單片機MCP制作數(shù)控雕刻機3D打印機

1五湖四海1 · 發(fā)表于 2016-8-20 23:56:23

本帖最后由 1五湖四海1 于 2016-8-21 00:09 編輯

以前制作過CNC雕刻機，是用MACH3作為上位機控制，硬件是采用PC接并口輸出脈沖和方向使能信號經(jīng)過隔離驅(qū)動步進電機驅(qū)動器，步進電機驅(qū)動是采用TB6560芯片控制。最后就接到步進電機。機械是用鋁合金制作，主要部件有三個1605的滾珠絲杠，多個運動滑塊等制作。用這臺DIY CNC雕刻機可以雕刻木頭塑料等東西。當時沒有一直玩下去，現(xiàn)在發(fā)現(xiàn)網(wǎng)上有用單片機制作的雕刻機挺精巧的現(xiàn)在分享給大家。
GRBL CNC 3D打印機，這就是我說的可以用單片機來控制的3D打印機，我先照著百度科普下grbl，Grbl是性能高，成本低，基于并口運動控制，用于CNC雕刻。它可以運行在Vanilla Arduino (Duemillanove/Uno) 只要它配備了Atmega 328型芯片。控制器由C編寫并優(yōu)化，利用了AVR 芯片的每一個靈巧特性來實現(xiàn)精確時序和異步控制。它可以保持超過30kHz的穩(wěn)定、無偏差的控制脈沖它接受標準的G代碼而且通過了數(shù)個CAM工具的輸出測試?；⌒巍A形和螺旋的運動都可以像其他一些基本G代碼命令一樣完美支持。函數(shù)和變量目前并不支持，但是會作為預(yù)處理器包含在將來發(fā)布的版本之中。 Grbl 包含完整的前瞻性加速度控制。它意味著控制器將提前16到20個運動來規(guī)劃運行速度，以實現(xiàn)平穩(wěn)的加速和無沖擊的轉(zhuǎn)彎。Grbl是性能高，成本低，基于并口運動控制，用于CNC雕刻。它可以運行在Vanilla Arduino (Duemillanove/Uno) 只要它配備了Atmega 328型芯片。控制器由C編寫并優(yōu)化，利用了AVR 芯片的每一個靈巧特性來實現(xiàn)精確時序和異步控制。它可以保持超過30kHz的穩(wěn)定、無偏差的控制脈沖它接受標準的G代碼而且通過了數(shù)個CAM工具的輸出測試?；⌒?、圓形和螺旋的運動都可以像其他一些基本G代碼命令一樣完美支持。函數(shù)和變量目前并不支持，但是會作為預(yù)處理器包含在將來發(fā)布的版本之中。 Grbl 包含完整的前瞻性加速度控制。它意味著控制器將提前16到20個運動來規(guī)劃運行速度，以實現(xiàn)平穩(wěn)的加速和無沖擊的轉(zhuǎn)彎。很棒吧！開始玩起。
還沒有雕刻機的機械部分可以用廢舊光驅(qū)制作個微型雕刻機運動平臺。雕刻機最重要的是主控程序這次用 Arduino/AVR328單片機，價格在15元左右，主控程序是上面提到的目前很火的開源的GRBL，還有一種基于STM32平臺的開源主控程序Dlion也不錯可以替代grbl。如果從性能比較這兩個方案，顯然是stm32平臺運行速度更快畢竟他是32單片機呀！

下面介紹小這個些主控程序主要干的事，通過串口PC和主控板通訊，PC命令給控制板，控制板接收命令做不同的響應(yīng)，PC可以發(fā)G代碼給主控板，接收完成后可以自動開始雕刻任務(wù)。
      在介紹下G代碼因為G代碼是雕刻機的核心部分
G代碼是數(shù)控程序中的指令。一般都稱為G指令。
G00------快速定位
G01------直線插補
G02------順時針方向圓弧插補
G03------逆時針方向圓弧插補
G04------定時暫停
G05------通過中間點圓弧插補
G06------拋物線插補
G07------Z 樣條曲線插補
G08------進給加速
G09------進給減速
G10------數(shù)據(jù)設(shè)置
G16------極坐標編程
G17------加工XY平面
G18------加工XZ平面
G19------加工YZ平面
核心就是解析G代碼，完成步進電機驅(qū)動，和控制主軸開啟關(guān)閉，還有插補算法，直線插補，圓弧插補，還有一些步進電機的加減速算法。
下面對grbl主結(jié)構(gòu)做介紹
main()主函數(shù)首先執(zhí)行下面初始化函數(shù)
      serial_init();                         // 設(shè)置串口波特率和中斷
      settings_init();                      // 從ROM加載grbl設(shè)置
      stepper_init();                         // 配置步進方向和中斷定時器
      system_init();                         // 配置引腳分配別針和pin-change中斷
      memset(&sys, 0, sizeof(system_t));       // 清除所有系統(tǒng)變量
      sys.abort = true;                         // 中止標識位置位
      sei();                                        // 使能中斷
  #ifdef HOMING_INIT_LOCK                      // 宏運算(settings.flags & (1 << 4)) != 0結(jié)果flags等于執(zhí)行sys.state = STATE_ALARM
                                             // 系統(tǒng)狀態(tài)賦值為報警狀態(tài)
         if (bit_istrue(settings.flags,BITFLAG_HOMING_ENABLE)) { sys.state = STATE_ALARM; }
  #endif
_____________________________________________________________________________________________________________________________________
接下來是一些主要部分初始化
for(;;) {
      serial_reset_read_buffer();       //清除串口讀緩沖區(qū)
      gc_init();                      //初始化G代碼功能函數(shù)
      spindle_init();                      //主軸初始化
      coolant_init();                      //冷卻液初始化
      limits_init();                      //極限開關(guān)初始化
      probe_init();                      //探測部件初始化
      plan_reset();                      //清除塊緩沖區(qū)和規(guī)劃師變量
      st_reset();                      //清除步進系統(tǒng)變量。

      //下面兩行清除同步gcode和策劃師職位當前系統(tǒng)位置。
      plan_sync_position();
      gc_sync_position();

      //復(fù)位系統(tǒng)變量
      sys.abort = false;             //系統(tǒng)中止標志
      sys_rt_exec_state = 0;             //系統(tǒng)標志位變量狀態(tài)管理。看到EXEC位掩碼。
      sys_rt_exec_alarm = 0;             //系統(tǒng)標志位變量設(shè)置不同的警報。
      sys.suspend = false;             //系統(tǒng)暫停標志位變量管理,取消,和安全保護。
      sys.soft_limit = false;             //限位開關(guān)限制狀態(tài)機錯誤。(布爾)

      protocol_main_loop();             //主協(xié)議循環(huán)
}       //
_____________________________________________________________________________________________________________________________
進入void protocol_main_loop()函數(shù)
{
      report_init_message();             // 打印歡迎信息
      //重啟后檢驗和報告報警狀態(tài)如果錯誤重啟初始化。
      if (sys.state == STATE_ALARM) {
         report_feedback_message(MESSAGE_ALARM_LOCK); //打印信息
      } else {
         // 如果沒有報警說明一切正常!但還是要檢查安全門.
         if (system_check_safety_door_ajar()) {
                  bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
                  protocol_execute_realtime(); // 進入安全模式。應(yīng)該返回空閑狀態(tài)。
         }       else {
            sys.state = STATE_IDLE; // .設(shè)置系統(tǒng)做好準備。清除所有國家國旗。
         }
         system_execute_startup(line); //開始執(zhí)行系統(tǒng)腳本
  }

  // 這是主循環(huán)!在系統(tǒng)中止時這是出口回到主函數(shù)來重置系統(tǒng)。
  // ---------------------------------------------------------------------------------

      uint8_t comment = COMMENT_NONE;
      uint8_t char_counter = 0;
      uint8_t c;
_______________________________________________________________________________________________________________________________
接下來進入for（;;）循環(huán)             //下面代碼是G代碼解析核心部分，程序中comment（注釋）變量會被賦不同值，代表發(fā)符號有‘（’‘）’‘；’
{
//串行數(shù)據(jù)輸入一行的的過程,作為數(shù)據(jù)。執(zhí)行一個
//所有數(shù)據(jù)初始過濾去除空格和注釋。
//注意:注釋,空格和程序段刪除(如果支持的話)處理技術(shù)
//在G代碼解析器,它有助于壓縮到Grbl傳入的數(shù)據(jù)
//線緩沖區(qū),這是有限的。刀位點標準實際上州一行不行
//不能超過256個字符,Arduino Uno沒有更多內(nèi)存空間。
//有更好的處理器,它會很容易把這個初步解析的
//分離任務(wù)共享的刀位點解析器和Grbl系統(tǒng)命令。
while((c = serial_read()) != SERIAL_NO_DATA) {                            //讀取串口數(shù)據(jù)，有數(shù)據(jù)執(zhí)行下面代碼
   if ((c == '\n') || (c == '\r')) { // End of line reached             //如果數(shù)據(jù)是/r,/n代表一行結(jié)束
      line[char_counter] = 0; // Set string termination character.       //設(shè)置結(jié)束標志
      protocol_execute_line(line); // Line is complete. Execute it!       //一行完成執(zhí)行此函數(shù)
      comment = COMMENT_NONE;                                              //注釋清零
      char_counter = 0;                                                 //字符計數(shù)清零

      else {
      if (comment != COMMENT_NONE) {
                                                   //扔掉所有注釋字符
      if (c == ')') {
         //最后注釋。重新開始。但是如果有分號類型的注釋。
         if (comment == COMMENT_TYPE_PARENTHESES) { comment = COMMENT_NONE; }
      }
   } else {
      if (c <= ' ') {
         //扔掉whitepace和控制字符
      } else if (c == '/') {
         //塊刪除不支持將忽略字符。
         //注意:如果支持,只需要檢查系統(tǒng)是否啟用了塊刪除。
      } else if (c == '(') {
         // Enable comments flag and ignore all characters until ')' or EOL.
         // NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
         // In the future, we could simply remove the items within the comments, but retain the
         // comment control characters, so that the g-code parser can error-check it.
         comment = COMMENT_TYPE_PARENTHESES;
      } else if (c == ';') {
         //注意:','注釋EOL LinuxCNC定義。沒有國家標準。
         comment = COMMENT_TYPE_SEMICOLON;

