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Almost compiles ...

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This commit is contained in:
Mitch Bradley
2021-05-19 20:36:55 -10:00
parent 1928f4eab6
commit 195e15c40c
16 changed files with 214 additions and 166 deletions
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1
Grbl_Esp32/src/Grbl.h
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@@ -93,6 +93,7 @@ void run_once();
// Weak definitions that can be overridden // Weak definitions that can be overridden
void machine_init(); void machine_init();
void display_init();
bool user_defined_homing(uint8_t cycle_mask); bool user_defined_homing(uint8_t cycle_mask);
// weak definitions in MotionControl.cpp // weak definitions in MotionControl.cpp

2
Grbl_Esp32/src/Limits.cpp
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@@ -413,7 +413,7 @@ bool __attribute__((weak)) limitsCheckTravel(float* target) {
} }
bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) { bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) {
return (limit_pins[axis][gang_index] != UNDEFINED_PIN); return (LimitPins[axis][gang_index]->get() != Pin::UNDEFINED);
} }
bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) { bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) {

2
Grbl_Esp32/src/MotionControl.cpp
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@@ -422,7 +422,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
} }
// Setup and queue probing motion. Auto cycle-start should not start the cycle. // Setup and queue probing motion. Auto cycle-start should not start the cycle.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found");
mc_line_kins(target, pl_data, gc_state.position); cartesian_to_motors(target, pl_data, gc_state.position);
// Activate the probing state monitor in the stepper module. // Activate the probing state monitor in the stepper module.
sys_probe_state = ProbeState::Active; sys_probe_state = ProbeState::Active;
// Perform probing cycle. Wait here until probe is triggered or motion completes. // Perform probing cycle. Wait here until probe is triggered or motion completes.

1
Grbl_Esp32/src/Motors/Motor.cpp
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@@ -35,7 +35,6 @@
namespace Motors { namespace Motors {
void Motor::debug_message() {} void Motor::debug_message() {}
Motor::Motor(uint8_t axis_index) : _axis_index(axis_index % MAX_AXES), _dual_axis_index(axis_index / MAX_AXES) {}
bool Motor::test() { return true; }; // true = OK bool Motor::test() { return true; }; // true = OK

2
Grbl_Esp32/src/Motors/RcServo.cpp
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@@ -127,6 +127,7 @@ namespace Motors {
} }
void RcServo::read_settings() { void RcServo::read_settings() {
#ifdef LATER
if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) { if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) {
// swap the pwm values // swap the pwm values
_pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - rc_servo_cal_min->get())); _pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - rc_servo_cal_min->get()));
@@ -136,6 +137,7 @@ namespace Motors {
_pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get(); _pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
_pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get(); _pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
} }
#endif
} }
// Configuration registration // Configuration registration

6
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -266,7 +266,7 @@ namespace Motors {
tmcstepper->THIGH(calc_tstep(feedrate, 60.0)); tmcstepper->THIGH(calc_tstep(feedrate, 60.0));
tmcstepper->sfilt(1); tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1 tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63)); tmcstepper->sgt(constrain(axis_settings[axis_index()]->stallguard->get(), -64, 63));
break; break;
} }
default: default:
@@ -295,7 +295,7 @@ namespace Motors {
tmcstepper->stallguard(), tmcstepper->stallguard(),
tmcstepper->sg_result(), tmcstepper->sg_result(),
feedrate, feedrate,
constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63)); constrain(axis_settings[axis_index()]->stallguard->get(), -64, 63));
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits. TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS(); status.sr = tmcstepper->DRV_STATUS();
@@ -309,7 +309,7 @@ namespace Motors {
// grbl_msg_sendf(CLIENT_SERIAL, // grbl_msg_sendf(CLIENT_SERIAL,
// MsgLevel::Info, // MsgLevel::Info,
// "%s Status Register %08x GSTAT %02x", // "%s Status Register %08x GSTAT %02x",
// reportAxisNameMsg(_axis_index, _dual_axis_index), // reportAxisNameMsg(axis_index(), dual_axis_index()),
// status.sr, // status.sr,
// tmcstepper->GSTAT()); // tmcstepper->GSTAT());
} }

