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Repository: robottini/grbl-servo
Branch: master
Commit: 1e7a63ab05cb
Files: 52
Total size: 383.2 KB
Directory structure:
gitextract_2d22mjbq/
├── README.md
├── config.h
├── coolant_control.c
├── coolant_control.h
├── cpu_map/
│ ├── cpu_map_atmega2560.h
│ └── cpu_map_atmega328p.h
├── cpu_map.h
├── defaults/
│ ├── defaults_generic.h
│ ├── defaults_oxcnc.h
│ ├── defaults_shapeoko.h
│ ├── defaults_shapeoko2.h
│ ├── defaults_shapeoko3.h
│ ├── defaults_sherline.h
│ ├── defaults_simulator.h
│ ├── defaults_x_carve_1000mm.h
│ ├── defaults_x_carve_500mm.h
│ └── defaults_zen_toolworks_7x7.h
├── defaults.h
├── eeprom.c
├── eeprom.h
├── examples/
│ └── grblUpload/
│ ├── grblUpload.ino
│ └── license.txt
├── gcode.c
├── gcode.h
├── grbl.h
├── limits.c
├── limits.h
├── main.c
├── motion_control.c
├── motion_control.h
├── nuts_bolts.c
├── nuts_bolts.h
├── planner.c
├── planner.h
├── print.c
├── print.h
├── probe.c
├── probe.h
├── protocol.c
├── protocol.h
├── report.c
├── report.h
├── serial.c
├── serial.h
├── settings.c
├── settings.h
├── spindle_control.c
├── spindle_control.h
├── stepper.c
├── stepper.h
├── system.c
└── system.h
================================================
FILE CONTENTS
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================================================
FILE: README.md
================================================
# grbl-servo
grbl 0.9i with Servo motor support
GRBL 0.9i with servo motor support.
Use the PIN D11 to drive the servo.
Use the commands M03 Sxxx (xxx between 0 and 255) to rotate the servo between 0-180.
The command M05 turn the servo to zero degrees.
you can change the pulse duration in the file spindle_control.c:
define RC_SERVO_SHORT 15 // Timer ticks for 0.6ms pulse duration (9 for 0.6ms)
define RC_SERVO_LONG 32 // Timer ticks for 2.5 ms pulse duration (39 for 2.5ms)
define RC_SERVO_INVERT 1 // Uncomment to invert servo direction
If you want to have the servo working from 0 --> 180 degrees change RC_SERVO_SHORT and put 9, RC_SERVO_LONG and put 39
If you want invert the servo direction uncomment the line above.
I tested the code very well with 328p (Arduino Uno, Duemilanove etv), not with 2560 (Arduino Mega), but I think it would work well also with the Mega.
-------------------------------------------------------------------
The link for GRBL vanilla is: http://github.com/grbl/grbl
Grbl is a no-compromise, high performance, low cost alternative to parallel-port-based motion control for CNC milling. It will run on a vanilla Arduino (Duemillanove/Uno) as long as it sports an Atmega 328.
The controller is written in highly optimized C utilizing every clever feature of the AVR-chips to achieve precise timing and asynchronous operation. It is able to maintain up to 30kHz of stable, jitter free control pulses.
It accepts standards-compliant g-code and has been tested with the output of several CAM tools with no problems. Arcs, circles and helical motion are fully supported, as well as, all other primary g-code commands. Macro functions, variables, and most canned cycles are not supported, but we think GUIs can do a much better job at translating them into straight g-code anyhow.
Grbl includes full acceleration management with look ahead. That means the controller will look up to 18 motions into the future and plan its velocities ahead to deliver smooth acceleration and jerk-free cornering.
Licensing: Grbl is free software, released under the GPLv3 license.
For more information and help, check out our Wiki pages! If you find that the information is out-dated, please to help us keep it updated by editing it or notifying our community! Thanks!
Lead Developer [2011 - Current]: Sungeun(Sonny) K. Jeon, Ph.D. (USA) aka @chamnit
Lead Developer [2009 - 2011]: Simen Svale Skogsrud (Norway). aka The Originator/Creator/Pioneer/Father of Grbl.
The link for GRBL vanilla is: http://github.com/grbl/grbl
================================================
FILE: config.h
================================================
/*
config.h - compile time configuration
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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.
#ifndef config_h
#define config_h
#include "grbl.h" // For Arduino IDE compatibility.
// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
#define DEFAULTS_GENERIC
// Serial baud rate
#define BAUD_RATE 115200
// Default cpu mappings. Grbl officially supports the Arduino Uno only. Other processor types
// may exist from user-supplied templates or directly user-defined in cpu_map.h
#define CPU_MAP_ATMEGA328P // Arduino Uno CPU
// 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_STATUS_REPORT '?'
#define CMD_FEED_HOLD '!'
#define CMD_CYCLE_START '~'
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_SAFETY_DOOR '@'
// 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_0 ((1<<X_AXIS)|(1<<Y_AXIS))
// #define HOMING_CYCLE_2 // OPTIONAL: Uncomment and add axes mask to enable
// 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)
// 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
// 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 18 or 16 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.
// Allows GRBL to report the real-time feed rate. Enabling this means that GRBL will be reporting more
// data with each status update.
// NOTE: This is experimental and doesn't quite work 100%. Maybe fixed or refactored later.
// #define REPORT_REALTIME_RATE // 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 5. Only use this option if you require a second coolant control pin.
// NOTE: The M8 flood coolant control pin on analog pin 4 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 // Default disabled. Uncomment to enable.
// After the safety door switch has been toggled and restored, this setting sets the power-up delay
// between restoring the spindle and coolant and resuming the cycle.
// NOTE: Delay value is defined in milliseconds from zero to 65,535.
#define SAFETY_DOOR_SPINDLE_DELAY 4000
#define SAFETY_DOOR_COOLANT_DELAY 1000
// 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 assumes 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. This essentially means when this option is enabled
// you can use normally-closed switches, rather than the default normally-open switches.
// NOTE: Will eventually be added to Grbl settings in v1.0.
// #define INVERT_CONTROL_PIN // 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.
// Enable control pin states feedback in status reports. The data is presented as simple binary of
// the control pin port (0 (low) or 1(high)), masked to show only the input pins. Non-control pins on the
// port will always show a 0 value. See cpu_map.h for the pin bitmap. As with the limit pin reporting,
// we do not recommend keeping this option enabled. Try to only use this for setting up a new CNC.
// #define REPORT_CONTROL_PIN_STATE // Default disabled. Uncomment to enable.
// 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.
// ---------------------------------------------------------------------------------------
// ADVANCED CONFIGURATION OPTIONS:
// Enables minimal reporting feedback mode for GUIs, where human-readable strings are not as important.
// This saves nearly 2KB of flash space and may allow enough space to install other/future features.
// GUIs will need to install a look-up table for the error-codes that Grbl sends back in their place.
// NOTE: This feature is new and experimental. Make sure the GUI you are using supports this mode.
// #define REPORT_GUI_MODE // Default disabled. Uncomment to enable.
// 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 the variable spindle output only. These parameters set the maximum and minimum spindle speed
// "S" g-code values to correspond to the maximum and minimum pin voltages. There are 256 discrete and
// equally divided voltage bins between the maximum and minimum spindle speeds. So for a 5V pin, 1000
// max rpm, and 250 min rpm, the spindle output voltage would be set for the following "S" commands:
// "S1000" @ 5V, "S250" @ 0.02V, and "S625" @ 2.5V (mid-range). The pin outputs 0V when disabled.
#define SPINDLE_MAX_RPM 90 // Max spindle RPM. This value is equal to 100% duty cycle on the PWM.
#define SPINDLE_MIN_RPM 0.0 // Min spindle RPM. This value is equal to (1/256) duty cycle on the PWM.
// Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
// When disabled, the PWM pin will still read 0V. Most users will not need this option, but it may be
// useful in certain scenarios. This setting does not update the minimum spindle RPM calculations. Any
// spindle RPM output lower than this value will be set to this value.
// #define MINIMUM_SPINDLE_PWM 5 // Default disabled. Uncomment to enable. Integer (0-255)
// 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: With no direction pin, the spindle clockwise M4 g-code command will be removed. M3 and M5 still work.
//#define USE_SPINDLE_DIR_AS_ENABLE_PIN // 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.
// #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 Mega or Sanguino. 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 18 // 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: Buffer size values must be greater than zero and less than 256.
// #define RX_BUFFER_SIZE 128 // Uncomment to override defaults in serial.h
// #define TX_BUFFER_SIZE 64
// Toggles XON/XOFF software flow control for serial communications. Not officially supported
// due to problems involving the Atmega8U2 USB-to-serial chips on current Arduinos. The firmware
// on these chips do not support XON/XOFF flow control characters and the intermediate buffer
// in the chips cause latency and overflow problems with standard terminal programs. However,
// using specifically-programmed UI's to manage this latency problem has been confirmed to work.
// As well as, older FTDI FT232RL-based Arduinos(Duemilanove) are known to work with standard
// terminal programs since their firmware correctly manage these XON/XOFF characters. In any
// case, please report any successes to grbl administrators!
// #define ENABLE_XONXOFF // Default disabled. Uncomment to enable.
// 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.
// 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.
// ---------------------------------------------------------------------------------------
// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:
#ifndef HOMING_CYCLE_0
#error "Required HOMING_CYCLE_0 not defined."
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(VARIABLE_SPINDLE)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with VARIABLE_SPINDLE enabled"
#endif
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(CPU_MAP_ATMEGA328P)
#error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with a 328p processor"
#endif
// ---------------------------------------------------------------------------------------
#endif
================================================
FILE: coolant_control.c
================================================
/*
coolant_control.c - coolant control methods
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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()
{
COOLANT_FLOOD_DDR |= (1 << COOLANT_FLOOD_BIT);
#ifdef ENABLE_M7
COOLANT_MIST_DDR |= (1 << COOLANT_MIST_BIT);
#endif
coolant_stop();
}
void coolant_stop()
{
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#ifdef ENABLE_M7
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#endif
}
void coolant_set_state(uint8_t mode)
{
if (mode == COOLANT_FLOOD_ENABLE) {
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#ifdef ENABLE_M7
} else if (mode == COOLANT_MIST_ENABLE) {
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#endif
} else {
coolant_stop();
}
}
void coolant_run(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);
}
================================================
FILE: coolant_control.h
================================================
/*
coolant_control.h - spindle control methods
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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
void coolant_init();
void coolant_stop();
void coolant_set_state(uint8_t mode);
void coolant_run(uint8_t mode);
#endif
================================================
FILE: cpu_map/cpu_map_atmega2560.h
================================================
/*
cpu_map_atmega2560.h - CPU and pin mapping configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 cpu_map file serves as a central pin mapping settings file for AVR Mega 2560 */
#ifdef GRBL_PLATFORM
#error "cpu_map already defined: GRBL_PLATFORM=" GRBL_PLATFORM
#endif
#define GRBL_PLATFORM "Atmega2560"
// Serial port pins
#define SERIAL_RX USART0_RX_vect
#define SERIAL_UDRE USART0_UDRE_vect
// Increase Buffers to make use of extra SRAM
//#define RX_BUFFER_SIZE 256
//#define TX_BUFFER_SIZE 128
//#define BLOCK_BUFFER_SIZE 36
//#define LINE_BUFFER_SIZE 100
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR DDRA
#define STEP_PORT PORTA
#define STEP_PIN PINA
#define X_STEP_BIT 2 // MEGA2560 Digital Pin 24
#define Y_STEP_BIT 3 // MEGA2560 Digital Pin 25
#define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRC
#define DIRECTION_PORT PORTC
#define DIRECTION_PIN PINC
#define X_DIRECTION_BIT 7 // MEGA2560 Digital Pin 30
#define Y_DIRECTION_BIT 6 // MEGA2560 Digital Pin 31
#define Z_DIRECTION_BIT 5 // MEGA2560 Digital Pin 32
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR DDRB
#define STEPPERS_DISABLE_PORT PORTB
#define STEPPERS_DISABLE_BIT 7 // MEGA2560 Digital Pin 13
#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port
#define LIMIT_DDR DDRB
#define LIMIT_PORT PORTB
#define LIMIT_PIN PINB
#define X_LIMIT_BIT 4 // MEGA2560 Digital Pin 10
#define Y_LIMIT_BIT 5 // MEGA2560 Digital Pin 11
#define Z_LIMIT_BIT 6 // MEGA2560 Digital Pin 12
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_DDR DDRH
#define SPINDLE_ENABLE_PORT PORTH
#define SPINDLE_ENABLE_BIT 3 // MEGA2560 Digital Pin 6
#define SPINDLE_DIRECTION_DDR DDRE
#define SPINDLE_DIRECTION_PORT PORTE
#define SPINDLE_DIRECTION_BIT 3 // MEGA2560 Digital Pin 5
// Define flood and mist coolant enable output pins.
// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
// a later date if flash and memory space allows.
#define COOLANT_FLOOD_DDR DDRH
#define COOLANT_FLOOD_PORT PORTH
#define COOLANT_FLOOD_BIT 5 // MEGA2560 Digital Pin 8
#ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
#define COOLANT_MIST_DDR DDRH
#define COOLANT_MIST_PORT PORTH
#define COOLANT_MIST_BIT 6 // MEGA2560 Digital Pin 9
#endif
// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR DDRK
#define CONTROL_PIN PINK
#define CONTROL_PORT PORTK
#define RESET_BIT 0 // MEGA2560 Analog Pin 8
#define FEED_HOLD_BIT 1 // MEGA2560 Analog Pin 9
#define CYCLE_START_BIT 2 // MEGA2560 Analog Pin 10
#define SAFETY_DOOR_BIT 3 // MEGA2560 Analog Pin 11
#define CONTROL_INT PCIE2 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT2_vect
#define CONTROL_PCMSK PCMSK2 // Pin change interrupt register
#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT)|(1<<SAFETY_DOOR_BIT))
// Define probe switch input pin.
