Applied master branch bug fixes.

- Planner was under-estimating maximum speeds through straight
junctions in certain cases. The calculations have been updated to be
more accurate.

- Strange sizeof() bug in the most recent releases. Manifested as an
alarm upon a power up even when homing was disabled. Fixed by declaring
sizeof() with struct types, rather than variable names, even though
they were validated to give the same value.

- Spindle speed zero should disable the spindle. Now fixed.

- New configuration option for inverting certain limit pins. Handy for
mixed NO and NC switch machines. See config.h for details.

Author: chamnit

doc/log/commit_log_v1.0c.txt

@@ -0,0 +1,25 @@
+----------------
+Date: 2015-11-09
+Author: Sonny Jeon
+Subject: Pin state reporting of all pins. Flash optimization.
+
+- New pin state realtime reporting feature. Instead of `Lim:000` for
+limit state reports, the new feature shows `Pin:000|0|0000`, or
+something similar. The `|` delimited fields indicate xyz limits, probe,
+and control pin states, where 0 is always not triggered, and 1 is
+triggered. Invert masks ARE accounted for.
+  Each field may be enabled or disabled via the `$10` status report
+setting. The probe and control pin flags are bits 5 and 6, respectively.
+
+- Remove the now deprecated `REPORT_CONTROL_PIN_STATE` option in
+config.h
+
+- The old limit pin reports `Lim:000` may be re-enabled by commenting
+out `REPORT_ALL_PIN_STATES` in config.h.
+
+- Incremented the version letter (v1.0c) to indicate the change in
+reporting style.
+
+- Replaced all bit_true_atomic and bit_false_atomic macros with
+function calls. This saved a couple hundred bytes of flash.
+

grbl/config.h

@@ -127,7 +127,7 @@
 #define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.
 
 // Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
-// analog pin 5. Only use this option if you require a second coolant control pin.
+// analog pin 4. Only use this option if you require a second coolant control pin.
 // NOTE: The M8 flood coolant control pin on analog pin 4 will still be functional regardless.
 // #define ENABLE_M7 // Disabled by default. Uncomment to enable.
 
@@ -157,6 +157,15 @@
 //   the CONTROL_INVERT_MASK definition in cpu_map.h files.
 // #define INVERT_ALL_CONTROL_PINS // Default disabled. Uncomment to enable.
 
+// Inverts select limit pin states based on the following mask. This effects all limit pin functions, 
+// such as hard limits and homing. However, this is different from overall invert limits setting. 
+// This build option will invert only the limit pins defined here, and then the invert limits setting
+// will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
+// normally-open(NO) and normally-closed(NC) switches installed on their machine.
+// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
+// #define INVERT_LIMIT_PIN_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // Default disabled. Uncomment to enable.
+
+
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
 // NOTE: If VARIABLE_SPINDLE is enabled(default), this option has no effect as the PWM output and 

grbl/gcode.c

@@ -40,7 +40,7 @@ parser_block_t gc_block;
 
 void gc_init() 
 {
-  memset(&gc_state, 0, sizeof(gc_state));
+  memset(&gc_state, 0, sizeof(parser_state_t));
 
   // Load default G54 coordinate system.
   if (!(settings_read_coord_data(gc_state.modal.coord_select,gc_state.coord_system))) { 
@@ -80,7 +80,7 @@ uint8_t gc_execute_line(char *line)
      values struct, word tracking variables, and a non-modal commands tracker for the new 
      block. This struct contains all of the necessary information to execute the block. */
 
-  memset(&gc_block, 0, sizeof(gc_block)); // Initialize the parser block struct.
+  memset(&gc_block, 0, sizeof(parser_block_t)); // Initialize the parser block struct.
   memcpy(&gc_block.modal,&gc_state.modal,sizeof(gc_modal_t)); // Copy current modes
   uint8_t axis_command = AXIS_COMMAND_NONE;
   uint8_t axis_0, axis_1, axis_linear;

grbl/grbl.h

@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.0c"
-#define GRBL_VERSION_BUILD "20151109"
+#define GRBL_VERSION_BUILD "20160304"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>

grbl/limits.c

@@ -70,6 +70,9 @@ uint8_t limits_get_state()
 {
   uint8_t limit_state = 0;
   uint8_t pin = (LIMIT_PIN & LIMIT_MASK);
+  #ifdef INVERT_LIMIT_PIN_MASK
+    pin ^= INVERT_LIMIT_PIN_MASK;
+  #endif
   if (bit_isfalse(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; }
   if (pin) {  
     uint8_t idx;

grbl/main.c

@@ -34,7 +34,7 @@ int main(void)
   stepper_init();  // Configure stepper pins and interrupt timers
   system_init();   // Configure pinout pins and pin-change interrupt
 
