grblHAL core
20250412
grbl.h
Go to the documentation of this file.
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/*
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grbl.h - main grblHAL include file for compile time configuration
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Part of grblHAL
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Copyright (c) 2017-2025 Terje Io
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Copyright (c) 2015-2016 Sungeun K. Jeon for Gnea Research LLC
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grblHAL is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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grblHAL is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef _GRBL_H_
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#define _GRBL_H_
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#ifdef __SAM3X8E__
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#define _WIRING_CONSTANTS_
// for shutting up compiler warnings due to bad framework code for Arduino Due
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#endif
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef ARDUINO
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#include <Arduino.h>
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#endif
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#include "
config.h
"
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// grblHAL versioning system
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#if COMPATIBILITY_LEVEL == 0
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#define GRBL_VERSION "1.1f"
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#else
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#define GRBL_VERSION "1.1f"
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#endif
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#define GRBL_BUILD 20250411
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#define GRBL_URL "https://github.com/grblHAL"
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// The following symbols are set here if not already set by the compiler or in config.h
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// Do NOT change here!
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#ifndef DCRAM
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//#if defined(__IMXRT1062__)
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//#define DCRAM DMAMEM
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//#else
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#define DCRAM
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//#endif
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#endif
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#ifdef GRBL_ESP32
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#include "esp_attr.h"
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#define ISR_CODE IRAM_ATTR
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#elif !defined(ISR_CODE)
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// #define ISR_CODE __attribute__((long_call, section(".data")))
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// Used to decorate code run in interrupt context.
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// Do not remove or change unless you know what you are doing.
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#define ISR_CODE
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#endif
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#ifdef RP2040
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#include "pico.h"
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#define ISR_FUNC(fn) __not_in_flash_func(fn)
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#else
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#define ISR_FUNC(fn) fn
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#endif
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#ifndef PROGMEM
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#define PROGMEM
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#endif
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#if (COREXY || WALL_PLOTTER || DELTA_ROBOT || POLAR_ROBOT || MASLOW_ROUTER) && !defined(KINEMATICS_API)
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#define KINEMATICS_API
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#endif
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// The following symbols are default values that are unlikely to be changed
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// Do not change unless you know what you are doing!
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// Define realtime command special characters. These characters are 'picked-off' directly from the
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// serial read data stream and are not passed to the grbl line execution parser. Select characters
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// that do not and must not exist in the streamed g-code program. ASCII control characters may be
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// used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
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// g-code programs, maybe selected for interface programs.
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// NOTE: If changed, manually update help message in report.c.
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#define CMD_EXIT 0x03
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#define CMD_REBOOT 0x14
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#define CMD_RESET 0x18
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#define CMD_STOP 0x19
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#define CMD_STATUS_REPORT_LEGACY '?'
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#define CMD_CYCLE_START_LEGACY '~'
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#define CMD_FEED_HOLD_LEGACY '!'
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#define CMD_PROGRAM_DEMARCATION '%'
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// NOTE: All override realtime commands must be in the extended ASCII character set, starting
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// at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
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// such as status reports, feed hold, reset, and cycle start, are moved to the extended set
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// space, protocol.c's protocol_process_realtime() will need to be modified to accommodate the change.
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#define CMD_STATUS_REPORT 0x80
// TODO: use 0x05 ctrl-E ENQ instead?
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#define CMD_CYCLE_START 0x81
// TODO: use 0x06 ctrl-F ACK instead? or SYN/DC2/DC3?
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#define CMD_FEED_HOLD 0x82
// TODO: use 0x15 ctrl-U NAK instead?
