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settings.c
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settings.c
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/*
settings.c - non-volatile storage configuration handling
Part of grblHAL
Copyright (c) 2017-2021 Terje Io
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include "hal.h"
#include "defaults.h"
#include "limits.h"
#include "nvs_buffer.h"
#include "tool_change.h"
#ifdef ENABLE_BACKLASH_COMPENSATION
#include "motion_control.h"
#endif
#ifdef ENABLE_SPINDLE_LINEARIZATION
#include <stdio.h>
#endif
#ifndef SETTINGS_RESTORE_DEFAULTS
#define SETTINGS_RESTORE_DEFAULTS 1
#endif
#ifndef SETTINGS_RESTORE_PARAMETERS
#define SETTINGS_RESTORE_PARAMETERS 1
#endif
#ifndef SETTINGS_RESTORE_STARTUP_LINES
#define SETTINGS_RESTORE_STARTUP_LINES 1
#endif
#ifndef SETTINGS_RESTORE_BUILD_INFO
#define SETTINGS_RESTORE_BUILD_INFO 1
#endif
#ifndef SETTINGS_RESTORE_DRIVER_PARAMETERS
#define SETTINGS_RESTORE_DRIVER_PARAMETERS 1
#endif
settings_t settings;
const settings_restore_t settings_all = {
.defaults = SETTINGS_RESTORE_DEFAULTS,
.parameters = SETTINGS_RESTORE_PARAMETERS,
.startup_lines = SETTINGS_RESTORE_STARTUP_LINES,
.build_info = SETTINGS_RESTORE_BUILD_INFO,
.driver_parameters = SETTINGS_RESTORE_DRIVER_PARAMETERS
};
PROGMEM const settings_t defaults = {
.version = SETTINGS_VERSION,
.junction_deviation = DEFAULT_JUNCTION_DEVIATION,
.arc_tolerance = DEFAULT_ARC_TOLERANCE,
.g73_retract = DEFAULT_G73_RETRACT,
.flags.legacy_rt_commands = DEFAULT_LEGACY_RTCOMMANDS,
.flags.report_inches = DEFAULT_REPORT_INCHES,
.flags.sleep_enable = DEFAULT_SLEEP_ENABLE,
#if DEFAULT_LASER_MODE
.mode = Mode_Laser,
.flags.disable_laser_during_hold = DEFAULT_DISABLE_LASER_DURING_HOLD,
#else
.flags.disable_laser_during_hold = 0,
#if DEFAULT_LATHE_MODE
.mode = Mode_Lathe,
#endif
#endif
.flags.restore_after_feed_hold = DEFAULT_RESTORE_AFTER_FEED_HOLD,
.flags.force_initialization_alarm = DEFAULT_FORCE_INITIALIZATION_ALARM,
.probe.disable_probe_pullup = DISABLE_PROBE_PIN_PULL_UP,
.probe.allow_feed_override = ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES,
.probe.invert_probe_pin = DEFAULT_INVERT_PROBE_PIN,
.steppers.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS,
.steppers.pulse_delay_microseconds = DEFAULT_STEP_PULSE_DELAY,
.steppers.idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME,
.steppers.step_invert.mask = DEFAULT_STEPPING_INVERT_MASK,
.steppers.dir_invert.mask = DEFAULT_DIRECTION_INVERT_MASK,
.steppers.enable_invert.mask = INVERT_ST_ENABLE_MASK,
.steppers.deenergize.mask = ST_DEENERGIZE_MASK,
#if DEFAULT_HOMING_ENABLE
.homing.flags.enabled = DEFAULT_HOMING_ENABLE,
.homing.flags.init_lock = DEFAULT_HOMING_INIT_LOCK,
.homing.flags.single_axis_commands = HOMING_SINGLE_AXIS_COMMANDS,
.homing.flags.force_set_origin = HOMING_FORCE_SET_ORIGIN,
.homing.flags.manual = DEFAULT_HOMING_ALLOW_MANUAL,
.homing.flags.override_locks = DEFAULT_HOMING_OVERRIDE_LOCKS,
#else
.homing.flags.value = 0,
#endif
.homing.dir_mask.value = DEFAULT_HOMING_DIR_MASK,
.homing.feed_rate = DEFAULT_HOMING_FEED_RATE,
.homing.seek_rate = DEFAULT_HOMING_SEEK_RATE,
.homing.debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY,
.homing.pulloff = DEFAULT_HOMING_PULLOFF,
.homing.locate_cycles = DEFAULT_N_HOMING_LOCATE_CYCLE,
.homing.cycle[0].mask = HOMING_CYCLE_0,
.homing.cycle[1].mask = HOMING_CYCLE_1,
.homing.cycle[2].mask = HOMING_CYCLE_2,
.homing.dual_axis.fail_length_percent = DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT,
.homing.dual_axis.fail_distance_min = DUAL_AXIS_HOMING_FAIL_DISTANCE_MIN,
.homing.dual_axis.fail_distance_max = DUAL_AXIS_HOMING_FAIL_DISTANCE_MAX,
.status_report.machine_position = DEFAULT_REPORT_BUFFER_STATE,
.status_report.buffer_state = DEFAULT_REPORT_BUFFER_STATE,
.status_report.line_numbers = DEFAULT_REPORT_LINE_NUMBERS,
.status_report.feed_speed = DEFAULT_REPORT_CURRENT_FEED_SPEED,
.status_report.pin_state = DEFAULT_REPORT_PIN_STATE,
.status_report.work_coord_offset = DEFAULT_REPORT_WORK_COORD_OFFSET,
.status_report.overrides = DEFAULT_REPORT_OVERRIDES,
.status_report.probe_coordinates = DEFAULT_REPORT_PROBE_COORDINATES,
.status_report.sync_on_wco_change = DEFAULT_REPORT_SYNC_ON_WCO_CHANGE,
.status_report.parser_state = DEFAULT_REPORT_PARSER_STATE,
.status_report.alarm_substate = DEFAULT_REPORT_ALARM_SUBSTATE,
.limits.flags.hard_enabled = DEFAULT_HARD_LIMIT_ENABLE,
.limits.flags.soft_enabled = DEFAULT_SOFT_LIMIT_ENABLE,
.limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
.limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES,
.limits.invert.mask = INVERT_LIMIT_PIN_MASK,
.limits.disable_pullup.mask = DISABLE_LIMIT_PINS_PULL_UP_MASK,
.control_invert.mask = INVERT_CONTROL_PIN_MASK,
.control_disable_pullup.mask = DISABLE_CONTROL_PINS_PULL_UP_MASK,
.spindle.rpm_max = DEFAULT_SPINDLE_RPM_MAX,
.spindle.rpm_min = DEFAULT_SPINDLE_RPM_MIN,
.spindle.flags.pwm_action = DEFAULT_SPINDLE_PWM_ACTION,
.spindle.invert.on = INVERT_SPINDLE_ENABLE_PIN,
.spindle.invert.ccw = INVERT_SPINDLE_CCW_PIN,
.spindle.invert.pwm = INVERT_SPINDLE_PWM_PIN,
.spindle.pwm_freq = DEFAULT_SPINDLE_PWM_FREQ,
.spindle.pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE,
.spindle.pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE,