#define PROBE_DDR DDRK
#define PROBE_PIN PINK
#define PROBE_PORT PORTK
#define PROBE_BIT 7 // MEGA2560 Analog Pin 15
#define PROBE_MASK (1<<PROBE_BIT)
// Start of PWM & Stepper Enabled Spindle
#ifdef VARIABLE_SPINDLE
// Advanced Configuration Below You should not need to touch these variables
// Set Timer up to use TIMER4B which is attached to Digital Pin 7
#define PWM_MAX_VALUE 65535.0
#define TCCRA_REGISTER TCCR4A
#define TCCRB_REGISTER TCCR4B
#define OCR_REGISTER OCR4B
#define COMB_BIT COM4B1
#define WAVE0_REGISTER WGM40
#define WAVE1_REGISTER WGM41
#define WAVE2_REGISTER WGM42
#define WAVE3_REGISTER WGM43
#define SPINDLE_PWM_DDR DDRH
#define SPINDLE_PWM_PORT PORTH
#define SPINDLE_PWM_BIT 4 // MEGA2560 Digital Pin 97
#endif // End of VARIABLE_SPINDLE
================================================
FILE: cpu_map/cpu_map_atmega328p.h
================================================
/*
cpu_map_atmega328p.h - CPU and pin mapping configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 officially supports the Arduino Uno, but the other supplied pin mappings are
supplied by users, so your results may vary. This cpu_map file serves as a central
pin mapping settings file for AVR 328p used on the Arduino Uno. */
#ifdef GRBL_PLATFORM
#error "cpu_map already defined: GRBL_PLATFORM=" GRBL_PLATFORM
#endif
#define GRBL_PLATFORM "Atmega328p"
// Define serial port pins and interrupt vectors.
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
#define STEP_DDR DDRD
#define STEP_PORT PORTD
#define X_STEP_BIT 2 // Uno Digital Pin 2
#define Y_STEP_BIT 3 // Uno Digital Pin 3
#define Z_STEP_BIT 4 // Uno Digital Pin 4
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRD
#define DIRECTION_PORT PORTD
#define X_DIRECTION_BIT 5 // Uno Digital Pin 5
#define Y_DIRECTION_BIT 6 // Uno Digital Pin 6
#define Z_DIRECTION_BIT 7 // Uno Digital Pin 7
#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
// Define stepper driver enable/disable output pin.
#define STEPPERS_DISABLE_DDR DDRB
#define STEPPERS_DISABLE_PORT PORTB
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
// Define homing/hard limit switch input pins and limit interrupt vectors.
// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define LIMIT_PORT PORTB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 10
#ifdef VARIABLE_SPINDLE // Z Limit pin and spindle enabled swapped to access hardware PWM on Pin 11.
#define Z_LIMIT_BIT 4 // Uno Digital Pin 12
#else
#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
#endif
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#else
#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
#endif
#else
#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
#endif
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
#define SPINDLE_DIRECTION_DDR DDRB
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
#endif
// Define flood and mist coolant enable output pins.
// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
// a later date if flash and memory space allows.
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
#ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
#define COOLANT_MIST_DDR DDRC
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
#endif
// Define user-control controls (cycle start, reset, feed hold) input pins.
// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
#define CONTROL_DDR DDRC
#define CONTROL_PIN PINC
#define CONTROL_PORT PORTC
#define RESET_BIT 0 // Uno Analog Pin 0
#define FEED_HOLD_BIT 1 // Uno Analog Pin 1
#define CYCLE_START_BIT 2 // Uno Analog Pin 2
#define SAFETY_DOOR_BIT 1 // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
#define CONTROL_INT PCIE1 // Pin change interrupt enable pin
#define CONTROL_INT_vect PCINT1_vect
#define CONTROL_PCMSK PCMSK1 // Pin change interrupt register
#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT)|(1<<SAFETY_DOOR_BIT))
// Define probe switch input pin.
#define PROBE_DDR DDRC
#define PROBE_PIN PINC
#define PROBE_PORT PORTC
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_MASK (1<<PROBE_BIT)
// Start of PWM & Stepper Enabled Spindle
#ifdef VARIABLE_SPINDLE
// Advanced Configuration Below You should not need to touch these variables
#define PWM_MAX_VALUE 255.0
#define TCCRA_REGISTER TCCR2A
#define TCCRB_REGISTER TCCR2B
#define OCR_REGISTER OCR2A
#define COMB_BIT COM2A1
#define WAVE0_REGISTER WGM20
#define WAVE1_REGISTER WGM21
#define WAVE2_REGISTER WGM22
#define WAVE3_REGISTER WGM23
// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#endif // End of VARIABLE_SPINDLE
================================================
FILE: cpu_map.h
================================================
/*
cpu_map.h - CPU and pin mapping configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 cpu_map.h files serve as a central pin mapping selection file for different processor
types, i.e. AVR 328p or AVR Mega 2560. Each processor has its own pin mapping file.
(i.e. cpu_map_atmega328p.h) Grbl officially supports the Arduino Uno, but the
other supplied pin mappings are supplied by users, so your results may vary. */
// NOTE: With new processors, only add the define name and filename to use.
#ifndef cpu_map_h
#define cpu_map_h
#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
#include "cpu_map/cpu_map_atmega328p.h"
#endif
#ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
#include "cpu_map/cpu_map_atmega2560.h"
#endif
/*
#ifdef CPU_MAP_CUSTOM_PROC
// For a custom pin map or different processor, copy and edit one of the available cpu
// map files and modify it to your needs. Make sure the defined name is also changed in
// the config.h file.
#endif
*/
#endif
================================================
FILE: defaults/defaults_generic.h
================================================
/*
defaults_generic.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Grbl generic default settings. Should work across different machines.
#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
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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
#endif
================================================
FILE: defaults/defaults_oxcnc.h
================================================
/*
defaults_oxcnc.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Grbl settings for OpenBuilds OX CNC Machine
// http://www.openbuilds.com/builds/openbuilds-ox-cnc-machine.341/
#define DEFAULT_X_STEPS_PER_MM 26.670
#define DEFAULT_Y_STEPS_PER_MM 26.670
#define DEFAULT_Z_STEPS_PER_MM 50
#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 500.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 750.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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
#endif
================================================
FILE: defaults/defaults_shapeoko.h
================================================
/*
defaults_shapeoko.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
// grblShield with a 24V, 4.2A power supply.
#define MICROSTEPS_XY 8
#define STEP_REVS_XY 400
#define MM_PER_REV_XY (0.08*18*MM_PER_INCH) // 0.08 in belt pitch, 18 pulley teeth
#define MICROSTEPS_Z 2
#define STEP_REVS_Z 400
#define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
#define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#define DEFAULT_X_ACCELERATION (15.0*60*60) // 15*60*60 mm/min^2 = 15 mm/sec^2
#define DEFAULT_Y_ACCELERATION (15.0*60*60) // 15*60*60 mm/min^2 = 15 mm/sec^2
#define DEFAULT_Z_ACCELERATION (15.0*60*60) // 15*60*60 mm/min^2 = 15 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 250.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults/defaults_shapeoko2.h
================================================
/*
defaults_shapeoko2.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
// grblShield at 28V.
#define MICROSTEPS_XY 8
#define STEP_REVS_XY 200
#define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
#define MICROSTEPS_Z 2
#define STEP_REVS_Z 200
#define MM_PER_REV_Z 1.250 // 1.25 mm/rev leadscrew
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (250.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Y_ACCELERATION (250.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Z_ACCELERATION (50.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 250.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults/defaults_shapeoko3.h
================================================
/*
defaults_shapeoko3.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: Shapeoko CNC mill with three NEMA 23 stepper motors, driven by CarbideMotion
#define MICROSTEPS_XY 8
#define STEP_REVS_XY 200
#define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
#define MICROSTEPS_Z 8
#define STEP_REVS_Z 200
#define MM_PER_REV_Z (2.0*20) // 2mm belt pitch, 20 pulley teeth
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 5000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 5000.0 // mm/min
#define DEFAULT_X_ACCELERATION (400.0*60*60) // 400*60*60 mm/min^2 = 400 mm/sec^2
#define DEFAULT_Y_ACCELERATION (400.0*60*60) // 400*60*60 mm/min^2 = 400 mm/sec^2
#define DEFAULT_Z_ACCELERATION (400.0*60*60) // 400*60*60 mm/min^2 = 400 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 425.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 465.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 80.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK 255 // All enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.01 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 100.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 1000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 25 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 5.0 // mm
#endif
================================================
FILE: defaults/defaults_sherline.h
================================================
/*
defaults_sherline.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors,
// driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.
#define MICROSTEPS 2
#define STEPS_PER_REV 200.0
#define MM_PER_REV (0.050*MM_PER_INCH) // 0.050 inch/rev leadscrew
#define DEFAULT_X_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_Y_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_Z_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_X_MAX_RATE 635.0 // mm/min (25 ipm)
#define DEFAULT_Y_MAX_RATE 635.0 // mm/min
#define DEFAULT_Z_MAX_RATE 635.0 // mm/min
#define DEFAULT_X_ACCELERATION (50.0*60*60) // 50*60*60 mm/min^2 = 50 mm/sec^2
#define DEFAULT_Y_ACCELERATION (50.0*60*60) // 50*60*60 mm/min^2 = 50 mm/sec^2
#define DEFAULT_Z_ACCELERATION (50.0*60*60) // 50*60*60 mm/min^2 = 50 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 225.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 125.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 170.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // true
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 635.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults/defaults_simulator.h
================================================
/*
defaults_simulator.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Settings only for Grbl Simulator (www.github.com/grbl/grbl-sim)
// Grbl generic default settings. Should work across different machines.
#define DEFAULT_X_STEPS_PER_MM 1000.0
#define DEFAULT_Y_STEPS_PER_MM 1000.0
#define DEFAULT_Z_STEPS_PER_MM 1000.0
#define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#define DEFAULT_X_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 1000.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 1000.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 1000.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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
#endif
================================================
FILE: defaults/defaults_x_carve_1000mm.h
================================================
/*
defaults_x_carve_1000mm.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
// grblShield at 24V.
#define MICROSTEPS_XY 8
#define STEP_REVS_XY 200
#define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
#define MICROSTEPS_Z 2
#define STEP_REVS_Z 200
#define MM_PER_REV_Z 2.117 // ACME 3/8-12 Leadscrew
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
#define DEFAULT_X_MAX_RATE 8000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 8000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (500.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Y_ACCELERATION (500.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Z_ACCELERATION (50.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 740.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 790.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 3 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 750.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults/defaults_x_carve_500mm.h
================================================
/*
defaults_x_carve_500mm.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
// grblShield at 24V.
#define MICROSTEPS_XY 8
#define STEP_REVS_XY 200
#define MM_PER_REV_XY (2.0*20) // 2mm belt pitch, 20 pulley teeth
#define MICROSTEPS_Z 2
#define STEP_REVS_Z 200
#define MM_PER_REV_Z 2.117 // ACME 3/8-12 Leadscrew
#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Y_STEPS_PER_MM (MICROSTEPS_XY*STEP_REVS_XY/MM_PER_REV_XY)
#define DEFAULT_Z_STEPS_PER_MM (MICROSTEPS_Z*STEP_REVS_Z/MM_PER_REV_Z)
#define DEFAULT_X_MAX_RATE 8000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 8000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (500.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Y_ACCELERATION (500.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_Z_ACCELERATION (50.0*60*60) // 25*60*60 mm/min^2 = 25 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 290.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 290.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 100.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 3 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 750.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults/defaults_zen_toolworks_7x7.h
================================================
/*
defaults_zen_toolworks_7x7.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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 file for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
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. */
#ifndef defaults_h
#define defaults_h
// Description: Zen Toolworks 7x7 mill with three Shinano SST43D2121 65oz-in NEMA 17 stepper motors.
// Leadscrew is different from some ZTW kits, where most are 1.25mm/rev rather than 8.0mm/rev here.
// Driven by 30V, 6A power supply and TI DRV8811 stepper motor drivers.
#define MICROSTEPS 8
#define STEPS_PER_REV 200.0
#define MM_PER_REV 8.0 // 8 mm/rev leadscrew
#define DEFAULT_X_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_Y_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_Z_STEPS_PER_MM (STEPS_PER_REV*MICROSTEPS/MM_PER_REV)
#define DEFAULT_X_MAX_RATE 6000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 6000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 6000.0 // mm/min
#define DEFAULT_X_ACCELERATION (600.0*60*60) // 600*60*60 mm/min^2 = 600 mm/sec^2
#define DEFAULT_Y_ACCELERATION (600.0*60*60) // 600*60*60 mm/min^2 = 600 mm/sec^2
#define DEFAULT_Z_ACCELERATION (600.0*60*60) // 600*60*60 mm/min^2 = 600 mm/sec^2
#define DEFAULT_X_MAX_TRAVEL 190.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 180.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 150.0 // mm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 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 250.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
================================================
FILE: defaults.h
================================================
/*
defaults.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
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.
Ensure one and only one of these DEFAULTS_XXX values is defined in config.h */
#ifndef defaults_h
// Only define the DEFAULT_XXX with where to find the corresponding default_XXX.h file.
// Don't #define defaults_h here, let the selected file do it. Prevents including more than one.
#ifdef DEFAULTS_GENERIC
// Grbl generic default settings. Should work across different machines.
#include "defaults/defaults_generic.h"
#endif
#ifdef DEFAULTS_SHERLINE_5400
// Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors,
// driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.
#include "defaults/defaults_sherline.h"
#endif
#ifdef DEFAULTS_SHAPEOKO
// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
// grblShield with a 24V, 4.2A power supply.
#include "defaults/defaults_shapeoko.h"
#endif
#ifdef DEFAULTS_SHAPEOKO_2
// Description: Shapeoko CNC mill with three NEMA 17 stepper motors, driven by Synthetos
// grblShield at 28V.
#include "defaults/defaults_shapeoko2.h"
#endif
#ifdef DEFAULTS_SHAPEOKO_3
// Description: Shapeoko CNC mill with three NEMA 23 stepper motors, driven by CarbideMotion
#include "defaults/defaults_shapeoko3.h"
#endif
#ifdef DEFAULTS_X_CARVE_500MM
// Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
// grblShield at 24V.
#include "defaults/defaults_x_carve_500mm.h"
#endif
#ifdef DEFAULTS_X_CARVE_1000MM
// Description: X-Carve 3D Carver CNC mill with three 200 step/rev motors driven by Synthetos
// grblShield at 24V.
#include "defaults/defaults_x_carve_1000mm.h"
#endif
#ifdef DEFAULTS_ZEN_TOOLWORKS_7x7
// Description: Zen Toolworks 7x7 mill with three Shinano SST43D2121 65oz-in NEMA 17 stepper motors.
// Leadscrew is different from some ZTW kits, where most are 1.25mm/rev rather than 8.0mm/rev here.