_____________________________________________________________________________________________________________________________________
      } else if (char_counter >= (LINE_BUFFER_SIZE-1)) {                      //串口接收數(shù)據(jù)大于80字符時
         // Detect line buffer overflow. Report error and reset line buffer.       檢測緩沖區(qū)溢出。報告錯誤和復(fù)位線緩沖區(qū)。
         report_status_message(STATUS_OVERFLOW);                               //打印溢出信息
         comment = COMMENT_NONE;
         char_counter = 0;
      } else if (c >= 'a' && c <= 'z') { // Upcase lowercase                      //小寫改大寫
         line[char_counter++] = c-'a'+'A';
      } else {
         line[char_counter++] = c;
      }
      }
   }
}
____________________________________________________________________________________________________________________________________
      //如果沒有其他字符在串行處理讀取緩沖區(qū)和執(zhí)行,這表明以完成，自動啟動,如果啟用,任何隊列動作。
      protocol_auto_cycle_start();             //自動開始協(xié)議循環(huán)

         protocol_execute_realtime();                //運行實時命令。
         if (sys.abort) { return; }                //中止標識置位程序循環(huán)重置系統(tǒng)。
  }
  return;                      //一般程序不會執(zhí)行到這里
}
____________________________________________________________________________________________________________________________________
正常情況下，讀取完G代碼程序會進入protocol_auto_cycle_start();//自動開始協(xié)議循環(huán) 函數(shù)下面介紹此函數(shù)
// Auto-cycle start has two purposes: 1. Resumes a plan_synchronize() call from a function that
// requires the planner buffer to empty (spindle enable, dwell, etc.) 2. As a user setting that
// automatically begins the cycle when a user enters a valid motion command manually. This is
// intended as a beginners feature to help new users to understand g-code. It can be disabled
// as a beginner tool, but (1.) still operates. If disabled, the operation of cycle start is
// manually issuing a cycle start command whenever the user is ready and there is a valid motion
// command in the planner queue.
// NOTE: This function is called from the main loop, buffer sync, and mc_line() only and executes
// when one of these conditions exist respectively: There are no more blocks sent (i.e. streaming
// is finished, single commands), a command that needs to wait for the motions in the buffer to
// execute calls a buffer sync, or the planner buffer is full and ready to go.
//自動開始有兩個目的:1?；貜?fù)一個plan_synchronize()調(diào)用的函數(shù)
//需要規(guī)劃師緩沖區(qū)空(主軸啟用、住等)2。作為一個用戶設(shè)置
//自動循環(huán)開始當一個用戶輸入一個有效的運動命令手動。這是
//作為一個初學(xué)者的特性來幫助新用戶了解刀位點。它可以被禁用
//作為一個初學(xué)者工具,但(1)仍然運作。如果禁用,運行周期開始
//手動發(fā)出一個周期開始命令每當用戶準備好,有一個有效的運動
//命令的規(guī)劃師隊列。
//注意:這個函數(shù)被稱為從主循環(huán)緩沖區(qū)同步,mc_line只()并執(zhí)行
//當其中一個條件分別存在:沒有更多的塊(即流發(fā)送
//完成后,單一的命令),一個命令,需要等待緩沖的動作
//執(zhí)行調(diào)用一個緩沖區(qū)同步,或規(guī)劃師緩沖區(qū)滿了,準備好了。
void protocol_auto_cycle_start() { bit_true_atomic(sys_rt_exec_state, EXEC_CYCLE_START); }
_______________________________________________________________________________________________
接下來程序運行protocol_execute_realtime(); /運行實時命令。
// Executes run-time commands, when required. This is called from various check points in the main
// program, primarily where there may be a while loop waiting for a buffer to clear space or any
// point where the execution time from the last check point may be more than a fraction of a second.
// This is a way to execute realtime commands asynchronously (aka multitasking) with grbl's g-code
// parsing and planning functions. This function also serves as an interface for the interrupts to
// set the system realtime flags, where only the main program handles them, removing the need to
// define more computationally-expensive volatile variables. This also provides a controlled way to
// execute certain tasks without having two or more instances of the same task, such as the planner
// recalculating the buffer upon a feedhold or override.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
// limit switches, or the main program.
void protocol_execute_realtime()
uint8_t rt_exec; // Temp variable to avoid calling volatile multiple times.臨時變量來避免多次調(diào)用不穩(wěn)定。
就先分享到這吧！

補充內(nèi)容 (2016-8-25 22:40):
配置說明
//這個文件包含編譯時配置Grbl的內(nèi)部系統(tǒng)。在大多數(shù)情況下,
//用戶不需要直接修改這些,但是他們在這里為特定的需求,即。
//性能調(diào)優(yōu)或適應(yīng)非典型的機器。
主要配置項：
1.#define DEFAULTS_GENERIC //在重置eepm時使用。在defaults.h改變想要的名字
2.#define BAUD_RATE 115200 //配置串口波特率115200
3.#define CPU_MAP_ATMEGA328P // Arduino Uno CPU
4.#define CMD_STATUS_REPORT '?' //定義實時命令特殊字符
5.#define HOMING_INIT_LOCK //回原點保護鎖
6.#define HOMING_CYCLE_0 (1<<Z_AXIS)             // 第一步Z清除工作區(qū)。
  #define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // 然后X,Y在同一時間。
7.#define N_HOMING_LOCATE_CYCLE 1 //回原點循環(huán)次數(shù)
8.#define HOMING_FORCE_SET_ORIGIN //取消這定義迫使Grbl總是在這時候位置設(shè)置機器原點盡管開關(guān)方向。
9.#define N_STARTUP_LINE 2 //塊Grbl啟動時執(zhí)行的數(shù)量。
10.#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches 協(xié)調(diào)或位置價值英寸
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm 協(xié)調(diào)在毫米或位置價值
#define N_DECIMAL_RATEVALUE_INCH  1 // Rate or velocity value in in/min 率或/分鐘的速度值
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min 速率或速度值在毫米/分鐘
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values 對浮點小數(shù)設(shè)置值
11.#define LIMITS_TWO_SWITCHES_ON_AXES //如果你的機器有兩個極限開關(guān)連接在平行于一個軸,您需要啟用這個特性
12.#define USE_LINE_NUMBERS //允許GRBL跟蹤和報告gcode行號
13.#define REPORT_REALTIME_RATE //允許GRBL報告實時進給速率
14.#define MESSAGE_PROBE_COORDINATES  //坐標通過Grbl $ #的打印參數(shù)?
15.#define SAFETY_DOOR_SPINDLE_DELAY 4000 //安全門主軸延時
16.#define SAFETY_DOOR_COOLANT_DELAY 1000 //安全門冷卻液延時
17.#define HOMING_CYCLE_0 (1<<X_AXIS) and #define HOMING_CYCLE_1 (1<<Y_AXIS) //啟用CoreXY運動學(xué)。
18.#define COREXY // Default disabled. Uncomment to enable.改變X和Y軸的運動原理
19.#define INVERT_CONTROL_PIN // Default disabled. Uncomment to enable.反轉(zhuǎn)針銷邏輯的控制命令
20.#define INVERT_SPINDLE_ENABLE_PIN // 反轉(zhuǎn)主軸使銷從low-disabled
21.#define REPORT_CONTROL_PIN_STATE //啟用控制銷狀態(tài)反饋狀態(tài)報告。
22.#define FORCE_INITIALIZATION_ALARM //啟用和用戶安裝限位開關(guān),Grbl將啟動報警狀態(tài)指示
23.#define REPORT_GUI_MODE // gui允許最小的報告反饋模式
24.#define ACCELERATION_TICKS_PER_SECOND 100 //加速度的時間分辨率管理子系統(tǒng)。
25.#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING //自適應(yīng)多軸步平滑(積累)是一種先進的功能
26.#define MAX_STEP_RATE_HZ 30000 //設(shè)置最大一步速率可以寫成Grbl設(shè)置
27.#define DISABLE_LIMIT_PIN_PULL_UP //以下選項禁用內(nèi)部上拉電阻
28.#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS //設(shè)置哪個軸長度補償應(yīng)用的工具。假設(shè)軸總是與選擇軸工具面向負方向
29.#define VARIABLE_SPINDLE //允許變量軸輸出電壓不同的轉(zhuǎn)速值。
30.#define SPINDLE_MAX_RPM 1000.0  // Max spindle RPM. This value is equal to 100% duty cycle on the PWM.
#define SPINDLE_MIN_RPM 0.0 // Min spindle RPM. This value is equal to (1/256) duty cycle on the PWM.
31.#define MINIMUM_SPINDLE_PWM 5 //使用的變量軸輸出。這迫使PWM輸出最小占空比時啟用。
32.#define USE_SPINDLE_DIR_AS_ENABLE_PIN //主軸方向使能M4被刪除
33.#define REPORT_ECHO_LINE_RECEIVED //應(yīng)該對所有正常線路送到Grbl
34.#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min) //最小規(guī)劃師結(jié)速度。設(shè)置默認最小連接速度規(guī)劃計劃
35.#define MINIMUM_FEED_RATE 1.0 // (mm/min)//設(shè)置計劃將允許的最小進給速率
36.#define N_ARC_CORRECTION 12 //弧生成迭代次數(shù)之前小角度近似精確的弧線軌跡
37.#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)//定義值設(shè)置機器ε截止來確定電弧是一個原點了?
38.#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds) //延時增加表現(xiàn)在住。默認值設(shè)置為50毫秒
39.#define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
40.#define BLOCK_BUFFER_SIZE 18  //線性運動規(guī)劃師緩沖區(qū)的數(shù)量在任何給出時間計劃
41.#define SEGMENT_BUFFER_SIZE 6 //控制之間的中間段緩沖大小的步驟執(zhí)行算法
42.#define LINE_BUFFER_SIZE 80 //行執(zhí)行串行輸入流的緩沖區(qū)大小。
43.define RX_BUFFER_SIZE 128 //串行發(fā)送和接收緩沖區(qū)大小
44.#define TX_BUFFER_SIZE 64
45.#define ENABLE_XONXOFF ////切換為串行通信發(fā)送流軟件流控制。
46.#define ENABLE_SOFTWARE_DEBOUNCE //一個簡單的軟件消除抖動特性硬限位開關(guān)。
47.#define HARD_LIMIT_FORCE_STATE_CHECK //Grbl檢查硬限位開關(guān)的狀態(tài)
48.// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:編譯時錯誤檢查的定義值:

___________________________________________________________________________________________________
/*
  config.h - compile time configuration
  Part of Grbl

  Copyright (c) 2012-2015 Sungeun K. Jeon
  Copyright (c) 2009-2011 Simen Svale Skogsrud

  Grbl 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.

