Merge pull request #43 from bdring/NewKeywords

New keywords
bdring · Oct 7, 2021 · 57e540a · 57e540a
2 parents aac3a9e + c7dbe29
commit 57e540a
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Showing 45 changed files with 1,156 additions and 1,091 deletions.
diff --git a/FluidNC/src/Control.cpp b/FluidNC/src/Control.cpp
@@ -22,14 +22,14 @@ void Control::init() {
 }
 
 void Control::group(Configuration::HandlerBase& handler) {
-    handler.item("safety_door", _safetyDoor._pin);
-    handler.item("reset", _reset._pin);
-    handler.item("feed_hold", _feedHold._pin);
-    handler.item("cycle_start", _cycleStart._pin);
-    handler.item("macro0", _macro0._pin);
-    handler.item("macro1", _macro1._pin);
-    handler.item("macro2", _macro2._pin);
-    handler.item("macro3", _macro3._pin);
+    handler.item("safety_door_pin", _safetyDoor._pin);
+    handler.item("reset_pin", _reset._pin);
+    handler.item("feed_hold_pin", _feedHold._pin);
+    handler.item("cycle_start_pin", _cycleStart._pin);
+    handler.item("macro0_pin", _macro0._pin);
+    handler.item("macro1_pin", _macro1._pin);
+    handler.item("macro2_pin", _macro2._pin);
+    handler.item("macro3_pin", _macro3._pin);
 }
 
 String Control::report() {

diff --git a/FluidNC/src/CoolantControl.cpp b/FluidNC/src/CoolantControl.cpp
@@ -80,7 +80,7 @@ void CoolantControl::off() {
 }
 
 void CoolantControl::group(Configuration::HandlerBase& handler) {
-    handler.item("flood", _flood);
-    handler.item("mist", _mist);
+    handler.item("flood_pin", _flood);
+    handler.item("mist_pin", _mist);
     handler.item("delay_ms", _delay_ms);
 }
diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp
@@ -45,11 +45,7 @@ void gc_init() {
 
     // Load default G54 coordinate system.
     gc_state.modal.coord_select = CoordIndex::G54;
-    if (config->_deactivateParkingUponInit) {
-        gc_state.modal.override = Override::Disabled;
-    } else {
-        gc_state.modal.override = Override::ParkingMotion;
-    }
+    gc_state.modal.override     = config->_start->_deactivateParking ? Override::Disabled : Override::ParkingMotion;
     coords[gc_state.modal.coord_select]->get(gc_state.coord_system);
 }
 
@@ -1624,7 +1620,7 @@ Error gc_execute_line(char* line, Print& client) {
             gc_state.modal.spindle      = SpindleState::Disable;
             gc_state.modal.coolant      = {};
             if (config->_enableParkingOverrideControl) {
-                if (config->_deactivateParkingUponInit) {
+                if (config->_start->_deactivateParking) {
                     gc_state.modal.override = Override::Disabled;
                 } else {
                     gc_state.modal.override = Override::ParkingMotion;

diff --git a/FluidNC/src/Limits.cpp b/FluidNC/src/Limits.cpp
@@ -17,6 +17,7 @@
 xQueueHandle limit_sw_queue;  // used by limit switch debouncing
 
 void limits_init() {
+#ifdef LATER  // We need to rethink debouncing
     if (Machine::Axes::limitMask) {
         if (limit_sw_queue == NULL && config->_softwareDebounceMs != 0) {
             // setup task used for debouncing
@@ -31,6 +32,7 @@ void limits_init() {
             }
         }
     }
+#endif
 }
 
 // Returns limit state as a bit-wise uint32 variable. Each bit indicates an axis limit, where
@@ -73,6 +75,7 @@ void limits_soft_check(float* target) {
     }
 }
 
