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settings.c
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/*
settings.c - non-volatile storage configuration handling
Part of grblHAL
Copyright (c) 2017-2025 Terje Io
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
grblHAL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
grblHAL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>
#include <assert.h>
#include "hal.h"
#include "config.h"
#include "machine_limits.h"
#include "nvs_buffer.h"
#include "tool_change.h"
#include "state_machine.h"
#if ENABLE_BACKLASH_COMPENSATION
#include "motion_control.h"
#endif
#if ENABLE_SPINDLE_LINEARIZATION
#include <stdio.h>
#endif
settings_t settings;
static const control_signals_t limits_override = { .limits_override = On };
const settings_restore_t settings_all = {
.defaults = SETTINGS_RESTORE_DEFAULTS,
.parameters = SETTINGS_RESTORE_PARAMETERS,
.startup_lines = SETTINGS_RESTORE_STARTUP_LINES,
.build_info = SETTINGS_RESTORE_BUILD_INFO,
.driver_parameters = SETTINGS_RESTORE_DRIVER_PARAMETERS
};
PROGMEM const settings_t defaults = {
.version.id = SETTINGS_VERSION,
.version.build = (GRBL_BUILD - 20000000UL),
#if DEFAULT_LASER_MODE
.mode = Mode_Laser,
#elif DEFAULT_LATHE_MODE
.mode = Mode_Lathe,
#else
.mode = Mode_Standard,
#endif
.junction_deviation = DEFAULT_JUNCTION_DEVIATION,
.arc_tolerance = DEFAULT_ARC_TOLERANCE,
.g73_retract = DEFAULT_G73_RETRACT,
.report_interval = DEFAULT_AUTOREPORT_INTERVAL,
.timezone = DEFAULT_TIMEZONE_OFFSET,
.planner_buffer_blocks = DEFAULT_PLANNER_BUFFER_BLOCKS,
.flags.legacy_rt_commands = DEFAULT_LEGACY_RTCOMMANDS,
.flags.report_inches = DEFAULT_REPORT_INCHES,
.flags.sleep_enable = DEFAULT_SLEEP_ENABLE && SLEEP_DURATION > 0.0f,
.flags.compatibility_level = COMPATIBILITY_LEVEL,
#if DEFAULT_DISABLE_G92_PERSISTENCE
.flags.g92_is_volatile = 1,
#else
.flags.g92_is_volatile = 0,
#endif
.flags.disable_laser_during_hold = DEFAULT_DISABLE_LASER_DURING_HOLD,
.flags.restore_after_feed_hold = DEFAULT_RESTORE_AFTER_FEED_HOLD,
.flags.force_initialization_alarm = DEFAULT_FORCE_INITIALIZATION_ALARM,
.flags.restore_overrides = DEFAULT_RESET_OVERRIDES,
.flags.no_restore_position_after_M6 = DEFAULT_TOOLCHANGE_NO_RESTORE_POSITION,
.flags.no_unlock_after_estop = DEFAULT_NO_UNLOCK_AFTER_ESTOP,
.probe.disable_probe_pullup = DEFAULT_PROBE_SIGNAL_DISABLE_PULLUP,
.probe.allow_feed_override = DEFAULT_ALLOW_FEED_OVERRIDE_DURING_PROBE_CYCLES,
.probe.invert_probe_pin = DEFAULT_PROBE_SIGNAL_INVERT,
.probe.invert_toolsetter_input = DEFAULT_TOOLSETTER_SIGNAL_INVERT,
.probe.disable_toolsetter_pullup = DEFAULT_TOOLSETTER_SIGNAL_DISABLE_PULLUP,
.steppers.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS,
.steppers.pulse_delay_microseconds = DEFAULT_STEP_PULSE_DELAY,
.steppers.idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME,
.steppers.step_invert.mask = DEFAULT_STEP_SIGNALS_INVERT_MASK,
.steppers.dir_invert.mask = DEFAULT_DIR_SIGNALS_INVERT_MASK,
.steppers.ganged_dir_invert.mask = DEFAULT_GANGED_DIRECTION_INVERT_MASK,
#if COMPATIBILITY_LEVEL <= 2
.steppers.enable_invert.mask = DEFAULT_ENABLE_SIGNALS_INVERT_MASK,
#elif DEFAULT_ENABLE_SIGNALS_INVERT_MASK
.steppers.enable_invert.mask = 0,
#else
.steppers.enable_invert.mask = AXES_BITMASK,
#endif
.steppers.energize.mask = DEFAULT_STEPPER_DEENERGIZE_MASK,
#if N_AXIS > 3
.steppers.is_rotary.mask = (DEFAULT_AXIS_ROTATIONAL_MASK & AXES_BITMASK) & 0b11111000,
.steppers.rotary_wrap.mask = (DEFAULT_AXIS_ROTARY_WRAP_MASK & AXES_BITMASK) & 0b11111000,
#endif
.motor_warning_enable.mask = DEFAULT_MOTOR_WARNING_SIGNALS_ENABLE,
.motor_warning_invert.mask = DEFAULT_MOTOR_WARNING_SIGNALS_INVERT,
