Changed kinematics API and implementations (corexy and wallplotter) t…

…o allow backlash compensation. Ref [ESP32 issue 25](grblHAL/ESP32#25).

Fixed feed rate handling for corexy kinematics. Ref issue #147.
Fixed tool table/tool change bugs. Ref. [ioSender issue 228](terjeio/ioSender#228).

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20220325, see the [changelog](changelog.md) for details.  
+Latest build date is 20220612, see the [changelog](changelog.md) for details.  
 __NOTE:__ A settings reset will be performed on an update for versions earlier than 20211122. Backup and restore of settings is recommended.  
 __IMPORTANT!__  A new setting has been introduced for ganged axes motors in version 20211121.  
 I have only bench tested this for a couple of drivers, correct function should be verified after updating by those who have more than three motors configured.  

alarms.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2017-2021 Terje Io
+  Copyright (c) 2017-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
@@ -43,7 +43,8 @@ PROGMEM static const alarm_detail_t alarm_detail[] = {
     { Alarm_Spindle, "Spindle at speed timeout. Clear before continuing." },
     { Alarm_HomingFailAutoSquaringApproach, "Homing fail. Could not find second limit switch for auto squared axis within search distances. Try increasing max travel, decreasing pull-off distance, or check wiring." },
     { Alarm_SelftestFailed, "Power on selftest (POS) failed." },
-    { Alarm_MotorFault, "Motor fault." }
+    { Alarm_MotorFault, "Motor fault." },
+    { Alarm_HomingFail, "Homing fail. Bad configuration." }
 };
 
 static alarm_details_t details = {

alarms.h

@@ -44,7 +44,8 @@ typedef enum {
     Alarm_HomingFailAutoSquaringApproach = 15,
     Alarm_SelftestFailed = 16,
     Alarm_MotorFault = 17,
-    Alarm_AlarmMax = Alarm_MotorFault
+    Alarm_HomingFail = 18,
+    Alarm_AlarmMax = Alarm_HomingFail
 } alarm_code_t;
 
 typedef struct {

changelog.md

@@ -1,5 +1,25 @@
 ## grblHAL changelog
 
+20220612:
+
+Core:
+
+* Changed kinematics API and implementations (corexy and wallplotter) to allow backlash compensation. Ref [ESP32 issue 25](https://github.com/grblHAL/ESP32/issues/25).
+
+* Fixed feed rate handling for corexy kinematics. Ref issue #147.
+
+* Fixed tool table/tool change bugs. Ref. [ioSender issue 228](https://github.com/terjeio/ioSender/issues/228).
+
+Drivers:
+
+* iMXRT1062 : Fix for issue #38.
+
+* STM32F4xx : Added missing code guard for boards not having a spindle direction pin. Improved UART channel assignment handling.
+
+* STM32F7xx : Improved UART channel assignment handling.
+
+* ESP32 : Added missing file \(corexy.c\) to filelist, fixed incorrect URL in readme.
+
 20220416:
 
 Drivers:

config.h

@@ -74,7 +74,7 @@ __NOTE:__ if switching to a level > 1 please reset non-volatile storage with \a
 
 // Enable CoreXY kinematics. Use ONLY with CoreXY machines.
 // IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to
-// #define HOMING_CYCLE_0 X_AXIS_BIT and #define HOMING_CYCLE_1 Y_AXIS_BIT
+//#define HOMING_CYCLE_0 X_AXIS_BIT and #define HOMING_CYCLE_1 Y_AXIS_BIT
 // NOTE: This configuration option alters the motion of the X and Y axes to principle of operation
 // defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
 // described, if not, motions may move in strange directions. Grbl requires the CoreXY A and B motors
@@ -113,8 +113,8 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // ADVANCED CONFIGURATION OPTIONS:
 
 // Enables code for debugging purposes. Not for general use and always in constant flux.
-// #define DEBUG // Uncomment to enable. Default disabled.
-// #define DEBUGOUT 0 // Uncomment to claim serial port with given instance number and add HAL entry point for debug output.
+//#define DEBUG // Uncomment to enable. Default disabled.
+//#define DEBUGOUT 0 // Uncomment to claim serial port with given instance number and add HAL entry point for debug output.
 