.spindle.pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE,
.spindle.at_speed_tolerance = DEFAULT_SPINDLE_AT_SPEED_TOLERANCE,
.spindle.ppr = DEFAULT_SPINDLE_PPR,
.spindle.pid.p_gain = DEFAULT_SPINDLE_P_GAIN,
.spindle.pid.i_gain = DEFAULT_SPINDLE_I_GAIN,
.spindle.pid.d_gain = DEFAULT_SPINDLE_D_GAIN,
.spindle.pid.i_max_error = DEFAULT_SPINDLE_I_MAX,
#if SPINDLE_NPWM_PIECES > 0
.spindle.pwm_piece[0] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 1
.spindle.pwm_piece[1] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 2
.spindle.pwm_piece[2] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 3
.spindle.pwm_piece[3] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
.coolant_invert.flood = INVERT_COOLANT_FLOOD_PIN,
.coolant_invert.mist = INVERT_COOLANT_MIST_PIN,
.axis[X_AXIS].steps_per_mm = DEFAULT_X_STEPS_PER_MM,
.axis[X_AXIS].max_rate = DEFAULT_X_MAX_RATE,
.axis[X_AXIS].acceleration = DEFAULT_X_ACCELERATION,
.axis[X_AXIS].max_travel = (-DEFAULT_X_MAX_TRAVEL),
.axis[X_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[X_AXIS].backlash = 0.0f,
#endif
.axis[Y_AXIS].steps_per_mm = DEFAULT_Y_STEPS_PER_MM,
.axis[Y_AXIS].max_rate = DEFAULT_Y_MAX_RATE,
.axis[Y_AXIS].max_travel = (-DEFAULT_Y_MAX_TRAVEL),
.axis[Y_AXIS].acceleration = DEFAULT_Y_ACCELERATION,
.axis[Y_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[Y_AXIS].backlash = 0.0f,
#endif
.axis[Z_AXIS].steps_per_mm = DEFAULT_Z_STEPS_PER_MM,
.axis[Z_AXIS].max_rate = DEFAULT_Z_MAX_RATE,
.axis[Z_AXIS].acceleration = DEFAULT_Z_ACCELERATION,
.axis[Z_AXIS].max_travel = (-DEFAULT_Z_MAX_TRAVEL),
.axis[Z_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[Z_AXIS].backlash = 0.0f,
#endif
#ifdef A_AXIS
.axis[A_AXIS].steps_per_mm = DEFAULT_A_STEPS_PER_MM,
.axis[A_AXIS].max_rate = DEFAULT_A_MAX_RATE,
.axis[A_AXIS].acceleration = DEFAULT_A_ACCELERATION,
.axis[A_AXIS].max_travel = (-DEFAULT_A_MAX_TRAVEL),
.axis[A_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[A_AXIS].backlash = 0.0f,
#endif
.homing.cycle[3].mask = HOMING_CYCLE_3,
#endif
#ifdef B_AXIS
.axis[B_AXIS].steps_per_mm = DEFAULT_B_STEPS_PER_MM,
.axis[B_AXIS].max_rate = DEFAULT_B_MAX_RATE,
.axis[B_AXIS].acceleration = DEFAULT_B_ACCELERATION,
.axis[B_AXIS].max_travel = (-DEFAULT_B_MAX_TRAVEL),
.axis[B_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[B_AXIS].backlash = 0.0f,
#endif
.homing.cycle[4].mask = HOMING_CYCLE_4,
#endif
#ifdef C_AXIS
.axis[C_AXIS].steps_per_mm = DEFAULT_C_STEPS_PER_MM,
.axis[C_AXIS].acceleration = DEFAULT_C_ACCELERATION,
.axis[C_AXIS].max_rate = DEFAULT_C_MAX_RATE,
.axis[C_AXIS].max_travel = (-DEFAULT_C_MAX_TRAVEL),
.axis[C_AXIS].dual_axis_offset = 0.0f,
#ifdef ENABLE_BACKLASH_COMPENSATION
.axis[C_AXIS].backlash = 0.0f,
#endif
.homing.cycle[5].mask = HOMING_CYCLE_5,
#endif
.tool_change.mode = (toolchange_mode_t)DEFAULT_TOOLCHANGE_MODE,
.tool_change.probing_distance = DEFAULT_TOOLCHANGE_PROBING_DISTANCE,
.tool_change.feed_rate = DEFAULT_TOOLCHANGE_FEED_RATE,
.tool_change.seek_rate = DEFAULT_TOOLCHANGE_SEEK_RATE,
.tool_change.pulloff_rate = DEFAULT_TOOLCHANGE_PULLOFF_RATE,
.parking.flags.enabled = DEFAULT_PARKING_ENABLE,
.parking.flags.deactivate_upon_init = DEFAULT_DEACTIVATE_PARKING_UPON_INIT,
.parking.flags.enable_override_control= DEFAULT_ENABLE_PARKING_OVERRIDE_CONTROL,
.parking.axis = DEFAULT_PARKING_AXIS,
.parking.target = DEFAULT_PARKING_TARGET,
.parking.rate = DEFAULT_PARKING_RATE,
.parking.pullout_rate = DEFAULT_PARKING_PULLOUT_RATE,
.parking.pullout_increment = DEFAULT_PARKING_PULLOUT_INCREMENT
};
PROGMEM static const setting_group_detail_t setting_group_detail [] = {
{ Group_Root, Group_Root, "Root"},
{ Group_Root, Group_General, "General"},
{ Group_Root, Group_ControlSignals, "Control signals"},
{ Group_Root, Group_Limits, "Limits"},
{ Group_Limits, Group_Limits_DualAxis, "Dual axis"},
{ Group_Root, Group_Coolant, "Coolant"},
{ Group_Root, Group_Spindle, "Spindle"},
{ Group_Spindle, Group_Spindle_Sync, "Spindle sync"},
{ Group_Root, Group_Toolchange, "Tool change"},
{ Group_Root, Group_Homing, "Homing"},
{ Group_Root, Group_Probing, "Probing"},
{ Group_Root, Group_SafetyDoor, "Safety door"},
{ Group_Root, Group_Jogging, "Jogging"},
{ Group_Root, Group_Stepper, "Stepper"},
{ Group_Root, Group_MotorDriver, "Stepper driver"},
{ Group_Root, Group_Axis, "Axis"},
{ Group_Axis, Group_XAxis, "X-axis"},
{ Group_Axis, Group_YAxis, "Y-axis"},
{ Group_Axis, Group_ZAxis, "Z-axis"},
#ifdef A_AXIS
{ Group_Axis, Group_AAxis, "A-axis"},
#endif
#ifdef B_AXIS
{ Group_Axis, Group_BAxis, "B-axis"},
#endif
#ifdef C_AXIS
{ Group_Axis, Group_CAxis, "C-axis"}
#endif
};
