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Merge pull request #328 from bdring/Devt

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Devt
This commit is contained in:
bdring
2020-02-07 07:43:12 -06:00
committed by GitHub
parent 8f97ed7960 eea5fb0dca
commit 2451d379f9
25 changed files with 314 additions and 578 deletions
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10
Grbl_Esp32/Grbl_Esp32.ino
View File

@@ -19,6 +19,7 @@
*/
#include "grbl.h"
#include "WiFi.h"
// Declare system global variable structure
system_t sys;
@@ -36,13 +37,18 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
void setup() {
WiFi.persistent(false);
WiFi.disconnect(true);
WiFi.enableSTA (false);
WiFi.enableAP (false);
WiFi.mode (WIFI_OFF);
serial_init(); // Setup serial baud rate and interrupts
grbl_sendf(CLIENT_SERIAL, "[MSG:ESP32 SDK: %s]\r\n", ESP.getSdkVersion()); // print the SDK version
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion()); // print the SDK version
#ifdef CPU_MAP_NAME // show the map name at startup
grbl_send(CLIENT_SERIAL,"[MSG:Using cpu_map..." CPU_MAP_NAME "]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Using cpu_map:%s", CPU_MAP_NAME);
#endif
settings_init(); // Load Grbl settings from EEPROM

18
Grbl_Esp32/atari_1020.cpp
View File

@@ -43,7 +43,7 @@ void machine_init()
{
solenoid_pull_count = 0; // initialize
grbl_send(CLIENT_SERIAL, "[MSG:Atari 1020 Solenoid]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Atari 1020 Solenoid");
// setup PWM channel
ledcSetup(SOLENOID_CHANNEL_NUM, SOLENOID_PWM_FREQ, SOLENOID_PWM_RES_BITS);
@@ -167,13 +167,13 @@ void atari_home_task(void *pvParameters) {
homing_phase = HOMING_PHASE_CHECK;
break;
default:
grbl_sendf(CLIENT_SERIAL, "[MSG:Homing phase error %d]\r\n", homing_phase);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Homing phase error %d", homing_phase);
atari_homing = false;; // kills task
break;
}
if (homing_attempt > ATARI_HOMING_ATTEMPTS) { // try all positions plus 1
grbl_send(CLIENT_SERIAL, "[MSG: Atari homing failed]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Atari homing failed");
inputBuffer.push("G90\r");
atari_homing = false;;
}
@@ -236,7 +236,7 @@ void user_tool_change(uint8_t new_tool) {
protocol_buffer_synchronize(); // wait for all previous moves to complete
if ((new_tool < 1) || (new_tool > MAX_PEN_NUMBER)) {
grbl_sendf(CLIENT_ALL, "[MSG: Requested Pen#%d is out of 1-4 range]\r\n", new_tool);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Requested Pen#%d is out of 1-4 range", new_tool);
return;
}
@@ -259,7 +259,7 @@ void user_tool_change(uint8_t new_tool) {
current_tool = new_tool;
grbl_sendf(CLIENT_ALL, "[MSG: Change to Pen#%d]\r\n", current_tool);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Change to Pen#%d", current_tool);
}
@@ -282,14 +282,14 @@ void user_defined_macro(uint8_t index)
switch (index) {
#ifdef MACRO_BUTTON_0_PIN
case CONTROL_PIN_INDEX_MACRO_0:
grbl_send(CLIENT_SERIAL, "[MSG: Pen Switch]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Pen switch");
inputBuffer.push("$H\r");
break;
#endif
#ifdef MACRO_BUTTON_1_PIN
case CONTROL_PIN_INDEX_MACRO_1:
grbl_send(CLIENT_SERIAL, "[MSG: Color Switch]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Color switch");
atari_next_pen();
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); // alway return to right side to reduce home travel stalls
inputBuffer.push(gcode_line);
@@ -299,7 +299,7 @@ void user_defined_macro(uint8_t index)
#ifdef MACRO_BUTTON_2_PIN
case CONTROL_PIN_INDEX_MACRO_2:
// feed out some paper and reset the Y 0
grbl_send(CLIENT_SERIAL, "[MSG: Paper Switch]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Paper switch");
inputBuffer.push("G0Y-25\r");
inputBuffer.push("G4P0.1\r"); // sync...forces wait for planner to clear
sys_position[Y_AXIS] = 0.0; // reset the Y position
@@ -309,7 +309,7 @@ void user_defined_macro(uint8_t index)
#endif
default:
grbl_sendf(CLIENT_SERIAL, "[MSG: Unknown Switch %d]\r\n", index);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Unknown Switch %d", index);
break;
}
}

2
Grbl_Esp32/config.h
View File

@@ -49,6 +49,7 @@ Some features should not be changed. See notes below.
#define N_AXIS 3 // Number of axes defined (valid range: 3 to 6)
#define VERBOSE_HELP // adds addition help info, but could confuse some senders
#define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
// Serial baud rate
#define BAUD_RATE 115200
@@ -264,7 +265,6 @@ Some features should not be changed. See notes below.
// Enable using a servo for the Z axis on a pen type machine.
// You typically should not define a pin for the Z axis in cpu_map.h
// You should configure your settings in servo_pen.h
// #define USE_PEN_SERVO // this method will be deprecated soon
// #define USE_SERVO_AXES // the new method
// define your servo pin here or in cpu_map.h
//#define SERVO_PEN_PIN GPIO_NUM_27

7
Grbl_Esp32/gcode.cpp
View File

@@ -186,7 +186,8 @@ uint8_t gc_execute_line(char *line, uint8_t client)
case 38:
#ifndef PROBE_PIN //only allow G38 "Probe" commands if a probe pin is defined.
if (int_value == 38) {
grbl_send(CLIENT_SERIAL, "[MSG:No probe pin defined!]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No probe pin defined");
FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
}
#endif
@@ -321,7 +322,7 @@ uint8_t gc_execute_line(char *line, uint8_t client)
case 4:
case 5:
#ifndef SPINDLE_PWM_PIN
grbl_send(CLIENT_SERIAL, "[MSG:No spindle pin defined]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No spindle pin defined");
#endif
word_bit = MODAL_GROUP_M7;
switch(int_value) {
@@ -476,7 +477,7 @@ uint8_t gc_execute_line(char *line, uint8_t client)
if(value > MAX_TOOL_NUMBER) {
FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED);
}
grbl_sendf(CLIENT_ALL, "[MSG:Tool No: %d]\r\n", int_value);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Tool No: %d", int_value);
gc_state.tool = int_value;
break;
case 'X':

