From 674a2cd61b75cd0a5e3141ddb9098baf78062c39 Mon Sep 17 00:00:00 2001 From: Bart Dring Date: Thu, 22 Aug 2019 14:33:24 -0500 Subject: [PATCH 1/5] Test 6x code --- Grbl_Esp32/config.h | 6 +- Grbl_Esp32/cpu_map.h | 163 +++++++++++++++++++- Grbl_Esp32/defaults.h | 13 ++ Grbl_Esp32/grbl_limits.cpp | 52 ++++++- Grbl_Esp32/nuts_bolts.h | 9 +- Grbl_Esp32/report.cpp | 10 +- Grbl_Esp32/servo_axis.cpp | 46 +++++- Grbl_Esp32/settings.cpp | 23 +++ Grbl_Esp32/stepper.cpp | 294 +++++++++++++++++++++++++++++-------- Grbl_Esp32/stepper.h | 11 +- Grbl_Esp32/system.cpp | 10 +- 11 files changed, 549 insertions(+), 88 deletions(-) diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h index 057affb7..e61a5b46 100644 --- a/Grbl_Esp32/config.h +++ b/Grbl_Esp32/config.h @@ -46,18 +46,18 @@ Some features should not be changed. See notes below. // one configuration file by placing their specific defaults and pin map at the bottom of this file. // If doing so, simply comment out these two defines and see instructions below. #define DEFAULTS_GENERIC -#define CPU_MAP_ESP32 // these are defined in cpu_map.h +#define CPU_MAP_FOO_6X // these are defined in cpu_map.h #define VERBOSE_HELP // adds addition help info, but could confuse some senders // Serial baud rate #define BAUD_RATE 115200 -#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something +//#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something #define ENABLE_SD_CARD // enable use of SD Card to run jobs -#define ENABLE_WIFI //enable wifi +//#define ENABLE_WIFI //enable wifi #define ENABLE_HTTP //enable HTTP and all related services #define ENABLE_OTA //enable OTA diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h index 29a24dd5..80c06eba 100644 --- a/Grbl_Esp32/cpu_map.h +++ b/Grbl_Esp32/cpu_map.h @@ -1083,7 +1083,154 @@ #endif +#ifdef CPU_MAP_FOO_6X + #define CPU_MAP_NAME "CPU_MAP_FOO_6X" + + // stepper motors + #define USE_RMT_STEPS + + #define X_STEP_PIN GPIO_NUM_12 + #define X_DIRECTION_PIN GPIO_NUM_26 + #define X_RMT_CHANNEL 0 + + #define Y_STEP_PIN GPIO_NUM_14 + #define Y_DIRECTION_PIN GPIO_NUM_25 + #define Y_RMT_CHANNEL 1 + // Z is a servo + + #define A_STEP_PIN GPIO_NUM_27 + #define A_DIRECTION_PIN GPIO_NUM_33 + #define A_RMT_CHANNEL 2 + + #define B_STEP_PIN GPIO_NUM_15 + #define B_DIRECTION_PIN GPIO_NUM_32 + #define B_RMT_CHANNEL 3 + + // C is a servo + + // servos + #define USE_SERVO_AXES + #define SERVO_Z_PIN GPIO_NUM_22 + #define SERVO_Z_CHANNEL_NUM 6 + #define SERVO_Z_RANGE_MIN 0.0 + #define SERVO_Z_RANGE_MAX 5.0 + + #define SERVO_C_PIN GPIO_NUM_2 + #define SERVO_C_CHANNEL_NUM 7 + #define SERVO_C_RANGE_MIN 0.0 + #define SERVO_C_RANGE_MAX 5.0 + + // limit switches + #define X_LIMIT_PIN GPIO_NUM_21 + #define Y_LIMIT_PIN GPIO_NUM_17 + #define A_LIMIT_PIN GPIO_NUM_16 + #define B_LIMIT_PIN GPIO_NUM_4 + #define LIMIT_MASK B11011 + + // OK to comment out to use pin for other features + #define STEPPERS_DISABLE_PIN GPIO_NUM_13 + + #ifdef HOMING_CYCLE_0 // undefine from config.h + #undef HOMING_CYCLE_0 + #endif + //#define HOMING_CYCLE_0 (1< + #ifdef DEFAULTS_GENERIC + #undef DEFAULTS_GENERIC // undefine generic then define each default below + #endif + #define DEFAULT_STEP_PULSE_MICROSECONDS 3 + #define DEFAULT_STEPPER_IDLE_LOCK_TIME 