static status_code_t set_probe_invert (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_report_mask (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_report_inches (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_control_invert (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_spindle_invert (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_control_disable_pullup (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_probe_disable_pullup (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_soft_limits_enable (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_hard_limits_enable (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_jog_soft_limited (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_homing_enable (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_enable_legacy_rt_commands (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_homing_cycle (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_mode (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_sleep_enable (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_hold_actions (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_force_initialization_alarm (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_tool_change_probing_distance (setting_id_t id, float value);
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_value);
static status_code_t set_door_options (setting_id_t id, uint_fast16_t int_value);
#endif
#ifdef ENABLE_SPINDLE_LINEARIZATION
static status_code_t set_linear_piece (setting_id_t id, char *svalue);
static char *get_linear_piece (setting_id_t id);
#endif
static status_code_t set_axis_setting (setting_id_t setting, float value);
static float get_float (setting_id_t setting);
static uint32_t get_int (setting_id_t id);
static bool is_setting_available (const setting_detail_t *setting);
static char control_signals[] = "Reset,Feed hold,Cycle start,Safety door,Block delete,Optional stop,EStop,Probe connected,Motor fault";
static char control_signals_map[] = "0,1,2,3,4,5,6,7,8";
static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
PROGMEM static const setting_detail_t setting_detail[] = {
{ Setting_PulseMicroseconds, Group_Stepper, "Step pulse time", "microseconds", Format_Decimal, "#0.0", "2.0", NULL, Setting_IsLegacy, &settings.steppers.pulse_microseconds, NULL, NULL },
{ Setting_StepperIdleLockTime, Group_Stepper, "Step idle delay", "milliseconds", Format_Int16, "####0", NULL, "65535", Setting_IsLegacy, &settings.steppers.idle_lock_time, NULL, NULL },
{ Setting_StepInvertMask, Group_Stepper, "Step pulse invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.step_invert.mask, NULL, NULL },
{ Setting_DirInvertMask, Group_Stepper, "Step direction invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.dir_invert.mask, NULL, NULL },
{ Setting_InvertStepperEnable, Group_Stepper, "Invert step enable pin(s)", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.steppers.enable_invert.mask, NULL, NULL },
{ Setting_LimitPinsInvertMask, Group_Limits, "Invert limit pins", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.limits.invert.mask, NULL, NULL },
{ Setting_InvertProbePin, Group_Probing, "Invert probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_probe_invert, get_int, NULL },
{ Setting_SpindlePWMBehaviour, Group_Spindle, "Disable spindle with zero speed", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtended, &settings.spindle.flags.mask, NULL, is_setting_available },
// { Setting_SpindlePWMBehaviour, Group_Spindle, "Spindle enable vs. speed behaviour", NULL, Format_RadioButtons, "No action,Disable spindle with zero speed,Enable spindle with all speeds", NULL, NULL, Setting_IsExtended, &settings.spindle.flags.mask, NULL, NULL },
#if COMPATIBILITY_LEVEL <= 1
{ Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state,Line numbers,Feed & speed,Pin state,Work coordinate offset,Overrides,Probe coordinates,Buffer sync on WCO change,Parser state,Alarm substatus,Run substatus", NULL, NULL, Setting_IsExtendedFn, set_report_mask, get_int, NULL },
#else
{ Setting_StatusReportMask, Group_General, "Status report options", NULL, Format_Bitfield, "Position in machine coordinate,Buffer state", NULL, NULL, Setting_IsLegacyFn, set_report_mask, get_int, NULL },
#endif
{ Setting_JunctionDeviation, Group_General, "Junction deviation", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.junction_deviation, NULL, NULL },
{ Setting_ArcTolerance, Group_General, "Arc tolerance", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.arc_tolerance, NULL, NULL },
{ Setting_ReportInches, Group_General, "Report in inches", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_report_inches, get_int, NULL },
{ Setting_ControlInvertMask, Group_ControlSignals, "Invert control pins", NULL, Format_Bitfield, control_signals, control_signals_map, NULL, Setting_IsExpandedFn, set_control_invert, get_int, NULL },
{ Setting_CoolantInvertMask, Group_Coolant, "Invert coolant pins", NULL, Format_Bitfield, "Flood,Mist", NULL, NULL, Setting_IsExtended, &settings.coolant_invert.mask, NULL, NULL },
{ Setting_SpindleInvertMask, Group_Spindle, "Invert spindle signals", NULL, Format_Bitfield, spindle_signals, NULL, NULL, Setting_IsExtendedFn, set_spindle_invert, get_int, NULL },
{ Setting_ControlPullUpDisableMask, Group_ControlSignals, "Pullup disable control pins", NULL, Format_Bitfield, control_signals, control_signals_map, NULL, Setting_IsExtendedFn, set_control_disable_pullup, get_int, NULL },
{ Setting_LimitPullUpDisableMask, Group_Limits, "Pullup disable limit pins", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.limits.disable_pullup.mask, NULL, NULL },
{ Setting_ProbePullUpDisable, Group_Probing, "Pullup disable probe pin", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_probe_disable_pullup, get_int, NULL },
