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Auto sleep stepper
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@krejcipetr
krejcipetr committed Nov 2, 2022
1 parent bfb67f0 commit e24b7ce
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Showing 7 changed files with 64 additions and 5 deletions.
13 changes: 13 additions & 0 deletions grbl/defaults.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -89,6 +90,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -127,6 +129,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 3 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -172,6 +175,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -217,6 +221,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -261,6 +266,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Z_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.01 // mm
Expand Down Expand Up @@ -306,6 +312,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -351,6 +358,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<X_AXIS)|(1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -390,6 +398,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -429,6 +438,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -472,6 +482,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS))
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -511,6 +522,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.02 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down Expand Up @@ -550,6 +562,7 @@
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
#define DEFAULT_AUTOSLEEP 10 // minutes
#define DEFAULT_STATUS_REPORT_MASK 1 // MPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
Expand Down
30 changes: 30 additions & 0 deletions grbl/protocol.c
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Expand Up @@ -71,6 +71,10 @@ void protocol_main_loop()
uint8_t line_flags = 0;
uint8_t char_counter = 0;
uint8_t c;

const uint_fast32_t stepper_sleep_counts = 60000 * settings.auto_sleep;
uint_fast32_t stepper_sleep = stepper_sleep_counts;

for (;;) {

// Process one line of incoming serial data, as the data becomes available. Performs an
Expand Down Expand Up @@ -100,6 +104,13 @@ void protocol_main_loop()
// Everything else is gcode. Block if in alarm or jog mode.
report_status_message(STATUS_SYSTEM_GC_LOCK);
} else {
// Wakeup stepper if IU have disabled before
if (stepper_sleep == 0) {
st_wake_up();
}
// Reset loop sleep
stepper_sleep = stepper_sleep_counts;

// Parse and execute g-code block.
report_status_message(gc_execute_line(line));
}
Expand Down Expand Up @@ -158,6 +169,25 @@ void protocol_main_loop()

protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to main() program loop to reset system.

// idle lock is off?
if (settings.stepper_idle_lock_time == 255) {
// Will I do a block in next loop?
if (sys.state == STATE_IDLE) {
// Last waiting loop. so disable stepper
if (stepper_sleep == 1) {
st_disable_set(true);
}
// I will sleep ...
if (stepper_sleep > 0) {
stepper_sleep--;
_delay_ms(1);
}
} else {
// I will do something, so don't sleep
stepper_sleep = stepper_sleep_counts;
}
}
}

return; /* Never reached */
Expand Down
1 change: 1 addition & 0 deletions grbl/report.c
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Expand Up @@ -208,6 +208,7 @@ void report_grbl_settings() {
#else
report_util_uint8_setting(32,0);
#endif
report_util_uint8_setting(33,settings.auto_sleep);
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;
Expand Down
4 changes: 3 additions & 1 deletion grbl/settings.c
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Expand Up @@ -57,7 +57,8 @@ const __flash settings_t defaults = {\
.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION,
.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL),
.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL),
.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL)};
.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL),
.auto_sleep = DEFAULT_AUTOSLEEP };


// Method to store startup lines into EEPROM
Expand Down Expand Up @@ -286,6 +287,7 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
case 33: settings.auto_sleep = int_value; break; // autosleep sec
case 32:
#ifdef VARIABLE_SPINDLE
if (int_value) { settings.flags |= BITFLAG_LASER_MODE; }
Expand Down
3 changes: 2 additions & 1 deletion grbl/settings.h
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Expand Up @@ -27,7 +27,7 @@

// Version of the EEPROM data. Will be used to migrate existing data from older versions of Grbl
// when firmware is upgraded. Always stored in byte 0 of eeprom
#define SETTINGS_VERSION 10 // NOTE: Check settings_reset() when moving to next version.
#define SETTINGS_VERSION 11 // NOTE: Check settings_reset() when moving to next version.

// Define bit flag masks for the boolean settings in settings.flag.
#define BIT_REPORT_INCHES 0
Expand Down Expand Up @@ -110,6 +110,7 @@ typedef struct {
float homing_seek_rate;
uint16_t homing_debounce_delay;
float homing_pulloff;
uint8_t auto_sleep;
} settings_t;
extern settings_t settings;

Expand Down
15 changes: 12 additions & 3 deletions grbl/stepper.c
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Expand Up @@ -262,11 +262,20 @@ void st_go_idle()
delay_ms(settings.stepper_idle_lock_time);
pin_state = true; // Override. Disable steppers.
}
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) { pin_state = !pin_state; } // Apply pin invert.
if (pin_state) { STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT); }
else { STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT); }
st_disable_set(pin_state);
}

void st_disable_set(bool a_state) {
bool pin_state = a_state; // Keep enabled.
if (bit_istrue(settings.flags, BITFLAG_INVERT_ST_ENABLE)) {
pin_state = !pin_state;
} // Apply pin invert.
if (pin_state) {
STEPPERS_DISABLE_PORT |= (1 << STEPPERS_DISABLE_BIT);
} else {
STEPPERS_DISABLE_PORT &= ~(1 << STEPPERS_DISABLE_BIT);
}
}

/* "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. Grbl employs
the venerable Bresenham line algorithm to manage and exactly synchronize multi-axis moves.
Expand Down
3 changes: 3 additions & 0 deletions grbl/stepper.h
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Expand Up @@ -56,4 +56,7 @@ void st_update_plan_block_parameters();
// Called by realtime status reporting if realtime rate reporting is enabled in config.h.
float st_get_realtime_rate();

// Disable stepper
void st_disable_set(bool a_state) ;

#endif

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