GrblDD, for Ghost Gunner
A standards-compliant g-code controller that will look up to 16 motions into the future to deliver smooth acceleration and jerk-free cornering.
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Licensing: GrblDD is free software, released under the GPLv3 license.
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Lead bitbanger: JTS aka @doppelhub
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Built on the wonderful Grbl v1.1c (2019) firmware written by Sungeun "Sonny" Jeon, Ph.D. (USA) aka @chamnit
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Built on the wonderful Grbl v0.6 (2011) firmware written by Simen Svale Skogsrud (Norway).
-1: Download and install Arduino IDE
-2: Clone/download this repository
-3: Place folder "grblDD" into Arduino libraries folder (on a Mac, that's ~/Documents/Arduino/libraries)**
-4: Launch Arduino, then go to File>Examples... all the way at the bottom you'll see grblDD>grblUpload
-5: Select COM port (Tools>Port)
-6: Click "Upload" button (looks like an arrow pointing to the right)
**Optional: On a Mac, to prevent having to manually perform this step each time grblDD is updated, create a symbolic link (using Terminal):
ln -s /path/to/original /path/to/symbolic/link
where:
-"/path/to/original" is wherever your git directory cloned to
-"/path/to/symbolic/link" is the Arduino libraries folder (~/Documents/Arduino/libraries)
Example:
ln -s /Users/jts/Documents/GitHub/grbl/grblDD /Users/jts/Documents/Arduino/libraries
Items listed below are changes to standard grbl 1v1h:
- IMPORTANT: After updating firmware, You must update EEPROM using "$RST=*".
-- For our prototyping needs, we can just manually send that command.
-- For release, DDcut should probably just always send that command after updating grbl firmware (if we don't do that already).
-$HX, $HY, or $HZ homes single axis ($H still homes all axes). This should make testing limit switch tab placement easier.
-'$E' now reports entire EEPROM (mainly for debug)
-'$L' = autolevel X table using previously stored calibration data. Uses calibration data stored by '$LS'
-'$LS' = store difference between X limit switches in EEPROM. Run $LS after manually squaring machine.
-'$B=' stores RMA/manufacturing notes in memory. Write whatever you want here. Each successive call overwrites entire previous note.
--76 characters max (grbl reports error if longer). Only numbers, letters, and period are stored (all other symbols removed, including spaces).
-'$B' reports any manufacturing/rma notes previously stored. All letters CAPITALIZED.
Example: "$B=Hello.World.this text has spaces".
Example: "$B" returns: "HELLO.WORLD.THISTEXTHASSPACES"
-Added (background) spindle safety interlock; BLDC HallC state intentionally pulled low when M5 disables spindle.
-Probing should work better than you've ever seen it work. Of course, y'all can't test it until I send 64M1 firmware (spindle).
-Steppers now automatically configure power levels. You'll notice steppers run much cooler.
-'M17' command: places steppers into high power mode (ONLY during the next motion command). Primarily designed to free stuck axes (particularly X).
USE SPARINGLY... PCB overheats (and safely shuts down) in ~5 seconds. Intended use: freeing bound X axis.
-'M18' command: turn steppers off (until next motion command). Allows you to hand turn motors without unplugging GG. Useful for assembly/troubleshooting.
Note: This replaces '$O' functionality previously described.
-When GG hits a hard limit switch, the response is now:
--"[MSG:LIM TRIP X]" or "[MSG:LIM TRIP Y]" or "[MSG:LIM TRIP Z]"
--"ALARM:1"
This should make it easier for our customers to figure out which limit switch has tripped.
If a particular g-code line contains a formatting error, grbl now echoes the entire line, then reports the error number:
--Example (sending "g0 X-J"):
--New grbl response:
---[echo: G0X-J]
---error:2
--(Note: the echoed line is formatted (all capital letters, no spaces, no comments)
If the g-code contains line numbers (e.g. "N123 G0 X-1"), grbl will now return the line currently executing when '?' is received.
If the g-code does not contain a line number (e.g. G0 X-1"), grbl returns '0'.