+#ifdef LATER  // We need to rethink debouncing
 void limitCheckTask(void* pvParameters) {
     while (true) {
         std::atomic_thread_fence(std::memory_order::memory_order_seq_cst);  // read fence for settings
@@ -87,11 +90,12 @@ void limitCheckTask(void* pvParameters) {
             rtAlarm = ExecAlarm::HardLimit;  // Indicate hard limit critical event
         }
         static UBaseType_t uxHighWaterMark = 0;
-#ifdef DEBUG_TASK_STACK
+#    ifdef DEBUG_TASK_STACK
         reportTaskStackSize(uxHighWaterMark);
-#endif
+#    endif
     }
 }
+#endif
 
 float limitsMaxPosition(size_t axis) {
     auto  axisConfig = config->_axes->_axis[axis];

diff --git a/FluidNC/src/Machine/Axes.cpp b/FluidNC/src/Machine/Axes.cpp
@@ -188,7 +188,7 @@ namespace Machine {
     // Configuration helpers:
 
     void Axes::group(Configuration::HandlerBase& handler) {
-        handler.item("shared_stepper_disable", _sharedStepperDisable);
+        handler.item("shared_stepper_disable_pin", _sharedStepperDisable);
 
         // Handle axis names xyzabc.  handler.section is inferred
         // from a template.

diff --git a/FluidNC/src/Machine/Axis.cpp b/FluidNC/src/Machine/Axis.cpp
@@ -7,9 +7,9 @@
 namespace Machine {
     void Axis::group(Configuration::HandlerBase& handler) {
         handler.item("steps_per_mm", _stepsPerMm);
-        handler.item("max_rate", _maxRate);
-        handler.item("acceleration", _acceleration);
-        handler.item("max_travel", _maxTravel);
+        handler.item("max_rate_mm_per_min", _maxRate);
+        handler.item("acceleration_mm_per_sec2", _acceleration);
+        handler.item("max_travel_mm", _maxTravel);
         handler.item("soft_limits", _softLimits);
         handler.section("homing", _homing);
 

diff --git a/FluidNC/src/Machine/Homing.h b/FluidNC/src/Machine/Homing.h
@@ -42,9 +42,9 @@ namespace Machine {
         void group(Configuration::HandlerBase& handler) override {
             handler.item("cycle", _cycle);
             handler.item("positive_direction", _positiveDirection);
-            handler.item("mpos", _mpos);
-            handler.item("feed_rate", _feedRate);
-            handler.item("seek_rate", _seekRate);
+            handler.item("mpos_mm", _mpos);
+            handler.item("feed_mm_per_min", _feedRate);
+            handler.item("seek_mm_per_min", _seekRate);
             handler.item("debounce_ms", _debounce_ms);
             handler.item("seek_scaler", _seek_scaler);
             handler.item("feed_scaler", _feed_scaler);

diff --git a/FluidNC/src/Machine/I2SOBus.cpp b/FluidNC/src/Machine/I2SOBus.cpp
@@ -15,9 +15,9 @@ namespace Machine {
     }
 
     void I2SOBus::group(Configuration::HandlerBase& handler) {
-        handler.item("bck", _bck);
-        handler.item("data", _data);
-        handler.item("ws", _ws);
+        handler.item("bck_pin", _bck);
+        handler.item("data_pin", _data);
+        handler.item("ws_pin", _ws);
     }
 
     void I2SOBus::init() {

diff --git a/FluidNC/src/Machine/MachineConfig.cpp b/FluidNC/src/Machine/MachineConfig.cpp
@@ -41,19 +41,15 @@ namespace Machine {
         handler.section("coolant", _coolant);
         handler.section("probe", _probe);
         handler.section("macros", _macros);
+        handler.section("start", _start);
 
