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‎README.md‎

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# Swift Pro Firmware V4.1.1 (Base on [Grbl v0.9j](https://github.com/grbl/grbl) )
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# Swift Pro Firmware V4.1.0 (Base on [Grbl v0.9j](https://github.com/grbl/grbl) )
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----------
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## Update Summary for v4.1.1
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* Fix cmd M17 bug
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* Add closed-loop stepper control (step losing detection and auto-adjusting)
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## Update Summary for v4.1.0
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* Transplant Grbl framework.
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* Optimize stepper motor performance,improve motor speed,fix motor shake.
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#### Not support app control
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#### For uArmStudio control
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- input and Grove module in BLOCKLY are not supported.
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- Draw/Laser is not supported.
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- 3D Printing is not supported.
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- BLOCKLY is not support **input** and **Grove** module.
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- Draw/Laser is not support.
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- 3D Printing is not support.
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## Communication protocol
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#### For serial terminal control
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* Open XLoader and select your uArm's COM port from the drop down menu on the lower left.
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* Select the appropriate device from the dropdown list titled "Device".
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* Check that Xloader set the correct baud rate for the device: 115200 for Mega (ATMEGA2560).
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* Now use the browse button on the top right of the form to browse to your hex file.
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* Now use the browse button on the top right of the form to browse to your grbl hex file.
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* Once your hex file is selected, click "Upload"
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The upload process generally takes about 10 seconds to finish. Once completed, a message will appear in the bottom left corner of XLoader telling you how many bytes were uploaded. If there was an error, it would show instead of the total bytes uploaded. Steps should be similar and may be done through the command prompt.
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‎Source code/config.h‎

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‎Source code/coolant_control.c‎

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/*
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coolant_control.c - coolant control methods
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Part of Grbl
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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void coolant_init()
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{
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COOLANT_FLOOD_DDR |= (1 << COOLANT_FLOOD_BIT);
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#ifdef ENABLE_M7
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COOLANT_MIST_DDR |= (1 << COOLANT_MIST_BIT);
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#endif
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coolant_stop();
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}
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void coolant_stop()
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{
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COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
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#ifdef ENABLE_M7
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COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
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#endif
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}
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void coolant_set_state(uint8_t mode)
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{
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if (mode == COOLANT_FLOOD_ENABLE) {
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COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
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#ifdef ENABLE_M7
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} else if (mode == COOLANT_MIST_ENABLE) {
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COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
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#endif
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} else {
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coolant_stop();
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}
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}
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void coolant_run(uint8_t mode)
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{
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if (sys.state == STATE_CHECK_MODE) { return; }
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protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
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coolant_set_state(mode);
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}

‎Source code/coolant_control.h‎

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/*
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coolant_control.h - spindle control methods
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Part of Grbl
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef coolant_control_h
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#define coolant_control_h
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void coolant_init();
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void coolant_stop();
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void coolant_set_state(uint8_t mode);
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void coolant_run(uint8_t mode);
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#endif

‎Source code/cpu_map.h‎

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/*
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cpu_map.h - CPU and pin mapping configuration file
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Part of Grbl
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* The cpu_map.h files serve as a central pin mapping selection file for different processor
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types, i.e. AVR 328p or AVR Mega 2560. Each processor has its own pin mapping file.
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(i.e. cpu_map_atmega328p.h) Grbl officially supports the Arduino Uno, but the
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other supplied pin mappings are supplied by users, so your results may vary. */
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// NOTE: With new processors, only add the define name and filename to use.
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#ifndef cpu_map_h
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#define cpu_map_h
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#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
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#include "cpu_map/cpu_map_atmega328p.h"
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#endif
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#ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
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#include "cpu_map/cpu_map_atmega2560.h"
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#endif
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/*
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#ifdef CPU_MAP_CUSTOM_PROC
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// For a custom pin map or different processor, copy and edit one of the available cpu
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// map files and modify it to your needs. Make sure the defined name is also changed in
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// the config.h file.
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#endif
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*/
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#endif

