implemented mesh leveling for working region

makefiles/virtual/uCNC.dev

@@ -29,7 +29,7 @@ IncludeVersionInfo=0
 SupportXPThemes=0
 CompilerSet=1
 CompilerSettings=000000e0a0000000001000000
-UnitCount=78
+UnitCount=77
 
 [VersionInfo]
 Major=1

tests/gcode/motion-tests-hmap.ngc

@@ -0,0 +1,96 @@
+G90G21G54M48
+G39Z-1R5I10J10F50
+G0X0Y0Z0
+(SQUARE)
+F1000
+G1X10
+Y10
+X0
+Y0
+M1
+(CROSS)
+X10Y10
+G0Z1
+X0
+G1Z0
+Y0X10
+M1
+(PLUS)
+G0Z1
+X5Y0
+G1Z0
+Y10
+G0Z1
+X0Y5
+G1Z0
+X10
+M1
+(CIRCLE)
+G0X10Y5Z0
+F1000
+G17G3X5Y10I-5
+G3X5Y0J-5
+G0Z1
+X10Y5
+G1Z0
+G2X5Y0I-5
+M1
+(SPIRAL)
+G0Z5
+X2.5Y5
+(DWELL 1S)
+G4P3
+G2X7.5Z2.5I2.5
+G2X2.5Z0I-2.5
+M1
+(CIRCLE  WITH R)
+G2X7.5R2.5
+G2X2.5R2.5
+M1
+G0X0Y0Z0
+(RELATIVE)
+F1000
+G91
+G1X10
+Y10
+X-10
+Y-10
+M1
+(CROSS)
+X10Y10
+G0Z1
+X-10
+G1Z-1
+Y-10X10
+M1
+(PLUS)
+G0Z1
+X-5
+G1Z-1
+X0Y10
+G0Z1
+X-5Y-5
+G1Z-1
+X10
+M1
+(CIRCLE)
+G91F1000
+G17G3X-5Y5I-5
+X0Y-10J-5
+G0Z1
+X5Y5
+G0Z-1
+G2X-5Y-5I-5
+(SPIRAL)
+G0Z5
+X-2.5Y5
+(DWELL)
+G4P3
+G2X5Z-2.5I2.5
+X-5Z-2.5I-2.5
+M1
+(CIRCLE WITH R)
+G2X5R2.5
+X-5R2.5
+M1
+G90

uCNC/cnc_config.h

@@ -260,6 +260,32 @@ extern "C"
 #ifdef ENABLE_SKEW_COMPENSATION
 // uncomment to correct only in the xy axis
 //#define SKEW_COMPENSATION_XY_ONLY
+#endif
+
+/**
+ * Uncomment to enable surface height mapping compensation
+ * This enables G39 gcode and is useful for PCB milling and similar jobs
+ * It uses a 9 point matrix and bilinear interpolation to compensate for Z height deformations
+ * To map a region do G39 X<left bottom corner> Y<left bottom corner> Z<max-depth> I<X region offset> J<Y region offset>
+ * G39.1 will disable HMAP
+ * G39.2 will re-enable it
+ * 
+ * It's an error if:
+ *  - I and J are missing
+ *  - I or J are negative
+ *  - Z is missing
+ *  - cutter radius compensation is active (not implemented)
+ * 
+ * The map will not be stored in memory and will be reset on any of the following conditions
+ *  - a hardware or software reset
+ *  - a homing command
+ **/
+// #define ENABLE_G39_H_MAPPING
+#ifdef ENABLE_G39_H_MAPPING
+// set the grid size factor
+// this sets the size of the Hmap -> H_MAPING_GRID_FACTOR ^ 2
+// the minimum value is 2 (4 points) and the maximum is 6 (36 points)
+#define H_MAPING_GRID_FACTOR 3
 #endif
 
 	/**
@@ -288,8 +314,8 @@ extern "C"
 	 * (performs 0 steps in the ISR tick) and skips calculations
 	 * */
 
-#define STEP_ISR_SKIP_MAIN
-#define STEP_ISR_SKIP_IDLE
+// #define STEP_ISR_SKIP_MAIN
+// #define STEP_ISR_SKIP_IDLE
 
 	/**
 	 * Sets the maximum number of step doubling loops carried by the DSS (Dynamic
@@ -379,15 +405,15 @@ extern "C"
 	 * that uCNC is recognized a Grbl protocol controller device)
 	 * */
 
-#define EMULATE_GRBL_STARTUP
+// #define EMULATE_GRBL_STARTUP
 
 	/**
 	 *
 	 * Enables $I Grbl info command on µCNC.
 	 *
 	 * */
 
-#define ENABLE_SYSTEM_INFO
+// #define ENABLE_SYSTEM_INFO
 
 	/**
 	 * Enables additional core grbl system commands

uCNC/src/core/interpolator.c

@@ -115,6 +115,8 @@ static itp_segment_t *itp_rt_sgm;
 #if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(IS_DELTA_KINEMATICS))
 static volatile uint8_t itp_step_lock;
 #endif
+// keeps track if the itp timer is running or not (prevent restarting)
+static volatile bool itp_is_running;
 