200 // 200ms + + #define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t + #define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t + #define DEFAULT_INVERT_ST_ENABLE 0 // boolean + #define DEFAULT_INVERT_LIMIT_PINS 1 // boolean + #define DEFAULT_INVERT_PROBE_PIN 0 // boolean + + #define DEFAULT_STATUS_REPORT_MASK 1 + + #define DEFAULT_JUNCTION_DEVIATION 0.01 // mm + #define DEFAULT_ARC_TOLERANCE 0.002 // mm + #define DEFAULT_REPORT_INCHES 0 // false + + #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false + #define DEFAULT_HARD_LIMIT_ENABLE 0 // false + + #define DEFAULT_HOMING_ENABLE 1 + #define DEFAULT_HOMING_DIR_MASK 17 + #define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min + #define DEFAULT_HOMING_SEEK_RATE 2000.0 // mm/min + #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k) + #define DEFAULT_HOMING_PULLOFF 3.0 // mm + + #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm + #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm + + #define DEFAULT_LASER_MODE 0 // false + + #define DEFAULT_X_STEPS_PER_MM 400.0 + #define DEFAULT_Y_STEPS_PER_MM 400.0 + #define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode + #define DEFAULT_A_STEPS_PER_MM 400.0 + #define DEFAULT_B_STEPS_PER_MM 400.0 + #define DEFAULT_C_STEPS_PER_MM 100.0 // This is percent in servo mode + + + #define DEFAULT_X_MAX_RATE 30000.0 // mm/min + #define DEFAULT_Y_MAX_RATE 30000.0 // mm/min + #define DEFAULT_Z_MAX_RATE 8000.0 // mm/min + #define DEFAULT_A_MAX_RATE 30000.0 // mm/min + #define DEFAULT_B_MAX_RATE 30000.0 // mm/min + #define DEFAULT_C_MAX_RATE 8000.0 // mm/min + + #define DEFAULT_X_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_Y_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_Z_ACCELERATION (100.0*60*60) + #define DEFAULT_A_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_B_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_C_ACCELERATION (100.0*60*60) + + #define DEFAULT_X_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value. + #define DEFAULT_Y_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value. + #define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode + #define DEFAULT_A_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value. + #define DEFAULT_B_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value. + #define DEFAULT_C_MAX_TRAVEL 100.0 // This is percent in servo mode + +#endif // ================= common to all machines ================================ @@ -1101,17 +1248,25 @@ #define X_STEP_BIT 0 // don't change #define Y_STEP_BIT 1 // don't change - #define Z_STEP_BIT 2 // don't change - #define STEP_MASK B111 // don't change + #define Z_STEP_BIT 2 // don't change + #define A_STEP_BIT 3 // don't change + #define B_STEP_BIT 4 // don't change + #define C_STEP_BIT 5 // don't change + #define STEP_MASK B111111 // don't change #define X_DIRECTION_BIT 0 // don't change #define Y_DIRECTION_BIT 1 // don't change #define Z_DIRECTION_BIT 2 // don't change - + #define A_DIRECTION_BIT 3 // don't change + #define B_DIRECTION_BIT 4 // don't change + #define C_DIRECTION_BIT 5 // don't change + #define X_LIMIT_BIT 0 // don't change #define Y_LIMIT_BIT 1 // don't change #define Z_LIMIT_BIT 2 // don't change - + #define