomplete
when terminating at a ramp state change, the code will continue to loop through the
progressing ramp states to fill the remaining segment execution time. However, if
an incomplete segment terminates at the end of the velocity profile, the segment is
considered completed despite having a truncated execution time less than DT_SEGMENT.
The velocity profile is always assumed to progress through the ramp sequence:
acceleration ramp, cruising state, and deceleration ramp. Each ramp's travel distance
may range from zero to the length of the block. Velocity profiles can end either at
the end of planner block (typical) or mid-block at the end of a forced deceleration,
such as from a feed hold.
*/
float dt_max = DT_SEGMENT; // Maximum segment time
float dt = 0.0; // Initialize segment time
float time_var = dt_max; // Time worker variable
float mm_var; // mm-Distance worker variable
float speed_var; // Speed worker variable
float mm_remaining = pl_block->millimeters; // New segment distance from end of block.
float minimum_mm = mm_remaining-prep.req_mm_increment; // Guarantee at least one step.
if (minimum_mm < 0.0) { minimum_mm = 0.0; }
do {
switch (prep.ramp_type) {
case RAMP_DECEL_OVERRIDE:
speed_var = pl_block->acceleration*time_var;
mm_var = time_var*(prep.current_speed - 0.5*speed_var);
mm_remaining -= mm_var;
if ((mm_remaining < prep.accelerate_until) || (mm_var <= 0)) {
// Cruise or cruise-deceleration types only for deceleration override.
mm_remaining = prep.accelerate_until; // NOTE: 0.0 at EOB
time_var = 2.0*(pl_block->millimeters-mm_remaining)/(prep.current_speed+prep.maximum_speed);
prep.ramp_type = RAMP_CRUISE;
prep.current_speed = prep.maximum_speed;
} else { // Mid-deceleration override ramp.
prep.current_speed -= speed_var;
}
break;
case RAMP_ACCEL:
// NOTE: Acceleration ramp only computes during first do-while loop.
speed_var = pl_block->acceleration*time_var;
mm_remaining -= time_var*(prep.current_speed + 0.5*speed_var);
if (mm_remaining < prep.accelerate_until) { // End of acceleration ramp.
// Acceleration-cruise, acceleration-deceleration ramp junction, or end of block.
mm_remaining = prep.accelerate_until; // NOTE: 0.0 at EOB
time_var = 2.0*(pl_block->millimeters-mm_remaining)/(prep.current_speed+prep.maximum_speed);
if (mm_remaining == prep.decelerate_after) { prep.ramp_type = RAMP_DECEL; }
else { prep.ramp_type = RAMP_CRUISE; }
prep.current_speed = prep.maximum_speed;
} else { // Acceleration only.
prep.current_speed += speed_var;
}
break;
case RAMP_CRUISE:
// NOTE: mm_var used to retain the last mm_remaining for incomplete segment time_var calculations.
// NOTE: If maximum_speed*time_var value is too low, round-off can cause mm_var to not change. To
// prevent this, simply enforce a minimum speed threshold in the planner.
mm_var = mm_remaining - prep.maximum_speed*time_var;
if (mm_var < prep.decelerate_after) { // End of cruise.
// Cruise-deceleration junction or end of block.
time_var = (mm_remaining - prep.decelerate_after)/prep.maximum_speed;
mm_remaining = prep.decelerate_after; // NOTE: 0.0 at EOB
prep.ramp_type = RAMP_DECEL;
} else { // Cruising only.
mm_remaining = mm_var;
}
break;
default: // case RAMP_DECEL:
// NOTE: mm_var used as a misc worker variable to prevent errors when near zero speed.
speed_var = pl_block->acceleration*time_var; // Used as delta speed (mm/min)
if (prep.current_speed > speed_var) { // Check if at or below zero speed.
// Compute distance from end of segment to end of block.
mm_var = mm_remaining - time_var*(prep.current_speed - 0.5*speed_var); // (mm)
if (mm_var > prep.mm_complete) { // Typical case. In deceleration ramp.
mm_remaining = mm_var;
prep.current_speed -= speed_var;
break; // Segment complete. Exit switch-case statement. Continue do-while loop.
}
}
// Otherwise, at end of block or end of forced-deceleration.
time_var = 2.0*(mm_remaining-prep.mm_complete)/(prep.current_speed+prep.exit_speed);
mm_remaining = prep.mm_complete;
prep.current_speed = prep.exit_speed;
}
dt += time_var; // Add computed ramp time to total segment time.
if (dt < dt_max) { time_var = dt_max - dt; } // **Incomplete** At ramp junction.
else {
if (mm_remaining > minimum_mm) { // Check for very slow segments with zero steps.
// Increase segment time to ensure at least one step in segment. Override and loop
// through distance calculations until minimum_mm or mm_complete.
dt_max += DT_SEGMENT;
time_var = dt_max - dt;
} else {
break; // **Complete** Exit loop. Segment execution time maxed.
}
}
} while (mm_remaining > prep.mm_complete); // **Complete** Exit loop. Profile complete.
#ifdef VARIABLE_SPINDLE
/* -----------------------------------------------------------------------------------
Compute spindle speed PWM output for step segment
*/
if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
float rpm = pl_block->spindle_speed;
// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
if (st_prep_block->is_pwm_rate_adjusted) { rpm *= (prep.current_speed * prep.inv_rate); }
// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
// but this would be instantaneous only and during a motion. May not matter at all.
prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
} else {
sys.spindle_speed = 0.0;
prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
}
bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
prep_segment->spindle_pwm = prep.current_spindle_pwm; // Reload segment PWM value
#endif
/* -----------------------------------------------------------------------------------
Compute segment step rate, steps to execute, and apply necessary rate corrections.
NOTE: Steps are computed by direct scalar conversion of the millimeter distance
remaining in the block, rather than incrementally tallying the steps executed per
segment. This helps in removing floating point round-off issues of several additions.
However, since floats have only 7.2 significant digits, long moves with extremely
high step counts can exceed the precision of floats, which can lead to lost steps.
Fortunately, this scenario is highly unlikely and unrealistic in CNC machines
supported by Grbl (i.e. exceeding 10 meters axis travel at 200 step/mm).
*/
float step_dist_remaining = prep.step_per_mm*mm_remaining; // Convert mm_remaining to steps
float n_steps_remaining = ceil(step_dist_remaining); // Round-up current steps remaining
float last_n_steps_remaining = ceil(prep.steps_remaining); // Round-up last steps remaining
prep_segment->n_step = last_n_steps_remaining-n_steps_remaining; // Compute number of steps to execute.
// Bail if we are at the end of a feed hold and don't have a step to execute.
if (prep_segment->n_step == 0) {
if (sys.step_control & STEP_CONTROL_EXECUTE_HOLD) {
// Less than one step to decelerate to zero speed, but already very close. AMASS
// requires full steps to execute. So, just bail.
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
#ifdef PARKING_ENABLE
if (!(prep.recalculate_flag & PREP_FLAG_PARKING)) { prep.recalculate_flag |= PREP_FLAG_HOLD_PARTIAL_BLOCK; }
#endif
return; // Segment not generated, but current step data still retained.