3
Grbl_Esp32/grbl.h
View File

@@ -20,7 +20,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20200202"
#define GRBL_VERSION_BUILD "20200208"
//#include <sdkconfig.h>
#include <Arduino.h>
@@ -78,7 +78,6 @@
#endif
#endif
#include "servo_pen.h"
#include "solenoid_pen.h"
#ifdef USE_SERVO_AXES

6
Grbl_Esp32/grbl_limits.cpp
View File

@@ -400,8 +400,6 @@ uint8_t limits_get_state()
pin += (digitalRead(C_LIMIT_PIN) << C_AXIS);
#endif
//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit pins %d]\r\n", pin);
#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
pin ^= INVERT_LIMIT_PIN_MASK;
#endif
@@ -410,8 +408,6 @@ uint8_t limits_get_state()
pin ^= LIMIT_MASK;
}
//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit Inverted %d]\r\n", pin);
if (pin) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
@@ -421,8 +417,6 @@ uint8_t limits_get_state()
}
}
//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit State %d]\r\n", limit_state);
return(limit_state);
}

14
Grbl_Esp32/grbl_trinamic.cpp
View File

@@ -136,7 +136,7 @@ void Trinamic_Init()
{
uint8_t testResult;
grbl_sendf(CLIENT_SERIAL, "[MSG:TMCStepper Init using Library Ver 0x%06x]\r\n", TMCSTEPPER_VERSION);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TMCStepper Init using Library Ver 0x%06x", TMCSTEPPER_VERSION);
SPI.begin();
@@ -244,16 +244,20 @@ void trinamic_change_settings()
void trinamic_test_response(uint8_t result, const char *axis)
{
grbl_sendf(CLIENT_SERIAL, "[MSG:%s Trinamic driver test ", axis);
if (result) {
grbl_sendf(CLIENT_SERIAL, "failed.");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed", axis);
switch(result) {
case 1: grbl_sendf(CLIENT_SERIAL, " Check connection]\r\n"); break;
case 2: grbl_sendf(CLIENT_SERIAL, " Check motor power]\r\n"); break;
case 1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test check connection", axis);
break;
case 2:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test check motor power", axis);
break;
}
}
else {
grbl_sendf(CLIENT_SERIAL, "passed]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", axis);
}
}

8
Grbl_Esp32/grbl_unipolar.cpp
View File

@@ -47,15 +47,15 @@
void unipolar_init(){
#ifdef X_UNIPOLAR
X_Unipolar.init();
grbl_send(CLIENT_SERIAL, "[MSG:X Unipolar]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "X unipolar");
#endif
#ifdef Y_UNIPOLAR
Y_Unipolar.init();
grbl_send(CLIENT_SERIAL, "[MSG:Y Unipolar]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Y unipolar");
#endif
#ifdef Z_UNIPOLAR
Z_Unipolar.init();
grbl_send(CLIENT_SERIAL, "[MSG:Z Unipolar]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Z unipolar");
#endif
}
@@ -110,8 +110,6 @@
if (enabled == _enabled)
return; // no change
//grbl_sendf(CLIENT_SERIAL, "[MSG:Enabled...%d]\r\n", enabled);
_enabled = enabled;
if (!enabled) {

19
Grbl_Esp32/inputbuffer.cpp
View File

@@ -54,11 +54,26 @@ int InputBuffer::available(){
return _RXbufferSize;
}
int InputBuffer::availableforwrite(){
return (RXBUFFERSIZE - _RXbufferSize);
}
size_t InputBuffer::write(uint8_t c)
{
//No need currently
//keep for compatibility
if ((1 + _RXbufferSize) <= RXBUFFERSIZE){
int current = _RXbufferpos + _RXbufferSize;
if (current > RXBUFFERSIZE)
current = current - RXBUFFERSIZE;
if (current > (RXBUFFERSIZE-1))
current = 0;
_RXbuffer[current] = c;
current ++;
_RXbufferSize+=1;
return 1;
}
return 0;
}
size_t InputBuffer::write(const uint8_t *buffer, size_t size)

1
Grbl_Esp32/inputbuffer.h
View File

@@ -54,6 +54,7 @@ class InputBuffer: public Print{
void begin();
void end();
int available();
int availableforwrite();
int peek(void);
int read(void);
bool push (const char * data);

1
Grbl_Esp32/polar_coaster.cpp
View File

@@ -264,7 +264,6 @@ float abs_angle(float ang) {
// Polar coaster has macro buttons, this handles those button pushes.
void user_defined_macro(uint8_t index)
{
//grbl_sendf(CLIENT_SERIAL, "[MSG: Macro #%d]\r\n", index);
switch (index) {
#ifdef MACRO_BUTTON_0_PIN
case CONTROL_PIN_INDEX_MACRO_0:

8
Grbl_Esp32/protocol.cpp
View File

@@ -85,7 +85,7 @@ void protocol_main_loop()
for (;;) {
// serialCheck(); // un comment this if you do this here rather than in a separate task
#ifdef ENABLE_SD_CARD
if (SD_ready_next) {
@@ -108,7 +108,7 @@ void protocol_main_loop()
// initial filtering by removing spaces and comments and capitalizing all letters.
uint8_t client = CLIENT_SERIAL;
for (client = 0; client <= CLIENT_COUNT; client++)
for (client = 0; client < CLIENT_COUNT; client++)
{
while((c = serial_read(client)) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
@@ -139,12 +139,12 @@ void protocol_main_loop()
if (!COMMANDS::execute_internal_command (cmd, cmd_params, LEVEL_GUEST, &espresponse)) {
report_status_message(STATUS_GCODE_UNSUPPORTED_COMMAND, CLIENT_ALL);
}
} else grbl_sendf(client, "[MSG: Unknow Command...%s]\r\n", line);
} else grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Unknow Command...%s", line);
} else if (sys.state & (STATE_ALARM | STATE_JOG)) {
// Everything else is gcode. Block if in alarm or jog mode.
report_status_message(STATUS_SYSTEM_GC_LOCK, client);
} else {
// Parse and execute g-code block.
// Parse and execute g-code block
report_status_message(gc_execute_line(line, client), client);
}

