mirror/Grbl_Esp32
1
0
Fork 0
mirror of https://github.com/bdring/Grbl_Esp32.git synced 2025-09-01 18:32:37 +02:00
Code Issues Releases Wiki Activity

Basic testing Complete

Browse Source
This commit is contained in:
bdring
2020-09-22 17:42:59 -05:00
parent da1d6b8372
commit 286ed2a104
7 changed files with 39 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
Grbl_Esp32/src/Grbl.cpp
View File

@@ -86,6 +86,7 @@ static void reset_variables() {
memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position. memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0; sys_probe_state = 0;
sys_rt_exec_state = 0; sys_rt_exec_state = 0;
cycle_stop = false;
sys_rt_exec_motion_override = 0; sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0; sys_rt_exec_accessory_override = 0;
system_clear_exec_alarm(); system_clear_exec_alarm();

8
Grbl_Esp32/src/Limits.cpp
View File

@@ -202,7 +202,7 @@ void limits_go_home(uint8_t cycle_mask) {
} }
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us. st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Exit routines: No time to run protocol_execute_realtime() in this loop. // Exit routines: No time to run protocol_execute_realtime() in this loop.
if (sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) { if ((sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET)) || cycle_stop) {
uint8_t rt_exec = sys_rt_exec_state; uint8_t rt_exec = sys_rt_exec_state;
// Homing failure condition: Reset issued during cycle. // Homing failure condition: Reset issued during cycle.
if (rt_exec & EXEC_RESET) { if (rt_exec & EXEC_RESET) {
@@ -217,7 +217,7 @@ void limits_go_home(uint8_t cycle_mask) {
system_set_exec_alarm(ExecAlarm::HomingFailPulloff); system_set_exec_alarm(ExecAlarm::HomingFailPulloff);
} }
// Homing failure condition: Limit switch not found during approach. // Homing failure condition: Limit switch not found during approach.
if (approach && (rt_exec & EXEC_CYCLE_STOP)) { if (approach && cycle_stop) {
system_set_exec_alarm(ExecAlarm::HomingFailApproach); system_set_exec_alarm(ExecAlarm::HomingFailApproach);
} }
@@ -228,7 +228,7 @@ void limits_go_home(uint8_t cycle_mask) {
return; return;
} else { } else {
// Pull-off motion complete. Disable CYCLE_STOP from executing. // Pull-off motion complete. Disable CYCLE_STOP from executing.
system_clear_exec_state_flag(EXEC_CYCLE_STOP); cycle_stop = false;
break; break;
} }
} }
@@ -371,7 +371,7 @@ void limits_disable() {
// number in bit position, i.e. Z_AXIS is bit(2), and Y_AXIS is bit(1). // number in bit position, i.e. Z_AXIS is bit(2), and Y_AXIS is bit(1).
uint8_t limits_get_state() { uint8_t limits_get_state() {
uint8_t pinMask = 0; uint8_t pinMask = 0;
auto n_axis = number_axis->get(); auto n_axis = number_axis->get();
for (int axis = 0; axis < n_axis; axis++) { for (int axis = 0; axis < n_axis; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) { for (int gang_index = 0; gang_index < 2; gang_index++) {
uint8_t pin = limit_pins[axis][gang_index]; uint8_t pin = limit_pins[axis][gang_index];

18
Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
View File

@@ -110,11 +110,27 @@ Socket #5
*/ */
// 4x Input Module in Socket #1 /*
// 4x Input Module in Socket #1
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define X_LIMIT_PIN GPIO_NUM_33 #define X_LIMIT_PIN GPIO_NUM_33
#define Y_LIMIT_PIN GPIO_NUM_32 #define Y_LIMIT_PIN GPIO_NUM_32
#define Z_LIMIT_PIN GPIO_NUM_35 #define Z_LIMIT_PIN GPIO_NUM_35
*/
// 4x Input Module in Socket #2
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define X_LIMIT_PIN GPIO_NUM_2
#define Y_LIMIT_PIN GPIO_NUM_25
#define Z_LIMIT_PIN GPIO_NUM_39
// 4x Input Module in Socket #3
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define CONTROL_CYCLE_START_PIN GPIO_NUM_26
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_4
#define CONTROL_RESET_PIN GPIO_NUM_16
#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_27
//#define INVERT_CONTROL_PIN_MASK B0000
// ================= Setting Defaults ========================== // ================= Setting Defaults ==========================

8
Grbl_Esp32/src/Protocol.cpp
View File

@@ -271,7 +271,7 @@ void protocol_exec_rt_system() {
system_clear_exec_alarm(); // Clear alarm system_clear_exec_alarm(); // Clear alarm
} }
uint8_t rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state. uint8_t rt_exec = sys_rt_exec_state; // Copy volatile sys_rt_exec_state.
if (rt_exec) { if (rt_exec || cycle_stop) {
// Execute system abort. // Execute system abort.
if (rt_exec & EXEC_RESET) { if (rt_exec & EXEC_RESET) {
sys.abort = true; // Only place this is set true. sys.abort = true; // Only place this is set true.
@@ -399,12 +399,12 @@ void protocol_exec_rt_system() {
} }
system_clear_exec_state_flag(EXEC_CYCLE_START); system_clear_exec_state_flag(EXEC_CYCLE_START);
} }
if (rt_exec & EXEC_CYCLE_STOP) { if (cycle_stop) {
// Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by // Reinitializes the cycle plan and stepper system after a feed hold for a resume. Called by
// realtime command execution in the main program, ensuring that the planner re-plans safely. // realtime command execution in the main program, ensuring that the planner re-plans safely.
// NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper // NOTE: Bresenham algorithm variables are still maintained through both the planner and stepper
// cycle reinitializations. The stepper path should continue exactly as if nothing has happened. // cycle reinitializations. The stepper path should continue exactly as if nothing has happened.
// NOTE: EXEC_CYCLE_STOP is set by the stepper subsystem when a cycle or feed hold completes. // NOTE: cycle_stop is set by the stepper subsystem when a cycle or feed hold completes.
if ((sys.state == State::Hold || sys.state == State::SafetyDoor || sys.state == State::Sleep) && !(sys.soft_limit) && if ((sys.state == State::Hold || sys.state == State::SafetyDoor || sys.state == State::Sleep) && !(sys.soft_limit) &&
!(sys.suspend & SUSPEND_JOG_CANCEL)) { !(sys.suspend & SUSPEND_JOG_CANCEL)) {
// Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user // Hold complete. Set to indicate ready to resume. Remain in HOLD or DOOR states until user
@@ -433,7 +433,7 @@ void protocol_exec_rt_system() {
sys.state = State::Idle; sys.state = State::Idle;
} }
} }
system_clear_exec_state_flag(EXEC_CYCLE_STOP); cycle_stop = false;
} }
} }
// Execute overrides. // Execute overrides.