A_LIMIT_BIT 3 // don't change + #define B_LIMIT_BIT 4 // don't change + #define C_LIMIT_BIT 5 // don't change #define PROBE_MASK 1 // don't change diff --git a/Grbl_Esp32/defaults.h b/Grbl_Esp32/defaults.h index c255e4f6..b98bb645 100644 --- a/Grbl_Esp32/defaults.h +++ b/Grbl_Esp32/defaults.h @@ -66,18 +66,31 @@ #define DEFAULT_X_STEPS_PER_MM 800.0 #define DEFAULT_Y_STEPS_PER_MM 800.0 #define DEFAULT_Z_STEPS_PER_MM 800.0 + #define DEFAULT_A_STEPS_PER_MM 100.0 + #define DEFAULT_B_STEPS_PER_MM 100.0 + #define DEFAULT_C_STEPS_PER_MM 100.0 #define DEFAULT_X_MAX_RATE 5000.0 // mm/min #define DEFAULT_Y_MAX_RATE 4000.0 // mm/min #define DEFAULT_Z_MAX_RATE 3000.0 // mm/min + #define DEFAULT_A_MAX_RATE 1000.0 // mm/min + #define DEFAULT_B_MAX_RATE 1000.0 // mm/min + #define DEFAULT_C_MAX_RATE 1000.0 // mm/min #define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 #define DEFAULT_Z_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_A_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_B_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_C_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2 + #define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value. #define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value. #define DEFAULT_Z_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value. + #define DEFAULT_A_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. + #define DEFAULT_B_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. + #define DEFAULT_C_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value. #endif diff --git a/Grbl_Esp32/grbl_limits.cpp b/Grbl_Esp32/grbl_limits.cpp index 250db8a9..f6a100c6 100644 --- a/Grbl_Esp32/grbl_limits.cpp +++ b/Grbl_Esp32/grbl_limits.cpp @@ -280,6 +280,15 @@ void limits_init() #ifdef Z_LIMIT_PIN pinMode(Z_LIMIT_PIN, INPUT_PULLUP); #endif + #ifdef A_LIMIT_PIN + pinMode(A_LIMIT_PIN, INPUT_PULLUP); + #endif + #ifdef B_LIMIT_PIN + pinMode(B_LIMIT_PIN, INPUT_PULLUP); + #endif + #ifdef C_LIMIT_PIN + pinMode(C_LIMIT_PIN, INPUT_PULLUP); + #endif #else #ifdef X_LIMIT_PIN pinMode(X_LIMIT_PIN, INPUT); // input no pullup @@ -290,6 +299,15 @@ void limits_init() #ifdef Z_LIMIT_PIN pinMode(Z_LIMIT_PIN, INPUT); #endif + #ifdef A_LIMIT_PIN + pinMode(A_LIMIT_PIN, INPUT); // input no pullup + #endif + #ifdef B_LIMIT_PIN + pinMode(B_LIMIT_PIN, INPUT); + #endif + #ifdef C_LIMIT_PIN + pinMode(C_LIMIT_PIN, INPUT); + #endif #endif if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { @@ -303,6 +321,15 @@ void limits_init() #ifdef Z_LIMIT_PIN attachInterrupt(digitalPinToInterrupt(Z_LIMIT_PIN), isr_limit_switches, CHANGE); #endif + #ifdef A_LIMIT_PIN + attachInterrupt(digitalPinToInterrupt(A_LIMIT_PIN), isr_limit_switches, CHANGE); + #endif + #ifdef B_LIMIT_PIN + attachInterrupt(digitalPinToInterrupt(B_LIMIT_PIN), isr_limit_switches, CHANGE); + #endif + #ifdef C_LIMIT_PIN + attachInterrupt(digitalPinToInterrupt(C_LIMIT_PIN), isr_limit_switches, CHANGE); + #endif } else { limits_disable(); } @@ -327,6 +354,9 @@ void limits_disable() detachInterrupt(X_LIMIT_BIT); detachInterrupt(Y_LIMIT_BIT); detachInterrupt(Z_LIMIT_BIT); + detachInterrupt(A_LIMIT_BIT); + detachInterrupt(B_LIMIT_BIT); + detachInterrupt(C_LIMIT_BIT); } @@ -349,6 +379,20 @@ uint8_t