56
Grbl_Esp32/report.cpp
View File

@@ -103,6 +103,32 @@ void grbl_sendf(uint8_t client, const char *format, ...)
delete[] temp;
}
}
// Use to send [MSG:xxxx] Type messages. The level allows messages to be easily suppressed
void grbl_msg_sendf(uint8_t client, uint8_t level, const char *format, ...) {
if (client == CLIENT_INPUT) return;
if (level > GRBL_MSG_LEVEL) return;
char loc_buf[64];
char * temp = loc_buf;
va_list arg;
va_list copy;
va_start(arg, format);
va_copy(copy, arg);
size_t len = vsnprintf(NULL, 0, format, arg);
va_end(copy);
if(len >= sizeof(loc_buf)){
temp = new char[len+1];
if(temp == NULL) {
return;
}
}
len = vsnprintf(temp, len+1, format, arg);
grbl_sendf(client, "[MSG:%s]\r\n", temp);
va_end(arg);
if(len > 64){
delete[] temp;
}
}
//function to notify
void grbl_notify(const char *title, const char *msg){
@@ -234,31 +260,33 @@ void report_feedback_message(uint8_t message_code) // OK to send to all clients
{
switch(message_code) {
case MESSAGE_CRITICAL_EVENT:
grbl_send(CLIENT_ALL,"[MSG:Reset to continue]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Reset to continue"); break;
case MESSAGE_ALARM_LOCK:
grbl_send(CLIENT_ALL, "[MSG:'$H'|'$X' to unlock]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "'$H'|'$X' to unlock"); break;
case MESSAGE_ALARM_UNLOCK:
grbl_send(CLIENT_ALL, "[MSG:Caution: Unlocked]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Caution: Unlocked"); break;
case MESSAGE_ENABLED:
grbl_send(CLIENT_ALL, "[MSG:Enabled]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Enabled"); break;
case MESSAGE_DISABLED:
grbl_send(CLIENT_ALL, "[MSG:Disabled]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Disabled"); break;
case MESSAGE_SAFETY_DOOR_AJAR:
grbl_send(CLIENT_ALL, "[MSG:Check Door]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Check door"); break;
case MESSAGE_CHECK_LIMITS:
grbl_send(CLIENT_ALL, "[MSG:Check Limits]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Check limits"); break;
case MESSAGE_PROGRAM_END:
grbl_send(CLIENT_ALL, "[MSG:Pgm End]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Program End"); break;
case MESSAGE_RESTORE_DEFAULTS:
grbl_send(CLIENT_ALL, "[MSG:Restoring defaults]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Restoring defaults"); break;
case MESSAGE_SPINDLE_RESTORE:
grbl_send(CLIENT_ALL, "[MSG:Restoring spindle]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Restoring spindle");; break;
case MESSAGE_SLEEP_MODE:
grbl_send(CLIENT_ALL, "[MSG:Sleeping]\r\n"); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Sleeping"); break;
#ifdef ENABLE_SD_CARD
case MESSAGE_SD_FILE_QUIT:
grbl_notifyf("SD print canceled", "Reset during SD file at line: %d", sd_get_current_line_number());
grbl_sendf(CLIENT_ALL, "[MSG:Reset during SD file at line: %d]\r\n", sd_get_current_line_number()); break;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Reset during SD file at line: %d", sd_get_current_line_number);
break;
#endif
}
}
@@ -288,8 +316,6 @@ void report_grbl_settings(uint8_t client, uint8_t show_extended) {
show_extended = true;
#endif
grbl_sendf(CLIENT_SERIAL, "[MSG:Extended %d]\r\n", show_extended);
rpt[0] = '\0';
sprintf(setting, "$0=%d\r\n", settings.pulse_microseconds); strcat(rpt, setting);
@@ -872,6 +898,6 @@ void report_gcode_comment(char *comment) {
}
msg[index-offset] = 0; // null terminate
grbl_sendf(CLIENT_ALL, "[MSG:GCode Comment %s]\r\n",msg);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "GCode Comment...%s", msg);
}
}

18
Grbl_Esp32/report.h
View File

@@ -99,17 +99,25 @@
#define MESSAGE_SLEEP_MODE 11
#define MESSAGE_SD_FILE_QUIT 60 // mc_reset was called during an SD job
#define CLIENT_SERIAL 1
#define CLIENT_BT 2
#define CLIENT_WEBUI 3
#define CLIENT_TELNET 4
#define CLIENT_INPUT 5
#define CLIENT_SERIAL 0
#define CLIENT_BT 1
#define CLIENT_WEBUI 2
#define CLIENT_TELNET 3
#define CLIENT_INPUT 4
#define CLIENT_ALL 0xFF
#define CLIENT_COUNT 5 // total number of client types regardless if they are used
#define MSG_LEVEL_NONE 0 // set GRBL_MSG_LEVEL in config.h to the level you want to see
#define MSG_LEVEL_ERROR 1
#define MSG_LEVEL_WARNING 2
#define MSG_LEVEL_INFO 3
#define MSG_LEVEL_DEBUG 4
#define MSG_LEVEL_VERBOSE 5
// functions to send data to the user.
void grbl_send(uint8_t client, const char *text);
void grbl_sendf(uint8_t client, const char *format, ...);
void grbl_msg_sendf(uint8_t client, uint8_t level, const char *format, ...);
//function to notify
void grbl_notify(const char *title, const char *msg);

