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merging: testing all features, sensors working (after grounding the s…
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…hield of the wire), multiple offsets, homing, stopping and resuming, ...
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Stefan Hechenberger committed Feb 13, 2012
1 parent 47ba7cf commit b9afa2d
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Showing 6 changed files with 96 additions and 75 deletions.
5 changes: 5 additions & 0 deletions README.md
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Expand Up @@ -17,6 +17,11 @@ Grbl - An embedded g-code interpreter and motion-controller for the Arduino/AVR3
For more information [on Grbl](https://github.com/simen/grbl)


TODO
------
- g55 wrong offset
- homing cycle cannot recover out of bounds when limit already triggering

mbed merger notes
------------------
- removed
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7 changes: 5 additions & 2 deletions config.h
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Expand Up @@ -34,6 +34,7 @@

#define SENSE_DDR DDRD
#define SENSE_PORT PORTD
#define SENSE_PIN PIND
#define POWER_BIT 2
#define CHILLER_BIT 3
#define DOOR_BIT 5
Expand Down Expand Up @@ -107,8 +108,10 @@

#define CHAR_XOFF '\x13'
#define CHAR_XON '\x11'
#define CHAR_STOP '\x03'
#define CHAR_RESUME '\x02'
// #define CHAR_STOP '\x03'
// #define CHAR_RESUME '\x02'
#define CHAR_STOP '!'
#define CHAR_RESUME '~'

#define X_AXIS 0
#define Y_AXIS 1
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30 changes: 21 additions & 9 deletions gcode.c
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Expand Up @@ -51,6 +51,9 @@
#define STATUS_FLOATING_POINT_ERROR 4
#define STATUS_STOP_STATE_ERROR 5

#define OFFSET_G54 0
#define OFFSET_G55 1

#define BUFFER_LINE_SIZE 80
char rx_line[BUFFER_LINE_SIZE];

Expand Down Expand Up @@ -85,13 +88,13 @@ void gcode_init() {
gc.nominal_laser_intensity = 0U;
gc.offselect = 0; // default to G54 coordinate system
// prime G54 cs
// refine with "G10 L2 P1 X_ Y_ Z_"
// refine with "G10 L2 P0 X_ Y_ Z_"
gc.offsets[X_AXIS] = CONFIG_X_ORIGIN_OFFSET;
gc.offsets[Y_AXIS] = CONFIG_Y_ORIGIN_OFFSET;
gc.offsets[Z_AXIS] = CONFIG_Z_ORIGIN_OFFSET;
// prime G55 cs
// refine with "G10 L2 P2 X_ Y_ Z_"
// or set to any current location with "G10 L20 P2"
// refine with "G10 L2 P1 X_ Y_ Z_"
// or set to any current location with "G10 L20 P1"
gc.offsets[3+X_AXIS] = CONFIG_X_ORIGIN_OFFSET;
gc.offsets[3+Y_AXIS] = CONFIG_Y_ORIGIN_OFFSET;
gc.offsets[3+Z_AXIS] = CONFIG_Z_ORIGIN_OFFSET;
Expand Down Expand Up @@ -218,8 +221,8 @@ uint8_t gcode_execute_line(char *line) {
case 20: gc.inches_mode = true; break;
case 21: gc.inches_mode = false; break;
case 30: next_action = NEXT_ACTION_HOMING_CYCLE; break;
case 54: gc.offselect = 0; break;
case 55: gc.offselect = 1; break;
case 54: gc.offselect = OFFSET_G54; break;
case 55: gc.offselect = OFFSET_G55; break;
case 90: gc.absolute_mode = true; break;
case 91: gc.absolute_mode = false; break;
default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
Expand Down Expand Up @@ -327,19 +330,28 @@ uint8_t gcode_execute_line(char *line) {
clear_vector(target);
stepper_set_position(0.0, 0.0, 0.0);
planner_set_position(0.0, 0.0, 0.0);
// move head to g54 offset
gc.offselect = OFFSET_G54;
target[X_AXIS] = 0;
target[Y_AXIS] = 0;
target[Z_AXIS] = 0;
planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS],
target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS],
target[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS],
gc.seek_rate, 0 );
break;
case NEXT_ACTION_SET_COORDINATE_OFFSET:
if (cs == 0 || cs == 1) { // corresponds to G54, G55
if (cs == OFFSET_G54 || cs == OFFSET_G55) {
if (l == 2) {
//set offset to target, eg: G10 L2 P1 X15 Y15 Z0
gc.offsets[3*cs+X_AXIS] = target[X_AXIS];
gc.offsets[3*cs+Y_AXIS] = target[Y_AXIS];
gc.offsets[3*cs+Z_AXIS] = target[Z_AXIS];
} else if (l == 20) {
// set offset to current pos, eg: G10 L20 P2
gc.offsets[3*cs+X_AXIS] = gc.position[X_AXIS];
gc.offsets[3*cs+Y_AXIS] = gc.position[X_AXIS];
gc.offsets[3*cs+Z_AXIS] = gc.position[X_AXIS];
gc.offsets[3*cs+X_AXIS] = gc.position[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS];
gc.offsets[3*cs+Y_AXIS] = gc.position[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS];
gc.offsets[3*cs+Z_AXIS] = gc.position[Z_AXIS] + gc.offsets[3*gc.offselect+Z_AXIS];
}
}
break;
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4 changes: 2 additions & 2 deletions sense_control.c
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Expand Up @@ -28,11 +28,11 @@
void sense_init() {
//// power, chiller, door
SENSE_DDR &= ~(SENSE_MASK); // set as input pins
// LIMIT_PORT |= LIMIT_MASK; //activate pull-up resistors
// SENSE_PORT |= SENSE_MASK; //activate pull-up resistors