  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
config.h  -編譯時配置,Grbl的一部分

版權(quán)(c)2012 - 2015 Sungeun K. Jeon
版權(quán)(c)2009 - 2011 Simen Svale Skogsrud

Grbl是免費軟件:可以重新分配和/或修改
GNU通用公共許可證的條款下發(fā)布的自由軟件基金會,版本3的許可,或(任您選)其后的版本。

Grbl分布,希望這將是有用的,但是沒有任何保證;沒有即使的默示保證適銷性或健身為特定目的?？吹?font class="jammer">. p1 m- ^9 _/ e1 B7 ?
GNU通用公共許可證的更多細節(jié)。

你應(yīng)該收到了GNU通用公共許可證的副本
連同Grbl。如果沒有,看< http://www.gnu.org/licenses/ >。

*/

// This file contains compile-time configurations for Grbl's internal system. For the most part,
// users will not need to directly modify these, but they are here for specific needs, i.e.
// performance tuning or adjusting to non-typical machines.
//這個文件包含編譯時配置Grbl的內(nèi)部系統(tǒng)。在大多數(shù)情況下,
//用戶不需要直接修改這些,但是他們在這里為特定的需求,即。
//性能調(diào)優(yōu)或適應(yīng)非典型的機器。

// IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them.
//重要:任何變化需要一個完整的基于源代碼的傳播。

#ifndef config_h
#define config_h
#include "grbl.h" // For Arduino IDE compatibility.

// Default settings. Used when resetting EEPROM. Change to desired name in defaults.h
// 默認設(shè)置。在重置eepm時使用。在defaults.h改變想要的名字

#define DEFAULTS_GENERIC

// Serial baud rate
#define BAUD_RATE 115200 //配置串口波特率115200

// Default cpu mappings. Grbl officially supports the Arduino Uno only. Other processor types
// may exist from user-supplied templates or directly user-defined in cpu_map.h
//默認cpu映射。Grbl正式支持Arduino Uno。其他類型的處理器可能存在cpu_map.h直接從用戶提供的模板或用戶定義的

#define CPU_MAP_ATMEGA328P // Arduino Uno CPU

// Define realtime command special characters. These characters are 'picked-off' directly from the
// serial read data stream and are not passed to the grbl line execution parser. Select characters
// that do not and must not exist in the streamed g-code program. ASCII control characters may be
// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
// g-code programs, maybe selected for interface programs.
// NOTE: If changed, manually update help message in report.c.

//定義實時命令特殊字符。這些字符是直接從“各個擊破”串口讀取數(shù)據(jù)流并沒有傳遞到grbl行執(zhí)行解析器。選擇角色
//不,不能存在于程序流刀位點。ASCII控制字符
//使用,如果他們是可用的每個用戶設(shè)置。同時,擴展的ASCII碼(> 127),從來沒有
//刀位點的程序,也許選擇界面程序。
//注意:如果改變,手動更新report.c幫助信息。

#define CMD_STATUS_REPORT '?'
#define CMD_FEED_HOLD '!'
#define CMD_CYCLE_START '~'
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_SAFETY_DOOR '@'

// If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
// the user to perform the homing cycle (or override the locks) before doing anything else. This is
// mainly a safety feature to remind the user to home, since position is unknown to Grbl.

//如果啟用了回原點,導(dǎo)航初始化鎖集Grbl進入警報狀態(tài)啟動。這就迫使
//用戶執(zhí)行歸航周期(或覆蓋鎖)在做任何其他事情之前。這是
//主要安全功能,提醒用戶家里,因為Grbl位置是未知的。

#define HOMING_INIT_LOCK // Comment to disable

// Define the homing cycle patterns with bitmasks. The homing cycle first performs a search mode
// to quickly engage the limit switches, followed by a slower locate mode, and finished by a short
// pull-off motion to disengage the limit switches. The following HOMING_CYCLE_x defines are executed
// in order starting with suffix 0 and completes the homing routine for the specified-axes only. If
// an axis is omitted from the defines, it will not home, nor will the system update its position.
// Meaning that this allows for users with non-standard cartesian machines, such as a lathe (x then z,
// with no y), to configure the homing cycle behavior to their needs.
// NOTE: The homing cycle is designed to allow sharing of limit pins, if the axes are not in the same
// cycle, but this requires some pin settings changes in cpu_map.h file. For example, the default homing
// cycle can share the Z limit pin with either X or Y limit pins, since they are on different cycles.
// By sharing a pin, this frees up a precious IO pin for other purposes. In theory, all axes limit pins
// may be reduced to one pin, if all axes are homed with seperate cycles, or vice versa, all three axes
// on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
// will not be affected by pin sharing.
//定義導(dǎo)航循環(huán)模式的位掩碼。歸航周期首先執(zhí)行一個搜索模式
//快速進行限位開關(guān),其次是較慢的定位模式,完成了由一個短
//拖出運動脫離限位開關(guān)。以下HOMING_CYCLE_x定義執(zhí)行
//為了與后綴0開始并完成specified-axes只尋的例程。如果
//定義省略一個軸,它會不在家,也不會系統(tǒng)更新它的位置。
//意義,這允許用戶與非標準笛卡爾的機器,比如車床(x,z,
//沒有y),配置導(dǎo)航循環(huán)行為對他們的需求。
//注意:歸航周期允許共享限制針,如果軸不相同
//循環(huán),但這需要一些銷設(shè)置cpu_map的變化。h文件。例如,默認的導(dǎo)航
//循環(huán)可以分享Z限位銷X或Y限制針,因為它們是在不同的周期。
//通過共享一個銷,這騰出寶貴的IO銷用于其他目的。從理論上講,所有軸限制別針
//可能會減少到一個銷,如果所有軸與分離周期居住的地方,反之亦然,所有三個軸
//在不同銷,但這時候一個周期。同時,應(yīng)該注意的是,硬限制的功能
//將不會影響銷共享。
//注意:默認設(shè)置為一個傳統(tǒng)的硬件數(shù)控機器。z軸首次明確,其次是X和Y。

// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
#define HOMING_CYCLE_0 (1<<Z_AXIS)             // REQUIRED: First move Z to clear workspace. 第一步Z清除工作區(qū)。
#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.然后X,Y在同一時間。
// #define HOMING_CYCLE_2                      // OPTIONAL: Uncomment and add axes mask to enable

// Number of homing cycles performed after when the machine initially jogs to limit switches.
// This help in preventing overshoot and should improve repeatability. This value should be one or
// greater.
//執(zhí)行回原點循環(huán)次數(shù)后,當機器最初慢跑限位開關(guān)。這個幫助防止過度,應(yīng)該提高重復(fù)性。這個值應(yīng)該是一個或大。

#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)

// After homing, Grbl will set by default the entire machine space into negative space, as is typical
// for professional CNC machines, regardless of where the limit switches are located. Uncomment this
// define to force Grbl to always set the machine origin at the homed location despite switch orientation.

//導(dǎo)航后,默認Grbl將整個機器空間留白,是典型的專業(yè)數(shù)控機器,不管限位開關(guān)所在的地方。
//取消這定義迫使Grbl總是在這時候位置設(shè)置機器原點盡管開關(guān)方向。

// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.

// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
// parser state depending on user preferences.

//塊Grbl啟動時執(zhí)行的數(shù)量。這些塊存儲在eepm,大小
//和地址在settings.h中定義。與當前設(shè)置,可能2啟動塊
//存儲和執(zhí)行。這些啟動塊通常被用來設(shè)置刀位點
//解析器的狀態(tài)取決于用戶首選項。

#define N_STARTUP_LINE 2 // Integer (1-2)

// Number of floating decimal points printed by Grbl for certain value types. These settings are
// determined by realistic and commonly observed values in CNC machines. For example, position
// values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
// precise this. So, there is likely no need to change these, but you can if you need to here.
// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.

// Grbl浮動小數(shù)點的數(shù)字印刷的特定的值類型。這些設(shè)置是
//一般由現(xiàn)實和觀測值在數(shù)控機器。例如,位置
//值不能小于0.001毫米或0.0001,因為機器不能身體更多
//精確。因此,有可能不需要改變這些,但你可以在這里如果你需要。
//注意:必須是一個整數(shù)值從0 ~ 4。超過4可能出現(xiàn)舍入錯誤。

#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches 協(xié)調(diào)或位置價值英寸
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm 協(xié)調(diào)在毫米或位置價值
#define N_DECIMAL_RATEVALUE_INCH  1 // Rate or velocity value in in/min 率或/分鐘的速度值
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min 速率或速度值在毫米/分鐘
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values 對浮點小數(shù)設(shè)置值

// If your machine has two limits switches wired in parallel to one axis, you will need to enable
// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
// which one is enabled. This option only effects homing, where if a limit is engaged, Grbl will
// alarm out and force the user to manually disengage the limit switch. Otherwise, if you have one
// limit switch for each axis, don't enable this option. By keeping it disabled, you can perform a
// homing cycle while on the limit switch and not have to move the machine off of it.

//如果你的機器有兩個極限開關(guān)連接在平行于一個軸,您需要啟用
//這個特性。自從兩個交換機共享一個銷,沒有辦法Grbl告訴
//啟用哪一個。此選項僅影響歸航,如果限制,Grbl意志
//報警,迫使用戶手動松開限位開關(guān)。否則,如果你有一個
//為每個軸限位開關(guān),不啟用該選項。通過保持禁用,您可以執(zhí)行
//導(dǎo)航循環(huán)在限位開關(guān)并沒有將這臺機器。

// #define LIMITS_TWO_SWITCHES_ON_AXES

// Allows GRBL to track and report gcode line numbers.  Enabling this means that the planning buffer
// goes from 18 or 16 to make room for the additional line number data in the plan_block_t struct

//允許GRBL跟蹤和報告gcode行號。使這意味著計劃緩沖從18歲或16歲,為額外的行號plan_block_t結(jié)構(gòu)中的數(shù)據(jù)

// #define USE_LINE_NUMBERS // Disabled by default. Uncomment to enable.