// Driven by 30V, 6A power supply and TI DRV8811 stepper motor drivers.
#include "defaults/defaults_zen_toolworks_7x7.h"
#endif
#ifdef DEFAULTS_OXCNC
// Grbl settings for OpenBuilds OX CNC Machine
// http://www.openbuilds.com/builds/openbuilds-ox-cnc-machine.341/
#include "defaults/defaults_oxcnc.h"
#endif
#ifdef DEFAULTS_SIMULATOR
// Settings only for Grbl Simulator (www.github.com/grbl/grbl-sim)
#include "defaults/defaults_simulator.h"
#endif
#endif
================================================
FILE: eeprom.c
================================================
// This file has been prepared for Doxygen automatic documentation generation.
/*! \file ********************************************************************
*
* Atmel Corporation
*
* \li File: eeprom.c
* \li Compiler: IAR EWAAVR 3.10c
* \li Support mail: avr@atmel.com
*
* \li Supported devices: All devices with split EEPROM erase/write
* capabilities can be used.
* The example is written for ATmega48.
*
* \li AppNote: AVR103 - Using the EEPROM Programming Modes.
*
* \li Description: Example on how to use the split EEPROM erase/write
* capabilities in e.g. ATmega48. All EEPROM
* programming modes are tested, i.e. Erase+Write,
* Erase-only and Write-only.
*
* $Revision: 1.6 $
* $Date: Friday, February 11, 2005 07:16:44 UTC $
****************************************************************************/
#include <avr/io.h>
#include <avr/interrupt.h>
/* These EEPROM bits have different names on different devices. */
#ifndef EEPE
#define EEPE EEWE //!< EEPROM program/write enable.
#define EEMPE EEMWE //!< EEPROM master program/write enable.
#endif
/* These two are unfortunately not defined in the device include files. */
#define EEPM1 5 //!< EEPROM Programming Mode Bit 1.
#define EEPM0 4 //!< EEPROM Programming Mode Bit 0.
/* Define to reduce code size. */
#define EEPROM_IGNORE_SELFPROG //!< Remove SPM flag polling.
/*! \brief Read byte from EEPROM.
*
* This function reads one byte from a given EEPROM address.
*
* \note The CPU is halted for 4 clock cycles during EEPROM read.
*
* \param addr EEPROM address to read from.
* \return The byte read from the EEPROM address.
*/
unsigned char eeprom_get_char( unsigned int addr )
{
do {} while( EECR & (1<<EEPE) ); // Wait for completion of previous write.
EEAR = addr; // Set EEPROM address register.
EECR = (1<<EERE); // Start EEPROM read operation.
return EEDR; // Return the byte read from EEPROM.
}
/*! \brief Write byte to EEPROM.
*
* This function writes one byte to a given EEPROM address.
* The differences between the existing byte and the new value is used
* to select the most efficient EEPROM programming mode.
*
* \note The CPU is halted for 2 clock cycles during EEPROM programming.
*
* \note When this function returns, the new EEPROM value is not available
* until the EEPROM programming time has passed. The EEPE bit in EECR
* should be polled to check whether the programming is finished.
*
* \note The EEPROM_GetChar() function checks the EEPE bit automatically.
*
* \param addr EEPROM address to write to.
* \param new_value New EEPROM value.
*/
void eeprom_put_char( unsigned int addr, unsigned char new_value )
{
char old_value; // Old EEPROM value.
char diff_mask; // Difference mask, i.e. old value XOR new value.
cli(); // Ensure atomic operation for the write operation.
do {} while( EECR & (1<<EEPE) ); // Wait for completion of previous write.
#ifndef EEPROM_IGNORE_SELFPROG
do {} while( SPMCSR & (1<<SELFPRGEN) ); // Wait for completion of SPM.
#endif
EEAR = addr; // Set EEPROM address register.
EECR = (1<<EERE); // Start EEPROM read operation.
old_value = EEDR; // Get old EEPROM value.
diff_mask = old_value ^ new_value; // Get bit differences.
// Check if any bits are changed to '1' in the new value.
if( diff_mask & new_value ) {
// Now we know that _some_ bits need to be erased to '1'.
// Check if any bits in the new value are '0'.
if( new_value != 0xff ) {
// Now we know that some bits need to be programmed to '0' also.
EEDR = new_value; // Set EEPROM data register.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(0<<EEPM1) | (0<<EEPM0); // ...and Erase+Write mode.
EECR |= (1<<EEPE); // Start Erase+Write operation.
} else {
// Now we know that all bits should be erased.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(1<<EEPM0); // ...and Erase-only mode.
EECR |= (1<<EEPE); // Start Erase-only operation.
}
} else {
// Now we know that _no_ bits need to be erased to '1'.
// Check if any bits are changed from '1' in the old value.
if( diff_mask ) {
// Now we know that _some_ bits need to the programmed to '0'.
EEDR = new_value; // Set EEPROM data register.
EECR = (1<<EEMPE) | // Set Master Write Enable bit...
(1<<EEPM1); // ...and Write-only mode.
EECR |= (1<<EEPE); // Start Write-only operation.
}
}
sei(); // Restore interrupt flag state.
}
// Extensions added as part of Grbl
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_put_char(destination++, *(source++));
}
eeprom_put_char(destination, checksum);
}
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_get_char(source++);
checksum = (checksum << 1) || (checksum >> 7);
checksum += data;
*(destination++) = data;
}
return(checksum == eeprom_get_char(source));
}
// end of file
================================================
FILE: eeprom.h
================================================
/*
eeprom.h - EEPROM methods
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
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
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
================================================
FILE: examples/grblUpload/grblUpload.ino
================================================
/***********************************************************************
This sketch compiles and uploads Grbl to your 328p-based Arduino!
To use:
- First make sure you have imported Grbl source code into your Arduino
IDE. There are details on our Github website on how to do this.
- Select your Arduino Board and Serial Port in the Tools drop-down menu.
NOTE: Grbl only officially supports 328p-based Arduinos, like the Uno.
Using other boards will likely not work!
- Then just click 'Upload'. That's it!
For advanced users:
If you'd like to see what else Grbl can do, there are some additional
options for customization and features you can enable or disable.
Navigate your file system to where the Arduino IDE has stored the Grbl
source code files, open the 'config.h' file in your favorite text
editor. Inside are dozens of feature descriptions and #defines. Simply
comment or uncomment the #defines or alter their assigned values, save
your changes, and then click 'Upload' here.
Copyright (c) 2015 Sungeun K. Jeon
Released under the MIT-license. See license.txt for details.
***********************************************************************/
#include <grbl.h>
// Do not alter this file!
================================================
FILE: examples/grblUpload/license.txt
================================================
The MIT License (MIT)
Copyright (c) 2015 Sungeun K. Jeon
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
================================================
FILE: gcode.c
================================================
/*
gcode.c - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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"
// NOTE: Max line number is defined by the g-code standard to be 99999. It seems to be an
// arbitrary value, and some GUIs may require more. So we increased it based on a max safe
// value when converting a float (7.2 digit precision)s to an integer.
#define MAX_LINE_NUMBER 9999999
#define AXIS_COMMAND_NONE 0
#define AXIS_COMMAND_NON_MODAL 1
#define AXIS_COMMAND_MOTION_MODE 2
#define AXIS_COMMAND_TOOL_LENGTH_OFFSET 3 // *Undefined but required
// Declare gc extern struct
parser_state_t gc_state;
parser_block_t gc_block;
#define FAIL(status) return(status);
void gc_init()
{
memset(&gc_state, 0, sizeof(gc_state));
// Load default G54 coordinate system.
if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) {
report_status_message(STATUS_SETTING_READ_FAIL);
}
}
// Sets g-code parser position in mm. Input in steps. Called by the system abort and hard
// limit pull-off routines.
void gc_sync_position()
{
system_convert_array_steps_to_mpos(gc_state.position,sys.position);
}
static uint8_t gc_check_same_position(float *pos_a, float *pos_b)
{
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
if (pos_a[idx] != pos_b[idx]) { return(false); }
}
return(true);
}
// Executes one line of 0-terminated G-Code. The line is assumed to contain only uppercase
// characters and signed floating point values (no whitespace). Comments and block delete
// characters have been removed. In this function, all units and positions are converted and
// exported to grbl's internal functions in terms of (mm, mm/min) and absolute machine
// coordinates, respectively.
uint8_t gc_execute_line(char *line)
{
/* -------------------------------------------------------------------------------------
STEP 1: Initialize parser block struct and copy current g-code state modes. The parser
updates these modes and commands as the block line is parser and will only be used and
executed after successful error-checking. The parser block struct also contains a block
values struct, word tracking variables, and a non-modal commands tracker for the new
block. This struct contains all of the necessary information to execute the block. */
memset(&gc_block, 0, sizeof(gc_block)); // Initialize the parser block struct.
memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes
uint8_t axis_command = AXIS_COMMAND_NONE;
uint8_t axis_0, axis_1, axis_linear;
uint8_t coord_select = 0; // Tracks G10 P coordinate selection for execution
float coordinate_data[N_AXIS]; // Multi-use variable to store coordinate data for execution
float parameter_data[N_AXIS]; // Multi-use variable to store parameter data for execution
// Initialize bitflag tracking variables for axis indices compatible operations.
uint8_t axis_words = 0; // XYZ tracking
uint8_t ijk_words = 0; // IJK tracking
// Initialize command and value words variables. Tracks words contained in this block.
uint16_t command_words = 0; // G and M command words. Also used for modal group violations.
uint16_t value_words = 0; // Value words.
/* -------------------------------------------------------------------------------------
STEP 2: Import all g-code words in the block line. A g-code word is a letter followed by
a number, which can either be a 'G'/'M' command or sets/assigns a command value. Also,
perform initial error-checks for command word modal group violations, for any repeated
words, and for negative values set for the value words F, N, P, T, and S. */
uint8_t word_bit; // Bit-value for assigning tracking variables
uint8_t char_counter = 0;
char letter;
float value;
uint8_t int_value = 0;
uint16_t mantissa = 0;
while (line[char_counter] != 0) { // Loop until no more g-code words in line.
// Import the next g-code word, expecting a letter followed by a value. Otherwise, error out.
letter = line[char_counter];
if((letter < 'A') || (letter > 'Z')) { FAIL(STATUS_EXPECTED_COMMAND_LETTER); } // [Expected word letter]
char_counter++;
if (!read_float(line, &char_counter, &value)) { FAIL(STATUS_BAD_NUMBER_FORMAT); } // [Expected word value]
// Convert values to smaller uint8 significand and mantissa values for parsing this word.
// NOTE: Mantissa is multiplied by 100 to catch non-integer command values. This is more
// accurate than the NIST gcode requirement of x10 when used for commands, but not quite
// accurate enough for value words that require integers to within 0.0001. This should be
// a good enough comprimise and catch most all non-integer errors. To make it compliant,
// we would simply need to change the mantissa to int16, but this add compiled flash space.
// Maybe update this later.
int_value = trunc(value);
mantissa = round(100*(value - int_value)); // Compute mantissa for Gxx.x commands.
// NOTE: Rounding must be used to catch small floating point errors.
// Check if the g-code word is supported or errors due to modal group violations or has
// been repeated in the g-code block. If ok, update the command or record its value.
switch(letter) {
/* 'G' and 'M' Command Words: Parse commands and check for modal group violations.
NOTE: Modal group numbers are defined in Table 4 of NIST RS274-NGC v3, pg.20 */
case 'G':
// Determine 'G' command and its modal group
switch(int_value) {
case 10: case 28: case 30: case 92:
// Check for G10/28/30/92 being called with G0/1/2/3/38 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (mantissa == 0) { // Ignore G28.1, G30.1, and G92.1
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_NON_MODAL;
}
// No break. Continues to next line.
case 4: case 53:
word_bit = MODAL_GROUP_G0;
switch(int_value) {
case 4: gc_block.non_modal_command = NON_MODAL_DWELL; break; // G4
case 10: gc_block.non_modal_command = NON_MODAL_SET_COORDINATE_DATA; break; // G10
case 28:
switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_0; break; // G28
case 10: gc_block.non_modal_command = NON_MODAL_SET_HOME_0; break; // G28.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G28.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 30:
switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_GO_HOME_1; break; // G30
case 10: gc_block.non_modal_command = NON_MODAL_SET_HOME_1; break; // G30.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G30.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 53: gc_block.non_modal_command = NON_MODAL_ABSOLUTE_OVERRIDE; break; // G53
case 92:
switch(mantissa) {
case 0: gc_block.non_modal_command = NON_MODAL_SET_COORDINATE_OFFSET; break; // G92
case 10: gc_block.non_modal_command = NON_MODAL_RESET_COORDINATE_OFFSET; break; // G92.1
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G92.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
}
break;
case 0: case 1: case 2: case 3: case 38:
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
axis_command = AXIS_COMMAND_MOTION_MODE;
// No break. Continues to next line.
case 80:
word_bit = MODAL_GROUP_G1;
switch(int_value) {
case 0: gc_block.modal.motion = MOTION_MODE_SEEK; break; // G0
case 1: gc_block.modal.motion = MOTION_MODE_LINEAR; break; // G1
case 2: gc_block.modal.motion = MOTION_MODE_CW_ARC; break; // G2
case 3: gc_block.modal.motion = MOTION_MODE_CCW_ARC; break; // G3
case 38:
switch(mantissa) {
case 20: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD; break; // G38.2
case 30: gc_block.modal.motion = MOTION_MODE_PROBE_TOWARD_NO_ERROR; break; // G38.3
case 40: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY; break; // G38.4
case 50: gc_block.modal.motion = MOTION_MODE_PROBE_AWAY_NO_ERROR; break; // G38.5
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G38.x command]
}
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 80: gc_block.modal.motion = MOTION_MODE_NONE; break; // G80
}
break;
case 17: case 18: case 19:
word_bit = MODAL_GROUP_G2;
switch(int_value) {
case 17: gc_block.modal.plane_select = PLANE_SELECT_XY; break;
case 18: gc_block.modal.plane_select = PLANE_SELECT_ZX; break;
case 19: gc_block.modal.plane_select = PLANE_SELECT_YZ; break;
}
break;
case 90: case 91:
if (mantissa == 0) {
word_bit = MODAL_GROUP_G3;
if (int_value == 90) { gc_block.modal.distance = DISTANCE_MODE_ABSOLUTE; } // G90
else { gc_block.modal.distance = DISTANCE_MODE_INCREMENTAL; } // G91
} else {
word_bit = MODAL_GROUP_G4;
if ((mantissa != 10) || (int_value == 90)) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G90.1 not supported]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
// Otherwise, arc IJK incremental mode is default. G91.1 does nothing.