20
Grbl_Esp32/src/Stepper.cpp
View File

@@ -296,9 +296,8 @@ static void stepper_pulse_func() {
spindle->set_rpm(0); spindle->set_rpm(0);
} }
} }
cycle_stop = true;
system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end return; // Nothing to do but exit.
return; // Nothing to do but exit.
} }
} }
// Check probing state. // Check probing state.
@@ -362,8 +361,7 @@ static void stepper_pulse_func() {
st.counter_a -= st.exec_block->step_event_count; st.counter_a -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & bit(A_AXIS)) { if (st.exec_block->direction_bits & bit(A_AXIS)) {
sys_position[A_AXIS]--; sys_position[A_AXIS]--;
} } else {
else {
sys_position[A_AXIS]++; sys_position[A_AXIS]++;
} }
} }
@@ -379,8 +377,7 @@ static void stepper_pulse_func() {
st.counter_b -= st.exec_block->step_event_count; st.counter_b -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & bit(B_AXIS)) { if (st.exec_block->direction_bits & bit(B_AXIS)) {
sys_position[B_AXIS]--; sys_position[B_AXIS]--;
} } else {
else {
sys_position[B_AXIS]++; sys_position[B_AXIS]++;
} }
} }
@@ -396,8 +393,7 @@ static void stepper_pulse_func() {
st.counter_c -= st.exec_block->step_event_count; st.counter_c -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & bit(C_AXIS)) { if (st.exec_block->direction_bits & bit(C_AXIS)) {
sys_position[C_AXIS]--; sys_position[C_AXIS]--;
} } else {
else {
sys_position[C_AXIS]++; sys_position[C_AXIS]++;
} }
} }
@@ -1229,8 +1225,10 @@ float st_get_realtime_rate() {
case State::Homing: case State::Homing:
case State::Hold: case State::Hold:
case State::Jog: case State::Jog:
case State::SafetyDoor: return prep.current_speed; case State::SafetyDoor:
default: return 0.0f; return prep.current_speed;
default:
return 0.0f;
} }
} }

1
Grbl_Esp32/src/System.cpp
View File

@@ -30,6 +30,7 @@ volatile uint8_t sys_rt_exec_state; // Global realtime executor
volatile ExecAlarm sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms. volatile ExecAlarm sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides. volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides. volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
volatile bool cycle_stop; // For state transitions, instead of bitflag
#ifdef DEBUG #ifdef DEBUG
volatile uint8_t sys_rt_exec_debug; volatile uint8_t sys_rt_exec_debug;
#endif #endif

5
Grbl_Esp32/src/System.h
View File

@@ -68,7 +68,7 @@ extern system_t sys;
// know when there is a realtime command to execute. // know when there is a realtime command to execute.
#define EXEC_STATUS_REPORT bit(0) // bitmask 00000001 #define EXEC_STATUS_REPORT bit(0) // bitmask 00000001
#define EXEC_CYCLE_START bit(1) // bitmask 00000010 #define EXEC_CYCLE_START bit(1) // bitmask 00000010
#define EXEC_CYCLE_STOP bit(2) // bitmask 00000100 // #define EXEC_CYCLE_STOP bit(2) // bitmask 00000100 moved to cycle_stop
#define EXEC_FEED_HOLD bit(3) // bitmask 00001000 #define EXEC_FEED_HOLD bit(3) // bitmask 00001000
#define EXEC_RESET bit(4) // bitmask 00010000 #define EXEC_RESET bit(4) // bitmask 00010000
#define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000 #define EXEC_SAFETY_DOOR bit(5) // bitmask 00100000
@@ -163,6 +163,7 @@ extern volatile uint8_t sys_rt_exec_state; // Global realtime executor bitfla
extern volatile ExecAlarm sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms. extern volatile ExecAlarm sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides. extern volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides. extern volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
extern volatile bool cycle_stop;
#ifdef DEBUG #ifdef DEBUG
# define EXEC_DEBUG_REPORT bit(0) # define EXEC_DEBUG_REPORT bit(0)
@@ -228,5 +229,5 @@ bool sys_pwm_control(uint8_t io_num_mask, float duty, bool synchronized);
int8_t sys_get_next_RMT_chan_num(); int8_t sys_get_next_RMT_chan_num();
int8_t sys_get_next_PWM_chan_num(); int8_t sys_get_next_PWM_chan_num();
uint8_t sys_calc_pwm_precision(uint32_t freq); uint8_t sys_calc_pwm_precision(uint32_t freq);