.motor_fault_enable.mask = DEFAULT_MOTOR_FAULT_SIGNALS_ENABLE,
.motor_fault_invert.mask = DEFAULT_MOTOR_FAULT_SIGNALS_INVERT,
#if DEFAULT_HOMING_ENABLE
.homing.flags.enabled = DEFAULT_HOMING_ENABLE,
.homing.flags.init_lock = DEFAULT_HOMING_INIT_LOCK,
.homing.flags.single_axis_commands = DEFAULT_HOMING_SINGLE_AXIS_COMMANDS,
.homing.flags.force_set_origin = DEFAULT_HOMING_FORCE_SET_ORIGIN,
.homing.flags.manual = DEFAULT_HOMING_ALLOW_MANUAL,
.homing.flags.override_locks = DEFAULT_HOMING_OVERRIDE_LOCKS,
.homing.flags.keep_on_reset = DEFAULT_HOMING_KEEP_STATUS_ON_RESET,
.homing.flags.use_limit_switches = DEFAULT_HOMING_USE_LIMIT_SWITCHES,
#else
.homing.flags.value = 0,
#endif
.homing.dir_mask.value = DEFAULT_HOMING_DIR_MASK,
.homing.debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY,
.homing.pulloff = DEFAULT_HOMING_PULLOFF,
.homing.locate_cycles = DEFAULT_N_HOMING_LOCATE_CYCLE,
.homing.cycle[0].mask = DEFAULT_HOMING_CYCLE_0,
.homing.cycle[1].mask = DEFAULT_HOMING_CYCLE_1,
.homing.cycle[2].mask = DEFAULT_HOMING_CYCLE_2,
.homing.dual_axis.fail_length_percent = DEFAULT_DUAL_AXIS_HOMING_FAIL_AXIS_LENGTH_PERCENT,
.homing.dual_axis.fail_distance_min = DEFAULT_DUAL_AXIS_HOMING_FAIL_DISTANCE_MIN,
.homing.dual_axis.fail_distance_max = DEFAULT_DUAL_AXIS_HOMING_FAIL_DISTANCE_MAX,
.home_invert.mask = DEFAULT_HOME_SIGNALS_INVERT_MASK,
.status_report.machine_position = DEFAULT_REPORT_MACHINE_POSITION,
.status_report.buffer_state = DEFAULT_REPORT_BUFFER_STATE,
.status_report.line_numbers = DEFAULT_REPORT_LINE_NUMBERS,
.status_report.feed_speed = DEFAULT_REPORT_CURRENT_FEED_SPEED,
.status_report.pin_state = DEFAULT_REPORT_PIN_STATE,
.status_report.work_coord_offset = DEFAULT_REPORT_WORK_COORD_OFFSET,
.status_report.overrides = DEFAULT_REPORT_OVERRIDES,
.status_report.probe_coordinates = DEFAULT_REPORT_PROBE_COORDINATES,
.status_report.sync_on_wco_change = DEFAULT_REPORT_SYNC_ON_WCO_CHANGE,
.status_report.parser_state = DEFAULT_REPORT_PARSER_STATE,
.status_report.alarm_substate = DEFAULT_REPORT_ALARM_SUBSTATE,
.status_report.run_substate = DEFAULT_REPORT_RUN_SUBSTATE,
.status_report.when_homing = DEFAULT_REPORT_WHEN_HOMING,
.limits.flags.hard_enabled = DEFAULT_HARD_LIMIT_ENABLE,
.limits.flags.jog_soft_limited = DEFAULT_JOG_LIMIT_ENABLE,
.limits.flags.check_at_init = DEFAULT_CHECK_LIMITS_AT_INIT,
.limits.flags.hard_disabled_rotary = DEFAULT_HARD_LIMITS_DISABLE_FOR_ROTARY,
.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES,
.limits.invert.mask = DEFAULT_LIMIT_SIGNALS_INVERT_MASK,
.limits.disable_pullup.mask = DEFAULT_LIMIT_SIGNALS_PULLUP_DISABLE_MASK,
.limits.soft_enabled.mask = (DEFAULT_SOFT_LIMIT_ENABLE ? AXES_BITMASK : 0),
.control_invert.mask = DEFAULT_CONTROL_SIGNALS_INVERT_MASK,
.control_disable_pullup.mask = DEFAULT_DISABLE_CONTROL_PINS_PULL_UP_MASK,
.spindle.ref_id = DEFAULT_SPINDLE,
.spindle.on_delay = DEFAULT_SPINDLE_ON_DELAY,
.spindle.off_delay = DEFAULT_SPINDLE_OFF_DELAY,
.spindle.at_speed_tolerance = DEFAULT_SPINDLE_AT_SPEED_TOLERANCE,
.spindle.encoder_spindle = DEFAULT_SPINDLE,
.spindle.ppr = DEFAULT_SPINDLE_PPR,
.pwm_spindle.rpm_max = DEFAULT_SPINDLE_RPM_MAX,
.pwm_spindle.rpm_min = DEFAULT_SPINDLE_RPM_MIN,
.pwm_spindle.flags.pwm_disable = false,
.pwm_spindle.flags.enable_rpm_controlled = DEFAULT_SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED,
.pwm_spindle.flags.laser_mode_disable = DEFAULT_PWM_SPINDLE_DISABLE_LASER_MODE,
.pwm_spindle.invert.on = DEFAULT_INVERT_SPINDLE_ENABLE_PIN,
.pwm_spindle.invert.ccw = DEFAULT_INVERT_SPINDLE_CCW_PIN,
.pwm_spindle.invert.pwm = DEFAULT_INVERT_SPINDLE_PWM_PIN,
.pwm_spindle.pwm_freq = DEFAULT_SPINDLE_PWM_FREQ,
.pwm_spindle.pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE,
