Grbl: Send jog commands instead of G0

include/Grbl/grbl_serial.h

@@ -48,11 +48,13 @@ typedef enum {
 } GrblAxis;
 
 typedef struct {
+    GrblMoveMode move_mode;
+    float feed_rate;
     uint8_t axis_flags;
     float x;
     float y;
     float z;
-} GrblMoveCoordinates;
+} GrblMoveCommand;
 
 typedef struct {
     void (*on_success)() = NULL;
@@ -76,9 +78,6 @@ bool grbl_send_message(
     GrblCommandCallbacks callbacks = GrblCommandCallbacks());
 bool grbl_send_init_commands();
 bool grbl_send_home_command(uint8_t axis_flags, GrblCommandCallbacks callbacks = GrblCommandCallbacks());
-bool grbl_send_move_command(
-    GrblMoveCoordinates target,
-    GrblMoveMode mode = GRBL_MOVE_MODE_UNDEFINED,
-    GrblCommandCallbacks callbacks = GrblCommandCallbacks());
+bool grbl_send_move_command(GrblMoveCommand command, GrblCommandCallbacks callbacks = GrblCommandCallbacks());
 
 #endif

include/settings.h

@@ -13,6 +13,7 @@ typedef enum {
     SETTINGS_TYPE_BED = 0x01,
     SETTINGS_TYPE_PROBES = 0x02,
     SETTINGS_TYPE_OTA = 0x04,
+    SETTINGS_TYPE_GRBL = 0x08,
 } SettingsType;
 
 typedef struct {
@@ -37,13 +38,19 @@ typedef struct {
     char password[250];
 } OTASettings;
 
+typedef struct {
+    float jog_speed;
+} GrblSettings;
+
 extern SemaphoreHandle_t bed_settings_mutex;
 extern SemaphoreHandle_t probes_settings_mutex;
 extern SemaphoreHandle_t ota_settings_mutex;
+extern SemaphoreHandle_t grbl_settings_mutex;
 
 extern BedSettings bed_settings;
 extern ProbesSettings probes_settings;
 extern OTASettings ota_settings;
+extern GrblSettings grbl_settings;
 
 void settings_init();
 void settings_schedule_save(uint32_t settings_types);

src/Grbl/grbl_serial.cpp

@@ -343,49 +343,44 @@ bool grbl_send_home_command(uint8_t axis_flags, GrblCommandCallbacks callbacks)
     return grbl_send_message(buffer, false, GRBL_ACK_HOMING_TIMEOUT_MS, callbacks);
 }
 