 // Some status report data isn't necessary for realtime, only intermittently, because the values don't
 // change often. The following macros configures how many times a status report needs to be called before
@@ -172,7 +172,7 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // value. This also ensures that a planned motion always completes and accounts for any floating-point
 // round-off errors. Although not recommended, a lower value than 1.0 mm/min will likely work in smaller
 // machines, perhaps to 0.1mm/min, but your success may vary based on multiple factors.
-// #define MINIMUM_FEED_RATE 1.0f // (mm/min)
+//#define MINIMUM_FEED_RATE 1.0f // (mm/min)
 
 // Number of arc generation iterations by small angle approximation before exact arc trajectory
 // correction with expensive sin() and cos() calculations. This parameter maybe decreased if there
@@ -208,19 +208,19 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // available RAM, like when re-compiling for MCU with ample amounts of RAM. Or decrease if the MCU begins to
 // crash due to the lack of available RAM or if the CPU is having trouble keeping up with planning
 // new incoming motions as they are executed.
-// #define BLOCK_BUFFER_SIZE 36 // Uncomment to override default in planner.h.
+//#define BLOCK_BUFFER_SIZE 36 // Uncomment to override default in planner.h.
 
 // Governs the size of the intermediary step segment buffer between the step execution algorithm
 // and the planner blocks. Each segment is set of steps executed at a constant velocity over a
 // fixed time defined by ACCELERATION_TICKS_PER_SECOND. They are computed such that the planner
 // block velocity profile is traced exactly. The size of this buffer governs how much step
 // execution lead time there is for other Grbl processes have to compute and do their thing
 // before having to come back and refill this buffer, currently at ~50msec of step moves.
-// #define SEGMENT_BUFFER_SIZE 10 // Uncomment to override default in stepper.h.
+//#define SEGMENT_BUFFER_SIZE 10 // Uncomment to override default in stepper.h.
 
 // Configures the position after a probing cycle during Grbl's check mode. Disabled sets
 // the position to the probe target, when enabled sets the position to the start position.
-// #define SET_CHECK_MODE_PROBE_TO_START // Default disabled. Uncomment to enable.
+//#define SET_CHECK_MODE_PROBE_TO_START // Default disabled. Uncomment to enable.
 
 // Force Grbl to check the state of the hard limit switches when the processor detects a pin
 // change inside the hard limit ISR routine. By default, Grbl will trigger the hard limits
@@ -230,7 +230,7 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // that the switches don't bounce, we recommend enabling this option. This will help prevent
 // triggering a hard limit when the machine disengages from the switch.
 // NOTE: This option has no effect if SOFTWARE_DEBOUNCE is enabled.
-// #define HARD_LIMIT_FORCE_STATE_CHECK // Default disabled. Uncomment to enable.
+//#define HARD_LIMIT_FORCE_STATE_CHECK // Default disabled. Uncomment to enable.
 
 // Adjusts homing cycle search and locate scalars. These are the multipliers used by Grbl's
 // homing cycle to ensure the limit switches are engaged and cleared through each phase of
@@ -239,8 +239,8 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // uses the homing pull-off distance setting times the LOCATE_SCALAR to pull-off and re-engage
 // the limit switch.
 // NOTE: Both of these values must be greater than 1.0 to ensure proper function.
-// #define HOMING_AXIS_SEARCH_SCALAR  1.5f // Uncomment to override defaults in limits.c.
-// #define HOMING_AXIS_LOCATE_SCALAR  10.0f // Uncomment to override defaults in limits.c.
+//#define HOMING_AXIS_SEARCH_SCALAR  1.5f // Uncomment to override defaults in limits.c.
+//#define HOMING_AXIS_LOCATE_SCALAR  10.0f // Uncomment to override defaults in limits.c.
 
 // Enable the '$RST=*', '$RST=$', and '$RST=#' non-volatile storage restore commands. There are cases where
 // these commands may be undesirable. Simply comment the desired macro to disable it.
@@ -268,7 +268,7 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // NOTE: If disabled and to ensure Grbl can never alter the build info line, you'll also need to enable
 // the SETTING_RESTORE_ALL macro above and remove SETTINGS_RESTORE_BUILD_INFO from the mask.
 // NOTE: See the included grblWrite_BuildInfo.ino example file to write this string seperately.
-// #define DISABLE_BUILD_INFO_WRITE_COMMAND // '$I=' Default enabled. Uncomment to disable.
+//#define DISABLE_BUILD_INFO_WRITE_COMMAND // '$I=' Default enabled. Uncomment to disable.
 