.pwm_spindle.pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE,
.pwm_spindle.pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE,
.pwm_spindle.at_speed_tolerance = DEFAULT_SPINDLE_AT_SPEED_TOLERANCE,
#if ENABLE_SPINDLE_LINEARIZATION
#if SPINDLE_NPWM_PIECES > 0
.pwm_spindle.pwm_piece[0] = { .rpm = DEFAULT_RPM_POINT01, .start = DEFAULT_RPM_LINE_A1, .end = DEFAULT_RPM_LINE_B1 },
#endif
#if SPINDLE_NPWM_PIECES > 1
.pwm_spindle.pwm_piece[1] = { .rpm = DEFAULT_RPM_POINT12, .start = DEFAULT_RPM_LINE_A2, .end = DEFAULT_RPM_LINE_B2 },
#endif
#if SPINDLE_NPWM_PIECES > 2
.pwm_spindle.pwm_piece[2] = { .rpm = DEFAULT_RPM_POINT23, .start = DEFAULT_RPM_LINE_A3, .end = DEFAULT_RPM_LINE_B3 },
#endif
#if SPINDLE_NPWM_PIECES > 3
.pwm_spindle.pwm_piece[3] = { .rpm = DEFAULT_RPM_POINT34, .start = DEFAULT_RPM_LINE_A4, .end = DEFAULT_RPM_LINE_B4 },
#endif
#else
#if SPINDLE_NPWM_PIECES > 0
.pwm_spindle.pwm_piece[0] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 1
.pwm_spindle.pwm_piece[1] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 2
.pwm_spindle.pwm_piece[2] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#if SPINDLE_NPWM_PIECES > 3
.pwm_spindle.pwm_piece[3] = { .rpm = NAN, .start = 0.0f, .end = 0.0f },
#endif
#endif
.coolant.on_delay = DEFAULT_COOLANT_ON_DELAY,
.coolant.invert.flood = DEFAULT_INVERT_COOLANT_FLOOD_PIN,
.coolant.invert.mist = DEFAULT_INVERT_COOLANT_MIST_PIN,
.axis[X_AXIS].steps_per_mm = DEFAULT_X_STEPS_PER_MM,
.axis[X_AXIS].max_rate = DEFAULT_X_MAX_RATE,
.axis[X_AXIS].acceleration = (DEFAULT_X_ACCELERATION * 60.0f * 60.0f),
.axis[X_AXIS].jerk = (DEFAULT_X_JERK * 60.0f * 60.0f * 60.0f),
.axis[X_AXIS].max_travel = (-DEFAULT_X_MAX_TRAVEL),
.axis[X_AXIS].dual_axis_offset = 0.0f,
.axis[X_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[X_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[X_AXIS].backlash = 0.0f,
#endif
.axis[Y_AXIS].steps_per_mm = DEFAULT_Y_STEPS_PER_MM,
.axis[Y_AXIS].max_rate = DEFAULT_Y_MAX_RATE,
.axis[Y_AXIS].max_travel = (-DEFAULT_Y_MAX_TRAVEL),
.axis[Y_AXIS].acceleration = (DEFAULT_Y_ACCELERATION * 60.0f * 60.0f),
.axis[Y_AXIS].jerk = (DEFAULT_Y_JERK * 60.0f * 60.0f * 60.0f),
.axis[Y_AXIS].dual_axis_offset = 0.0f,
.axis[Y_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[Y_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[Y_AXIS].backlash = 0.0f,
#endif
.axis[Z_AXIS].steps_per_mm = DEFAULT_Z_STEPS_PER_MM,
.axis[Z_AXIS].max_rate = DEFAULT_Z_MAX_RATE,
.axis[Z_AXIS].acceleration = (DEFAULT_Z_ACCELERATION * 60.0f * 60.0f),
.axis[Z_AXIS].jerk = (DEFAULT_Z_JERK * 60.0f * 60.0f * 60.0f),
.axis[Z_AXIS].max_travel = (-DEFAULT_Z_MAX_TRAVEL),
.axis[Z_AXIS].dual_axis_offset = 0.0f,
.axis[Z_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[Z_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[Z_AXIS].backlash = 0.0f,
#endif
#ifdef A_AXIS
.axis[A_AXIS].steps_per_mm = DEFAULT_A_STEPS_PER_MM,
.axis[A_AXIS].max_rate = DEFAULT_A_MAX_RATE,
.axis[A_AXIS].acceleration =(DEFAULT_A_ACCELERATION * 60.0f * 60.0f),
.axis[A_AXIS].jerk = (DEFAULT_A_JERK * 60.0f * 60.0f * 60.0f),
.axis[A_AXIS].max_travel = (-DEFAULT_A_MAX_TRAVEL),
.axis[A_AXIS].dual_axis_offset = 0.0f,
.axis[A_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[A_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[A_AXIS].backlash = 0.0f,
#endif
.homing.cycle[3].mask = DEFAULT_HOMING_CYCLE_3,
#endif
#ifdef B_AXIS
.axis[B_AXIS].steps_per_mm = DEFAULT_B_STEPS_PER_MM,
.axis[B_AXIS].max_rate = DEFAULT_B_MAX_RATE,
.axis[B_AXIS].acceleration = (DEFAULT_B_ACCELERATION * 60.0f * 60.0f),
.axis[B_AXIS].jerk = (DEFAULT_B_JERK * 60.0f * 60.0f * 60.0f),
.axis[B_AXIS].max_travel = (-DEFAULT_B_MAX_TRAVEL),