79
Grbl_Esp32/src/Motors/TrinamicUartDriver.h
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@@ -56,6 +56,7 @@ const double TRINAMIC_UART_FCLK = 12700000.0; // Internal clock Approx (Hz) use
# define TMC_UART UART_NUM_2 # define TMC_UART UART_NUM_2
#endif #endif
#ifdef LATER
# ifndef TMC_UART_RX # ifndef TMC_UART_RX
# define TMC_UART_RX UNDEFINED_PIN # define TMC_UART_RX UNDEFINED_PIN
# endif # endif
@@ -63,6 +64,7 @@ const double TRINAMIC_UART_FCLK = 12700000.0; // Internal clock Approx (Hz) use
# ifndef TMC_UART_TX # ifndef TMC_UART_TX
# define TMC_UART_TX UNDEFINED_PIN # define TMC_UART_TX UNDEFINED_PIN
# endif # endif
#endif
extern Uart tmc_serial; extern Uart tmc_serial;
@@ -79,28 +81,7 @@ namespace Motors {
private: private:
static bool _uart_started; static bool _uart_started;
public: uint32_t calc_tstep(float speed, float percent);
TrinamicUartDriver(uint8_t axis_index,
uint8_t step_pin,
uint8_t dir_pin,
uint8_t disable_pin,
uint16_t driver_part_number,
float r_senseS,
uint8_t address);
void config_message();
void hw_serial_init();
void init();
void set_mode();
void read_settings();
void debug_message();
bool set_homing_mode(bool is_homing) override;
void set_disable(bool disable) override;
uint8_t addr;
private:
uint32_t calc_tstep(float speed, float percent); //TODO: see if this is useful/used.
TMC2209Stepper* tmcstepper; // all other driver types are subclasses of this one TMC2209Stepper* tmcstepper; // all other driver types are subclasses of this one
TrinamicUartMode _homing_mode; TrinamicUartMode _homing_mode;
@@ -109,6 +90,11 @@ namespace Motors {
bool _has_errors; bool _has_errors;
bool _disabled; bool _disabled;
float _run_current = 0.25;
float _hold_current = 0.25;
int _microsteps = 256;
int _stallguard = 0;
TrinamicUartMode _mode = TrinamicUartMode::None; TrinamicUartMode _mode = TrinamicUartMode::None;
bool test(); bool test();
void set_mode(bool isHoming); void set_mode(bool isHoming);
@@ -129,7 +115,54 @@ namespace Motors {
static void readSgTask(void*); static void readSgTask(void*);
protected: protected:
// void config_message() override; void config_message() override;
public:
TrinamicUartDriver(uint16_t driver_part_number) : TrinamicUartDriver(driver_part_number, get_next_index()) {}
TrinamicUartDriver(uint16_t driver_part_number, uint8_t address);
void init() override;
void read_settings() override;
bool set_homing_mode(bool is_homing) override;
void set_disable(bool disable) override;
void debug_message();
bool hw_serial_init();
uint8_t _addr;
// Configuration handlers:
void validate() const override { StandardStepper::validate(); }
void handle(Configuration::HandlerBase& handler) override {
handler.handle("r_sense", _r_sense);
handler.handle("run_current", _run_current);
handler.handle("hold_current", _hold_current);
handler.handle("microsteps", _microsteps);
handler.handle("stallguard", _stallguard);
StandardStepper::handle(handler);
}
// Name of the configurable. Must match the name registered in the cpp file.
const char* name() const override { return "trinamic_uart"; }
}; };
class TMC2008 : public TrinamicUartDriver {
public:
TMC2008() : TrinamicUartDriver(2008) {}
// Name of the configurable. Must match the name registered in the cpp file.
const char* name() const override { return "tmc_2008"; }
};
class TMC2009 : public TrinamicUartDriver {
public:
TMC2009() : TrinamicUartDriver(2009) {}
// Name of the configurable. Must match the name registered in the cpp file.
const char* name() const override { return "tmc_2009"; }
};
} }