‎Source code/cpu_map/cpu_map_atmega2560.h‎

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/*
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cpu_map_atmega2560.h - CPU and pin mapping configuration file
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Part of Grbl
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/* This cpu_map file serves as a central pin mapping settings file for AVR Mega 2560 */
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#ifdef GRBL_PLATFORM
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#error "cpu_map already defined: GRBL_PLATFORM=" GRBL_PLATFORM
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#endif
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#define GRBL_PLATFORM "Atmega2560"
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// Serial port pins
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#define SERIAL_RX USART0_RX_vect
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#define SERIAL_UDRE USART0_UDRE_vect
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// Increase Buffers to make use of extra SRAM
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//#define RX_BUFFER_SIZE 256
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//#define TX_BUFFER_SIZE 128
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//#define BLOCK_BUFFER_SIZE 36
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//#define LINE_BUFFER_SIZE 100
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/*
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// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
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#define STEP_DDR DDRA
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#define STEP_PORT PORTA
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#define STEP_PIN PINA
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#define X_STEP_BIT 2 // MEGA2560 Digital Pin 24
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#define Y_STEP_BIT 3 // MEGA2560 Digital Pin 25
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#define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26
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#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
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// Define step direction output pins. NOTE: All direction pins must be on the same port.
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#define DIRECTION_DDR DDRC
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#define DIRECTION_PORT PORTC
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#define DIRECTION_PIN PINC
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#define X_DIRECTION_BIT 7 // MEGA2560 Digital Pin 30
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#define Y_DIRECTION_BIT 6 // MEGA2560 Digital Pin 31
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#define Z_DIRECTION_BIT 5 // MEGA2560 Digital Pin 32
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#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
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// Define stepper driver enable/disable output pin.
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#define STEPPERS_DISABLE_DDR DDRB
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#define STEPPERS_DISABLE_PORT PORTB
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#define STEPPERS_DISABLE_BIT 7 // MEGA2560 Digital Pin 13
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#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
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*/
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// Define homing/hard limit switch input pins and limit interrupt vectors.
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// NOTE: All limit bit pins must be on the same port
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#define LIMIT_DDR DDRD
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#define LIMIT_PORT PORTD
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#define LIMIT_PIN PIND
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#define X_LIMIT_BIT 4 // MEGA2560 Digital Pin 10
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#define Y_LIMIT_BIT 4 // MEGA2560 Digital Pin 11
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#define Z_LIMIT_BIT 4 // MEGA2560 Digital Pin 12
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#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
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#define LIMIT_INT_vect PCINT0_vect
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#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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// Define spindle enable and spindle direction output pins.
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#define SPINDLE_ENABLE_DDR DDRD
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#define SPINDLE_ENABLE_PORT PORTD
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#define SPINDLE_ENABLE_BIT 4 // MEGA2560 Digital Pin 6
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#define SPINDLE_DIRECTION_DDR DDRD
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#define SPINDLE_DIRECTION_PORT PORTD
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#define SPINDLE_DIRECTION_BIT 4 // MEGA2560 Digital Pin 5
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// Define flood and mist coolant enable output pins.
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// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
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// a later date if flash and memory space allows.
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#define COOLANT_FLOOD_DDR DDRD
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#define COOLANT_FLOOD_PORT PORTD
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#define COOLANT_FLOOD_BIT 4 // MEGA2560 Digital Pin 8
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#ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
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#define COOLANT_MIST_DDR DDRD
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#define COOLANT_MIST_PORT PORTD
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#define COOLANT_MIST_BIT 4 // MEGA2560 Digital Pin 9
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#endif
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// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
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// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
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#define CONTROL_DDR DDRD
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#define CONTROL_PIN PIND
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#define CONTROL_PORT PORTD
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#define RESET_BIT 4 // MEGA2560 Analog Pin 8
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#define FEED_HOLD_BIT 4 // MEGA2560 Analog Pin 9
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#define CYCLE_START_BIT 4 // MEGA2560 Analog Pin 10
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#define SAFETY_DOOR_BIT 4 // MEGA2560 Analog Pin 11
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#define CONTROL_INT PCIE2 // Pin change interrupt enable pin