// Allows GRBL to report the real-time feed rate.  Enabling this means that GRBL will be reporting more
// data with each status update.
// NOTE: This is experimental and doesn't quite work 100%. Maybe fixed or refactored later.
//允許GRBL報告實時進給速率。使這意味著GRBL將報告數(shù)據(jù)和狀態(tài)更新。
//注意:這是實驗和100%沒有工作。也許以后固定或重構(gòu)。

// #define REPORT_REALTIME_RATE // Disabled by default. Uncomment to enable.

// Upon a successful probe cycle, this option provides immediately feedback of the probe coordinates
// through an automatically generated message. If disabled, users can still access the last probe
// coordinates through Grbl '$#' print parameters.
//在一個成功的調(diào)查周期,這個選項提供立即反饋的探測器坐標
//通過一個自動生成的消息。如果禁用,用戶仍然能夠訪問調(diào)查
//坐標通過Grbl $ #的打印參數(shù)。

#define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.

// Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
// analog pin 5. Only use this option if you require a second coolant control pin.
// NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless.
// #define ENABLE_M7 // Disabled by default. Uncomment to enable.

// This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
// immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
// the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the
// previous tool path, as if nothing happened.
// #define ENABLE_SAFETY_DOOR_INPUT_PIN // Default disabled. Uncomment to enable.

// After the safety door switch has been toggled and restored, this setting sets the power-up delay
// between restoring the spindle and coolant and resuming the cycle.
// NOTE: Delay value is defined in milliseconds from zero to 65,535.

//定義導(dǎo)航循環(huán)模式的位掩碼。歸航周期首先執(zhí)行一個搜索模式
//快速進行限位開關(guān),其次是較慢的定位模式,完成了由一個短
//拖出運動脫離限位開關(guān)。以下HOMING_CYCLE_x定義執(zhí)行
//為了與后綴0開始并完成specified-axes只尋的例程。如果
//定義省略一個軸,它會不在家,也不會系統(tǒng)更新它的位置。
//意義,這允許用戶與非標準笛卡爾的機器,比如車床(x,z,
//沒有y),配置導(dǎo)航循環(huán)行為對他們的需求。
//注意:歸航周期允許共享限制針,如果軸不相同
//循環(huán),但這需要一些銷設(shè)置cpu_map的變化。h文件。例如,默認的導(dǎo)航
//循環(huán)可以分享Z限位銷X或Y限制針,因為它們是在不同的周期。
//通過共享一個銷,這騰出寶貴的IO銷用于其他目的。從理論上講,所有軸限制別針
//可能會減少到一個銷,如果所有軸與分離周期居住的地方,反之亦然,所有三個軸
//在不同銷,但這時候一個周期。同時,應(yīng)該注意的是,硬限制的功能
//將不會影響銷共享。
//注意:默認設(shè)置為一個傳統(tǒng)的硬件數(shù)控機器。z軸首次明確,其次是X和Y。

#define SAFETY_DOOR_SPINDLE_DELAY 4000
#define SAFETY_DOOR_COOLANT_DELAY 1000

// Enable CoreXY kinematics. Use ONLY with CoreXY machines.
// IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to
//啟用CoreXY運動學(xué)。只使用與CoreXY機器。
//重要:如果啟用了自動尋的,你必須重新配置導(dǎo)航循環(huán)#定義上面

// #define HOMING_CYCLE_0 (1<<X_AXIS) and #define HOMING_CYCLE_1 (1<<Y_AXIS)

// NOTE: This configuration option alters the motion of the X and Y axes to principle of operation
// defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
// described, if not, motions may move in strange directions. Grbl assumes the CoreXY A and B motors
// have the same steps per mm internally.
//注意:這種配置選項改變X和Y軸的運動原理,操作
//定義(http://corexy.com/theory.html)。汽車被認為定位和連接一樣
//描述,如果沒有,運動可能會奇怪的方向移動。A和B Grbl假設(shè)CoreXY馬達
//每毫米內(nèi)部有相同的步驟。

// #define COREXY // Default disabled. Uncomment to enable.

// Inverts pin logic of the control command pins. This essentially means when this option is enabled
// you can use normally-closed switches, rather than the default normally-open switches.
// NOTE: Will eventually be added to Grbl settings in v1.0.
//反轉(zhuǎn)針銷邏輯的控制命令。這實質(zhì)上意味著當啟用這個選項
//可以使用閉合開關(guān),而不是默認的常開開關(guān)。
//注意:最終將被添加到在v1.0 Grbl設(shè)置。

// #define INVERT_CONTROL_PIN // Default disabled. Uncomment to enable.

// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// NOTE: If VARIABLE_SPINDLE is enabled(default), this option has no effect as the PWM output and
// spindle enable are combined to one pin. If you need both this option and spindle speed PWM,
// uncomment the config option USE_SPINDLE_DIR_AS_ENABLE_PIN below.
//反轉(zhuǎn)主軸使銷從low-disabled / high-enabled low-enabled / high-disabled。有用的
//預(yù)構(gòu)建的電子板。
//注意:如果啟用了VARIABLE_SPINDLE(默認),這個選項作為PWM輸出并沒有影響
//銷軸使結(jié)合。如果你需要這個選項和主軸轉(zhuǎn)速PWM,
//取消注釋以下配置選項USE_SPINDLE_DIR_AS_ENABLE_PIN

// #define INVERT_SPINDLE_ENABLE_PIN // Default disabled. Uncomment to enable.

// Enable control pin states feedback in status reports. The data is presented as simple binary of
// the control pin port (0 (low) or 1(high)), masked to show only the input pins. Non-control pins on the
// port will always show a 0 value. See cpu_map.h for the pin bitmap. As with the limit pin reporting,
// we do not recommend keeping this option enabled. Try to only use this for setting up a new CNC.
//啟用控制銷狀態(tài)反饋狀態(tài)報告。作為簡單的二進制數(shù)據(jù)
//控制針端口(0(低)或1(高)),蒙面,只顯示輸入插腳。非控制性針上
//端口總是顯示0值。看到cpu_map。針位圖h。與限制銷報告,
//我們不推薦保持啟用這個選項。盡量只使用這個設(shè)置一個新的數(shù)控。

// #define REPORT_CONTROL_PIN_STATE // Default disabled. Uncomment to enable.

// When Grbl powers-cycles or is hard reset with the Arduino reset button, Grbl boots up with no ALARM
// by default. This is to make it as simple as possible for new users to start using Grbl. When homing
// is enabled and a user has installed limit switches, Grbl will boot up in an ALARM state to indicate
// Grbl doesn't know its position and to force the user to home before proceeding. This option forces
// Grbl to always initialize into an ALARM state regardless of homing or not. This option is more for
// OEMs and LinuxCNC users that would like this power-cycle behavior.
//當Grbl powers-cycles還是硬重置Arduino復(fù)位按鈕,Grbl啟動沒有報警
//默認情況下。這是為了讓新用戶盡可能簡單使用Grbl開始。當歸航
//啟用和用戶安裝限位開關(guān),Grbl將啟動報警狀態(tài)指示
// Grbl不知道它的位置,迫使用戶在繼續(xù)之前回家。這個選項部隊
// Grbl總是初始化進入警報狀態(tài)不管歸航。這個選項是更多
//原始設(shè)備制造商和LinuxCNC用戶這樣的控制行為。

// #define FORCE_INITIALIZATION_ALARM // Default disabled. Uncomment to enable.

// ---------------------------------------------------------------------------------------
// ADVANCED CONFIGURATION OPTIONS://高級配置選項:

// Enables minimal reporting feedback mode for GUIs, where human-readable strings are not as important.
// This saves nearly 2KB of flash space and may allow enough space to install other/future features.
// GUIs will need to install a look-up table for the error-codes that Grbl sends back in their place.
// NOTE: This feature is new and experimental. Make sure the GUI you are using supports this mode.

// gui允許最小的報告反饋模式,人類可讀的字符串在哪里不重要。
//這個節(jié)省近2 kb的閃存空間,允許足夠的空間來安裝其他/未來的功能。
// gui需要安裝一個查找表的錯誤代碼Grbl發(fā)回。
//注意:此功能是新的和實驗。確保您使用的GUI支持這種模式。

// #define REPORT_GUI_MODE // Default disabled. Uncomment to enable.

// The temporal resolution of the acceleration management subsystem. A higher number gives smoother
// acceleration, particularly noticeable on machines that run at very high feedrates, but may negatively
// impact performance. The correct value for this parameter is machine dependent, so it's advised to
// set this only as high as needed. Approximate successful values can widely range from 50 to 200 or more.
// NOTE: Changing this value also changes the execution time of a segment in the step segment buffer.
// When increasing this value, this stores less overall time in the segment buffer and vice versa. Make
// certain the step segment buffer is increased/decreased to account for these changes.
//加速度的時間分辨率管理子系統(tǒng)。更多更平穩(wěn)
//加速度,特別明顯的機器上,運行在非常高的進料速度,但可能負面
//影響性能。正確的值為這個參數(shù)是依賴于機器的,所以建議
//這只設(shè)置為高。近似成功的價值觀可以廣泛的范圍從50到200或者更多。
//注意:改變這個值也變化的部分步驟的執(zhí)行時間緩沖。
//增加這個值時,這個商店部分緩沖區(qū)的總時間減少,反之亦然。使
//特定步驟段緩沖是考慮這些變化增加/減少。

#define ACCELERATION_TICKS_PER_SECOND 100  //加速度的時間分辨率管理子系統(tǒng)。更多更平穩(wěn)

// Adaptive Multi-Axis Step Smoothing (AMASS) is an advanced feature that does what its name implies,
// smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
// frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
// noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
// step smoothing. See stepper.c for more details on the AMASS system works.
//自適應(yīng)多軸步平滑(積累)是一種先進的功能,它的名字所暗示的那樣,
//平滑的多軸步進運動。這個特性平滑運動尤其是在低一步
//頻率低于10 khz,軸之間的混疊的多軸運動可能導(dǎo)致音響
//噪音和震動你的機器。在更低的頻率步,積累適應(yīng)并提供更好
//步驟平滑?？吹讲竭M。c更多細節(jié)的積累系統(tǒng)的工作原理。