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#define CMD_GCODE_REPORT 0x83
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#define CMD_SAFETY_DOOR 0x84
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#define CMD_JOG_CANCEL 0x85
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//#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
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#define CMD_STATUS_REPORT_ALL 0x87
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#define CMD_OPTIONAL_STOP_TOGGLE 0x88
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#define CMD_SINGLE_BLOCK_TOGGLE 0x89
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#define CMD_OVERRIDE_FAN0_TOGGLE 0x8A
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#define CMD_MPG_MODE_TOGGLE 0x8B
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#define CMD_AUTO_REPORTING_TOGGLE 0x8C
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#define CMD_OVERRIDE_FEED_RESET 0x90
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#define CMD_OVERRIDE_FEED_COARSE_PLUS 0x91
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#define CMD_OVERRIDE_FEED_COARSE_MINUS 0x92
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#define CMD_OVERRIDE_FEED_FINE_PLUS 0x93
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#define CMD_OVERRIDE_FEED_FINE_MINUS 0x94
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#define CMD_OVERRIDE_RAPID_RESET 0x95
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#define CMD_OVERRIDE_RAPID_MEDIUM 0x96
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#define CMD_OVERRIDE_RAPID_LOW 0x97
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// #define CMD_OVERRIDE_RAPID_EXTRA_LOW 0x98 // *NOT SUPPORTED*
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#define CMD_OVERRIDE_SPINDLE_RESET 0x99
// Restores spindle override value to 100%.
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#define CMD_OVERRIDE_SPINDLE_COARSE_PLUS 0x9A
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#define CMD_OVERRIDE_SPINDLE_COARSE_MINUS 0x9B
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#define CMD_OVERRIDE_SPINDLE_FINE_PLUS 0x9C
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#define CMD_OVERRIDE_SPINDLE_FINE_MINUS 0x9D
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#define CMD_OVERRIDE_SPINDLE_STOP 0x9E
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#define CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE 0xA0
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#define CMD_OVERRIDE_COOLANT_MIST_TOGGLE 0xA1
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#define CMD_PID_REPORT 0xA2
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#define CMD_TOOL_ACK 0xA3
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#define CMD_PROBE_CONNECTED_TOGGLE 0xA4
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// The following character codes are reserved for plugin use
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#define CMD_MACRO_0 0xB0
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#define CMD_MACRO_1 0xB1
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#define CMD_MACRO_2 0xB2
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#define CMD_MACRO_3 0xB3
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#define CMD_MACRO_4 0xB4
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#define CMD_MACRO_5 0xB5
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#define CMD_MACRO_6 0xB6
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#define CMD_MACRO_7 0xB7
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// System motion line numbers must be zero.
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#define JOG_LINE_NUMBER 0
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// Number of blocks grblHAL executes upon startup. These blocks are stored in non-volatile storage, where the size
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// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
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// be stored and executed in order. These startup blocks would typically be used to set the g-code
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// parser state depending on user preferences.
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#define N_STARTUP_LINE 2
// Integer (1-2)
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// Number of decimal places (scale) output by grblHAL for certain value types. These settings
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// are determined by realistic and commonly observed values in CNC machines. For example, position
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// values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
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// precise this. So, there is likely no need to change these, but you can if you need to here.
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// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
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#define N_DECIMAL_COORDVALUE_INCH 4
// Coordinate or position value in inches
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#define N_DECIMAL_COORDVALUE_MM 3
// Coordinate or position value in mm
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#define N_DECIMAL_RATEVALUE_INCH 1
// Rate or velocity value in in/min
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#define N_DECIMAL_RATEVALUE_MM 0
// Rate or velocity value in mm/min
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#define N_DECIMAL_SETTINGVALUE 3
// Floating point setting values
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#define N_DECIMAL_RPMVALUE 0
// RPM value in rotations per min
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#define N_DECIMAL_PIDVALUE 3
// PID value
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// ---------------------------------------------------------------------------------------
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// ADVANCED CONFIGURATION OPTIONS:
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// Enables code for debugging purposes. Not for general use and always in constant flux.
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// #define DEBUG // Uncomment to enable. Default disabled.
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// Configure rapid, feed, and spindle override settings. These values define the max and min
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// allowable override values and the coarse and fine increments per command received. Please
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// note the allowable values in the descriptions following each define.
