settings.c

/*
  settings.c - eeprom configuration handling 
  Part of Horus Firmware

  Copyright (c) 2014-2015 Mundo Reader S.L.

  Horus Firmware 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.

  Horus Firmware 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 Horus Firmware.  If not, see <http://www.gnu.org/licenses/>.
*/
/* 
  This file is based on work from Grbl v0.9, distributed under the 
  terms of the GPLv3. See COPYING for more details.
    Copyright (c) 2009-2011 Simen Svale Skogsrud
    Copyright (c) 2011-2014 Sungeun K. Jeon
*/

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

settings_t settings;


// Method to store startup lines into EEPROM
void settings_store_startup_line(uint8_t n, char *line)
{
  uint32_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)
{  
  uint32_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 restore EEPROM-saved Grbl global settings back to defaults. 
void settings_restore_global_settings() {  
  settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
  settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
  settings.step_invert_mask = DEFAULT_STEPPING_INVERT_MASK;
  settings.dir_invert_mask = DEFAULT_DIRECTION_INVERT_MASK;
  settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
  settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
  settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
  settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
  settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
  settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
  settings.homing_debounce_delay = DEFAULT_HOMING_DEBOUNCE_DELAY;
  settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;

  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.steps_per_deg[X_AXIS] = DEFAULT_X_STEPS_PER_DEG;
  settings.steps_per_deg[Y_AXIS] = DEFAULT_Y_STEPS_PER_DEG;
  settings.steps_per_deg[Z_AXIS] = DEFAULT_Z_STEPS_PER_DEG;
  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.acceleration[X_AXIS] = DEFAULT_X_ACCELERATION;
  settings.acceleration[Y_AXIS] = DEFAULT_Y_ACCELERATION;
  settings.acceleration[Z_AXIS] = DEFAULT_Z_ACCELERATION;
  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);    

  write_global_settings();
}


// Helper function to clear the EEPROM space containing parameter data.
void settings_clear_parameters() {
  uint8_t idx;
  float coord_data[3];
  memset(&coord_data, 0, sizeof(coord_data));
  for (idx=0; idx < SETTING_INDEX_NCOORD; idx++) { settings_write_coord_data(idx, coord_data); }
}  


// Helper function to clear the EEPROM space containing the startup lines.
void settings_clear_startup_lines() {
  #if N_STARTUP_LINE > 0
  eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK, 0);
  #endif
  #if N_STARTUP_LINE > 1
  eeprom_put_char(EEPROM_ADDR_STARTUP_BLOCK+(LINE_BUFFER_SIZE+1), 0);
  #endif
}


// Helper function to clear the EEPROM space containing the user build info string.
void settings_clear_build_info() { eeprom_put_char(EEPROM_ADDR_BUILD_INFO , 0); }