}
break;
case 93: case 94:
word_bit = MODAL_GROUP_G5;
if (int_value == 93) { gc_block.modal.feed_rate = FEED_RATE_MODE_INVERSE_TIME; } // G93
else { gc_block.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN; } // G94
break;
case 20: case 21:
word_bit = MODAL_GROUP_G6;
if (int_value == 20) { gc_block.modal.units = UNITS_MODE_INCHES; } // G20
else { gc_block.modal.units = UNITS_MODE_MM; } // G21
break;
case 40:
word_bit = MODAL_GROUP_G7;
// NOTE: Not required since cutter radius compensation is always disabled. Only here
// to support G40 commands that often appear in g-code program headers to setup defaults.
// gc_block.modal.cutter_comp = CUTTER_COMP_DISABLE; // G40
break;
case 43: case 49:
word_bit = MODAL_GROUP_G8;
// NOTE: The NIST g-code standard vaguely states that when a tool length offset is changed,
// there cannot be any axis motion or coordinate offsets updated. Meaning G43, G43.1, and G49
// all are explicit axis commands, regardless if they require axis words or not.
if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict] }
axis_command = AXIS_COMMAND_TOOL_LENGTH_OFFSET;
if (int_value == 49) { // G49
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_CANCEL;
} else if (mantissa == 10) { // G43.1
gc_block.modal.tool_length = TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC;
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported G43.x command]
mantissa = 0; // Set to zero to indicate valid non-integer G command.
break;
case 54: case 55: case 56: case 57: case 58: case 59:
// NOTE: G59.x are not supported. (But their int_values would be 60, 61, and 62.)
word_bit = MODAL_GROUP_G12;
gc_block.modal.coord_select = int_value-54; // Shift to array indexing.
break;
case 61:
word_bit = MODAL_GROUP_G13;
if (mantissa != 0) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G61.1 not supported]
// gc_block.modal.control = CONTROL_MODE_EXACT_PATH; // G61
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
command_words |= bit(word_bit);
break;
case 'M':
// Determine 'M' command and its modal group
if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [No Mxx.x commands]
switch(int_value) {
case 0: case 1: case 2: case 30:
word_bit = MODAL_GROUP_M4;
switch(int_value) {
case 0: gc_block.modal.program_flow = PROGRAM_FLOW_PAUSED; break; // Program pause
case 1: break; // Optional stop not supported. Ignore.
case 2: case 30: gc_block.modal.program_flow = PROGRAM_FLOW_COMPLETED; break; // Program end and reset
}
break;
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
case 4:
#endif
case 3: case 5:
word_bit = MODAL_GROUP_M7;
switch(int_value) {
case 3: gc_block.modal.spindle = SPINDLE_ENABLE_CW; break;
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
case 4: gc_block.modal.spindle = SPINDLE_ENABLE_CCW; break;
#endif
case 5: gc_block.modal.spindle = SPINDLE_DISABLE; break;
}
break;
#ifdef ENABLE_M7
case 7:
#endif
case 8: case 9:
word_bit = MODAL_GROUP_M8;
switch(int_value) {
#ifdef ENABLE_M7
case 7: gc_block.modal.coolant = COOLANT_MIST_ENABLE; break;
#endif
case 8: gc_block.modal.coolant = COOLANT_FLOOD_ENABLE; break;
case 9: gc_block.modal.coolant = COOLANT_DISABLE; break;
}
break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported M command]
}
// Check for more than one command per modal group violations in the current block
// NOTE: Variable 'word_bit' is always assigned, if the command is valid.
if ( bit_istrue(command_words,bit(word_bit)) ) { FAIL(STATUS_GCODE_MODAL_GROUP_VIOLATION); }
command_words |= bit(word_bit);
break;
// NOTE: All remaining letters assign values.
default:
/* Non-Command Words: This initial parsing phase only checks for repeats of the remaining
legal g-code words and stores their value. Error-checking is performed later since some
words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
switch(letter){
// case 'A': // Not supported
// case 'B': // Not supported
// case 'C': // Not supported
// case 'D': // Not supported
case 'F': word_bit = WORD_F; gc_block.values.f = value; break;
// case 'H': // Not supported
case 'I': word_bit = WORD_I; gc_block.values.ijk[X_AXIS] = value; ijk_words |= (1<<X_AXIS); break;
case 'J': word_bit = WORD_J; gc_block.values.ijk[Y_AXIS] = value; ijk_words |= (1<<Y_AXIS); break;
case 'K': word_bit = WORD_K; gc_block.values.ijk[Z_AXIS] = value; ijk_words |= (1<<Z_AXIS); break;
case 'L': word_bit = WORD_L; gc_block.values.l = int_value; break;
case 'N': word_bit = WORD_N; gc_block.values.n = trunc(value); break;
case 'P': word_bit = WORD_P; gc_block.values.p = value; break;
// NOTE: For certain commands, P value must be an integer, but none of these commands are supported.
// case 'Q': // Not supported
case 'R': word_bit = WORD_R; gc_block.values.r = value; break;
case 'S': word_bit = WORD_S; gc_block.values.s = value; break;
case 'T': word_bit = WORD_T; break; // gc.values.t = int_value;
case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
}
// NOTE: Variable 'word_bit' is always assigned, if the non-command letter is valid.
if (bit_istrue(value_words,bit(word_bit))) { FAIL(STATUS_GCODE_WORD_REPEATED); } // [Word repeated]
// Check for invalid negative values for words F, N, P, T, and S.
// NOTE: Negative value check is done here simply for code-efficiency.
if ( bit(word_bit) & (bit(WORD_F)|bit(WORD_N)|bit(WORD_P)|bit(WORD_T)|bit(WORD_S)) ) {
if (value < 0.0) { FAIL(STATUS_NEGATIVE_VALUE); } // [Word value cannot be negative]
}
value_words |= bit(word_bit); // Flag to indicate parameter assigned.
}
}
// Parsing complete!
/* -------------------------------------------------------------------------------------
STEP 3: Error-check all commands and values passed in this block. This step ensures all of
the commands are valid for execution and follows the NIST standard as closely as possible.
If an error is found, all commands and values in this block are dumped and will not update
the active system g-code modes. If the block is ok, the active system g-code modes will be
updated based on the commands of this block, and signal for it to be executed.
Also, we have to pre-convert all of the values passed based on the modes set by the parsed
block. There are a number of error-checks that require target information that can only be
accurately calculated if we convert these values in conjunction with the error-checking.
This relegates the next execution step as only updating the system g-code modes and
performing the programmed actions in order. The execution step should not require any
conversion calculations and would only require minimal checks necessary to execute.
*/
/* NOTE: At this point, the g-code block has been parsed and the block line can be freed.
NOTE: It's also possible, at some future point, to break up STEP 2, to allow piece-wise
parsing of the block on a per-word basis, rather than the entire block. This could remove
the need for maintaining a large string variable for the entire block and free up some memory.
To do this, this would simply need to retain all of the data in STEP 1, such as the new block
data struct, the modal group and value bitflag tracking variables, and axis array indices
compatible variables. This data contains all of the information necessary to error-check the
new g-code block when the EOL character is received. However, this would break Grbl's startup
lines in how it currently works and would require some refactoring to make it compatible.
*/
// [0. Non-specific/common error-checks and miscellaneous setup]:
// Determine implicit axis command conditions. Axis words have been passed, but no explicit axis
// command has been sent. If so, set axis command to current motion mode.
if (axis_words) {
if (!axis_command) { axis_command = AXIS_COMMAND_MOTION_MODE; } // Assign implicit motion-mode
}
// Check for valid line number N value.
if (bit_istrue(value_words,bit(WORD_N))) {
// Line number value cannot be less than zero (done) or greater than max line number.
if (gc_block.values.n > MAX_LINE_NUMBER) { FAIL(STATUS_GCODE_INVALID_LINE_NUMBER); } // [Exceeds max line number]
}
// bit_false(value_words,bit(WORD_N)); // NOTE: Single-meaning value word. Set at end of error-checking.
// Track for unused words at the end of error-checking.
// NOTE: Single-meaning value words are removed all at once at the end of error-checking, because
// they are always used when present. This was done to save a few bytes of flash. For clarity, the
// single-meaning value words may be removed as they are used. Also, axis words are treated in the
// same way. If there is an explicit/implicit axis command, XYZ words are always used and are
// are removed at the end of error-checking.
// [1. Comments ]: MSG's NOT SUPPORTED. Comment handling performed by protocol.
// [2. Set feed rate mode ]: G93 F word missing with G1,G2/3 active, implicitly or explicitly. Feed rate
// is not defined after switching to G94 from G93.
if (gc_block.modal.feed_rate == FEED_RATE_MODE_INVERSE_TIME) { // = G93
// NOTE: G38 can also operate in inverse time, but is undefined as an error. Missing F word check added here.
if (axis_command == AXIS_COMMAND_MOTION_MODE) {
if ((gc_block.modal.motion != MOTION_MODE_NONE) || (gc_block.modal.motion != MOTION_MODE_SEEK)) {
if (bit_isfalse(value_words,bit(WORD_F))) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [F word missing]
}
}
// NOTE: It seems redundant to check for an F word to be passed after switching from G94 to G93. We would
// accomplish the exact same thing if the feed rate value is always reset to zero and undefined after each
// inverse time block, since the commands that use this value already perform undefined checks. This would
// also allow other commands, following this switch, to execute and not error out needlessly. This code is
// combined with the above feed rate mode and the below set feed rate error-checking.
// [3. Set feed rate ]: F is negative (done.)
// - In inverse time mode: Always implicitly zero the feed rate value before and after block completion.
// NOTE: If in G93 mode or switched into it from G94, just keep F value as initialized zero or passed F word
// value in the block. If no F word is passed with a motion command that requires a feed rate, this will error
// out in the motion modes error-checking. However, if no F word is passed with NO motion command that requires
// a feed rate, we simply move on and the state feed rate value gets updated to zero and remains undefined.
} else { // = G94
// - In units per mm mode: If F word passed, ensure value is in mm/min, otherwise push last state value.
if (gc_state.modal.feed_rate == FEED_RATE_MODE_UNITS_PER_MIN) { // Last state is also G94
if (bit_istrue(value_words,bit(WORD_F))) {
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.f *= MM_PER_INCH; }
} else {
gc_block.values.f = gc_state.feed_rate; // Push last state feed rate
}
} // Else, switching to G94 from G93, so don't push last state feed rate. Its undefined or the passed F word value.
}
// bit_false(value_words,bit(WORD_F)); // NOTE: Single-meaning value word. Set at end of error-checking.
// [4. Set spindle speed ]: S is negative (done.)
if (bit_isfalse(value_words,bit(WORD_S))) { gc_block.values.s = gc_state.spindle_speed; }
// bit_false(value_words,bit(WORD_S)); // NOTE: Single-meaning value word. Set at end of error-checking.
// [5. Select tool ]: NOT SUPPORTED. Only tracks value. T is negative (done.) Not an integer. Greater than max tool value.
// bit_false(value_words,bit(WORD_T)); // NOTE: Single-meaning value word. Set at end of error-checking.
// [6. Change tool ]: N/A
// [7. Spindle control ]: N/A
// [8. Coolant control ]: N/A
// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED.
// [10. Dwell ]: P value missing. P is negative (done.) NOTE: See below.
if (gc_block.non_modal_command == NON_MODAL_DWELL) {
if (bit_isfalse(value_words,bit(WORD_P))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P word missing]
bit_false(value_words,bit(WORD_P));
}
// [11. Set active plane ]: N/A
switch (gc_block.modal.plane_select) {
case PLANE_SELECT_XY:
axis_0 = X_AXIS;
axis_1 = Y_AXIS;
axis_linear = Z_AXIS;
break;
case PLANE_SELECT_ZX:
axis_0 = Z_AXIS;
axis_1 = X_AXIS;
axis_linear = Y_AXIS;
break;
default: // case PLANE_SELECT_YZ:
axis_0 = Y_AXIS;
axis_1 = Z_AXIS;
axis_linear = X_AXIS;
}
// [12. Set length units ]: N/A
// Pre-convert XYZ coordinate values to millimeters, if applicable.
uint8_t idx;
if (gc_block.modal.units == UNITS_MODE_INCHES) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] *= MM_PER_INCH;
}
}
}
// [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED. Error, if enabled while G53 is active.
// [G40 Errors]: G2/3 arc is programmed after a G40. The linear move after disabling is less than tool diameter.
// NOTE: Since cutter radius compensation is never enabled, these G40 errors don't apply. Grbl supports G40
// only for the purpose to not error when G40 is sent with a g-code program header to setup the default modes.
// [14. Cutter length compensation ]: G43 NOT SUPPORTED, but G43.1 and G49 are.
// [G43.1 Errors]: Motion command in same line.
// NOTE: Although not explicitly stated so, G43.1 should be applied to only one valid
// axis that is configured (in config.h). There should be an error if the configured axis
// is absent or if any of the other axis words are present.
if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates called in block.
if (gc_block.modal.tool_length == TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC) {
if (axis_words ^ (1<<TOOL_LENGTH_OFFSET_AXIS)) { FAIL(STATUS_GCODE_G43_DYNAMIC_AXIS_ERROR); }
}
}
// [15. Coordinate system selection ]: *N/A. Error, if cutter radius comp is active.
// TODO: An EEPROM read of the coordinate data may require a buffer sync when the cycle
// is active. The read pauses the processor temporarily and may cause a rare crash. For
// future versions on processors with enough memory, all coordinate data should be stored
// in memory and written to EEPROM only when there is not a cycle active.
memcpy(coordinate_data,gc_state.coord_system,sizeof(gc_state.coord_system));
if ( bit_istrue(command_words,bit(MODAL_GROUP_G12)) ) { // Check if called in block
if (gc_block.modal.coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
if (gc_state.modal.coord_select != gc_block.modal.coord_select) {
if (!(settings_read_coord_data(gc_block.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); }
}
}
// [16. Set path control mode ]: N/A. Only G61. G61.1 and G64 NOT SUPPORTED.
// [17. Set distance mode ]: N/A. Only G91.1. G90.1 NOT SUPPORTED.
// [18. Set retract mode ]: NOT SUPPORTED.