301
Grbl_Esp32/serial.cpp
View File

@@ -16,35 +16,69 @@
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
What is going on here?
Original Grbl only supports communication via serial port. That is why this
file is call serial.cpp. Grbl_ESP32 supports many "clients".
Clients are sources of commands like the serial port or a bluetooth connection.
Multiple clients can be active at a time. If a client asks for status, only the client will
receive the reply to the command.
The serial port acts as the debugging port because it is always on and does not
need to be reconnected after reboot. Messages about the configuration and other events
are sent to the serial port automatically, without a request command. These are in the
[MSG: xxxxxx] format. Gcode senders are should be OK with this because Grbl has always
send some messages like this.
Important: It is up user that the clients play well together. Ideally, if one client
is sending the gcode, the others should just be doing status, feedhold, etc.
Clients send gcode, grbl commands ($$, [ESP...], etc) and realtime commands (?,!.~, etc)
Gcode and Grbl commands are a string of printable characters followed by a '\r' or '\n'
Realtime commands are single characters with no '\r' or '\n'
After sending a gcode or grbl command, you must wait for an OK to send another.
This is because only a certain number of commands can be buffered at a time.
Grbl will tell you when it is ready for another one with the OK.
Realtime commands can be sent at any time and will acted upon very quickly.
Realtime commands can be anywhere in the stream.
To allow the realtime commands to be randomly mixed in the stream of data, we
read all clients as fast as possible. The realtime commands are acted upon and the other charcters are
placed into a client_buffer[client].
The main protocol loop reads from client_buffer[]
*/
#include "grbl.h"
#include "commands.h"
#define RX_RING_BUFFER (RX_BUFFER_SIZE+1)
#define TX_RING_BUFFER (TX_BUFFER_SIZE+1)
portMUX_TYPE myMutex = portMUX_INITIALIZER_UNLOCKED;
uint8_t serial_rx_buffer[CLIENT_COUNT][RX_RING_BUFFER];
uint8_t serial_rx_buffer_head[CLIENT_COUNT] = {0};
volatile uint8_t serial_rx_buffer_tail[CLIENT_COUNT] = {0};
static TaskHandle_t serialCheckTaskHandle = 0;
// Returns the number of bytes available in the RX serial buffer.
InputBuffer client_buffer[CLIENT_COUNT]; // create a buffer for each client
// Returns the number of bytes available in a client buffer.
uint8_t serial_get_rx_buffer_available(uint8_t client)
{
uint8_t client_idx = client - 1;
uint8_t rtail = serial_rx_buffer_tail[client_idx]; // Copy to limit multiple calls to volatile
if (serial_rx_buffer_head[client_idx] >= rtail) { return(RX_BUFFER_SIZE - (serial_rx_buffer_head[client_idx]-rtail)); }
return((rtail-serial_rx_buffer_head[client_idx]-1));
return client_buffer[client].availableforwrite();
}
void serial_init()
{
Serial.begin(BAUD_RATE);
// reset all buffers
serial_reset_read_buffer(CLIENT_ALL);
grbl_send(CLIENT_SERIAL,"\r\n"); // create some white space after ESP32 boot info
serialCheckTaskHandle = 0;
// create a task to check for incoming data
xTaskCreatePinnedToCore( serialCheckTask, // task
@@ -64,25 +98,11 @@ void serial_init()
void serialCheckTask(void *pvParameters)
{
uint8_t data = 0;
uint8_t next_head;
uint8_t client = CLIENT_ALL; // who send the data
uint8_t client_idx = 0; // index of data buffer
uint8_t client = CLIENT_ALL; // who sent the data
while(true) // run continuously
{
while (Serial.available() || inputBuffer.available()
#ifdef ENABLE_BLUETOOTH
|| (SerialBT.hasClient() && SerialBT.available())
#endif
#if defined (ENABLE_WIFI) && defined(ENABLE_HTTP) && defined(ENABLE_SERIAL2SOCKET_IN)
|| Serial2Socket.available()
#endif
#if defined (ENABLE_WIFI) && defined(ENABLE_TELNET)
|| telnet_server.available()
#endif
)
{
while (any_client_has_data()) {
if (Serial.available())
{
client = CLIENT_SERIAL;
@@ -123,68 +143,20 @@ void serialCheckTask(void *pvParameters)
#endif
}
client_idx = client - 1; // for zero based array
// 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.
switch (data) {
case CMD_RESET:
mc_reset(); // Call motion control reset routine.
//report_init_message(client); // fool senders into thinking a reset happened.
break;
case CMD_STATUS_REPORT:
report_realtime_status(client);
break; // direct call instead of setting flag
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
if (is_realtime_command(data)) {
execute_realtime_command(data, client);
}
break;
#ifdef DEBUG
case CMD_DEBUG_REPORT: {uint8_t sreg = SREG; cli(); bit_true(sys_rt_exec_debug,EXEC_DEBUG_REPORT); SREG = sreg;} break;
#endif
case CMD_FEED_OVR_RESET: system_set_exec_motion_override_flag(EXEC_FEED_OVR_RESET); break;
case CMD_FEED_OVR_COARSE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_PLUS); break;
case CMD_FEED_OVR_COARSE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_COARSE_MINUS); break;
case CMD_FEED_OVR_FINE_PLUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_PLUS); break;
case CMD_FEED_OVR_FINE_MINUS: system_set_exec_motion_override_flag(EXEC_FEED_OVR_FINE_MINUS); break;
case CMD_RAPID_OVR_RESET: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_RESET); break;
case CMD_RAPID_OVR_MEDIUM: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_MEDIUM); break;
case CMD_RAPID_OVR_LOW: system_set_exec_motion_override_flag(EXEC_RAPID_OVR_LOW); break;
case CMD_SPINDLE_OVR_RESET: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_RESET); break;
case CMD_SPINDLE_OVR_COARSE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_PLUS); break;
case CMD_SPINDLE_OVR_COARSE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_COARSE_MINUS); break;
case CMD_SPINDLE_OVR_FINE_PLUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_PLUS); break;
case CMD_SPINDLE_OVR_FINE_MINUS: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_FINE_MINUS); break;
case CMD_SPINDLE_OVR_STOP: system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP); break;
#ifdef COOLANT_FLOOD_PIN
case CMD_COOLANT_FLOOD_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_FLOOD_OVR_TOGGLE); break;
#endif
#ifdef COOLANT_MIST_PIN