 // Enables and configures Grbl's sleep mode feature. If the spindle or coolant are powered and Grbl
 // is not actively moving or receiving any commands, a sleep timer will start. If any data or commands
@@ -372,11 +372,11 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // instead of ground.
 // WARNING: When the pull-ups are disabled, this might require additional wiring with pull-down resistors!
 //          Please check driver code and/or documentation.
-// #define DISABLE_LIMIT_BITS_PULL_UP_MASK AXES_BITMASK
-// #define DISABLE_LIMIT_BITS_PULL_UP_MASK (X_AXIS_BIT|Y_AXIS_BIT)
-// #define DISABLE_CONTROL_PINS_PULL_UP_MASK SIGNALS_BITMASK
-// #define DISABLE_CONTROL_PINS_PULL_UP_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT)
-// #define DISABLE_PROBE_BIT_PULL_UP
+//#define DISABLE_LIMIT_BITS_PULL_UP_MASK AXES_BITMASK
+//#define DISABLE_LIMIT_BITS_PULL_UP_MASK (X_AXIS_BIT|Y_AXIS_BIT)
+//#define DISABLE_CONTROL_PINS_PULL_UP_MASK SIGNALS_BITMASK
+//#define DISABLE_CONTROL_PINS_PULL_UP_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT)
+//#define DISABLE_PROBE_BIT_PULL_UP
 
 // If your machine has two limits switches wired in parallel to one axis, you will need to enable
 // this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
@@ -394,9 +394,13 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 //#define ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES // Default disabled. Uncomment to enable.
 
 // Inverts logic of the stepper enable signal(s).
+#if COMPATIBILITY_LEVEL <= 2
 // NOTE: Not universally available for individual axes - check driver documentation.
 //       Specify at least X_AXIS_BIT if a common enable signal is used.
-// #define INVERT_ST_ENABLE_MASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT) // Default disabled. Uncomment to enable.
+//#define INVERT_ST_ENABLE_MASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT) // Default disabled. Uncomment to enable.
+#else
+//#define INVERT_ST_ENABLE_MASK 1 // Default disabled. Uncomment to enable.
+#endif
 // Mask to be OR'ed with stepper disable signal(s). Axes configured will not be disabled.
 // NOTE: Not universally available for individual axes - check driver documentation.
 //       Specify at least X_AXIS_BIT if a common enable signal is used.
@@ -414,20 +418,20 @@ __NOTE:__ these definitions are only referenced in this file. Do __NOT__ change!
 // normally-open (NO) switches on the specified pins, rather than the default normally-closed (NC) switches.
 // NOTE: The first option will invert all control pins. The second option is an example of
 // inverting only a few pins. See the start of this file for other signal definitions.
-// #define INVERT_CONTROL_PIN_MASK SIGNALS_BITMASK // Default disabled. Uncomment to enable.
-// #define INVERT_CONTROL_PIN_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT) // Default disabled. Uncomment to enable.
-// #define INVERT_LIMIT_BIT_MASK AXES_BITMASK // Default disabled. Uncomment to enable. Uncomment to enable.
-// #define INVERT_LIMIT_BIT_MASK (X_AXIS_BIT|Y_AXIS_BIT) // Default disabled. Uncomment to enable.
+//#define INVERT_CONTROL_PIN_MASK SIGNALS_BITMASK // Default disabled. Uncomment to enable.
+//#define INVERT_CONTROL_PIN_MASK (SIGNALS_SAFETYDOOR_BIT|SIGNALS_RESET_BIT) // Default disabled. Uncomment to enable.
+//#define INVERT_LIMIT_BIT_MASK AXES_BITMASK // Default disabled. Uncomment to enable. Uncomment to enable.
+//#define INVERT_LIMIT_BIT_MASK (X_AXIS_BIT|Y_AXIS_BIT) // Default disabled. Uncomment to enable.
 // For inverting the probe pin use DEFAULT_INVERT_PROBE_BIT in defaults.h
 
