Set SD card state to idle when file is not found

.gitignore

@@ -20,3 +20,4 @@ __vm/
 *.vcxproj.filters
 *.suo
 Grbl_Esp32.ino.cpp
+/packages

Grbl_Esp32/src/Config.h

@@ -446,17 +446,7 @@ const int DWELL_TIME_STEP = 50;  // Integer (1-255) (milliseconds)
 // While this is experimental, it is intended to be the future default method after testing
 //#define USE_RMT_STEPS
 
-// Creates a delay between the direction pin setting and corresponding step pulse by creating
-// another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare)
-// sets the direction pins, and does not immediately set the stepper pins, as it would in
-// normal operation. The Timer2 compare fires next to set the stepper pins after the step
-// pulse delay time, and Timer2 overflow will complete the step pulse, except now delayed
-// by the step pulse time plus the step pulse delay. (Thanks langwadt for the idea!)
-// NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
-// user-supplied step pulse time, the total time must not exceed 127us. Reported successful
-// values for certain setups have ranged from 5 to 20us.
-// must use #define USE_RMT_STEPS for this to work
-//#define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
+// STEP_PULSE_DELAY is now a setting...$Stepper/Direction/Delay
 
 // The number of linear motions in the planner buffer to be planned at any give time. The vast
 // majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra

Grbl_Esp32/src/Defaults.h

@@ -46,6 +46,10 @@
 #    define DEFAULT_STEP_ENABLE_DELAY 0
 #endif
 
+#ifndef STEP_PULSE_DELAY
+#    define STEP_PULSE_DELAY 0
+#endif
+
 #ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
 #    define DEFAULT_STEPPER_IDLE_LOCK_TIME 250  // $1 msec (0-254, 255 keeps steppers enabled)
 #endif
@@ -674,4 +678,4 @@
 
 #ifndef DEFAULT_USER_MACRO3
 #    define DEFAULT_USER_MACRO3 ""
-#endif
+#endif

Grbl_Esp32/src/Error.cpp

@@ -61,16 +61,16 @@ std::map<Error, const char*> ErrorNames = {
     { Error::GcodeG43DynamicAxisError, "Gcode G43 dynamic axis error" },
     { Error::GcodeMaxValueExceeded, "Gcode max value exceeded" },
     { Error::PParamMaxExceeded, "P param max exceeded" },
-    { Error::SdFailedMount, "SD failed mount" },
-    { Error::SdFailedRead, "SD failed read" },
-    { Error::SdFailedOpenDir, "SD failed to open directory" },
-    { Error::SdDirNotFound, "SD directory not found" },
-    { Error::SdFileEmpty, "SD file empty" },
-    { Error::SdFileNotFound, "SD file not found" },
-    { Error::SdFailedOpenFile, "SD failed to open file" },
-    { Error::SdFailedBusy, "SD is busy" },
-    { Error::SdFailedDelDir, "SD failed to delete directory" },
-    { Error::SdFailedDelFile, "SD failed to delete file" },
+    { Error::FsFailedMount, "Failed to mount device" },
+    { Error::FsFailedRead, "Failed to read" },
+    { Error::FsFailedOpenDir, "Failed to open directory" },
+    { Error::FsDirNotFound, "Directory not found" },
+    { Error::FsFileEmpty, "File empty" },
+    { Error::FsFileNotFound, "File not found" },
+    { Error::FsFailedOpenFile, "Failed to open file" },
+    { Error::FsFailedBusy, "Device is busy" },
+    { Error::FsFailedDelDir, "Failed to delete directory" },
+    { Error::FsFailedDelFile, "Failed to delete file" },
     { Error::BtFailBegin, "Bluetooth failed to start" },
     { Error::WifiFailBegin, "WiFi failed to start" },
     { Error::NumberRange, "Number out of range for setting" },
@@ -79,5 +79,5 @@ std::map<Error, const char*> ErrorNames = {
     { Error::NvsSetFailed, "Failed to store setting" },
     { Error::NvsGetStatsFailed, "Failed to get setting status" },
     { Error::AuthenticationFailed, "Authentication failed!" },
-    { Error::AnotherInterfaceBusy, "Another interface is busy"},
+    { Error::AnotherInterfaceBusy, "Another interface is busy" },
 };