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
} else { // Write character to buffer
else {
vTaskEnterCritical(&myMutex);
next_head = serial_rx_buffer_head[client_idx] + 1;
if (next_head == RX_RING_BUFFER) { next_head = 0; }
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail[client_idx]) {
serial_rx_buffer[client_idx][serial_rx_buffer_head[client_idx]] = data;
serial_rx_buffer_head[client_idx] = next_head;
}
client_buffer[client].write(data);
vTaskExitCritical(&myMutex);
}
} // switch data
} // if something available
COMMANDS::handle();
#ifdef ENABLE_WIFI
@@ -200,71 +172,82 @@ void serialCheckTask(void *pvParameters)
} // while(true)
}
// ==================== call this in main protocol loop if you want it in the main task =========
// be sure to stop task.
// Realtime stuff is acted upon, then characters are added to the appropriate buffer
void serialCheck()
void serial_reset_read_buffer(uint8_t client)
{
uint8_t data = 0;
uint8_t next_head;
uint8_t client = CLIENT_SERIAL; // who send the data
for (uint8_t client_num = 0; client_num < CLIENT_COUNT; client_num++)
{
if (client == client_num || client == CLIENT_ALL)
{
client_buffer[client].begin();
}
}
}
uint8_t client_idx = 0; // index of data buffer
// Writes one byte to the TX serial buffer. Called by main program.
void serial_write(uint8_t data) {
Serial.write((char)data);
}
// Fetches the first byte in the serial read buffer. Called by protocol loop.
uint8_t serial_read(uint8_t client)
{
uint8_t data;
while (Serial.available() || inputBuffer.available()
vTaskEnterCritical(&myMutex);
if (client_buffer[client].available()) {
data = client_buffer[client].read();
vTaskExitCritical(&myMutex);
//Serial.write((char)data);
return data;
}
else {
vTaskExitCritical(&myMutex);
return SERIAL_NO_DATA;
}
}
bool any_client_has_data() {
return (Serial.available() || inputBuffer.available()
#ifdef ENABLE_BLUETOOTH
|| (SerialBT.hasClient() && SerialBT.available())
#endif
#if defined (ENABLE_WIFI) && defined(ENABLE_HTTP) && defined(ENABLE_SERIAL2SOCKET_IN)
|| Serial2Socket.available()
#endif
)
{
if (Serial.available())
{
client = CLIENT_SERIAL;
data = Serial.read();
}
else if (inputBuffer.available())
{
client = CLIENT_INPUT;
data = inputBuffer.read();
}
#if defined (ENABLE_BLUETOOTH) || (defined (ENABLE_WIFI) && defined(ENABLE_HTTP) && defined(ENABLE_SERIAL2SOCKET_IN))
else
{ //currently is wifi or BT but better to prepare both can be live
#ifdef ENABLE_BLUETOOTH
if(SerialBT.hasClient() && SerialBT.available()){
client = CLIENT_BT;
data = SerialBT.read();
} else {
#if defined (ENABLE_WIFI) && defined(ENABLE_TELNET)
|| telnet_server.available()
#endif
#if defined (ENABLE_WIFI) && defined(ENABLE_HTTP) && defined(ENABLE_SERIAL2SOCKET_IN)
client = CLIENT_WEBUI;
data = Serial2Socket.read();
#endif
#ifdef ENABLE_BLUETOOTH
}
#endif
}
#endif
);
}
client_idx = client - 1; // for zero based array
// checks to see if a character is a realtime character
bool is_realtime_command(uint8_t data) {
return (data == CMD_RESET || data == CMD_STATUS_REPORT || data == CMD_CYCLE_START || data == CMD_FEED_HOLD || data > 0x7F);
}
// Act upon a realtime character
void execute_realtime_command(uint8_t command, uint8_t client) {
switch (command) {
case CMD_RESET:
mc_reset(); // Call motion control reset routine.
break;
// 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.
switch (data) {
case CMD_RESET: mc_reset(); break; // Call motion control reset routine.
case CMD_STATUS_REPORT:
report_realtime_status(client);
break; // direct call instead of setting flag
case CMD_CYCLE_START: system_set_exec_state_flag(EXEC_CYCLE_START); break; // Set as true
case CMD_FEED_HOLD: system_set_exec_state_flag(EXEC_FEED_HOLD); break; // Set as true
default :
if (data > 0x7F) { // Real-time control characters are extended ACSII only.
switch(data) {
case CMD_SAFETY_DOOR: system_set_exec_state_flag(EXEC_SAFETY_DOOR); break; // Set as true
report_realtime_status(client); // direct call instead of setting flag
break;
case CMD_CYCLE_START:
system_set_exec_state_flag(EXEC_CYCLE_START); // Set as true
break;
case CMD_FEED_HOLD:
system_set_exec_state_flag(EXEC_FEED_HOLD); // Set as true
break;
case CMD_SAFETY_DOOR:
system_set_exec_state_flag(EXEC_SAFETY_DOOR);
break; // Set as true
case CMD_JOG_CANCEL:
if (sys.state & STATE_JOG) { // Block all other states from invoking motion cancel.
system_set_exec_state_flag(EXEC_MOTION_CANCEL);
@@ -293,56 +276,8 @@ void serialCheck()
#ifdef COOLANT_MIST_PIN
case CMD_COOLANT_MIST_OVR_TOGGLE: system_set_exec_accessory_override_flag(EXEC_COOLANT_MIST_OVR_TOGGLE); break;
#endif
}
// Throw away any unfound extended-ASCII character by not passing it to the serial buffer.
} else { // Write character to buffer
next_head = serial_rx_buffer_head[client_idx] + 1;
if (next_head == RX_RING_BUFFER) { next_head = 0; }
// Write data to buffer unless it is full.
if (next_head != serial_rx_buffer_tail[client_idx]) {
serial_rx_buffer[client_idx][serial_rx_buffer_head[client_idx]] = data;
serial_rx_buffer_head[client_idx] = next_head;
}
}
} // switch data
} // if something available
}
void serial_reset_read_buffer(uint8_t client)
{
for (uint8_t client_num = 0; client_num <= CLIENT_COUNT; client_num++)
{
if (client == client_num || client == CLIENT_ALL)
{
serial_rx_buffer_tail[client_num-1] = serial_rx_buffer_head[client_num-1];
}
}
}
// Writes one byte to the TX serial buffer. Called by main program.
void serial_write(uint8_t data) {
Serial.write((char)data);
}
// Fetches the first byte in the serial read buffer. Called by main program.
uint8_t serial_read(uint8_t client)
{
uint8_t client_idx = client - 1;
uint8_t tail = serial_rx_buffer_tail[client_idx]; // Temporary serial_rx_buffer_tail (to optimize for volatile)
if (serial_rx_buffer_head[client_idx] == tail) {
return SERIAL_NO_DATA;
} else {
vTaskEnterCritical(&myMutex); // make sure buffer is not modified while reading by newly read chars from the serial when we are here
uint8_t data = serial_rx_buffer[client_idx][tail];
tail++;
if (tail == RX_RING_BUFFER) { tail = 0; }
serial_rx_buffer_tail[client_idx] = tail;
vTaskExitCritical(&myMutex);
return data;
}
}