{ Setting_SoftLimitsEnable, Group_Limits, "Soft limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_soft_limits_enable, get_int, NULL },
#if COMPATIBILITY_LEVEL <= 1
{ Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_XBitfield, "Enable,Strict mode", NULL, NULL, Setting_IsExpandedFn, set_hard_limits_enable, get_int, NULL },
#else
{ Setting_HardLimitsEnable, Group_Limits, "Hard limits enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_hard_limits_enable, get_int, NULL },
#endif
#if COMPATIBILITY_LEVEL <= 1
{ Setting_HomingEnable, Group_Homing, "Homing cycle", NULL, Format_XBitfield, "Enable,Enable single axis commands,Homing on startup required,Set machine origin to 0,Two switches shares one input pin,Allow manual,Override locks,Keep homed status on reset", NULL, NULL, Setting_IsExpandedFn, set_homing_enable, get_int, NULL },
#else
{ Setting_HomingEnable, Group_Homing, "Homing cycle enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsLegacyFn, set_homing_enable, get_int, NULL },
#endif
{ Setting_HomingDirMask, Group_Homing, "Homing direction invert", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsLegacy, &settings.homing.dir_mask.value, NULL, NULL },
{ Setting_HomingFeedRate, Group_Homing, "Homing locate feed rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsLegacy, &settings.homing.feed_rate, NULL, NULL },
{ Setting_HomingSeekRate, Group_Homing, "Homing search seek rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsLegacy, &settings.homing.seek_rate, NULL, NULL },
{ Setting_HomingDebounceDelay, Group_Homing, "Homing switch debounce delay", "milliseconds", Format_Int16, "##0", NULL, NULL, Setting_IsLegacy, &settings.homing.debounce_delay, NULL, NULL },
{ Setting_HomingPulloff, Group_Homing, "Homing switch pull-off distance", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.homing.pulloff, NULL, NULL },
{ Setting_G73Retract, Group_General, "G73 Retract distance", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtended, &settings.g73_retract, NULL, NULL },
{ Setting_PulseDelayMicroseconds, Group_Stepper, "Pulse delay", "microseconds", Format_Decimal, "#0.0", NULL, "10", Setting_IsExtended, &settings.steppers.pulse_delay_microseconds, NULL, NULL },
{ Setting_RpmMax, Group_Spindle, "Maximum spindle speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.spindle.rpm_max, NULL, is_setting_available },
{ Setting_RpmMin, Group_Spindle, "Minimum spindle speed", "RPM", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacy, &settings.spindle.rpm_min, NULL, is_setting_available },
{ Setting_Mode, Group_General, "Mode of operation", NULL, Format_RadioButtons, "Normal,Laser mode,Lathe mode", NULL, NULL, Setting_IsLegacyFn, set_mode, get_int, NULL },
{ Setting_PWMFreq, Group_Spindle, "Spindle PWM frequency", "Hz", Format_Decimal, "#####0", NULL, NULL, Setting_IsExtended, &settings.spindle.pwm_freq, NULL, is_setting_available },
{ Setting_PWMOffValue, Group_Spindle, "Spindle PWM off value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_off_value, NULL, is_setting_available },
{ Setting_PWMMinValue, Group_Spindle, "Spindle PWM min value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_min_value, NULL, is_setting_available },
{ Setting_PWMMaxValue, Group_Spindle, "Spindle PWM max value", "percent", Format_Decimal, "##0.0", NULL, "100", Setting_IsExtended, &settings.spindle.pwm_max_value, NULL, is_setting_available },
{ Setting_StepperDeenergizeMask, Group_Stepper, "Steppers deenergize", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtended, &settings.steppers.deenergize.mask, NULL, NULL },
{ Setting_SpindlePPR, Group_Spindle, "Spindle pulses per revolution (PPR)", NULL, Format_Int16, "###0", NULL, NULL, Setting_IsExtended, &settings.spindle.ppr, NULL, is_setting_available },
{ Setting_EnableLegacyRTCommands, Group_General, "Enable legacy RT commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_enable_legacy_rt_commands, get_int, NULL },
{ Setting_JogSoftLimited, Group_Jogging, "Limit jog commands", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_jog_soft_limited, get_int, NULL },
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
{ Setting_ParkingEnable, Group_SafetyDoor, "Parking cycle", NULL, Format_XBitfield, "Enable,Enable parking override control,Deactivate upon init", NULL, NULL, Setting_IsExtendedFn, set_parking_enable, get_int, NULL },
{ Setting_ParkingAxis, Group_SafetyDoor, "Parking axis", NULL, Format_RadioButtons, "X,Y,Z", NULL, NULL, Setting_IsExtended, &settings.parking.axis, NULL, NULL },
#endif
{ Setting_HomingLocateCycles, Group_Homing, "Homing passes", NULL, Format_Int8, "##0", "1", "128", Setting_IsExtended, &settings.homing.locate_cycles, NULL, NULL },
{ Setting_HomingCycle_1, Group_Homing, "Axes homing, first pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
{ Setting_HomingCycle_2, Group_Homing, "Axes homing, second pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
{ Setting_HomingCycle_3, Group_Homing, "Axes homing, third pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
#ifdef A_AXIS
{ Setting_HomingCycle_4, Group_Homing, "Axes homing, fourth pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
#endif
#ifdef B_AXIS
{ Setting_HomingCycle_5, Group_Homing, "Axes homing, fifth pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