#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING  // Default enabled. Comment to disable.//自適應(yīng)多軸步平滑

// Sets the maximum step rate allowed to be written as a Grbl setting. This option enables an error
// check in the settings module to prevent settings values that will exceed this limitation. The maximum
// step rate is strictly limited by the CPU speed and will change if something other than an AVR running
// at 16MHz is used.
// NOTE: For now disabled, will enable if flash space permits.
//設(shè)置最大一步速率可以寫成Grbl設(shè)置。這個選項可以使一個錯誤
//設(shè)置模塊中檢查,防止設(shè)置值將超過這個限制。的最大
//步驟嚴格限制的CPU速度也會改變?nèi)绻瞧渌鸄VR運行
//使用16兆赫。
//注意:現(xiàn)在殘疾,將使如果flash空間許可。

// #define MAX_STEP_RATE_HZ 30000 // Hz 設(shè)置最大一步速率

// By default, Grbl sets all input pins to normal-high operation with their internal pull-up resistors
// enabled. This simplifies the wiring for users by requiring only a switch connected to ground,
// although its recommended that users take the extra step of wiring in low-pass filter to reduce
// electrical noise detected by the pin. If the user inverts the pin in Grbl settings, this just flips
// which high or low reading indicates an active signal. In normal operation, this means the user
// needs to connect a normal-open switch, but if inverted, this means the user should connect a
// normal-closed switch.
// The following options disable the internal pull-up resistors, sets the pins to a normal-low
// operation, and switches must be now connect to Vcc instead of ground. This also flips the meaning
// of the invert pin Grbl setting, where an inverted setting now means the user should connect a
// normal-open switch and vice versa.
// NOTE: All pins associated with the feature are disabled, i.e. XYZ limit pins, not individual axes.
// WARNING: When the pull-ups are disabled, this requires additional wiring with pull-down resistors!
//默認情況下,Grbl所有輸入引腳設(shè)置為正常高操作的內(nèi)部上拉電阻
//啟用。這簡化了布線為用戶只需要一個開關(guān)連接到地面,
//雖然其建議用戶采取額外的步驟,在低通濾波器來減少布線
//電噪音檢測銷。如果用戶反轉(zhuǎn)的銷Grbl設(shè)置,這只是翻轉(zhuǎn)
//讀高或低表明一個積極的信號。在正常操作中,這意味著用戶
//需要連接一個常開開關(guān),但如果倒,這意味著用戶應(yīng)該連接
// normal-closed開關(guān)。
//以下選項禁用內(nèi)部上拉電阻,一般低設(shè)置別針
//操作,現(xiàn)在開關(guān)必須連接到Vcc代替地面。這也掀的意思
//反銷Grbl設(shè)置,一個倒置的設(shè)置現(xiàn)在意味著用戶應(yīng)該連接
//常開開關(guān),反之亦然。
//注意:所有針與功能被禁用,例如XYZ限制針,而不是單獨的軸。
//警告:引體向上被禁用時,這需要額外的布線與下拉電阻!

//#define DISABLE_LIMIT_PIN_PULL_UP //以下選項禁用內(nèi)部上拉電阻
//#define DISABLE_PROBE_PIN_PULL_UP
//#define DISABLE_CONTROL_PIN_PULL_UP

// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
// the selected axis with the tool oriented toward the negative direction. In other words, a positive
// tool length offset value is subtracted from the current location.
//設(shè)置哪個軸長度補償應(yīng)用的工具。假設(shè)軸總是與
//選擇軸工具面向負方向。換句話說,一個積極的
//工具長度偏移值減去從當前位置。

#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.設(shè)置哪個軸長度補償應(yīng)用的工具

// Enables variable spindle output voltage for different RPM values. On the Arduino Uno, the spindle
// enable pin will output 5V for maximum RPM with 256 intermediate levels and 0V when disabled.
// NOTE: IMPORTANT for Arduino Unos! When enabled, the Z-limit pin D11 and spindle enable pin D12 switch!
// The hardware PWM output on pin D11 is required for variable spindle output voltages.
//允許變量軸輸出電壓不同的轉(zhuǎn)速值。Arduino Uno,主軸
//啟用銷將輸出5 v的最高轉(zhuǎn)速256中級水平和0 v時禁用。
//注意:重要Arduino凱澤本人!當啟用時,Z-limit銷這里和軸銷D12開關(guān)!
//硬件PWM輸出銷這里需要變量軸輸出電壓。

#define VARIABLE_SPINDLE // Default enabled. Comment to disable.//允許主軸輸出電壓不同的轉(zhuǎn)速值

// Used by the variable spindle output only. These parameters set the maximum and minimum spindle speed
// "S" g-code values to correspond to the maximum and minimum pin voltages. There are 256 discrete and
// equally divided voltage bins between the maximum and minimum spindle speeds. So for a 5V pin, 1000
// max rpm, and 250 min rpm, the spindle output voltage would be set for the following "S" commands:
// "S1000" @ 5V, "S250" @ 0.02V, and "S625" @ 2.5V (mid-range). The pin outputs 0V when disabled.
//使用的變量軸輸出。這些參數(shù)設(shè)置最大和最小軸轉(zhuǎn)速
//“S”刀位點值對應(yīng)于銷電壓的最大值和最小值。有256個離散和
//電壓平均分配箱主軸速度的最大值和最小值之間。所以對于一個5 v銷,1000
// max rpm,250分鐘rpm,主軸輸出電壓將為以下“S”命令:
// @“S1000 5 v,“S250”@ 0.02 v,“S625”@ 2.5 v(中檔)。銷輸出0 v時禁用。

#define SPINDLE_MAX_RPM 1000.0 // Max spindle RPM. This value is equal to 100% duty cycle on the PWM.
#define SPINDLE_MIN_RPM 0.0 // Min spindle RPM. This value is equal to (1/256) duty cycle on the PWM.

// Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
// When disabled, the PWM pin will still read 0V. Most users will not need this option, but it may be
// useful in certain scenarios. This setting does not update the minimum spindle RPM calculations. Any
// spindle RPM output lower than this value will be set to this value.
//使用的變量軸輸出。這迫使PWM輸出最小占空比時啟用。
//當禁用,PWM銷仍讀0 v。大多數(shù)用戶不需要這個選項,但是它可能是
//在某些情況下很有用。這個設(shè)置不會更新最小主軸轉(zhuǎn)速計算。任何
//輸出軸轉(zhuǎn)速低于這個值將被設(shè)置為這個值。

// #define MINIMUM_SPINDLE_PWM 5 // Default disabled. Uncomment to enable. Integer (0-255)

// By default on a 328p(Uno), Grbl combines the variable spindle PWM and the enable into one pin to help
// preserve I/O pins. For certain setups, these may need to be separate pins. This configure option uses
// the spindle direction pin(D13) as a separate spindle enable pin along with spindle speed PWM on pin D11.
// NOTE: This configure option only works with VARIABLE_SPINDLE enabled and a 328p processor (Uno).
// NOTE: With no direction pin, the spindle clockwise M4 g-code command will be removed. M3 and M5 still work.
// NOTE: BEWARE! The Arduino bootloader toggles the D13 pin when it powers up. If you flash Grbl with
// a programmer (you can use a spare Arduino as "Arduino as ISP". Search the web on how to wire this.),
// this D13 LED toggling should go away. We haven't tested this though. Please report how it goes!
//默認ATmega328 p(Uno),Grbl結(jié)合變量軸PWM和使到一個銷的幫助
//保存I / O管腳。對于某些設(shè)置,這些可能需要單獨的別針。這個配置選項使用
//方向軸銷(D13)作為一個單獨的軸銷上啟用銷以及主軸轉(zhuǎn)速PWM這里。
//注意:該配置選項僅適用于VARIABLE_SPINDLE啟用和328 p處理器(Uno)。
//注意:沒有方向銷,主軸順時針M4刀位點命令將被刪除。M3和M5仍然工作。
//注意:小心!Arduino引導(dǎo)裝載程序切換D13銷的權(quán)力。如果flash Grbl
//程序員(您可以使用一個備用Arduino“Arduino ISP”。搜索網(wǎng)絡(luò)如何線),
//這D13導(dǎo)致切換應(yīng)該消失。我們還沒有測試這個。請報告將會怎樣!

// #define USE_SPINDLE_DIR_AS_ENABLE_PIN // Default disabled. Uncomment to enable.

// With this enabled, Grbl sends back an echo of the line it has received, which has been pre-parsed (spaces
// removed, capitalized letters, no comments) and is to be immediately executed by Grbl. Echoes will not be
// sent upon a line buffer overflow, but should for all normal lines sent to Grbl. For example, if a user
// sendss the line 'g1 x1.032 y2.45 (test comment)', Grbl will echo back in the form '[echo: G1X1.032Y2.45]'.
// NOTE: Only use this for debugging purposes!! When echoing, this takes up valuable resources and can effect
// performance. If absolutely needed for normal operation, the serial write buffer should be greatly increased
// to help minimize transmission waiting within the serial write protocol.

//啟用,Grbl發(fā)回的回聲線已收到,已預(yù)編譯(空間
//移除,大寫字母,沒有評論),由Grbl立即執(zhí)行。回聲將不會
//發(fā)送一個線緩沖區(qū)溢位,但應(yīng)該對所有正常線路送到Grbl。例如,如果一個用戶
//發(fā)送線的g1 x1.032 y2.45(測試評論)形式”,Grbl將回聲”(回聲:G1X1.032Y2.45]”。
//注意:只使用這個調(diào)試! !當呼應(yīng),這占用了寶貴的資源,可以影響
//性能。如果正常運行所需的絕對,串行寫入緩沖器應(yīng)該大大增加
//幫助最小化傳輸?shù)认盗袃?nèi)寫協(xié)議。

// #define REPORT_ECHO_LINE_RECEIVED // Default disabled. Uncomment to enable.

// Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at
// every buffer block junction, except for starting from rest and end of the buffer, which are always
// zero. This value controls how fast the machine moves through junctions with no regard for acceleration
// limits or angle between neighboring block line move directions. This is useful for machines that can't
// tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value
// should not be much greater than zero or to the minimum value necessary for the machine to work.

