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https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-02 10:53:01 +02:00
WIP
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bdring
@@ -316,6 +316,30 @@
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# define DEFAULT_C_HOMING_MPOS 0.0
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_0
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# define DEFAULT_HOMING_CYCLE_0 bit(Z_AXIS)
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_1
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# define DEFAULT_HOMING_CYCLE_1 (bit(X_AXIS) | bit(Y_AXIS))
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_2
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# define DEFAULT_HOMING_CYCLE_2 0
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_3
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# define DEFAULT_HOMING_CYCLE_3 0
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_4
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# define DEFAULT_HOMING_CYCLE_4 0
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#endif
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#ifndef DEFAULT_HOMING_CYCLE_5
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# define DEFAULT_HOMING_CYCLE_5 0
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#endif
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// ========== Motor current (SPI Drivers ) =============
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#ifndef DEFAULT_X_CURRENT
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# define DEFAULT_X_CURRENT 0.25 // $140 current in amps (extended set)
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@@ -8,7 +8,7 @@
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// !!! For initial testing, start with test_drive.h which disables
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// all I/O pins
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// #include "Machines/atari_1020.h"
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# include "Machines/tapster_pro_stepstick.h"
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# include "Machines/tapster_pro_6P_trinamic.h"
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// !!! For actual use, change the line above to select a board
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// from Machines/, for example:
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@@ -94,6 +94,13 @@
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#define Y_LIMIT_PIN GPIO_NUM_39
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#define Z_LIMIT_PIN GPIO_NUM_34
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// Example (4x) 5V Buffer Output on socket #5
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// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-5V-Buffered-Output-Module
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#define COOLANT_MIST_PIN I2SO(24) // No PWM
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#define COOLANT_FLOOD_PIN I2SO(25)
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#define USER_DIGITAL_PIN_0 I2SO(26)
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#define USER_DIGITAL_PIN_1 I2SO(27)
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// ================= defaults ===========================
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
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174
Grbl_Esp32/src/Machines/tapster_pro_6P_trinamic.h
Normal file
174
Grbl_Esp32/src/Machines/tapster_pro_6P_trinamic.h
Normal file
@@ -0,0 +1,174 @@
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#pragma once
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// clang-format off
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/*
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tapster_pro_stepstick.h
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2020 - Bart Dring, Jason Huggins (Tapster Robotics)
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Grbl_ESP32 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_ESP32. If not, see <http://www.gnu.org/licenses/>.
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*/
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#define MACHINE_NAME "Tapster Pro Delta 6P Trinamic"
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#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
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/*
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// enable these special machine functions to be called from the main program
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#define USE_KINEMATICS // there are kinematic equations for this machine
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#define FWD_KINEMATICS_REPORTING // report in cartesian
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#define USE_RMT_STEPS // Use the RMT periferal to generate step pulses
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#define USE_TRINAMIC // some Trinamic motors are used on this machine
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#define USE_MACHINE_TRINAMIC_INIT // there is a machine specific setup for the drivers
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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#define SEGMENT_LENGTH 0.5 // segment length in mm
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#define KIN_ANGLE_CALC_OK 0
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#define KIN_ANGLE_ERROR -1
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#define MAX_NEGATIVE_ANGLE -36 // in degrees how far can the arms go up?
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#define HOMING_CURRENT_REDUCTION 1.0
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*/
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#define N_AXIS 3
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#define USE_KINEMATICS // there are kinematic equations for this machine
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#define USE_FWD_KINEMATICS // report in cartesian
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#define USE_MACHINE_INIT // There is some custom initialization for this machine
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// ================== Delta Geometry ===========================
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#define RADIUS_FIXED 100.0f // radius of the fixed side (length of motor cranks)
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#define RADIUS_EFF 220.0f // radius of end effector side (length of linkages)
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#define LENGTH_FIXED_SIDE 294.449f // sized of fixed side triangel
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#define LENGTH_EFF_SIDE 86.6025f // size of end effector side triangle
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#define KINEMATIC_SEGMENT_LENGTH 1.0f // segment length in mm
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#define MAX_NEGATIVE_ANGLE -0.75f //
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#define MAX_POSITIVE_ANGLE (M_PI / 2.0) //
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// ================== Config ======================
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// Set $Homing/Cycle0=XYZ
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// I2S (steppers & other output-only pins)
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#define USE_I2S_OUT
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#define USE_I2S_STEPS
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//#define DEFAULT_STEPPER ST_I2S_STATIC
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// === Default settings
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#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
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#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
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#define I2S_OUT_BCK GPIO_NUM_22
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#define I2S_OUT_WS GPIO_NUM_17
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#define I2S_OUT_DATA GPIO_NUM_21
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// ================== CPU MAP ======================
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#define X_STEPPER_MS3 I2SO(3) // X_CS
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#define Y_STEPPER_MS3 I2SO(6) // Y_CS
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#define Z_STEPPER_MS3 I2SO(11) // Z_CS
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#define STEPPER_RESET GPIO_NUM_19
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// Motor Socket #1
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#define X_TRINAMIC_DRIVER 2130
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#define X_DISABLE_PIN I2SO(0)
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#define X_DIRECTION_PIN I2SO(1)
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#define X_STEP_PIN I2SO(2)
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#define X_CS_PIN I2SO(3)
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#define X_RSENSE TMC2130_RSENSE_DEFAULT
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// Motor Socket #2
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#define Y_TRINAMIC_DRIVER X_TRINAMIC_DRIVER