-bool grbl_send_move_command(GrblMoveCoordinates target, GrblMoveMode mode, GrblCommandCallbacks callbacks) {
+bool grbl_send_move_command(GrblMoveCommand command, GrblCommandCallbacks callbacks) {
     log_i(
-        "Sending a%s move command for axis %s%s%s with coordinates (%.2f, %.2f, %.2f)",
-        mode == GRBL_MOVE_MODE_ABSOLUTE ? "n absolute"
-                                        : (mode == GRBL_MOVE_MODE_RELATIVE ? " relative" : "n undefined"),
-        (target.axis_flags & GRBL_AXIS_X) != 0 ? "X" : "",
-        (target.axis_flags & GRBL_AXIS_Y) != 0 ? "Y" : "",
-        (target.axis_flags & GRBL_AXIS_Z) != 0 ? "Z" : "",
-        (target.axis_flags & GRBL_AXIS_X) != 0 ? target.x : 0,
-        (target.axis_flags & GRBL_AXIS_Y) != 0 ? target.y : 0,
-        (target.axis_flags & GRBL_AXIS_Z) != 0 ? target.z : 0);
-
-    if (mode == GRBL_MOVE_MODE_ABSOLUTE || mode == GRBL_MOVE_MODE_RELATIVE) {
-        bool switch_mode_scheduled = false;
-        switch (mode) {
-        case GRBL_MOVE_MODE_ABSOLUTE:
-            if (!grbl_send_message("G90")) {
-                if (callbacks.on_failure != NULL) {
-                    callbacks.on_failure();
-                }
-                return false;
-            }
-            break;
-        case GRBL_MOVE_MODE_RELATIVE:
-            if (!grbl_send_message("G91")) {
-                if (callbacks.on_failure != NULL) {
-                    callbacks.on_failure();
-                }
-                return false;
-            }
-            break;
-        }
+        "Sending a%s move command for axis %s%s%s with coordinates (%.2f, %.2f, %.2f) at %.2fmm/s",
+        command.move_mode == GRBL_MOVE_MODE_ABSOLUTE
+            ? "n absolute"
+            : (command.move_mode == GRBL_MOVE_MODE_RELATIVE ? " relative" : "n undefined"),
+        (command.axis_flags & GRBL_AXIS_X) != 0 ? "X" : "",
+        (command.axis_flags & GRBL_AXIS_Y) != 0 ? "Y" : "",
+        (command.axis_flags & GRBL_AXIS_Z) != 0 ? "Z" : "",
+        (command.axis_flags & GRBL_AXIS_X) != 0 ? command.x : 0,
+        (command.axis_flags & GRBL_AXIS_Y) != 0 ? command.y : 0,
+        (command.axis_flags & GRBL_AXIS_Z) != 0 ? command.z : 0,
+        command.feed_rate);
+
+    char buffer[ARRAY_SIZE("$J=G21 G90 F0000.0 X000.00 Y000.00 Z000.00")] = "$J=G21\0";
+
+    // Set absolute/relative mode
+    switch (command.move_mode) {
+    case GRBL_MOVE_MODE_ABSOLUTE:
+        snprintf(buffer, ARRAY_SIZE(buffer), "%s G90");
+        break;
+    case GRBL_MOVE_MODE_RELATIVE:
+        snprintf(buffer, ARRAY_SIZE(buffer), "%s G91");
+        break;
     }
 
-    char buffer[ARRAY_SIZE("G0 X000.00 Y000.00 Z000.00")] = "G0\0";
-    if ((target.axis_flags & GRBL_AXIS_X) != 0) {
-        snprintf(buffer, ARRAY_SIZE(buffer), "%s X%.2f", buffer, target.x);
+    // Set feed rate
+    snprintf(buffer, ARRAY_SIZE(buffer), "%s F%.1f", buffer, command.feed_rate);
+
+    // Set target
+    if ((command.axis_flags & GRBL_AXIS_X) != 0) {
+        snprintf(buffer, ARRAY_SIZE(buffer), "%s X%.2f", buffer, command.x);
     }
-    if ((target.axis_flags & GRBL_AXIS_Y) != 0) {
-        snprintf(buffer, ARRAY_SIZE(buffer), "%s Y%.2f", buffer, target.y);
+    if ((command.axis_flags & GRBL_AXIS_Y) != 0) {
+        snprintf(buffer, ARRAY_SIZE(buffer), "%s Y%.2f", buffer, command.y);
     }
-    if ((target.axis_flags & GRBL_AXIS_Z) != 0) {
-        snprintf(buffer, ARRAY_SIZE(buffer), "%s Z%.2f", buffer, target.z);
+    if ((command.axis_flags & GRBL_AXIS_Z) != 0) {
+        snprintf(buffer, ARRAY_SIZE(buffer), "%s Z%.2f", buffer, command.z);
     }
 
     return grbl_send_message(buffer, false, GRBL_ACK_DEFAULT_TIMEOUT_MS, callbacks);

src/UI/screens/controls.cpp

@@ -12,6 +12,7 @@
 #include "macros.h"
 #include "mutex.h"
 #include "queues.h"
+#include "settings.h"
 
 lv_obj_t *ui_controls_screen;
 