         handler.section("user_outputs", _userOutputs);
-        handler.item("software_debounce_ms", _softwareDebounceMs);
         // TODO: Consider putting these under a gcode: hierarchy level? Or motion control?
-        handler.item("arc_tolerance", _arcTolerance);
-        handler.item("junction_deviation", _junctionDeviation);
+        handler.item("arc_tolerance_mm", _arcTolerance);
+        handler.item("junction_deviation_mm", _junctionDeviation);
         handler.item("verbose_errors", _verboseErrors);
         handler.item("report_inches", _reportInches);
-        handler.item("homing_init_lock", _homingInitLock);
         handler.item("enable_parking_override_control", _enableParkingOverrideControl);
-        handler.item("deactivate_parking_upon_init", _deactivateParkingUponInit);
-        handler.item("check_limits_at_init", _checkLimitsAtInit);
-        handler.item("disable_laser_during_hold", _disableLaserDuringHold);
         handler.item("use_line_numbers", _useLineNumbers);
 
         Spindles::SpindleFactory::factory(handler, _spindles);
@@ -99,6 +95,10 @@ namespace Machine {
             _control = new Control();
         }
 
+        if (_start == nullptr) {
+            _start = new Start();
+        }
+
         if (_spindles.size() == 0) {
             log_info("Spindle: using defaults (no spindle)");
             _spindles.push_back(new Spindles::Null());

diff --git a/FluidNC/src/Machine/MachineConfig.h b/FluidNC/src/Machine/MachineConfig.h
@@ -25,6 +25,29 @@
 #include "Macros.h"
 
 namespace Machine {
+    class Start : public Configuration::Configurable {
+    public:
+        bool _mustHome          = true;
+        bool _deactivateParking = false;
+
+        // At power-up or a reset, the limit switches will be checked
+        // to ensure they are not already active. If so, and hard
+        // limits are enabled, Alarm state will be entered instead of
+        // Idle and the user will be told to check the limits.
+        bool _checkLimits = false;
+
+    public:
+        Start() {}
+
+        void group(Configuration::HandlerBase& handler) {
+            handler.item("must_home", _mustHome);
+            handler.item("deactivate_parking", _deactivateParking);
+            handler.item("check_limits", _checkLimits);
+        }
+
+        ~Start() = default;
+    };
+
     class MachineConfig : public Configuration::Configurable {
     public:
         MachineConfig() = default;
@@ -39,33 +62,20 @@ namespace Machine {
         UserOutputs*    _userOutputs = nullptr;
         SDCard*         _sdCard      = nullptr;
         Macros*         _macros      = nullptr;
+        Start*          _start       = nullptr;
 
         Spindles::SpindleList _spindles;
 
-        float _arcTolerance       = 0.002f;
-        float _junctionDeviation  = 0.01f;
-        bool  _verboseErrors      = false;
-        bool  _reportInches       = false;
-        bool  _homingInitLock     = true;
-        int   _softwareDebounceMs = 0;
+        float _arcTolerance      = 0.002f;
+        float _junctionDeviation = 0.01f;
+        bool  _verboseErrors     = false;
+        bool  _reportInches      = false;
 
         // Enables a special set of M-code commands that enables and disables the parking motion.
         // These are controlled by `M56`, `M56 P1`, or `M56 Px` to enable and `M56 P0` to disable.
         // The command is modal and will be set after a planner sync. Since it is GCode, it is
         // executed in sync with GCode commands. It is not a real-time command.
         bool _enableParkingOverrideControl = false;
-        bool _deactivateParkingUponInit    = false;
-
-        // At power-up or a reset, the limit switches will be checked to ensure they are not active
-        // before initialization. If a problem is detected and hard limits are enabled, Alarm state
-        // will be entered instead of Idle, messaging the user to check the limits, rather than idle.
-        bool _checkLimitsAtInit = true;
-
-        // This option will automatically disable the laser during a feed hold by invoking a spindle stop
-        // override immediately after coming to a stop. However, this also means that the laser still may
-        // be reenabled by disabling the spindle stop override, if needed. This is purely a safety feature
-        // to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire.
-        bool _disableLaserDuringHold = true;
 