Grbl_Esp32/src/Error.h

@@ -64,16 +64,16 @@ enum class Error : uint8_t {
     GcodeG43DynamicAxisError    = 37,
     GcodeMaxValueExceeded       = 38,
     PParamMaxExceeded           = 39,
-    SdFailedMount               = 60,  // SD Failed to mount
-    SdFailedRead                = 61,  // SD Failed to read file
-    SdFailedOpenDir             = 62,  // SD card failed to open directory
-    SdDirNotFound               = 63,  // SD Card directory not found
-    SdFileEmpty                 = 64,  // SD Card directory not found
-    SdFileNotFound              = 65,  // SD Card file not found
-    SdFailedOpenFile            = 66,  // SD card failed to open file
-    SdFailedBusy                = 67,  // SD card is busy
-    SdFailedDelDir              = 68,
-    SdFailedDelFile             = 69,
+    FsFailedMount               = 60,  // SD Failed to mount
+    FsFailedRead                = 61,  // SD Failed to read file
+    FsFailedOpenDir             = 62,  // SD card failed to open directory
+    FsDirNotFound               = 63,  // SD Card directory not found
+    FsFileEmpty                 = 64,  // SD Card directory not found
+    FsFileNotFound              = 65,  // SD Card file not found
+    FsFailedOpenFile            = 66,  // SD card failed to open file
+    FsFailedBusy                = 67,  // SD card is busy
+    FsFailedDelDir              = 68,
+    FsFailedDelFile             = 69,
     BtFailBegin                 = 70,  // Bluetooth failed to start
     WifiFailBegin               = 71,  // WiFi failed to start
     NumberRange                 = 80,  // Setting number range problem

Grbl_Esp32/src/GCode.cpp

@@ -1435,7 +1435,7 @@ Error gc_execute_line(char* line, uint8_t client) {
 #endif
     // [10. Dwell ]:
     if (gc_block.non_modal_command == NonModal::Dwell) {
-        mc_dwell(gc_block.values.p);
+        mc_dwell(int32_t(gc_block.values.p * 1000.0f));
     }
     // [11. Set active plane ]:
     gc_state.modal.plane_select = gc_block.modal.plane_select;

Grbl_Esp32/src/Grbl.h

@@ -22,7 +22,7 @@
 
 // Grbl versioning system
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20210226";
+const char* const GRBL_VERSION_BUILD = "20210306";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/MotionControl.cpp

@@ -5,8 +5,8 @@
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
 
-	2018 -	Bart Dring This file was modifed for use on the ESP32
-					CPU. Do not use this with Grbl for atMega328P
+    2018 -	Bart Dring This file was modifed for use on the ESP32
+            CPU. Do not use this with Grbl for atMega328P
 
   Grbl is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -226,12 +226,12 @@ void mc_arc(float*            target,
 }
 
 // Execute dwell in seconds.
-void mc_dwell(float seconds) {
-    if (seconds == 0 || sys.state == State::CheckMode) {
-        return;
+bool mc_dwell(int32_t milliseconds) {
+    if (milliseconds <= 0 || sys.state == State::CheckMode) {
+        return false;
     }
     protocol_buffer_synchronize();
-    delay_sec(seconds, DwellMode::Dwell);
+    return delay_msec(milliseconds, DwellMode::Dwell);
 }
 
 // return true if the mask has exactly one bit set,

Grbl_Esp32/src/MotionControl.h

@@ -53,7 +53,7 @@ void mc_arc(float*            target,
             uint8_t           is_clockwise_arc);
 
 // Dwell for a specific number of seconds
-void mc_dwell(float seconds);
+bool mc_dwell(int32_t milliseconds);
 
 // Perform homing cycle to locate machine zero. Requires limit switches.
 void mc_homing_cycle(uint8_t cycle_mask);

Grbl_Esp32/src/Motors/Motors.cpp

@@ -478,7 +478,7 @@ uint8_t motors_set_homing_mode(uint8_t homing_mask, bool isHoming) {
     return can_home;
 }
 
-void motors_step(uint8_t step_mask, uint8_t dir_mask) {
+bool motors_direction(uint8_t dir_mask) {
     auto n_axis = number_axis->get();
     //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "motors_set_direction_pins:0x%02X", onMask);
 
@@ -493,7 +493,17 @@ void motors_step(uint8_t step_mask, uint8_t dir_mask) {
             myMotor[axis][0]->set_direction(thisDir);
             myMotor[axis][1]->set_direction(thisDir);
         }
+
+        return true;
+    } else {
+        return false;
     }
+}
+
+void motors_step(uint8_t step_mask) {
+    auto n_axis = number_axis->get();
+    //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "motors_set_direction_pins:0x%02X", onMask);
+
     // Turn on step pulses for motors that are supposed to step now
     for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
         if (bitnum_istrue(step_mask, axis)) {
@@ -513,4 +523,4 @@ void motors_unstep() {
         myMotor[axis][0]->unstep();
         myMotor[axis][1]->unstep();
     }
-}
+}

Grbl_Esp32/src/Motors/Motors.h

@@ -40,7 +40,8 @@ void    motors_read_settings();
 // The return value is a bitmask of axes that can home
 uint8_t motors_set_homing_mode(uint8_t homing_mask, bool isHoming);
 void    motors_set_disable(bool disable, uint8_t mask = B11111111);  // default is all axes
-void    motors_step(uint8_t step_mask, uint8_t dir_mask);
+bool    motors_direction(uint8_t dir_mask);
+void    motors_step(uint8_t step_mask);
 void    motors_unstep();
 
 void servoUpdateTask(void* pvParameters);