#endif
#ifdef C_AXIS
{ Setting_HomingCycle_6, Group_Homing, "Axes homing, sixth pass", NULL, Format_AxisMask, NULL, NULL, NULL, Setting_IsExtendedFn, set_homing_cycle, get_int, NULL },
#endif
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
{ Setting_ParkingPulloutIncrement, Group_SafetyDoor, "Parking pull-out distance", "mm", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_increment, NULL, NULL },
{ Setting_ParkingPulloutRate, Group_SafetyDoor, "Parking pull-out rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.pullout_rate, NULL, NULL },
{ Setting_ParkingTarget, Group_SafetyDoor, "Parking target", "mm", Format_Decimal, "-###0.0", "-100000", NULL, Setting_IsExtended, &settings.parking.target, NULL, NULL },
{ Setting_ParkingFastRate, Group_SafetyDoor, "Parking fast rate", "mm/min", Format_Decimal, "###0.0", NULL, NULL, Setting_IsExtended, &settings.parking.rate, NULL, NULL },
{ Setting_RestoreOverrides, Group_General, "Restore overrides", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_restore_overrides, get_int, NULL },
{ Setting_DoorOptions, Group_SafetyDoor, "Safety door options", NULL, Format_Bitfield, "Ignore when idle,Keep coolant state on open", NULL, NULL, Setting_IsExtendedFn, set_door_options, get_int, NULL },
#endif
{ Setting_SleepEnable, Group_General, "Sleep enable", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_sleep_enable, get_int, NULL },
{ Setting_HoldActions, Group_General, "Feed hold actions", NULL, Format_Bitfield, "Disable laser during hold,Restore spindle and coolant state on resume", NULL, NULL, Setting_IsExtendedFn, set_hold_actions, get_int, NULL },
{ Setting_ForceInitAlarm, Group_General, "Force init alarm", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_force_initialization_alarm, get_int, NULL },
{ Setting_ProbingFeedOverride, Group_Probing, "Probing feed override", NULL, Format_Bool, NULL, NULL, NULL, Setting_IsExtendedFn, set_probe_allow_feed_override, get_int, NULL },
#ifdef ENABLE_SPINDLE_LINEARIZATION
{ Setting_LinearSpindlePiece1, Group_Spindle, "Spindle linearisation, first point", NULL, Format_String, "x30", NULL, "30", Setting_IsExtendedFn, set_linear_piece, get_linear_piece, NULL },
{ Setting_LinearSpindlePiece2, Group_Spindle, "Spindle linearisation, second point", NULL, Format_String, "x30", NULL, "30", Setting_IsExtendedFn, set_linear_piece, get_linear_piece, NULL },
{ Setting_LinearSpindlePiece3, Group_Spindle, "Spindle linearisation, third point", NULL, Format_String, "x30", NULL, "30", Setting_IsExtendedFn, set_linear_piece, get_linear_piece, NULL },
{ Setting_LinearSpindlePiece4, Group_Spindle, "Spindle linearisation, fourth point", NULL, Format_String, "x30", NULL, "30", Setting_IsExtendedFn, set_linear_piece, get_linear_piece, NULL },
#endif
{ Setting_SpindlePGain, Group_Spindle_ClosedLoop, "Spindle P-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.spindle.pid.p_gain, NULL, NULL },
{ Setting_SpindleIGain, Group_Spindle_ClosedLoop, "Spindle I-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.spindle.pid.i_gain, NULL, NULL },
{ Setting_SpindleDGain, Group_Spindle_ClosedLoop, "Spindle D-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.spindle.pid.d_gain, NULL, NULL },
{ Setting_SpindleMaxError, Group_Spindle_ClosedLoop, "Spindle PID max error", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.spindle.pid.max_error, NULL, NULL },
{ Setting_SpindleIMaxError, Group_Spindle_ClosedLoop, "Spindle PID max I error", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.spindle.pid.i_max_error, NULL, NULL },
{ Setting_PositionPGain, Group_Spindle_Sync, "Spindle sync P-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.position.pid.p_gain, NULL, NULL },
{ Setting_PositionIGain, Group_Spindle_Sync, "Spindle sync I-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.position.pid.i_gain, NULL, NULL },
{ Setting_PositionDGain, Group_Spindle_Sync, "Spindle sync D-gain", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.position.pid.d_gain, NULL, NULL },
{ Setting_PositionIMaxError, Group_Spindle_Sync, "Spindle sync PID max I error", NULL, Format_Decimal, "###0.000", NULL, NULL, Setting_IsExtended, &settings.position.pid.i_max_error, NULL, NULL },
{ Setting_AxisStepsPerMM, Group_Axis0, "?-axis travel resolution", "step/mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL },
{ Setting_AxisMaxRate, Group_Axis0, "?-axis maximum rate", "mm/min", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL },
{ Setting_AxisAcceleration, Group_Axis0, "?-axis acceleration", "mm/sec^2", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL },
{ Setting_AxisMaxTravel, Group_Axis0, "?-axis maximum travel", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsLegacyFn, set_axis_setting, get_float, NULL },
#ifdef ENABLE_BACKLASH_COMPENSATION
{ Setting_AxisBacklash, Group_Axis0, "?-axis backlash compensation", "mm", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtendedFn, set_axis_setting, get_float, NULL, NULL },
#endif
{ Setting_AxisAutoSquareOffset, Group_Axis0, "?-axis dual axis offset", "mm", Format_Decimal, "-0.000", "-2", "2", Setting_IsExtendedFn, set_axis_setting, get_float, is_setting_available },
