Merge chamnit/v0_7 with grbl/master

settings.c

@@ -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
@@ -23,8 +24,10 @@
 #include "nuts_bolts.h"
 #include "settings.h"
 #include "eeprom.h"
-#include "wiring_serial.h"
+#include "print.h"
 #include <avr/pgmspace.h>
+#include "protocol.h"
+#include "config.h"
 
 settings_t settings;
 
@@ -39,6 +42,19 @@ typedef struct {
   double mm_per_arc_segment;
 } settings_v1_t;
 
+// Default settings (used when resetting eeprom-settings)
+#define MICROSTEPS 8
+#define DEFAULT_X_STEPS_PER_MM (94.488188976378*MICROSTEPS)
+#define DEFAULT_Y_STEPS_PER_MM (94.488188976378*MICROSTEPS)
+#define DEFAULT_Z_STEPS_PER_MM (94.488188976378*MICROSTEPS)
+#define DEFAULT_STEP_PULSE_MICROSECONDS 30
+#define DEFAULT_MM_PER_ARC_SEGMENT 0.1
+#define DEFAULT_RAPID_FEEDRATE 500.0 // mm/min
+#define DEFAULT_FEEDRATE 500.0
+#define DEFAULT_ACCELERATION (DEFAULT_FEEDRATE*60*60/10.0) // mm/min^2
+#define DEFAULT_JUNCTION_DEVIATION 0.05 // mm
+#define DEFAULT_STEPPING_INVERT_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
+
 void settings_reset() {
   settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
   settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
@@ -49,7 +65,7 @@ void settings_reset() {
   settings.acceleration = DEFAULT_ACCELERATION;
   settings.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
   settings.invert_mask = DEFAULT_STEPPING_INVERT_MASK;
-  settings.max_jerk = DEFAULT_MAX_JERK;
+  settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
 }
 
 void settings_dump() {
@@ -62,12 +78,38 @@ void settings_dump() {
   printPgmString(PSTR(" (mm/min default seek rate)\r\n$6 = ")); printFloat(settings.mm_per_arc_segment);
   printPgmString(PSTR(" (mm/arc segment)\r\n$7 = ")); printInteger(settings.invert_mask); 
   printPgmString(PSTR(" (step port invert mask. binary = ")); printIntegerInBase(settings.invert_mask, 2);  
-  printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration);
-  printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.max_jerk);
-  printPgmString(PSTR(" (max instant cornering speed change in delta mm/min)"));
+  printPgmString(PSTR(")\r\n$8 = ")); printFloat(settings.acceleration/(60*60)); // Convert from mm/min^2 for human readability
+  printPgmString(PSTR(" (acceleration in mm/sec^2)\r\n$9 = ")); printFloat(settings.junction_deviation);
+  printPgmString(PSTR(" (cornering junction deviation in mm)"));
   printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
 }
 
+// Parameter lines are on the form '$4=374.3' or '$' to dump current settings
+uint8_t settings_execute_line(char *line) {
+  uint8_t char_counter = 1;
+  double parameter, value;
+  if(line[0] != '$') { 
+    return(STATUS_UNSUPPORTED_STATEMENT); 
+  }
+  if(line[char_counter] == 0) { 
+    settings_dump(); return(STATUS_OK); 
+  }
+  if(!read_double(line, &char_counter, &parameter)) {
+    return(STATUS_BAD_NUMBER_FORMAT);
+  };
+  if(line[char_counter++] != '=') { 
+    return(STATUS_UNSUPPORTED_STATEMENT); 
+  }
+  if(!read_double(line, &char_counter, &value)) {
+    return(STATUS_BAD_NUMBER_FORMAT);
+  }
+  if(line[char_counter] != 0) { 
+    return(STATUS_UNSUPPORTED_STATEMENT); 
+  }
+  settings_store_setting(parameter, value);
+  return(STATUS_OK);
+}
+
 void write_settings() {
   eeprom_put_char(0, SETTINGS_VERSION);
   memcpy_to_eeprom_with_checksum(1, (char*)&settings, sizeof(settings_t));
@@ -80,33 +122,51 @@ int read_settings() {
   if (version == SETTINGS_VERSION) {
     // Read settings-record and check checksum
     if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t)))) {
-      return(FALSE);
+      return(false);
     }
   } else if (version == 1) {
-    // Migrate from old settings version
+    // Migrate from settings version 1
     if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_v1_t)))) {
-      return(FALSE);
+      return(false);
     }
     settings.acceleration = DEFAULT_ACCELERATION;
-    settings.max_jerk = DEFAULT_MAX_JERK;
+    settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
+    write_settings();
+  } else if ((version == 2) || (version == 3)) {
+    // Migrate from settings version 2 and 3
+    if (!(memcpy_from_eeprom_with_checksum((char*)&settings, 1, sizeof(settings_t)))) {
+      return(false);
+    }
+    if (version == 2) { settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION; }    
+    settings.acceleration *= 3600; // Convert to mm/min^2 from mm/sec^2
+    write_settings();
   } else {      
-    return(FALSE);
+    return(false);
   }
-  return(TRUE);
+  return(true);
 }
 
 // A helper method to set settings from command line
 void settings_store_setting(int parameter, double value) {
   switch(parameter) {
     case 0: case 1: case 2:
+    if (value <= 0.0) {
+      printPgmString(PSTR("Steps/mm must be > 0.0\r\n"));
+      return;
+    }
     settings.steps_per_mm[parameter] = value; break;
-    case 3: settings.pulse_microseconds = round(value); break;
+    case 3: 
+    if (value < 3) {
+      printPgmString(PSTR("Step pulse must be >= 3 microseconds\r\n"));
+      return;
+    }
+    settings.pulse_microseconds = round(value); break;
     case 4: settings.default_feed_rate = value; break;
     case 5: settings.default_seek_rate = value; break;
     case 6: settings.mm_per_arc_segment = value; break;
     case 7: settings.invert_mask = trunc(value); break;
-    case 8: settings.acceleration = value; break;
-    case 9: settings.max_jerk = fabs(value); break;
+    case 8: settings.acceleration = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
+    case 9: settings.junction_deviation = fabs(value); break;
     default: 
       printPgmString(PSTR("Unknown parameter\r\n"));
       return;