-  memset(&sys, 0, sizeof(sys));  // Clear all system variables
+  memset(&sys, 0, sizeof(system_t));  // Clear all system variables
   sys.abort = true;   // Set abort to complete initialization
   sei(); // Enable interrupts
 

grbl/planner.c

@@ -200,7 +200,7 @@ static void planner_recalculate()
 
 void plan_reset() 
 {
-  memset(&pl, 0, sizeof(pl)); // Clear planner struct
+  memset(&pl, 0, sizeof(planner_t)); // Clear planner struct
   block_buffer_tail = 0;
   block_buffer_head = 0; // Empty = tail
   next_buffer_head = 1; // plan_next_block_index(block_buffer_head)
@@ -394,11 +394,11 @@ uint8_t plan_check_full_buffer()
        change the overall maximum entry speed conditions of all blocks.
     */
     // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
-    if (junction_cos_theta > 0.99) {
+    if (junction_cos_theta > 0.999999) {
       //  For a 0 degree acute junction, just set minimum junction speed. 
       block->max_junction_speed_sqr = MINIMUM_JUNCTION_SPEED*MINIMUM_JUNCTION_SPEED;
     } else {
-      junction_cos_theta = max(junction_cos_theta,-0.99); // Check for numerical round-off to avoid divide by zero.
+      junction_cos_theta = max(junction_cos_theta,-0.999999); // Check for numerical round-off to avoid divide by zero.
       float sin_theta_d2 = sqrt(0.5*(1.0-junction_cos_theta)); // Trig half angle identity. Always positive.
 
       // TODO: Technically, the acceleration used in calculation needs to be limited by the minimum of the

grbl/spindle_control.c

@@ -106,41 +106,47 @@ void spindle_set_state(uint8_t state, float rpm)
       #endif
 
       // Calculate PWM register value based on rpm max/min settings and programmed rpm.
-      if (settings.rpm_max <= settings.rpm_min) {
-        // No PWM range possible. Set simple on/off spindle control pin state.
-        current_pwm = PWM_MAX_VALUE;
-      } else {
-        if (rpm > settings.rpm_max) { rpm = settings.rpm_max; }
-        if (rpm < settings.rpm_min) { rpm = settings.rpm_min; }
-        #ifdef SPINDLE_MINIMUM_PWM
-          float pwm_gradient = (PWM_MAX_VALUE-SPINDLE_MINIMUM_PWM)/(settings.rpm_max-settings.rpm_min);
-          current_pwm = floor( (rpm-settings.rpm_min)*pwm_gradient + (SPINDLE_MINIMUM_PWM+0.5));
-        #else
-          float pwm_gradient = (PWM_MAX_VALUE)/(settings.rpm_max-settings.rpm_min);
-          current_pwm = floor( (rpm-settings.rpm_min)*pwm_gradient + 0.5);
+      if (rpm <= 0.0) { spindle_stop(); } // RPM should never be negative, but check anyway.
+      else {
+        if (settings.rpm_max <= settings.rpm_min) {
+          // No PWM range possible. Set simple on/off spindle control pin state.
+          current_pwm = PWM_MAX_VALUE;
+        } else {
+          if (rpm > settings.rpm_max) { rpm = settings.rpm_max; }
+          if (rpm < settings.rpm_min) { rpm = settings.rpm_min; }
+          #ifdef SPINDLE_MINIMUM_PWM
+            float pwm_gradient = (PWM_MAX_VALUE-SPINDLE_MINIMUM_PWM)/(settings.rpm_max-settings.rpm_min);
+            current_pwm = floor( (rpm-settings.rpm_min)*pwm_gradient + (SPINDLE_MINIMUM_PWM+0.5));
+          #else
+            float pwm_gradient = (PWM_MAX_VALUE)/(settings.rpm_max-settings.rpm_min);
+            current_pwm = floor( (rpm-settings.rpm_min)*pwm_gradient + 0.5);
+          #endif
+        }
+      
+        OCR_REGISTER = current_pwm; // Set PWM output level.
+        TCCRA_REGISTER |= (1<<COMB_BIT); // Ensure PWM output is enabled.
+    
+        // On the Uno, spindle enable and PWM are shared, unless otherwise specified.
+        #if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) 
+          #ifdef INVERT_SPINDLE_ENABLE_PIN
+            SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
+          #else
+            SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
+          #endif
         #endif
       }
 
-      OCR_REGISTER = current_pwm; // Set PWM output level.
-      TCCRA_REGISTER |= (1<<COMB_BIT); // Ensure PWM output is enabled.
-    
-      // On the Uno, spindle enable and PWM are shared, unless otherwise specified.
-      #if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) 
+    #else
+      
+      if (rpm <= 0.0) { spindle_stop(); } // RPM should never be negative, but check anyway.
+      else {
         #ifdef INVERT_SPINDLE_ENABLE_PIN
           SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
         #else
           SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
         #endif
-      #endif
+      }
 
-    #else
-       
-      #ifdef INVERT_SPINDLE_ENABLE_PIN
-        SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
-      #else
-        SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
-      #endif
-    
     #endif
 
   }

grbl/stepper.c

@@ -462,8 +462,8 @@ void st_reset()
   st_go_idle();
 
   // Initialize stepper algorithm variables.
-  memset(&prep, 0, sizeof(prep));
-  memset(&st, 0, sizeof(st));
+  memset(&prep, 0, sizeof(st_prep_t));
+  memset(&st, 0, sizeof(stepper_t));
   st.exec_segment = NULL;
   pl_block = NULL;  // Planner block pointer used by segment buffer
   segment_buffer_tail = 0;