{ Setting_SpindleAtSpeedTolerance, Group_Spindle, "Spindle at speed tolerance", "percent", Format_Decimal, "##0.0", NULL, NULL, Setting_IsExtended, &settings.spindle.at_speed_tolerance, NULL, is_setting_available },
{ Setting_ToolChangeMode, Group_Toolchange, "Tool change mode", NULL, Format_RadioButtons, "Normal,Manual touch off,Manual touch off @ G59.3,Automatic touch off @ G59.3,Ignore M6", NULL, NULL, Setting_IsExtendedFn, set_tool_change_mode, get_int, NULL },
{ Setting_ToolChangeProbingDistance, Group_Toolchange, "Tool change probing distance", "mm", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtendedFn, set_tool_change_probing_distance, get_float, NULL },
{ Setting_ToolChangeFeedRate, Group_Toolchange, "Tool change locate feed rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.feed_rate, NULL, NULL },
{ Setting_ToolChangeSeekRate, Group_Toolchange, "Tool change search seek rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.seek_rate, NULL, NULL },
{ Setting_ToolChangePulloffRate, Group_Toolchange, "Tool change probe pull-off rate", "mm/min", Format_Decimal, "#####0.0", NULL, NULL, Setting_IsExtended, &settings.tool_change.pulloff_rate, NULL, NULL },
{ Setting_DualAxisLengthFailPercent, Group_Limits_DualAxis, "Dual axis length fail", "percent", Format_Decimal, "##0.0", "0", "100", Setting_IsExtended, &settings.homing.dual_axis.fail_length_percent, NULL, NULL },
{ Setting_DualAxisLengthFailMin, Group_Limits_DualAxis, "Dual axis length fail min", "mm/min", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtended, &settings.homing.dual_axis.fail_distance_min, NULL, NULL },
{ Setting_DualAxisLengthFailMax, Group_Limits_DualAxis, "Dual axis length fail max", "mm/min", Format_Decimal, "#####0.000", NULL, NULL, Setting_IsExtended, &settings.homing.dual_axis.fail_distance_max, NULL, NULL }
};
static setting_details_t details = {
.groups = setting_group_detail,
.n_groups = sizeof(setting_group_detail) / sizeof(setting_group_detail_t),
.settings = setting_detail,
.n_settings = sizeof(setting_detail) / sizeof(setting_detail_t),
.save = settings_write_global
};
setting_details_t *settings_get_details (void)
{
details.on_get_settings = grbl.on_get_settings;
return &details;
}
static status_code_t set_probe_invert (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.probe.configure)
return Status_SettingDisabled;
settings.probe.invert_probe_pin = int_value != 0;
hal.probe.configure(false, false);
return Status_OK;
}
static status_code_t set_report_mask (setting_id_t id, uint_fast16_t int_value)
{
#if COMPATIBILITY_LEVEL <= 1
settings.status_report.mask = int_value;
#else
int_value &= 0b11;
settings.status_report.mask = (settings.status_report.mask & ~0b11) | int_value;
#endif
return Status_OK;
}
static status_code_t set_report_inches (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.report_inches = int_value != 0;
report_init();
system_flag_wco_change(); // Make sure WCO is immediately updated.
return Status_OK;
}
static status_code_t set_control_invert (setting_id_t id, uint_fast16_t int_value)
{
settings.control_invert.mask = int_value & hal.signals_cap.mask;
return Status_OK;
}
static status_code_t set_spindle_invert (setting_id_t id, uint_fast16_t int_value)
{
settings.spindle.invert.mask = int_value;
if(settings.spindle.invert.pwm && !hal.driver_cap.spindle_pwm_invert) {
settings.spindle.invert.pwm = Off;
return Status_SettingDisabled;
}
return Status_OK;
}
static status_code_t set_control_disable_pullup (setting_id_t id, uint_fast16_t int_value)
{
settings.control_disable_pullup.mask = int_value & hal.signals_cap.mask;
return Status_OK;
}
static status_code_t set_probe_disable_pullup (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.probe.configure)
return Status_SettingDisabled;
settings.probe.disable_probe_pullup = int_value != 0;
return Status_OK;
}
static status_code_t set_soft_limits_enable (setting_id_t id, uint_fast16_t int_value)
{
if (int_value && !settings.homing.flags.enabled)
return Status_SoftLimitError;
settings.limits.flags.soft_enabled = int_value != 0;
return Status_OK;
}
static status_code_t set_hard_limits_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0));
#if COMPATIBILITY_LEVEL <= 1
settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
#endif
hal.limits.enable(settings.limits.flags.hard_enabled, false); // Change immediately. NOTE: Nice to have but could be problematic later.
return Status_OK;
}
static status_code_t set_jog_soft_limited (setting_id_t id, uint_fast16_t int_value)
{
if (int_value && !settings.homing.flags.enabled)
return Status_SoftLimitError;
settings.limits.flags.jog_soft_limited = int_value != 0;
return Status_OK;
}
static status_code_t set_homing_enable (setting_id_t id, uint_fast16_t int_value)
{
if (bit_istrue(int_value, bit(0))) {
#if COMPATIBILITY_LEVEL > 1
settings.homing.flags.enabled = On;
#else
settings.homing.flags.value = int_value & 0x0F;
settings.limits.flags.two_switches = bit_istrue(int_value, bit(4));
settings.homing.flags.manual = bit_istrue(int_value, bit(5));
settings.homing.flags.override_locks = bit_istrue(int_value, bit(6));
settings.homing.flags.keep_on_reset = bit_istrue(int_value, bit(7));
#endif
} else {
settings.homing.flags.value = 0;
settings.limits.flags.soft_enabled = Off; // Force disable soft-limits.