limits_get_state() #ifdef Z_LIMIT_PIN pin += (digitalRead(Z_LIMIT_PIN) << Z_AXIS); #endif + + #ifdef A_LIMIT_PIN + pin += (digitalRead(A_LIMIT_PIN) << A_AXIS); + #endif + + #ifdef B_LIMIT_PIN + pin += (digitalRead(B_LIMIT_PIN) << B_AXIS); + #endif + + #ifdef C_LIMIT_PIN + 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; @@ -357,14 +401,20 @@ uint8_t limits_get_state() if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { pin ^= LIMIT_MASK; } + + //grbl_sendf(CLIENT_SERIAL, "[MSG: Limit Inverted %d]\r\n", pin); if (pin) { uint8_t idx; for (idx=0; idx A_AXIS + settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_MM; + settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE; + settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION; + settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL); + #endif + + #if N_AXIS > B_AXIS + settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_MM; + settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE; + settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION; + settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL); + #endif + + #if N_AXIS > C_AXIS + settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM; + settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE; + settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION; + settings.max_travel[C_AXIS] = (-DEFAULT_C_MAX_TRAVEL); + #endif + + write_global_settings(); } diff --git a/Grbl_Esp32/stepper.cpp b/Grbl_Esp32/stepper.cpp index 31a53df6..7bc6b9c4 100644 --- a/Grbl_Esp32/stepper.cpp +++ b/Grbl_Esp32/stepper.cpp @@ -67,7 +67,17 @@ typedef struct { // Used by the bresenham line algorithm uint32_t counter_x, // Counter variables for the bresenham line tracer counter_y, - counter_z; + counter_z + #ifdef A_AXIS + , counter_a + #endif + #ifdef B_AXIS + , counter_b + #endif + #ifdef C_AXIS + , counter_c + #endif + ; #ifdef STEP_PULSE_DELAY uint8_t step_bits; // Stores out_bits output to complete the step pulse delay #endif @@ -198,58 +208,6 @@ static st_prep_t prep; */ - -#ifdef USE_RMT_STEPS -// Set stepper pulse output pins -inline IRAM_ATTR static void stepperRMT_Outputs() -{ - -#ifdef X_STEP_PIN - if(st.step_outbits & (1<step_event_count >> 1); + // TODO ABC } st.dir_outbits = st.exec_block->direction_bits ^ settings.dir_invert_mask; @@ -302,6 +261,17 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level; st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level; st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level; + + #ifdef A_AXIS + st.steps[A_AXIS] = st.exec_block->steps[A_AXIS] >> st.exec_segment->amass_level; + #endif + #ifdef B_AXIS + st.steps[B_AXIS] = st.exec_block->steps[B_AXIS] >> st.exec_segment->amass_level; + #endif + #ifdef C_AXIS + st.steps[C_AXIS] = st.exec_block->steps[C_AXIS] >> st.exec_segment->amass_level; + #endif + #endif #ifdef VARIABLE_SPINDLE @@ -380,6 +350,49 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste sys_position[Z_AXIS]++; } } + +#if N_AXIS > A_AXIS + #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING + st.counter_a += st.steps[A_AXIS]; + #else + st.counter_a += st.exec_block->steps[A_AXIS]; + #endif + if (st.counter_a > st.exec_block->step_event_count) { + st.step_outbits |= (1<step_event_count; + if (st.exec_block->direction_bits & (1< B_AXIS + #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING + st.counter_b += st.steps[B_AXIS]; + #else + st.counter_b += st.exec_block->steps[B_AXIS]; + #endif + if (st.counter_b > st.exec_block->step_event_count) { + st.step_outbits |= (1<step_event_count; + if (st.exec_block->direction_bits & (1< C_AXIS + #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING + st.counter_c += st.steps[C_AXIS]; + #else + st.counter_c += st.exec_block->steps[C_AXIS]; + #endif + if (st.counter_c > st.exec_block->step_event_count) { + st.step_outbits |= (1<step_event_count; + if (st.exec_block->direction_bits & (1< Date: Wed, 28 Aug 2019 14:48:05 -0500 Subject: [PATCH 2/5] Fixed servo cal error reporting - improper use of static variable --- Grbl_Esp32/config.h | 4 +- Grbl_Esp32/cpu_map.h | 5 ++ Grbl_Esp32/gcode.cpp | 14 +++-- Grbl_Esp32/grbl.h | 2 +- Grbl_Esp32/kinematics.cpp | 112 ++++++++++++++++++++++++++++++++++ Grbl_Esp32/kinematics.h | 27 ++++++++ Grbl_Esp32/motion_control.cpp | 12 ++++ Grbl_Esp32/motion_control.h | 1 + Grbl_Esp32/servo_axis.cpp | 13 ++-- Grbl_Esp32/servo_axis.h | 3 + 10 files changed, 178 insertions(+), 15 deletions(-) create mode 100644 Grbl_Esp32/kinematics.cpp create mode 100644 Grbl_Esp32/kinematics.h diff --git a/Grbl_Esp32/config.h b/Grbl_Esp32/config.h index e61a5b46..443d8445 100644 --- a/Grbl_Esp32/config.h +++ b/Grbl_Esp32/config.h @@ -53,11 +53,11 @@ Some features should not be changed. See notes below. // Serial baud rate #define BAUD_RATE 115200 -//#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something +#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something #define ENABLE_SD_CARD // enable use of SD Card to run jobs -//#define ENABLE_WIFI //enable wifi +#define ENABLE_WIFI //enable wifi #define ENABLE_HTTP //enable HTTP and all related services #define ENABLE_OTA //enable OTA diff --git a/Grbl_Esp32/cpu_map.h b/Grbl_Esp32/cpu_map.h index 80c06eba..c98fb4ce 100644 --- a/Grbl_Esp32/cpu_map.h +++ b/Grbl_Esp32/cpu_map.h @@ -1086,6 +1086,11 @@ #ifdef CPU_MAP_FOO_6X #define CPU_MAP_NAME "CPU_MAP_FOO_6X" + /* + #define USE_KINEMATICS + #include "kinematics.h" + */ + // stepper motors #define USE_RMT_STEPS diff --git a/Grbl_Esp32/gcode.cpp b/Grbl_Esp32/gcode.cpp index fbcde282..d3dfa679 100644 --- a/Grbl_Esp32/gcode.cpp +++ b/Grbl_Esp32/gcode.cpp @@ -449,7 +449,7 @@ uint8_t gc_execute_line(char *line, uint8_t client) FAIL(STATUS_GCODE_MAX_VALUE_EXCEEDED); } grbl_sendf(CLIENT_ALL, "[MSG:Tool No: %d]\r\n", int_value); - gc_block.values.t = int_value; + gc_state.tool = int_value; break; case 'X': word_bit = WORD_X; @@ -1180,8 +1180,8 @@ uint8_t gc_execute_line(char *line, uint8_t client) pl_data->spindle_speed = gc_state.spindle_speed; // Record data for planner use. } // else { pl_data->spindle_speed = 0.0; } // Initialized as zero already. - // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value. - gc_state.tool = gc_block.values.t; + // [5. Select tool ]: NOT SUPPORTED. Only tracks tool value. + // gc_state.tool = gc_block.values.t; // [6. Change tool ]: NOT SUPPORTED @@ -1270,7 +1270,7 @@ uint8_t gc_execute_line(char *line, uint8_t client) // and absolute and incremental