.axis[B_AXIS].dual_axis_offset = 0.0f,
.axis[B_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[B_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[B_AXIS].backlash = 0.0f,
#endif
.homing.cycle[4].mask = DEFAULT_HOMING_CYCLE_4,
#endif
#ifdef C_AXIS
.axis[C_AXIS].steps_per_mm = DEFAULT_C_STEPS_PER_MM,
.axis[C_AXIS].acceleration = (DEFAULT_C_ACCELERATION * 60.0f * 60.0f),
.axis[C_AXIS].jerk = (DEFAULT_C_JERK * 60.0f * 60.0f * 60.0f),
.axis[C_AXIS].max_rate = DEFAULT_C_MAX_RATE,
.axis[C_AXIS].max_travel = (-DEFAULT_C_MAX_TRAVEL),
.axis[C_AXIS].dual_axis_offset = 0.0f,
.axis[C_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[C_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[C_AXIS].backlash = 0.0f,
#endif
.homing.cycle[5].mask = DEFAULT_HOMING_CYCLE_5,
#endif
#ifdef U_AXIS
.axis[U_AXIS].steps_per_mm = DEFAULT_U_STEPS_PER_MM,
.axis[U_AXIS].acceleration = (DEFAULT_U_ACCELERATION * 60.0f * 60.0f),
.axis[U_AXIS].jerk = (DEFAULT_U_JERK * 60.0f * 60.0f * 60.0f),
.axis[U_AXIS].max_rate = DEFAULT_U_MAX_RATE,
.axis[U_AXIS].max_travel = (-DEFAULT_U_MAX_TRAVEL),
.axis[U_AXIS].dual_axis_offset = 0.0f,
.axis[U_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[U_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[U_AXIS].backlash = 0.0f,
#endif
#endif
#ifdef V_AXIS
.axis[V_AXIS].steps_per_mm = DEFAULT_V_STEPS_PER_MM,
.axis[V_AXIS].acceleration = (DEFAULT_V_ACCELERATION * 60.0f * 60.0f),
.axis[V_AXIS].jerk = (DEFAULT_V_JERK * 60.0f * 60.0f * 60.0f),
.axis[V_AXIS].max_rate = DEFAULT_V_MAX_RATE,
.axis[V_AXIS].max_travel = (-DEFAULT_V_MAX_TRAVEL),
.axis[V_AXIS].dual_axis_offset = 0.0f,
.axis[V_AXIS].homing_feed_rate = DEFAULT_HOMING_FEED_RATE,
.axis[V_AXIS].homing_seek_rate = DEFAULT_HOMING_SEEK_RATE,
#if ENABLE_BACKLASH_COMPENSATION
.axis[V_AXIS].backlash = 0.0f,
#endif
#endif
.tool_change.mode = (toolchange_mode_t)DEFAULT_TOOLCHANGE_MODE,
.tool_change.probing_distance = DEFAULT_TOOLCHANGE_PROBING_DISTANCE,
.tool_change.feed_rate = DEFAULT_TOOLCHANGE_FEED_RATE,
.tool_change.seek_rate = DEFAULT_TOOLCHANGE_SEEK_RATE,
.tool_change.pulloff_rate = DEFAULT_TOOLCHANGE_PULLOFF_RATE,
.parking.flags.enabled = DEFAULT_PARKING_ENABLE,
.parking.flags.deactivate_upon_init = DEFAULT_DEACTIVATE_PARKING_UPON_INIT,
.parking.flags.enable_override_control= DEFAULT_ENABLE_PARKING_OVERRIDE_CONTROL,
.parking.axis = DEFAULT_PARKING_AXIS,
.parking.target = DEFAULT_PARKING_TARGET,
.parking.rate = DEFAULT_PARKING_RATE,
.parking.pullout_rate = DEFAULT_PARKING_PULLOUT_RATE,
.parking.pullout_increment = DEFAULT_PARKING_PULLOUT_INCREMENT,
.safety_door.flags.ignore_when_idle = DEFAULT_DOOR_IGNORE_WHEN_IDLE,
.safety_door.flags.keep_coolant_on = DEFAULT_DOOR_KEEP_COOLANT_ON,
.safety_door.spindle_on_delay = DEFAULT_SAFETY_DOOR_SPINDLE_DELAY,
.safety_door.coolant_on_delay = DEFAULT_SAFETY_DOOR_COOLANT_DELAY,
.rgb_strip.length0 = DEFAULT_RGB_STRIP0_LENGTH,
.rgb_strip.length1 = DEFAULT_RGB_STRIP1_LENGTH
};
static bool group_is_available (const setting_group_detail_t *group)
{
return true;
}
PROGMEM static const setting_group_detail_t setting_group_detail [] = {
{ Group_Root, Group_Root, "Root", group_is_available },
{ Group_Root, Group_General, "General", group_is_available },
{ Group_Root, Group_ControlSignals, "Control signals" },
{ Group_Root, Group_Limits, "Limits" },
{ Group_Limits, Group_Limits_DualAxis, "Dual axis" },
{ Group_Root, Group_Coolant, "Coolant" },
{ Group_Root, Group_Spindle, "Spindle" },
{ Group_Spindle, Group_Spindle_Sync, "Spindle sync" },
{ Group_Root, Group_Toolchange, "Tool change" },
{ Group_Root, Group_Homing, "Homing" },
{ Group_Root, Group_Probing, "Probing" },
{ Group_Root, Group_SafetyDoor, "Safety door" },
