Merge pull request #734 from Paciente8159/stepper-timeout

implemented stepper timeout option $1
Paciente8159 · Aug 16, 2024 · c3f7030 · c3f7030
2 parents a8cc420 + e828bfa
commit c3f7030
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Showing 8 changed files with 145 additions and 94 deletions.
diff --git a/uCNC/cnc_config.h b/uCNC/cnc_config.h
@@ -493,6 +493,17 @@ extern "C"
 
 #define S_CURVE_ACCELERATION_LEVEL 0
 
+/**
+ * 
+ * Enables steppers to go idle after some amount of time not moving.
+ * This implements Grbl setting $1
+ * Unlike Grbl this accepts a 16bit value so a timeout up 30 seconds can be defined. A value of 0 will disable it.
+ * Warning: This can and will cause steppers to loose position.
+ * 
+ * */
+
+// #define ENABLE_STEPPERS_DISABLE_TIMEOUT
+
 	/**
 	 * Forces pin pooling for all limits and control pins (with or without
 	 * interrupts)

diff --git a/uCNC/src/cnc.c b/uCNC/src/cnc.c
@@ -1064,6 +1064,26 @@ static void cnc_io_dotasks(void)
 #ifdef ENABLE_MAIN_LOOP_MODULES
 	EVENT_INVOKE(cnc_io_dotasks, NULL);
 #endif
+
+#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+	static uint32_t stepper_timeout = 0;
+
+	if (g_settings.step_disable_timeout)
+	{
+		// is idle check the timeout
+		if (cnc_get_exec_state(EXEC_RUN | EXEC_HOLD) == EXEC_IDLE)
+		{
+			if (stepper_timeout < mcu_millis())
+			{
+				io_enable_steppers(~g_settings.step_enable_invert); // disables steppers after idle timeout
+				stepper_timeout = UINT32_MAX;
+			}
+		}
+		else{
+			stepper_timeout = mcu_millis() + g_settings.step_disable_timeout;
+		}
+	}
+#endif
 }
 
 void cnc_run_startup_blocks(void)

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
@@ -244,6 +244,10 @@ static uint8_t mc_line_segment(int32_t *step_new_pos, motion_data_t *block_data)
 		EVENT_INVOKE(mc_line_segment, block_data);
 #endif
 
+#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+		io_enable_steppers(g_settings.step_enable_invert); // re-enable steppers for motion
+#endif
+
 		planner_add_line(block_data);
 		// dwell should only execute on the first request
 		block_data->dwell = 0;

diff --git a/uCNC/src/interface/protocol.c b/uCNC/src/interface/protocol.c
@@ -809,10 +809,14 @@ void protocol_send_cnc_settings(void)
 {
 	protocol_busy = true;
 	protocol_send_gcode_setting_line_flt(0, (1000000.0f / g_settings.max_step_rate));
-#if EMULATE_GRBL_STARTUP > 0
-	// just adds this for compatibility
-	// this setting is not used
+#if EMULATE_GRBL_STARTUP > 0 || defined(NABLE_STEPPERS_DISABLE_TIMEOUT)
+// just adds this for compatibility
+// this setting is not used
+#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+	protocol_send_gcode_setting_line_int(1, g_settings.step_disable_timeout);
+#else
 	protocol_send_gcode_setting_line_int(1, 0);
+#endif
 #endif
 	protocol_send_gcode_setting_line_int(2, g_settings.step_invert_mask);
 	protocol_send_gcode_setting_line_int(3, g_settings.dir_invert_mask);

diff --git a/uCNC/src/interface/settings.c b/uCNC/src/interface/settings.c
@@ -22,48 +22,47 @@
 
 // if settings struct is changed this version should change too
 #define SETTINGS_VERSION \
-	{                    \
-		'V', '0', '6'    \
-	}
+	{                      \
+			'V', '0', '7'}
 
 settings_t g_settings;
 