// [19. Remaining non-modal actions ]: Check go to predefined position, set G10, or set axis offsets.
// NOTE: We need to separate the non-modal commands that are axis word-using (G10/G28/G30/G92), as these
// commands all treat axis words differently. G10 as absolute offsets or computes current position as
// the axis value, G92 similarly to G10 L20, and G28/30 as an intermediate target position that observes
// all the current coordinate system and G92 offsets.
switch (gc_block.non_modal_command) {
case NON_MODAL_SET_COORDINATE_DATA:
// [G10 Errors]: L missing and is not 2 or 20. P word missing. (Negative P value done.)
// [G10 L2 Errors]: R word NOT SUPPORTED. P value not 0 to nCoordSys(max 9). Axis words missing.
// [G10 L20 Errors]: P must be 0 to nCoordSys(max 9). Axis words missing.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS) }; // [No axis words]
if (bit_isfalse(value_words,((1<<WORD_P)|(1<<WORD_L)))) { FAIL(STATUS_GCODE_VALUE_WORD_MISSING); } // [P/L word missing]
coord_select = trunc(gc_block.values.p); // Convert p value to int.
if (coord_select > N_COORDINATE_SYSTEM) { FAIL(STATUS_GCODE_UNSUPPORTED_COORD_SYS); } // [Greater than N sys]
if (gc_block.values.l != 20) {
if (gc_block.values.l == 2) {
if (bit_istrue(value_words,bit(WORD_R))) { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [G10 L2 R not supported]
} else { FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); } // [Unsupported L]
}
bit_false(value_words,(bit(WORD_L)|bit(WORD_P)));
// Determine coordinate system to change and try to load from EEPROM.
if (coord_select > 0) { coord_select--; } // Adjust P1-P6 index to EEPROM coordinate data indexing.
else { coord_select = gc_block.modal.coord_select; } // Index P0 as the active coordinate system
if (!settings_read_coord_data(coord_select,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); } // [EEPROM read fail]
// Pre-calculate the coordinate data changes. NOTE: Uses parameter_data since coordinate_data may be in use by G54-59.
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
// Update axes defined only in block. Always in machine coordinates. Can change non-active system.
if (bit_istrue(axis_words,bit(idx)) ) {
if (gc_block.values.l == 20) {
// L20: Update coordinate system axis at current position (with modifiers) with programmed value
parameter_data[idx] = gc_state.position[idx]-gc_state.coord_offset[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { parameter_data[idx] -= gc_state.tool_length_offset; }
} else {
// L2: Update coordinate system axis to programmed value.
parameter_data[idx] = gc_block.values.xyz[idx];
}
}
}
break;
case NON_MODAL_SET_COORDINATE_OFFSET:
// [G92 Errors]: No axis words.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
// Update axes defined only in block. Offsets current system to defined value. Does not update when
// active coordinate system is selected, but is still active unless G92.1 disables it.
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used.
if (bit_istrue(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] = gc_state.position[idx]-coordinate_data[idx]-gc_block.values.xyz[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] -= gc_state.tool_length_offset; }
} else {
gc_block.values.xyz[idx] = gc_state.coord_offset[idx];
}
}
break;
default:
// At this point, the rest of the explicit axis commands treat the axis values as the traditional
// target position with the coordinate system offsets, G92 offsets, absolute override, and distance
// modes applied. This includes the motion mode commands. We can now pre-compute the target position.
// NOTE: Tool offsets may be appended to these conversions when/if this feature is added.
if (axis_command != AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // TLO block any axis command.
if (axis_words) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
if ( bit_isfalse(axis_words,bit(idx)) ) {
gc_block.values.xyz[idx] = gc_state.position[idx]; // No axis word in block. Keep same axis position.
} else {
// Update specified value according to distance mode or ignore if absolute override is active.
// NOTE: G53 is never active with G28/30 since they are in the same modal group.
if (gc_block.non_modal_command != NON_MODAL_ABSOLUTE_OVERRIDE) {
// Apply coordinate offsets based on distance mode.
if (gc_block.modal.distance == DISTANCE_MODE_ABSOLUTE) {
gc_block.values.xyz[idx] += coordinate_data[idx] + gc_state.coord_offset[idx];
if (idx == TOOL_LENGTH_OFFSET_AXIS) { gc_block.values.xyz[idx] += gc_state.tool_length_offset; }
} else { // Incremental mode
gc_block.values.xyz[idx] += gc_state.position[idx];
}
}
}
}
}
}
// Check remaining non-modal commands for errors.
switch (gc_block.non_modal_command) {
case NON_MODAL_GO_HOME_0:
// [G28 Errors]: Cutter compensation is enabled.
// Retreive G28 go-home position data (in machine coordinates) from EEPROM
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } // Set to none if no intermediate motion.
if (!settings_read_coord_data(SETTING_INDEX_G28,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
break;
case NON_MODAL_GO_HOME_1:
// [G30 Errors]: Cutter compensation is enabled.
// Retreive G30 go-home position data (in machine coordinates) from EEPROM
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; } // Set to none if no intermediate motion.
if (!settings_read_coord_data(SETTING_INDEX_G30,parameter_data)) { FAIL(STATUS_SETTING_READ_FAIL); }
break;
case NON_MODAL_SET_HOME_0: case NON_MODAL_SET_HOME_1:
// [G28.1/30.1 Errors]: Cutter compensation is enabled.
// NOTE: If axis words are passed here, they are interpreted as an implicit motion mode.
break;
case NON_MODAL_RESET_COORDINATE_OFFSET:
// NOTE: If axis words are passed here, they are interpreted as an implicit motion mode.
break;
case NON_MODAL_ABSOLUTE_OVERRIDE:
// [G53 Errors]: G0 and G1 are not active. Cutter compensation is enabled.
// NOTE: All explicit axis word commands are in this modal group. So no implicit check necessary.
if (!(gc_block.modal.motion == MOTION_MODE_SEEK || gc_block.modal.motion == MOTION_MODE_LINEAR)) {
FAIL(STATUS_GCODE_G53_INVALID_MOTION_MODE); // [G53 G0/1 not active]
}
break;
}
}
// [20. Motion modes ]:
if (gc_block.modal.motion == MOTION_MODE_NONE) {
// [G80 Errors]: Axis word exist and are not used by a non-modal command.
if ((axis_words) && (axis_command != AXIS_COMMAND_NON_MODAL)) {
FAIL(STATUS_GCODE_AXIS_WORDS_EXIST); // [No axis words allowed]
}
// Check remaining motion modes, if axis word are implicit (exist and not used by G10/28/30/92), or
// was explicitly commanded in the g-code block.
} else if ( axis_command == AXIS_COMMAND_MOTION_MODE ) {
if (gc_block.modal.motion == MOTION_MODE_SEEK) {
// [G0 Errors]: Axis letter not configured or without real value (done.)
// Axis words are optional. If missing, set axis command flag to ignore execution.
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; }
// All remaining motion modes (all but G0 and G80), require a valid feed rate value. In units per mm mode,
// the value must be positive. In inverse time mode, a positive value must be passed with each block.
} else {
// Check if feed rate is defined for the motion modes that require it.
if (gc_block.values.f == 0.0) { FAIL(STATUS_GCODE_UNDEFINED_FEED_RATE); } // [Feed rate undefined]
switch (gc_block.modal.motion) {
case MOTION_MODE_LINEAR:
// [G1 Errors]: Feed rate undefined. Axis letter not configured or without real value.
// Axis words are optional. If missing, set axis command flag to ignore execution.
if (!axis_words) { axis_command = AXIS_COMMAND_NONE; }
break;
case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
// [G2/3 Errors All-Modes]: Feed rate undefined.
// [G2/3 Radius-Mode Errors]: No axis words in selected plane. Target point is same as current.
// [G2/3 Offset-Mode Errors]: No axis words and/or offsets in selected plane. The radius to the current
// point and the radius to the target point differs more than 0.002mm (EMC def. 0.5mm OR 0.005mm and 0.1% radius).
// [G2/3 Full-Circle-Mode Errors]: NOT SUPPORTED. Axis words exist. No offsets programmed. P must be an integer.
// NOTE: Both radius and offsets are required for arc tracing and are pre-computed with the error-checking.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (!(axis_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_AXIS_WORDS_IN_PLANE); } // [No axis words in plane]
// Calculate the change in position along each selected axis
float x,y;
x = gc_block.values.xyz[axis_0]-gc_state.position[axis_0]; // Delta x between current position and target
y = gc_block.values.xyz[axis_1]-gc_state.position[axis_1]; // Delta y between current position and target
if (value_words & bit(WORD_R)) { // Arc Radius Mode
bit_false(value_words,bit(WORD_R));
if (gc_check_same_position(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
// Convert radius value to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) { gc_block.values.r *= MM_PER_INCH; }
/* We need to calculate the center of the circle that has the designated radius and passes
through both the current position and the target position. This method calculates the following
set of equations where [x,y] is the vector from current to target position, d == magnitude of
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
d^2 == x^2 + y^2
h^2 == r^2 - (d/2)^2
i == x/2 - y/d*h
j == y/2 + x/d*h
O <- [i,j]
- |
r - |
- |
- | h
- |
[0,0] -> C -----------------+--------------- T <- [x,y]
| <------ d/2 ---->|
C - Current position
T - Target position
O - center of circle that pass through both C and T
d - distance from C to T
r - designated radius
h - distance from center of CT to O
Expanding the equations:
d -> sqrt(x^2 + y^2)
h -> sqrt(4 * r^2 - x^2 - y^2)/2
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
Which can be written:
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
Which we for size and speed reasons optimize to:
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
i = (x - (y * h_x2_div_d))/2
j = (y + (x * h_x2_div_d))/2
*/
// First, use h_x2_div_d to compute 4*h^2 to check if it is negative or r is smaller
// than d. If so, the sqrt of a negative number is complex and error out.
float h_x2_div_d = 4.0 * gc_block.values.r*gc_block.values.r - x*x - y*y;
if (h_x2_div_d < 0) { FAIL(STATUS_GCODE_ARC_RADIUS_ERROR); } // [Arc radius error]
// Finish computing h_x2_div_d.
h_x2_div_d = -sqrt(h_x2_div_d)/hypot_f(x,y); // == -(h * 2 / d)
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (gc_block.modal.motion == MOTION_MODE_CCW_ARC) { h_x2_div_d = -h_x2_div_d; }
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
the left hand circle will be generated - when it is negative the right hand circle is generated.
T <-- Target position
^
Clockwise circles with this center | Clockwise circles with this center will have
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
\ | /
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
C <-- Current position
*/
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
// even though it is advised against ever generating such circles in a single line of g-code. By
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
// travel and thus we get the unadvisably long arcs as prescribed.
if (gc_block.values.r < 0) {
h_x2_div_d = -h_x2_div_d;
gc_block.values.r = -gc_block.values.r; // Finished with r. Set to positive for mc_arc
}
// Complete the operation by calculating the actual center of the arc
gc_block.values.ijk[axis_0] = 0.5*(x-(y*h_x2_div_d));
gc_block.values.ijk[axis_1] = 0.5*(y+(x*h_x2_div_d));
} else { // Arc Center Format Offset Mode
if (!(ijk_words & (bit(axis_0)|bit(axis_1)))) { FAIL(STATUS_GCODE_NO_OFFSETS_IN_PLANE); } // [No offsets in plane]
bit_false(value_words,(bit(WORD_I)|bit(WORD_J)|bit(WORD_K)));
// Convert IJK values to proper units.
if (gc_block.modal.units == UNITS_MODE_INCHES) {
for (idx=0; idx<N_AXIS; idx++) { // Axes indices are consistent, so loop may be used to save flash space.
if (ijk_words & bit(idx)) { gc_block.values.ijk[idx] *= MM_PER_INCH; }
}
}
// Arc radius from center to target
x -= gc_block.values.ijk[axis_0]; // Delta x between circle center and target
y -= gc_block.values.ijk[axis_1]; // Delta y between circle center and target
float target_r = hypot_f(x,y);
// Compute arc radius for mc_arc. Defined from current location to center.
gc_block.values.r = hypot_f(gc_block.values.ijk[axis_0], gc_block.values.ijk[axis_1]);
// Compute difference between current location and target radii for final error-checks.
float delta_r = fabs(target_r-gc_block.values.r);
if (delta_r > 0.005) {
if (delta_r > 0.5) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.5mm
if (delta_r > (0.001*gc_block.values.r)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Arc definition error] > 0.005mm AND 0.1% radius
}
}
break;
case MOTION_MODE_PROBE_TOWARD: case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
case MOTION_MODE_PROBE_AWAY: case MOTION_MODE_PROBE_AWAY_NO_ERROR:
// [G38 Errors]: Target is same current. No axis words. Cutter compensation is enabled. Feed rate
// is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning
// an error, it issues an alarm to prevent further motion to the probe. It's also done there to
// allow the planner buffer to empty and move off the probe trigger before another probing cycle.
if (!axis_words) { FAIL(STATUS_GCODE_NO_AXIS_WORDS); } // [No axis words]
if (gc_check_same_position(gc_state.position, gc_block.values.xyz)) { FAIL(STATUS_GCODE_INVALID_TARGET); } // [Invalid target]
break;
}
}
}
// [21. Program flow ]: No error checks required.
// [0. Non-specific error-checks]: Complete unused value words check, i.e. IJK used when in arc
// radius mode, or axis words that aren't used in the block.
bit_false(value_words,(bit(WORD_N)|bit(WORD_F)|bit(WORD_S)|bit(WORD_T))); // Remove single-meaning value words.
if (axis_command) { bit_false(value_words,(bit(WORD_X)|bit(WORD_Y)|bit(WORD_Z))); } // Remove axis words.
if (value_words) { FAIL(STATUS_GCODE_UNUSED_WORDS); } // [Unused words]
/* -------------------------------------------------------------------------------------
STEP 4: EXECUTE!!
Assumes that all error-checking has been completed and no failure modes exist. We just
need to update the state and execute the block according to the order-of-execution.
*/
// [0. Non-specific/common error-checks and miscellaneous setup]:
gc_state.line_number = gc_block.values.n;
// [1. Comments feedback ]: NOT SUPPORTED
// [2. Set feed rate mode ]:
gc_state.modal.feed_rate = gc_block.modal.feed_rate;
// [3. Set feed rate ]:
gc_state.feed_rate = gc_block.values.f; // Always copy this value. See feed rate error-checking.