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#define CONTROL_INT_vect PCINT2_vect
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#define CONTROL_PCMSK PCMSK2 // Pin change interrupt register
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#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT)|(1<<SAFETY_DOOR_BIT))
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#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
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// Define probe switch input pin.
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#define PROBE_DDR DDRD
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#define PROBE_PIN PIND
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#define PROBE_PORT PORTD
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#define PROBE_BIT 4 // MEGA2560 Analog Pin 15
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#define PROBE_MASK (1<<PROBE_BIT)
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// Start of PWM & Stepper Enabled Spindle
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#ifdef VARIABLE_SPINDLE
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// Advanced Configuration Below You should not need to touch these variables
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// Set Timer up to use TIMER4B which is attached to Digital Pin 7
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#define PWM_MAX_VALUE 65535.0
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#define TCCRA_REGISTER TCCR4A
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#define TCCRB_REGISTER TCCR4B
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#define OCR_REGISTER OCR4B
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#define COMB_BIT COM4B1
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#define WAVE0_REGISTER WGM40
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#define WAVE1_REGISTER WGM41
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#define WAVE2_REGISTER WGM42
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#define WAVE3_REGISTER WGM43
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#define SPINDLE_PWM_DDR DDRA
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#define SPINDLE_PWM_PORT PORTA
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#define SPINDLE_PWM_BIT 4 // MEGA2560 Digital Pin 97
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#endif // End of VARIABLE_SPINDLE
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// ARML <--> grbl x axis
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#define ARML_STEP_DDR DDRF
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#define ARML_STEP_PORT PORTF
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#define ARML_STEP_PIN 6 //PF6
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#define ARML_STEP_MASK (1<<ARML_STEP_PIN)
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#define ARML_STEP_BIT 0
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//ARMR <--> grbl y axis
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#define ARMR_STEP_DDR DDRL
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#define ARMR_STEP_PORT PORTL
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#define ARMR_STEP_PIN 3 // PL3
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#define ARMR_STEP_MASK (1<<ARMR_STEP_PIN)
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#define ARMR_STEP_BIT 1
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//BASE <--> grbl z axis
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#define BASE_STEP_DDR DDRF
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#define BASE_STEP_PORT PORTF
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#define BASE_STEP_PIN 0 // PF0
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#define BASE_STEP_MASK (1<<BASE_STEP_PIN)
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#define BASE_STEP_BIT 2
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#define ARML_DIRECTION_DDR DDRF
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#define ARML_DIRECTION_PORT PORTF
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#define ARML_DIRECTION_PIN 7 //PF7
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#define ARML_DIRECTION_MASK (1<<ARML_DIRECTION_PIN)
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#define ARML_DIRECTION_BIT 0
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#define ARMR_DIRECTION_DDR DDRL
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#define ARMR_DIRECTION_PORT PORTL
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#define ARMR_DIRECTION_PIN 1 //PL1
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#define ARMR_DIRECTION_MASK (1<<ARMR_DIRECTION_PIN)
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#define ARMR_DIRECTION_BIT 1
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#define BASE_DIRECTION_DDR DDRF
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#define BASE_DIRECTION_PORT PORTF
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#define BASE_DIRECTION_PIN 1 //PF1
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#define BASE_DIRECTION_MASK (1<<BASE_DIRECTION_PIN)
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#define BASE_DIRECTION_BIT 2
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#define ARML_STEPPERS_DISABLE_DDR DDRF
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#define ARML_STEPPERS_DISABLE_PORT PORTF
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#define ARML_STEPPERS_DISABLE_BIT 2 //PF2
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#define ARML_STEPPERS_DISABLE_MASK (1<<ARML_STEPPERS_DISABLE_BIT)
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#define ARMR_STEPPERS_DISABLE_DDR DDRK
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#define ARMR_STEPPERS_DISABLE_PORT PORTK
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#define ARMR_STEPPERS_DISABLE_BIT 0 //PK0
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#define ARMR_STEPPERS_DISABLE_MASK (1<<ARMR_STEPPERS_DISABLE_BIT)
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#define BASE_STEPPERS_DISABLE_DDR DDRD
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#define BASE_STEPPERS_DISABLE_PORT PORTD
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#define BASE_STEPPERS_DISABLE_BIT 7 //PD7
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#define BASE_STEPPERS_DISABLE_MASK (1<<BASE_STEPPERS_DISABLE_BIT)
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#define MS3_DDRD DDRK
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#define MS3_PORT PORTK
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#define MS3_PIN 4
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#define MS3_MASK (1<<MS3_PIN)
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#define MS2_DDRD DDRK
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#define MS2_PORT PORTK
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#define MS2_PIN 3
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#define MS2_MASK (1<<MS2_PIN)
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#define MS1_DDRD DDRK
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#define MS1_PORT PORTK
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#define MS1_PIN 2
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#define MS1_MASK (1<<MS1_PIN)
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