         // Tracks and reports gcode line numbers. Disabled by default.
         bool _useLineNumbers = false;

diff --git a/FluidNC/src/Machine/Macros.h b/FluidNC/src/Machine/Macros.h
@@ -56,8 +56,8 @@ namespace Machine {
         // TODO: We could validate the startup lines
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("n0", _startup_line[0]);
-            handler.item("n1", _startup_line[1]);
+            handler.item("startup_line0", _startup_line[0]);
+            handler.item("startup_line1", _startup_line[1]);
             handler.item("macro0", _macro[0]);
             handler.item("macro1", _macro[1]);
             handler.item("macro2", _macro[2]);

diff --git a/FluidNC/src/Machine/Motor.cpp b/FluidNC/src/Machine/Motor.cpp
@@ -14,11 +14,11 @@ namespace Machine {
         _negLimitPin = new LimitPin(_negPin, _axis, _motorNum, -1, _hardLimits);
         _posLimitPin = new LimitPin(_posPin, _axis, _motorNum, 1, _hardLimits);
         _allLimitPin = new LimitPin(_allPin, _axis, _motorNum, 0, _hardLimits);
-        handler.item("limit_neg", _negPin);
-        handler.item("limit_pos", _posPin);
-        handler.item("limit_all", _allPin);
+        handler.item("limit_neg_pin", _negPin);
+        handler.item("limit_pos_pin", _posPin);
+        handler.item("limit_all_pin", _allPin);
         handler.item("hard_limits", _hardLimits);
-        handler.item("pulloff", _pulloff);
+        handler.item("pulloff_mm", _pulloff);
         MotorDrivers::MotorFactory::factory(handler, _driver);
     }
 

diff --git a/FluidNC/src/Machine/SPIBus.cpp b/FluidNC/src/Machine/SPIBus.cpp
@@ -36,9 +36,9 @@ namespace Machine {
     }
 
     void SPIBus::group(Configuration::HandlerBase& handler) {
-        handler.item("miso", _miso);
-        handler.item("mosi", _mosi);
-        handler.item("sck", _sck);
+        handler.item("miso_pin", _miso);
+        handler.item("mosi_pin", _mosi);
+        handler.item("sck_pin", _sck);
     }
 
     // XXX it would be nice to have some way to turn off SPI entirely

diff --git a/FluidNC/src/Machine/UserOutputs.cpp b/FluidNC/src/Machine/UserOutputs.cpp
@@ -34,17 +34,17 @@ namespace Machine {
     }
 
     void UserOutputs::group(Configuration::HandlerBase& handler) {
-        handler.item("analog0", _analogOutput[0]);
-        handler.item("analog1", _analogOutput[1]);
-        handler.item("analog2", _analogOutput[2]);
-        handler.item("analog3", _analogOutput[3]);
-        handler.item("analog_frequency0", _analogFrequency[0]);
-        handler.item("analog_frequency1", _analogFrequency[1]);
-        handler.item("analog_frequency2", _analogFrequency[2]);
-        handler.item("analog_frequency3", _analogFrequency[3]);
-        handler.item("digital0", _digitalOutput[0]);
-        handler.item("digital1", _digitalOutput[1]);
-        handler.item("digital2", _digitalOutput[2]);
-        handler.item("digital3", _digitalOutput[3]);
+        handler.item("analog0_pin", _analogOutput[0]);
+        handler.item("analog1_pin", _analogOutput[1]);
+        handler.item("analog2_pin", _analogOutput[2]);
+        handler.item("analog3_pin", _analogOutput[3]);
+        handler.item("analog0_hz", _analogFrequency[0]);
+        handler.item("analog1_hz", _analogFrequency[1]);
+        handler.item("analog2_hz", _analogFrequency[2]);
+        handler.item("analog3_hz", _analogFrequency[3]);
+        handler.item("digital0_pin", _digitalOutput[0]);
+        handler.item("digital1_pin", _digitalOutput[1]);
+        handler.item("digital2_pin", _digitalOutput[2]);
+        handler.item("digital3_pin", _digitalOutput[3]);
     }
 }
diff --git a/FluidNC/src/Main.cpp b/FluidNC/src/Main.cpp
@@ -106,7 +106,7 @@ void setup() {
             // NOTE: The startup script will run after successful completion of the homing cycle, but
             // not after disabling the alarm locks. Prevents motion startup blocks from crashing into
             // things uncontrollably. Very bad.
-            if (config->_homingInitLock && Machine::Axes::homingMask) {
+            if (config->_start->_mustHome && Machine::Axes::homingMask) {
                 // If there is an axis with homing configured, enter Alarm state on startup
                 sys.state = State::Alarm;
             }

