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358
trunk/Arduino/GRBL_Adafruit_motor_driverV2/settings.cpp
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358
trunk/Arduino/GRBL_Adafruit_motor_driverV2/settings.cpp
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/**
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* settings.c - eeprom configuration handling
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* migration from older version of setting not supported because this grbl interpreter
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* have different settings and functionality
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*/
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/**
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* Part of Grbl interpreter modified to work with Adafruit Motor Driver V2
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* File modified by Catalin Vasiliu
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* email <vasiliu.catalin.mihai@gmail.com>
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*
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*
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*
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* Original license:***********************************************************
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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* Copyright (c) 2011 Sungeun K. Jeon
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <avr/io.h>
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#include <math.h>
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#include "nuts_bolts.h"
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#include "settings.h"
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#include "eeprom.h"
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#include "g_print.h"
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#include <avr/pgmspace.h>
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#include "protocol.h"
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#include "config.h"
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#include "stepper_control.h"
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settings_t settings;
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typedef struct {
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double steps_per_mm[3];
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float rod_step;
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double default_feed_rate;
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double default_seek_rate;
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uint8_t invert_mask;
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double mm_per_arc_segment;
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} settings_v1_t;
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/**
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* Set settings values to default
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*/
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void settings_reset() {
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settings.rod_step = DEFAULT_ROD_STEP;
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settings.steps_per_turn[X_AXIS] = DEFAULT_X_STEPS_PER_TURN;
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settings.steps_per_turn[Y_AXIS] = DEFAULT_Y_STEPS_PER_TURN;
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settings.steps_per_turn[Z_AXIS] = DEFAULT_Z_STEPS_PER_TURN;
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settings.steps_per_mm[X_AXIS] = settings.steps_per_turn[X_AXIS] / settings.rod_step;
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settings.steps_per_mm[Y_AXIS] = settings.steps_per_turn[Y_AXIS] / settings.rod_step;
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settings.steps_per_mm[Z_AXIS] = settings.steps_per_turn[Z_AXIS] / settings.rod_step;
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settings.default_feed_rate = DEFAULT_FEEDRATE;
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settings.default_seek_rate = DEFAULT_RAPID_FEEDRATE;
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settings.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
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settings.invert_mask = DEFAULT_STEPPING_INVERT_MASK;
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settings.default_spindle_speed = DEFAULT_SPINDLE_SPEED;
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settings.work_area[X_AXIS] = DEFAULT_WORK_AREA_X_AXIS;
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settings.work_area[Y_AXIS] = DEFAULT_WORK_AREA_Y_AXIS;
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settings.work_area[Z_AXIS] = DEFAULT_WORK_AREA_Z_AXIS;
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settings.limit_switch = DEFAULT_LIMIT_SWITCH;
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settings.release_after_move = RELEASE_AFTER_MOVE;
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}
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/**
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* Print to serial bus settings data and infos
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* Modifying the format of these strings may cause the settings window in
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* grbl sender to stop working!!!