 // Inverts the selected spindle output signals from active high to active low. Useful for some pre-built electronic boards.
-// #define INVERT_SPINDLE_ENABLE_PIN 1 // Default disabled. Uncomment to enable.
-// #define INVERT_SPINDLE_CCW_PIN 1    // Default disabled. Uncomment to enable. NOTE: not supported by all drivers.
-// #define INVERT_SPINDLE_PWM_PIN 1    // Default disabled. Uncomment to enable. NOTE: not supported by all drivers.
+//#define INVERT_SPINDLE_ENABLE_PIN 1 // Default disabled. Uncomment to enable.
+//#define INVERT_SPINDLE_CCW_PIN 1    // Default disabled. Uncomment to enable. NOTE: not supported by all drivers.
+//#define INVERT_SPINDLE_PWM_PIN 1    // Default disabled. Uncomment to enable. NOTE: not supported by all drivers.
 
 // Inverts the selected coolant signals from active high to active low. Useful for some pre-built electronic boards.
-// #define INVERT_COOLANT_FLOOD_PIN 1 // Default disabled. Uncomment to enable.
-// #define INVERT_COOLANT_MIST_PIN 1  // Default disabled. Note: not supported by all drivers.
+//#define INVERT_COOLANT_FLOOD_PIN 1 // Default disabled. Uncomment to enable.
+//#define INVERT_COOLANT_MIST_PIN 1  // Default disabled. Note: not supported by all drivers.
 
 
 // Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.

core_handlers.h

@@ -84,6 +84,7 @@ typedef bool (*on_probe_fixture_ptr)(tool_data_t *tool, bool at_g59_3, bool on);
 typedef bool (*on_probe_start_ptr)(axes_signals_t axes, float *target, plan_line_data_t *pl_data);
 typedef void (*on_probe_completed_ptr)(void);
 typedef void (*on_toolchange_ack_ptr)(void);
+typedef void (*on_jog_cancel_ptr)(sys_state_t state);
 typedef bool (*on_spindle_select_ptr)(spindle_id_t spindle_id);
 typedef status_code_t (*on_unknown_sys_command_ptr)(sys_state_t state, char *line); // return Status_Unhandled.
 typedef status_code_t (*on_user_command_ptr)(char *line);
@@ -116,6 +117,7 @@ typedef struct {
     on_probe_start_ptr on_probe_start;
     on_probe_completed_ptr on_probe_completed;
     on_toolchange_ack_ptr on_toolchange_ack; // Called from interrupt context.
+    on_jog_cancel_ptr on_jog_cancel; // Called from interrupt context.
     on_laser_ppi_enable_ptr on_laser_ppi_enable;
     on_spindle_select_ptr on_spindle_select;
     // core entry points - set up by core before driver_init() is called.

corexy.c

@@ -3,7 +3,7 @@
 
   Part of grblHAL
 
-  Copyright (c) 2019 Terje Io
+  Copyright (c) 2019-2022 Terje Io
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
 
   Grbl is free software: you can redistribute it and/or modify
@@ -24,6 +24,8 @@
 
 #ifdef COREXY
 
+#include <math.h>
+
 #include "settings.h"
 #include "planner.h"
 #include "kinematics.h"
@@ -45,37 +47,27 @@ inline static int32_t corexy_convert_to_b_motor_steps (int32_t *steps)
 }
 
 // Returns machine position of axis 'idx'. Must be sent a 'step' array.
-static void corexy_convert_array_steps_to_mpos (float *position, int32_t *steps)
+static float *corexy_convert_array_steps_to_mpos (float *position, int32_t *steps)
 {
     position[X_AXIS] = corexy_convert_to_a_motor_steps(steps) / settings.axis[X_AXIS].steps_per_mm;
     position[Y_AXIS] = corexy_convert_to_b_motor_steps(steps) / settings.axis[Y_AXIS].steps_per_mm;
     position[Z_AXIS] = steps[Z_AXIS] / settings.axis[Z_AXIS].steps_per_mm;
+
+    return position;
 }
 
-// Transform absolute position from cartesian coordinate system (mm) to corexy coordinate system (step)
-static void corexy_target_to_steps (int32_t *target_steps, float *target)
+// Transform position from cartesian coordinate system to corexy coordinate system
+static inline float *transform_from_cartesian (float *target, float *position)
 {
-    uint_fast8_t idx = N_AXIS;
-    int32_t a_steps, b_steps;
+    uint_fast8_t idx;
 