}
}
// Compute segment step rate. Since steps are integers and mm distances traveled are not,
// the end of every segment can have a partial step of varying magnitudes that are not
// executed, because the stepper ISR requires whole steps due to the AMASS algorithm. To
// compensate, we track the time to execute the previous segment's partial step and simply
// apply it with the partial step distance to the current segment, so that it minutely
// adjusts the whole segment rate to keep step output exact. These rate adjustments are
// typically very small and do not adversely effect performance, but ensures that Grbl
// outputs the exact acceleration and velocity profiles as computed by the planner.
dt += prep.dt_remainder; // Apply previous segment partial step execute time
float inv_rate = dt/(last_n_steps_remaining - step_dist_remaining); // Compute adjusted step rate inverse
// Compute CPU cycles per step for the prepped segment.
uint32_t cycles = ceil( (TICKS_PER_MICROSECOND*1000000*60)*inv_rate ); // (cycles/step)
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
// Compute step timing and multi-axis smoothing level.
// NOTE: AMASS overdrives the timer with each level, so only one prescalar is required.
if (cycles < AMASS_LEVEL1) { prep_segment->amass_level = 0; }
else {
if (cycles < AMASS_LEVEL2) { prep_segment->amass_level = 1; }
else if (cycles < AMASS_LEVEL3) { prep_segment->amass_level = 2; }
else { prep_segment->amass_level = 3; }
cycles >>= prep_segment->amass_level;
prep_segment->n_step <<= prep_segment->amass_level;
}
if (cycles < (1UL << 16)) { prep_segment->cycles_per_tick = cycles; } // < 65536 (4.1ms @ 16MHz)
else { prep_segment->cycles_per_tick = 0xffff; } // Just set the slowest speed possible.
#else
// Compute step timing and timer prescalar for normal step generation.
if (cycles < (1UL << 16)) { // < 65536 (4.1ms @ 16MHz)
prep_segment->prescaler = 1; // prescaler: 0
prep_segment->cycles_per_tick = cycles;
} else if (cycles < (1UL << 19)) { // < 524288 (32.8ms@16MHz)
prep_segment->prescaler = 2; // prescaler: 8
prep_segment->cycles_per_tick = cycles >> 3;
} else {
prep_segment->prescaler = 3; // prescaler: 64
if (cycles < (1UL << 22)) { // < 4194304 (262ms@16MHz)
prep_segment->cycles_per_tick = cycles >> 6;
} else { // Just set the slowest speed possible. (Around 4 step/sec.)
prep_segment->cycles_per_tick = 0xffff;
}
}
#endif
// Segment complete! Increment segment buffer indices, so stepper ISR can immediately execute it.
segment_buffer_head = segment_next_head;
if ( ++segment_next_head == SEGMENT_BUFFER_SIZE ) { segment_next_head = 0; }
// Update the appropriate planner and segment data.
pl_block->millimeters = mm_remaining;
prep.steps_remaining = n_steps_remaining;
prep.dt_remainder = (n_steps_remaining - step_dist_remaining)*inv_rate;
// Check for exit conditions and flag to load next planner block.
if (mm_remaining == prep.mm_complete) {
// End of planner block or forced-termination. No more distance to be executed.
if (mm_remaining > 0.0) { // At end of forced-termination.
// Reset prep parameters for resuming and then bail. Allow the stepper ISR to complete
// the segment queue, where realtime protocol will set new state upon receiving the
// cycle stop flag from the ISR. Prep_segment is blocked until then.
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
#ifdef PARKING_ENABLE
if (!(prep.recalculate_flag & PREP_FLAG_PARKING)) { prep.recalculate_flag |= PREP_FLAG_HOLD_PARTIAL_BLOCK; }
#endif
return; // Bail!
} else { // End of planner block
// The planner block is complete. All steps are set to be executed in the segment buffer.
if (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION) {
bit_true(sys.step_control,STEP_CONTROL_END_MOTION);
return;
}
pl_block = NULL; // Set pointer to indicate check and load next planner block.
plan_discard_current_block();
}
}
}
}
// Called by realtime status reporting to fetch the current speed being executed. This value
// however is not exactly the current speed, but the speed computed in the last step segment
// in the segment buffer. It will always be behind by up to the number of segment blocks (-1)
// divided by the ACCELERATION TICKS PER SECOND in seconds.
float st_get_realtime_rate()
{
if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)){
return prep.current_speed;
}
return 0.0f;
}
void IRAM_ATTR Stepper_Timer_WritePeriod(uint64_t alarm_val)
{
//timerWrite(stepperDriverTimer, 0);
timerAlarmWrite(stepperDriverTimer, alarm_val, true); // the alarm point is found by looking at logic analyzer
//timerRestart(stepperDriverTimer);
}
void IRAM_ATTR Stepper_Timer_Start()
{
#ifdef ESP_DEBUG
//Serial.print("St Start: ");
//Serial.println(st.step_pulse_time);
#endif
//timerWrite(stepperDriverTimer, 0);
timerAlarmWrite(stepperDriverTimer, st.step_pulse_time, true);
timerAlarmEnable(stepperDriverTimer);
timerRestart(stepperDriverTimer);
}
void IRAM_ATTR Stepper_Timer_Stop()
{
#ifdef ESP_DEBUG
//Serial.println("Stop");
#endif
timerStop(stepperDriverTimer);
}
void set_stepper_disable(uint8_t isOn) // isOn = true // to disable
{
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { isOn = !isOn; } // Apply pin invert.
digitalWrite(STEPPERS_DISABLE_PIN, isOn );
}

122
Grbl_Esp32/stepper.h Normal file
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/*
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
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 stepper_h
#define stepper_h
#ifndef SEGMENT_BUFFER_SIZE
#define SEGMENT_BUFFER_SIZE 6
#endif
#include "grbl.h"
#include "config.h"
// Some useful constants.
#define DT_SEGMENT (1.0/(ACCELERATION_TICKS_PER_SECOND*60.0)) // min/segment
#define REQ_MM_INCREMENT_SCALAR 1.25
#define RAMP_ACCEL 0
#define RAMP_CRUISE 1
#define RAMP_DECEL 2
#define RAMP_DECEL_OVERRIDE 3
#define PREP_FLAG_RECALCULATE bit(0)
#define PREP_FLAG_HOLD_PARTIAL_BLOCK bit(1)
#define PREP_FLAG_PARKING bit(2)
#define PREP_FLAG_DECEL_OVERRIDE bit(3)
// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
// be considered carefully against how much it over-drives the stepper ISR, the accuracy of the 16-bit
// timer, and the CPU overhead. Level 0 (no AMASS, normal operation) frequency bin starts at the
// Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
// and timer accuracy. Do not alter these settings unless you know what you are doing.