 #ifdef ENABLE_RT_SYNC_MOTIONS
 volatile int32_t itp_sync_step_counter;
@@ -212,7 +214,6 @@ static bool itp_sgm_is_full(void)
 
 static bool itp_sgm_is_empty(void)
 {
-
 	return (itp_sgm_data_read == itp_sgm_data_write);
 }
 
@@ -1058,6 +1059,8 @@ void itp_stop(void)
 		cnc_set_exec_state(EXEC_HALT);
 	}
 
+	cnc_clear_exec_state(EXEC_RUN);
+
 	io_set_steps(g_settings.step_invert_mask);
 #if TOOL_COUNT > 0
 	if (g_settings.laser_mode)
@@ -1067,6 +1070,7 @@ void itp_stop(void)
 #endif
 
 	mcu_stop_itp_isr();
+	itp_is_running = false;
 }
 
 void itp_stop_tools(void)
@@ -1711,14 +1715,15 @@ MCU_CALLBACK void mcu_step_cb(void)
 void itp_start(bool is_synched)
 {
 	// starts the step isr if is stopped and there are segments to execute
-	if (!cnc_get_exec_state(EXEC_HOLD | EXEC_ALARM | EXEC_RUN | EXEC_RESUMING) && !itp_sgm_is_empty()) // exec state is not hold or alarm and not already running
+	if (!cnc_get_exec_state(EXEC_HOLD | EXEC_ALARM | EXEC_RESUMING) && !itp_sgm_is_empty() && !itp_is_running) // exec state is not hold or alarm and not already running
 	{
 		// check if the start is controlled by synched motion before start
 		if (!is_synched)
 		{
-			cnc_set_exec_state(EXEC_RUN); // flags that it started running
 			__ATOMIC__
 			{
+				cnc_set_exec_state(EXEC_RUN); // flags that it started running
+				itp_is_running = true;
 				mcu_start_itp_isr(itp_sgm_data[itp_sgm_data_read].timer_counter, itp_sgm_data[itp_sgm_data_read].timer_prescaller);
 			}
 		}

uCNC/src/core/io_control.c

@@ -27,6 +27,11 @@ static volatile uint8_t io_spindle_speed;
 static uint8_t io_lock_limits_mask;
 static uint8_t io_invert_limits_mask;
 
+#if ASSERT_PIN(PROBE)
+static volatile bool io_last_probe;
+static bool io_probe_enabled;
+#endif
+
 #ifdef ENABLE_IO_ALARM_DEBUG
 uint8_t io_alarm_limits;
 uint8_t io_alarm_controls;
@@ -226,23 +231,26 @@ MCU_IO_CALLBACK void mcu_controls_changed_cb(void)
 
 MCU_IO_CALLBACK void mcu_probe_changed_cb(void)
 {
-#ifdef DISABLE_PROBE
+#if !ASSERT_PIN(PROBE)
 	return;
-#endif
+#else
+
+	if (!io_probe_enabled)
+	{
+		return;
+	}
 
-#if ASSERT_PIN(PROBE)
-	static bool prev_probe = false;
 	bool probe = io_get_probe();
 
-	if (prev_probe == probe)
+	if (io_last_probe == probe)
 	{
 		return;
 	}
 
-	prev_probe = probe;
+	io_last_probe = probe;
 
-	// on hit enables hold (directly)
-	cnc_set_exec_state(EXEC_HOLD);
+	// stops the machine
+	itp_stop();
 	// stores rt position
 	parser_sync_probe();
 #endif
@@ -452,39 +460,43 @@ uint8_t io_get_controls(void)
 
 void io_enable_probe(void)
 {
+#if ASSERT_PIN(PROBE)
+	io_last_probe = io_get_probe();
 #ifdef ENABLE_IO_MODULES
 	EVENT_INVOKE(probe_enable, NULL);
 #endif
 #ifndef FORCE_SOFT_POLLING
-#if ASSERT_PIN(PROBE)
 	mcu_enable_probe_isr();
 #endif
+	io_probe_enabled = true;
 #endif
 }
 
 void io_disable_probe(void)
 {
-#ifndef FORCE_SOFT_POLLING
 #if ASSERT_PIN(PROBE)
+	io_probe_enabled = false;
+#ifndef FORCE_SOFT_POLLING
 	mcu_disable_probe_isr();
 #endif
-#endif
 #ifdef ENABLE_IO_MODULES
 	EVENT_INVOKE(probe_disable, NULL);
 #endif
+#endif
 }
 
 bool io_get_probe(void)
 {
-#ifdef DISABLE_PROBE
+#if !ASSERT_PIN(PROBE)
 	return false;
-#endif
+#else
 #if ASSERT_PIN(PROBE)
 	bool probe = (mcu_get_input(PROBE) != 0);
 	return (!g_settings.probe_invert_mask) ? probe : !probe;
 #else
 	return false;
 #endif
+#endif
 }
 
 // outputs