//// x1_lmit, x2_limit, y1_limit, y2_limit
LIMIT_DDR &= ~(LIMIT_MASK); // set as input pins
LIMIT_PORT |= LIMIT_MASK; //activate pull-up resistors
// LIMIT_PORT |= LIMIT_MASK; //activate pull-up resistors
}


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18 changes: 9 additions & 9 deletions sense_control.h
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Expand Up @@ -22,15 +22,15 @@


void sense_init();
#define SENSE_POWER ((SENSE_PORT >> POWER_BIT) & 1)
#define SENSE_CHILLER ((SENSE_PORT >> CHILLER_BIT) & 1)
#define SENSE_DOOR ((SENSE_PORT >> DOOR_BIT) & 1)
#define SENSE_X1_LIMIT ((SENSE_PORT >> X1_LIMIT_BIT) & 1)
#define SENSE_X2_LIMIT ((SENSE_PORT >> X2_LIMIT_BIT) & 1)
#define SENSE_Y1_LIMIT ((SENSE_PORT >> Y1_LIMIT_BIT) & 1)
#define SENSE_Y2_LIMIT (SENSE_PORT >> Y2_LIMIT_BIT) & 1
#define SENSE_LIMITS ((LIMIT_PORT & LIMIT_MASK) > 0)
#define SENSE_ANY (((LIMIT_PORT & LIMIT_MASK) > 0) && ((SENSE_PORT & SENSE_MASK) > 0))
#define SENSE_POWER_OFF !((SENSE_PIN >> POWER_BIT) & 1)
#define SENSE_CHILLER_OFF !((SENSE_PIN >> CHILLER_BIT) & 1)
#define SENSE_DOOR_OPEN !((SENSE_PIN >> DOOR_BIT) & 1)
#define SENSE_X1_LIMIT !((LIMIT_PIN >> X1_LIMIT_BIT) & 1)
#define SENSE_X2_LIMIT !((LIMIT_PIN >> X2_LIMIT_BIT) & 1)
#define SENSE_Y1_LIMIT !((LIMIT_PIN >> Y1_LIMIT_BIT) & 1)
#define SENSE_Y2_LIMIT !((LIMIT_PIN >> Y2_LIMIT_BIT) & 1)
#define SENSE_LIMITS (SENSE_X1_LIMIT || SENSE_X2_LIMIT || SENSE_Y1_LIMIT || SENSE_Y2_LIMIT)
#define SENSE_ANY (SENSE_LIMITS || SENSE_POWER_OFF || SENSE_CHILLER_OFF || SENSE_DOOR_OPEN)


void control_init();
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107 changes: 54 additions & 53 deletions stepper.c
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Expand Up @@ -210,14 +210,15 @@ ISR(TIMER1_COMPA_vect) {
}

if (SENSE_ANY) {
// printString("sense_any\n");
// no power (e-stop), no chiller, door open, limit switch situation
if (SENSE_POWER || SENSE_CHILLER || SENSE_LIMITS) {
if (SENSE_POWER_OFF || SENSE_CHILLER_OFF || SENSE_LIMITS) {
// printString("sense\n");
// stop program
stepper_request_stop();
busy = false;
return;
} else {
} else if (SENSE_DOOR_OPEN) {
// printString("door\n");
// door open -> simply suspend processing
busy = false;
return;
Expand Down Expand Up @@ -447,66 +448,66 @@ static void adjust_speed( uint32_t steps_per_minute ) {

static void homing_cycle(bool x_axis, bool y_axis, bool z_axis, bool reverse_direction, uint32_t microseconds_per_pulse) {

