Merge pull request #347 from bdring/Devt

Devt
bdring · Mar 22, 2022 · adfc015 · adfc015
2 parents 911c52e + e8cf687
commit adfc015
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Showing 36 changed files with 537 additions and 112 deletions.
diff --git a/FluidNC/src/Configuration/ParseException.h b/FluidNC/src/Configuration/ParseException.h
@@ -6,35 +6,15 @@
 namespace Configuration {
     class ParseException {
         int         line_;
-        int         column_;
-        const char* keyStart_;
-        const char* keyEnd_;
         const char* description_;
-        const char* current_;
 
     public:
         ParseException()                      = default;
         ParseException(const ParseException&) = default;
 
-        ParseException(const char* start, const char* current, const char* description) :
-            keyStart_(start), keyEnd_(current), description_(description), current_(current) {
-            line_   = 1;
-            column_ = 1;
-            while (start != current) {
-                if (*start == '\n') {
-                    ++line_;
-                    column_ = 1;
-                }
-                ++column_;
-                ++start;
-            }
-        }
+        ParseException(int line, const char* description) : line_(line), description_(description) {}
 
         inline int         LineNumber() const { return line_; }
-        inline int         ColumnNumber() const { return column_; }
-        inline const char* Near() const { return current_; }
         inline const char* What() const { return description_; }
-        inline const char* KeyStart() const { return keyStart_; }
-        inline const char* KeyEnd() const { return keyEnd_; }
     };
 }
diff --git a/FluidNC/src/Configuration/Parser.cpp b/FluidNC/src/Configuration/Parser.cpp
@@ -17,7 +17,7 @@ namespace Configuration {
     void Parser::parseError(const char* description) const {
         // Attempt to use the correct position in the parser:
         if (token_.keyEnd_) {
-            throw ParseException(token_.keyStart_, token_.keyEnd_, description);
+            throw ParseException(line_, description);
         } else {
             Tokenizer::ParseError(description);
         }

diff --git a/FluidNC/src/Configuration/ParserHandler.h b/FluidNC/src/Configuration/ParserHandler.h
@@ -102,7 +102,7 @@ namespace Configuration {
         void item(const char* name, int32_t& value, int32_t minValue, int32_t maxValue) override {
             if (_parser.is(name)) {
                 value = _parser.intValue();
-                constrain_with_message(value, minValue, maxValue);
+                constrain_with_message(value, minValue, maxValue, name);
             }
         }
 
@@ -121,7 +121,7 @@ namespace Configuration {
         void item(const char* name, float& value, float minValue, float maxValue) override {
             if (_parser.is(name)) {
                 value = _parser.floatValue();
-                constrain_with_message(value, minValue, maxValue);
+                constrain_with_message(value, minValue, maxValue, name);
             }
         }
 

diff --git a/FluidNC/src/Configuration/Tokenizer.cpp b/FluidNC/src/Configuration/Tokenizer.cpp
@@ -13,20 +13,12 @@ namespace Configuration {
         while (!IsEndLine()) {
             Inc();
         }
+        Inc();
     }
 
-    Tokenizer::Tokenizer(const char* start, const char* end) : current_(start), end_(end), start_(start), token_() {
-        // If start is a yaml document start ('---' [newline]), skip that first.
-        if (EqualsCaseInsensitive("---")) {
-            for (int i = 0; i < 3; ++i) {
-                Inc();
-            }
-            skipToEol();
-            start_ = current_;
-        }
-    }
+    Tokenizer::Tokenizer(const char* start, const char* end) : current_(start), end_(end), start_(start), line_(0), token_() {}
 
-    void Tokenizer::ParseError(const char* description) const { throw ParseException(start_, current_, description); }
+    void Tokenizer::ParseError(const char* description) const { throw ParseException(line_, description); }
 
     void Tokenizer::Tokenize() {
         // Release a held token
@@ -44,6 +36,8 @@ namespace Configuration {
         // is at the start of the line.
 