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*/
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void settings_dump() {
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printPgmString(PSTR("$0 = "));
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printFloat(settings.rod_step);
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printPgmString(PSTR(" (mm/turn ...rod step)\r\n"));
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printPgmString(PSTR("\r\n $1 = "));
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printInteger(settings.steps_per_turn[X_AXIS]);
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printPgmString(PSTR(" (steps/turn x motor)\r\n"));
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printPgmString(PSTR("\r\n $2 = "));
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printInteger(settings.steps_per_turn[Y_AXIS]);
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printPgmString(PSTR(" (steps/turn y motor)\r\n"));
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printPgmString(PSTR("\r\n $3 = "));
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printInteger(settings.steps_per_turn[Z_AXIS]);
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printPgmString(PSTR(" (steps/turn z motor)\r\n"));
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printPgmString(PSTR("\r\n $4 = "));
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printFloat(settings.steps_per_mm[X_AXIS]);
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printPgmString(PSTR(" (steps/mm x)\r\n"));
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printPgmString(PSTR("\r\n $5 = "));
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printFloat(settings.steps_per_mm[Y_AXIS]);
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printPgmString(PSTR(" (steps/mm y)\r\n"));
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printPgmString(PSTR("\r\n $6 = "));
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printFloat(settings.steps_per_mm[Z_AXIS]);
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printPgmString(PSTR(" (steps/mm z)\r"));
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printPgmString(PSTR("\n $7 = "));
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printFloat(settings.default_feed_rate);
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printPgmString(PSTR(" (mm/min default feed rate)\r\n"));
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printPgmString(PSTR("\r\n $8 = "));
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printFloat(settings.default_seek_rate);
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printPgmString(PSTR(" (mm/min default seek rate)\r\n"));
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printPgmString(PSTR("\r\n $9 = "));
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printFloat(settings.mm_per_arc_segment);
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printPgmString(PSTR(" (mm/arc segment)\r\n"));
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printPgmString(PSTR("\r\n $10 = "));
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printInteger(settings.invert_mask);
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printPgmString(PSTR(" (step port invert mask. binary = "));
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printIntegerInBase(settings.invert_mask, 2);
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printPgmString(PSTR(")\r\n"));
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printPgmString(PSTR("\r\n $11 = "));
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printFloat(settings.default_spindle_speed);
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printPgmString(PSTR(" (default spindle speed in pwm)\r\n"));
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printPgmString(PSTR("\r\n $12 = "));
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printFloat(settings.limit_switch);
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printPgmString(PSTR(" (limit switch enable/disable, 1/0)\r\n"));
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printPgmString(PSTR("\r\n $13 = "));
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printFloat(settings.release_after_move);
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printPgmString(PSTR(" (release motors after move enable/disable, 1/0)\r\n"));
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//Work area
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printPgmString(PSTR("\r\n $14 = "));
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printFloat(settings.work_area[X_AXIS]);
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printPgmString(PSTR(" (mm on X axis workin area)\r\n"));
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printPgmString(PSTR("\r\n $15 = "));
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printFloat(settings.work_area[Y_AXIS]);
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printPgmString(PSTR(" (mm on Y axis workin area)\r\n"));
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printPgmString(PSTR("\r\n $16 = "));
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printFloat(settings.work_area[Z_AXIS]);
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printPgmString(PSTR(" (mm on Z axis workin area)\r\n"));
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//Recalibrate
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if(settings.limit_switch == 1){
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printPgmString(PSTR("\r\n $17 = "));
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printInteger(0);
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printPgmString(PSTR(" (recalibrate workin area)\r\n"));
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}else{
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printPgmString(PSTR("\r\n $17 = "));
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printInteger(0);
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printPgmString(PSTR(" (Recalibrate not available with limit switch disable)\r\n"));
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}
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//Reset...manual
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printPgmString(PSTR("\r\n $18 = "));
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printInteger(0);
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printPgmString(PSTR(" (1 to reset setings)\r\n"));
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printPgmString(PSTR("\r\n'$x=value' to set parameter or just '$' to dump current settings\r\n"));
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}
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/**
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* Process the settings line
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* Parameter lines are on the form '$4=374.3' or '$' to dump current settings
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*
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* @param char array line
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* @return int status
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*/
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uint8_t settings_execute_line(char *line) {
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uint8_t char_counter = 1;
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double parameter, value;
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if(line[0] != '$') {
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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if(GRBL_VERSION == "0.7") {
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if(line[char_counter] == 0) {
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settings_dump(); return(STATUS_OK);
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}
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} else if (GRBL_VERSION == "0.9") {
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if(line[char_counter] == '$') {
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settings_dump(); return(STATUS_OK);
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}
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}
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if(!read_double(line, &char_counter, ¶meter)) {
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return(STATUS_BAD_NUMBER_FORMAT);
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};
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if(line[char_counter++] != '=') {
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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if(!read_double(line, &char_counter, &value)) {
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return(STATUS_BAD_NUMBER_FORMAT);
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}
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if(line[char_counter] != 0) {
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return(STATUS_UNSUPPORTED_STATEMENT);
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}
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//Send option and value so save
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settings_store_setting(parameter, value);
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return(STATUS_OK);
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}
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/**
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* Write all settings to eprom
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*/
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void write_settings() {
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eeprom_put_char(0, SETTINGS_VERSION);
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memcpy_to_eeprom_with_checksum(1, (unsigned char*)&settings, sizeof(settings_t));