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#define DEFAULT_FEED_OVERRIDE 100
// 100%. Don't change this value.
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#ifndef MAX_FEED_RATE_OVERRIDE
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#define MAX_FEED_RATE_OVERRIDE 200
// Percent of programmed feed rate (100-65535). Usually 120% or 200%
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#endif
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#ifndef MIN_FEED_RATE_OVERRIDE
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#define MIN_FEED_RATE_OVERRIDE 10
// Percent of programmed feed rate (1-100). Usually 50% or 1%
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#endif
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#define FEED_OVERRIDE_COARSE_INCREMENT 10
// (1-99). Usually 10%.
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#define FEED_OVERRIDE_FINE_INCREMENT 1
// (1-99). Usually 1%.
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#define DEFAULT_RAPID_OVERRIDE 100
// 100%. Don't change this value.
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#define RAPID_OVERRIDE_MEDIUM 50
// Percent of rapid (1-99). Usually 50%.
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#define RAPID_OVERRIDE_LOW 25
// Percent of rapid (1-99). Usually 25%.
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// #define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
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#define DEFAULT_SPINDLE_RPM_OVERRIDE 100
// 100%. Don't change this value.
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#ifndef MAX_SPINDLE_RPM_OVERRIDE
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#define MAX_SPINDLE_RPM_OVERRIDE 200
// Percent of programmed spindle speed (100-65535). Usually 200%.
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#endif
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#ifndef MIN_SPINDLE_RPM_OVERRIDE
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#define MIN_SPINDLE_RPM_OVERRIDE 10
// Percent of programmed spindle speed (1-100). Usually 10%.
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#endif
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#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10
// (1-99). Usually 10%.
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#define SPINDLE_OVERRIDE_FINE_INCREMENT 1
// (1-99). Usually 1%.
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// Adaptive Multi-Axis Step Smoothing (AMASS) is an advanced feature that does what its name implies,
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// smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
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// frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
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// noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
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// step smoothing. See stepper.c for more details on the AMASS system works.
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#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
// Default enabled. Comment to disable.
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// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
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// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
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// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
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// be considered carefully against how much it over-drives the stepper ISR, the accuracy of the 16-bit
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// timer, and the CPU overhead. Level 0 (no AMASS, normal operation) frequency bin starts at the
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// Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
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// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
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// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
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// and timer accuracy. Do not alter these settings unless you know what you are doing.
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#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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#ifndef MAX_AMASS_LEVEL
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#define MAX_AMASS_LEVEL 3
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#endif
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#if MAX_AMASS_LEVEL <= 0
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error
"AMASS must have 1 or more levels to operate correctly."
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#endif
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#endif
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// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
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// the selected axis with the tool oriented toward the negative direction. In other words, a positive
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// tool length offset value is subtracted from the current location.
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#if COMPATIBILITY_LEVEL > 2 && TOOL_LENGTH_OFFSET_AXIS == -1
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#undef TOOL_LENGTH_OFFSET_AXIS
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#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS
// Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
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#endif
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// Max length of gcode lines (blocks) stored in non-volatile storage
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#if N_AXIS == 6 && COMPATIBILITY_LEVEL <= 1
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#define MAX_STORED_LINE_LENGTH 60
// do not change!
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#else
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#define MAX_STORED_LINE_LENGTH 70
// do not set > 70 unless less than 5 axes are enabled or COMPATIBILITY_LEVEL > 1
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#endif
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#if N_SPINDLE > 4
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#define N_SPINDLE_SELECTABLE 4
// Max 4. for now!
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#else
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#define N_SPINDLE_SELECTABLE N_SPINDLE
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#endif
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typedef
uint_fast16_t
override_t
;
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#endif
config.h
This file contains compile-time and run-time configurations for grblHAL's internal system....
override_t
uint_fast16_t override_t
Definition:
grbl.h:253
STM
grblHAL Driver STM32F756
grbl
grbl.h
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