 #ifndef CRC_WITHOUT_LOOKUP_TABLE
 
 const uint8_t __rom__ crc7_table[256] =
-	{
-		0x00, 0x09, 0x12, 0x1b, 0x24, 0x2d, 0x36, 0x3f,
-		0x48, 0x41, 0x5a, 0x53, 0x6c, 0x65, 0x7e, 0x77,
-		0x19, 0x10, 0x0b, 0x02, 0x3d, 0x34, 0x2f, 0x26,
-		0x51, 0x58, 0x43, 0x4a, 0x75, 0x7c, 0x67, 0x6e,
-		0x32, 0x3b, 0x20, 0x29, 0x16, 0x1f, 0x04, 0x0d,
-		0x7a, 0x73, 0x68, 0x61, 0x5e, 0x57, 0x4c, 0x45,
-		0x2b, 0x22, 0x39, 0x30, 0x0f, 0x06, 0x1d, 0x14,
-		0x63, 0x6a, 0x71, 0x78, 0x47, 0x4e, 0x55, 0x5c,
-		0x64, 0x6d, 0x76, 0x7f, 0x40, 0x49, 0x52, 0x5b,
-		0x2c, 0x25, 0x3e, 0x37, 0x08, 0x01, 0x1a, 0x13,
-		0x7d, 0x74, 0x6f, 0x66, 0x59, 0x50, 0x4b, 0x42,
-		0x35, 0x3c, 0x27, 0x2e, 0x11, 0x18, 0x03, 0x0a,
-		0x56, 0x5f, 0x44, 0x4d, 0x72, 0x7b, 0x60, 0x69,
-		0x1e, 0x17, 0x0c, 0x05, 0x3a, 0x33, 0x28, 0x21,
-		0x4f, 0x46, 0x5d, 0x54, 0x6b, 0x62, 0x79, 0x70,
-		0x07, 0x0e, 0x15, 0x1c, 0x23, 0x2a, 0x31, 0x38,
-		0x41, 0x48, 0x53, 0x5a, 0x65, 0x6c, 0x77, 0x7e,
-		0x09, 0x00, 0x1b, 0x12, 0x2d, 0x24, 0x3f, 0x36,
-		0x58, 0x51, 0x4a, 0x43, 0x7c, 0x75, 0x6e, 0x67,
-		0x10, 0x19, 0x02, 0x0b, 0x34, 0x3d, 0x26, 0x2f,
-		0x73, 0x7a, 0x61, 0x68, 0x57, 0x5e, 0x45, 0x4c,
-		0x3b, 0x32, 0x29, 0x20, 0x1f, 0x16, 0x0d, 0x04,
-		0x6a, 0x63, 0x78, 0x71, 0x4e, 0x47, 0x5c, 0x55,
-		0x22, 0x2b, 0x30, 0x39, 0x06, 0x0f, 0x14, 0x1d,
-		0x25, 0x2c, 0x37, 0x3e, 0x01, 0x08, 0x13, 0x1a,
-		0x6d, 0x64, 0x7f, 0x76, 0x49, 0x40, 0x5b, 0x52,
-		0x3c, 0x35, 0x2e, 0x27, 0x18, 0x11, 0x0a, 0x03,
-		0x74, 0x7d, 0x66, 0x6f, 0x50, 0x59, 0x42, 0x4b,
-		0x17, 0x1e, 0x05, 0x0c, 0x33, 0x3a, 0x21, 0x28,
-		0x5f, 0x56, 0x4d, 0x44, 0x7b, 0x72, 0x69, 0x60,
-		0x0e, 0x07, 0x1c, 0x15, 0x2a, 0x23, 0x38, 0x31,
-		0x46, 0x4f, 0x54, 0x5d, 0x62, 0x6b, 0x70, 0x79};
+		{
+				0x00, 0x09, 0x12, 0x1b, 0x24, 0x2d, 0x36, 0x3f,
+				0x48, 0x41, 0x5a, 0x53, 0x6c, 0x65, 0x7e, 0x77,
+				0x19, 0x10, 0x0b, 0x02, 0x3d, 0x34, 0x2f, 0x26,
+				0x51, 0x58, 0x43, 0x4a, 0x75, 0x7c, 0x67, 0x6e,
+				0x32, 0x3b, 0x20, 0x29, 0x16, 0x1f, 0x04, 0x0d,
+				0x7a, 0x73, 0x68, 0x61, 0x5e, 0x57, 0x4c, 0x45,
+				0x2b, 0x22, 0x39, 0x30, 0x0f, 0x06, 0x1d, 0x14,
+				0x63, 0x6a, 0x71, 0x78, 0x47, 0x4e, 0x55, 0x5c,
+				0x64, 0x6d, 0x76, 0x7f, 0x40, 0x49, 0x52, 0x5b,
+				0x2c, 0x25, 0x3e, 0x37, 0x08, 0x01, 0x1a, 0x13,
+				0x7d, 0x74, 0x6f, 0x66, 0x59, 0x50, 0x4b, 0x42,
+				0x35, 0x3c, 0x27, 0x2e, 0x11, 0x18, 0x03, 0x0a,
+				0x56, 0x5f, 0x44, 0x4d, 0x72, 0x7b, 0x60, 0x69,
+				0x1e, 0x17, 0x0c, 0x05, 0x3a, 0x33, 0x28, 0x21,
+				0x4f, 0x46, 0x5d, 0x54, 0x6b, 0x62, 0x79, 0x70,
+				0x07, 0x0e, 0x15, 0x1c, 0x23, 0x2a, 0x31, 0x38,
+				0x41, 0x48, 0x53, 0x5a, 0x65, 0x6c, 0x77, 0x7e,
+				0x09, 0x00, 0x1b, 0x12, 0x2d, 0x24, 0x3f, 0x36,
+				0x58, 0x51, 0x4a, 0x43, 0x7c, 0x75, 0x6e, 0x67,
+				0x10, 0x19, 0x02, 0x0b, 0x34, 0x3d, 0x26, 0x2f,
+				0x73, 0x7a, 0x61, 0x68, 0x57, 0x5e, 0x45, 0x4c,
+				0x3b, 0x32, 0x29, 0x20, 0x1f, 0x16, 0x0d, 0x04,
+				0x6a, 0x63, 0x78, 0x71, 0x4e, 0x47, 0x5c, 0x55,
+				0x22, 0x2b, 0x30, 0x39, 0x06, 0x0f, 0x14, 0x1d,
+				0x25, 0x2c, 0x37, 0x3e, 0x01, 0x08, 0x13, 0x1a,
+				0x6d, 0x64, 0x7f, 0x76, 0x49, 0x40, 0x5b, 0x52,
+				0x3c, 0x35, 0x2e, 0x27, 0x18, 0x11, 0x0a, 0x03,
+				0x74, 0x7d, 0x66, 0x6f, 0x50, 0x59, 0x42, 0x4b,
+				0x17, 0x1e, 0x05, 0x0c, 0x33, 0x3a, 0x21, 0x28,
+				0x5f, 0x56, 0x4d, 0x44, 0x7b, 0x72, 0x69, 0x60,
+				0x0e, 0x07, 0x1c, 0x15, 0x2a, 0x23, 0x38, 0x31,
+				0x46, 0x4f, 0x54, 0x5d, 0x62, 0x6b, 0x70, 0x79};
 