// [4. Set spindle speed ]:
if (gc_state.spindle_speed != gc_block.values.s) {
// Update running spindle only if not in check mode and not already enabled.
if (gc_state.modal.spindle != SPINDLE_DISABLE) { spindle_run(gc_state.modal.spindle, gc_block.values.s); }
gc_state.spindle_speed = gc_block.values.s;
}
// [5. Select tool ]: NOT SUPPORTED. Only tracks tool value.
gc_state.tool = gc_block.values.t;
// [6. Change tool ]: NOT SUPPORTED
// [7. Spindle control ]:
if (gc_state.modal.spindle != gc_block.modal.spindle) {
// Update spindle control and apply spindle speed when enabling it in this block.
spindle_run(gc_block.modal.spindle, gc_state.spindle_speed);
gc_state.modal.spindle = gc_block.modal.spindle;
}
// [8. Coolant control ]:
if (gc_state.modal.coolant != gc_block.modal.coolant) {
coolant_run(gc_block.modal.coolant);
gc_state.modal.coolant = gc_block.modal.coolant;
}
// [9. Enable/disable feed rate or spindle overrides ]: NOT SUPPORTED
// [10. Dwell ]:
if (gc_block.non_modal_command == NON_MODAL_DWELL) { mc_dwell(gc_block.values.p); }
// [11. Set active plane ]:
gc_state.modal.plane_select = gc_block.modal.plane_select;
// [12. Set length units ]:
gc_state.modal.units = gc_block.modal.units;
// [13. Cutter radius compensation ]: G41/42 NOT SUPPORTED
// gc_state.modal.cutter_comp = gc_block.modal.cutter_comp; // NOTE: Not needed since always disabled.
// [14. Cutter length compensation ]: G43.1 and G49 supported. G43 NOT SUPPORTED.
// NOTE: If G43 were supported, its operation wouldn't be any different from G43.1 in terms
// of execution. The error-checking step would simply load the offset value into the correct
// axis of the block XYZ value array.
if (axis_command == AXIS_COMMAND_TOOL_LENGTH_OFFSET ) { // Indicates a change.
gc_state.modal.tool_length = gc_block.modal.tool_length;
if (gc_state.modal.tool_length == TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC) { // G43.1
gc_state.tool_length_offset = gc_block.values.xyz[TOOL_LENGTH_OFFSET_AXIS];
} else { // G49
gc_state.tool_length_offset = 0.0;
}
}
// [15. Coordinate system selection ]:
if (gc_state.modal.coord_select != gc_block.modal.coord_select) {
gc_state.modal.coord_select = gc_block.modal.coord_select;
memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
}
// [16. Set path control mode ]: G61.1/G64 NOT SUPPORTED
// gc_state.modal.control = gc_block.modal.control; // NOTE: Always default.
// [17. Set distance mode ]:
gc_state.modal.distance = gc_block.modal.distance;
// [18. Set retract mode ]: NOT SUPPORTED
// [19. Go to predefined position, Set G10, or Set axis offsets ]:
switch(gc_block.non_modal_command) {
case NON_MODAL_SET_COORDINATE_DATA:
settings_write_coord_data(coord_select,parameter_data);
// Update system coordinate system if currently active.
if (gc_state.modal.coord_select == coord_select) { memcpy(gc_state.coord_system,parameter_data,sizeof(parameter_data)); }
break;
case NON_MODAL_GO_HOME_0: case NON_MODAL_GO_HOME_1:
// Move to intermediate position before going home. Obeys current coordinate system and offsets
// and absolute and incremental modes.
if (axis_command) {
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number);
#else
mc_line(gc_block.values.xyz, -1.0, false);
#endif
}
#ifdef USE_LINE_NUMBERS
mc_line(parameter_data, -1.0, false, gc_state.line_number);
#else
mc_line(parameter_data, -1.0, false);
#endif
memcpy(gc_state.position, parameter_data, sizeof(parameter_data));
break;
case NON_MODAL_SET_HOME_0:
settings_write_coord_data(SETTING_INDEX_G28,gc_state.position);
break;
case NON_MODAL_SET_HOME_1:
settings_write_coord_data(SETTING_INDEX_G30,gc_state.position);
break;
case NON_MODAL_SET_COORDINATE_OFFSET:
memcpy(gc_state.coord_offset,gc_block.values.xyz,sizeof(gc_block.values.xyz));
break;
case NON_MODAL_RESET_COORDINATE_OFFSET:
clear_vector(gc_state.coord_offset); // Disable G92 offsets by zeroing offset vector.
break;
}
// [20. Motion modes ]:
// NOTE: Commands G10,G28,G30,G92 lock out and prevent axis words from use in motion modes.
// Enter motion modes only if there are axis words or a motion mode command word in the block.
gc_state.modal.motion = gc_block.modal.motion;
if (gc_state.modal.motion != MOTION_MODE_NONE) {
if (axis_command == AXIS_COMMAND_MOTION_MODE) {
switch (gc_state.modal.motion) {
case MOTION_MODE_SEEK:
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, -1.0, false, gc_state.line_number);
#else
mc_line(gc_block.values.xyz, -1.0, false);
#endif
break;
case MOTION_MODE_LINEAR:
#ifdef USE_LINE_NUMBERS
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, gc_state.line_number);
#else
mc_line(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate);
#endif
break;
case MOTION_MODE_CW_ARC:
#ifdef USE_LINE_NUMBERS
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true, gc_state.line_number);
#else
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, true);
#endif
break;
case MOTION_MODE_CCW_ARC:
#ifdef USE_LINE_NUMBERS
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false, gc_state.line_number);
#else
mc_arc(gc_state.position, gc_block.values.xyz, gc_block.values.ijk, gc_block.values.r,
gc_state.feed_rate, gc_state.modal.feed_rate, axis_0, axis_1, axis_linear, false);
#endif
break;
case MOTION_MODE_PROBE_TOWARD:
// NOTE: gc_block.values.xyz is returned from mc_probe_cycle with the updated position value. So
// upon a successful probing cycle, the machine position and the returned value should be the same.
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false, gc_state.line_number);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, false);
#endif
break;
case MOTION_MODE_PROBE_TOWARD_NO_ERROR:
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true, gc_state.line_number);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, false, true);
#endif
break;
case MOTION_MODE_PROBE_AWAY:
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false, gc_state.line_number);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, false);
#endif
break;
case MOTION_MODE_PROBE_AWAY_NO_ERROR:
#ifdef USE_LINE_NUMBERS
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true, gc_state.line_number);
#else
mc_probe_cycle(gc_block.values.xyz, gc_state.feed_rate, gc_state.modal.feed_rate, true, true);
#endif
}
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
memcpy(gc_state.position, gc_block.values.xyz, sizeof(gc_block.values.xyz)); // gc_state.position[] = gc_block.values.xyz[]
}
}
// [21. Program flow ]:
// M0,M1,M2,M30: Perform non-running program flow actions. During a program pause, the buffer may
// refill and can only be resumed by the cycle start run-time command.
gc_state.modal.program_flow = gc_block.modal.program_flow;
if (gc_state.modal.program_flow) {
protocol_buffer_synchronize(); // Sync and finish all remaining buffered motions before moving on.
if (gc_state.modal.program_flow == PROGRAM_FLOW_PAUSED) {
if (sys.state != STATE_CHECK_MODE) {
bit_true_atomic(sys.rt_exec_state, EXEC_FEED_HOLD); // Use feed hold for program pause.
protocol_execute_realtime(); // Execute suspend.
}
} else { // == PROGRAM_FLOW_COMPLETED
// Upon program complete, only a subset of g-codes reset to certain defaults, according to
// LinuxCNC's program end descriptions and testing. Only modal groups [G-code 1,2,3,5,7,12]
// and [M-code 7,8,9] reset to [G1,G17,G90,G94,G40,G54,M5,M9,M48]. The remaining modal groups
// [G-code 4,6,8,10,13,14,15] and [M-code 4,5,6] and the modal words [F,S,T,H] do not reset.
gc_state.modal.motion = MOTION_MODE_LINEAR;
gc_state.modal.plane_select = PLANE_SELECT_XY;
gc_state.modal.distance = DISTANCE_MODE_ABSOLUTE;
gc_state.modal.feed_rate = FEED_RATE_MODE_UNITS_PER_MIN;
// gc_state.modal.cutter_comp = CUTTER_COMP_DISABLE; // Not supported.
gc_state.modal.coord_select = 0; // G54
gc_state.modal.spindle = SPINDLE_DISABLE;
gc_state.modal.coolant = COOLANT_DISABLE;
// gc_state.modal.override = OVERRIDE_DISABLE; // Not supported.
// Execute coordinate change and spindle/coolant stop.
if (sys.state != STATE_CHECK_MODE) {
if (!(settings_read_coord_data(gc_state.modal.coord_select,coordinate_data))) { FAIL(STATUS_SETTING_READ_FAIL); }
memcpy(gc_state.coord_system,coordinate_data,sizeof(coordinate_data));
spindle_stop();
coolant_stop();
}
report_feedback_message(MESSAGE_PROGRAM_END);
}
gc_state.modal.program_flow = PROGRAM_FLOW_RUNNING; // Reset program flow.
}
// TODO: % to denote start of program.
return(STATUS_OK);
}
/*
Not supported:
- Canned cycles
- Tool radius compensation
- A,B,C-axes
- Evaluation of expressions
- Variables
- Override control (TBD)
- Tool changes
- Switches
(*) Indicates optional parameter, enabled through config.h and re-compile
group 0 = {G92.2, G92.3} (Non modal: Cancel and re-enable G92 offsets)
group 1 = {G81 - G89} (Motion modes: Canned cycles)
group 4 = {M1} (Optional stop, ignored)
group 6 = {M6} (Tool change)
group 7 = {G41, G42} cutter radius compensation (G40 is supported)
group 8 = {G43} tool length offset (G43.1/G49 are supported)
group 8 = {*M7} enable mist coolant (* Compile-option)
group 9 = {M48, M49} enable/disable feed and speed override switches
group 10 = {G98, G99} return mode canned cycles
group 13 = {G61.1, G64} path control mode (G61 is supported)
*/
================================================
FILE: gcode.h
================================================
/*
gcode.h - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 1 // G4
#define NON_MODAL_SET_COORDINATE_DATA 2 // G10
#define NON_MODAL_GO_HOME_0 3 // G28
#define NON_MODAL_SET_HOME_0 4 // G28.1
#define NON_MODAL_GO_HOME_1 5 // G30
#define NON_MODAL_SET_HOME_1 6 // G30.1
#define NON_MODAL_ABSOLUTE_OVERRIDE 7 // G53
#define NON_MODAL_SET_COORDINATE_OFFSET 8 // G92
#define NON_MODAL_RESET_COORDINATE_OFFSET 9 //G92.1
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1
#define MOTION_MODE_CW_ARC 2 // G2
#define MOTION_MODE_CCW_ARC 3 // G3
#define MOTION_MODE_PROBE_TOWARD 4 // G38.2 NOTE: G38.2, G38.3, G38.4, G38.5 must be sequential. See report_gcode_modes().
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 5 // G38.3
#define MOTION_MODE_PROBE_AWAY 6 // G38.4
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 7 // G38.5
#define MOTION_MODE_NONE 8 // G80
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18
#define PLANE_SELECT_YZ 2 // G19
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91
// 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 1 // M0, M1
#define PROGRAM_FLOW_COMPLETED 2 // M2, M30
// 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
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20
// 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 1 // M3
#define SPINDLE_ENABLE_CCW 2 // M4
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_MIST_ENABLE 1 // M7
#define COOLANT_FLOOD_ENABLE 2 // M8
// 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
// 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[3]; // 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[3]; // 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 {
// uint16_t command_words; // NOTE: If this bitflag variable fills, G and M words can be separated.
// uint16_t value_words;
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t;
extern parser_block_t gc_block;
// 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
================================================
FILE: grbl.h
================================================
/*
grbl.h - main Grbl include file
Part of Grbl
Copyright (c) 2015 Sungeun K. Jeon
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 grbl_h
#define grbl_h
// Grbl versioning system
#define GRBL_VERSION "0.9i"
#define GRBL_VERSION_BUILD "20150620"
// Define standard libraries used by Grbl.
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <math.h>
#include <inttypes.h>
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdbool.h>
// Define the Grbl system include files. NOTE: Do not alter organization.
#include "config.h"
#include "nuts_bolts.h"
#include "settings.h"
#include "system.h"
#include "defaults.h"
#include "cpu_map.h"
#include "coolant_control.h"
#include "eeprom.h"
#include "gcode.h"
#include "limits.h"
#include "motion_control.h"
#include "planner.h"
#include "print.h"
#include "probe.h"
#include "protocol.h"
#include "report.h"
#include "serial.h"
#include "spindle_control.h"
#include "stepper.h"
#endif
================================================
FILE: limits.c
================================================
/*
limits.c - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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 1.5 // 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 limits_init()
{
LIMIT_DDR &= ~(LIMIT_MASK); // Set as input pins
#ifdef DISABLE_LIMIT_PIN_PULL_UP
LIMIT_PORT &= ~(LIMIT_MASK); // Normal low operation. Requires external pull-down.
#else
LIMIT_PORT |= (LIMIT_MASK); // Enable internal pull-up resistors. Normal high operation.
#endif
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
LIMIT_PCMSK |= LIMIT_MASK; // Enable specific pins of the Pin Change Interrupt
PCICR |= (1 << LIMIT_INT); // Enable Pin Change Interrupt
} else {
limits_disable();
}
#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()
{
LIMIT_PCMSK &= ~LIMIT_MASK; // Disable specific pins of the Pin Change Interrupt
PCICR &= ~(1 << LIMIT_INT); // Disable Pin Change Interrupt
}
// 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 = (LIMIT_PIN & LIMIT_MASK);
if (bit_isfalse(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);
}
// This is the Limit Pin Change Interrupt, which handles the hard limit feature. A bouncing
// limit switch can cause a lot of problems, like false readings and multiple interrupt calls.
// If a switch is triggered at all, something bad has happened and treat it as such, regardless
// if a limit switch is being disengaged. It's impossible to reliably tell the state of a
// bouncing pin without a debouncing method. A simple software debouncing feature may be enabled
// through the config.h file, where an extra timer delays the limit pin read by several milli-
// seconds to help with, not fix, bouncing switches.