@@ -82,22 +83,31 @@ static void ui_controls_btnmatrix_handler(lv_event_t *e) {
                 grbl_send_home_command(GRBL_AXIS_Y, grbl_command_callbacks);
             }
         } else { // Relative move
+            TAKE_MUTEX(grbl_settings_mutex);
+
+            GrblMoveCommand move_command = {
+                .move_mode = GRBL_MOVE_MODE_RELATIVE,
+                .feed_rate = grbl_settings.jog_speed,
+                .axis_flags = 0,
+            };
+
+            RELEASE_MUTEX(grbl_settings_mutex);
+
             float_t move_offset = pow10(abs((int)(btn_id - 3)) - 1) * (btn_id < 3 ? -1 : 1);
-            GrblMoveCoordinates move_target = {.axis_flags = 0};
             if (event_target == ui_controls_laser_move_x_matrix) {
-                move_target.axis_flags = GRBL_AXIS_X;
-                move_target.x = move_offset;
+                move_command.axis_flags = GRBL_AXIS_X;
+                move_command.x = move_offset;
             } else if (event_target == ui_controls_laser_move_y_matrix) {
-                move_target.axis_flags = GRBL_AXIS_Y;
-                move_target.y = move_offset;
+                move_command.axis_flags = GRBL_AXIS_Y;
+                move_command.y = move_offset;
             }
 
             grbl_command_callbacks.on_failure = []() -> void {
                 ui_overlay_add_flash_message(FLASH_LEVEL_DANGER, "Move command failed or timed out");
             };
 
             ui_controls_lock_grbl_controls();
-            grbl_send_move_command(move_target, GRBL_MOVE_MODE_RELATIVE, grbl_command_callbacks);
+            grbl_send_move_command(move_command, grbl_command_callbacks);
         }
     }
 }

src/UI/screens/settings.cpp

@@ -22,6 +22,7 @@ static lv_obj_t *ui_settings_wifi_page;
 static lv_obj_t *ui_settings_bed_page;
 static lv_obj_t *ui_settings_probes_page;
 static lv_obj_t *ui_settings_ota_page;
+static lv_obj_t *ui_settings_grbl_page;
 static lv_obj_t *ui_settings_alarm_page;
 static lv_obj_t *ui_settings_interlock_page;
 
@@ -49,6 +50,8 @@ static lv_obj_t *ui_settings_probes_cooling_temp_max_value;
 static lv_obj_t *ui_settings_ota_login_value;
 static lv_obj_t *ui_settings_ota_password_value;
 
+static lv_obj_t *ui_settings_grbl_jog_speed_value;
+
 static lv_obj_t *ui_settings_alarm_enable_when_running_value;
 static lv_obj_t *ui_settings_alarm_enable_when_not_idling_value;
 static lv_obj_t *ui_settings_alarm_enable_when_flame_sensor_triggered_value;
@@ -179,6 +182,31 @@ static void ui_settings_save_ota_settings() {
     RELEASE_MUTEX(ota_settings_mutex)
 }
 
+static void ui_settings_load_grbl_settings() {
+    // Acquire GRBL settings mutex
+    TAKE_MUTEX(grbl_settings_mutex)
+
+    static char jog_speed_text[10];
+
+    snprintf(jog_speed_text, ARRAY_SIZE(jog_speed_text), "%.1f", grbl_settings.jog_speed);
+
+    lv_textarea_set_text(ui_settings_grbl_jog_speed_value, jog_speed_text);
+
+    // Release GRBL settings mutex
+    RELEASE_MUTEX(grbl_settings_mutex)
+}
+
+static void ui_settings_save_grbl_settings() {
+    // Acquire GRBL settings mutex
+    TAKE_MUTEX(grbl_settings_mutex)
+
+    grbl_settings.jog_speed = static_cast<float_t>(atof(lv_textarea_get_text(ui_settings_grbl_jog_speed_value)));
+    settings_schedule_save(SETTINGS_TYPE_GRBL);
+
+    // Release GRBL settings mutex
+    RELEASE_MUTEX(grbl_settings_mutex)
+}
+
 static void ui_settings_wifi_buttons_handler(lv_event_t *e) {
     lv_event_code_t event_code = lv_event_get_code(e);
     if (event_code != LV_EVENT_CLICKED) {
@@ -250,6 +278,8 @@ static void ui_settings_field_value_changed_handler(lv_event_t *e) {
             ui_settings_save_probes_settings();
         } else if (target == ui_settings_ota_login_value || target == ui_settings_ota_password_value) {
             ui_settings_save_ota_settings();
+        } else if (target == ui_settings_grbl_jog_speed_value) {
+            ui_settings_save_grbl_settings();
         }
     }
 }
@@ -322,13 +352,15 @@ static void ui_settings_init_screen_content() {
     char bed_page_name[] = "Bed";
     char probes_page_name[] = "Probes";
     char ota_page_name[] = "OTA Updates";
+    char grbl_page_name[] = "GRBL";
     char alarm_page_name[] = "Alarm behavior";
     char interlock_page_name[] = "Interlock behavior";
 