///#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
#define MAX_AMASS_LEVEL 3
// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
// Note ESP32 use F_STEPPER_TIMER rather than the AVR F_CPU
#define AMASS_LEVEL1 (F_STEPPER_TIMER/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
#define AMASS_LEVEL2 (F_STEPPER_TIMER/4000) // Over-drives ISR (x4)
#define AMASS_LEVEL3 (F_STEPPER_TIMER/2000) // Over-drives ISR (x8)
#if MAX_AMASS_LEVEL <= 0
error "AMASS must have 1 or more levels to operate correctly."
#endif
//#endif
// esp32 work around for diable in main loop
extern uint64_t stepper_idle_counter;
extern bool stepper_idle;
// -- Task handles for use in the notifications
void IRAM_ATTR onSteppertimer();
void IRAM_ATTR onStepperOffTimer();
void stepper_init();
// Enable steppers, but cycle does not start unless called by motion control or realtime command.
void st_wake_up();
// Immediately disables steppers
void st_go_idle();
// Generate the step and direction port invert masks.
void st_generate_step_dir_invert_masks();
// Reset the stepper subsystem variables
void st_reset();
// Changes the run state of the step segment buffer to execute the special parking motion.
void st_parking_setup_buffer();
// Restores the step segment buffer to the normal run state after a parking motion.
void st_parking_restore_buffer();
// Reloads step segment buffer. Called continuously by realtime execution system.
void st_prep_buffer();
// Called by planner_recalculate() when the executing block is updated by the new plan.
void st_update_plan_block_parameters();
// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
float st_get_realtime_rate();
// disable (or enable) steppers via STEPPERS_DISABLE_PIN
void set_stepper_disable(uint8_t disable);
void set_step_pin_on(uint8_t axis, uint8_t isOn);
void set_direction_pin_on(uint8_t axis, uint8_t isOn);
void set_stepper_pins_on(uint8_t onMask);
void set_direction_pins_on(uint8_t onMask);
void Stepper_Timer_WritePeriod(uint64_t alarm_val);
void Stepper_Timer_Start();
void Stepper_Timer_Stop();
#endif

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/*
system.cpp - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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"
#include "config.h"
void system_ini() // Renamed from system_init() due to conflict with esp32 files
{
// setup control inputs
pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT);
pinMode(CONTROL_RESET_PIN, INPUT);
pinMode(CONTROL_FEED_HOLD_PIN, INPUT);
pinMode(CONTROL_CYCLE_START_PIN, INPUT);
// attach interrupt to them
attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(CONTROL_RESET_PIN), isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(CONTROL_FEED_HOLD_PIN), isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(CONTROL_CYCLE_START_PIN), isr_control_inputs, CHANGE);
}
void IRAM_ATTR isr_control_inputs()
{
uint8_t pin = system_control_get_state();
if (pin) {
if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET))
{
mc_reset();
}
else if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START))
{
bit_true(sys_rt_exec_state, EXEC_CYCLE_START);
}
else if (bit_istrue(pin,CONTROL_PIN_INDEX_FEED_HOLD))
{
bit_true(sys_rt_exec_state, EXEC_FEED_HOLD);
}
else if (bit_istrue(pin,CONTROL_PIN_INDEX_SAFETY_DOOR))
{
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
}
}
}
// Executes user startup script, if stored.
void system_execute_startup(char *line)
{
uint8_t n;
for (n=0; n < N_STARTUP_LINE; n++) {
if (!(settings_read_startup_line(n, line))) {
line[0] = 0;
report_execute_startup_message(line,STATUS_SETTING_READ_FAIL);
} else {
if (line[0] != 0) {
uint8_t status_code = gc_execute_line(line);
report_execute_startup_message(line,status_code);
}
}
}
}
// Directs and executes one line of formatted input from protocol_process. While mostly
// incoming streaming g-code blocks, this also executes Grbl internal commands, such as
// settings, initiating the homing cycle, and toggling switch states. This differs from
// the realtime command module by being susceptible to when Grbl is ready to execute the
// next line during a cycle, so for switches like block delete, the switch only effects
// the lines that are processed afterward, not necessarily real-time during a cycle,
// since there are motions already stored in the buffer. However, this 'lag' should not
// be an issue, since these commands are not typically used during a cycle.
uint8_t system_execute_line(char *line)
{
uint8_t char_counter = 1;
uint8_t helper_var = 0; // Helper variable
float parameter, value;
switch( line[char_counter] ) {
case 0 : report_grbl_help(); break;
case 'J' : // Jogging
// Execute only if in IDLE or JOG states.
if (sys.state != STATE_IDLE && sys.state != STATE_JOG) { return(STATUS_IDLE_ERROR); }
if(line[2] != '=') { return(STATUS_INVALID_STATEMENT); }
return(gc_execute_line(line)); // NOTE: $J= is ignored inside g-code parser and used to detect jog motions.
break;
case '$': case 'G': case 'C': case 'X':
if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
switch( line[1] ) {
case '$' : // Prints Grbl settings
if ( sys.state & (STATE_CYCLE | STATE_HOLD) ) { return(STATUS_IDLE_ERROR); } // Block during cycle. Takes too long to print.
else { report_grbl_settings(); }
break;
case 'G' : // Prints gcode parser state
// TODO: Move this to realtime commands for GUIs to request this data during suspend-state.
report_gcode_modes();
break;
case 'C' : // Set check g-code mode [IDLE/CHECK]
// Perform reset when toggling off. Check g-code mode should only work if Grbl
// is idle and ready, regardless of alarm locks. This is mainly to keep things
// simple and consistent.
if ( sys.state == STATE_CHECK_MODE ) {
mc_reset();
report_feedback_message(MESSAGE_DISABLED);
} else {
if (sys.state) { return(STATUS_IDLE_ERROR); } // Requires no alarm mode.
sys.state = STATE_CHECK_MODE;
report_feedback_message(MESSAGE_ENABLED);
}
break;
case 'X' : // Disable alarm lock [ALARM]
if (sys.state == STATE_ALARM) {
// Block if safety door is ajar.
if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); }
report_feedback_message(MESSAGE_ALARM_UNLOCK);
sys.state = STATE_IDLE;
// Don't run startup script. Prevents stored moves in startup from causing accidents.
} // Otherwise, no effect.
break;
}
break;
default :
// Block any system command that requires the state as IDLE/ALARM. (i.e. EEPROM, homing)
if ( !(sys.state == STATE_IDLE || sys.state == STATE_ALARM) ) { return(STATUS_IDLE_ERROR); }
switch( line[1] ) {
case '#' : // Print Grbl NGC parameters
if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
else { report_ngc_parameters(); }
break;
case 'H' : // Perform homing cycle [IDLE/ALARM]
if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
sys.state = STATE_HOMING; // Set system state variable
if (line[2] == 0) {
mc_homing_cycle(HOMING_CYCLE_ALL);
#ifdef HOMING_SINGLE_AXIS_COMMANDS
} else if (line[3] == 0) {
switch (line[2]) {
case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
default: return(STATUS_INVALID_STATEMENT);
}
#endif
} else { return(STATUS_INVALID_STATEMENT); }
if (!sys.abort) { // Execute startup scripts after successful homing.
sys.state = STATE_IDLE; // Set to IDLE when complete.
st_go_idle(); // Set steppers to the settings idle state before returning.
if (line[2] == 0) { system_execute_startup(line); }
}
break;
case 'S' : // Puts Grbl to sleep [IDLE/ALARM]
if ((line[2] != 'L') || (line[3] != 'P') || (line[4] != 0)) { return(STATUS_INVALID_STATEMENT); }
system_set_exec_state_flag(EXEC_SLEEP); // Set to execute sleep mode immediately
break;
case 'I' : // Print or store build info. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) {
settings_read_build_info(line);
report_build_info(line);
#ifdef ENABLE_BUILD_INFO_WRITE_COMMAND
} else { // Store startup line [IDLE/ALARM]
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
helper_var = char_counter; // Set helper variable as counter to start of user info line.