6
Grbl_Esp32/serial.h
View File

@@ -39,8 +39,6 @@
// a task to read for incoming data from serial port
void serialCheckTask(void *pvParameters);
void serialCheck();
void serial_write(uint8_t data);
// Fetches the first byte in the serial read buffer. Called by main program.
uint8_t serial_read(uint8_t client);
@@ -54,4 +52,8 @@ void serial_reset_read_buffer(uint8_t client);
// Returns the number of bytes available in the RX serial buffer.
uint8_t serial_get_rx_buffer_available(uint8_t client);
void execute_realtime_command(uint8_t command, uint8_t client);
bool any_client_has_data();
bool is_realtime_command(uint8_t data);
#endif

19
Grbl_Esp32/servo_axis.cpp
View File

@@ -50,9 +50,8 @@ static TaskHandle_t servosSyncTaskHandle = 0;
void init_servos()
{
//grbl_send(CLIENT_SERIAL, "[MSG: Init Servos]\r\n");
#ifdef SERVO_X_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:X Servo range %4.3f to %4.3f]\r\n", SERVO_X_RANGE_MIN, SERVO_X_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "X Servo range %4.3f to %4.3f", SERVO_X_RANGE_MIN, SERVO_X_RANGE_MAX);
X_Servo_Axis.init();
X_Servo_Axis.set_range(SERVO_X_RANGE_MIN, SERVO_X_RANGE_MAX);
X_Servo_Axis.set_homing_type(SERVO_HOMING_OFF);
@@ -60,12 +59,12 @@ void init_servos()
X_Servo_Axis.set_disable_with_steppers(false);
#endif
#ifdef SERVO_Y_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:Y Servo range %4.3f to %4.3f]\r\n", SERVO_Y_RANGE_MIN, SERVO_Y_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Y Servo range %4.3f to %4.3f", SERVO_Y_RANGE_MIN, SERVO_Y_RANGE_MAX);
Y_Servo_Axis.init();
Y_Servo_Axis.set_range(SERVO_Y_RANGE_MIN, SERVO_Y_RANGE_MAX);
#endif
#ifdef SERVO_Z_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:Z Servo range %4.3f to %4.3f]\r\n", SERVO_Z_RANGE_MIN, SERVO_Z_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Z Servo range %4.3f to %4.3f", SERVO_Z_RANGE_MIN, SERVO_Z_RANGE_MAX);
Z_Servo_Axis.init();
Z_Servo_Axis.set_range(SERVO_Z_RANGE_MIN, SERVO_Z_RANGE_MAX);
#ifdef SERVO_Z_HOMING_TYPE
@@ -80,7 +79,7 @@ void init_servos()
#endif
#ifdef SERVO_A_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:A Servo range %4.3f to %4.3f]\r\n", SERVO_A_RANGE_MIN, SERVO_A_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "A Servo range %4.3f to %4.3f", SERVO_A_RANGE_MIN, SERVO_A_RANGE_MAX);
A_Servo_Axis.init();
A_Servo_Axis.set_range(SERVO_A_RANGE_MIN, SERVO_A_RANGE_MAX);
A_Servo_Axis.set_homing_type(SERVO_HOMING_OFF);
@@ -88,12 +87,12 @@ void init_servos()
A_Servo_Axis.set_disable_with_steppers(false);
#endif
#ifdef SERVO_B_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:B Servo range %4.3f to %4.3f]\r\n", SERVO_B_RANGE_MIN, SERVO_B_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "B Servo range %4.3f to %4.3f", SERVO_B_RANGE_MIN, SERVO_B_RANGE_MAX);
B_Servo_Axis.init();
B_Servo_Axis.set_range(SERVO_B_RANGE_MIN, SERVO_B_RANGE_MAX);
#endif
#ifdef SERVO_C_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG:C Servo range %4.3f to %4.3f]\r\n", SERVO_C_RANGE_MIN, SERVO_C_RANGE_MAX);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "C Servo range %4.3f to %4.3f", SERVO_C_RANGE_MIN, SERVO_C_RANGE_MAX);
C_Servo_Axis.init();
C_Servo_Axis.set_range(SERVO_C_RANGE_MIN, SERVO_C_RANGE_MAX);
//C_Servo_Axis.set_homing_type(SERVO_HOMING_TARGET);
@@ -276,7 +275,7 @@ bool ServoAxis::_cal_is_valid()
if ( (settings.steps_per_mm[_axis] < SERVO_CAL_MIN) || (settings.steps_per_mm[_axis] > SERVO_CAL_MAX) ) {
if (_showError) {
grbl_sendf(CLIENT_SERIAL, "[MSG:Servo calibration ($10%d) value error. Reset to 100]\r\n", _axis);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration ($10%d) value error. Reset to 100", _axis);
settings.steps_per_mm[_axis] = 100;
write_global_settings();
}
@@ -286,7 +285,7 @@ bool ServoAxis::_cal_is_valid()
// Note: Max travel is set positive via $$, but stored as a negative number
if ( (settings.max_travel[_axis] < -SERVO_CAL_MAX) || (settings.max_travel[_axis] > -SERVO_CAL_MIN) ) {
if (_showError) {
grbl_sendf(CLIENT_SERIAL, "[MSG:Servo calibration ($13%d) value error. Reset to 100]\r\n", _axis);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration ($13%d) value error. Reset to 100", _axis);
settings.max_travel[_axis] = -100;
write_global_settings();
}
@@ -312,7 +311,7 @@ void ServoAxis::set_range(float min, float max) {
_position_max = max;
}
else {
grbl_send(CLIENT_SERIAL, "[MSG:Error setting range. Min not smaller than max]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Error setting range. Min not smaller than max");
}
}