240
Grbl_Esp32/src/Motors/TrinamicUartDriverClass.cpp
View File

@@ -23,6 +23,7 @@
*/ */
#include "TrinamicUartDriver.h" #include "TrinamicUartDriver.h"
#include "../MachineConfig.h"
#include <TMCStepper.h> #include <TMCStepper.h>
@@ -32,56 +33,48 @@ namespace Motors {
bool TrinamicUartDriver::_uart_started = false; bool TrinamicUartDriver::_uart_started = false;
TrinamicUartDriver* TrinamicUartDriver::List = NULL; // a static ist of all drivers for stallguard reporting TrinamicUartDriver* TrinamicUartDriver::List = NULL; // a static list of all drivers for stallguard reporting
uint8_t TrinamicUartDriver::get_next_index() {
static uint8_t index = 1; // they start at 1
return index++;
}
/* HW Serial Constructor. */ /* HW Serial Constructor. */
TrinamicUartDriver::TrinamicUartDriver( TrinamicUartDriver::TrinamicUartDriver(uint16_t driver_part_number, uint8_t addr) :
uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin, uint16_t driver_part_number, float r_sense, uint8_t addr) : StandardStepper(), _driver_part_number(driver_part_number), _addr(addr) {}
StandardStepper(axis_index, step_pin, dir_pin, disable_pin) {
_driver_part_number = driver_part_number;
_has_errors = false;
_r_sense = r_sense;
this->addr = addr;
void TrinamicUartDriver::init() {
if (!_uart_started) { if (!_uart_started) {
#ifdef LATER
tmc_serial.setPins(TMC_UART_TX, TMC_UART_RX); tmc_serial.setPins(TMC_UART_TX, TMC_UART_RX);
#endif
tmc_serial.begin(115200, Uart::Data::Bits8, Uart::Stop::Bits1, Uart::Parity::None); tmc_serial.begin(115200, Uart::Data::Bits8, Uart::Stop::Bits1, Uart::Parity::None);
_uart_started = true; _uart_started = true;
} }
hw_serial_init(); _has_errors = hw_serial_init();
link = List; link = List;
List = this; List = this;
// Display the stepper library version message once, before the first
// TMC config message. Link is NULL for the first TMC instance.
if (!link) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TMCStepper Library Ver. 0x%06x", TMCSTEPPER_VERSION);
} }
void TrinamicUartDriver::hw_serial_init() {
if (_driver_part_number == 2209)
tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, addr);
else {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unsupported Trinamic motor p/n:%d", _driver_part_number);
return;
}
}
void TrinamicUartDriver ::init() {
if (_has_errors) { if (_has_errors) {
return; return;
} }
init_step_dir_pins(); // from StandardStepper
config_message(); config_message();
tmcstepper->begin(); tmcstepper->begin();
_has_errors = !test(); // Try communicating with motor. Prints an error if there is a problem. _has_errors = !test(); // Try communicating with motor. Prints an error if there is a problem.
/* If communication with the driver is working, read the read_settings(); // pull info from settings
main settings, apply new driver settings and then read
them back. */
if (!_has_errors) { //TODO: verify if this is the right way to set the Irun/IHold and microsteps.
read_settings();
set_mode(false); set_mode(false);
}
// After initializing all of the TMC drivers, create a task to // After initializing all of the TMC drivers, create a task to
// display StallGuard data. List == this for the final instance. // display StallGuard data. List == this for the final instance.
@@ -93,11 +86,19 @@ namespace Motors {
1, // priority 1, // priority
NULL, NULL,
SUPPORT_TASK_CORE // must run the task on same core SUPPORT_TASK_CORE // must run the task on same core
// core
); );
} }
} }
bool TrinamicUartDriver::hw_serial_init() {
if (_driver_part_number == 2209) {
tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, _addr);
return false;
}
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unsupported Trinamic motor p/n:%d", _driver_part_number);
return true;
}
/* /*
This is the startup message showing the basic definition. This is the startup message showing the basic definition.
*/ */
@@ -105,35 +106,41 @@ namespace Motors {