If no line is currently executing (e.g. grbl is IDLE), grbl returns '0'.
--Example (Send "N122 G1 Y-20 F100". While that line is running, send '?'):.
--New grbl response:
---<Run|M:-91.500,-24.440,-0.500|B:13,128|L:122|0000>
-Simplified realtime reporting (i.e. data returned by '?' command). grbl1v1 made it difficult to automatically parse data.
The following improvements were made:
--every single '?' is now always formatted exactly the same way. Previously, certain commands were only returned every 10 or 20 requests.
--feedrate and spindle rpm are no longer returned here (they're already available via '$G' parser state).
--When a limit switch or probe isn't tripped, the corresponding digit is now filled with '0'. Previously, non-tripped parameters were not sent at all.
Returned data from '?' is formatted as follows:
<state | M:X,Y,Z(absolute WCS) | B:(free blocks in planner buffer),(free bytes in serial RX buffer) | L:nnnnnnn | PXYZ (letter if tripped, else '0') | W:X,Y,Z(work offsets) >
//Note: WCO only appears every once in a while, and whenever it updates.
Examples:
<Idle | M:-91.500,-20.000,-0.500 | B:15,128 | L:0 | 0000> (idle | WCS | Buffers completely empty | nothing is tripped (probe/X/Y/Z all equal 0)
<Idle | M:-91.500,-20.000,-0.500 | B:15,128 | L:0 | P000> (same as above, except probe is tripped)
<Hold:0 | M:-91.500,-20.000,-0.500 | Bf:15,1 | L:0 | P000> (same as above, except machine is in feedhold & RX buffer is full)
<Alarm | M:0.000,0.000,0.000 | B:15,128 | L:0 | 0X00> (machine hasn't been homed, X limit switch is tripped**)
<Alarm | M:0.000,0.000,0.000 | B:15,128 | L:0 | 00Y0> (machine hasn't been homed, Y limit switch is tripped**)
<Alarm | M:0.000,0.000,0.000 | B:15,128 | L:0 | 000Z> (machine hasn't been homed, Z limit switch is tripped**)
<Alarm | M:0.000,0.000,0.000 | B:15,128 | L:0 | 0XY0> (machine hasn't been homed, X & Y limit switches are tripped**)
**Note: you cannot query '?' after a hard limit occurs. Thus, you can only see which limit switch is tripped prior to initial homing sequence.
$I returns GG hardware/firmware versions (e.g. "[grbl:1.1h GG:3A PCB:3B VFD:3A YMD:20200101]"), where:
-"GG:3A" is a GG3 mechanical assembly, with revision A hardware.
This number should always be the actual machine hardware (i.e. a GG1 unit will always return itself as GG:1_)
-"PCB:3B" is a GG1/2/3 machine with a GG3 PCB inside (revision B).
-"VFD:3A" is a GG1/2/3 machine with VFD firmware 3A... note machines that don't have VFD hardware will return "VFD:00".
-"YMD20200101" is the build year/month/date (YYYYMMDD).
-Keep in mind that all existing GG1/GG2 machines will return the old $I data until their firmware gets upgraded.
List of Supported G-Codes:
- Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
- Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
- Feed Rate Modes: G93, G94
- Unit Modes: G20, G21
- Distance Modes: G90, G91
- Arc IJK Distance Modes: G91.1
- Plane Select Modes: G17, G18, G19
- Tool Length Offset Modes: G43.1, G49
- Cutter Compensation Modes: G40
- Coordinate System Modes: G54, G55, G56, G57, G58, G59
- Control Modes: G61
- Program Flow: M0, M1, M2, M30*
- Spindle Control: M3, M4, M5
- (DDcut only) Find midpoint between two WCS (see manual): M100
- (DDcut only) Verify absolute distance is less than x (see manual): M101
- Stepper High power mode (next motion command only): M17
- Stepper Zero power mode (turn steppers off until next motion command): M18
- Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
- '|' (shift+\) now resets grbl (in addition to control+x, which is not a keyboard character).