176
Grbl_Esp32/servo_pen.cpp
View File

@@ -1,176 +0,0 @@
/*
servo_pen.cpp
Part of Grbl_ESP32
copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
CPU. Do not use this with Grbl for atMega328P
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#ifdef USE_PEN_SERVO
static TaskHandle_t servoSyncTaskHandle = 0;
// used to delay turn on
bool servo_pen_enable = false;
void servo_init()
{
grbl_send(CLIENT_SERIAL, "[MSG:Servo Pen Mode]\r\n"); // startup message
//validate_servo_settings(true); // display any calibration errors
// Debug stuff
//grbl_sendf(CLIENT_SERIAL, "[MSG:Servo max,min pulse times %.4f sec,%.4f sec]\r\n", SERVO_MAX_PULSE_SEC, SERVO_MIN_PULSE_SEC);
//grbl_sendf(CLIENT_SERIAL, "[MSG:Servo max,min pulse counts %d,%d]\r\n", SERVO_MAX_PULSE, SERVO_MIN_PULSE);
validate_servo_settings(true); // will print errors
// debug stuff
servo_pen_enable = false; // start delay has not completed yet.
// setup PWM channel
ledcSetup(SERVO_PEN_CHANNEL_NUM, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
ledcAttachPin(SERVO_PEN_PIN, SERVO_PEN_CHANNEL_NUM);
servo_disable(); // start it it off
// setup a task that will calculate the determine and set the servo position
xTaskCreatePinnedToCore( servoSyncTask, // task
"servoSyncTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&servoSyncTaskHandle,
0 // core
);
}
// turn off the PWM (0 duty) to prevent servo jitter when not in use.
void servo_disable()
{
ledcWrite(SERVO_PEN_CHANNEL_NUM, 0);
}
// Grbl settings are used to calibrate the servo positions
// They work on a percentage, so a value of 100 (100%) applies no calibration
// Values outside a reasonable range can cause errors, so this function checks
// that they are within a reasonable range
bool validate_servo_settings(bool verbose) // make sure the settings are reasonable..otherwise reset the settings to default
{
bool settingsOK = true;
if ( (settings.steps_per_mm[Z_AXIS] < SERVO_CAL_MIN) || (settings.steps_per_mm[Z_AXIS] > SERVO_CAL_MAX) ) {
if (verbose) {
grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($102) Error: %4.4f s/b between %.2f and %.2f]\r\n", settings.steps_per_mm[Z_AXIS], SERVO_CAL_MIN, SERVO_CAL_MAX);
}
settingsOK = false;
}
// Note: Max travel is set positive via $$, but stored as a negative number
if ( (settings.max_travel[Z_AXIS] < -SERVO_CAL_MAX) || (settings.max_travel[Z_AXIS] > -SERVO_CAL_MIN) ) {
if (verbose) {
grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($132) Error: %4.4f s/b between %.2f and %.2f]\r\n", -settings.max_travel[Z_AXIS], SERVO_CAL_MIN, SERVO_CAL_MAX);
}
settingsOK = false;
}
return settingsOK;
}
// this is the task
void servoSyncTask(void *pvParameters)
{
//int32_t current_position[N_AXIS]; // copy of current location
//float m_pos[N_AXIS]; // machine position in mm
TickType_t xLastWakeTime;
const TickType_t xServoFrequency = SERVO_TIMER_INT_FREQ; // in ticks (typically ms)
uint16_t servo_delay_counter = 0;
float mpos_z, wpos_z;
float z_offset;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while(true) { // don't ever return from this or the task dies
if (sys.state != STATE_ALARM) { // don't move until alarm is cleared...typically homing
if (!servo_pen_enable ) {
servo_delay_counter++;
servo_pen_enable = (servo_delay_counter > SERVO_TURNON_DELAY);
} else {
mpos_z = system_convert_axis_steps_to_mpos(sys_position, Z_AXIS); // get the machine Z in mm
z_offset = gc_state.coord_system[Z_AXIS]+gc_state.coord_offset[Z_AXIS]; // get the current z work offset
wpos_z = mpos_z - z_offset; // determine the current work Z
calc_pen_servo(wpos_z); // calculate kinematics and move the servos
}
}
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
}
}
// calculate and set the PWM value for the servo
void calc_pen_servo(float penZ)
{
uint32_t servo_pen_pulse_len;
float servo_pen_pulse_min, servo_pen_pulse_max;
if (!servo_pen_enable) { // only proceed if startup delay as expired
return;
}
if (validate_servo_settings(false)) { // if calibration settings are OK then apply them
if (bit_istrue(settings.dir_invert_mask,bit(Z_AXIS))) { // this allows the user to change the direction via settings
// Apply a calibration to the minimum position
servo_pen_pulse_max = SERVO_MIN_PULSE * (settings.steps_per_mm[Z_AXIS] / 100.0);
// Apply a calibration to the maximum position
servo_pen_pulse_min = SERVO_MAX_PULSE * (settings.max_travel[Z_AXIS] / -100.0);
}
else {
// Apply a calibration to the minimum position
servo_pen_pulse_min = SERVO_MIN_PULSE * (settings.steps_per_mm[Z_AXIS] / 100.0);
// Apply a calibration to the maximum position
servo_pen_pulse_max = SERVO_MAX_PULSE * (settings.max_travel[Z_AXIS] / -100.0);
}
} else { // use the defaults
if (bit_istrue(settings.dir_invert_mask,bit(Z_AXIS))) { // this allows the user to change the direction via settings
servo_pen_pulse_min = SERVO_MAX_PULSE;
servo_pen_pulse_max = SERVO_MIN_PULSE;
}
else {
servo_pen_pulse_min = SERVO_MIN_PULSE;
servo_pen_pulse_max = SERVO_MAX_PULSE;
}
}
// determine the pulse length
servo_pen_pulse_len = (uint32_t)mapConstrain(penZ, SERVO_PEN_RANGE_MIN_MM, SERVO_PEN_RANGE_MAX_MM, servo_pen_pulse_min, servo_pen_pulse_max );
// skip setting value if it is unchanged
if (ledcRead(SERVO_PEN_CHANNEL_NUM) == servo_pen_pulse_len)
return;
// update the PWM value
// ledcWrite appears to have issues with interrupts, so make this a critical section
portMUX_TYPE myMutex = portMUX_INITIALIZER_UNLOCKED;
portENTER_CRITICAL(&myMutex);
ledcWrite(SERVO_PEN_CHANNEL_NUM, servo_pen_pulse_len);
portEXIT_CRITICAL(&myMutex);
}
#endif