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#define Y_DIRECTION_PIN I2SO(4)
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#define Y_STEP_PIN I2SO(5)
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#define Y_DISABLE_PIN I2SO(7)
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#define Y_CS_PIN I2SO(6)
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#define Y_RSENSE X_RSENSE
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// Motor Socket #3
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#define Z_TRINAMIC_DRIVER X_TRINAMIC_DRIVER
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#define Z_DISABLE_PIN I2SO(8)
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#define Z_DIRECTION_PIN I2SO(9)
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#define Z_STEP_PIN I2SO(10)
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#define Z_CS_PIN I2SO(11)
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#define Z_RSENSE X_RSENSE
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// 4x Switch input module on CNC I/O module Socket #1
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// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
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#define X_LIMIT_PIN GPIO_NUM_33
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#define Y_LIMIT_PIN GPIO_NUM_32
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#define Z_LIMIT_PIN GPIO_NUM_35
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//Example Quad MOSFET module on socket #5
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// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
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#define USER_DIGITAL_PIN_0 I2SO(24)
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#define USER_DIGITAL_PIN_1 I2SO(25)
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#define USER_DIGITAL_PIN_2 I2SO(26)
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#define USER_DIGITAL_PIN_3 I2SO(27)
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// ================= defaults ===========================
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // keep them on, the trinamics will reduce power at idle
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#define DEFAULT_X_MICROSTEPS 8
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#define DEFAULT_Y_MICROSTEPS DEFAULT_X_MICROSTEPS
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#define DEFAULT_Z_MICROSTEPS DEFAULT_X_MICROSTEPS
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// some math to figure out microsteps per unit // units could bedegrees or radians
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#define UNITS_PER_REV (2.0 * M_PI) // 360.0 degrees or 6.2831853 radians
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#define STEPS_PER_REV 400.0
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#define REDUCTION_RATIO (60.0 / 16.0) // the pulleys on arm and motor
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#define MICROSTEPS_PER_REV (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
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#define DEFAULT_X_STEPS_PER_MM (MICROSTEPS_PER_REV / UNITS_PER_REV)
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#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
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#define DEFAULT_Z_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
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#define DEFAULT_X_MAX_RATE 100.0 // mm/min
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#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
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#define DEFAULT_Z_MAX_RATE DEFAULT_X_MAX_RATE
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#define DEFAULT_X_ACCELERATION 20.0
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#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
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#define DEFAULT_Z_ACCELERATION DEFAULT_X_ACCELERATION
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// homing
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#define DEFAULT_HOMING_FEED_RATE 25
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#define DEFAULT_HOMING_SEEK_RATE 100
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#define DEFAULT_HOMING_DIR_MASK (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS)) // all axes home negative
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#define DEFAULT_HOMING_ENABLE 1
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#define DEFAULT_INVERT_LIMIT_PINS 0
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#define DEFAULT_HOMING_CYCLE_0 #define DEFAULT_HOMING_CYCLE_0 (bit(X_AXIS) | bit(Y_AXIS) | bit(Y_AXIS))
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#define DEFAULT_HOMING_CYCLE_1 0 // override this one in defaults.h
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// The machine homes up and above center. MPos is the axis angle in radians
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// at the homing posiiton
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#define DEFAULT_X_HOMING_MPOS -0.75 // neagtive because above horizontal
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#define DEFAULT_Y_HOMING_MPOS -0.75
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#define DEFAULT_Z_HOMING_MPOS -0.75
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// the total travel is straight down from horizontal (pi/2) + the up travel
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#define DEFAULT_X_MAX_TRAVEL ((M_PI / 2.0) - DEFAULT_X_HOMING_MPOS)
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#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
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#define DEFAULT_Z_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
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#define DEFAULT_HOMING_PULLOFF -DEFAULT_X_HOMING_MPOS
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#define SPINDLE_TYPE SpindleType::NONE
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@@ -2,7 +2,7 @@
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// clang-format off
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/*
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tapster_pro.h
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tapster_pro_stepstick.h
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2020 - Bart Dring, Jason Huggins (Tapster Robotics)
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@@ -99,9 +99,11 @@
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#define Z_DIRECTION_PIN I2SO(9)
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#define Z_STEP_PIN I2SO(10)
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#define X_LIMIT_PIN GPIO_NUM_36
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#define Y_LIMIT_PIN GPIO_NUM_39
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#define Z_LIMIT_PIN GPIO_NUM_34
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// CNC I/O Modules
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#define X_LIMIT_PIN GPIO_NUM_33
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#define Y_LIMIT_PIN GPIO_NUM_32
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#define Z_LIMIT_PIN GPIO_NUM_35
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// ================= defaults ===========================
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@@ -346,9 +346,10 @@ void make_settings() {
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spindle_type = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", static_cast<int8_t>(SPINDLE_TYPE), &spindleTypes);
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stallguard_debug_mask = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
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const char* homing_names[] = { "Homing/Cycle0", "Homing/Cycle1", "Homing/Cycle2",
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"Homing/Cycle3", "Homing/Cycle4", "Homing/Cycle5" };
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for (uint8_t i = 0; i < MAX_N_AXIS; i++) {
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homing_cycle[i] = new AxisMaskSetting(EXTENDED, WG, NULL, homing_names[i], 0);
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}
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homing_cycle[0] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle0", DEFAULT_HOMING_CYCLE_0);
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homing_cycle[1] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle1", DEFAULT_HOMING_CYCLE_1);
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homing_cycle[2] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle2", DEFAULT_HOMING_CYCLE_2);
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homing_cycle[3] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle3", DEFAULT_HOMING_CYCLE_3);
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homing_cycle[4] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle4", DEFAULT_HOMING_CYCLE_4);
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homing_cycle[5] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle5", DEFAULT_HOMING_CYCLE_5);
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}
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