//最小規(guī)劃師結(jié)速度。設(shè)置默認最小連接速度規(guī)劃計劃
//每一個緩沖塊接頭,除了從結(jié)束休息和緩沖區(qū),它總是
// 0。這個值控制機器的速度穿過路口,沒有考慮加速度
//限制或相鄰塊之間的角線方向移動。這是有用的機器,不能
//容忍工具居住某一剎那,即3 d打印機或激光切割機。如果使用這個值
//不應(yīng)大于零或機器工作所需的最小值。

#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)

// Sets the minimum feed rate the planner will allow. Any value below it will be set to this minimum
// value. This also ensures that a planned motion always completes and accounts for any floating-point
// round-off errors. Although not recommended, a lower value than 1.0 mm/min will likely work in smaller
// machines, perhaps to 0.1mm/min, but your success may vary based on multiple factors.
//設(shè)置計劃將允許的最小進給速率。任何價值低于它將被設(shè)置為最低值。這也保證了運動計劃總是完成,占任何浮點
//舍入錯誤。雖然不推薦,價值低于1.0毫米/分鐘可能會在較小的工作
//機器,也許到0.1毫米/分鐘,但你的成功基于多種因素可能會有所不同。

#define MINIMUM_FEED_RATE 1.0 // (mm/min)//設(shè)置計劃將允許的最小進給速率

// Number of arc generation iterations by small angle approximation before exact arc trajectory
// correction with expensive sin() and cos() calcualtions. This parameter maybe decreased if there
// are issues with the accuracy of the arc generations, or increased if arc execution is getting
// bogged down by too many trig calculations.
//弧生成迭代次數(shù)之前小角度近似精確的弧線軌跡
//修正與昂貴的sin()和cos()calcualtions。如果有這個參數(shù)可能減少
//與弧一代又一代的準確性問題,或如果電弧執(zhí)行得到增加
//太多的三角計算的泥潭。

#define N_ARC_CORRECTION 12 // Integer (1-255)

// The arc G2/3 g-code standard is problematic by definition. Radius-based arcs have horrible numerical
// errors when arc at semi-circles(pi) or full-circles(2*pi). Offset-based arcs are much more accurate
// but still have a problem when arcs are full-circles (2*pi). This define accounts for the floating
// point issues when offset-based arcs are commanded as full circles, but get interpreted as extremely
// small arcs with around machine epsilon (1.2e-7rad) due to numerical round-off and precision issues.
// This define value sets the machine epsilon cutoff to determine if the arc is a full-circle or not.
// NOTE: Be very careful when adjusting this value. It should always be greater than 1.2e-7 but not too
// much greater than this. The default setting should capture most, if not all, full arc error situations.
//弧G2/3刀位點的標準定義是有問題的。Radius-based弧有可怕的數(shù)值
//錯誤當電弧在半圓(π)或原點(2 *π)。Offset-based弧更準確
//但仍有一個問題當弧原點(2 *π)。這個定義占浮動
//當offset-based弧吩咐點問題完整的圓,但解釋為極
//小弧機周圍ε(1.2 e-7rad)由于數(shù)字舍入和精度問題。
//定義值設(shè)置機器ε截止來確定電弧是一個原點了。
//注意:調(diào)整這個值時非常小心。它應(yīng)該總是大于1.2 e -但不要太
//比這大得多。默認設(shè)置應(yīng)該捕獲大部分,如果不是全部,全部錯誤的情況。

#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)

// Time delay increments performed during a dwell. The default value is set at 50ms, which provides
// a maximum time delay of roughly 55 minutes, more than enough for most any application. Increasing
// this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of
// run-time command executions, like status reports, since these are performed between each dwell
// time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
//延時增加表現(xiàn)在住。默認值設(shè)置為50毫秒,它提供了
//最大延時約55分鐘,足夠?qū)Υ蠖鄶?shù)任何應(yīng)用程序。增加
//這種延遲將增加線性最大停留時間,也減少了響應(yīng)能力
//運行命令執(zhí)行狀態(tài)報告一樣,因為這些每個住之間執(zhí)行
//時間步。還有,記住,Arduino延遲計時器不是很準確的長時間延誤。

#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)

// Creates a delay between the direction pin setting and corresponding step pulse by creating
// another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare)
// sets the direction pins, and does not immediately set the stepper pins, as it would in
// normal operation. The Timer2 compare fires next to set the stepper pins after the step
// pulse delay time, and Timer2 overflow will complete the step pulse, except now delayed
// by the step pulse time plus the step pulse delay. (Thanks langwadt for the idea!)
// NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
// user-supplied step pulse time, the total time must not exceed 127us. Reported successful
// values for certain setups have ranged from 5 to 20us.
//創(chuàng)建一個方向銷之間的延遲脈沖通過創(chuàng)建設(shè)置和相應(yīng)的步驟
//另一個中斷(Timer2比較)來管理它。主要Grbl中斷(Timer1比較)
//設(shè)置方向針,不立即設(shè)置步進針,因為它會在
//正常操作。Timer2比較火旁邊設(shè)置步進針后一步
//脈沖延遲時間,Timer2溢出脈沖將完成的步驟,現(xiàn)在延遲除外
//脈沖時間加上的一步一步脈沖延遲。(感謝langwadt主意!)
//注意:取消啟用。必須> 3,建議延遲,當添加的
//用戶提供的步驟脈沖時間,總時間不得超過127美元。成功的報道
//值對某些設(shè)置范圍從5到20。

// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.

// The number of linear motions in the planner buffer to be planned at any give time. The vast
// majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra
// available RAM, like when re-compiling for a Mega or Sanguino. Or decrease if the Arduino
// begins to crash due to the lack of available RAM or if the CPU is having trouble keeping
// up with planning new incoming motions as they are executed.
//線性運動規(guī)劃師緩沖區(qū)的數(shù)量在任何給出時間計劃。絕大
//多數(shù)RAM Grbl使用基于這個緩沖區(qū)的大小。如果有額外的只會增加
//可用內(nèi)存,比如當基于大型或Sanguino。如果Arduino或減少
//開始崩潰由于缺乏可用的RAM或者CPU是難以保持
//與規(guī)劃新傳入的動作執(zhí)行。

// #define BLOCK_BUFFER_SIZE 18  // Uncomment to override default in planner.h.

// Governs the size of the intermediary step segment buffer between the step execution algorithm
// and the planner blocks. Each segment is set of steps executed at a constant velocity over a
// fixed time defined by ACCELERATION_TICKS_PER_SECOND. They are computed such that the planner
// block velocity profile is traced exactly. The size of this buffer governs how much step
// execution lead time there is for other Grbl processes have to compute and do their thing
// before having to come back and refill this buffer, currently at ~50msec of step moves.
//控制之間的中間段緩沖大小的步驟執(zhí)行算法
//和規(guī)劃師塊。每一部分的步驟執(zhí)行在一個恒定的速度
//固定的時間由ACCELERATION_TICKS_PER_SECOND定義的。他們計算的計劃
//塊速度剖面追蹤到底。這個緩沖區(qū)的大小控制多少步驟
//執(zhí)行時間有其他Grbl過程需要計算和做他們的事情
//之前必須回來重新填充這個緩沖區(qū),目前移動~ 50毫秒的一步。

// #define SEGMENT_BUFFER_SIZE 6 // Uncomment to override default in stepper.h.

// Line buffer size from the serial input stream to be executed. Also, governs the size of
// each of the startup blocks, as they are each stored as a string of this size. Make sure
// to account for the available EEPROM at the defined memory address in settings.h and for
// the number of desired startup blocks.
// NOTE: 80 characters is not a problem except for extreme cases, but the line buffer size
// can be too small and g-code blocks can get truncated. Officially, the g-code standards
// support up to 256 characters. In future versions, this default will be increased, when
// we know how much extra memory space we can re-invest into this.
//行執(zhí)行串行輸入流的緩沖區(qū)大小。同時,大小的控制
//每個啟動模塊,它們分別存儲為字符串的大小。確保
//占可用eepm定義內(nèi)存地址的設(shè)置。h和
//需要啟動塊的數(shù)量。
//注意:80個字符不是一個問題,除了極端的情況下,但線緩沖區(qū)大小
//可以太小和刀位點塊可以截斷。正式,刀位點標準
//支持多達256個字符。在未來的版本中,這個違約將會增加,當
//我們知道多少額外內(nèi)存空間的時候我們可以再投資。

// #define LINE_BUFFER_SIZE 80  // Uncomment to override default in protocol.h

// Serial send and receive buffer size. The receive buffer is often used as another streaming
// buffer to store incoming blocks to be processed by Grbl when its ready. Most streaming
// interfaces will character count and track each block send to each block response. So,
// increase the receive buffer if a deeper receive buffer is needed for streaming and avaiable
// memory allows. The send buffer primarily handles messages in Grbl. Only increase if large
// messages are sent and Grbl begins to stall, waiting to send the rest of the message.
// NOTE: Buffer size values must be greater than zero and less than 256.
// #define RX_BUFFER_SIZE 128 // Uncomment to override defaults in serial.h
//串行發(fā)送和接收緩沖區(qū)大小。接收緩沖區(qū)通常用作另一個流
//緩沖存儲傳入的塊來處理Grbl當它準備好了。最流
//接口將字符計數(shù)和跟蹤每一塊發(fā)送給每個塊的回應(yīng)。所以,
//增加接收緩沖區(qū)如果需要更深層次的接收緩沖區(qū)為流,、
//內(nèi)存允許。Grbl發(fā)送緩沖主要處理消息。只會增加如果大
//消息發(fā)送和Grbl開始停滯,等待發(fā)送其余的消息。
//注意:緩沖區(qū)大小值必須大于零,小于256。
// # define RX_BUFFER_SIZE 128 / /取消serial.h覆蓋默認值

// #define TX_BUFFER_SIZE 64

// Toggles XON/XOFF software flow control for serial communications. Not officially supported
// due to problems involving the Atmega8U2 USB-to-serial chips on current Arduinos. The firmware
// on these chips do not support XON/XOFF flow control characters and the intermediate buffer
// in the chips cause latency and overflow problems with standard terminal programs. However,
// using specifically-programmed UI's to manage this latency problem has been confirmed to work.
// As well as, older FTDI FT232RL-based Arduinos(Duemilanove) are known to work with standard
// terminal programs since their firmware correctly manage these XON/XOFF characters. In any
// case, please report any successes to grbl administrators!
//切換為串行通信發(fā)送樸通/發(fā)送葡開軟件流控制。不是官方支持
//由于問題涉及Atmega8U2 USB-to-serial當前arduino芯片。固件
//在這些芯片不支持發(fā)送樸通/發(fā)送葡開流控制字符和中間緩沖區(qū)
//芯片導(dǎo)致延遲和溢出問題的標準終端程序。然而,
//使用specifically-programmed UI的管理這個延遲問題已經(jīng)確認工作。
//以及老FTDI FT232RL-based arduino(Duemilanove)是已知的標準
//終端程序因為他們正確的固件管理這些發(fā)送樸通/發(fā)送葡開的角色。在任何
//情況,請報告任何成功grbl管理員!

