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Merge chamnit/v0_7 with grbl/master

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1 parent 74576a8 commit 9713f9067dbc47c7622357736d0a55ad3cd8771d @chamnit chamnit committed Jan 18, 2012
Showing with 1,552 additions and 1,014 deletions.
  1. +2 −2 Makefile
  2. +47 −11 config.h
  3. +30 −0 doc/planner-maths.txt
  4. +1 −1 doc/resources.txt
  5. +5 −3 doc/structure.txt
  6. +63 −141 gcode.c
  7. +0 −6 gcode.h
  8. +103 −0 limits.c
  9. +9 −9 serial_protocol.h → limits.h
  10. +14 −11 main.c
  11. +95 −34 motion_control.c
  12. +15 −11 motion_control.h
  13. +38 −0 nuts_bolts.c
  14. +13 −3 nuts_bolts.h
  15. +294 −254 planner.c
  16. +19 −23 planner.h
  17. +104 −0 print.c
  18. +37 −0 print.h
  19. +122 −0 protocol.c
  20. +40 −0 protocol.h
  21. +12 −4 readme.textile
  22. +33 −0 script/simple_stream.py
  23. +125 −0 serial.c
  24. +35 −0 serial.h
  25. +0 −77 serial_protocol.c
  26. +74 −14 settings.c
  27. +8 −17 settings.h
  28. +18 −7 spindle_control.c
  29. +189 −126 stepper.c
  30. +7 −3 stepper.h
  31. +0 −212 wiring_serial.c
  32. +0 −45 wiring_serial.h
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@@ -30,8 +30,8 @@
DEVICE = atmega328p
CLOCK = 16000000
PROGRAMMER = -c avrisp2 -P usb
-OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o serial_protocol.o stepper.o \
- eeprom.o settings.o planner.o
+OBJECTS = main.o motion_control.o gcode.o spindle_control.o serial.o protocol.o stepper.o \
+ eeprom.o settings.o planner.o nuts_bolts.o limits.o print.o
# FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
# update that line with this when programmer is back up:
View
@@ -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
-
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@@ -0,0 +1,30 @@
+Reasoning behind the mathematics in 'planner' module (in the key of 'Mathematica')
+==================================================================================
+
+
+s == speed, a == acceleration, t == time, d == distance
+
+Basic definitions:
+
+ Speed[s_, a_, t_] := s + (a*t)
+ Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
+
+Distance to reach a specific speed with a constant acceleration:
+
+ Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
+ d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
+
+Speed after a given distance of travel with constant acceleration:
+
+ Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
+ m -> Sqrt[2 a d + s^2]
+
+ DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
+
+When to start braking (di) to reach a specified destionation speed (s2) after accelerating
+from initial speed s1 without ever stopping at a plateau:
+
+ Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
+ di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
+
+ IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
View
@@ -3,7 +3,7 @@ Allocation of AVR peripherals in Grbl
See config.h for pin allocation.
-The UART is handled by 'wiring_serial' and used primarily for streaming gcode
+The UART is handled by 'serial' and used primarily for streaming gcode
16 bit Timer 1 and the TIMER1_COMPA interrupt is used by the 'stepper' module to handle step events
View
@@ -3,10 +3,10 @@ The general structure of Grbl
The main processing stack:
-'serial_protocol' : Accepts command lines from the serial port and passes them to 'gcode' for execution.
+'protocol' : Accepts command lines from the serial port and passes them to 'gcode' for execution.
Provides status responses for each command.
-'gcode' : Recieves gcode from 'serial_protocol', parses it according to the current state
+'gcode' : Recieves gcode from 'protocol', parses it according to the current state
of the parser and issues commands via '..._control' modules
'spindle_control' : Commands for controlling the spindle.
@@ -36,4 +36,6 @@ Supporting files:
'nuts_bolts.h' : A tiny collection of useful constants and macros used everywhere
-'wiring_serial' : Low level serial library initially from an old version of the Arduino software
+'serial' : Low level serial communications
+
+'print' : Functions to print strings of different formats (using serial)
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