Merge branch 'master' into 288-fr-implement-smoothieware-s-cluster

CHANGELOG.md

@@ -6,6 +6,19 @@
 
 # Changelog
 
+## [1.5.2] - 01-10-2022
+
+### Added
+
+- configurable PWM frequency (#286)
+
+### Fixed
+
+- fixed no command response after a tool command without motion (#284)
+- fixed incorrect laser power factor scaling with M4 (#282)
+- $P servo report values for AVR (#283)
+- fixed tool update with dwell to reach programmed speed
+
 ## [1.5.1] - 23-09-2022
 
 ### Fixed
@@ -999,6 +1012,7 @@ Version 1.1.0 comes with many added features and improvements over the previous
 
 ### Initial release
 
+[1.5.2]: https://github.com/Paciente8159/uCNC/releases/tag/v1.5.2
 [1.5.1]: https://github.com/Paciente8159/uCNC/releases/tag/v1.5.1
 [1.5.0]: https://github.com/Paciente8159/uCNC/releases/tag/v1.5.0
 [1.5.rc]: https://github.com/Paciente8159/uCNC/releases/tag/v1.5.rc

uCNC/cnc_config.h

@@ -193,7 +193,7 @@ extern "C"
 /**
  * accept G0 and G1 without explicit target
  * */
-// #define IGNORE_G0_G1_MISSING_AXIS_WORDS
+#define IGNORE_G0_G1_MISSING_AXIS_WORDS
 
 /**
  * processes and displays the currently executing gcode numbered line

uCNC/src/cnc_build.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 #define CNC_MAJOR_MINOR_VERSION "1.5"
-#define CNC_PATCH_VERSION ".1"
+#define CNC_PATCH_VERSION ".2"
 
 #define CNC_VERSION CNC_MAJOR_MINOR_VERSION CNC_PATCH_VERSION
 

uCNC/src/core/motion_control.c

@@ -60,15 +60,12 @@ bool mc_toogle_checkmode(void)
 	return mc_checkmode;
 }
 
-static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
+static uint8_t mc_line_segment(int32_t *step_new_pos, motion_data_t *block_data)
 {
-	int32_t step_new_pos[STEPPER_COUNT];
-
-	// applies the inverse kinematic to get next position in steps
-	kinematics_apply_inverse(target, step_new_pos);
-
-	// resets accumulator vars of the block
+// resets accumulator vars of the block
+#ifdef ENABLE_LINACT_PLANNER
 	block_data->full_steps = 0;
+#endif
 	block_data->total_steps = 0;
 #if KINEMATIC == KINEMATIC_DELTA
 	block_data->dirbits = 0;
@@ -88,7 +85,9 @@ static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
 		}
 #endif
 
+#ifdef ENABLE_LINACT_PLANNER
 		block_data->full_steps += steps;
+#endif
 		if (block_data->total_steps < steps)
 		{
 			block_data->total_steps = steps;
@@ -120,7 +119,9 @@ static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
 			memset(backlash_block_data.steps, 0, sizeof(backlash_block_data.steps));
 			// resets accumulator vars
 			backlash_block_data.total_steps = 0;
+#ifdef ENABLE_LINACT_PLANNER
 			backlash_block_data.full_steps = 0;
+#endif
 			backlash_block_data.feed = FLT_MAX; // max feedrate possible (same as rapid move)
 
 			SETFLAG(backlash_block_data.motion_mode, MOTIONCONTROL_MODE_BACKLASH_COMPENSATION);
@@ -131,7 +132,9 @@ static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
 				if (inverted_steps & (1 << i))
 				{
 					backlash_block_data.steps[i] = g_settings.backlash_steps[i];
+#ifdef ENABLE_LINACT_PLANNER
 					backlash_block_data.full_steps += backlash_block_data.steps[i];
+#endif
 					if (backlash_block_data.total_steps < backlash_block_data.steps[i])
 					{
 						backlash_block_data.total_steps = backlash_block_data.steps[i];
@@ -140,10 +143,6 @@ static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
 				}
 			}
 
-			planner_add_line(&backlash_block_data);
-			// dwell should only execute on the first request
-			block_data->dwell = 0;
-
 			while (planner_buffer_is_full())
 			{
 				if (!cnc_dotasks())
@@ -152,10 +151,21 @@ static uint8_t mc_line_segment(float *target, motion_data_t *block_data)
 				}
 			}
 
+			planner_add_line(&backlash_block_data);
+			// dwell should only execute on the first request
+			block_data->dwell = 0;
 			mc_last_dirbits = block_data->dirbits;
 		}
 #endif
 