grbl_msg_sendf(CLIENT_SERIAL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s UART%d Rx:%s Tx:%s Addr:%d R:%0.3f %s", "%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s UART%d Rx:%s Tx:%s Addr:%d R:%0.3f %s",
reportAxisNameMsg(_axis_index, _dual_axis_index), reportAxisNameMsg(axis_index(), dual_axis_index()),
_driver_part_number, _driver_part_number,
pinName(_step_pin).c_str(), _step_pin.name().c_str(),
pinName(_dir_pin).c_str(), _dir_pin.name().c_str(),
pinName(_disable_pin).c_str(), _disable_pin.name().c_str(),
TMC_UART, TMC_UART,
#ifdef LATER
pinName(TMC_UART_RX), pinName(TMC_UART_RX),
pinName(TMC_UART_TX), pinName(TMC_UART_TX),
this->addr, #else
0,
0,
#endif
_addr,
_r_sense, _r_sense,
reportAxisLimitsMsg(_axis_index)); reportAxisLimitsMsg(axis_index()));
} }
bool TrinamicUartDriver::test() { bool TrinamicUartDriver::test() {
if (_has_errors) { if (_has_errors) {
return false; return false;
} }
switch (tmcstepper->test_connection()) { switch (tmcstepper->test_connection()) {
case 1: case 1:
grbl_msg_sendf(CLIENT_SERIAL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"%s driver test failed. Check connection", "%s driver test failed. Check connection",
reportAxisNameMsg(_axis_index, _dual_axis_index)); reportAxisNameMsg(axis_index(), dual_axis_index()));
return false; return false;
case 2: case 2:
grbl_msg_sendf(CLIENT_SERIAL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"%s driver test failed. Check motor power", "%s driver test failed. Check motor power",
reportAxisNameMsg(_axis_index, _dual_axis_index)); reportAxisNameMsg(axis_index(), dual_axis_index()));
return false; return false;
default: default:
// driver responded, so check for other errors from the DRV_STATUS register // driver responded, so check for other errors from the DRV_STATUS register
@@ -160,7 +167,7 @@ namespace Motors {
return false; return false;
} }
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s driver test passed", reportAxisNameMsg(_axis_index, _dual_axis_index)); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "%s driver test passed", reportAxisNameMsg(axis_index(), dual_axis_index()));
return true; return true;
} }
} }
@@ -176,23 +183,21 @@ namespace Motors {
return; return;
} }
uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0); uint16_t run_i_ma = (uint16_t)(_run_current * 1000.0);
float hold_i_percent; float hold_i_percent;
if (axis_settings[_axis_index]->run_current->get() == 0) if (_run_current == 0) {
hold_i_percent = 0; hold_i_percent = 0;
else { } else {
hold_i_percent = axis_settings[_axis_index]->hold_current->get() / axis_settings[_axis_index]->run_current->get(); hold_i_percent = _hold_current / _run_current;
if (hold_i_percent > 1.0) if (hold_i_percent > 1.0)
hold_i_percent = 1.0; hold_i_percent = 1.0;
} }
tmcstepper->microsteps(axis_settings[_axis_index]->microsteps->get());
tmcstepper->microsteps(_microsteps);
tmcstepper->rms_current(run_i_ma, hold_i_percent); tmcstepper->rms_current(run_i_ma, hold_i_percent);
// grbl_msg_sendf(CLIENT_SERIAL, init_step_dir_pins();
// MsgLevel::Info,
// "Setting current of driver %s, target: %u, read irun: %d, hold percent: %f, usteps: %d",
// reportAxisNameMsg(_axis_index, _dual_axis_index), run_i_ma, tmcstepper->rms_current(), hold_i_percent, axis_settings[_axis_index]->microsteps->get());
} }
bool TrinamicUartDriver::set_homing_mode(bool isHoming) { bool TrinamicUartDriver::set_homing_mode(bool isHoming) {
@@ -215,27 +220,26 @@ namespace Motors {
if (newMode == _mode) { if (newMode == _mode) {
return; return;
} }
_mode = newMode; _mode = newMode;
switch (_mode) { switch (_mode) {
case TrinamicUartMode ::StealthChop: case TrinamicUartMode ::StealthChop:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop"); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmcstepper->en_spreadCycle(false); tmcstepper->en_spreadCycle(false);
tmcstepper->pwm_autoscale(true); tmcstepper->pwm_autoscale(true);
break; break;
case TrinamicUartMode ::CoolStep: case TrinamicUartMode ::CoolStep:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep"); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
// tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09 // tmcstepper->en_pwm_mode(false); //TODO: check if this is present in TMC2208/09
tmcstepper->en_spreadCycle(true); tmcstepper->en_spreadCycle(true);
tmcstepper->pwm_autoscale(false); tmcstepper->pwm_autoscale(false);
break; break;
case TrinamicUartMode ::StallGuard: //TODO: check all configurations for stallguard case TrinamicUartMode ::StallGuard: //TODO: check all configurations for stallguard
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard"); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmcstepper->en_spreadCycle(false); tmcstepper->en_spreadCycle(false);
tmcstepper->pwm_autoscale(false); tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0)); tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->SGTHRS(constrain(axis_settings[_axis_index]->stallguard->get(), 0, 255)); tmcstepper->SGTHRS(constrain(axis_settings[axis_index()]->stallguard->get(), 0, 255));
break; break;
default: default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unknown Trinamic mode:d", _mode); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unknown Trinamic mode:d", _mode);
@@ -259,10 +263,10 @@ namespace Motors {
grbl_msg_sendf(CLIENT_SERIAL, grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info, MsgLevel::Info,
"%s SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d", "%s SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
reportAxisNameMsg(_axis_index, _dual_axis_index), reportAxisNameMsg(axis_index(), dual_axis_index()),
tmcstepper->SG_RESULT(), // tmcstepper->sg_result(), tmcstepper->SG_RESULT(), // tmcstepper->sg_result(),
feedrate, feedrate,
axis_settings[_axis_index]->stallguard->get()); constrain(axis_settings[axis_index()]->stallguard->get(), -64, 63));
TMC2208_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits. TMC2208_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS(); status.sr = tmcstepper->DRV_STATUS();
@@ -272,6 +276,13 @@ namespace Motors {
report_short_to_ground(status); report_short_to_ground(status);
report_over_temp(status); report_over_temp(status);
report_short_to_ps(status); report_short_to_ps(status);
// grbl_msg_sendf(CLIENT_SERIAL,
// MsgLevel::Info,
// "%s Status Register %08x GSTAT %02x",
// reportAxisNameMsg(axis_index(), dual_axis_index()),
// status.sr,
// tmcstepper->GSTAT());
} }
// calculate a tstep from a rate // calculate a tstep from a rate
@@ -279,8 +290,7 @@ namespace Motors {
// This is used to set the stallguard window from the homing speed. // This is used to set the stallguard window from the homing speed.
// The percent is the offset on the window // The percent is the offset on the window
uint32_t TrinamicUartDriver::calc_tstep(float speed, float percent) { uint32_t TrinamicUartDriver::calc_tstep(float speed, float percent) {
float tstep = double tstep = speed / 60.0 * MachineConfig::instance()->_axes->_axis[axis_index()]->_stepsPerMm * (256.0 / _microsteps);
speed / 60.0 * axis_settings[_axis_index]->steps_per_mm->get() * (float)(256 / axis_settings[_axis_index]->microsteps->get());
tstep = TRINAMIC_UART_FCLK / tstep * percent / 100.0; tstep = TRINAMIC_UART_FCLK / tstep * percent / 100.0;
return static_cast<uint32_t>(tstep); return static_cast<uint32_t>(tstep);
@@ -299,7 +309,7 @@ namespace Motors {
_disabled = disable; _disabled = disable;
digitalWrite(_disable_pin, _disabled); _disable_pin.write(_disabled);
#ifdef USE_TRINAMIC_ENABLE #ifdef USE_TRINAMIC_ENABLE
if (_disabled) { if (_disabled) {
@@ -316,73 +326,18 @@ namespace Motors {
// This would be for individual motors, not the single pin for all motors. // This would be for individual motors, not the single pin for all motors.
} }
// =========== Reporting functions ========================
bool TrinamicUartDriver::report_open_load(TMC2208_n ::DRV_STATUS_t status) {
if (status.ola || status.olb) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver open load A:%s B:%s",
