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Bug fixes and more limit configurability

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- Strange sizeof() bug in the most recent releases. Manifested as an
alarm upon a power up even when homing was disabled. Fixed by declaring
sizeof() with struct types, rather than variable names, even though
they were validated to give the same value.

- Spindle speed zero should disable the spindle. Now fixed.

- New configuration option for inverting certain limit pins. Handy for
mixed NO and NC switch machines. See config.h for details.

- Incremented version and pre-build firmware link.
This commit is contained in:
Sonny Jeon
2016-03-03 21:08:15 -07:00
parent 0140d66d41
commit da5c65b54b
10 changed files with 104 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
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@@ -27,7 +27,7 @@ Grbl includes full acceleration management with look ahead. That means the contr
***
_**Master Branch:**_
* [Grbl v0.9j Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1I8Ey4S) _(2015-12-18)_
* [Grbl v0.9j Atmega328p 16mhz 115200baud with generic defaults](http://bit.ly/1I8Ey4S) _(2016-03-03)_
- **IMPORTANT INFO WHEN UPGRADING TO GRBL v0.9 :**
- Baudrate is now **115200** (Up from 9600).
- Homing cycle updated. Located based on switch trigger, rather than release point.

16
doc/log/commit_log_v0.9j.txt
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@@ -1,3 +1,19 @@
----------------
Date: 2015-12-18
Author: Sonny Jeon
Subject: Minor bug fixes.
- Planner was under-estimating maximum speeds through straight
junctions in certain cases. The calculations have been updated to be
more accurate.
- Type declaration fix in probe.c.
- Commit log for v0.9j generated separately from v0.9i’s.
- Incremented version and updated pre-built firmware link.
----------------
Date: 2015-09-30
Author: Sonny Jeon

12
grbl/config.h
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@@ -126,8 +126,8 @@
#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.
// analog pin 4. Only use this option if you require a second coolant control pin.
// NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
// #define ENABLE_M7 // Disabled by default. Uncomment to enable.
// This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
@@ -157,6 +157,14 @@
// the CONTROL_INVERT_MASK definition in cpu_map.h files.
// #define INVERT_ALL_CONTROL_PINS // Default disabled. Uncomment to enable.
// Inverts select limit pin states based on the following mask. This effects all limit pin functions,
// such as hard limits and homing. However, this is different from overall invert limits setting.
// This build option will invert only the limit pins defined here, and then the invert limits setting
// will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
// normally-open(NO) and normally-closed(NC) switches installed on their machine.
// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
// #define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// NOTE: If VARIABLE_SPINDLE is enabled(default), this option has no effect as the PWM output and

4
grbl/gcode.c
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@@ -40,7 +40,7 @@ parser_block_t gc_block;
void gc_init()
{
memset(&gc_state, 0, sizeof(gc_state));
memset(&gc_state, 0, sizeof(parser_state_t));
// Load default G54 coordinate system.
if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) {
@@ -80,7 +80,7 @@ uint8_t gc_execute_line(char *line)
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.
memset(&gc_block, 0, sizeof(parser_block_t)); // 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;

2
grbl/grbl.h
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@@ -23,7 +23,7 @@
// Grbl versioning system
#define GRBL_VERSION "0.9j"
#define GRBL_VERSION_BUILD "20151218"
#define GRBL_VERSION_BUILD "20160303"
// Define standard libraries used by Grbl.
#include <avr/io.h>

65
grbl/limits.c
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@@ -70,12 +70,15 @@ uint8_t limits_get_state()
{
uint8_t limit_state = 0;
uint8_t pin = (LIMIT_PIN & LIMIT_MASK);
#ifdef INVERT_LIMIT_PIN_MASK
pin ^= INVERT_LIMIT_PIN_MASK;
#endif
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); }
}
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
}
}
return(limit_state);
}
@@ -210,37 +213,37 @@ void limits_go_home(uint8_t cycle_mask)
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;
}
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.
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.
// 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;
}
}
break;
}
}
} while (STEP_MASK & axislock);
} 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.

2
grbl/main.c
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@@ -34,7 +34,7 @@ int main(void)
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
memset(&sys, 0, sizeof(system_t)); // Clear all system variables
sys.abort = true; // Set abort to complete initialization
sei(); // Enable interrupts

2
grbl/planner.c
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@@ -200,7 +200,7 @@ static void planner_recalculate()
void plan_reset()
{
memset(&pl, 0, sizeof(pl)); // Clear planner struct
memset(&pl, 0, sizeof(planner_t)); // Clear planner struct
block_buffer_tail = 0;
block_buffer_head = 0; // Empty = tail
next_buffer_head = 1; // plan_next_block_index(block_buffer_head)

62
grbl/spindle_control.c
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@@ -50,17 +50,17 @@ void spindle_stop()
TCCRA_REGISTER &= ~(1<<COMB_BIT); // Disable PWM. Output voltage is zero.
#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
}
@@ -95,33 +95,39 @@ void spindle_set_state(uint8_t state, float rpm)
uint8_t current_pwm;
#endif
#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; }
if (rpm <= 0.0) { spindle_stop(); } // RPM should never be negative, but check anyway.
else {
rpm -= SPINDLE_MIN_RPM;
if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
}
current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
#ifdef MINIMUM_SPINDLE_PWM
if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
#endif
OCR_REGISTER = current_pwm; // Set PWM pin output
#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; }
else {
rpm -= SPINDLE_MIN_RPM;
if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
}
current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
#ifdef MINIMUM_SPINDLE_PWM
if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
#endif
OCR_REGISTER = current_pwm; // Set PWM pin output
// On the Uno, spindle enable and PWM are shared, unless otherwise specified.
#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
// On the Uno, spindle enable and PWM are shared, unless otherwise specified.
#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#endif
}
#else
if (rpm <= 0.0) { spindle_stop(); } // RPM should never be negative, but check anyway.
else {
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
}
#endif
}

4
grbl/stepper.c
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@@ -451,8 +451,8 @@ void st_reset()
st_go_idle();
// Initialize stepper algorithm variables.
memset(&prep, 0, sizeof(prep));
memset(&st, 0, sizeof(st));
memset(&prep, 0, sizeof(st_prep_t));
memset(&st, 0, sizeof(stepper_t));
st.exec_segment = NULL;
pl_block = NULL; // Planner block pointer used by segment buffer
segment_buffer_tail = 0;