 #define crc7(x, y) rom_read_byte(&crc7_table[x ^ y])
 #else
@@ -87,79 +86,82 @@ static uint8_t crc7(uint8_t c, uint8_t crc)
 #endif
 
 const settings_t __rom__ default_settings =
-	{
-		.version = SETTINGS_VERSION,
-		.max_step_rate = F_STEP_MAX,
-		.step_invert_mask = DEFAULT_STEP_INV_MASK,
-		.dir_invert_mask = DEFAULT_DIR_INV_MASK,
-		.step_enable_invert = DEFAULT_STEP_ENA_INV,
-		.limits_invert_mask = DEFAULT_LIMIT_INV_MASK,
-		.probe_invert_mask = DEFAULT_PROBE_INV_MASK,
-		.status_report_mask = DEFAULT_STATUS_MASK,
-		.control_invert_mask = DEFAULT_CONTROL_INV_MASK,
-		.g64_angle_factor = DEFAULT_G64_FACTOR,
-		.arc_tolerance = DEFAULT_ARC_TOLERANCE,
-		.report_inches = DEFAULT_REPORT_INCHES,
+		{
+				.version = SETTINGS_VERSION,
+				.max_step_rate = F_STEP_MAX,
+				#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+				.step_disable_timeout = 0,
+				#endif
+				.step_invert_mask = DEFAULT_STEP_INV_MASK,
+				.dir_invert_mask = DEFAULT_DIR_INV_MASK,
+				.step_enable_invert = DEFAULT_STEP_ENA_INV,
+				.limits_invert_mask = DEFAULT_LIMIT_INV_MASK,
+				.probe_invert_mask = DEFAULT_PROBE_INV_MASK,
+				.status_report_mask = DEFAULT_STATUS_MASK,
+				.control_invert_mask = DEFAULT_CONTROL_INV_MASK,
+				.g64_angle_factor = DEFAULT_G64_FACTOR,
+				.arc_tolerance = DEFAULT_ARC_TOLERANCE,
+				.report_inches = DEFAULT_REPORT_INCHES,
 #if S_CURVE_ACCELERATION_LEVEL == -1
-		.s_curve_profile = 0,
-#endif
-		.soft_limits_enabled = DEFAULT_SOFT_LIMITS_ENABLED,
-		.hard_limits_enabled = DEFAULT_HARD_LIMITS_ENABLED,
-		.homing_enabled = DEFAULT_HOMING_ENABLED,
-		.debounce_ms = DEFAULT_DEBOUNCE_MS,
-		.homing_dir_invert_mask = DEFAULT_HOMING_DIR_INV_MASK,
-		.homing_fast_feed_rate = DEFAULT_HOMING_FAST,
-		.homing_slow_feed_rate = DEFAULT_HOMING_SLOW,
-		.homing_offset = DEFAULT_HOMING_OFFSET,
-		.spindle_max_rpm = DEFAULT_SPINDLE_MAX_RPM,
-		.spindle_min_rpm = DEFAULT_SPINDLE_MIN_RPM,
-		.laser_mode = 0,
+				.s_curve_profile = 0,
+#endif
+				.soft_limits_enabled = DEFAULT_SOFT_LIMITS_ENABLED,
+				.hard_limits_enabled = DEFAULT_HARD_LIMITS_ENABLED,
+				.homing_enabled = DEFAULT_HOMING_ENABLED,
+				.debounce_ms = DEFAULT_DEBOUNCE_MS,
+				.homing_dir_invert_mask = DEFAULT_HOMING_DIR_INV_MASK,
+				.homing_fast_feed_rate = DEFAULT_HOMING_FAST,
+				.homing_slow_feed_rate = DEFAULT_HOMING_SLOW,
+				.homing_offset = DEFAULT_HOMING_OFFSET,
+				.spindle_max_rpm = DEFAULT_SPINDLE_MAX_RPM,
+				.spindle_min_rpm = DEFAULT_SPINDLE_MIN_RPM,