     parseAgain:
+        ++line_;
+
         int indent = 0;
 
         while (!Eof() && IsSpace()) {
@@ -60,7 +54,7 @@ namespace Configuration {
         }
         switch (Current()) {
             case '\t':
-                ParseError("Tabs are not allowed. Use spaces for indentation.");
+                ParseError("Use spaces, not tabs, for indentation");
                 break;
 
             case '#':  // Comment till end of line
@@ -83,7 +77,7 @@ namespace Configuration {
 
             default:
                 if (!IsIdentifierChar()) {
-                    ParseError("Expected identifier.");
+                    ParseError("Invalid character");
                 }
 
                 token_.keyStart_ = current_;

diff --git a/FluidNC/src/Configuration/Tokenizer.h b/FluidNC/src/Configuration/Tokenizer.h
@@ -61,6 +61,7 @@ namespace Configuration {
 
     public:
         const char* start_;
+        int         line_;
 
         // Results:
         struct TokenData {

diff --git a/FluidNC/src/CoolantControl.cpp b/FluidNC/src/CoolantControl.cpp
@@ -82,5 +82,5 @@ void CoolantControl::off() {
 void CoolantControl::group(Configuration::HandlerBase& handler) {
     handler.item("flood_pin", _flood);
     handler.item("mist_pin", _mist);
-    handler.item("delay_ms", _delay_ms);
+    handler.item("delay_ms", _delay_ms, 0, 10000);
 }
diff --git a/FluidNC/src/FileStream.cpp b/FluidNC/src/FileStream.cpp
@@ -81,13 +81,13 @@ FileStream::FileStream(const char* filename, const char* mode, const char* defau
     }
     if (_path.startsWith(sdPrefix)) {
         if (config->_sdCard->begin(SDCard::State::BusyWriting) != SDCard::State::Idle) {
-            log_info("FS busy ");
+            log_info("FS busy");
             throw Error::FsFailedMount;
         }
         _isSD = true;
     }
     if (_path.startsWith(actualLocalFs) && _path.length() > (30 + strlen(actualLocalFs))) {
-        log_info("Filename too long");
+        log_info("Filename too long: " << _path);
     }
     _fd = fopen(_path.c_str(), mode);
     if (!_fd) {

diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp
@@ -1257,6 +1257,15 @@ Error gc_execute_line(char* line, Channel& channel) {
                     //   is undefined. Probe is triggered. NOTE: Probe check moved to probe cycle. Instead of returning
                     //   an error, it issues an alarm to prevent further motion to the probe. It's also done there to
                     //   allow the planner buffer to empty and move off the probe trigger before another probing cycle.
+                    if (bitnum_is_true(value_words, GCodeWord::P)) {
+                        if (multiple_bits_set(axis_words)) {  // There should only be one axis word given
+                            FAIL(Error::GcodeUnusedWords);  // we have more axis words than allowed.
+                        }
+                    } else {
+                        gc_block.values.p = __FLT_MAX__;  // This is a hack to signal the probe cycle that not to auto offset.
+                    }
+                    clear_bitnum(value_words, GCodeWord::P);  // allow P to be used
+
                     if (!axis_words) {
                         FAIL(Error::GcodeNoAxisWords);  // [No axis words]
                     }
@@ -1575,7 +1584,7 @@ Error gc_execute_line(char* line, Channel& channel) {
                 if (!ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES) {
                     pl_data->motion.noFeedOverride = 1;
                 }
-                gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags);
+                gc_update_pos = mc_probe_cycle(gc_block.values.xyz, pl_data, gc_parser_flags, axis_words, gc_block.values.p);
             }
             // As far as the parser is concerned, the position is now == target. In reality the
             // motion control system might still be processing the action and the real tool position

diff --git a/FluidNC/src/Machine/Axis.cpp b/FluidNC/src/Machine/Axis.cpp
@@ -6,10 +6,10 @@
 