{ Group_Root, Group_Jogging, "Jogging"},
{ Group_Root, Group_Stepper, "Stepper" },
{ Group_Root, Group_MotorDriver, "Stepper driver" },
{ Group_Root, Group_Axis, "Axis", group_is_available },
{ Group_Axis, Group_XAxis, "X-axis", group_is_available },
{ Group_Axis, Group_YAxis, "Y-axis", group_is_available },
{ Group_Axis, Group_ZAxis, "Z-axis", group_is_available },
#if !AXIS_REMAP_ABC2UVW
#ifdef A_AXIS
{ Group_Axis, Group_AAxis, "A-axis", group_is_available },
#endif
#ifdef B_AXIS
{ Group_Axis, Group_BAxis, "B-axis", group_is_available },
#endif
#ifdef C_AXIS
{ Group_Axis, Group_CAxis, "C-axis", group_is_available },
#endif
#ifdef U_AXIS
{ Group_Axis, Group_UAxis, "U-axis", group_is_available },
#endif
#ifdef V_AXIS
{ Group_Axis, Group_VAxis, "V-axis", group_is_available }
#endif
#else
#ifdef A_AXIS
{ Group_Axis, Group_AAxis, "U-axis", group_is_available },
#endif
#ifdef B_AXIS
{ Group_Axis, Group_BAxis, "V-axis", group_is_available },
#endif
#ifdef C_AXIS
{ Group_Axis, Group_CAxis, "W-axis", group_is_available },
#endif
#endif
};
static bool machine_mode_changed = false;
#if COMPATIBILITY_LEVEL <= 1
static char homing_options[] = "Enable,Enable single axis commands,Homing on startup required,Set machine origin to 0,Two switches shares one input,Allow manual,Override locks,Keep homed status on reset,Use limit switches,Per axis feedrates";
#endif
static char control_signals[] = "Reset,Feed hold,Cycle start,Safety door,Block delete,Optional stop,EStop,Probe connected,Motor fault,Motor warning,Limits override,Single step blocks";
static char spindle_signals[] = "Spindle enable,Spindle direction,PWM";
static char coolant_signals[] = "Flood,Mist";
static char ganged_axes[] = "X-Axis,Y-Axis,Z-Axis";
#if !AXIS_REMAP_ABC2UVW
#if N_AXIS == 4
static const char rotary_axes[] = "A-Axis";
#elif N_AXIS == 5
static const char rotary_axes[] = "A-Axis,B-Axis";
#elif N_AXIS == 6
static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis";
#elif N_AXIS == 7
static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis,U-Axis";
#elif N_AXIS == 8
static const char rotary_axes[] = "A-Axis,B-Axis,C-Axis,U-Axis,V-Axis";
#endif
#else
#if N_AXIS == 4
static const char rotary_axes[] = "U-Axis";
#elif N_AXIS == 5
static const char rotary_axes[] = "U-Axis,V-Axis";
#elif N_AXIS == 6
static const char rotary_axes[] = "U-Axis,V-Axis,W-Axis";
#endif
#endif
static on_file_demarcate_ptr on_file_demarcate;
static char fs_options[] = "Auto mount SD card,Hide LittleFS";
static char spindle_types[100] = "";
static char axis_dist[4] = "mm";
static char axis_rate[8] = "mm/min";
static char axis_accel[10] = "mm/sec^2";
#if ENABLE_JERK_ACCELERATION
static char axis_jerk[10] = "mm/sec^3";
#endif
#if DELTA_ROBOT
static char axis_steps[9] = "step/rev";
#else
static char axis_steps[9] = "step/mm";
#endif
#define AXIS_OPTS { .subgroups = On, .increment = 1 }
// Acceleration override
static struct {
bool valid;
float acceleration[N_AXIS];
#if ENABLE_JERK_ACCELERATION
float jerk[N_AXIS];
#endif
} override_backup = { .valid = false };
static void save_override_backup (void)
{
uint_fast8_t idx = N_AXIS;
do {
idx--;
override_backup.acceleration[idx] = settings.axis[idx].acceleration;
#if ENABLE_JERK_ACCELERATION
override_backup.jerk[idx] = settings.axis[idx].jerk;
#endif
} while(idx);
override_backup.valid = true;
}
static void restore_override_backup (void)
{
uint_fast8_t idx = N_AXIS;
if(override_backup.valid) do {
idx--;
settings.axis[idx].acceleration = override_backup.acceleration[idx];
#if ENABLE_JERK_ACCELERATION
settings.axis[idx].jerk = override_backup.jerk[idx];
#endif
} while(idx);
}
// Temporarily override acceleration, if 0 restore to setting value.