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
settings_store_build_info(line);
#endif
}
break;
case 'R' : // Restore defaults [IDLE/ALARM]
if ((line[2] != 'S') || (line[3] != 'T') || (line[4] != '=') || (line[6] != 0)) { return(STATUS_INVALID_STATEMENT); }
switch (line[5]) {
#ifdef ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS
case '$': settings_restore(SETTINGS_RESTORE_DEFAULTS); break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS
case '#': settings_restore(SETTINGS_RESTORE_PARAMETERS); break;
#endif
#ifdef ENABLE_RESTORE_EEPROM_WIPE_ALL
case '*': settings_restore(SETTINGS_RESTORE_ALL); break;
#endif
default: return(STATUS_INVALID_STATEMENT);
}
report_feedback_message(MESSAGE_RESTORE_DEFAULTS);
mc_reset(); // Force reset to ensure settings are initialized correctly.
break;
case 'N' : // Startup lines. [IDLE/ALARM]
if ( line[++char_counter] == 0 ) { // Print startup lines
for (helper_var=0; helper_var < N_STARTUP_LINE; helper_var++) {
if (!(settings_read_startup_line(helper_var, line))) {
report_status_message(STATUS_SETTING_READ_FAIL);
} else {
report_startup_line(helper_var,line);
}
}
break;
} else { // Store startup line [IDLE Only] Prevents motion during ALARM.
if (sys.state != STATE_IDLE) { return(STATUS_IDLE_ERROR); } // Store only when idle.
helper_var = true; // Set helper_var to flag storing method.
// No break. Continues into default: to read remaining command characters.
}
default : // Storing setting methods [IDLE/ALARM]
if(!read_float(line, &char_counter, &parameter)) { return(STATUS_BAD_NUMBER_FORMAT); }
if(line[char_counter++] != '=') { return(STATUS_INVALID_STATEMENT); }
if (helper_var) { // Store startup line
// Prepare sending gcode block to gcode parser by shifting all characters
helper_var = char_counter; // Set helper variable as counter to start of gcode block
do {
line[char_counter-helper_var] = line[char_counter];
} while (line[char_counter++] != 0);
// Execute gcode block to ensure block is valid.
helper_var = gc_execute_line(line); // Set helper_var to returned status code.
if (helper_var) { return(helper_var); }
else {
helper_var = trunc(parameter); // Set helper_var to int value of parameter
settings_store_startup_line(helper_var,line);
}
} else { // Store global setting.
if(!read_float(line, &char_counter, &value)) { return(STATUS_BAD_NUMBER_FORMAT); }
if((line[char_counter] != 0) || (parameter > 255)) { return(STATUS_INVALID_STATEMENT); }
return(settings_store_global_setting((uint8_t)parameter, value));
}
}
}
return(STATUS_OK); // If '$' command makes it to here, then everything's ok.
}
// Returns if safety door is ajar(T) or closed(F), based on pin state.
uint8_t system_check_safety_door_ajar()
{
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
return(system_control_get_state() & CONTROL_PIN_INDEX_SAFETY_DOOR);
#else
return(false); // Input pin not enabled, so just return that it's closed.
#endif
}
// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask) {
// TODO uint8_t sreg = SREG;
// TODO cli();
sys_rt_exec_state |= (mask);
// TODO SREG = sreg;
}
void system_clear_exec_state_flag(uint8_t mask) {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_state &= ~(mask);
//SREG = sreg;
}
void system_set_exec_alarm(uint8_t code) {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_alarm = code;
//SREG = sreg;
}
void system_clear_exec_alarm() {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_alarm = 0;
//SREG = sreg;
}
void system_set_exec_motion_override_flag(uint8_t mask) {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_motion_override |= (mask);
//SREG = sreg;
}
void system_set_exec_accessory_override_flag(uint8_t mask) {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_accessory_override |= (mask);
//SREG = sreg;
}
void system_clear_exec_motion_overrides() {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_motion_override = 0;
//SREG = sreg;
}
void system_clear_exec_accessory_overrides() {
//uint8_t sreg = SREG;
//cli();
sys_rt_exec_accessory_override = 0;
//SREG = sreg;
}
void system_flag_wco_change()
{
#ifdef FORCE_BUFFER_SYNC_DURING_WCO_CHANGE
protocol_buffer_synchronize();
#endif
sys.report_wco_counter = 0;
}
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
// NOTE: If motor steps and machine position are not in the same coordinate frame, this function
// serves as a central place to compute the transformation.
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
{
float pos;
#ifdef COREXY
if (idx==X_AXIS) {
pos = (float)system_convert_corexy_to_x_axis_steps(steps) / settings.steps_per_mm[idx];
} else if (idx==Y_AXIS) {
pos = (float)system_convert_corexy_to_y_axis_steps(steps) / settings.steps_per_mm[idx];
} else {
pos = steps[idx]/settings.steps_per_mm[idx];
}
#else
pos = steps[idx]/settings.steps_per_mm[idx];
#endif
return(pos);
}
void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
{
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
position[idx] = system_convert_axis_steps_to_mpos(steps, idx);
}
return;
}
// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target)
{
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
#ifdef HOMING_FORCE_SET_ORIGIN
// When homing forced set origin is enabled, soft limits checks need to account for directionality.
// NOTE: max_travel is stored as negative
if (bit_istrue(settings.homing_dir_mask,bit(idx))) {
if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
} else {
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#endif
}
return(false);
}
// Returns control pin state as a uint8 bitfield. Each bit indicates the input pin state, where
// triggered is 1 and not triggered is 0. Invert mask is applied. Bitfield organization is
// defined by the CONTROL_PIN_INDEX in the header file.
uint8_t system_control_get_state()
{
uint8_t control_state = 0;
if (digitalRead(CONTROL_SAFETY_DOOR_PIN)) { control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR; }
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; }
#ifdef INVERT_CONTROL_PIN_MASK
control_state ^= INVERT_CONTROL_PIN_MASK;
#endif
return(control_state);
}
// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t get_limit_pin_mask(uint8_t axis_idx)
{
if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
return((1<<Z_LIMIT_BIT));
}

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/*
system.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
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 system_h
#define system_h
#include "grbl.h"
#include "tdef.h"
// Define global system variables
typedef struct {
uint8_t state; // Tracks the current system state of Grbl.
uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
uint8_t suspend; // System suspend bitflag variable that manages holds, cancels, and safety door.
uint8_t soft_limit; // Tracks soft limit errors for the state machine. (boolean)
uint8_t step_control; // Governs the step segment generator depending on system state.
uint8_t probe_succeeded; // Tracks if last probing cycle was successful.
uint8_t homing_axis_lock; // Locks axes when limits engage. Used as an axis motion mask in the stepper ISR.
uint8_t f_override; // Feed rate override value in percent
uint8_t r_override; // Rapids override value in percent
uint8_t spindle_speed_ovr; // Spindle speed value in percent
uint8_t spindle_stop_ovr; // Tracks spindle stop override states
uint8_t report_ovr_counter; // Tracks when to add override data to status reports.
uint8_t report_wco_counter; // Tracks when to add work coordinate offset data to status reports.