// #define ENABLE_XONXOFF // Default disabled. Uncomment to enable.

// A simple software debouncing feature for hard limit switches. When enabled, the interrupt
// monitoring the hard limit switch pins will enable the Arduino's watchdog timer to re-check
// the limit pin state after a delay of about 32msec. This can help with CNC machines with
// problematic false triggering of their hard limit switches, but it WILL NOT fix issues with
// electrical interference on the signal cables from external sources. It's recommended to first
// use shielded signal cables with their shielding connected to ground (old USB/computer cables
// work well and are cheap to find) and wire in a low-pass circuit into each limit pin.
//一個簡單的軟件消除抖動特性硬限位開關(guān)。當啟用時,中斷
//監(jiān)控硬限位開關(guān)針將使Arduino的看門狗定時器重新審視
//銷的極限狀態(tài)后約32毫秒的延遲。這可以幫助與數(shù)控機器
//問題錯誤引發(fā)的硬限位開關(guān),但是它不會解決問題
//電干擾信號電纜從外部來源。首先它的建議
//使用屏蔽信號電纜的屏蔽連接到地面(老USB /計算機電纜
//工作得很好,很便宜)和線低通電路到每個限位銷。

// #define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.

// Force Grbl to check the state of the hard limit switches when the processor detects a pin
// change inside the hard limit ISR routine. By default, Grbl will trigger the hard limits
// alarm upon any pin change, since bouncing switches can cause a state check like this to
// misread the pin. When hard limits are triggered, they should be 100% reliable, which is the
// reason that this option is disabled by default. Only if your system/electronics can guarantee
// that the switches don't bounce, we recommend enabling this option. This will help prevent
// triggering a hard limit when the machine disengages from the switch.
// NOTE: This option has no effect if SOFTWARE_DEBOUNCE is enabled.
//力Grbl檢查硬限位開關(guān)的狀態(tài),當處理器檢測到一個銷
//改變內(nèi)部硬限制ISR例行公事。默認情況下,Grbl將觸發(fā)硬限制
//報警在任何銷更改,因為跳開關(guān)可以導(dǎo)致這樣的狀態(tài)檢查
//誤讀了銷。硬限制觸發(fā)時,他們應(yīng)該100%可靠,這是
//原因,這個選項默認是禁用的。只有在你的系統(tǒng)/電子產(chǎn)品可以保證
//開關(guān)不反彈,我們建議啟用這個選項。這將有助于防止
//觸發(fā)機退出時硬限制開關(guān)。
//注意:這個選項如果啟用了SOFTWARE_DEBOUNCE沒有影響。

// #define HARD_LIMIT_FORCE_STATE_CHECK // Default disabled. Uncomment to enable.

// ---------------------------------------------------------------------------------------
// COMPILE-TIME ERROR CHECKING OF DEFINE VALUES:編譯時錯誤檢查的定義值:

#ifndef HOMING_CYCLE_0
  #error "Required HOMING_CYCLE_0 not defined."
#endif

#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(VARIABLE_SPINDLE)
  #error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with VARIABLE_SPINDLE enabled"
#endif

#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(CPU_MAP_ATMEGA328P)
  #error "USE_SPINDLE_DIR_AS_ENABLE_PIN may only be used with a 328p processor"
#endif

// ---------------------------------------------------------------------------------------

#endif

1五湖四海1 · 發(fā)表于 2016-8-21 00:11:42

那些沒有用的照片不知道怎么就上去了好討厭。

1五湖四海1 · 發(fā)表于 2016-8-21 00:14:16

凸輪設(shè)計與加工 · 發(fā)表于 2016-8-21 05:50:22

樓主厲害！

mrplplplpl · 發(fā)表于 2016-8-21 08:22:05

謝謝樓主，先收藏一下，慢慢學(xué)習(xí)

通行證 · 發(fā)表于 2016-8-23 15:11:25

這是什么寶貝？

通行證 · 發(fā)表于 2016-8-23 15:11:47

換了個瀏覽器Chrome，試試能否發(fā)言了。

w247442603 · 發(fā)表于 2016-8-23 20:12:33

樓主厲害

1五湖四海1 · 發(fā)表于 2016-8-23 23:03:17

補充
程序運行protocol_execute_realtime(); /運行實時命令。
// Executes run-time commands, when required. This is called from various check points in the main
// program, primarily where there may be a while loop waiting for a buffer to clear space or any
// point where the execution time from the last check point may be more than a fraction of a second.
// This is a way to execute realtime commands asynchronously (aka multitasking) with grbl's g-code
// parsing and planning functions. This function also serves as an interface for the interrupts to
// set the system realtime flags, where only the main program handles them, removing the need to
// define more computationally-expensive volatile variables. This also provides a controlled way to
// execute certain tasks without having two or more instances of the same task, such as the planner
// recalculating the buffer upon a feedhold or override.
// NOTE: The sys_rt_exec_state variable flags are set by any process, step or serial interrupts, pinouts,
// limit switches, or the main program.

//執(zhí)行運行時間命令,在需要時。這就是所謂的從各種主程序要檢查站
//,主要是那里可能是一個while循環(huán)等待緩沖區(qū)空間或任何
//執(zhí)行時間從過去的止點可以超過幾分之一秒。
//這是一種異步執(zhí)行實時命令(又名多任務(wù))grbl的刀位點
//解析和規(guī)劃功能。這個函數(shù)也可以作為一個接口,用于中斷
//設(shè)置系統(tǒng)實時的旗幟,只有主程序處理,消除的需要
//定義更多的計算昂貴volatile變量。這也提供了一種控制方法
//執(zhí)行某些任務(wù)不相同的兩個或多個實例的任務(wù),比如計劃
//重新計算緩沖feedhold或覆蓋。
//注意:sys_rt_exec_state變量標志設(shè)置任何過程,步驟或串行中斷,插腳引線,
//限位開關(guān)或主程序。
void protocol_execute_realtime()
{
// Temp variable to avoid calling volatile multiple times.
// 臨時變量來避免多次調(diào)用不穩(wěn)定。
uint8_t rt_exec;
do{
    if (rt_exec) { // 有標志位置位進入

      sys.state = STATE_ALARM; // 設(shè)置系統(tǒng)為報警狀態(tài)
   report_alarm_message(ALARM_HARD_LIMIT_ERROR); //報告報警信息為接近極限值
} else if (rt_exec & EXEC_ALARM_SOFT_LIMIT) { //報告執(zhí)行軟件限位報警
   report_alarm_message(ALARM_SOFT_LIMIT_ERROR); //報告出現(xiàn)軟件限位報警
} else if (rt_exec & EXEC_ALARM_ABORT_CYCLE) { //執(zhí)行停止循環(huán)報警
   report_alarm_message(ALARM_ABORT_CYCLE); //出現(xiàn)終止循環(huán)報警
} else if (rt_exec & EXEC_ALARM_PROBE_FAIL) { //執(zhí)行探查失敗報警
   report_alarm_message(ALARM_PROBE_FAIL); //出現(xiàn)探查失敗報警
} else if (rt_exec & EXEC_ALARM_HOMING_FAIL) { //執(zhí)行返回原點失敗報警
   report_alarm_message(ALARM_HOMING_FAIL); //出現(xiàn)返回原點失敗報警
}

// Halt everything upon a critical event flag. Currently hard and soft limits flag this.
// 停止一切在一個關(guān)鍵事件標志。目前硬和軟限制標志
   if (rt_exec & EXEC_CRITICAL_EVENT) { //如果系統(tǒng)是循環(huán)事件進入
     report_feedback_message(MESSAGE_CRITICAL_EVENT); //報告反饋信息
      bit_false_atomic(sys_rt_exec_state,EXEC_RESET); //清除目前的復(fù)位狀態(tài)

bit_false_atomic(sys_rt_exec_alarm,0xFF); // 清除所有報警標志
}

上面代碼將rt_exec = sys_rt_exec_alarm ，如果rt_exec為真，打印不同報警信息
和限位保護信息，然后清除報警狀態(tài)
___________________________________________________________________________
沒有報警進行執(zhí)行下面代碼,執(zhí)行了終止命令，串口打印命令
// Check amd execute realtime commands 校驗和執(zhí)行實時命令
    rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state

if (rt_exec) { // 輸入標志是正確的執(zhí)行

// Execute system abort. 執(zhí)行系統(tǒng)終止命令
if (rt_exec & EXEC_RESET) {
          sys.abort = true;  // Only place this is set true.
      return; // Nothing else to do but exit.
}

      // Execute and serial print status 執(zhí)行和串口打印狀態(tài)
      if (rt_exec & EXEC_STATUS_REPORT) {
      report_realtime_status(); //報告實時狀態(tài)
          bit_false_atomic(sys_rt_exec_state,EXEC_STATUS_REPORT); //清除報告狀態(tài)清零
      }
_____________________________________________________________________________
下面代碼
//執(zhí)行狀態(tài)。
//注意:所涉及的數(shù)學(xué)計算持有應(yīng)該足夠低對大多數(shù)人來說,即使不是全部,
//操作場景。一旦啟動,系統(tǒng)進入暫停狀態(tài)
//主程序流程,直到重置或恢復(fù)。
待辦事項:檢查模式?如何處理呢?可能沒有,因為它只會在空閑,然后重置Grbl。
狀態(tài)檢查容許狀態(tài)的方法。