 namespace Machine {
     void Axis::group(Configuration::HandlerBase& handler) {
-        handler.item("steps_per_mm", _stepsPerMm);
-        handler.item("max_rate_mm_per_min", _maxRate);
-        handler.item("acceleration_mm_per_sec2", _acceleration);
-        handler.item("max_travel_mm", _maxTravel);
+        handler.item("steps_per_mm", _stepsPerMm, 0.001, 100000.0);
+        handler.item("max_rate_mm_per_min", _maxRate, 0.001, 100000.0);
+        handler.item("acceleration_mm_per_sec2", _acceleration, 0.001, 100000.0);
+        handler.item("max_travel_mm", _maxTravel, 0.1, 10000000.0);
         handler.item("soft_limits", _softLimits);
         handler.section("homing", _homing);
 

diff --git a/FluidNC/src/Machine/Homing.h b/FluidNC/src/Machine/Homing.h
@@ -45,15 +45,15 @@ namespace Machine {
         void validate() const override { Assert(_cycle >= 0, "Homing cycle must be defined"); }
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("cycle", _cycle);
+            handler.item("cycle", _cycle, -1, 6);
             handler.item("allow_single_axis", _allow_single_axis);
             handler.item("positive_direction", _positiveDirection);
             handler.item("mpos_mm", _mpos);
-            handler.item("feed_mm_per_min", _feedRate);
-            handler.item("seek_mm_per_min", _seekRate);
-            handler.item("settle_ms", _settle_ms);
-            handler.item("seek_scaler", _seek_scaler);
-            handler.item("feed_scaler", _feed_scaler);
+            handler.item("feed_mm_per_min", _feedRate, 1.0, 100000.0);
+            handler.item("seek_mm_per_min", _seekRate, 1.0, 100000.0);
+            handler.item("settle_ms", _settle_ms, 0, 1000);
+            handler.item("seek_scaler", _seek_scaler, 1.0, 100.0);
+            handler.item("feed_scaler", _feed_scaler, 1.0, 100.0);
         }
 
         void init() {}

diff --git a/FluidNC/src/Machine/MachineConfig.cpp b/FluidNC/src/Machine/MachineConfig.cpp
@@ -56,6 +56,7 @@ namespace Machine {
         handler.item("report_inches", _reportInches);
         handler.item("enable_parking_override_control", _enableParkingOverrideControl);
         handler.item("use_line_numbers", _useLineNumbers);
+        handler.item("planner_blocks", _planner_blocks, 10, 120);
 
         Spindles::SpindleFactory::factory(handler, _spindles);
     }
@@ -219,7 +220,7 @@ namespace Machine {
 
         } catch (const Configuration::ParseException& ex) {
             sys.state = State::ConfigAlarm;
-            log_error("Configuration parse error: " << ex.What() << " Line " << ex.LineNumber() << " column " << ex.ColumnNumber());
+            log_error("Configuration parse error on line " << ex.LineNumber() << ": " << ex.What());
         } catch (const AssertionFailed& ex) {
             sys.state = State::ConfigAlarm;
             // Get rid of buffer and return

diff --git a/FluidNC/src/Machine/MachineConfig.h b/FluidNC/src/Machine/MachineConfig.h
@@ -74,6 +74,8 @@ namespace Machine {
         bool  _verboseErrors     = false;
         bool  _reportInches      = false;
 
+        size_t _planner_blocks = 16;
+
         // Enables a special set of M-code commands that enables and disables the parking motion.
         // These are controlled by `M56`, `M56 P1`, or `M56 Px` to enable and `M56 P0` to disable.
         // The command is modal and will be set after a planner sync. Since it is GCode, it is

diff --git a/FluidNC/src/Machine/Motor.cpp b/FluidNC/src/Machine/Motor.cpp
@@ -18,7 +18,7 @@ namespace Machine {
         handler.item("limit_pos_pin", _posPin);
         handler.item("limit_all_pin", _allPin);
         handler.item("hard_limits", _hardLimits);
-        handler.item("pulloff_mm", _pulloff);
+        handler.item("pulloff_mm", _pulloff, 0.1, 100000.0);
         MotorDrivers::MotorFactory::factory(handler, _driver);
     }
 