     ui_settings_wifi_page = lv_menu_page_create(ui_settings_menu, wifi_page_name);
     ui_settings_bed_page = lv_menu_page_create(ui_settings_menu, bed_page_name);
     ui_settings_probes_page = lv_menu_page_create(ui_settings_menu, probes_page_name);
     ui_settings_ota_page = lv_menu_page_create(ui_settings_menu, ota_page_name);
+    ui_settings_grbl_page = lv_menu_page_create(ui_settings_menu, grbl_page_name);
     ui_settings_alarm_page = lv_menu_page_create(ui_settings_menu, alarm_page_name);
     ui_settings_interlock_page = lv_menu_page_create(ui_settings_menu, interlock_page_name);
 
@@ -341,6 +373,8 @@ static void ui_settings_init_screen_content() {
     lv_obj_clear_flag(ui_settings_probes_page, LV_OBJ_FLAG_SCROLL_ELASTIC);
     lv_obj_clear_flag(ui_settings_ota_page, LV_OBJ_FLAG_SCROLL_MOMENTUM);
     lv_obj_clear_flag(ui_settings_ota_page, LV_OBJ_FLAG_SCROLL_ELASTIC);
+    lv_obj_clear_flag(ui_settings_grbl_page, LV_OBJ_FLAG_SCROLL_MOMENTUM);
+    lv_obj_clear_flag(ui_settings_grbl_page, LV_OBJ_FLAG_SCROLL_ELASTIC);
     lv_obj_clear_flag(ui_settings_alarm_page, LV_OBJ_FLAG_SCROLL_MOMENTUM);
     lv_obj_clear_flag(ui_settings_alarm_page, LV_OBJ_FLAG_SCROLL_ELASTIC);
     lv_obj_clear_flag(ui_settings_interlock_page, LV_OBJ_FLAG_SCROLL_MOMENTUM);
@@ -372,6 +406,11 @@ static void ui_settings_init_screen_content() {
     lv_label_set_text(item_label, LV_SYMBOL_CODE_PULL_REQUEST " OTA Updates");
     lv_menu_set_load_page_event(ui_settings_menu, item_cont, ui_settings_ota_page);
 
+    item_cont = lv_menu_cont_create(ui_settings_root_page);
+    item_label = lv_label_create(item_cont);
+    lv_label_set_text(item_label, LV_SYMBOL_ARROWS_TO_DOT " GRBL");
+    lv_menu_set_load_page_event(ui_settings_menu, item_cont, ui_settings_grbl_page);
+
     item_cont = lv_menu_cont_create(ui_settings_root_page);
     item_label = lv_label_create(item_cont);
     lv_label_set_text(item_label, LV_SYMBOL_WARNING " Alarm behavior");
@@ -483,6 +522,9 @@ static void ui_settings_init_screen_content() {
     ui_settings_ota_login_value = ui_settings_create_textarea_field(ui_settings_ota_page, "Login");
     ui_settings_ota_password_value = ui_settings_create_textarea_field(ui_settings_ota_page, "Password");
 
+    // GRBL page
+    ui_settings_grbl_jog_speed_value = ui_settings_create_textarea_field(ui_settings_grbl_page, "Jog speed (mm/s)");
+
     // Alarm page
     ui_settings_alarm_enable_when_running_value =
         ui_settings_create_checkbox_field(ui_settings_alarm_page, "Enable alarm when Grbl status is 'Running'");
@@ -510,6 +552,7 @@ static void ui_settings_init_screen_content() {
     ui_settings_load_bed_settings();
     ui_settings_load_probes_settings();
     ui_settings_load_ota_settings();
+    ui_settings_load_grbl_settings();
     settings_loaded = true;
 