// uint32_t step_delay = microseconds_per_pulse - CONFIG_PULSE_MICROSECONDS;
// uint8_t out_bits = DIRECTION_MASK;
// uint8_t limit_bits;
//
// if (x_axis) { out_bits |= (1<<X_STEP_BIT); }
// if (y_axis) { out_bits |= (1<<Y_STEP_BIT); }
// if (z_axis) { out_bits |= (1<<Z_STEP_BIT); }
//
// // Invert direction bits if this is a reverse homing_cycle
// if (reverse_direction) {
// out_bits ^= DIRECTION_MASK;
// }
//
// // Apply the global invert mask
// out_bits ^= INVERT_MASK;
//
// // Set direction pins
// STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
//
// for(;;) {
// limit_bits = LIMIT_PIN;
// if (reverse_direction) {
// // Invert limit_bits if this is a reverse homing_cycle
// limit_bits ^= LIMIT_MASK;
// }
// if (x_axis && !(limit_bits & (1<<X1_LIMIT_BIT))) {
// x_axis = false;
// out_bits ^= (1<<X_STEP_BIT);
// }
// if (y_axis && !(limit_bits & (1<<Y1_LIMIT_BIT))) {
// y_axis = false;
// out_bits ^= (1<<Y_STEP_BIT);
// }
// // if (z_axis && !(limit_bits & (1<<Z1_LIMIT_BIT))) {
// // z_axis = false;
// // out_bits ^= (1<<Z_STEP_BIT);
// // }
// if(x_axis || y_axis || z_axis) {
// // step all axes still in out_bits
// STEPPING_PORT |= out_bits & STEPPING_MASK;
// _delay_us(CONFIG_PULSE_MICROSECONDS);
// STEPPING_PORT ^= out_bits & STEPPING_MASK;
// _delay_us(step_delay);
// } else {
// return;
// }
// }
// return;
uint32_t step_delay = microseconds_per_pulse - CONFIG_PULSE_MICROSECONDS;
uint8_t out_bits = DIRECTION_MASK;
uint8_t limit_bits;

if (x_axis) { out_bits |= (1<<X_STEP_BIT); }
if (y_axis) { out_bits |= (1<<Y_STEP_BIT); }
if (z_axis) { out_bits |= (1<<Z_STEP_BIT); }

// Invert direction bits if this is a reverse homing_cycle
if (reverse_direction) {
out_bits ^= DIRECTION_MASK;
}

// Apply the global invert mask
out_bits ^= INVERT_MASK;

// Set direction pins
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);

for(;;) {
limit_bits = LIMIT_PIN;
if (reverse_direction) {
// Invert limit_bits if this is a reverse homing_cycle
limit_bits ^= LIMIT_MASK;
}
if (x_axis && !(limit_bits & (1<<X1_LIMIT_BIT))) {
x_axis = false;
out_bits ^= (1<<X_STEP_BIT);
}
if (y_axis && !(limit_bits & (1<<Y1_LIMIT_BIT))) {
y_axis = false;
out_bits ^= (1<<Y_STEP_BIT);
}
// if (z_axis && !(limit_bits & (1<<Z1_LIMIT_BIT))) {
// z_axis = false;
// out_bits ^= (1<<Z_STEP_BIT);
// }
if(x_axis || y_axis || z_axis) {
// step all axes still in out_bits
STEPPING_PORT |= out_bits & STEPPING_MASK;
_delay_us(CONFIG_PULSE_MICROSECONDS);
STEPPING_PORT ^= out_bits & STEPPING_MASK;
_delay_us(step_delay);
} else {
return;
}
}
return;
}

static void approach_limit_switch(bool x, bool y, bool z) {
homing_cycle(x, y, z,false, 1000);
}

static void leave_limit_switch(bool x, bool y, bool z) {
homing_cycle(x, y, z, true, 100000);
homing_cycle(x, y, z, true, 10000);
}

void stepper_homing_cycle() {
stepper_synchronize();
stepper_synchronize();
// home the x and y axis
approach_limit_switch(true, true, false);
leave_limit_switch(true, true, false);
Expand Down

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