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL
uint8_t override_ctrl; // Tracks override control states.
#endif
float spindle_speed;
} system_t;
extern system_t sys;
// Define system executor bit map. Used internally by realtime protocol as realtime command flags,
// which notifies the main program to execute the specified realtime command asynchronously.
// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
// flags are always false, so the realtime protocol only needs to check for a non-zero value to
// know when there is a realtime command to execute.
#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
#define EXEC_CYCLE_START bit(1) // bitmask 00000010
#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
#define EXEC_RESET bit(4) // bitmask 00010000
#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
#define EXEC_MOTION_CANCEL bit(6) // bitmask 01000000
#define EXEC_SLEEP bit(7) // bitmask 10000000
// Alarm executor codes. Valid values (1-255). Zero is reserved.
#define EXEC_ALARM_HARD_LIMIT 1
#define EXEC_ALARM_SOFT_LIMIT 2
#define EXEC_ALARM_ABORT_CYCLE 3
#define EXEC_ALARM_PROBE_FAIL_INITIAL 4
#define EXEC_ALARM_PROBE_FAIL_CONTACT 5
#define EXEC_ALARM_HOMING_FAIL_RESET 6
#define EXEC_ALARM_HOMING_FAIL_DOOR 7
#define EXEC_ALARM_HOMING_FAIL_PULLOFF 8
#define EXEC_ALARM_HOMING_FAIL_APPROACH 9
// Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
// Spindle/coolant and feed/rapids are separated into two controlling flag variables.
#define EXEC_FEED_OVR_RESET bit(0)
#define EXEC_FEED_OVR_COARSE_PLUS bit(1)
#define EXEC_FEED_OVR_COARSE_MINUS bit(2)
#define EXEC_FEED_OVR_FINE_PLUS bit(3)
#define EXEC_FEED_OVR_FINE_MINUS bit(4)
#define EXEC_RAPID_OVR_RESET bit(5)
#define EXEC_RAPID_OVR_MEDIUM bit(6)
#define EXEC_RAPID_OVR_LOW bit(7)
// #define EXEC_RAPID_OVR_EXTRA_LOW bit(*) // *NOT SUPPORTED*
#define EXEC_SPINDLE_OVR_RESET bit(0)
#define EXEC_SPINDLE_OVR_COARSE_PLUS bit(1)
#define EXEC_SPINDLE_OVR_COARSE_MINUS bit(2)
#define EXEC_SPINDLE_OVR_FINE_PLUS bit(3)
#define EXEC_SPINDLE_OVR_FINE_MINUS bit(4)
#define EXEC_SPINDLE_OVR_STOP bit(5)
#define EXEC_COOLANT_FLOOD_OVR_TOGGLE bit(6)
#define EXEC_COOLANT_MIST_OVR_TOGGLE bit(7)
// Define system state bit map. The state variable primarily tracks the individual functions
// of Grbl to manage each without overlapping. It is also used as a messaging flag for
// critical events.
#define STATE_IDLE 0 // Must be zero. No flags.
#define STATE_ALARM bit(0) // In alarm state. Locks out all g-code processes. Allows settings access.
#define STATE_CHECK_MODE bit(1) // G-code check mode. Locks out planner and motion only.
#define STATE_HOMING bit(2) // Performing homing cycle
#define STATE_CYCLE bit(3) // Cycle is running or motions are being executed.
#define STATE_HOLD bit(4) // Active feed hold
#define STATE_JOG bit(5) // Jogging mode.
#define STATE_SAFETY_DOOR bit(6) // Safety door is ajar. Feed holds and de-energizes system.
#define STATE_SLEEP bit(7) // Sleep state.
// Define system suspend flags. Used in various ways to manage suspend states and procedures.
#define SUSPEND_DISABLE 0 // Must be zero.
#define SUSPEND_HOLD_COMPLETE bit(0) // Indicates initial feed hold is complete.
#define SUSPEND_RESTART_RETRACT bit(1) // Flag to indicate a retract from a restore parking motion.
#define SUSPEND_RETRACT_COMPLETE bit(2) // (Safety door only) Indicates retraction and de-energizing is complete.
#define SUSPEND_INITIATE_RESTORE bit(3) // (Safety door only) Flag to initiate resume procedures from a cycle start.
#define SUSPEND_RESTORE_COMPLETE bit(4) // (Safety door only) Indicates ready to resume normal operation.
#define SUSPEND_SAFETY_DOOR_AJAR bit(5) // Tracks safety door state for resuming.
#define SUSPEND_MOTION_CANCEL bit(6) // Indicates a canceled resume motion. Currently used by probing routine.
#define SUSPEND_JOG_CANCEL bit(7) // Indicates a jog cancel in process and to reset buffers when complete.
// Define step segment generator state flags.
#define STEP_CONTROL_NORMAL_OP 0 // Must be zero.
#define STEP_CONTROL_END_MOTION bit(0)
#define STEP_CONTROL_EXECUTE_HOLD bit(1)
#define STEP_CONTROL_EXECUTE_SYS_MOTION bit(2)
#define STEP_CONTROL_UPDATE_SPINDLE_PWM bit(3)
// Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
//#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
#define N_CONTROL_PIN 4
#define CONTROL_PIN_INDEX_SAFETY_DOOR bit(0)
#define CONTROL_PIN_INDEX_RESET bit(1)
#define CONTROL_PIN_INDEX_FEED_HOLD bit(2)
#define CONTROL_PIN_INDEX_CYCLE_START bit(3)
//#else
//#define N_CONTROL_PIN 3
//#define CONTROL_PIN_INDEX_RESET bit(0)
//#define CONTROL_PIN_INDEX_FEED_HOLD bit(1)
//#define CONTROL_PIN_INDEX_CYCLE_START bit(2)
//#endif
// Define spindle stop override control states.
#define SPINDLE_STOP_OVR_DISABLED 0 // Must be zero.