+				.laser_mode = 0,
 #ifdef ENABLE_LASER_PPI
-		.laser_ppi = DEFAULT_LASER_PPI,
-		.laser_ppi_uswidth = DEFAULT_LASER_PPI_USWIDTH,
-		.laser_ppi_mixmode_ppi = 0.25,
-		.laser_ppi_mixmode_uswidth = 0.75,
-#endif
-		.step_per_mm = DEFAULT_STEP_PER_MM_PER_AXIS,
-		.max_feed_rate = DEFAULT_MAX_FEED_PER_AXIS,
-		.acceleration = DEFAULT_ACCEL_PER_AXIS,
-		.max_distance = DEFAULT_MAX_DIST_PER_AXIS,
+				.laser_ppi = DEFAULT_LASER_PPI,
+				.laser_ppi_uswidth = DEFAULT_LASER_PPI_USWIDTH,
+				.laser_ppi_mixmode_ppi = 0.25,
+				.laser_ppi_mixmode_uswidth = 0.75,
+#endif
+				.step_per_mm = DEFAULT_STEP_PER_MM_PER_AXIS,
+				.max_feed_rate = DEFAULT_MAX_FEED_PER_AXIS,
+				.acceleration = DEFAULT_ACCEL_PER_AXIS,
+				.max_distance = DEFAULT_MAX_DIST_PER_AXIS,
 #if TOOL_COUNT > 0
 #if TOOL_COUNT > 1
-		.default_tool = DEFAULT_STARTUP_TOOL,
+				.default_tool = DEFAULT_STARTUP_TOOL,
 #endif
-		.tool_length_offset = DEFAULT_ARRAY(TOOL_COUNT, 0),
+				.tool_length_offset = DEFAULT_ARRAY(TOOL_COUNT, 0),
 #endif
 #if (KINEMATIC == KINEMATIC_LINEAR_DELTA)
-		.delta_arm_length = DEFAULT_LIN_DELTA_ARM_LENGTH,
-		.delta_armbase_radius = DEFAULT_LIN_DELTA_BASE_RADIUS,
+				.delta_arm_length = DEFAULT_LIN_DELTA_ARM_LENGTH,
+				.delta_armbase_radius = DEFAULT_LIN_DELTA_BASE_RADIUS,
 // float delta_efector_height;
 #elif (KINEMATIC == KINEMATIC_DELTA)
-		.delta_base_radius = DEFAULT_DELTA_BASE_RADIUS,
-		.delta_effector_radius = DEFAULT_DELTA_EFFECTOR_RADIUS,
-		.delta_bicep_length = DEFAULT_DELTA_BICEP_LENGTH,
-		.delta_forearm_length = DEFAULT_DELTA_FOREARM_LENGTH,
-		.delta_bicep_homing_angle = DEFAULT_DELTA_BICEP_HOMING_ANGLE,
+				.delta_base_radius = DEFAULT_DELTA_BASE_RADIUS,
+				.delta_effector_radius = DEFAULT_DELTA_EFFECTOR_RADIUS,
+				.delta_bicep_length = DEFAULT_DELTA_BICEP_LENGTH,
+				.delta_forearm_length = DEFAULT_DELTA_FOREARM_LENGTH,
+				.delta_bicep_homing_angle = DEFAULT_DELTA_BICEP_HOMING_ANGLE,
 #elif (KINEMATIC == KINEMATIC_SCARA)
-		.scara_arm_length = DEFAULT_SCARA_ARM_LENGTH,
-		.scara_forearm_length = DEFAULT_SCARA_FOREARM_LENGTH,
-		.scara_arm_homing_angle = DEFAULT_SCARA_ARM_HOMING_ANGLE,
-		.scara_forearm_homing_angle = DEFAULT_SCARA_FOREARM_HOMING_ANGLE,
+				.scara_arm_length = DEFAULT_SCARA_ARM_LENGTH,
+				.scara_forearm_length = DEFAULT_SCARA_FOREARM_LENGTH,
+				.scara_arm_homing_angle = DEFAULT_SCARA_ARM_HOMING_ANGLE,
+				.scara_forearm_homing_angle = DEFAULT_SCARA_FOREARM_HOMING_ANGLE,
 #endif
 