     // Force the first update

src/settings.cpp

@@ -10,6 +10,7 @@
 static const char PREFERENCES_NAMESPACE_BED[] = "bed-settings";
 static const char PREFERENCES_NAMESPACE_PROBES[] = "probes-settings";
 static const char PREFERENCES_NAMESPACE_OTA[] = "ota-settings";
+static const char PREFERENCES_NAMESPACE_GRBL[] = "grbl-settings";
 
 static const char PREFERENCES_KEY_BED_SCREW_LEAD[] = "screw-lead-um";
 static const char PREFERENCES_KEY_BED_MICROSTEP_MULTIPLIER[] = "microstep-mul";
@@ -27,11 +28,14 @@ static const char PREFERENCES_KEY_PROBES_COOLING_TEMP_MAX[] = "cool-temp-max";
 static const char PREFERENCES_KEY_OTA_LOGIN[] = "login";
 static const char PREFERENCES_KEY_OTA_PASSWORD[] = "password";
 
+static const char PREFERENCES_KEY_GRBL_JOG_SPEED[] = "jog-speed";
+
 static Preferences preferences;
 
 SemaphoreHandle_t bed_settings_mutex = xSemaphoreCreateMutex();
 SemaphoreHandle_t probes_settings_mutex = xSemaphoreCreateMutex();
 SemaphoreHandle_t ota_settings_mutex = xSemaphoreCreateMutex();
+SemaphoreHandle_t grbl_settings_mutex = xSemaphoreCreateMutex();
 
 BedSettings bed_settings = {
     .screw_lead_um = 8000,
@@ -54,6 +58,10 @@ OTASettings ota_settings = {
     .password = {0},
 };
 
+GrblSettings grbl_settings = {
+    .jog_speed = 100.0,
+};
+
 static void settings_save_task_func(void *params) {
     uint32_t settings_types;
 
@@ -116,6 +124,20 @@ static void settings_save_task_func(void *params) {
             RELEASE_MUTEX(ota_settings_mutex)
         }
 
+        if ((settings_types & SETTINGS_TYPE_GRBL) != 0) {
+            log_i("GRBL settings have changed, saving new values...");
+
+            // Acquire GRBL settings lock
+            TAKE_MUTEX(grbl_settings_mutex)
+
+            preferences.begin(PREFERENCES_NAMESPACE_GRBL, false);
+            preferences.putFloat(PREFERENCES_KEY_GRBL_JOG_SPEED, grbl_settings.jog_speed);
+            preferences.end();
+
+            // Release OTA settings lock
+            RELEASE_MUTEX(grbl_settings_mutex)
+        }
+
         // Wait a little bit before the next check
         vTaskDelay(pdMS_TO_TICKS(SETTINGS_UPDATE_INTERVAL));
     }
@@ -201,9 +223,27 @@ void settings_init() {
     log_d("  login: %s", ota_settings.login);
     log_d("  password: %s", ota_settings.password);
 
-    // Release probes settings lock
+    // Release OTA settings lock
     RELEASE_MUTEX(ota_settings_mutex)
 
+    // Acquire GRBL settings lock
+    TAKE_MUTEX(grbl_settings_mutex)
+    log_i("Loading GRBL settings... ");
+    preferences.begin(PREFERENCES_NAMESPACE_GRBL, true);
+
+    // clang-format off
+    grbl_settings = {
+        .jog_speed = preferences.getFloat(PREFERENCES_KEY_GRBL_JOG_SPEED, grbl_settings.jog_speed),
+    };
+    //  clang-format on
+
+    preferences.end();
+
+    log_d("  jog speed: %.1f", grbl_settings.jog_speed);
+
+    // Release GRBL settings lock
+    RELEASE_MUTEX(grbl_settings_mutex)
+
     // Start saving task
     xTaskCreatePinnedToCore(
         settings_save_task_func,