#define SPINDLE_STOP_OVR_ENABLED bit(0)
#define SPINDLE_STOP_OVR_INITIATE bit(1)
#define SPINDLE_STOP_OVR_RESTORE bit(2)
#define SPINDLE_STOP_OVR_RESTORE_CYCLE bit(3)
// NOTE: These position variables may need to be declared as volatiles, if problems arise.
extern int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
extern int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
extern volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
extern volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
#ifdef DEBUG
#define EXEC_DEBUG_REPORT bit(0)
extern volatile uint8_t sys_rt_exec_debug;
#endif
void system_ini(); // Renamed from system_init() due to conflict with esp32 files
// Returns bitfield of control pin states, organized by CONTROL_PIN_INDEX. (1=triggered, 0=not triggered).
uint8_t system_control_get_state();
// Returns if safety door is ajar(T) or closed(F), based on pin state.
uint8_t system_check_safety_door_ajar();
void isr_control_inputs();
// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask);
void system_clear_exec_state_flag(uint8_t mask);
void system_set_exec_alarm(uint8_t code);
void system_clear_exec_alarm();
void system_set_exec_motion_override_flag(uint8_t mask);
void system_set_exec_accessory_override_flag(uint8_t mask);
void system_clear_exec_motion_overrides();
void system_clear_exec_accessory_overrides();
// Execute the startup script lines stored in EEPROM upon initialization
void system_execute_startup(char *line);
uint8_t system_execute_line(char *line);
void system_flag_wco_change();
// Returns machine position of axis 'idx'. Must be sent a 'step' array.
float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx);
// Updates a machine 'position' array based on the 'step' array sent.
void system_convert_array_steps_to_mpos(float *position, int32_t *steps);
// Checks and reports if target array exceeds machine travel limits.
uint8_t system_check_travel_limits(float *target);
uint8_t get_limit_pin_mask(uint8_t axis_idx);
// Special handlers for setting and clearing Grbl's real-time execution flags.
void system_set_exec_state_flag(uint8_t mask);
void system_clear_exec_state_flag(uint8_t mask);
void system_set_exec_alarm(uint8_t code);
void system_clear_exec_alarm();
void system_set_exec_motion_override_flag(uint8_t mask);
void system_set_exec_accessory_override_flag(uint8_t mask);
void system_clear_exec_motion_overrides();
void system_clear_exec_accessory_overrides();
#endif

7
Grbl_Esp32/tdef.h Normal file
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@@ -0,0 +1,7 @@
#ifndef tdef_h
#define tdef_h
#include "grbl.h"
#endif

674
LICENSE Normal file
View File

@@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
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How to Apply These Terms to Your New Programs
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This program 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.
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

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# Grbl (CNC Controller) For ESP32
![ESP32](http://www.buildlog.net/blog/wp-content/uploads/2018/07/20180718_175943.jpg)
### Status: Functional Beta (See issues below)
### Project Overview
This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32 is potentially a great target for Grbl for the following reasons
- **Faster** - Faster step rates and additional features could be added
- **Lower Cost** -
- **Small footprint** -
- **More Flash and RAM** - A larger planner buffer could be used and more features could be added.
- **I/O** - It has just about the same number of pins as an Arduino UNO, the original target for Grbl
- **Peripherals** - It has more timers and advanced features than an UNO. These can also be mapped to pins more flexibly.
- **Connectivity** - Bluetooth and WiFi built in.
### Issues / Changes
1. **Startup Text** - Can we get rid of the ESP32 startup text? It might annoy some senders. It is probably possible using sdkconfig.h. but that might be difficult for the novice Arduino IDE user.
2. **Direction pin delay** - Not implemented yet. Some drivers require a couple of microseconds after the direction pin is set before you start the step pulse. The original plan was to [use the RMT feature](http://www.buildlog.net/blog/?s=rmt), but that has issues when trying to use it in an Interrupt.
3. **Step pulse off timing** - I am not getting accurate turn off times. It never seems to change from about 2-3uSeconds. It works well enough, but it should be user adjustable via $0 setting.
4. **Step Idle Delay ($1)** - st_go_idle() is called from the interrupt, so there is no good way to put the delay there like AVR Grbl. I put the "delay" in the main protocol loop. It calls esp_timer_get_time() each time through to see if the time has passed.
5. **Limit Switch debouncing** is not supported yet. It does not seem to be a problem on my test rigs. It might be better to us an R/C filter for now.
### Using It
The code should be compiled using the latest Arduino IDE. [Follow instructions here](https://github.com/espressif/arduino-esp32) on how to setup ESP32 in the IDE. The choice was made to use the Arduino IDE over the ESP-IDF to make the code a little more accessible to novices trying to compile the code.
I use the NodeMCU 32S version of the ESP32. I suggest starting with that if you don't have hardware yet.
For basic instructions on using Grbl use the [gnea/grbl wiki](https://github.com/gnea/grbl/wiki). That is the Arduino version of Grbl, so keep that in mind regarding hardware setup. If you have questions ask via the GitHub issue system for this project.
### TODO List
- RMT. The RMT feature is a ideal for direction and step features, but apparently has issues working in interrupts. See [this forum post](https://www.esp32.com/viewtopic.php?f=19&t=6397&hilit=grbl) and [this blog post](http://www.buildlog.net/blog/?s=rmt). It would be great to get it working.
- Add spindle enable and direction.
- Bluetooth - Add it so phones and PCs can use it to stream gcode. It would be great if it looks like a bluetooth serial port, that helps with compatibility with existing apps. ([Android Grbl Controller](https://play.google.com/store/apps/details?id=in.co.gorest.grblcontroller&hl=en_US) is best!)
### Credits
The original [Grbl](https://github.com/gnea/grbl) is an awesome project by Sungeon (Sonny) Jeon. I have known him for many years and he is always very helpful. I have used Grbl on many projects. I only ported because of the limitation of the processors it was designed for. The core engine design is virtually unchanged.
### Contribute
I would love to have help with this project. There are many things that need to be improved and added, especially BlueTooth and/or WiFi. If you need hardware to test with, I might be able to help with a test PCB.
### FAQ
Start asking questions...I'll put the frequent ones here.

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"Alarm Code in v1.1+"," Alarm Message in v1.0-"," Alarm Description"
"1","Hard limit","Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended."
"2","Soft limit","Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked."
"3","Abort during cycle","Reset while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended."
"4","Probe fail","Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered."
"5","Probe fail","Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4."
"6","Homing fail","Homing fail. The active homing cycle was reset."
"7","Homing fail","Homing fail. Safety door was opened during homing cycle."
"8","Homing fail","Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring."
"9","Homing fail","Homing fail. Could not find limit switch within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring."
1 Alarm Code in v1.1+ Alarm Message in v1.0- Alarm Description
2 1 Hard limit Hard limit has been triggered. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
3 2 Soft limit Soft limit alarm. G-code motion target exceeds machine travel. Machine position retained. Alarm may be safely unlocked.
4 3 Abort during cycle Reset while in motion. Machine position is likely lost due to sudden halt. Re-homing is highly recommended.
5 4 Probe fail Probe fail. Probe is not in the expected initial state before starting probe cycle when G38.2 and G38.3 is not triggered and G38.4 and G38.5 is triggered.