// Note: only allowed when current state is idle.
bool settings_override_acceleration (uint8_t axis, float acceleration)
{
sys_state_t state = state_get();
if(!(state == STATE_IDLE || (state & (STATE_HOMING|STATE_ALARM))))
return false;
if(acceleration <= 0.0f) {
if(override_backup.valid)
settings.axis[axis].acceleration = override_backup.acceleration[axis];
} else {
if(!override_backup.valid)
save_override_backup();
settings.axis[axis].acceleration = acceleration * 60.0f * 60.0f; // Limit max to setting value?
}
return true;
}
#if ENABLE_JERK_ACCELERATION
// Temporarily override jerk, if 0 restore to setting value.
// Note: only allowed when current state is idle.
bool settings_override_jerk (uint8_t axis, float jerk)
{
sys_state_t state = state_get();
if(!(state == STATE_IDLE || (state & (STATE_HOMING|STATE_ALARM))))
return false;
if(jerk <= 0.0f) {
if(override_backup.valid)
settings.axis[axis].jerk = override_backup.jerk[axis];
} else {
if(!override_backup.valid)
save_override_backup();
settings.axis[axis].jerk = jerk * 60.0f * 60.0f * 60.0f; // Limit max to setting value?
}
return true;
}
#endif // ENABLE_JERK_ACCELERATION
// ---
static void homing_pulloff_init (float pulloff)
{
coord_data_t distance;
uint_fast8_t idx = N_AXIS;
do {
distance.values[--idx] = pulloff;
} while(idx);
limits_homing_pulloff(&distance);
}
#if COMPATIBILITY_LEVEL > 2
static status_code_t set_enable_invert_mask (setting_id_t id, uint_fast16_t int_value)
{
settings.steppers.enable_invert.mask = int_value ? 0 : AXES_BITMASK;
return Status_OK;
}
#endif
#if COMPATIBILITY_LEVEL > 1
static status_code_t set_limits_invert_mask (setting_id_t id, uint_fast16_t int_value)
{
settings.limits.invert.mask = (int_value ? ~(DEFAULT_LIMIT_SIGNALS_INVERT_MASK) : DEFAULT_LIMIT_SIGNALS_INVERT_MASK) & AXES_BITMASK;
return Status_OK;
}
#endif
static status_code_t set_probe_invert (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.probe.configure)
return Status_SettingDisabled;
settings.probe.invert_probe_pin = (int_value & 0b01);
if(hal.driver_cap.toolsetter)
settings.probe.invert_toolsetter_input = !!(int_value & 0b10);
ioport_setting_changed(id);
hal.probe.configure(false, false);
return Status_OK;
}
static status_code_t set_ganged_dir_invert (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.stepper.get_ganged)
return Status_SettingDisabled;
settings.steppers.ganged_dir_invert.mask = int_value & hal.stepper.get_ganged(false).mask;
return Status_OK;
}
static status_code_t set_stepper_energize_mask (setting_id_t id, uint_fast16_t int_value)
{
settings.steppers.energize.mask = int_value;
hal.stepper.enable(settings.steppers.energize, true);
return Status_OK;
}
static status_code_t set_report_interval (setting_id_t setting, uint_fast16_t int_value)
{
if((settings.report_interval = int_value) == 0)
sys.flags.auto_reporting = Off;
return Status_OK;
}
static status_code_t set_report_mask (setting_id_t id, uint_fast16_t int_value)
{
#if COMPATIBILITY_LEVEL <= 1
settings.status_report.mask = int_value;
#else
int_value &= 0b11;
settings.status_report.mask = (settings.status_report.mask & ~0b11) | int_value;
#endif
return Status_OK;
}
static status_code_t set_report_inches (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.report_inches = int_value != 0;
report_init();
system_flag_wco_change(); // Make sure WCO is immediately updated.
return Status_OK;
}
#if NGC_EXPRESSIONS_ENABLE
static status_code_t set_ngc_debug_out (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.ngc_debug_out = int_value != 0;
report_init();
system_flag_wco_change(); // Make sure WCO is immediately updated.