// NOTE: Do not attach an e-stop to the limit pins, because this interrupt is disabled during
// homing cycles and will not respond correctly. Upon user request or need, there may be a
// special pinout for an e-stop, but it is generally recommended to just directly connect
// your e-stop switch to the Arduino reset pin, since it is the most correct way to do this.
#ifndef ENABLE_SOFTWARE_DEBOUNCE
ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
{
// 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) {
if (!(sys.rt_exec_alarm)) {
#ifdef HARD_LIMIT_FORCE_STATE_CHECK
// Check limit pin state.
if (limits_get_state()) {
mc_reset(); // Initiate system kill.
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
}
#else
mc_reset(); // Initiate system kill.
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate hard limit critical event
#endif
}
}
}
#else // OPTIONAL: Software debounce limit pin routine.
// Upon limit pin change, enable watchdog timer to create a short delay.
ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
ISR(WDT_vect) // Watchdog timer ISR
{
WDTCSR &= ~(1<<WDIE); // Disable watchdog timer.
if (sys.state != STATE_ALARM) { // Ignore if already in alarm state.
if (!(sys.rt_exec_alarm)) {
// Check limit pin state.
if (limits_get_state()) {
mc_reset(); // Initiate system kill.
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT)); // 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
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++;
sys.position[idx] = 0;
// 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;
plan_sync_position(); // Sync planner position to current machine position.
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, homing_rate, false, HOMING_CYCLE_LINE_NUMBER); // Bypass mc_line(). Directly plan homing motion.
#else
plan_buffer_line(target, homing_rate, false); // Bypass mc_line(). Directly plan homing motion.
#endif
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)) { axislock &= ~(step_pin[idx]); }
}
}
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)) {
// Homing failure: Limit switches are still engaged after pull-off motion
if ( (sys.rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) || // Safety door or reset issued
(!approach && (limits_get_state() & cycle_mask)) || // Limit switch still engaged after pull-off motion
( approach && (sys.rt_exec_state & EXEC_CYCLE_STOP)) ) { // Limit switch not found during approach.
mc_reset(); // Stop motors, if they are running.
protocol_execute_realtime();
return;
} else {
// Pull-off motion complete. Disable CYCLE_STOP from executing.
bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
break;
}
}
} while (STEP_MASK & axislock);
st_reset(); // Immediately force kill steppers and reset step segment buffer.
plan_reset(); // Reset planner buffer to zero planner current position and to clear previous motions.
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.
#ifdef COREXY
int32_t off_axis_position = 0;
#endif
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) {
off_axis_position = (sys.position[B_MOTOR] - sys.position[A_MOTOR])/2;
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) {
off_axis_position = (sys.position[A_MOTOR] + sys.position[B_MOTOR])/2;
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
}
}
plan_sync_position(); // Sync planner position to homed machine position.
// sys.state = STATE_HOMING; // Ensure system state set as homing before returning.
}
// 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.
void limits_soft_check(float *target)
{
uint8_t idx;
uint8_t soft_limit_error = false;
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]) { soft_limit_error = true; }
} else {
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { soft_limit_error = true; }
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { soft_limit_error = true; }
#endif
if (soft_limit_error) {
// 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) {
bit_true_atomic(sys.rt_exec_state, 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.
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_SOFT_LIMIT|EXEC_CRITICAL_EVENT)); // Indicate soft limit critical event
protocol_execute_realtime(); // Execute to enter critical event loop and system abort
return;
}
}
}
================================================
FILE: limits.h
================================================
/*
limits.h - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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);
#endif
================================================
FILE: main.c
================================================
/*
main.c - An embedded CNC Controller with rs274/ngc (g-code) support
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
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;
int main(void)
{
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt
memset(&sys, 0, sizeof(sys)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sei(); // Enable interrupts
// 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
// Force Grbl into an ALARM state upon a power-cycle or hard reset.
#ifdef FORCE_INITIALIZATION_ALARM
sys.state = STATE_ALARM;
#endif
// Grbl initialization loop upon power-up or a system abort. For the latter, all processes
// will return to this loop to be cleanly re-initialized.
for(;;) {
// TODO: Separate configure task that require interrupts to be disabled, especially upon
// a system abort and ensuring any active interrupts are cleanly reset.
// 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();
// Reset system variables.
sys.abort = false;
sys.rt_exec_state = 0;
sys.rt_exec_alarm = 0;
sys.suspend = false;
// Start Grbl main loop. Processes program inputs and executes them.
protocol_main_loop();
}
return 0; /* Never reached */
}
================================================
FILE: motion_control.c
================================================
/*
motion_control.c - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Simen Svale Skogsrud
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.
#ifdef USE_LINE_NUMBERS
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate, int32_t line_number)
#else
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
#endif
{
// 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)) { 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
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
#else
plan_buffer_line(target, feed_rate, invert_feed_rate);
#endif
}
// 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.
#ifdef USE_LINE_NUMBERS
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc, int32_t line_number)
#else
void mc_arc(float *position, float *target, float *offset, float radius, float feed_rate,
uint8_t invert_feed_rate, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc)
#endif
{
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 (invert_feed_rate) { feed_rate *= 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;
#ifdef USE_LINE_NUMBERS
mc_line(position, feed_rate, invert_feed_rate, line_number);
#else
mc_line(position, feed_rate, invert_feed_rate);
#endif
// 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.
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
}
// Execute dwell in seconds.
void mc_dwell(float seconds)
{
if (sys.state == STATE_CHECK_MODE) { return; }
uint16_t i = floor(1000/DWELL_TIME_STEP*seconds);
protocol_buffer_synchronize();
delay_ms(floor(1000*seconds-i*DWELL_TIME_STEP)); // Delay millisecond remainder.
while (i-- > 0) {
// NOTE: Check and execute realtime commands during dwell every <= DWELL_TIME_STEP milliseconds.
protocol_execute_realtime();
if (sys.abort) { return; }
_delay_ms(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
}
// 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()
{
// 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.
bit_true_atomic(sys.rt_exec_alarm, (EXEC_ALARM_HARD_LIMIT|EXEC_CRITICAL_EVENT));
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
// 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
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.
// -------------------------------------------------------------------------------------
// Gcode parser position was circumvented by the limits_go_home() routine, so sync position now.
gc_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.
#ifdef USE_LINE_NUMBERS
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
uint8_t is_no_error, int32_t line_number)
#else
void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_rate, uint8_t is_probe_away,
uint8_t is_no_error)
#endif
{
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) { return; }
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
// Initialize probing control variables
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.
bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL);
protocol_execute_realtime();
}
if (sys.abort) { return; } // Return if system reset has been issued.
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
#ifdef USE_LINE_NUMBERS
mc_line(target, feed_rate, invert_feed_rate, line_number);
#else
mc_line(target, feed_rate, invert_feed_rate);
#endif
// 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.
bit_true_atomic(sys.rt_exec_state, EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) { return; } // 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(float)*N_AXIS); }
else { bit_true_atomic(sys.rt_exec_alarm, EXEC_ALARM_PROBE_FAIL); }
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys.probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reest 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.
// TODO: Update the g-code parser code to not require this target calculation but uses a gc_sync_position() call.
// NOTE: The target[] variable updated here will be sent back and synced with the g-code parser.
system_convert_array_steps_to_mpos(target, sys.position);
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters();
#endif
}
// 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)) {
bit_true_atomic(sys.rt_exec_state, 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)) || (sys.suspend == SUSPEND_ENABLE_HOLD)) {
if (sys.state == STATE_HOMING
gitextract_2d22mjbq/ ├── README.md ├── config.h ├── coolant_control.c ├── coolant_control.h ├── cpu_map/ │ ├── cpu_map_atmega2560.h │ └── cpu_map_atmega328p.h ├── cpu_map.h ├── defaults/ │ ├── defaults_generic.h │ ├── defaults_oxcnc.h │ ├── defaults_shapeoko.h │ ├── defaults_shapeoko2.h │ ├── defaults_shapeoko3.h │ ├── defaults_sherline.h │ ├── defaults_simulator.h │ ├── defaults_x_carve_1000mm.h │ ├── defaults_x_carve_500mm.h │ └── defaults_zen_toolworks_7x7.h ├── defaults.h ├── eeprom.c ├── eeprom.h ├── examples/ │ └── grblUpload/ │ ├── grblUpload.ino │ └── license.txt ├── gcode.c ├── gcode.h ├── grbl.h ├── limits.c ├── limits.h ├── main.c ├── motion_control.c ├── motion_control.h ├── nuts_bolts.c ├── nuts_bolts.h ├── planner.c ├── planner.h ├── print.c ├── print.h ├── probe.c ├── probe.h ├── protocol.c ├── protocol.h ├── report.c ├── report.h ├── serial.c ├── serial.h ├── settings.c ├── settings.h ├── spindle_control.c ├── spindle_control.h ├── stepper.c ├── stepper.h ├── system.c └── system.h
SYMBOL INDEX (131 symbols across 21 files)
FILE: coolant_control.c
function coolant_init (line 24) | void coolant_init()
function coolant_stop (line 34) | void coolant_stop()
function coolant_set_state (line 43) | void coolant_set_state(uint8_t mode)
function coolant_run (line 59) | void coolant_run(uint8_t mode)
FILE: eeprom.c
function eeprom_get_char (line 49) | unsigned char eeprom_get_char( unsigned int addr )
function eeprom_put_char (line 74) | void eeprom_put_char( unsigned int addr, unsigned char new_value )
function memcpy_to_eeprom_with_checksum (line 130) | void memcpy_to_eeprom_with_checksum(unsigned int destination, char *sour...
function memcpy_from_eeprom_with_checksum (line 140) | int memcpy_from_eeprom_with_checksum(char *destination, unsigned int sou...
FILE: gcode.c
function gc_init (line 41) | void gc_init()
function gc_sync_position (line 54) | void gc_sync_position()
function gc_check_same_position (line 60) | static uint8_t gc_check_same_position(float *pos_a, float *pos_b)
function gc_execute_line (line 74) | uint8_t gc_execute_line(char *line)
FILE: gcode.h
type gc_modal_t (line 144) | typedef struct {
type gc_values_t (line 160) | typedef struct {
type parser_state_t (line 174) | typedef struct {
type parser_block_t (line 192) | typedef struct {
FILE: limits.c
function limits_init (line 33) | void limits_init()
function limits_disable (line 59) | void limits_disable()
function limits_get_state (line 69) | uint8_t limits_get_state()
function ISR (line 96) | ISR(LIMIT_INT_vect) // DEFAULT: Limit pin change interrupt process.
function ISR (line 120) | ISR(LIMIT_INT_vect) { if (!(WDTCSR & (1<<WDIE))) { WDTCSR |= (1<<WDIE); } }
function ISR (line 121) | ISR(WDT_vect) // Watchdog timer ISR
function limits_go_home (line 144) | void limits_go_home(uint8_t cycle_mask)
function limits_soft_check (line 314) | void limits_soft_check(float *target)
FILE: main.c
function main (line 29) | int main(void)
FILE: motion_control.c
function mc_line (line 36) | void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
function mc_arc (line 89) | void mc_arc(float *position, float *target, float *offset, float radius,...
function mc_dwell (line 203) | void mc_dwell(float seconds)
function mc_homing_cycle (line 222) | void mc_homing_cycle()
function mc_probe_cycle (line 269) | void mc_probe_cycle(float *target, float feed_rate, uint8_t invert_feed_...
function mc_reset (line 342) | void mc_reset()
FILE: nuts_bolts.c
function read_float (line 35) | uint8_t read_float(char *line, uint8_t *char_counter, float *float_ptr)
function delay_ms (line 113) | void delay_ms(uint16_t ms)
function delay_us (line 122) | void delay_us(uint32_t us)
function hypot_f (line 143) | float hypot_f(float x, float y) { return(sqrt(x*x + y*y)); }
FILE: planner.c
type planner_t (line 35) | typedef struct {
function plan_next_block_index (line 46) | uint8_t plan_next_block_index(uint8_t block_index)
function plan_prev_block_index (line 55) | static uint8_t plan_prev_block_index(uint8_t block_index)
function planner_recalculate (line 128) | static void planner_recalculate()
function plan_reset (line 201) | void plan_reset()
function plan_discard_current_block (line 211) | void plan_discard_current_block()
function plan_block_t (line 222) | plan_block_t *plan_get_current_block()
function plan_get_exec_block_exit_speed (line 229) | float plan_get_exec_block_exit_speed()
function plan_check_full_buffer (line 238) | uint8_t plan_check_full_buffer()
function plan_buffer_line (line 258) | void plan_buffer_line(float *target, float feed_rate, uint8_t invert_fee...
function plan_sync_position (line 420) | void plan_sync_position()
function plan_get_block_buffer_count (line 442) | uint8_t plan_get_block_buffer_count()
function plan_cycle_reinitialize (line 451) | void plan_cycle_reinitialize()
FILE: planner.h
type plan_block_t (line 37) | typedef struct {
FILE: print.c
function printString (line 25) | void printString(const char *s)
function printPgmString (line 33) | void printPgmString(const char *s)
function print_unsigned_int8 (line 64) | void print_unsigned_int8(uint8_t n, uint8_t base, uint8_t digits)
function print_uint8_base2 (line 80) | void print_uint8_base2(uint8_t n) {
function print_uint8_base10 (line 86) | void print_uint8_base10(uint8_t n)
function print_uint32_base10 (line 96) | void print_uint32_base10(uint32_t n)
function printInteger (line 116) | void printInteger(long n)
function printFloat (line 132) | void printFloat(float n, uint8_t decimal_places)
function printFloat_CoordValue (line 176) | void printFloat_CoordValue(float n) {
function printFloat_RateValue (line 184) | void printFloat_RateValue(float n) {
function printFloat_SettingValue (line 192) | void printFloat_SettingValue(float n) { printFloat(n,N_DECIMAL_SETTINGVA...
FILE: probe.c
function probe_init (line 29) | void probe_init()
function probe_configure_invert_mask (line 44) | void probe_configure_invert_mask(uint8_t is_probe_away)
function probe_get_state (line 53) | uint8_t probe_get_state() { return((PROBE_PIN & PROBE_MASK) ^ probe_inve...
function probe_state_monitor (line 59) | void probe_state_monitor()
FILE: protocol.c
function protocol_execute_line (line 36) | static void protocol_execute_line(char *line)
function protocol_main_loop (line 67) | void protocol_main_loop()
function protocol_execute_realtime (line 185) | void protocol_execute_realtime()
function protocol_buffer_synchronize (line 379) | void protocol_buffer_synchronize()
function protocol_auto_cycle_start (line 401) | void protocol_auto_cycle_start() { bit_true_atomic(sys.rt_exec_state, EX...