settings.limits.flags.jog_soft_limited = Off;
}
return Status_OK;
}
static status_code_t set_enable_legacy_rt_commands (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.legacy_rt_commands = int_value != 0;
return Status_OK;
}
static status_code_t set_homing_cycle (setting_id_t id, uint_fast16_t int_value)
{
settings.homing.cycle[id - Setting_HomingCycle_1].mask = int_value;
limits_set_homing_axes();
return Status_OK;
}
static status_code_t set_mode (setting_id_t id, uint_fast16_t int_value)
{
switch((machine_mode_t)int_value) {
case Mode_Standard:
settings.flags.disable_laser_during_hold = 0;
gc_state.modal.diameter_mode = false;
break;
case Mode_Laser:
if(!hal.driver_cap.variable_spindle)
return Status_SettingDisabledLaser;
if(settings.mode != Mode_Laser)
settings.flags.disable_laser_during_hold = DEFAULT_DISABLE_LASER_DURING_HOLD;
gc_state.modal.diameter_mode = false;
break;
case Mode_Lathe:
settings.flags.disable_laser_during_hold = 0;
break;
default: // Mode_Standard
return Status_InvalidStatement;
}
settings.mode = (machine_mode_t)int_value;
return Status_OK;
}
#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.parking.flags.value = bit_istrue(int_value, bit(0)) ? (int_value & 0x07) : 0;
return Status_OK;
}
static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.restore_overrides = int_value != 0;;
return Status_OK;
}
static status_code_t set_door_options (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.safety_door_ignore_when_idle = bit_istrue(int_value, bit(0));
settings.flags.keep_coolant_state_on_door_open = bit_istrue(int_value, bit(1));
return Status_OK;
}
#endif
static status_code_t set_sleep_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.sleep_enable = int_value != 0;
return Status_OK;
}
static status_code_t set_hold_actions (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.disable_laser_during_hold = bit_istrue(int_value, bit(0));
settings.flags.restore_after_feed_hold = bit_istrue(int_value, bit(1));
return Status_OK;
}
static status_code_t set_force_initialization_alarm (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.force_initialization_alarm = int_value != 0;
return Status_OK;
}
static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16_t int_value)
{
settings.probe.allow_feed_override = int_value != 0;
return Status_OK;
}
static status_code_t set_tool_change_mode (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.driver_cap.atc && hal.stream.suspend_read && int_value <= ToolChange_Ignore) {
#if COMPATIBILITY_LEVEL > 1
if((toolchange_mode_t)int_value == ToolChange_Manual_G59_3 || (toolchange_mode_t)int_value == ToolChange_SemiAutomatic)
return Status_InvalidStatement;
#endif
settings.tool_change.mode = (toolchange_mode_t)int_value;
tc_init();
} else
return Status_InvalidStatement;
return Status_OK;
}
static status_code_t set_tool_change_probing_distance (setting_id_t id, float value)
{
if(hal.driver_cap.atc)
return Status_InvalidStatement;
settings.tool_change.probing_distance = value;
return Status_OK;
}
#ifdef ENABLE_SPINDLE_LINEARIZATION
static status_code_t set_linear_piece (setting_id_t id, char *svalue)
{
uint32_t idx = id - Setting_LinearSpindlePiece1;
float rpm, start, end;
if(svalue[0] == '0' && svalue[1] == '\0') {
settings.spindle.pwm_piece[idx].rpm = NAN;
settings.spindle.pwm_piece[idx].start =
settings.spindle.pwm_piece[idx].end = 0.0f;
} else if(sscanf(svalue, "%f,%f,%f", &rpm, &start, &end) == 3) {
settings.spindle.pwm_piece[idx].rpm = rpm;
settings.spindle.pwm_piece[idx].start = start;
settings.spindle.pwm_piece[idx].end = end;
} else
return Status_InvalidStatement;
return Status_OK;
}
static char *get_linear_piece (setting_id_t id)
{
static char buf[20];
uint32_t idx = id - Setting_LinearSpindlePiece1;
if(isnan(settings.spindle.pwm_piece[idx].rpm))
strcpy(buf, ftoa(settings.spindle.pwm_piece[idx].rpm, N_DECIMAL_RPMVALUE));
else {
sprintf(buf, "$%d=%f,%f,%f" ASCII_EOL, (setting_id_t)(Setting_LinearSpindlePiece1 + idx), settings.spindle.pwm_piece[idx].rpm, settings.spindle.pwm_piece[idx].start, settings.spindle.pwm_piece[idx].end);
hal.stream.write(buf);
}
return buf;
}
#endif
inline static setting_id_t normalize_id (setting_id_t id)
{
if((id > Setting_AxisSettingsBase && id <= Setting_AxisSettingsMax) ||
(id > Setting_AxisSettingsBase2 && id <= Setting_AxisSettingsMax2))
id -= id % AXIS_SETTINGS_INCREMENT;
else if(id > Setting_EncoderSettingsBase && id <= Setting_EncoderSettingsMax)
id = (setting_id_t)(Setting_EncoderSettingsBase + (id % ENCODER_SETTINGS_INCREMENT));
return id;
}
setting_id_t settings_get_axis_base (setting_id_t id, uint_fast8_t *idx)
{
setting_id_t base = normalize_id(id);
*idx = id - base;
return *idx < N_AXIS ? base : Setting_SettingsMax;
}
static status_code_t set_axis_setting (setting_id_t setting, float value)
{
uint_fast8_t idx;
status_code_t status = Status_OK;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisStepsPerMM:
if (hal.max_step_rate && value * settings.axis[idx].max_rate > (float)hal.max_step_rate * 60.0f)
status = Status_MaxStepRateExceeded;
else
settings.axis[idx].steps_per_mm = value;
break;
case Setting_AxisMaxRate:
if (hal.max_step_rate && value * settings.axis[idx].steps_per_mm > (float)hal.max_step_rate * 60.0f)
status = Status_MaxStepRateExceeded;
else
settings.axis[idx].max_rate = value;
break;
case Setting_AxisAcceleration:
settings.axis[idx].acceleration = value * 60.0f * 60.0f; // Convert to mm/min^2 for grbl internal use.
