47cd40c8dc
- NEW! An active multi-axis step smoothing algorithm that automatically adjusts dependent on step frequency. This solves the long standing issue to aliasing when moving with multiple axes. Similar in scheme to Smoothieware, but more advanced in ensuring a more consistent CPU overhead throughout all frequencies while maintaining step exactness. - Switched from Timer2 to Timer0 for the Step Port Reset Interrupt. Mainly to free up hardware PWM pins. - Seperated the direction and step pin assignments, so we can now move them to seperate ports. This means that we can more easily support 4+ axes in the future. - Added a setting for inverting the limit pins, as so many users have request. Better late than never. - Bug fix related to EEPROM calls when in cycle. The EEPROM would kill the stepper motion. Now protocol mandates that the system be either in IDLE or ALARM to access or change any settings. - Bug fix related to resuming the cycle after a spindle or dwell command if auto start has been disabled. This fix is somewhat temporary or more of a patch. Doesn’t work with a straight call-response streaming protocol, but works fine with serial buffer pre-filling streaming that most clients use. - Renamed the pin_map.h to cpu_map.h to more accurately describe what the file is. - Pushed an auto start bug fix upon re-initialization. - Much more polishing to do!
112 lines
4.6 KiB
C
112 lines
4.6 KiB
C
/*
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011-2013 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef nuts_bolts_h
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#define nuts_bolts_h
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#include <string.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "config.h"
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#include "defaults.h"
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#include "cpu_map.h"
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#define false 0
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#define true 1
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#define N_AXIS 3 // Number of axes
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#define X_AXIS 0 // Axis indexing value. Must start with 0 and be continuous.
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#define Y_AXIS 1
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#define Z_AXIS 2
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#define MM_PER_INCH (25.40)
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#define INCH_PER_MM (0.0393701)
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#define TICKS_PER_MICROSECOND (F_CPU/1000000)
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// Useful macros
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#define clear_vector(a) memset(a, 0, sizeof(a))
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#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
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#define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
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#define max(a,b) (((a) > (b)) ? (a) : (b))
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#define min(a,b) (((a) < (b)) ? (a) : (b))
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// Bit field and masking macros
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#define bit(n) (1 << n)
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#define bit_true(x,mask) (x |= mask)
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#define bit_false(x,mask) (x &= ~mask)
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#define bit_toggle(x,mask) (x ^= mask)
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#define bit_istrue(x,mask) ((x & mask) != 0)
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#define bit_isfalse(x,mask) ((x & mask) == 0)
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// Define system executor bit map. Used internally by runtime protocol as runtime command flags,
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// which notifies the main program to execute the specified runtime command asynchronously.
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// NOTE: The system executor uses an unsigned 8-bit volatile variable (8 flag limit.) The default
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// flags are always false, so the runtime protocol only needs to check for a non-zero value to
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// know when there is a runtime command to execute.
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#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
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#define EXEC_CYCLE_START bit(1) // bitmask 00000010
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#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100
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#define EXEC_FEED_HOLD bit(3) // bitmask 00001000
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#define EXEC_RESET bit(4) // bitmask 00010000
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#define EXEC_ALARM bit(5) // bitmask 00100000
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#define EXEC_CRIT_EVENT bit(6) // bitmask 01000000
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// #define bit(7) // bitmask 10000000
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// Define system state bit map. The state variable primarily tracks the individual functions
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// of Grbl to manage each without overlapping. It is also used as a messaging flag for
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// critical events.
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#define STATE_IDLE 0 // Must be zero. No flags.
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#define STATE_QUEUED bit(0) // Indicates buffered blocks, awaiting cycle start.
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#define STATE_CYCLE bit(1) // Cycle is running
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#define STATE_HOLD bit(2) // Executing feed hold
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#define STATE_HOMING bit(3) // Performing homing cycle
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#define STATE_ALARM bit(4) // In alarm state. Locks out all g-code processes. Allows settings access.
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#define STATE_CHECK_MODE bit(5) // G-code check mode. Locks out planner and motion only.
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// #define STATE_JOG bit(6) // Jogging mode is unique like homing.
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// Define global system variables
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typedef struct {
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uint8_t abort; // System abort flag. Forces exit back to main loop for reset.
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uint8_t state; // Tracks the current state of Grbl.
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volatile uint8_t execute; // Global system runtime executor bitflag variable. See EXEC bitmasks.
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uint8_t homing_axis_lock;
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int32_t position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
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// NOTE: This may need to be a volatile variable, if problems arise.
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uint8_t auto_start; // Planner auto-start flag. Toggled off during feed hold. Defaulted by settings.
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} system_t;
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extern system_t sys;
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// Read a floating point value from a string. Line points to the input buffer, char_counter
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// is the indexer pointing to the current character of the line, while float_ptr is
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// a pointer to the result variable. Returns true when it succeeds
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int read_float(char *line, uint8_t *char_counter, float *float_ptr);
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// Delays variable-defined milliseconds. Compiler compatibility fix for _delay_ms().
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void delay_ms(uint16_t ms);
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// Delays variable-defined microseconds. Compiler compatibility fix for _delay_us().
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void delay_us(uint32_t us);
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uint8_t get_direction_mask(uint8_t i);
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#endif
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