6 5 Probe fail Probe fail. Probe did not contact the workpiece within the programmed travel for G38.2 and G38.4.
7 6 Homing fail Homing fail. The active homing cycle was reset.
8 7 Homing fail Homing fail. Safety door was opened during homing cycle.
9 8 Homing fail Homing fail. Pull off travel failed to clear limit switch. Try increasing pull-off setting or check wiring.
10 9 Homing fail Homing fail. Could not find limit switch within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring.

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OPT: Code, Build-Option Description,State
V,Variable spindle,Enabled
N,Line numbers,Enabled
M,Mist coolant M7,Enabled
C,CoreXY,Enabled
P,Parking motion,Enabled
Z,Homing force origin,Enabled
H,Homing single axis commands,Enabled
T,Two limit switches on axis,Enabled
A,Allow feed rate overrides in probe cycles,Enabled
D,Use spindle direction as enable pin,Enabled
0,Spindle enable off when speed is zero,Enabled
S,Software limit pin debouncing,Enabled
R,Parking override control,Enabled
+,Safety door input pin,Enabled
*,Restore all EEPROM command,Disabled
$,Restore EEPROM `$` settings command,Disabled
#,Restore EEPROM parameter data command,Disabled
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
1 OPT: Code Build-Option Description State
2 V Variable spindle Enabled
3 N Line numbers Enabled
4 M Mist coolant M7 Enabled
5 C CoreXY Enabled
6 P Parking motion Enabled
7 Z Homing force origin Enabled
8 H Homing single axis commands Enabled
9 T Two limit switches on axis Enabled
10 A Allow feed rate overrides in probe cycles Enabled
11 D Use spindle direction as enable pin Enabled
12 0 Spindle enable off when speed is zero Enabled
13 S Software limit pin debouncing Enabled
14 R Parking override control Enabled
15 + Safety door input pin Enabled
16 * Restore all EEPROM command Disabled
17 $ Restore EEPROM `$` settings command Disabled
18 # Restore EEPROM parameter data command Disabled
19 I Build info write user string command Disabled
20 E Force sync upon EEPROM write Disabled
21 W Force sync upon work coordinate offset change Disabled
22 L Homing initialization auto-lock Disabled

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"Error Code in v1.1+","Error Message in v1.0-","Error Description"
"1","Expected command letter","G-code words consist of a letter and a value. Letter was not found."
"2","Bad number format","Missing the expected G-code word value or numeric value format is not valid."
"3","Invalid statement","Grbl '$' system command was not recognized or supported."
"4","Value < 0","Negative value received for an expected positive value."
"5","Setting disabled","Homing cycle failure. Homing is not enabled via settings."
"6","Value < 3 usec","Minimum step pulse time must be greater than 3usec."
"7","EEPROM read fail. Using defaults","An EEPROM read failed. Auto-restoring affected EEPROM to default values."
"8","Not idle","Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job."
"9","G-code lock","G-code commands are locked out during alarm or jog state."
"10","Homing not enabled","Soft limits cannot be enabled without homing also enabled."
"11","Line overflow","Max characters per line exceeded. Received command line was not executed."
"12","Step rate > 30kHz","Grbl '$' setting value cause the step rate to exceed the maximum supported."
"13","Check Door","Safety door detected as opened and door state initiated."
"14","Line length exceeded","Build info or startup line exceeded EEPROM line length limit. Line not stored."
"15","Travel exceeded","Jog target exceeds machine travel. Jog command has been ignored."
"16","Invalid jog command","Jog command has no '=' or contains prohibited g-code."
"17","Setting disabled","Laser mode requires PWM output."
"20","Unsupported command","Unsupported or invalid g-code command found in block."
"21","Modal group violation","More than one g-code command from same modal group found in block."
"22","Undefined feed rate","Feed rate has not yet been set or is undefined."
"23","Invalid gcode ID:23","G-code command in block requires an integer value."
"24","Invalid gcode ID:24","More than one g-code command that requires axis words found in block."
"25","Invalid gcode ID:25","Repeated g-code word found in block."
"26","Invalid gcode ID:26","No axis words found in block for g-code command or current modal state which requires them."
"27","Invalid gcode ID:27","Line number value is invalid."
"28","Invalid gcode ID:28","G-code command is missing a required value word."
"29","Invalid gcode ID:29","G59.x work coordinate systems are not supported."
"30","Invalid gcode ID:30","G53 only allowed with G0 and G1 motion modes."
"31","Invalid gcode ID:31","Axis words found in block when no command or current modal state uses them."
"32","Invalid gcode ID:32","G2 and G3 arcs require at least one in-plane axis word."
"33","Invalid gcode ID:33","Motion command target is invalid."
"34","Invalid gcode ID:34","Arc radius value is invalid."
"35","Invalid gcode ID:35","G2 and G3 arcs require at least one in-plane offset word."
"36","Invalid gcode ID:36","Unused value words found in block."
"37","Invalid gcode ID:37","G43.1 dynamic tool length offset is not assigned to configured tool length axis."
"38","Invalid gcode ID:38","Tool number greater than max supported value."
1 Error Code in v1.1+ Error Message in v1.0- Error Description
2 1 Expected command letter G-code words consist of a letter and a value. Letter was not found.
3 2 Bad number format Missing the expected G-code word value or numeric value format is not valid.
4 3 Invalid statement Grbl '$' system command was not recognized or supported.
5 4 Value < 0 Negative value received for an expected positive value.
6 5 Setting disabled Homing cycle failure. Homing is not enabled via settings.
7 6 Value < 3 usec Minimum step pulse time must be greater than 3usec.
8 7 EEPROM read fail. Using defaults An EEPROM read failed. Auto-restoring affected EEPROM to default values.
9 8 Not idle Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
10 9 G-code lock G-code commands are locked out during alarm or jog state.
11 10 Homing not enabled Soft limits cannot be enabled without homing also enabled.
12 11 Line overflow Max characters per line exceeded. Received command line was not executed.
13 12 Step rate > 30kHz Grbl '$' setting value cause the step rate to exceed the maximum supported.
14 13 Check Door Safety door detected as opened and door state initiated.
15 14 Line length exceeded Build info or startup line exceeded EEPROM line length limit. Line not stored.
16 15 Travel exceeded Jog target exceeds machine travel. Jog command has been ignored.
17 16 Invalid jog command Jog command has no '=' or contains prohibited g-code.
18 17 Setting disabled Laser mode requires PWM output.
19 20 Unsupported command Unsupported or invalid g-code command found in block.
20 21 Modal group violation More than one g-code command from same modal group found in block.
21 22 Undefined feed rate Feed rate has not yet been set or is undefined.
22 23 Invalid gcode ID:23 G-code command in block requires an integer value.
23 24 Invalid gcode ID:24 More than one g-code command that requires axis words found in block.
24 25 Invalid gcode ID:25 Repeated g-code word found in block.
25 26 Invalid gcode ID:26 No axis words found in block for g-code command or current modal state which requires them.
26 27 Invalid gcode ID:27 Line number value is invalid.