reportAxisNameMsg(_axis_index, _dual_axis_index),
status.ola ? "Y" : "N",
status.olb ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_short_to_ground(TMC2208_n ::DRV_STATUS_t status) {
if (status.s2ga || status.s2gb) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver shorted coil A:%s B:%s",
reportAxisNameMsg(_axis_index, _dual_axis_index),
status.s2ga ? "Y" : "N",
status.s2gb ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_over_temp(TMC2208_n ::DRV_STATUS_t status) {
if (status.ot || status.otpw) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver temp Warning:%s Fault:%s",
reportAxisNameMsg(_axis_index, _dual_axis_index),
status.otpw ? "Y" : "N",
status.ot ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_short_to_ps(TMC2208_n ::DRV_STATUS_t status) {
// check for short to power supply
if ((status.sr & bit(12)) || (status.sr & bit(13))) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver short vsa:%s vsb:%s",
reportAxisNameMsg(_axis_index, _dual_axis_index),
(status.sr & bit(12)) ? "Y" : "N",
(status.sr & bit(13)) ? "Y" : "N");
return true;
}
return false; // no error
}
// Prints StallGuard data that is useful for tuning. // Prints StallGuard data that is useful for tuning.
void TrinamicUartDriver::readSgTask(void* pvParameters) { void TrinamicUartDriver::readSgTask(void* pvParameters) {
TickType_t xLastWakeTime; TickType_t xLastWakeTime;
const TickType_t xreadSg = 200; // in ticks (typically ms) const TickType_t xreadSg = 200; // in ticks (typically ms)
auto n_axis = number_axis->get(); auto n_axis = MachineConfig::instance()->_axes->_numberAxis;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time. xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies while (true) { // don't ever return from this or the task dies
if (stallguard_debug_mask->get() != 0) { if (stallguard_debug_mask->get() != 0) {
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) { if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicUartDriver* p = List; p; p = p->link) { for (TrinamicUartDriver* p = List; p; p = p->link) {
if (bitnum_istrue(stallguard_debug_mask->get(), p->_axis_index)) { if (bitnum_istrue(stallguard_debug_mask->get(), p->axis_index())) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get()); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
p->debug_message(); p->debug_message();
} }
@@ -398,4 +353,65 @@ namespace Motors {
#endif #endif
} }
} }
// =========== Reporting functions ========================
bool TrinamicUartDriver::report_open_load(TMC2208_n ::DRV_STATUS_t status) {
if (status.ola || status.olb) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver Open Load a:%s b:%s",
reportAxisNameMsg(axis_index(), dual_axis_index()),
status.ola ? "Y" : "N",
status.olb ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_short_to_ground(TMC2208_n ::DRV_STATUS_t status) {
if (status.s2ga || status.s2gb) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver Short Coil a:%s b:%s",
reportAxisNameMsg(axis_index(), dual_axis_index()),
status.s2ga ? "Y" : "N",
status.s2gb ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_over_temp(TMC2208_n ::DRV_STATUS_t status) {
if (status.ot || status.otpw) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver Temp Warning:%s Fault:%s",
reportAxisNameMsg(axis_index(), dual_axis_index()),
status.otpw ? "Y" : "N",
status.ot ? "Y" : "N");
return true;
}
return false; // no error
}
bool TrinamicUartDriver::report_short_to_ps(TMC2208_n ::DRV_STATUS_t status) {
// check for short to power supply
if ((status.sr & bit(12)) || (status.sr & bit(13))) {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Driver Short vsa:%s vsb:%s",
reportAxisNameMsg(axis_index(), dual_axis_index()),
(status.sr & bit(12)) ? "Y" : "N",
(status.sr & bit(13)) ? "Y" : "N");
return true;
}
return false; // no error
}
// Configuration registration
namespace {
MotorFactory::InstanceBuilder<TMC2008> registration_2008("tmc_2008");
MotorFactory::InstanceBuilder<TMC2009> registration_2009("tmc_2009");
}
} }