return Status_OK;
}
#endif
static status_code_t set_control_invert (setting_id_t id, uint_fast16_t int_value)
{
settings.control_invert.mask = (int_value & hal.signals_cap.mask) | limits_override.mask;
ioport_setting_changed(id);
system_init_switches();
return Status_OK;
}
static status_code_t set_pwm_mode (setting_id_t id, uint_fast16_t int_value)
{
settings.pwm_spindle.flags.enable_rpm_controlled = int_value != 0;
return Status_OK;
}
static status_code_t set_pwm_options (setting_id_t id, uint_fast16_t int_value)
{
if(int_value & 0x001) {
if(int_value > 0b111)
return Status_SettingValueOutOfRange;
settings.pwm_spindle.flags.pwm_disable = Off;
settings.pwm_spindle.flags.enable_rpm_controlled = !!(int_value & 0b010);
settings.pwm_spindle.flags.laser_mode_disable = !!(int_value & 0b100);
} else {
settings.pwm_spindle.flags.pwm_disable = On;
settings.pwm_spindle.flags.enable_rpm_controlled = settings.pwm_spindle.flags.laser_mode_disable = Off;
}
return Status_OK;
}
typedef struct {
uint8_t ref_id;
spindle_id_t spindle_id;
} spindle_map_t;
static bool get_spindle_ref_id (spindle_info_t *spindle, void *map)
{
bool ok;
if((ok = spindle->id == ((spindle_map_t *)map)->spindle_id))
((spindle_map_t *)map)->ref_id = spindle->ref_id;
return ok;
}
static status_code_t set_default_spindle (setting_id_t id, uint_fast16_t int_value)
{
status_code_t status;
spindle_map_t spindle = { .spindle_id = int_value };
if((status = spindle_enumerate_spindles(get_spindle_ref_id, &spindle) ? Status_OK : Status_SettingValueOutOfRange) == Status_OK) {
settings.spindle.ref_id = spindle.ref_id;
spindle_select(spindle.spindle_id);
}
return status;
}
static status_code_t set_encoder_spindle (setting_id_t id, uint_fast16_t int_value)
{
status_code_t status;
spindle_map_t spindle = { .spindle_id = int_value };
if((status = spindle_enumerate_spindles(get_spindle_ref_id, &spindle) ? Status_OK : Status_SettingValueOutOfRange) == Status_OK)
settings.spindle.encoder_spindle = spindle.ref_id;
return status;
}
static status_code_t set_spindle_invert (setting_id_t id, uint_fast16_t int_value)
{
settings.pwm_spindle.invert.mask = int_value;
if(settings.pwm_spindle.invert.pwm && !spindle_get_caps(false).pwm_invert) {
settings.pwm_spindle.invert.pwm = Off;
return Status_SettingDisabled;
}
return Status_OK;
}
static status_code_t set_control_disable_pullup (setting_id_t id, uint_fast16_t int_value)
{
settings.control_disable_pullup.mask = int_value & (hal.signals_cap.mask & ~limits_override.mask);
ioport_setting_changed(id);
return Status_OK;
}
static status_code_t set_probe_disable_pullup (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.probe.configure)
return Status_SettingDisabled;
settings.probe.disable_probe_pullup = (int_value & 0b01);
if(hal.driver_cap.toolsetter)
settings.probe.disable_toolsetter_pullup = !!(int_value & 0b10);
ioport_setting_changed(id);
return Status_OK;
}
static void tmp_set_soft_limits (void)
{
sys.soft_limits.mask = 0;
if(settings.limits.soft_enabled.mask) {
uint_fast8_t idx = N_AXIS;
do {
idx--;
if(bit_istrue(settings.limits.soft_enabled.mask, bit(idx)) && settings.axis[idx].max_travel < -0.0f)
bit_true(sys.soft_limits.mask, bit(idx));
} while(idx);
}
}
static status_code_t set_soft_limits_enable (setting_id_t id, uint_fast16_t int_value)
{
if(int_value && !settings.homing.flags.enabled)
return Status_SoftLimitError;
settings.limits.soft_enabled.mask = int_value ? AXES_BITMASK : 0;
tmp_set_soft_limits();
return Status_OK;
}
static status_code_t set_estop_unlock (setting_id_t id, uint_fast16_t int_value)
{
if(!hal.signals_cap.e_stop)
return Status_SettingDisabled;
settings.flags.no_unlock_after_estop = int_value == 0;
return Status_OK;
}
static inline void tmp_set_hard_limits (void)
{
sys.hard_limits.mask = settings.limits.flags.hard_enabled ? AXES_BITMASK : 0;
#if N_AXIS > 3
if(settings.limits.flags.hard_disabled_rotary)
sys.hard_limits.mask &= ~settings.steppers.is_rotary.mask;
#endif
}
static status_code_t set_hard_limits_enable (setting_id_t id, uint_fast16_t int_value)
{
if((settings.limits.flags.hard_enabled = bit_istrue(int_value, bit(0)))) {
#if COMPATIBILITY_LEVEL <= 1
settings.limits.flags.check_at_init = bit_istrue(int_value, bit(1));
#if N_AXIS > 3
settings.limits.flags.hard_disabled_rotary = bit_istrue(int_value, bit(2));
#endif
#endif
} else
settings.limits.flags.check_at_init = settings.limits.flags.hard_disabled_rotary = Off;
tmp_set_hard_limits();
hal.limits.enable(settings.limits.flags.hard_enabled, (axes_signals_t){0}); // Change immediately. NOTE: Nice to have but could be problematic later.