 #ifdef ENABLE_BACKLASH_COMPENSATION
-		.backlash_steps = DEFAULT_ARRAY(AXIS_TO_STEPPERS, 0),
+				.backlash_steps = DEFAULT_ARRAY(AXIS_TO_STEPPERS, 0),
 #endif
 #ifdef ENABLE_SKEW_COMPENSATION
-		.skew_xy_factor = 0,
+				.skew_xy_factor = 0,
 #ifndef SKEW_COMPENSATION_XY_ONLY
-		.skew_xz_factor = 0,
-		.skew_yz_factor = 0,
+				.skew_xz_factor = 0,
+				.skew_yz_factor = 0,
 #endif
 #endif
 #if ENCODERS > 0
-		.encoders_pulse_invert_mask = 0,
-		.encoders_dir_invert_mask = 0,
+				.encoders_pulse_invert_mask = 0,
+				.encoders_dir_invert_mask = 0,
 #endif
 };
 
@@ -419,10 +421,13 @@ uint8_t settings_change(setting_offset_t id, float value)
 			}
 			g_settings.max_step_rate = value;
 			break;
-#if EMULATE_GRBL_STARTUP > 0
+#if EMULATE_GRBL_STARTUP > 0 || defined(ENABLE_STEPPERS_DISABLE_TIMEOUT)
 		// just adds this for compatibility
 		// this setting is not used
 		case 1:
+#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+			g_settings.step_disable_timeout = value16;
+#endif
 			break;
 #endif
 		case 2:

diff --git a/uCNC/src/interface/settings.h b/uCNC/src/interface/settings.h
@@ -34,6 +34,9 @@ extern "C"
 		uint8_t version[3];
 		float max_step_rate;
 		// step delay not used
+		#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+		uint16_t step_disable_timeout;
+		#endif
 		uint8_t step_invert_mask;
 		uint8_t dir_invert_mask;
 		uint8_t step_enable_invert;

diff --git a/uCNC/src/modules/language/language_en.h b/uCNC/src/modules/language/language_en.h
@@ -36,6 +36,7 @@ extern "C"
 #define STR_LIMITS_INV "Limits inv:"
 #define STR_PROBE_INV "Probe inv:"
 #define STR_CONTROL_INV "Control inv:"
+#define STR_STEPPER_TIMEOUT "Stepper disable timeout:"
 #define STR_SOFTLIMITS "Soft-limits:"
 #define STR_HARDLIMITS "Hard-limits:"
 #define STR_ENABLE_HOMING "Enable homing:"

diff --git a/uCNC/src/modules/system_menu.c b/uCNC/src/modules/system_menu.c
@@ -160,6 +160,9 @@ DECL_MODULE(system_menu)
 	DECL_MENU_VAR(6, s8, STR_ENC_P_INV, &g_settings.encoders_pulse_invert_mask, VAR_TYPE_UINT8);
 	DECL_MENU_VAR(6, s9, STR_ENC_D_INV, &g_settings.encoders_dir_invert_mask, VAR_TYPE_UINT8);
 #endif
+#ifdef ENABLE_STEPPERS_DISABLE_TIMEOUT
+	DECL_MENU_VAR(6, s10, STR_STEPPER_TIMEOUT, &g_settings.step_disable_timeout, VAR_TYPE_UINT16);
+#endif
 
 	// append homing settings menu
 	DECL_MENU(3, SYSTEM_MENU_ID_SETTINGS, STR_HOMING);