-    do {
-        switch(--idx) {
-            case X_AXIS:
-                a_steps = lroundf(target[idx] * settings.axis[idx].steps_per_mm);
-                break;
-
-            case Y_AXIS:
-                b_steps = lroundf(target[idx] * settings.axis[idx].steps_per_mm);
-                break;
-
-            default:
-                target_steps[idx] = lroundf(target[idx] * settings.axis[idx].steps_per_mm);
-                break;
-        }
-    } while(idx);
+    target[X_AXIS] = position[X_AXIS] + position[Y_AXIS];
+    target[Y_AXIS] = position[X_AXIS] - position[Y_AXIS];
+
+    for(idx = Z_AXIS; idx < N_AXIS; idx++)
+        target[idx] = position[idx];
 
-    target_steps[A_MOTOR] = a_steps + b_steps;
-    target_steps[B_MOTOR] = a_steps - b_steps;
+    return target;
 }
 
 static uint_fast8_t corexy_limits_get_axis_mask (uint_fast8_t idx)
@@ -151,16 +143,69 @@ static void corexy_limits_set_machine_positions (axes_signals_t cycle)
     } while(idx);
 }
 
+static inline float get_distance (float *p0, float *p1)
+{
+    uint_fast8_t idx = N_AXIS;
+    float distance = 0.0f;
+
+    do {
+        idx--;
+        distance += (p0[idx] - p1[idx]) * (p0[idx] - p1[idx]);
+    } while(idx);
+
+    return sqrtf(distance);
+}
+
+// called from mc_line() to segment lines if not overridden, default implementation for pass-through
+static float *kinematics_segment_line (float *target, float *position, plan_line_data_t *pl_data, bool init)
+{
+    static uint_fast8_t iterations;
+    static float trsf[N_AXIS];
+
+    if(init) {
+
+        iterations = 2;
+
+        transform_from_cartesian(trsf, target);
+
+        if(!pl_data->condition.rapid_motion) {
+
+            uint_fast8_t idx;
+            float cpos[N_AXIS];
+
+            cpos[X_AXIS] = (position[X_AXIS] + position[Y_AXIS]) * .5f;
+            cpos[Y_AXIS] = (position[X_AXIS] - position[Y_AXIS]) * .5f;
+            for(idx = Z_AXIS; idx < N_AXIS; idx++)
+                cpos[idx] = position[idx];
+
+            pl_data->feed_rate *= get_distance(trsf, position) / get_distance(target, cpos);
+        }
+    }
+
+    return iterations-- == 0 ? NULL : trsf;
+}
+
+static bool homing_cycle_validate (axes_signals_t cycle)
+{
+    return (cycle.mask & (X_AXIS_BIT|Y_AXIS_BIT)) == 0 || cycle.mask < 3;
+}
+
+static float homing_cycle_get_feedrate (float feedrate, axes_signals_t cycle)
+{
+    return feedrate * sqrtf(2.0f);
+}
 
 // Initialize API pointers for CoreXY kinematics
 void corexy_init (void)
 {
     kinematics.limits_set_target_pos = corexy_limits_set_target_pos;
     kinematics.limits_get_axis_mask = corexy_limits_get_axis_mask;
     kinematics.limits_set_machine_positions = corexy_limits_set_machine_positions;
-    kinematics.plan_target_to_steps = corexy_target_to_steps;
-    kinematics.convert_array_steps_to_mpos = corexy_convert_array_steps_to_mpos;
+    kinematics.transform_from_cartesian = transform_from_cartesian;
+    kinematics.transform_steps_to_cartesian = corexy_convert_array_steps_to_mpos;
+    kinematics.segment_line = kinematics_segment_line;
+    kinematics.homing_cycle_validate = homing_cycle_validate;
+    kinematics.homing_cycle_get_feedrate = homing_cycle_get_feedrate;
 }
 
 #endif
-

defaults.h

@@ -573,7 +573,11 @@
 #endif
 
 #ifndef INVERT_ST_ENABLE_MASK
+#if COMPATIBILITY_LEVEL <= 2
 #define INVERT_ST_ENABLE_MASK AXES_BITMASK
+#else
+#define INVERT_ST_ENABLE_MASK 0
+#endif
 #endif
 
 #ifndef INVERT_LIMIT_BIT_MASK