return Status_OK;
}
static status_code_t set_jog_soft_limited (setting_id_t id, uint_fast16_t int_value)
{
if (int_value && !settings.homing.flags.enabled)
return Status_SoftLimitError;
settings.limits.flags.jog_soft_limited = int_value != 0;
return Status_OK;
}
static status_code_t set_enable_legacy_rt_commands (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.legacy_rt_commands = int_value != 0;
return Status_OK;
}
#if !LATHE_UVW_OPTION
static status_code_t set_mode (setting_id_t id, uint_fast16_t int_value)
{
switch((machine_mode_t)int_value) {
case Mode_Standard:
gc_state.modal.diameter_mode = false;
break;
case Mode_Laser:
if(!spindle_get_caps(false).laser)
return Status_SettingDisabledLaser;
gc_state.modal.diameter_mode = false;
break;
case Mode_Lathe:
break;
default: // Mode_Standard
return Status_InvalidStatement;
}
machine_mode_changed = true;
settings.mode = (machine_mode_t)int_value;
return Status_OK;
}
#endif // LATHE_UVW_OPTION
#ifndef NO_SAFETY_DOOR_SUPPORT
static status_code_t set_parking_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.parking.flags.value = bit_istrue(int_value, bit(0)) ? (int_value & 0x07) : 0;
return Status_OK;
}
static status_code_t set_restore_overrides (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.restore_overrides = int_value != 0;
return Status_OK;
}
#endif // NO_SAFETY_DOOR_SUPPORT
static status_code_t set_homing_cycle (setting_id_t id, uint_fast16_t int_value)
{
settings.homing.cycle[id - Setting_HomingCycle_1].mask = int_value;
limits_set_homing_axes();
return Status_OK;
}
static status_code_t set_homing_pulloff (setting_id_t id, float value)
{
settings.homing.pulloff = value;
homing_pulloff_init(value);
return Status_OK;
}
static status_code_t set_homing_feedrates (setting_id_t id, float value)
{
uint_fast8_t idx = N_AXIS;
if(!settings.homing.flags.per_axis_feedrates) switch(id) {
case Setting_HomingFeedRate:
do {
settings.axis[--idx].homing_feed_rate = value;
} while(idx);
break;
case Setting_HomingSeekRate:
do {
settings.axis[--idx].homing_seek_rate = value;
} while(idx);
break;
default:
break;
}
return settings.homing.flags.per_axis_feedrates ? Status_SettingDisabled : Status_OK;
}
static status_code_t set_homing_enable (setting_id_t id, uint_fast16_t int_value)
{
bool reset_feeds = !settings.homing.flags.enabled || settings.homing.flags.per_axis_feedrates;
settings.homing.flags.value = int_value;
if(settings.homing.flags.enabled) {
#if COMPATIBILITY_LEVEL > 1
settings.homing.flags.enabled = On;
settings.homing.flags.init_lock = DEFAULT_HOMING_INIT_LOCK;
settings.homing.flags.single_axis_commands = DEFAULT_HOMING_SINGLE_AXIS_COMMANDS;
settings.homing.flags.force_set_origin = DEFAULT_HOMING_FORCE_SET_ORIGIN;
settings.homing.flags.manual = DEFAULT_HOMING_ALLOW_MANUAL;
settings.homing.flags.override_locks = DEFAULT_HOMING_OVERRIDE_LOCKS;
settings.homing.flags.keep_on_reset = DEFAULT_HOMING_KEEP_STATUS_ON_RESET;
settings.homing.flags.use_limit_switches = DEFAULT_HOMING_USE_LIMIT_SWITCHES;
settings.limits.flags.two_switches = DEFAULT_LIMITS_TWO_SWITCHES_ON_AXES;
#else
settings.limits.flags.two_switches = settings.homing.flags.two_switches;
settings.homing.flags.two_switches = Off;
#endif
} else {
settings.homing.flags.enabled = On;
set_soft_limits_enable(Setting_SoftLimitsEnable, 0); // Force disable soft-limits.
settings.homing.flags.value = 0;
settings.limits.flags.jog_soft_limited = Off;
}
if(settings.homing.flags.enabled && reset_feeds && !settings.homing.flags.per_axis_feedrates) {
set_homing_feedrates(Setting_HomingFeedRate, settings.axis[0].homing_feed_rate);
set_homing_feedrates(Setting_HomingSeekRate, settings.axis[0].homing_seek_rate);
}
settings.homing.flags.use_limit_switches &= hal.homing.get_state != NULL;
return Status_OK;
}
static status_code_t set_sleep_enable (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.sleep_enable = int_value != 0;
return Status_OK;
}
static status_code_t set_hold_actions (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.disable_laser_during_hold = bit_istrue(int_value, bit(0));
settings.flags.restore_after_feed_hold = bit_istrue(int_value, bit(1));
return Status_OK;
}
#if COMPATIBILITY_LEVEL <= 1
static status_code_t set_g92_disable_persistence (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.g92_is_volatile = int_value != 0;
return Status_OK;
}
#endif
static status_code_t set_force_initialization_alarm (setting_id_t id, uint_fast16_t int_value)
{
settings.flags.force_initialization_alarm = int_value != 0;
return Status_OK;
}
static status_code_t set_probe_allow_feed_override (setting_id_t id, uint_fast16_t int_value)
{