diff --git a/FluidNC/src/Machine/UserOutputs.cpp b/FluidNC/src/Machine/UserOutputs.cpp
@@ -96,10 +96,10 @@ namespace Machine {
         handler.item("analog1_pin", _analogOutput[1]);
         handler.item("analog2_pin", _analogOutput[2]);
         handler.item("analog3_pin", _analogOutput[3]);
-        handler.item("analog0_hz", _analogFrequency[0]);
-        handler.item("analog1_hz", _analogFrequency[1]);
-        handler.item("analog2_hz", _analogFrequency[2]);
-        handler.item("analog3_hz", _analogFrequency[3]);
+        handler.item("analog0_hz", _analogFrequency[0], 1, 20000000);
+        handler.item("analog1_hz", _analogFrequency[1], 1, 20000000);
+        handler.item("analog2_hz", _analogFrequency[2], 1, 20000000);
+        handler.item("analog3_hz", _analogFrequency[3], 1, 20000000);
         handler.item("digital0_pin", _digitalOutput[0]);
         handler.item("digital1_pin", _digitalOutput[1]);
         handler.item("digital2_pin", _digitalOutput[2]);

diff --git a/FluidNC/src/Main.cpp b/FluidNC/src/Main.cpp
@@ -72,6 +72,8 @@ void setup() {
 
             config->_stepping->init();  // Configure stepper interrupt timers
 
+            plan_init();
+
             config->_userOutputs->init();
 
             config->_axes->init();

diff --git a/FluidNC/src/MotionControl.cpp b/FluidNC/src/MotionControl.cpp
@@ -14,6 +14,7 @@
 #include "I2SOut.h"          // i2s_out_reset
 #include "InputFile.h"       // infile
 #include "Platform.h"        // WEAK_LINK
+#include "Settings.h"        // coords
 
 #include <cmath>
 
@@ -290,7 +291,7 @@ bool probe_succeeded = false;
 
 // Perform tool length probe cycle. Requires probe switch.
 // NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
-GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags) {
+GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags, uint8_t offsetAxis, float offset) {
     if (!config->_probe->exists()) {
         log_error("Probe pin is not configured");
         return GCUpdatePos::None;
@@ -321,7 +322,6 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
         return GCUpdatePos::None;  // Nothing else to do but bail.
     }
     // Setup and queue probing motion. Auto cycle-start should not start the cycle.
-    log_info("Found");
     mc_linear(target, pl_data, gc_state.position);
     // Activate the probing state monitor in the stepper module.
     probeState = ProbeState::Active;
@@ -360,6 +360,26 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
         report_probe_parameters(allChannels);
     }
     if (probe_succeeded) {
+        if (offset != __FLT_MAX__) {
+            float coord_data[MAX_N_AXIS];
+            float probe_contact[MAX_N_AXIS];
+
+            motor_steps_to_mpos(probe_contact, probe_steps);
+            coords[gc_state.modal.coord_select]->get(coord_data);  // get a copy of the current coordinate offsets
+            auto n_axis = config->_axes->_numberAxis;
+            for (int axis = 0; axis < n_axis; axis++) {  // find the axis specified. There should only be one.
+                if (offsetAxis & (1 << axis)) {
+                    coord_data[axis] = probe_contact[axis] + offset;
+                    log_info("Offset:" << coord_data[axis]);
+                    break;
+                }
+            }
+            log_info("Probe offset applied:");
+            coords[gc_state.modal.coord_select]->set(coord_data);  // save it
+            memcpy(gc_state.coord_system, coord_data, sizeof(gc_state.coord_system));
+            report_wco_counter = 0;
+        }
+
         return GCUpdatePos::System;  // Successful probe cycle.
     } else {
         return GCUpdatePos::Target;  // Failed to trigger probe within travel. With or without error.

diff --git a/FluidNC/src/MotionControl.h b/FluidNC/src/MotionControl.h
@@ -50,7 +50,7 @@ bool mc_dwell(int32_t milliseconds);
 void mc_homing_cycle(AxisMask cycle_mask);
 