Grbl_Esp32/src/Motors/RcServo.cpp

@@ -50,7 +50,7 @@ namespace Motors {
         ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
         ledcAttachPin(_pwm_pin, _channel_num);
         _current_pwm_duty = 0;
-
+        _disabled         = true;
         config_message();
         startUpdateTask();
     }
@@ -78,10 +78,6 @@ namespace Motors {
 
     // sets the PWM to zero. This allows most servos to be manually moved
     void RcServo::set_disable(bool disable) {
-        if (_disabled == disable) {
-            return;
-        }
-
         _disabled = disable;
         if (_disabled) {
             _write_pwm(0);
@@ -107,11 +103,6 @@ namespace Motors {
         if (_disabled)
             return;
 
-        if (sys.state == State::Alarm) {
-            set_disable(true);
-            return;
-        }
-
         read_settings();
 
         mpos = system_convert_axis_steps_to_mpos(sys_position, _axis_index);  // get the axis machine position in mm
@@ -127,10 +118,14 @@ namespace Motors {
     }
 
     void RcServo::read_settings() {
-        _pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
-        _pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
-
-        if (bitnum_istrue(dir_invert_mask->get(), _axis_index))  // normal direction
-            swap(_pwm_pulse_min, _pwm_pulse_max);
+        if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) {
+            // swap the pwm values
+            _pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - rc_servo_cal_min->get()));
+            _pwm_pulse_max = SERVO_MIN_PULSE * (1.0 + (1.0 - rc_servo_cal_max->get()));
+
+        } else {
+            _pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
+            _pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
+        }
     }
 }

Grbl_Esp32/src/Motors/StandardStepper.cpp

@@ -41,16 +41,17 @@ namespace Motors {
 
     StandardStepper::StandardStepper(uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin) :
         Motor(axis_index), _step_pin(step_pin), _dir_pin(dir_pin), _disable_pin(disable_pin) {
+#ifdef USE_RMT_STEPS
+        _rmt_chan_num = get_next_RMT_chan_num();
+#endif
     }
 
     void StandardStepper::init() {
         read_settings();
         config_message();
     }
 
-    void StandardStepper::read_settings() { 
-        init_step_dir_pins(); 
-    }
+    void StandardStepper::read_settings() { init_step_dir_pins(); }
 
     void StandardStepper::init_step_dir_pins() {
         _invert_step_pin = bitnum_istrue(step_invert_mask->get(), _axis_index);
@@ -68,17 +69,13 @@ namespace Motors {
         rmtConfig.tx_config.carrier_level        = RMT_CARRIER_LEVEL_LOW;
         rmtConfig.tx_config.idle_output_en       = true;
 
-#    ifdef STEP_PULSE_DELAY
-        rmtItem[0].duration0 = STEP_PULSE_DELAY * 4;
-#    else
-        rmtItem[0].duration0 = 1;
-#    endif
+        auto stepPulseDelay  = direction_delay_microseconds->get();
+        rmtItem[0].duration0 = stepPulseDelay < 1 ? 1 : stepPulseDelay * 4;
 
         rmtItem[0].duration1 = 4 * pulse_microseconds->get();
         rmtItem[1].duration0 = 0;
         rmtItem[1].duration1 = 0;
 
-        _rmt_chan_num = get_next_RMT_chan_num();
         if (_rmt_chan_num == RMT_CHANNEL_MAX) {
             return;
         }
@@ -126,5 +123,8 @@ namespace Motors {
 
     void StandardStepper::set_direction(bool dir) { digitalWrite(_dir_pin, dir ^ _invert_dir_pin); }
 
-    void StandardStepper::set_disable(bool disable) { digitalWrite(_disable_pin, disable); }
+    void StandardStepper::set_disable(bool disable) {
+        disable ^= step_enable_invert->get();
+        digitalWrite(_disable_pin, disable);
+    }
 }

Grbl_Esp32/src/NutsBolts.cpp

@@ -112,23 +112,28 @@ void delay_ms(uint16_t ms) {
 }
 
 // Non-blocking delay function used for general operation and suspend features.
-void delay_sec(float seconds, DwellMode mode) {
-    uint16_t i = ceil(1000 / DWELL_TIME_STEP * seconds);
+bool delay_msec(int32_t milliseconds, DwellMode mode) {
+    // Note: i must be signed, because of the 'i-- > 0' check below.
+    int32_t i         = milliseconds / DWELL_TIME_STEP;
+    int32_t remainder = i < 0 ? 0 : (milliseconds - DWELL_TIME_STEP * i);
+
     while (i-- > 0) {
         if (sys.abort) {
-            return;
+            return false;
         }
         if (mode == DwellMode::Dwell) {
             protocol_execute_realtime();
         } else {  // DwellMode::SysSuspend
             // Execute rt_system() only to avoid nesting suspend loops.
             protocol_exec_rt_system();
             if (sys.suspend.bit.restartRetract) {
-                return;  // Bail, if safety door reopens.
+                return false;  // Bail, if safety door reopens.
             }
         }
         delay(DWELL_TIME_STEP);  // Delay DWELL_TIME_STEP increment
     }
+    delay(remainder);
+    return true;
 }
 
 // Simple hypotenuse computation function.