FILE: report.c
function report_status_message (line 40) | void report_status_message(uint8_t status_code)
function report_alarm_message (line 94) | void report_alarm_message(int8_t alarm_code)
function report_feedback_message (line 123) | void report_feedback_message(uint8_t message_code)
function report_init_message (line 149) | void report_init_message()
function report_grbl_help (line 155) | void report_grbl_help() {
function report_grbl_settings (line 177) | void report_grbl_settings() {
function report_probe_parameters (line 267) | void report_probe_parameters()
function report_ngc_parameters (line 286) | void report_ngc_parameters()
function report_gcode_modes (line 322) | void report_gcode_modes()
function report_startup_line (line 390) | void report_startup_line(uint8_t n, char *line)
function report_build_info (line 399) | void report_build_info(char *line)
function report_echo_line_received (line 409) | void report_echo_line_received(char *line)
function report_realtime_status (line 421) | void report_realtime_status()
FILE: serial.c
function serial_get_rx_buffer_count (line 40) | uint8_t serial_get_rx_buffer_count()
function serial_get_tx_buffer_count (line 50) | uint8_t serial_get_tx_buffer_count()
function serial_init (line 58) | void serial_init()
function serial_write (line 84) | void serial_write(uint8_t data) {
function ISR (line 105) | ISR(SERIAL_UDRE)
function serial_read (line 135) | uint8_t serial_read()
function ISR (line 159) | ISR(SERIAL_RX)
function serial_reset_read_buffer (line 194) | void serial_reset_read_buffer()
FILE: settings.c
function settings_store_startup_line (line 28) | void settings_store_startup_line(uint8_t n, char *line)
function settings_store_build_info (line 36) | void settings_store_build_info(char *line)
function settings_write_coord_data (line 43) | void settings_write_coord_data(uint8_t coord_select, float *coord_data)
function write_global_settings (line 51) | void write_global_settings()
function settings_restore (line 59) | void settings_restore(uint8_t restore_flag) {
function settings_read_startup_line (line 119) | uint8_t settings_read_startup_line(uint8_t n, char *line)
function settings_read_build_info (line 133) | uint8_t settings_read_build_info(char *line)
function settings_read_coord_data (line 146) | uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
function read_global_settings (line 160) | uint8_t read_global_settings() {
function settings_store_global_setting (line 176) | uint8_t settings_store_global_setting(uint8_t parameter, float value) {
function settings_init (line 278) | void settings_init() {
function get_step_pin_mask (line 300) | uint8_t get_step_pin_mask(uint8_t axis_idx)
function get_direction_pin_mask (line 309) | uint8_t get_direction_pin_mask(uint8_t axis_idx)
function get_limit_pin_mask (line 318) | uint8_t get_limit_pin_mask(uint8_t axis_idx)
FILE: settings.h
type settings_t (line 79) | typedef struct {
FILE: spindle_control.c
function spindle_init (line 33) | void spindle_init()
function spindle_stop (line 54) | void spindle_stop()
function spindle_run (line 64) | void spindle_run(uint8_t direction, float rpm)
FILE: stepper.c
type st_block_t (line 54) | typedef struct {
type segment_t (line 65) | typedef struct {
type stepper_t (line 78) | typedef struct {
type st_prep_t (line 121) | typedef struct {
function st_wake_up (line 183) | void st_wake_up()
function st_go_idle (line 212) | void st_go_idle()
function ISR (line 281) | ISR(TIMER1_COMPA_vect)
function ISR (line 415) | ISR(TIMER0_OVF_vect)
function ISR (line 427) | ISR(TIMER0_COMPA_vect)
function st_generate_step_dir_invert_masks (line 435) | void st_generate_step_dir_invert_masks()
function st_reset (line 448) | void st_reset()
function stepper_init (line 472) | void stepper_init()
function st_update_plan_block_parameters (line 499) | void st_update_plan_block_parameters()
function st_prep_buffer (line 522) | void st_prep_buffer()
function st_get_realtime_rate (line 842) | float st_get_realtime_rate()
FILE: system.c
function system_init (line 24) | void system_init()
function ISR (line 41) | ISR(CONTROL_INT_vect)
function system_check_safety_door_ajar (line 66) | uint8_t system_check_safety_door_ajar()
function system_execute_startup (line 81) | void system_execute_startup(char *line)
function system_execute_line (line 105) | uint8_t system_execute_line(char *line)
function system_convert_axis_steps_to_mpos (line 263) | float system_convert_axis_steps_to_mpos(int32_t *steps, uint8_t idx)
function system_convert_array_steps_to_mpos (line 281) | void system_convert_array_steps_to_mpos(float *position, int32_t *steps)
FILE: system.h
type system_t (line 71) | typedef struct {
Condensed preview — 52 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (404K chars).
[
{
"path": "README.md",
"chars": 2587,
"preview": "# grbl-servo\ngrbl 0.9i with Servo motor support\n\nGRBL 0.9i with servo motor support.\nUse the PIN D11 to drive the servo."
},
{
"path": "config.h",
"chars": 27964,
"preview": "/*\n config.h - compile time configuration\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n Copyright (c) 200"
},
{
"path": "coolant_control.c",
"chars": 1566,
"preview": "/*\n coolant_control.c - coolant control methods\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n Grbl is fr"
},
{
"path": "coolant_control.h",
"chars": 894,
"preview": "/*\n coolant_control.h - spindle control methods\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n Grbl is fr"
},
{
"path": "cpu_map/cpu_map_atmega2560.h",
"chars": 5475,
"preview": "/*\n cpu_map_atmega2560.h - CPU and pin mapping configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. "
},
{
"path": "cpu_map/cpu_map_atmega328p.h",
"chars": 6226,
"preview": "/*\n cpu_map_atmega328p.h - CPU and pin mapping configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. "
},
{
"path": "cpu_map.h",
"chars": 1681,
"preview": "/*\n cpu_map.h - CPU and pin mapping configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n Grb"
},
{
"path": "defaults/defaults_generic.h",
"chars": 2809,
"preview": "/*\n defaults_generic.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon"
},
{
"path": "defaults/defaults_oxcnc.h",
"chars": 2848,
"preview": "/*\n defaults_oxcnc.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n"
},
{
"path": "defaults/defaults_shapeoko.h",
"chars": 3259,
"preview": "/*\n defaults_shapeoko.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeo"
},
{
"path": "defaults/defaults_shapeoko2.h",
"chars": 3218,
"preview": "/*\n defaults_shapeoko2.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Je"
},
{
"path": "defaults/defaults_shapeoko3.h",
"chars": 3164,
"preview": "/*\n defaults_shapeoko3.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Je"
},
{
"path": "defaults/defaults_sherline.h",
"chars": 3191,
"preview": "/*\n defaults_sherline.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeo"
},
{
"path": "defaults/defaults_simulator.h",
"chars": 2892,
"preview": "/*\n defaults_simulator.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Je"
},
{
"path": "defaults/defaults_x_carve_1000mm.h",
"chars": 3230,
"preview": "/*\n defaults_x_carve_1000mm.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun "
},
{
"path": "defaults/defaults_x_carve_500mm.h",
"chars": 3230,
"preview": "/*\n defaults_x_carve_500mm.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K"
},
{
"path": "defaults/defaults_zen_toolworks_7x7.h",
"chars": 3248,
"preview": "/*\n defaults_zen_toolworks_7x7.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sunge"
},
{
"path": "defaults.h",
"chars": 3539,
"preview": "/*\n defaults.h - defaults settings configuration file\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n Grbl"
},
{
"path": "eeprom.c",
"chars": 5448,
"preview": "// This file has been prepared for Doxygen automatic documentation generation.\n/*! \\file *******************************"
},
{
"path": "eeprom.h",
"chars": 1059,
"preview": "/*\n eeprom.h - EEPROM methods\n Part of Grbl\n\n Copyright (c) 2009-2011 Simen Svale Skogsrud\n\n Grbl is free software: "
},
{
"path": "examples/grblUpload/grblUpload.ino",
"chars": 1231,
"preview": "/***********************************************************************\nThis sketch compiles and uploads Grbl to your 3"
},
{
"path": "examples/grblUpload/license.txt",
"chars": 1081,
"preview": "The MIT License (MIT)\n\nCopyright (c) 2015 Sungeun K. Jeon\n\nPermission is hereby granted, free of charge, to any person o"
},
{
"path": "gcode.c",
"chars": 59816,
"preview": "/*\n gcode.c - rs274/ngc parser.\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyright (c) 2009-2011 Sim"
},
{
"path": "gcode.h",
"chars": 8002,
"preview": "/*\n gcode.h - rs274/ngc parser.\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyright (c) 2009-2011 Sim"
},
{
"path": "grbl.h",
"chars": 1612,
"preview": "/*\n grbl.h - main Grbl include file\n Part of Grbl\n\n Copyright (c) 2015 Sungeun K. Jeon\n\n Grbl is free software: you "
},
{
"path": "limits.c",
"chars": 14983,
"preview": "/*\n limits.c - code pertaining to limit-switches and performing the homing cycle\n Part of Grbl\n\n Copyright (c) 2012-2"
},
{
"path": "limits.h",
"chars": 1220,
"preview": "/*\n limits.h - code pertaining to limit-switches and performing the homing cycle\n Part of Grbl\n\n Copyright (c) 2012-2"
},
{
"path": "main.c",
"chars": 3257,
"preview": "/*\n main.c - An embedded CNC Controller with rs274/ngc (g-code) support\n Part of Grbl\n \n Copyright (c) 2011-2015 Sun"
},
{
"path": "motion_control.c",
"chars": 17833,
"preview": "/*\n motion_control.c - high level interface for issuing motion commands\n Part of Grbl\n\n Copyright (c) 2011-2015 Sunge"
},
{
"path": "motion_control.h",
"chars": 2741,
"preview": "/*\n motion_control.h - high level interface for issuing motion commands\n Part of Grbl\n\n Copyright (c) 2011-2015 Sunge"
},
{
"path": "nuts_bolts.c",
"chars": 4108,
"preview": "/*\n nuts_bolts.c - Shared functions\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyright (c) 2009-2011"
},
{
"path": "nuts_bolts.h",
"chars": 2906,
"preview": "/*\n nuts_bolts.h - Header file for shared definitions, variables, and functions\n Part of Grbl\n\n Copyright (c) 2011-20"
},
{
"path": "planner.c",
"chars": 25026,
"preview": "/*\n planner.c - buffers movement commands and manages the acceleration profile plan\n Part of Grbl\n\n Copyright (c) 201"
},
{
"path": "planner.h",
"chars": 4073,
"preview": "/*\n planner.h - buffers movement commands and manages the acceleration profile plan\n Part of Grbl\n\n Copyright (c) 201"
},
{
"path": "print.c",
"chars": 5231,
"preview": "/*\n print.c - Functions for formatting output strings\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyr"
},
{
"path": "print.h",
"chars": 1841,
"preview": "/*\n print.h - Functions for formatting output strings\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyr"
},
{
"path": "probe.c",
"chars": 2495,
"preview": "/*\n probe.c - code pertaining to probing methods\n Part of Grbl\n\n Copyright (c) 2014-2015 Sungeun K. Jeon\n\n Grbl is f"
},
{
"path": "probe.h",
"chars": 1596,
"preview": "/*\n probe.h - code pertaining to probing methods\n Part of Grbl\n\n Copyright (c) 2014-2015 Sungeun K. Jeon\n\n Grbl is f"
},
{
"path": "protocol.c",
"chars": 19986,
"preview": "/*\n protocol.c - controls Grbl execution protocol and procedures\n Part of Grbl\n \n Copyright (c) 2011-2015 Sungeun K."
},
{
"path": "protocol.h",
"chars": 2123,
"preview": "/*\n protocol.h - controls Grbl execution protocol and procedures\n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. J"
},
{
"path": "report.c",
"chars": 22145,
"preview": "/*\n report.c - reporting and messaging methods\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon \n\n Grbl is f"
},
{
"path": "report.h",
"chars": 3475,
"preview": "/*\n report.h - reporting and messaging methods\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n\n Grbl is fre"
},
{
"path": "serial.c",
"chars": 6380,
"preview": "/*\n serial.c - Low level functions for sending and recieving bytes via the serial port\n Part of Grbl\n\n Copyright (c) "
},
{
"path": "serial.h",
"chars": 1855,
"preview": "/*\n serial.c - Low level functions for sending and recieving bytes via the serial port\n Part of Grbl\n\n Copyright (c) "
},
{
"path": "settings.c",
"chars": 12548,
"preview": "/*\n settings.c - eeprom configuration handling \n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon \n Copyright"
},
{
"path": "settings.h",
"chars": 5593,
"preview": "/*\n settings.h - eeprom configuration handling \n Part of Grbl\n\n Copyright (c) 2011-2015 Sungeun K. Jeon\n Copyright ("
},
{
"path": "spindle_control.c",
"chars": 4433,
"preview": "/*\n spindle_control.c - spindle control methods\n Part of Grbl\n Copyright (c) 2012-2015 Sungeun K. Jeon\n Copyright (c"
},
{
"path": "spindle_control.h",
"chars": 1113,
"preview": "/*\n spindle_control.h - spindle control methods\n Part of Grbl\n\n Copyright (c) 2012-2015 Sungeun K. Jeon\n Copyright ("
},
{
"path": "stepper.c",
"chars": 45711,
"preview": "/*\n stepper.c - stepper motor driver: executes motion plans using stepper motors\n Part of Grbl\n\n Copyright (c) 2011-2"
},
{
"path": "stepper.h",
"chars": 1742,
"preview": "/*\n stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors\n Part of Grbl\n\n Cop"
},
{
"path": "system.c",
"chars": 13167,
"preview": "/*\n system.c - Handles system level commands and real-time processes\n Part of Grbl\n\n Copyright (c) 2014-2015 Sungeun "
},
{
"path": "system.h",
"chars": 5543,
"preview": "/*\n system.h - Header for system level commands and real-time processes\n Part of Grbl\n\n Copyright (c) 2014-2015 Sunge"
}
]
About this extraction
This page contains the full source code of the robottini/grbl-servo GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 52 files (383.2 KB), approximately 98.8k tokens, and a symbol index with 131 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.