 // Perform tool length probe cycle. Requires probe switch.
-GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags);
+GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags, uint8_t offsetAxis = 0, float offset = 0.0);
 
 // Handles updating the override control state.
 void mc_override_ctrl_update(Override override_state);

diff --git a/FluidNC/src/Motors/TrinamicBase.h b/FluidNC/src/Motors/TrinamicBase.h
@@ -63,15 +63,15 @@ namespace MotorDrivers {
         TrinamicBase(uint16_t partNumber) : StandardStepper(), _driver_part_number(partNumber) {}
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("r_sense_ohms", _r_sense);
-            handler.item("run_amps", _run_current);
-            handler.item("hold_amps", _hold_current);
-            handler.item("microsteps", _microsteps);
-            handler.item("stallguard", _stallguard);
+            handler.item("r_sense_ohms", _r_sense, 0.01, 1.00);
+            handler.item("run_amps", _run_current, 0.05, 10.0);
+            handler.item("hold_amps", _hold_current, 0.05, 10.0);
+            handler.item("microsteps", _microsteps, 1, 256);
+            handler.item("stallguard", _stallguard, -64, 63);
             handler.item("stallguard_debug", _stallguardDebugMode);
-            handler.item("toff_disable", _toff_disable);
-            handler.item("toff_stealthchop", _toff_stealthchop);
-            handler.item("toff_coolstep", _toff_coolstep);
+            handler.item("toff_disable", _toff_disable, 0, 15);
+            handler.item("toff_stealthchop", _toff_stealthchop, 2, 15);
+            handler.item("toff_coolstep", _toff_coolstep, 2, 15);
             handler.item("run_mode", _run_mode, trinamicModes);
             handler.item("homing_mode", _homing_mode, trinamicModes);
             handler.item("use_enable", _use_enable);

diff --git a/FluidNC/src/Motors/TrinamicSpiDriver.h b/FluidNC/src/Motors/TrinamicSpiDriver.h
@@ -89,7 +89,7 @@ namespace MotorDrivers {
 
         void group(Configuration::HandlerBase& handler) override {
             handler.item("cs_pin", _cs_pin);
-            handler.item("spi_index", _spi_index);
+            handler.item("spi_index", _spi_index, -1, 127);
             TrinamicBase::group(handler);
         }
 

diff --git a/FluidNC/src/NutsBolts.cpp b/FluidNC/src/NutsBolts.cpp
@@ -197,6 +197,14 @@ char* trim(char* str) {
     return str;
 }
 
+bool multiple_bits_set(uint32_t val) {
+    // Takes advantage of a quirk of twos-complement math.  If a number has
+    // only one bit set, for example 0b1000, then subtracting 1 will clear that
+    // bit and set only other bits giving e.g. 0b0111, and anding the two gives 0.
+    // If multiple bits are set, subtracting 1 will not clear the high bit.
+    return val & (val - 1);
+}
+
 String formatBytes(uint64_t bytes) {
     if (bytes < 1024) {
         return String((uint16_t)bytes) + " B";

diff --git a/FluidNC/src/NutsBolts.h b/FluidNC/src/NutsBolts.h
@@ -159,13 +159,15 @@ T mapConstrain(T x, T in_min, T in_max, T out_min, T out_max) {
 
 // constrain a value and issue a message. Returns true is the value was OK
 template <typename T>
-bool constrain_with_message(T& value, T min, T max) {
+bool constrain_with_message(T& value, T min, T max, const char* name = "") {
     if (value < min || value > max) {
-        log_warn("Value " << value << " constrained to range (" << min << "," << max << ")");
+        log_warn(name << " value " << value << " constrained to range (" << min << "," << max << ")");
         value = myConstrain(value, min, max);
         return false;
     }
     return true;
 }
 
+bool multiple_bits_set(uint32_t val);
+
 String formatBytes(uint64_t bytes);