# OpenGRBL **Repository Path**: fengliuhuanghe/open-grbl ## Basic Information - **Project Name**: OpenGRBL - **Description**: 这是一个基于GRBL移植的项目，在GRBL的基础上将代码移植到STM32的MCU上执行 - **Primary Language**: C - **License**: GPL-3.0 - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 18 - **Created**: 2023-10-26 - **Last Updated**: 2023-10-26 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README ![Build Status](https://img.shields.io/github/license/solawc/ST_GRBL) ![Build Status](https://img.shields.io/badge/build-GRBL--1.1h-green) ![Build Status](https://img.shields.io/badge/platform-vscode--PlatformIO-yellowgreen) ![OpenGRBL](https://github.com/solawc/Open_GRBL/blob/main/doc/OpenGRBL.png) ## Describe： This project is transplanted from the original grbl to STM32 or other MCU. At present, it runs well on stm32g0; FreeRTOS is added on the original basis, which can expand more functions and make the actual engraving machine /cnc more perfect. Grbl original address：https://github.com/gnea/grbl ## MCU Support The operation mode is to modify Hal without changing the operation logic | 内核 | MCU型号 | | :--------: | :---------: | | @Cortex-M0 | STM32G070RB | | @Cortex-M0 | STM32G0B0CE | | @Cortex-M3 | STM32F103VE | | @Cortex-M4 | STM32F429IG | ## Configuration parameter And standard grbl | $0 | Step pulse time | 10 | microseconds | Sets time length per step. Minimum 3usec. | | ---- | ------------------------------- | -------- | ------------ | ------------------------------------------------------------ | | $1 | Step idle delay | 25 | milliseconds | Sets a short hold delay when stopping to let dynamics settle before disabling steppers. Value 255 keeps motors enabled with no delay. | | $2 | Step pulse invert | 0 | mask | Inverts the step signal. Set axis bit to invert (00000ZYX). | | $3 | Step direction invert | 0 | mask | Inverts the direction signal. Set axis bit to invert (00000ZYX). | | $4 | Invert step enable pin | 0 | boolean | Inverts the stepper driver enable pin signal. | | $5 | Invert limit pins | 0 | boolean | Inverts the all of the limit input pins. | | $6 | Invert probe pin | 0 | boolean | Inverts the probe input pin signal. | | $10 | Status report options | 1 | mask | Alters data included in status reports. | | $11 | Junction deviation | 0.010 | millimeters | Sets how fast Grbl travels through consecutive motions. Lower value slows it down. | | $12 | Arc tolerance | 0.002 | millimeters | Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance. | | $13 | Report in inches | 0 | boolean | Enables inch units when returning any position and rate value that is not a settings value. | | $20 | Soft limits enable | 0 | boolean | Enables soft limits checks within machine travel and sets alarm when exceeded. Requires homing. | | $21 | Hard limits enable | 1 | boolean | Enables hard limits. Immediately halts motion and throws an alarm when switch is triggered. | | $22 | Homing cycle enable | 1 | boolean | Enables homing cycle. Requires limit switches on all axes. | | $23 | Homing direction invert | 0 | mask | Homing searches for a switch in the positive direction. Set axis bit (00000ZYX) to search in negative direction. | | $24 | Homing locate feed rate | 25.000 | mm/min | Feed rate to slowly engage limit switch to determine its location accurately. | | $25 | Homing search seek rate | 500.000 | mm/min | Seek rate to quickly find the limit switch before the slower locating phase. | | $26 | Homing switch debounce delay | 250 | milliseconds | Sets a short delay between phases of homing cycle to let a switch debounce. | | $27 | Homing switch pull-off distance | 1.000 | millimeters | Retract distance after triggering switch to disengage it. Homing will fail if switch isn't cleared. | | $30 | Maximum spindle speed | 1000 | RPM | Maximum spindle speed. Sets PWM to 100% duty cycle. | | $31 | Minimum spindle speed | 0 | RPM | Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle. | | $32 | Laser-mode enable | 0 | boolean | Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed. | | $100 | X-axis travel resolution | 80.000 | step/mm | X-axis travel resolution in steps per millimeter. | | $101 | Y-axis travel resolution | 80.000 | step/mm | Y-axis travel resolution in steps per millimeter. | | $102 | Z-axis travel resolution | 80.000 | step/mm | Z-axis travel resolution in steps per millimeter. | | $110 | X-axis maximum rate | 6000.000 | mm/min | X-axis maximum rate. Used as G0 rapid rate. | | $111 | Y-axis maximum rate | 6000.000 | mm/min | Y-axis maximum rate. Used as G0 rapid rate. | | $112 | Z-axis maximum rate | 6000.000 | mm/min | Z-axis maximum rate. Used as G0 rapid rate. | | $120 | X-axis acceleration | 500.000 | mm/sec^2 | X-axis acceleration. Used for motion planning to not exceed motor torque and lose steps. | | $121 | Y-axis acceleration | 500.000 | mm/sec^2 | Y-axis acceleration. Used for motion planning to not exceed motor torque and lose steps. | | $122 | Z-axis acceleration | 500.000 | mm/sec^2 | Z-axis acceleration. Used for motion planning to not exceed motor torque and lose steps. | | $130 | X-axis maximum travel | 200.000 | millimeters | Maximum X-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances. | | $131 | Y-axis maximum travel | 200.000 | millimeters | Maximum Y-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances. | | $132 | Z-axis maximum travel | 200.000 | millimeters | Maximum Z-axis travel distance from homing switch. Determines valid machine space for soft-limits and homing search distances. | ## Compilation environment - Vscode+PlatformIO - Download tools：Jlink/DAPlink(OpenOCD)