// Reads startup line from EEPROM. Updated pointed line string data.
uint8_t settings_read_startup_line(uint8_t n, char *line)
{
  uint32_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);
  }
  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);
  }
  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)
{
  uint32_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);
  }
  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(uint8_t parameter, float value) {
  if (value < 0.0) { return(STATUS_NEGATIVE_VALUE); } 
  if (parameter >= AXIS_SETTINGS_START_VAL) {
    // Store axis configuration. Axis numbering sequence set by AXIS_SETTING defines.
    // NOTE: Ensure the setting index corresponds to the report.c settings printout.
    parameter -= AXIS_SETTINGS_START_VAL;
    uint8_t set_idx = 0;
    while (set_idx < AXIS_N_SETTINGS) {
      if (parameter < N_AXIS) {
        // Valid axis setting found.
        switch (set_idx) {
          case 0: settings.steps_per_deg[parameter] = value; break;
          case 1: settings.max_rate[parameter] = value*60; break; // Convert to deg/min for grbl internal use.
          case 2: settings.acceleration[parameter] = value*60*60; break; // Convert to deg/min^2 for grbl internal use.
          case 3: settings.max_travel[parameter] = -value; break;  // Store as negative for grbl internal use.
        }
        break; // Exit while-loop after setting has been configured and proceed to the EEPROM write call.
      } else {
        set_idx++;
        // If axis index greater than N_AXIS or setting index greater than number of axis settings, error out.
        if ((parameter < AXIS_SETTINGS_INCREMENT) || (set_idx == AXIS_N_SETTINGS)) { return(STATUS_INVALID_STATEMENT); }
        parameter -= AXIS_SETTINGS_INCREMENT;
      }
    }
  } else {
    // Store non-axis Grbl settings
    uint8_t int_value = trunc(value);
    switch(parameter) {
      case 0: 
        if (int_value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
        settings.pulse_microseconds = int_value; break;
      case 1: settings.stepper_idle_lock_time = int_value; break;
      case 2: 
        settings.step_invert_mask = int_value; 
        st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
        break;
      case 3: 
        settings.dir_invert_mask = int_value; 
        st_generate_step_dir_invert_masks(); // Regenerate step and direction port invert masks.
        break;
      case 4: // Reset to ensure change. Immediate re-init may cause problems.
        if (int_value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
        else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
        break;
      case 5: // Reset to ensure change. Immediate re-init may cause problems.
        if (int_value) { settings.flags |= BITFLAG_INVERT_LIMIT_PINS; }
        else { settings.flags &= ~BITFLAG_INVERT_LIMIT_PINS; }
        break;
      case 6: // Reset to ensure change. Immediate re-init may cause problems.
        if (int_value) { settings.flags |= BITFLAG_INVERT_PROBE_PIN; }
        else { settings.flags &= ~BITFLAG_INVERT_PROBE_PIN; }
        break;
      case 10: settings.status_report_mask = int_value;
      case 11: settings.junction_deviation = value; break;
      case 12: settings.arc_tolerance = value; break;
      case 13:
        if (int_value) { settings.flags |= BITFLAG_REPORT_INCHES; }
        else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
        break;
      case 14: // Reset to ensure change. Immediate re-init may cause problems.
        if (int_value) { settings.flags |= BITFLAG_AUTO_START; }
        else { settings.flags &= ~BITFLAG_AUTO_START; }
        break;
      case 20:
        if (int_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 21:
        if (int_value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
        else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
        limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
        break;*/
      case 22:
        if (int_value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
        else { 
          settings.flags &= ~BITFLAG_HOMING_ENABLE; 
          settings.flags &= ~BITFLAG_SOFT_LIMIT_ENABLE; // Force disable soft-limits.
        }
        break;
      case 23: settings.homing_dir_mask = int_value; break;
      case 24: settings.homing_feed_rate = value; break;
      case 25: settings.homing_seek_rate = value; break;
      case 26: settings.homing_debounce_delay = int_value; break;
      case 27: settings.homing_pulloff = value; break;
      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_restore_global_settings();
    
    // Force clear startup lines and build info user data. Parameters should be ok.
    // TODO: For next version, remove these clears. Only here because line buffer increased.
    settings_clear_startup_lines();
    settings_clear_build_info();
    
    report_grbl_settings();
  }

  // Check 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 checked and executed by protocol_main_loop at the end of initialization.
  // TODO: Build info should be checked here, but will wait until v1.0 to address this. Ok for now.
}


// Returns step pin mask according to Grbl internal axis indexing.
uint8_t get_step_pin_mask(uint8_t axis_idx)
{
  /*if ( axis_idx == X_AXIS ) { return((1<<X_STEP_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_STEP_BIT)); }
  return((1<<Z_STEP_BIT));*/
  return((1<<X_STEP_BIT));
}


// Returns direction pin mask according to Grbl internal axis indexing.
uint8_t get_direction_pin_mask(uint8_t axis_idx)
{
  /*if ( axis_idx == X_AXIS ) { return((1<<X_DIRECTION_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_DIRECTION_BIT)); }
  return((1<<Z_DIRECTION_BIT));*/
  return((1<<X_DIRECTION_BIT));
}


/*// Returns limit pin mask according to Grbl internal axis indexing.
uint8_t get_limit_pin_mask(uint8_t axis_idx)
{
  if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
  if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
  return((1<<Z_LIMIT_BIT));
}*/