break;
case Setting_AxisMaxTravel:
settings.axis[idx].max_travel = -value; // Store as negative for grbl internal use.
break;
case Setting_AxisBacklash:
#ifdef ENABLE_BACKLASH_COMPENSATION
settings.axis[idx].backlash = value;
#else
status = Status_SettingDisabled;
#endif
break;
case Setting_AxisAutoSquareOffset:
if(hal.stepper.get_auto_squared && bit_istrue(hal.stepper.get_auto_squared().mask, bit(idx)))
settings.axis[idx].dual_axis_offset = value;
else
status = Status_SettingDisabled;
break;
default:
status = Status_SettingDisabled;
break;
}
return status;
}
static float get_float (setting_id_t setting)
{
float value = 0.0f;
if (setting >= Setting_AxisSettingsBase && setting <= Setting_AxisSettingsMax) {
uint_fast8_t idx;
switch(settings_get_axis_base(setting, &idx)) {
case Setting_AxisStepsPerMM:
value = settings.axis[idx].steps_per_mm;
break;
case Setting_AxisMaxRate:
value = settings.axis[idx].max_rate;
break;
case Setting_AxisAcceleration:
value = settings.axis[idx].acceleration / (60.0f * 60.0f); // Convert to mm/min^2 for grbl internal use.
break;
case Setting_AxisMaxTravel:
value = -settings.axis[idx].max_travel; // Store as negative for grbl internal use.
break;
#ifdef ENABLE_BACKLASH_COMPENSATION
case Setting_AxisBacklash:
value = settings.axis[idx].backlash;
break;
#endif
case Setting_AxisAutoSquareOffset:
value = settings.axis[idx].dual_axis_offset;
break;
default: // for stopping compiler warning
break;
}
} else switch(setting) {
case Setting_ToolChangeProbingDistance:
value = settings.tool_change.probing_distance;
break;
default:
break;
}
return value;
}
static uint32_t get_int (setting_id_t id)
{
uint32_t value = 0;
switch(id) {
case Setting_Mode:
value = settings.mode;
break;
case Setting_InvertProbePin:
value = settings.probe.invert_probe_pin;
break;
case Setting_StatusReportMask:
value = settings.status_report.mask;
break;
case Setting_ReportInches:
value = settings.flags.report_inches;
break;
case Setting_ControlInvertMask:
value = settings.control_invert.mask;
break;
case Setting_SpindleInvertMask:
value = settings.spindle.invert.mask;
break;
case Setting_ControlPullUpDisableMask:
value = settings.control_disable_pullup.mask;
break;
case Setting_ProbePullUpDisable:
value = settings.probe.disable_probe_pullup;
break;
case Setting_SoftLimitsEnable:
value = settings.limits.flags.soft_enabled;
break;
case Setting_HardLimitsEnable:
value = ((settings.limits.flags.hard_enabled & bit(0)) ? bit(0) | (settings.limits.flags.check_at_init ? bit(1) : 0) : 0);
break;
case Setting_JogSoftLimited:
value = settings.limits.flags.jog_soft_limited;
break;
case Setting_HomingEnable:
value = (settings.homing.flags.value & 0x0F) |
(settings.limits.flags.two_switches ? bit(4) : 0) |
(settings.homing.flags.manual ? bit(5) : 0) |
(settings.homing.flags.override_locks ? bit(6) : 0) |
(settings.homing.flags.keep_on_reset ? bit(7) : 0);
break;
case Setting_EnableLegacyRTCommands:
value = settings.flags.legacy_rt_commands;
break;
case Setting_ParkingEnable:
value = settings.parking.flags.value;
break;
case Setting_HomingCycle_1:
case Setting_HomingCycle_2:
case Setting_HomingCycle_3:
case Setting_HomingCycle_4:
case Setting_HomingCycle_5:
case Setting_HomingCycle_6:
value = settings.homing.cycle[id - Setting_HomingCycle_1].mask;
break;
case Setting_RestoreOverrides:
value = settings.flags.restore_overrides;
break;
case Setting_DoorOptions:
value = settings.flags.safety_door_ignore_when_idle | (settings.flags.keep_coolant_state_on_door_open << 1) ;
break;
case Setting_SleepEnable:
value = settings.flags.sleep_enable;
break;
case Setting_HoldActions:
value = (settings.flags.disable_laser_during_hold ? bit(0) : 0) | (settings.flags.restore_after_feed_hold ? bit(1) : 0);
break;
case Setting_ForceInitAlarm:
value = settings.flags.force_initialization_alarm;
break;
case Setting_ProbingFeedOverride:
value = settings.probe.allow_feed_override;
break;
case Setting_ToolChangeMode:
value = settings.tool_change.mode;
break;
default:
break;
}
return value;
}
inline static uint8_t get_decimal_places (const char *format)
{
char *dp = format == NULL ? NULL : strchr(format, '.');
return dp ? strchr(format, '\0') - dp - 1 : 1;
}
char *setting_get_value (const setting_detail_t *setting, uint_fast16_t offset)
{
char *value = NULL;
setting_id_t id = (setting_id_t)(setting->id + offset);
switch(setting->type) {
case Setting_NonCore:
case Setting_IsExtended:
case Setting_IsLegacy:
case Setting_IsExpanded:
switch(setting->datatype) {
case Format_Decimal:
value = ftoa(*((float *)(setting->value)), get_decimal_places(setting->format));
break;
case Format_Int8:
case Format_Bool: