gnea · cprezzi · May 10, 2017 · May 10, 2017 · May 10, 2017 · May 10, 2017
diff --git a/DOCKER_LICENSE b/DOCKER_LICENSE
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 Ryan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/DOCKER_README.md b/DOCKER_README.md
@@ -0,0 +1,32 @@
+# Arm Embedded Docker Environment
+Minimal docker environment for building arm-embedded projects
+
+## Usage
+Run interactively with ```docker run -it --rm -v `pwd`:/root ryankurte/docker-arm-embedded /bin/bash```.  
+This will create a temporal instance (changes will be dropped on exit) with a binding from the current directory to the root user home directory.  
+
+If you are using selinux you may need to add a ```:z``` to the end of the -v parameter to indicate the mount is shared.
+
+```docker run -it --rm -v `pwd`:/root:z ryankurte/docker-arm-embedded /bin/bash```
+
+https://docs.docker.com/storage/bind-mounts/
+
+### Building grbl-LPC
+Update the grbl/config.h and uncomment the CPU_MAP define statement for the board you are compiling for
+
+```
+git submodule init
+git submodule update
+make
+```
+
+The resulting firmware file is build/firmware.bin
+
+## Includes:
+ - build-essential (native)
+ - make, cmake
+ - gawk, genromfs, ccache
+ - arm-none-eabi from [launchpad.net](https://launchpad.net/~terry.guo/+archive/ubuntu/gcc-arm-embedded)
+ - [Yotta](http://yotta.mbed.com/)
+
+
diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,62 @@
+FROM ubuntu:latest
+MAINTAINER Ryan Kurte <[email protected]>
+LABEL Description="Docker image for building arm-embedded projects"
+
+# General dependencies
+RUN apt-get update && apt-get install -y \
+  git \
+  subversion \
+  curl \
+  cmake \
+  make \
+  automake \
+  autoconf \
+  python-setuptools \
+  ninja-build \
+  python-dev \
+  libtool \
+  unzip \
+  libffi-dev \
+  libssl-dev \
+  libusb-1.0.0 \
+  libusb-1.0.0-dev \
+  software-properties-common \
+  python-software-properties \
+  gawk \
+  genromfs \
+  ccache \
+  clang \
+  build-essential \
+  python3 \
+  python3-dev \
+  python3-pip \
+  libprotobuf-dev \
+  protobuf-compiler \
+  libprotobuf-c-dev \
+  protobuf-c-compiler \
+  python-protobuf
+
+# arm-none-eabi custom ppa
+RUN add-apt-repository ppa:team-gcc-arm-embedded/ppa && \
+  apt-get update && \
+  apt-get install -y gcc-arm-embedded
+
+# Yotta
+RUN easy_install pip && \
+  pip install yotta && \
+  mkdir -p /usr/local/lib/yotta_modules \
+  chown $USER /usr/local/lib/yotta_modules \
+  chmod 755 /usr/local/lib/yotta_modules
+
+# Pyserial for serial programming
+RUN pip install pyserial
+
+# STLink util
+RUN git clone https://github.com/texane/stlink.git && \
+  cd stlink && mkdir build && cd build && \
+  cmake .. && make && make install
+
+# Cleanup
+RUN apt-get clean && \
+  rm -rf /var/lib/apt
+
diff --git a/README.md b/README.md
@@ -1,12 +1,18 @@
 ![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)
 
 ***
-Old releases are in the `Release` tab. See [cprezzi's branch](https://github.com/cprezzi/grbl-LPC) for more recent releases.
-Note: cprezzi's branch disables current control and has defaults more suitable for other boards.
+Note: this branch defaults stepper current to zero and has defaults for more boards and machines.
 ***
-This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.
+This is GRBL 1.1 ported to the LPC1769. 
+It can run on the following boards:
+- Smoothieboard
+- Cohesion3D Remix and Mini
+- MKS SBase
+- Azteeg X5 
 
-Usage notes:
+SKR boards don't work, because pin mapping is messed!
+
+**Usage notes:**
 * This uses a different usb-serial driver than Smoothieware. Windows 10 should recognize it automatically.
   If it doesn't, try installing VCOM_lib/usbser.inf.
 * This doesn't pass the sdcard to the host. Once installed you need to use a micro sdcard adaptor to replace or change it.
@@ -24,14 +30,17 @@ New configuration settings
 * $34 is PWM off value in %
 * $35 is PWM min value in %
 * $36 is PWM max value in %
-* $140, $141, $142 are X, Y, Z current (amps)
+* $140, $141, $142, $143 are X, Y, Z, E0 current (amps)
   * Default to 0.0 A to avoid burning out your motors
   * Your motors will likely stall if you don't set these!
 
-Build notes:
+**Build notes:**
+* You should use virtual machines, if you use multiple toolchains on the same PC.
+* Install make if not already there (for Windows see http://gnuwin32.sourceforge.net/packages/make.htm)
+* Install the ARM embeded toolchain (see https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads)
 * Include ```make``` and the ```arm-none-eabi-*``` tools in your path.
 * Run ```git submodule init``` and ```git submodule update``` before building.
-* Make produces 2 files:
+* Run ```make```, which produces 2 files:
   * ```build/firmware.bin```: this is compatible with the sdcard bootloader.
   * ```build/grbl.hex```: this is not compatible with the sdcard bootloader. It loads using Flash Magic 
     and is primarilly for developers who don't want to keep swapping sdcards. If you flash this,

diff --git a/doc/markdown/settings.md b/doc/markdown/settings.md
@@ -51,6 +51,7 @@ $27=1.000
 $30=1000.
 $31=0.
 $32=0
+$33=5000
 $100=250.000
 $101=250.000
 $102=250.000
@@ -63,6 +64,9 @@ $122=10.000
 $130=200.000
 $131=200.000
 $132=200.000
+$140=0.000
+$141=0.000
+$142=0.000
 ```
 
 #### $x=val - Save Grbl setting
@@ -227,6 +231,10 @@ When enabled, Grbl will move continuously through consecutive `G1`, `G2`, or `G3
 
 When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds.
 
+#### $33 - Spindle/Laser PWM frequency
+
+This sets the PWM frequency.
+
 #### $100, $101 and $102 – [X,Y,Z] steps/mm
 
 Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know:

diff --git a/doc/media/Thumbs.db b/doc/media/Thumbs.db
diff --git a/grbl-lpc/current_control.cpp b/grbl-lpc/current_control.cpp
@@ -55,7 +55,7 @@ void current_init()
     set_current(0, settings.current[0]);
     set_current(1, settings.current[1]);
     set_current(2, settings.current[2]);
-    set_current(3, DEFAULT_A_CURRENT);
+    set_current(3, settings.current[3]);
 #endif
 }
 

diff --git a/grbl-lpc/delay.cpp b/grbl-lpc/delay.cpp
@@ -22,11 +22,11 @@
 
 void delay_init()
 {
-    LPC_TIM3->CTCR = 0;   // timer mode
-    LPC_TIM3->PR = 0;     // no prescale
-    LPC_TIM3->MCR = 0;    // no MR actions
-    LPC_TIM3->CCR = 0;    // no capture
-    LPC_TIM3->EMR = 0;    // no external match
-    LPC_TIM3->TCR = 0b10; // reset
-    LPC_TIM3->TCR = 0b01; // enable
+    LPC_TIM3->CTCR = 0;   // Count Control (0=TimerMode, 1-3=EdgeCounterMode)
+    LPC_TIM3->PR = 0;     // no Prescale (TC increments ever PR+1 clocks)
+    LPC_TIM3->MCR = 0;    // no Match Control actions
+    LPC_TIM3->CCR = 0;    // no Capture Control actions
+    LPC_TIM3->EMR = 0;    // no External Match (controls external match pins)
+    LPC_TIM3->TCR = 0b10; // reset Timer Control (0b10=Reset, 0b01=Enable)
+    LPC_TIM3->TCR = 0b01; // enable Timer Control (0b10=Reset, 0b01=Enable)
 }
diff --git a/grbl-lpc/flash.cpp b/grbl-lpc/flash.cpp
@@ -25,37 +25,38 @@ static constexpr unsigned flash_addr = 0xF000;                    // Last 4k sec
 static constexpr unsigned flash_size = 1024;                      // Only using 1k of a 4k sector
 static char *flash_memory = (char *)flash_addr;                   // Flash memory
 static char flash_buffer[flash_size] __attribute__((aligned(4))); // Copy of flash memory
-using Iap = void(unsigned[], unsigned[]);                         // IAP entry point
-static const Iap *iap = (Iap *)0x1FFF1FF1;                        // IAP entry point
+using Iap = void(unsigned[], unsigned[]);                         // IAP entry point function
+static const Iap *iap = (Iap *)0x1FFF1FF1;                        // IAP entry point address
 
 void eeprom_init()
 {
-    memcpy(flash_buffer, flash_memory, flash_size);
+    memcpy(flash_buffer, flash_memory, flash_size);  // Copy flash memory into local flash buffer
 }
 
 void eeprom_commit()
 {
     if (!memcmp(flash_buffer, flash_memory, flash_size))
-        return;
+        return; // No changes to commit
     unsigned prepCommand[5] = {
-        50,
-        flash_sector,
-        flash_sector,
+        50,                     // Prepare sector(s) for write operation
+        flash_sector,           // Start sector
+        flash_sector,           // End sector
     };
     unsigned eraseCommand[5] = {
-        52,
-        flash_sector,
-        flash_sector,
-        SystemCoreClock / 1000,
+        52,                     // Erase sector(s)
+        flash_sector,           // Start sector
+        flash_sector,           // End sector
+        SystemCoreClock / 1000, // CPU clock frequency in kHz
     };
     unsigned writeCommand[5] = {
-        51,
-        flash_addr,
-        (unsigned)flash_buffer,
-        flash_size,
-        SystemCoreClock / 1000,
+        51,                     // Copy RAM to Flash
+        flash_addr,             // Destination flash address (256-byte boundary)
+        (unsigned)flash_buffer, // Source RAM address (word boundary)
+        flash_size,             // Number of bytes to write (must be: 256, 512, 1024, 4096)
+        SystemCoreClock / 1000, // CPU clock frequency in kHz
     };
     unsigned output[5];
+    // Run In-Application Programming (IAP) routines
     iap(prepCommand, output);
     iap(eraseCommand, output);
     iap(prepCommand, output);