grblHAL core  20250320
grbl.h
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1 /*
2  grbl.h - main grblHAL include file for compile time configuration
3 
4  Part of grblHAL
5 
6  Copyright (c) 2017-2025 Terje Io
7  Copyright (c) 2015-2016 Sungeun K. Jeon for Gnea Research LLC
8 
9  grblHAL is free software: you can redistribute it and/or modify
10  it under the terms of the GNU General Public License as published by
11  the Free Software Foundation, either version 3 of the License, or
12  (at your option) any later version.
13 
14  grblHAL is distributed in the hope that it will be useful,
15  but WITHOUT ANY WARRANTY; without even the implied warranty of
16  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  GNU General Public License for more details.
18 
19  You should have received a copy of the GNU General Public License
20  along with grblHAL. If not, see <http://www.gnu.org/licenses/>.
21 */
22 
23 #ifndef _GRBL_H_
24 #define _GRBL_H_
25 
26 #ifdef __SAM3X8E__
27 #define _WIRING_CONSTANTS_ // for shutting up compiler warnings due to bad framework code for Arduino Due
28 #endif
29 
30 #include <stdint.h>
31 #include <stdbool.h>
32 
33 #ifdef ARDUINO
34 #include <Arduino.h>
35 #endif
36 
37 #include "config.h"
38 
39 // grblHAL versioning system
40 #if COMPATIBILITY_LEVEL == 0
41 #define GRBL_VERSION "1.1f"
42 #else
43 #define GRBL_VERSION "1.1f"
44 #endif
45 #define GRBL_BUILD 20250320
46 
47 #define GRBL_URL "https://github.com/grblHAL"
48 
49 // The following symbols are set here if not already set by the compiler or in config.h
50 // Do NOT change here!
51 
52 #ifdef GRBL_ESP32
53 #include "esp_attr.h"
54 #define ISR_CODE IRAM_ATTR
55 #else
56 // #define ISR_CODE __attribute__((long_call, section(".data")))
57 // Used to decorate code run in interrupt context.
58 // Do not remove or change unless you know what you are doing.
59 #define ISR_CODE
60 #endif
61 
62 #ifdef RP2040
63 #include "pico.h"
64 #define ISR_FUNC(fn) __not_in_flash_func(fn)
65 #else
66 #define ISR_FUNC(fn) fn
67 #endif
68 
69 #ifndef PROGMEM
70 #define PROGMEM
71 #endif
72 
73 #if (COREXY || WALL_PLOTTER || DELTA_ROBOT || POLAR_ROBOT || MASLOW_ROUTER) && !defined(KINEMATICS_API)
74 #define KINEMATICS_API
75 #endif
76 
77 // The following symbols are default values that are unlikely to be changed
78 // Do not change unless you know what you are doing!
79 
80 // Define realtime command special characters. These characters are 'picked-off' directly from the
81 // serial read data stream and are not passed to the grbl line execution parser. Select characters
82 // that do not and must not exist in the streamed g-code program. ASCII control characters may be
83 // used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in
84 // g-code programs, maybe selected for interface programs.
85 // NOTE: If changed, manually update help message in report.c.
86 
87 #define CMD_EXIT 0x03
88 #define CMD_REBOOT 0x14
89 #define CMD_RESET 0x18
90 #define CMD_STOP 0x19
91 #define CMD_STATUS_REPORT_LEGACY '?'
92 #define CMD_CYCLE_START_LEGACY '~'
93 #define CMD_FEED_HOLD_LEGACY '!'
94 #define CMD_PROGRAM_DEMARCATION '%'
95 
96 // NOTE: All override realtime commands must be in the extended ASCII character set, starting
97 // at character value 128 (0x80) and up to 255 (0xFF). If the normal set of realtime commands,
98 // such as status reports, feed hold, reset, and cycle start, are moved to the extended set
99 // space, protocol.c's protocol_process_realtime() will need to be modified to accommodate the change.
100 #define CMD_STATUS_REPORT 0x80 // TODO: use 0x05 ctrl-E ENQ instead?
101 #define CMD_CYCLE_START 0x81 // TODO: use 0x06 ctrl-F ACK instead? or SYN/DC2/DC3?
102 #define CMD_FEED_HOLD 0x82 // TODO: use 0x15 ctrl-U NAK instead?
103 #define CMD_GCODE_REPORT 0x83
104 #define CMD_SAFETY_DOOR 0x84
105 #define CMD_JOG_CANCEL 0x85
106 //#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
107 #define CMD_STATUS_REPORT_ALL 0x87
108 #define CMD_OPTIONAL_STOP_TOGGLE 0x88
109 #define CMD_SINGLE_BLOCK_TOGGLE 0x89
110 #define CMD_OVERRIDE_FAN0_TOGGLE 0x8A
111 #define CMD_MPG_MODE_TOGGLE 0x8B
112 #define CMD_AUTO_REPORTING_TOGGLE 0x8C
113 #define CMD_OVERRIDE_FEED_RESET 0x90
114 #define CMD_OVERRIDE_FEED_COARSE_PLUS 0x91
115 #define CMD_OVERRIDE_FEED_COARSE_MINUS 0x92
116 #define CMD_OVERRIDE_FEED_FINE_PLUS 0x93
117 #define CMD_OVERRIDE_FEED_FINE_MINUS 0x94
118 #define CMD_OVERRIDE_RAPID_RESET 0x95
119 #define CMD_OVERRIDE_RAPID_MEDIUM 0x96
120 #define CMD_OVERRIDE_RAPID_LOW 0x97
121 // #define CMD_OVERRIDE_RAPID_EXTRA_LOW 0x98 // *NOT SUPPORTED*
122 #define CMD_OVERRIDE_SPINDLE_RESET 0x99 // Restores spindle override value to 100%.