2
Grbl_Esp32/src/ProcessSettings.cpp
View File

@@ -436,7 +436,9 @@ Error motor_disable(const char* value, WebUI::AuthenticationLevel auth_level, We
} }
} }
} }
#ifdef LATER
motors_set_disable(true, convertedValue); motors_set_disable(true, convertedValue);
#endif
return Error::Ok; return Error::Ok;
} }

4
Grbl_Esp32/src/SDCard.cpp
View File

@@ -166,12 +166,12 @@ SDState get_sd_state(bool refresh) {
//refresh content if card was removed //refresh content if card was removed
if (SD.begin((GRBL_SPI_SS == -1) ? SS : GRBL_SPI_SS, SPI, GRBL_SPI_FREQ, "/sd", 2)) { if (SD.begin((GRBL_SPI_SS == -1) ? SS : GRBL_SPI_SS, SPI, GRBL_SPI_FREQ, "/sd", 2)) {
if (SD.cardSize() > 0) { if (SD.cardSize() > 0) {
sd_state = SDCARD_IDLE; sd_state = SDState::Idle;
} }
} }
return sd_state; return sd_state;
} else { } else {
return SDCARD_NOT_PRESENT; return SDState::NotPresent;
} }
} }

4
Grbl_Esp32/src/Serial.cpp
View File

@@ -150,7 +150,6 @@ static uint8_t getClientChar(uint8_t* data) {
void clientCheckTask(void* pvParameters) { void clientCheckTask(void* pvParameters) {
uint8_t data = 0; uint8_t data = 0;
uint8_t client; // who sent the data uint8_t client; // who sent the data
static UBaseType_t uxHighWaterMark = 0;
while (true) { // run continuously while (true) { // run continuously
// Pick off realtime command characters directly from the serial stream. These characters are // Pick off realtime command characters directly from the serial stream. These characters are
// not passed into the main buffer, but these set system state flag bits for realtime execution. // not passed into the main buffer, but these set system state flag bits for realtime execution.
@@ -185,12 +184,11 @@ void clientCheckTask(void* pvParameters) {
#endif #endif
vTaskDelay(1 / portTICK_RATE_MS); // Yield to other tasks vTaskDelay(1 / portTICK_RATE_MS); // Yield to other tasks
static UBaseType_t uxHighWaterMark = 0;
#ifdef DEBUG_TASK_STACK #ifdef DEBUG_TASK_STACK
static UBaseType_t uxHighWaterMark = 0;
reportTaskStackSize(uxHighWaterMark); reportTaskStackSize(uxHighWaterMark);
#endif #endif
} }
}
void client_reset_read_buffer(uint8_t client) { void client_reset_read_buffer(uint8_t client) {
for (uint8_t client_num = 0; client_num < CLIENT_COUNT; client_num++) { for (uint8_t client_num = 0; client_num < CLIENT_COUNT; client_num++) {

3
Grbl_Esp32/src/SettingsDefinitions.cpp
View File

@@ -196,9 +196,11 @@ static bool checkStartupLine(char* value) {
} }
static bool postMotorSetting(char* value) { static bool postMotorSetting(char* value) {
#ifdef LATER
if (!value) { if (!value) {
motors_read_settings(); motors_read_settings();
} }
#endif
return true; return true;
} }
@@ -213,7 +215,6 @@ static bool checkSpindleChange(char* val) {
grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle turned off with setting change"); grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle turned off with setting change");
} }
gc_state.spindle_speed = 0; // Set S value to 0 gc_state.spindle_speed = 0; // Set S value to 0
spindle->deinit(); // old spindle
Spindles::Spindle::select(); // get new spindle Spindles::Spindle::select(); // get new spindle
return true; return true;
} }

2
Grbl_Esp32/src/Spindles/H2ASpindle.cpp
View File

@@ -30,8 +30,10 @@
namespace Spindles { namespace Spindles {
H2A::H2A() : VFD() { H2A::H2A() : VFD() {
#ifdef LATER
_baudrate = 19200; _baudrate = 19200;
_parity = Uart::Parity::Even; _parity = Uart::Parity::Even;
#endif
} }
void H2A::direction_command(SpindleState mode, ModbusCommand& data) { void H2A::direction_command(SpindleState mode, ModbusCommand& data) {

7
Grbl_Esp32/src/Spindles/Laser.cpp
View File

@@ -86,10 +86,5 @@ namespace Spindles {
_pwm_chan_num = 0; // Channel 0 is reserved for spindle use _pwm_chan_num = 0; // Channel 0 is reserved for spindle use
} }
#endif
void Laser::deinit() {
stop();
ledcDetachPin(_output_pin.getNative(Pin::Capabilities::PWM));
_output_pin.setAttr(Pin::Attr::Input);
_enable_pin.setAttr(Pin::Attr::Input);
} }

1
Grbl_Esp32/src/Spindles/Laser.h
View File

@@ -37,7 +37,6 @@ namespace Spindles {
bool isRateAdjusted() override; bool isRateAdjusted() override;
void config_message() override; void config_message() override;
void get_pins_and_settings() override; void get_pins_and_settings() override;
void deinit() override;
virtual ~Laser() {} virtual ~Laser() {}
}; };

2
Grbl_Esp32/src/Spindles/PWMSpindle.cpp
View File

@@ -267,6 +267,6 @@ namespace Spindles {
ledcDetachPin(_output_pin.getNative(Pin::Capabilities::PWM)); ledcDetachPin(_output_pin.getNative(Pin::Capabilities::PWM));
_output_pin.setAttr(Pin::Attr::Input); _output_pin.setAttr(Pin::Attr::Input);
_enable_pin.setAttr(Pin::Attr::Input); _enable_pin.setAttr(Pin::Attr::Input);
_dir_pin.setAttr(Pin::Attr::Input); _direction_pin.setAttr(Pin::Attr::Input);
} }
} }