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}
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/**
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* Read seting from eprom
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* Check settings version and try to migrate to current settings version
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*
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* @return bool
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*/
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int read_settings() {
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//Check version-byte of eeprom
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uint8_t version = eeprom_get_char(0);
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if (version == SETTINGS_VERSION) {
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//Read settings-record and check checksum
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if(!(memcpy_from_eeprom_with_checksum((unsigned char*)&settings, 1, sizeof(settings_t)))) {
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return(false);
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}
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} else if (version == 1) {
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//Migrate from settings version 1
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if (!(memcpy_from_eeprom_with_checksum((unsigned char*)&settings, 1, sizeof(settings_v1_t)))) {
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return(false);
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}
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write_settings();
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} else if ((version == 2) || (version == 3)) {
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//Migrate from settings version 2 and 3
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if (!(memcpy_from_eeprom_with_checksum((unsigned char*)&settings, 1, sizeof(settings_t)))) {
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return(false);
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}
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write_settings();
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} else {
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return(false);
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}
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return(true);
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}
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/**
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* A helper method to set settings from command line
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*
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* @param parameter
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* @param value
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*/
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void settings_store_setting(int parameter, double value) {
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switch(parameter) {
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case 0:
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settings.rod_step = value;
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settings.steps_per_mm[X_AXIS] = settings.steps_per_turn[X_AXIS] / settings.rod_step;
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settings.steps_per_mm[Y_AXIS] = settings.steps_per_turn[Y_AXIS] / settings.rod_step;
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settings.steps_per_mm[Z_AXIS] = settings.steps_per_turn[Z_AXIS] / settings.rod_step;
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break;
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case 1: case 2: case 3:
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if (value <= 0.0) {
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printPgmString(PSTR("Steps/turn must be > 0.0\r\n"));
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return;
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}
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settings.steps_per_turn[parameter] = value;
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settings.steps_per_mm[parameter] = settings.steps_per_turn[parameter] / settings.rod_step;
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break;
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case 4: case 5: case 6:
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if (value <= 0.0) {
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printPgmString(PSTR("Steps/mm must be > 0.0\r\n"));
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return;
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}
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settings.steps_per_mm[parameter] = value;
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break;
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case 7:
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settings.default_feed_rate = value;
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break;
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case 8:
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settings.default_seek_rate = value;
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break;
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case 9:
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settings.mm_per_arc_segment = value;
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break;
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case 10:
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settings.invert_mask = trunc(value);
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break;
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case 11:
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settings.default_spindle_speed = value;
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break;
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case 12:
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settings.limit_switch = value;
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break;
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case 13:
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settings.release_after_move = value;
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break;
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case 14:
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printPgmString(PSTR("\r\nWork area on X axis\r\n"));
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break;
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case 15:
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printPgmString(PSTR("\r\nWork area on Y axis\r\n"));
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break;
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case 16:
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printPgmString(PSTR("\r\nWork area on Z axis\r\n"));
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break;
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case 17:
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if(settings.limit_switch == 1){
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printPgmString(PSTR("\r\nCalibrating... please wait\r\n"));
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st_calibrate();
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}else{
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printPgmString(PSTR("\r\n Not available if no limit switch!!!\r\n"));
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}
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break;
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case 18:
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if(value == 1){
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settings_reset();
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write_settings();
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settings_dump();
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printPgmString(PSTR("\r\nSetings reseted\r\n"));
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}
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break;
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default:
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printPgmString(PSTR("\r\nUnknown parameter\r\n"));
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return;
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}
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write_settings();
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printPgmString(PSTR("\r\nStored new setting\r\n"));
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}
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/**
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* Initialize the config subsystem
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*/
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void settings_init() {
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if(read_settings()) {
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printPgmString(PSTR("\r\n'$' to dump current settings\r\n"));
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} else {
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printPgmString(PSTR("\r\nWarning: Failed to read EEPROM settings. Using defaults.\r\n"));
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settings_reset();
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write_settings();
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settings_dump();
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}
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}
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