//如果全局各自報警標志位其中(執(zhí)行取消動作) | (執(zhí)行進給保持) | (執(zhí)行安全門)任意一位為真進入
if (rt_exec & (EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR)) {

      //如果是循環(huán)狀態(tài)執(zhí)行暫停狀態(tài)
if (sys.state == STATE_CYCLE) {
st_update_plan_block_parameters(); //通知stepper module驗算減速。
sys.suspend = SUSPEND_ENABLE_HOLD; // 開始暫停標志
      }

// 如果,Grbl空閑不在運動。簡單的指示暫停就緒狀態(tài)。
      if (sys.state == STATE_IDLE) { sys.suspend = SUSPEND_ENABLE_READY; }

//執(zhí)行和標志和減速運動取消并返回空閑。主要由探測使用周期
//停止和取消剩余的運動。
      if (rt_exec & EXEC_MOTION_CANCEL) {
      if (sys.state == STATE_CYCLE) { sys.state = STATE_MOTION_CANCEL; }
      sys.suspend |= SUSPEND_MOTION_CANCEL;
      }

// 只在循環(huán)時執(zhí)行進給保持減速
   if (rt_exec & EXEC_FEED_HOLD) {
//只有安全門為1才執(zhí)行保持進給狀態(tài)賦值
      if (bit_isfalse(sys.state,STATE_SAFETY_DOOR)) { sys.state = STATE_HOLD; }
      }

      if (rt_exec & EXEC_SAFETY_DOOR) {
      report_feedback_message(MESSAGE_SAFETY_DOOR_AJAR);
/ /如果已經(jīng)活躍,準備好重新開始,CYCLE_STOP標志設(shè)置為強制斷開。
/ /注意:只是暫時設(shè)置“rt_exec”變量,不是動蕩的“rt_exec_state”變量。
      if (sys.suspend & SUSPEND_ENABLE_READY) { bit_true(rt_exec,EXEC_CYCLE_STOP); }
      sys.suspend |= SUSPEND_ENERGIZE;
      sys.state = STATE_SAFETY_DOOR;
      }

bit_false_atomic(sys_rt_exec_state,(EXEC_MOTION_CANCEL | EXEC_FEED_HOLD | EXEC_SAFETY_DOOR));

}
以上代碼執(zhí)行了
1.如果全局各自報警標志位其中(執(zhí)行取消動作) | (執(zhí)行進給保持) | (執(zhí)行安全門)任意一位為真進入
2.系統(tǒng)為閑著狀態(tài)，開始循環(huán)狀態(tài)，回原點狀態(tài)，控制取消狀態(tài)，開始保持狀態(tài)，開始安全門狀態(tài)時進入
3.如果是循環(huán)狀態(tài)執(zhí)行暫停狀態(tài)
4.如果系統(tǒng)閑置狀態(tài)執(zhí)行暫停就緒狀態(tài)
5.執(zhí)行動作取消
6.如果是保持進給狀態(tài)，執(zhí)行保持進給狀態(tài)
7.執(zhí)行安全門狀態(tài)
最后執(zhí)行bit_false_atomic清標志清除(執(zhí)行取消動作)(執(zhí)行進給保持)(執(zhí)行安全門)標志位
_____________________________________________________________________________

// Execute a cycle start by starting the stepper interrupt to begin executing the blocks in queue.
// 執(zhí)行一個循環(huán)開始啟動步進開始執(zhí)行中斷隊列的街區(qū)
if (rt_exec & EXEC_CYCLE_START) { //循環(huán)開始狀態(tài)進入
   // Block if called at same time as the hold commands: feed hold, motion cancel, and safety door.
   // Ensures auto-cycle-start doesn't resume a hold without an explicit user-input.
   //塊如果在同時舉行的命令:保持進給,運動取消,和安全的門。 //確保auto-cycle-start沒有簡歷沒有顯式的用戶輸入。

   if (!(rt_exec & (EXEC_FEED_HOLD | EXEC_MOTION_CANCEL | EXEC_SAFETY_DOOR))) { //狀態(tài)機如果不是保持進給,運動取消,和安全的門。
      // Cycle start only when IDLE or when a hold is complete and ready to resume.
      // NOTE: SAFETY_DOOR is implicitly blocked. It reverts to HOLD when the door is closed.
//循環(huán)開始時只有當閑置或持有完成并準備簡歷。
//注意:SAFETY_DOOR是隱式地屏蔽。它返回的時候門是關(guān)閉的。

// 如果系統(tǒng)狀態(tài)為閑著狀態(tài)，系統(tǒng)狀態(tài)為開始進給或運動取消，暫停標志為位重新開始
      if ((sys.state == STATE_IDLE) || ((sys.state & (STATE_HOLD | STATE_MOTION_CANCEL)) && (sys.suspend & SUSPEND_ENABLE_READY))) {
      // Re-energize powered components, if disabled by SAFETY_DOOR.
      // 由SAFETY_DOOR重振組件供電,如果禁用。
      if (sys.suspend & SUSPEND_ENERGIZE) {
         // Delayed Tasks: Restart spindle and coolant, delay to power-up, then resume cycle.
         //延遲任務(wù):重新啟動主軸和冷卻劑,延遲升高,然后恢復(fù)周期。
         if (gc_state.modal.spindle != SPINDLE_DISABLE) { //主軸模式不是失能進入
            spindle_set_state(gc_state.modal.spindle, gc_state.spindle_speed); //設(shè)置狀態(tài)和速度
            //待辦事項:阻塞函數(shù)調(diào)用。最終需要一個非阻塞。
delay_ms(SAFETY_DOOR_SPINDLE_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
         }
         if (gc_state.modal.coolant != COOLANT_DISABLE) {
            coolant_set_state(gc_state.modal.coolant);
            delay_ms(SAFETY_DOOR_COOLANT_DELAY); // TODO: Blocking function call. Need a non-blocking one eventually.
         }
         // TODO: Install return to pre-park position.
      }
______________________________________________________________________________________________________________
      // Start cycle only if queued motions exist in planner buffer and the motion is not canceled.

   //只有在隊列馬達存在規(guī)定的緩沖，并且動機沒有讓取消，才會循環(huán)

      if (plan_get_current_block() && bit_isfalse(sys.suspend,SUSPEND_MOTION_CANCEL)) {
         sys.state = STATE_CYCLE;
         st_prep_buffer(); // Initialize step segment buffer before beginning cycle.初始化步開始循環(huán)之前
         st_wake_up();
      } else { // Otherwise, do nothing. Set and resume IDLE state.否則，什么也不做，設(shè)置和復(fù)位空閑模式
         sys.state = STATE_IDLE;
      }
      sys.suspend = SUSPEND_DISABLE; // Break suspend state.
      }
   }
   bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_START);
}

_______________________________________________________________________________________________________
// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
// realtime command execution in the main program, ensuring that the planner re-plans safely.
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes.

//重新啟動后循環(huán)計劃和步進系統(tǒng)的進給保持簡歷。通過實時命令執(zhí)行主程序,確保安全計劃重新計劃。
//注意:畫線算法變量仍保持通過規(guī)劃師和步進
//循環(huán)僅。步進路徑應(yīng)該繼續(xù),好像什么都沒發(fā)生一樣。
//注意:EXEC_CYCLE_STOP由步進子系統(tǒng)周期或進給保持時完成。

if (rt_exec & EXEC_CYCLE_STOP) {    //如果是循環(huán)停止狀態(tài)進入
   if (sys.state & (STATE_HOLD | STATE_SAFETY_DOOR)) {
      // Hold complete. Set to indicate ready to resume.  Remain in HOLD or DOOR states until user
      // has issued a resume command or reset.

//保存完整。設(shè)置為指示準備簡歷。繼續(xù)持有或門狀態(tài),直到用戶
//已發(fā)布了一份簡歷命令或重置。

      if (sys.suspend & SUSPEND_ENERGIZE) { // De-energize system if safety door has been opened. 如果安全的門已被打開。斷開系統(tǒng)
      spindle_stop();
      coolant_stop();
      // TODO: Install parking motion here. 安裝停車動作。
      }
      bit_true(sys.suspend,SUSPEND_ENABLE_READY);
   } else { // Motion is complete. Includes CYCLE, HOMING, and MOTION_CANCEL states. 電機完成，循環(huán)，回原點，,MOTION_CANCEL
      sys.suspend = SUSPEND_DISABLE;
      sys.state = STATE_IDLE;
   }
   bit_false_atomic(sys.rt_exec_state,EXEC_CYCLE_STOP);
}

  }
___________________________________________________________________________________________________

  // Overrides flag byte (sys.override) and execution should be installed here, since they
  // are realtime and require a direct and controlled interface to the main stepper program.

  //重寫標志字節(jié)(sys.override)和執(zhí)行應(yīng)該安裝在這里,因為他們
  //實時和需要直接和控制接口的主要步進程序。

  // Reload step segment buffer 重新加載步段緩沖
  if (sys.state & (STATE_CYCLE | STATE_HOLD | STATE_MOTION_CANCEL | STATE_SAFETY_DOOR | STATE_HOMING)) { st_prep_buffer(); }

  // If safety door was opened, actively check when safety door is closed and ready to resume.
  // NOTE: This unlocks the SAFETY_DOOR state to a HOLD state, such that CYCLE_START can activate a resume.

//如果安全的門被打開,積極檢查當安全門關(guān)閉,準備簡歷。
  //注意:這解鎖SAFETY_DOOR狀態(tài)保持狀態(tài),這樣CYCLE_START可以激活一個簡歷。

  if (sys.state == STATE_SAFETY_DOOR) { //安全門狀態(tài)進入
if (bit_istrue(sys.suspend,SUSPEND_ENABLE_READY)) {
   if (!(system_check_safety_door_ajar())) {
      sys.state = STATE_HOLD; // Update to HOLD state to indicate door is closed and ready to resume. 更新保存狀態(tài)指示門關(guān)閉,準備簡歷。
   }
}
  }

  } while(sys.suspend); // Check for system suspend state before exiting.

}

szg不敗 · 發(fā)表于 2016-8-25 09:31:12

樓主這些代碼。是網(wǎng)上搜來，然后自己組合的嗎？全是自己想的，那是牛逼了

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