diff --git a/FluidNC/src/Motors/RcServo.h b/FluidNC/src/Motors/RcServo.h
@@ -20,7 +20,7 @@ namespace MotorDrivers {
 
         bool _disabled;
 
-        uint32_t _min_pulse_us = SERVO_PULSE_US_MIN_DEFAULT;   // microseconds
+        uint32_t _min_pulse_us = SERVO_PULSE_US_MIN_DEFAULT;  // microseconds
         uint32_t _max_pulse_us = SERVO_PULSE_US_MAX_DEFAULT;  // microseconds
 
         uint32_t _min_pulse_cnt = 0;  // microseconds
@@ -45,7 +45,7 @@ namespace MotorDrivers {
         // Configuration handlers:
         void group(Configuration::HandlerBase& handler) override {
             handler.item("output_pin", _output_pin);
-            handler.item("pwm_freq", _pwm_freq);
+            handler.item("pwm_hz", _pwm_freq);
             handler.item("min_pulse_us", _min_pulse_us);
             handler.item("max_pulse_us", _max_pulse_us);
         }

diff --git a/FluidNC/src/Motors/StandardStepper.h b/FluidNC/src/Motors/StandardStepper.h
@@ -35,9 +35,9 @@ namespace MotorDrivers {
         void validate() const override;
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("step", _step_pin);
-            handler.item("direction", _dir_pin);
-            handler.item("disable", _disable_pin);
+            handler.item("step_pin", _step_pin);
+            handler.item("direction_pin", _dir_pin);
+            handler.item("disable_pin", _disable_pin);
         }
 
         // Name of the configurable. Must match the name registered in the cpp file.

diff --git a/FluidNC/src/Motors/StepStick.cpp b/FluidNC/src/Motors/StepStick.cpp
@@ -23,10 +23,10 @@ namespace MotorDrivers {
     void StepStick::group(Configuration::HandlerBase& handler) {
         StandardStepper::group(handler);
 
-        handler.item("ms1", _MS1);
-        handler.item("ms2", _MS2);
-        handler.item("ms3", _MS3);
-        handler.item("reset", _Reset);
+        handler.item("ms1_pin", _MS1);
+        handler.item("ms2_pin", _MS2);
+        handler.item("ms3_pin", _MS3);
+        handler.item("reset_pin", _Reset);
     }
 
     void StepStick::afterParse() {

diff --git a/FluidNC/src/Motors/TrinamicBase.h b/FluidNC/src/Motors/TrinamicBase.h
@@ -63,12 +63,12 @@ namespace MotorDrivers {
         TrinamicBase(uint16_t partNumber) : StandardStepper(), _driver_part_number(partNumber) {}
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("r_sense", _r_sense);
-            handler.item("run_current", _run_current);
-            handler.item("hold_current", _hold_current);
+            handler.item("r_sense_ohms", _r_sense);
+            handler.item("run_amps", _run_current);
+            handler.item("hold_amps", _hold_current);
             handler.item("microsteps", _microsteps);
             handler.item("stallguard", _stallguard);
-            handler.item("stallguardDebugMode", _stallguardDebugMode);
+            handler.item("stallguard_debug", _stallguardDebugMode);
             handler.item("toff_disable", _toff_disable);
             handler.item("toff_stealthchop", _toff_stealthchop);
             handler.item("toff_coolstep", _toff_coolstep);