76
Grbl_Esp32/servo_pen.h
View File

@@ -1,76 +0,0 @@
/*
servo.h
Part of Grbl_ESP32
copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
CPU. Do not use this with Grbl for atMega328P
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
To use this, uncomment #define USE_PEN_SERVO in config.h
That should be the only change you need at the top level
Everything occurs as a low priority task that syncs the servo with the
current machine position.
*/
// ==== Begin: Things you are likely to change ====================
//#define SERVO_PEN_PIN GPIO_NUM_27 // FYI...you can disable the Z stepper pins (step & dir)
// the pulse lengths for the min and max travel .. (Note: Servo brands vary)
// If the servo goes backward from what you want, flip the values
// Note: this is not necessarily the servos limits (just the travel you want)
#define SERVO_MIN_PULSE_SEC 0.001 // min pulse in seconds
#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
// Pulse repeat rate (PWM Frequency)
#define SERVO_PULSE_FREQ 50 // 50Hz ...This is a standard analog servo value. Digital ones can repeat faster
// the range of the servo is constrained
// values above or below these will be limited to the min or max
#define SERVO_PEN_RANGE_MIN_MM 0.0 // the minimum z position in mm
#define SERVO_PEN_RANGE_MAX_MM 5.0 // the minimum z position in mm
// ==== End: Things you are likely to change =======================
// Begin: Advanced settings
#define SERVO_TIMER_NUM 1
#define SERVO_TIMER_INT_FREQ 20 // Hz This is the task frequency
#define SERVO_PEN_CHANNEL_NUM 5
#define SERVO_PULSE_RES_BITS 16 // bits of resolution of PWM (16 is max)
#define SERVO_PULSE_RES_COUNT 65535 // see above TODO...do the math here 2^SERVO_PULSE_RES_BITS
// A way to reduce the turn on current
#define SERVO_TURNON_DELAY SERVO_TIMER_INT_FREQ*3 // Wait this many task counts to turn on servo
#define SERVO_TIME_PER_BIT ((1.0 / (float)SERVO_PULSE_FREQ) / ((float)SERVO_PULSE_RES_COUNT) ) // seconds
#define SERVO_MIN_PULSE (uint16_t)(SERVO_MIN_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
#define SERVO_MAX_PULSE (uint16_t)(SERVO_MAX_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
#define SERVO_CAL_MIN 20.0 // Percent: the minimum allowable calibration value
#define SERVO_CAL_MAX 180.0 // Percent: the maximum allowable calibration value
#ifndef servo_h
#define servo_h
void servo_init();
void servo_disable();
bool validate_servo_settings(bool verbose);
void servoSyncTask(void *pvParameters);
void calc_pen_servo(float penZ);
#endif

2
Grbl_Esp32/settings.cpp
View File

@@ -461,6 +461,6 @@ void settings_spi_driver_init() {
#ifdef USE_TRINAMIC
trinamic_change_settings();
#else
grbl_send(CLIENT_ALL, "[MSG: No SPI drivers setup]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No SPI drivers setup");
#endif
}

6
Grbl_Esp32/spindle_control.cpp
View File

@@ -34,18 +34,18 @@ void spindle_init()
#ifdef SPINDLE_PWM_PIN
#ifdef INVERT_SPINDLE_PWM
grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_PWM]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "INVERT_SPINDLE_PWM");
#endif
#ifdef INVERT_SPINDLE_ENABLE_PIN
grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "INVERT_SPINDLE_ENABLE_PIN");
#endif
// determine how many PWM counts are in eqach PWM cycle
spindle_pwm_period = ((1<<SPINDLE_PWM_BIT_PRECISION) -1);
if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value) {
grbl_sendf(CLIENT_SERIAL, "[MSG: Warning spindle min pwm is greater than max. Check $35 and $36]\r\n", pwm_gradient);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle min pwm is greater than max. Check $35 and $36");
}
// pre-caculate some PWM count values

6
Grbl_Esp32/stepper.cpp
View File

@@ -447,13 +447,13 @@ void stepper_init()
Trinamic_Init();
#endif
grbl_sendf(CLIENT_SERIAL, "[MSG:Axis count %d]\r\n", N_AXIS);
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Axis count %d", N_AXIS);
#ifdef USE_RMT_STEPS
grbl_send(CLIENT_SERIAL, "[MSG:RMT Steps]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "RMT Steps");
initRMT();
#else
grbl_send(CLIENT_SERIAL, "[MSG:Timed Steps]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Timed Steps");
// make the step pins outputs
#ifdef X_STEP_PIN
pinMode(X_STEP_PIN, OUTPUT);

10
Grbl_Esp32/system.cpp
View File

@@ -47,25 +47,25 @@ void system_ini() // Renamed from system_init() due to conflict with esp32 files
#endif
#ifdef MACRO_BUTTON_0_PIN
grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 0]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Macro Pin 0");
pinMode(MACRO_BUTTON_0_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_0_PIN), isr_control_inputs, CHANGE);
#endif
#ifdef MACRO_BUTTON_1_PIN
grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 1]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Macro Pin 1");
pinMode(MACRO_BUTTON_1_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_1_PIN), isr_control_inputs, CHANGE);
#endif
#ifdef MACRO_BUTTON_2_PIN
grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 2]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Macro Pin 2");
pinMode(MACRO_BUTTON_2_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_2_PIN), isr_control_inputs, CHANGE);
#endif
#ifdef MACRO_BUTTON_3_PIN
grbl_send(CLIENT_SERIAL, "[MSG:Macro Pin 3]\r\n");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Macro Pin 3");
pinMode(MACRO_BUTTON_3_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_3_PIN), isr_control_inputs, CHANGE);
#endif
@@ -544,7 +544,7 @@ uint8_t get_limit_pin_mask(uint8_t axis_idx)
void system_exec_control_pin(uint8_t pin) {
if (bit_istrue(pin,CONTROL_PIN_INDEX_RESET)) {
grbl_send(CLIENT_SERIAL, "[MSG:Reset via control pin]\r\n"); // help debug reason for reset
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Reset via control pin");
mc_reset();
}
else if (bit_istrue(pin,CONTROL_PIN_INDEX_CYCLE_START)) {

6
Grbl_Esp32/web_server.cpp
View File

@@ -176,7 +176,7 @@ bool Web_Server::begin(){
#endif
#ifdef ENABLE_CAPTIVE_PORTAL
if(WiFi.getMode() != WIFI_STA){
if(WiFi.getMode() == WIFI_AP){
// if DNSServer is started with "*" for domain name, it will reply with
// provided IP to all DNS request
dnsServer.start(DNS_PORT, "*", WiFi.softAPIP());
@@ -341,7 +341,7 @@ void Web_Server:: handle_not_found()
if (page_not_found ) {
#ifdef ENABLE_CAPTIVE_PORTAL
if (WiFi.getMode()!=WIFI_STA ) {
if(WiFi.getMode() == WIFI_AP) {
String contentType= PAGE_CAPTIVE;
String stmp = WiFi.softAPIP().toString();
//Web address = ip + port
@@ -1630,7 +1630,7 @@ void Web_Server::handle(){
static uint32_t timeout = millis();
COMMANDS::wait(0);
#ifdef ENABLE_CAPTIVE_PORTAL
if(WiFi.getMode() != WIFI_STA){
if(WiFi.getMode() == WIFI_AP){
dnsServer.processNextRequest();
}
#endif

1
platformio.ini
View File

@@ -27,3 +27,4 @@ framework = arduino
upload_speed = 512000
board_build.partitions = min_spiffs.csv
monitor_speed = 115200
build_flags = -DCORE_DEBUG_LEVEL=0