+		while (planner_buffer_is_full())
+		{
+			if (!cnc_dotasks())
+			{
+				return STATUS_CRITICAL_FAIL;
+			}
+		}
+
 #ifdef ENABLE_MOTION_CONTROL_MODULES
 		// event_mc_line_segment_handler
 		EVENT_INVOKE(mc_line_segment, block_data);
@@ -181,7 +191,7 @@ uint8_t mc_line(float *target, motion_data_t *block_data)
 	float prev_target[AXIS_COUNT];
 	block_data->dirbits = 0; // reset dirbits (this prevents odd behaviour generated by long arcs)
 
-	// In homming mode no kinematics modifications is applied to prevent unwanted axis movements
+	// In homing mode no kinematics modifications is applied to prevent unwanted axis movements
 	if (!cnc_get_exec_state(EXEC_HOMING))
 	{
 		kinematics_apply_transform(target);
@@ -198,14 +208,6 @@ uint8_t mc_line(float *target, motion_data_t *block_data)
 		return STATUS_OK;
 	}
 
-	while (planner_buffer_is_full())
-	{
-		if (!cnc_dotasks())
-		{
-			return STATUS_CRITICAL_FAIL;
-		}
-	}
-
 	uint8_t error = STATUS_OK;
 	int32_t step_new_pos[STEPPER_COUNT];
 	// converts transformed target to stepper position
@@ -275,9 +277,18 @@ uint8_t mc_line(float *target, motion_data_t *block_data)
 	float inv_delta = (!CHECKFLAG(block_data->motion_mode, MOTIONCONTROL_MODE_INVERSEFEED) ? (block_data->feed * inv_dist) : block_data->feed);
 	block_data->feed = (float)max_steps * inv_delta;
 
+#if ((KINEMATIC == KINEMATIC_DELTA) || defined(BRESENHAM_16BIT))
 	// this contains a motion. Any tool update will be done here
 	uint32_t line_segments = 1;
-#if (KINEMATIC != KINEMATIC_DELTA)
+#if (KINEMATIC == KINEMATIC_DELTA)
+	line_segments = (uint32_t)ceilf(line_dist * DELTA_MOTION_SEGMENT_FACTOR);
+	float m_inv = 1.0f / (float)line_segments;
+	for (uint8_t i = AXIS_COUNT; i != 0;)
+	{
+		i--;
+		motion_segment[i] *= m_inv;
+	}
+#else
 	if (max_steps > MAX_STEPS_PER_LINE)
 	{
 		line_segments += (max_steps >> MAX_STEPS_PER_LINE_BITS);
@@ -288,52 +299,33 @@ uint8_t mc_line(float *target, motion_data_t *block_data)
 			motion_segment[i] *= m_inv;
 		}
 	}
-#else
-	line_segments = (uint32_t)ceilf(line_dist * DELTA_MOTION_SEGMENT_FACTOR);
-	float m_inv = 1.0f / (float)line_segments;
-	for (uint8_t i = AXIS_COUNT; i != 0;)
-	{
-		i--;
-		motion_segment[i] *= m_inv;
-	}
 #endif
 
-	while (line_segments--)
+	while (--line_segments)
 	{
-		while (planner_buffer_is_full())
+		block_data->motion_flags.bit.is_subsegment = 1;
+		for (uint8_t i = AXIS_COUNT; i != 0;)
 		{
-			if (!cnc_dotasks())
-			{
-				block_data->feed = feed;
-				return STATUS_CRITICAL_FAIL;
-			}
+			i--;
+			prev_target[i] += motion_segment[i];
 		}
 
-		if (line_segments)
-		{
-			for (uint8_t i = AXIS_COUNT; i != 0;)
-			{
-				i--;
-				prev_target[i] += motion_segment[i];
-			}
-
-			error = mc_line_segment(prev_target, block_data);
-			if (error)
-			{
-				break;
-			}
-		}
-		else
+		kinematics_apply_inverse(prev_target, step_new_pos);
+		error = mc_line_segment(step_new_pos, block_data);
+		if (error)
 		{
-			error = mc_line_segment(target, block_data);
-			if (error)
-			{
-				break;
-			}
+			memcpy(target, prev_target, sizeof(prev_target));
+			block_data->feed = feed;
+			return error;
 		}
-		block_data->motion_flags.bit.is_subsegment = 1;
 	}
 
+	if (block_data->motion_flags.bit.is_subsegment)
+	{
+		kinematics_apply_inverse(target, step_new_pos);
+	}
+#endif
+	error = mc_line_segment(step_new_pos, block_data);
 	// stores the new position for the next motion
 	memcpy(mc_last_target, target, sizeof(mc_last_target));
 	block_data->feed = feed;

uCNC/src/core/motion_control.h

@@ -63,7 +63,9 @@ extern "C"
 		step_t steps[STEPPER_COUNT];
 		float dir_vect[AXIS_COUNT];
 		uint8_t dirbits;
+		#ifdef ENABLE_LINACT_PLANNER
 		uint32_t full_steps; // number of steps of all linear actuators
+		#endif
 		step_t total_steps;	 // the number of pulses needed to generate all steps (maximum of all linear actuators)
 		float feed;
 		uint8_t main_stepper;