27 28 Invalid gcode ID:28 G-code command is missing a required value word.
28 29 Invalid gcode ID:29 G59.x work coordinate systems are not supported.
29 30 Invalid gcode ID:30 G53 only allowed with G0 and G1 motion modes.
30 31 Invalid gcode ID:31 Axis words found in block when no command or current modal state uses them.
31 32 Invalid gcode ID:32 G2 and G3 arcs require at least one in-plane axis word.
32 33 Invalid gcode ID:33 Motion command target is invalid.
33 34 Invalid gcode ID:34 Arc radius value is invalid.
34 35 Invalid gcode ID:35 G2 and G3 arcs require at least one in-plane offset word.
35 36 Invalid gcode ID:36 Unused value words found in block.
36 37 Invalid gcode ID:37 G43.1 dynamic tool length offset is not assigned to configured tool length axis.
37 38 Invalid gcode ID:38 Tool number greater than max supported value.

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"$-Code"," Setting"," Units"," Setting Description"
"0","Step pulse time","microseconds","Sets time length per step. Minimum 3usec."
"1","Step idle delay","milliseconds","Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled with no delay."
"2","Step pulse invert","mask","Inverts the step signal. Set axis bit to invert (00000ZYX)."
"3","Step direction invert","mask","Inverts the direction signal. Set axis bit to invert (00000ZYX)."
"4","Invert step enable pin","boolean","Inverts the stepper driver enable pin signal."
"5","Invert limit pins","boolean","Inverts the all of the limit input pins."
"6","Invert probe pin","boolean","Inverts the probe input pin signal."
"10","Status report options","mask","Alters data included in status reports."
"11","Junction deviation","millimeters","Sets how fast Grbl travels through consecutive motions. Lower value slows it down."
"12","Arc tolerance","millimeters","Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance."
"13","Report in inches","boolean","Enables inch units when returning any position and rate value that is not a settings value."
"20","Soft limits enable","boolean","Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing."
"21","Hard limits enable","boolean","Enables hard limits. Immediately halts motion and throws an alarm when switch is triggered."
"22","Homing cycle enable","boolean","Enables homing cycle. Requires limit switches on all axes."
"23","Homing direction invert","mask","Homing searches for a switch in the positive direction. Set axis bit (00000ZYX) to search in negative direction."
"24","Homing locate feed rate","mm/min","Feed rate to slowly engage limit switch to determine its location accurately."
"25","Homing search seek rate","mm/min","Seek rate to quickly find the limit switch before the slower locating phase."
"26","Homing switch debounce delay","milliseconds","Sets a short delay between phases of homing cycle to let a switch debounce."
"27","Homing switch pull-off distance","millimeters","Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared."
"30","Maximum spindle speed","RPM","Maximum spindle speed. Sets PWM to 100% duty cycle."
"31","Minimum spindle speed","RPM","Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle."
"32","Laser-mode enable","boolean","Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed."
"100","X-axis travel resolution","step/mm","X-axis travel resolution in steps per millimeter."
"101","Y-axis travel resolution","step/mm","Y-axis travel resolution in steps per millimeter."
"102","Z-axis travel resolution","step/mm","Z-axis travel resolution in steps per millimeter."
"110","X-axis maximum rate","mm/min","X-axis maximum rate. Used as G0 rapid rate."
"111","Y-axis maximum rate","mm/min","Y-axis maximum rate. Used as G0 rapid rate."
"112","Z-axis maximum rate","mm/min","Z-axis maximum rate. Used as G0 rapid rate."
"120","X-axis acceleration","mm/sec^2","X-axis acceleration. Used for motion planning to not exceed motor torque and lose steps."
"121","Y-axis acceleration","mm/sec^2","Y-axis acceleration. Used for motion planning to not exceed motor torque and lose steps."
"122","Z-axis acceleration","mm/sec^2","Z-axis acceleration. Used for motion planning to not exceed motor torque and lose steps."
"130","X-axis maximum travel","millimeters","Maximum X-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances."
"131","Y-axis maximum travel","millimeters","Maximum Y-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances."
"132","Z-axis maximum travel","millimeters","Maximum Z-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances."
1 $-Code Setting Units Setting Description
2 0 Step pulse time microseconds Sets time length per step. Minimum 3usec.
3 1 Step idle delay milliseconds Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled with no delay.
4 2 Step pulse invert mask Inverts the step signal. Set axis bit to invert (00000ZYX).
5 3 Step direction invert mask Inverts the direction signal. Set axis bit to invert (00000ZYX).
6 4 Invert step enable pin boolean Inverts the stepper driver enable pin signal.
7 5 Invert limit pins boolean Inverts the all of the limit input pins.
8 6 Invert probe pin boolean Inverts the probe input pin signal.
9 10 Status report options mask Alters data included in status reports.
10 11 Junction deviation millimeters Sets how fast Grbl travels through consecutive motions. Lower value slows it down.
11 12 Arc tolerance millimeters Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance.
12 13 Report in inches boolean Enables inch units when returning any position and rate value that is not a settings value.
13 20 Soft limits enable boolean Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing.
14 21 Hard limits enable boolean Enables hard limits. Immediately halts motion and throws an alarm when switch is triggered.
15 22 Homing cycle enable boolean Enables homing cycle. Requires limit switches on all axes.
16 23 Homing direction invert mask Homing searches for a switch in the positive direction. Set axis bit (00000ZYX) to search in negative direction.
17 24 Homing locate feed rate mm/min Feed rate to slowly engage limit switch to determine its location accurately.
18 25 Homing search seek rate mm/min Seek rate to quickly find the limit switch before the slower locating phase.
19 26 Homing switch debounce delay milliseconds Sets a short delay between phases of homing cycle to let a switch debounce.
20 27 Homing switch pull-off distance millimeters Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared.
21 30 Maximum spindle speed RPM Maximum spindle speed. Sets PWM to 100% duty cycle.
22 31 Minimum spindle speed RPM Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle.
23 32 Laser-mode enable boolean Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed.
24 100 X-axis travel resolution step/mm X-axis travel resolution in steps per millimeter.
25 101 Y-axis travel resolution step/mm Y-axis travel resolution in steps per millimeter.
26 102 Z-axis travel resolution step/mm Z-axis travel resolution in steps per millimeter.
27 110 X-axis maximum rate mm/min X-axis maximum rate. Used as G0 rapid rate.
28 111 Y-axis maximum rate mm/min Y-axis maximum rate. Used as G0 rapid rate.
29 112 Z-axis maximum rate mm/min Z-axis maximum rate. Used as G0 rapid rate.
30 120 X-axis acceleration mm/sec^2 X-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
31 121 Y-axis acceleration mm/sec^2 Y-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
32 122 Z-axis acceleration mm/sec^2 Z-axis acceleration. Used for motion planning to not exceed motor torque and lose steps.
33 130 X-axis maximum travel millimeters Maximum X-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
34 131 Y-axis maximum travel millimeters Maximum Y-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.
35 132 Z-axis maximum travel millimeters Maximum Z-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances.