settings.c

/*
  settings.c - eeprom configuration handling 
  Part of Grbl

  Copyright (c) 2011-2014 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/>.
*/

#include "system.h"
#include "settings.h"
#include "eeprom.h"
#include "protocol.h"
#include "report.h"
#include "limits.h"

settings_t settings;


// Method to store startup lines into EEPROM
void settings_store_startup_line(uint8_t n, char *line)
{
  uint16_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
  memcpy_to_eeprom_with_checksum(addr,(char*)line, LINE_BUFFER_SIZE);
}


// Method to store build info into EEPROM
void settings_store_build_info(char *line)
{
  memcpy_to_eeprom_with_checksum(EEPROM_ADDR_BUILD_INFO,(char*)line, LINE_BUFFER_SIZE);
}


// Method to store coord data parameters into EEPROM
void settings_write_coord_data(uint8_t coord_select, float *coord_data)
{  
  uint16_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
  memcpy_to_eeprom_with_checksum(addr,(char*)coord_data, sizeof(float)*N_AXIS);
}  


// Method to store Grbl global settings struct and version number into EEPROM
void write_global_settings() 
{
  eeprom_put_char(0, SETTINGS_VERSION);
  memcpy_to_eeprom_with_checksum(EEPROM_ADDR_GLOBAL, (char*)&settings, sizeof(settings_t));
}


// Method to reset Grbl global settings back to defaults. 
void settings_reset() {
  settings.steps_per_mm[X_AXIS] = DEFAULT_X_STEPS_PER_MM;
  settings.steps_per_mm[Y_AXIS] = DEFAULT_Y_STEPS_PER_MM;
  settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
  settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM;
  settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
  settings.max_rate[X_AXIS] = DEFAULT_X_MAX_RATE;
  settings.max_rate[Y_AXIS] = DEFAULT_Y_MAX_RATE;
  settings.max_rate[Z_AXIS] = DEFAULT_Z_MAX_RATE;
  settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE;
  settings.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
  settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
  settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
  settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION;
  settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
  settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
  settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
  settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
  settings.flags = 0;
  if (DEFAULT_REPORT_INCHES) { settings.flags |= BITFLAG_REPORT_INCHES; }
  if (DEFAULT_AUTO_START) { settings.flags |= BITFLAG_AUTO_START; }
  if (DEFAULT_INVERT_ST_ENABLE) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
  if (DEFAULT_INVERT_LIMIT_PINS) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
  if (DEFAULT_SOFT_LIMIT_ENABLE) { settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; }
  if (DEFAULT_HARD_LIMIT_ENABLE) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
  if (DEFAULT_HOMING_ENABLE) { settings.flags |= BITFLAG_HOMING_ENABLE; }
  settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
  settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
  settings.homing_seek_rate[X_AXIS] = DEFAULT_X_HOMING_SEEK_RATE;
  settings.homing_seek_rate[Y_AXIS] = DEFAULT_Y_HOMING_SEEK_RATE;
  settings.homing_seek_rate[Z_AXIS] = DEFAULT_Z_HOMING_SEEK_RATE;
  settings.homing_seek_rate[C_AXIS] = DEFAULT_C_HOMING_SEEK_RATE;
  settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
  settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
  settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
  settings.max_travel[X_AXIS] = (DEFAULT_X_MAX_TRAVEL);
  settings.max_travel[Y_AXIS] = (DEFAULT_Y_MAX_TRAVEL);
  settings.max_travel[Z_AXIS] = (DEFAULT_Z_MAX_TRAVEL);    
  settings.max_travel[C_AXIS] = (DEFAULT_C_MAX_TRAVEL);  
#ifdef KEYME_BOARD  
  settings.microsteps = DEFAULT_MICROSTEPPING;
  settings.decay_mode = DEFAULT_DECAY_MODE; 
#endif
  write_global_settings();
}


// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_startup_line(uint8_t n, char *line)
{
  uint16_t addr = n*(LINE_BUFFER_SIZE+1)+EEPROM_ADDR_STARTUP_BLOCK;
  if (!(memcpy_from_eeprom_with_checksum((char*)line, addr, LINE_BUFFER_SIZE))) {
    // Reset line with default value
    line[0] = 0; // Empty line
    settings_store_startup_line(n, line);
    return(false);
  } else {
    return(true);
  }
}


// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_build_info(char *line)
{
  if (!(memcpy_from_eeprom_with_checksum((char*)line, EEPROM_ADDR_BUILD_INFO, LINE_BUFFER_SIZE))) {
    // Reset line with default value
    line[0] = 0; // Empty line
    settings_store_build_info(line);
    return(false);
  } else {
    return(true);
  }
}


// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
uint8_t settings_read_coord_data(uint8_t coord_select, float *coord_data)
{
  uint16_t addr = coord_select*(sizeof(float)*N_AXIS+1) + EEPROM_ADDR_PARAMETERS;
  if (!(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float)*N_AXIS))) {
    // Reset with default zero vector
    clear_vector_float(coord_data); 
    settings_write_coord_data(coord_select,coord_data);
    return(false);
  } else {
    return(true);
  }
}  


// Reads Grbl global settings struct from EEPROM.
uint8_t read_global_settings() {
  // Check version-byte of eeprom
  uint8_t version = eeprom_get_char(0);
  if (version == SETTINGS_VERSION) {
    // Read settings-record and check checksum
    if (!(memcpy_from_eeprom_with_checksum((char*)&settings, EEPROM_ADDR_GLOBAL, sizeof(settings_t)))) {
      return(false);
    }
  } else {
    return(false); 
  }
  return(true);
}


// A helper method to set settings from command line
uint8_t settings_store_global_setting(int parameter, float value) {
  if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); } 
  switch(parameter) {
    case 0: case 1: case 2: case 3:
      settings.steps_per_mm[parameter] = value; break;
    case 4: settings.max_rate[X_AXIS] = value; break;
    case 5: settings.max_rate[Y_AXIS] = value; break;
    case 6: settings.max_rate[Z_AXIS] = value; break;
    case 7: settings.max_rate[C_AXIS] = value; break;
    case 8: settings.acceleration[X_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
    case 9: settings.acceleration[Y_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
    case 10: settings.acceleration[Z_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
    case 11: settings.acceleration[C_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
    case 12: settings.max_travel[X_AXIS] = value; break; 
    case 13: settings.max_travel[Y_AXIS] = value; break; 
    case 14: settings.max_travel[Z_AXIS] = value; break; 
    case 15: settings.max_travel[C_AXIS] = value; break; 
    case 16: 
      if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
      settings.pulse_microseconds = round(value); break;
    case 17: settings.step_invert_mask = trunc(value); break;
    case 18: settings.dir_invert_mask = trunc(value); break;
    case 19: settings.stepper_idle_lock_time = round(value); break;
    case 20: settings.junction_deviation = fabs(value); break;
    case 21: settings.arc_tolerance = value; break;
    case 22:
      if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
      else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
      break;
    case 23: // Reset to ensure change. Immediate re-init may cause problems.
      if (value) { settings.flags |= BITFLAG_AUTO_START; }
      else { settings.flags &= ~BITFLAG_AUTO_START; }
      break;
    case 24: // Reset to ensure change. Immediate re-init may cause problems.
      if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
      else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
      break;
    case 25: // Reset to ensure change. Immediate re-init may cause problems.
      if (value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
      else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
      break;
    case 26:
      if (value) { 
        if (bit_isfalse(settings.flags, BITFLAG_HOMING_ENABLE)) { return(STATUS_SOFT_LIMIT_ERROR); }
        settings.flags |= BITFLAG_SOFT_LIMIT_ENABLE; 
      } else { settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; }
      break;
    case 27:
      if (value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
      else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
      limits_configure(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
      break;
    case 28:
      if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
      else { 
        settings.flags &= ~BITFLAG_HOMING_ENABLE; 
        settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
      }
      break;
    case 29: settings.homing_dir_mask = trunc(value); break;
    case 30: settings.homing_feed_rate = value; break;
    case 31: settings.homing_seek_rate[X_AXIS] = value; break;
    case 32: settings.homing_seek_rate[Y_AXIS] = value; break;
    case 33: settings.homing_seek_rate[Z_AXIS] = value; break;
    case 34: settings.homing_seek_rate[C_AXIS] = value; break;
    case 35: settings.homing_debounce_delay = round(value); break;
    case 36: settings.homing_pulloff = value; break;
#ifdef KEYME_BOARD  
    case 37: settings.microsteps = value; break;
    case 38: settings.decay_mode = value; break;
#endif
    default: 
      return(STATUS_INVALID_STATEMENT);
  }
  write_global_settings();
  return(STATUS_OK);
}


// Initialize the config subsystem
void settings_init() {
  if(!read_global_settings()) {
    report_status_message(STATUS_SETTING_READ_FAIL);
    settings_reset();
    report_grbl_settings();
  }
  // Read all parameter data into a dummy variable. If error, reset to zero, otherwise do nothing.
  float coord_data[N_AXIS];
  uint8_t i;
  for (i=0; i<=SETTING_INDEX_NCOORD; i++) {
    if (!settings_read_coord_data(i, coord_data)) {
      report_status_message(STATUS_SETTING_READ_FAIL);
    }
  }
  // NOTE: Startup lines are handled and called by main.c at the end of initialization.
}