123 #define CMD_OVERRIDE_SPINDLE_COARSE_PLUS 0x9A
124 #define CMD_OVERRIDE_SPINDLE_COARSE_MINUS 0x9B
125 #define CMD_OVERRIDE_SPINDLE_FINE_PLUS 0x9C
126 #define CMD_OVERRIDE_SPINDLE_FINE_MINUS 0x9D
127 #define CMD_OVERRIDE_SPINDLE_STOP 0x9E
128 #define CMD_OVERRIDE_COOLANT_FLOOD_TOGGLE 0xA0
129 #define CMD_OVERRIDE_COOLANT_MIST_TOGGLE 0xA1
130 #define CMD_PID_REPORT 0xA2
131 #define CMD_TOOL_ACK 0xA3
132 #define CMD_PROBE_CONNECTED_TOGGLE 0xA4
133 // The following character codes are reserved for plugin use
134 #define CMD_MACRO_0 0xB0
135 #define CMD_MACRO_1 0xB1
136 #define CMD_MACRO_2 0xB2
137 #define CMD_MACRO_3 0xB3
138 #define CMD_MACRO_4 0xB4
139 #define CMD_MACRO_5 0xB5
140 #define CMD_MACRO_6 0xB6
141 #define CMD_MACRO_7 0xB7
142 
143 // System motion line numbers must be zero.
144 #define JOG_LINE_NUMBER 0
145 
146 // Number of blocks grblHAL executes upon startup. These blocks are stored in non-volatile storage, where the size
147 // and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
148 // be stored and executed in order. These startup blocks would typically be used to set the g-code
149 // parser state depending on user preferences.
150 #define N_STARTUP_LINE 2 // Integer (1-2)
151 
152 // Number of decimal places (scale) output by grblHAL for certain value types. These settings
153 // are determined by realistic and commonly observed values in CNC machines. For example, position
154 // values cannot be less than 0.001mm or 0.0001in, because machines can not be physically more
155 // precise this. So, there is likely no need to change these, but you can if you need to here.
156 // NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
157 #define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
158 #define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
159 #define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
160 #define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
161 #define N_DECIMAL_SETTINGVALUE 3 // Floating point setting values
162 #define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min
163 #define N_DECIMAL_PIDVALUE 3 // PID value
164 
165 // ---------------------------------------------------------------------------------------
166 // ADVANCED CONFIGURATION OPTIONS:
167 
168 // Enables code for debugging purposes. Not for general use and always in constant flux.
169 // #define DEBUG // Uncomment to enable. Default disabled.
170 
171 // Configure rapid, feed, and spindle override settings. These values define the max and min
172 // allowable override values and the coarse and fine increments per command received. Please
173 // note the allowable values in the descriptions following each define.
174 #define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
175 #ifndef MAX_FEED_RATE_OVERRIDE
176 #define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-65535). Usually 120% or 200%
177 #endif
178 #ifndef MIN_FEED_RATE_OVERRIDE
179 #define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
180 #endif
181 #define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
182 #define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
183 
184 #define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
185 #define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
186 #define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
187 // #define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
188 
189 #define DEFAULT_SPINDLE_RPM_OVERRIDE 100 // 100%. Don't change this value.
190 #ifndef MAX_SPINDLE_RPM_OVERRIDE
191 #define MAX_SPINDLE_RPM_OVERRIDE 200 // Percent of programmed spindle speed (100-65535). Usually 200%.
192 #endif
193 #ifndef MIN_SPINDLE_RPM_OVERRIDE
194 #define MIN_SPINDLE_RPM_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
195 #endif
196 #define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
197 #define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
198 
199 // Adaptive Multi-Axis Step Smoothing (AMASS) is an advanced feature that does what its name implies,
200 // smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
201 // frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
202 // noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
203 // step smoothing. See stepper.c for more details on the AMASS system works.
204 #define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING // Default enabled. Comment to disable.
205 
206 // Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
207 // frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
208 // starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must
209 // be considered carefully against how much it over-drives the stepper ISR, the accuracy of the 16-bit
210 // timer, and the CPU overhead. Level 0 (no AMASS, normal operation) frequency bin starts at the
211 // Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
212 // NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
213 // NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
214 // and timer accuracy. Do not alter these settings unless you know what you are doing.
215 #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
216  #ifndef MAX_AMASS_LEVEL
217  #define MAX_AMASS_LEVEL 3
218  #endif
219  #if MAX_AMASS_LEVEL <= 0
220  error "AMASS must have 1 or more levels to operate correctly."
221  #endif
222 #endif
223 
224 // Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
225 // the selected axis with the tool oriented toward the negative direction. In other words, a positive
226 // tool length offset value is subtracted from the current location.
227 #if COMPATIBILITY_LEVEL > 2 && TOOL_LENGTH_OFFSET_AXIS == -1
228 #undef TOOL_LENGTH_OFFSET_AXIS
229 #define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
230 #endif
231 
232 // Max length of gcode lines (blocks) stored in non-volatile storage
233 #if N_AXIS == 6 && COMPATIBILITY_LEVEL <= 1
234 #define MAX_STORED_LINE_LENGTH 60 // do not change!
235 #else
236 #define MAX_STORED_LINE_LENGTH 70 // do not set > 70 unless less than 5 axes are enabled or COMPATIBILITY_LEVEL > 1
237 #endif
238 
239 #if N_SPINDLE > 4
240 #define N_SPINDLE_SELECTABLE 4 // Max 4. for now!
241 #else
242 #define N_SPINDLE_SELECTABLE N_SPINDLE
243 #endif
244 
245 typedef uint_fast16_t override_t;
246 
247 #endif
This file contains compile-time and run-time configurations for grblHAL's internal system....
uint_fast16_t override_t
Definition: grbl.h:245