Merge chamnit/v0_7 with grbl/master

config.h

@@ -3,6 +3,7 @@
   Part of Grbl
 
   Copyright (c) 2009-2011 Simen Svale Skogsrud
+  Copyright (c) 2011 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
@@ -21,14 +22,16 @@
 #ifndef config_h
 #define config_h
 
+// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
+
 #define BAUD_RATE 9600
 
 // Updated default pin-assignments from 0.6 onwards 
 // (see bottom of file for a copy of the old config)
 
-#define STEPPERS_ENABLE_DDR     DDRB
-#define STEPPERS_ENABLE_PORT    PORTB
-#define STEPPERS_ENABLE_BIT         0
+#define STEPPERS_DISABLE_DDR     DDRB
+#define STEPPERS_DISABLE_PORT    PORTB
+#define STEPPERS_DISABLE_BIT         0
 
 #define STEPPING_DDR       DDRD
 #define STEPPING_PORT      PORTD
@@ -40,7 +43,7 @@
 #define Z_DIRECTION_BIT      7
 
 #define LIMIT_DDR      DDRB
-#define LIMIT_PORT     PORTB
+#define LIMIT_PIN     PINB
 #define X_LIMIT_BIT          1
 #define Y_LIMIT_BIT          2
 #define Z_LIMIT_BIT          3
@@ -53,17 +56,51 @@
 #define SPINDLE_DIRECTION_PORT PORTB
 #define SPINDLE_DIRECTION_BIT 5
 
-// The temporal resolution of the acceleration management subsystem. Higher number
-// give smoother acceleration but may impact performance
-#define ACCELERATION_TICKS_PER_SECOND 40L
+// This parameter sets the delay time before disabling the steppers after the final block of movement.
+// A short delay ensures the steppers come to a complete stop and the residual inertial force in the 
+// CNC axes don't cause the axes to drift off position. This is particularly important when manually 
+// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
+// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
+// on the machine, this parameter may need to be larger or smaller than the default time.
+// NOTE: If defined 0, the delay will not be compiled.
+#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer >= 0
+
+// The temporal resolution of the acceleration management subsystem. Higher number give smoother
+// acceleration but may impact performance.
+// NOTE: Increasing this parameter will help any resolution related issues, especially with machines 
+// requiring very high accelerations and/or very fast feedrates. In general, this will reduce the 
+// error between how the planner plans the motions and how the stepper program actually performs them.
+// However, at some point, the resolution can be high enough, where the errors related to numerical 
+// round-off can be great enough to cause problems and/or it's too fast for the Arduino. 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 range from 30L to 100L or more.
+#define ACCELERATION_TICKS_PER_SECOND 50L
+
+// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
+// of the buffer and all stops. This should not be much greater than zero and should only be changed
+// if unwanted behavior is observed on a user's machine when running at very slow speeds.
+#define MINIMUM_PLANNER_SPEED 0.0 // (mm/min)
+
+// Minimum stepper rate. Sets the absolute minimum stepper rate in the stepper program and never runs
+// slower than this value, except when sleeping. This parameter overrides the minimum planner speed.
+// This is primarily used to guarantee that the end of a movement is always reached and not stop to
+// never reach its target. This parameter should always be greater than zero.
+#define MINIMUM_STEPS_PER_MINUTE 800 // (steps/min) - Integer value only
+
+// Number of arc generation iterations by small angle approximation before exact arc trajectory 
+// correction. This parameter maybe decreased if there are issues with the accuracy of the arc
+// generations. In general, the default value is more than enough for the intended CNC applications
+// of grbl, and should be on the order or greater than the size of the buffer to help with the 
+// computational efficiency of generating arcs.
+#define N_ARC_CORRECTION 25 // Integer (1-255)
 
 #endif
 
 // Pin-assignments from Grbl 0.5
 
-// #define STEPPERS_ENABLE_DDR     DDRD
-// #define STEPPERS_ENABLE_PORT    PORTD
-// #define STEPPERS_ENABLE_BIT         2
+// #define STEPPERS_DISABLE_DDR     DDRD
+// #define STEPPERS_DISABLE_PORT    PORTD
+// #define STEPPERS_DISABLE_BIT         2
 // 
 // #define STEPPING_DDR       DDRC
 // #define STEPPING_PORT      PORTC 
@@ -87,4 +124,3 @@
 // #define SPINDLE_DIRECTION_DDR DDRD
 // #define SPINDLE_DIRECTION_PORT PORTD
 // #define SPINDLE_DIRECTION_BIT 7
-