uCNC/src/core/parser.c

@@ -126,7 +126,7 @@ static int32_t rt_probe_step_pos[STEPPER_COUNT];
 static float parser_last_pos[AXIS_COUNT];
 
 static unsigned char parser_get_next_preprocessed(bool peek);
-FORCEINLINE static uint8_t parser_get_comment(void);
+FORCEINLINE static void parser_get_comment(unsigned char start_char);
 FORCEINLINE static uint8_t parser_get_token(unsigned char *word, float *value);
 FORCEINLINE static uint8_t parser_gcode_word(uint8_t code, uint8_t mantissa, parser_state_t *new_state, parser_cmd_explicit_t *cmd);
 FORCEINLINE static uint8_t parser_mcode_word(uint8_t code, uint8_t mantissa, parser_state_t *new_state, parser_cmd_explicit_t *cmd);
@@ -1617,7 +1617,7 @@ uint8_t parser_exec_command(parser_state_t *new_state, parser_words_t *words, pa
 		break;
 	}
 
-	if (hold)
+	if (hold && !mc_get_checkmode())
 	{
 		mc_pause();
 		if (resetparser)
@@ -1791,8 +1791,11 @@ uint8_t parser_get_float(float *value)
 	To be compatible with Grbl it accepts bad format comments
 	On error returns false otherwise returns true
 */
-static uint8_t parser_get_comment(void)
+#define COMMENT_OK 1
+#define COMMENT_NOTOK 2
+static void parser_get_comment(unsigned char start_char)
 {
+	uint8_t comment_end = 0;
 #ifdef PROCESS_COMMENTS
 	uint8_t msg_parser = 0;
 #endif
@@ -1803,50 +1806,57 @@ static uint8_t parser_get_comment(void)
 		{
 			// case '(':	//error under RS274NGC (commented for Grbl compatibility)
 		case ')': // OK
-			serial_getc();
-#ifdef PROCESS_COMMENTS
-			if (msg_parser == 4)
+			if (start_char == '(')
 			{
-				protocol_send_string(MSG_END);
+				comment_end = COMMENT_OK;
 			}
-#endif
-			return STATUS_OK;
-		case EOL: // error under RS274NGC
-			return STATUS_BAD_COMMENT_FORMAT;
+			break;
+		case EOL: // error under RS274NGC is starts with '(' (it's ignored)
+			comment_end = COMMENT_OK;
+			break;
 		case OVF:
 			// return ((c==')') ? true : false); //under RS274NGC (commented for Grbl compatibility)
-			return STATUS_OVERFLOW;
-		case ' ':
+			return;
+		}
+
+#ifdef PROCESS_COMMENTS
+		switch (msg_parser)
+		{
+		case 0:
+			msg_parser = (c == 'M' | c == 'm') ? 1 : 0xFF;
+			break;
+		case 1:
+			msg_parser = (c == 'S' | c == 's') ? 2 : 0xFF;
+			break;
+		case 2:
+			msg_parser = (c == 'G' | c == 'g') ? 3 : 0xFF;
 			break;
+		case 3:
+			msg_parser = (c == ',') ? 4 : 0xFF;
+			protocol_send_string(MSG_START);
+			break;
+		case 4:
+			serial_putc(c);
+			break;
+		}
+#endif
+
+		if (c != EOL)
+		{
+			serial_getc();
+		}
+
+		if (comment_end)
+		{
 #ifdef PROCESS_COMMENTS
-		default:
-			switch (msg_parser)
+			if (msg_parser == 4)
 			{
-			case 0:
-				msg_parser = (c == 'M' | c == 'm') ? 1 : 0xFF;
-				break;
-			case 1:
-				msg_parser = (c == 'S' | c == 's') ? 2 : 0xFF;
-				break;
-			case 2:
-				msg_parser = (c == 'G' | c == 'g') ? 3 : 0xFF;
-				break;
-			case 3:
-				msg_parser = (c == ',') ? 4 : 0xFF;
-				protocol_send_string(MSG_START);
-				break;
-			case 4:
-				serial_putc(c);
-				break;
+				protocol_send_string(MSG_END);
 			}
-			break;
 #endif
+			return;
 		}
-
-		serial_getc();
 	}
-
-	return STATUS_BAD_COMMENT_FORMAT; // never reached here
 }
 
 static uint8_t parser_get_token(unsigned char *word, float *value)
@@ -2388,12 +2398,12 @@ static unsigned char parser_get_next_preprocessed(bool peek)
 {
 	unsigned char c = serial_peek();
 
-	while (c == ' ' || c == '(')
+	while (c == ' ' || c == '(' || c == ';')
 	{
 		serial_getc();
-		if (c == '(')
+		if (c != ' ')
 		{
-			parser_get_comment();
+			parser_get_comment(c);
 		}
 		c = serial_peek();
 	}