modes. pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. if (axis_command) { - mc_line(gc_block.values.xyz, pl_data); + mc_line(gc_block.values.xyz, pl_data); // kinematics kinematics not used for homing righ now } mc_line(gc_block.values.ijk, pl_data); memcpy(gc_state.position, gc_block.values.ijk, N_AXIS*sizeof(float)); @@ -1300,10 +1300,12 @@ uint8_t gc_execute_line(char *line, uint8_t client) if (axis_command == AXIS_COMMAND_MOTION_MODE) { uint8_t gc_update_pos = GC_UPDATE_POS_TARGET; if (gc_state.modal.motion == MOTION_MODE_LINEAR) { - mc_line(gc_block.values.xyz, pl_data); + //mc_line(gc_block.values.xyz, pl_data); + mc_line_kins(gc_block.values.xyz, pl_data, gc_state.position); } else if (gc_state.modal.motion == MOTION_MODE_SEEK) { pl_data->condition |= PL_COND_FLAG_RAPID_MOTION; // Set rapid motion condition flag. - mc_line(gc_block.values.xyz, pl_data); + //mc_line(gc_block.values.xyz, pl_data); + mc_line_kins(gc_block.values.xyz, pl_data, gc_state.position); } else if ((gc_state.modal.motion == MOTION_MODE_CW_ARC) || (gc_state.modal.motion == MOTION_MODE_CCW_ARC)) { mc_arc(gc_block.values.xyz, pl_data, gc_state.position, gc_block.values.ijk, gc_block.values.r, axis_0, axis_1, axis_linear, bit_istrue(gc_parser_flags,GC_PARSER_ARC_IS_CLOCKWISE)); diff --git a/Grbl_Esp32/grbl.h b/Grbl_Esp32/grbl.h index b78a1e7e..8b58f43b 100644 --- a/Grbl_Esp32/grbl.h +++ b/Grbl_Esp32/grbl.h @@ -20,7 +20,7 @@ // Grbl versioning system #define GRBL_VERSION "1.1f" -#define GRBL_VERSION_BUILD "20190708" +#define GRBL_VERSION_BUILD "20190828" //#include #include diff --git a/Grbl_Esp32/kinematics.cpp b/Grbl_Esp32/kinematics.cpp new file mode 100644 index 00000000..67746e6f --- /dev/null +++ b/Grbl_Esp32/kinematics.cpp @@ -0,0 +1,112 @@ +/* + kinematics.cpp - Implements simple inverse kinematics for Grbl_ESP32 + Part of Grbl_ESP32 + + Copyright (c) 2019 Barton Dring @buildlog + + + 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 . + + Inverse kinematics determine the joint parameters required to get to a position + in 3D space. Grbl will still work as 3 axes of steps, but these steps could + represent angles, etc instead of linear units. + + Unless forward kinematics are applied to the reporting, Grbl will report raw joint + values instead of the normal Cartesian positions + + How it works... + + If you tell it to go to X10 Y10 Z10 in Cartesian space, for example, the equations + will convert those values to the required joint values. In the case of a polar machine, X represents the radius, + Y represents the polar degrees and Z would be unchanged. + + In most cases, a straight line in Cartesian space could cause a curve in the new system. + To fix this, the line is broken into very small segments and each segment is converted + to the new space. While each segment is also distorted, the amount is so small it cannot be seen. + + This segmentation is how normal Grbl draws arcs. + + Feed Rate + + Feed rate is given in steps/time. Due to the new coordinate units and non linearity issues, the + feed rate may need to be adjusted. The ratio of the step distances in the original coordinate system + determined and applied to the feed rate. + + TODO: + Add y offset, for completeness + Add ZERO_NON_HOMED_AXES option + + +*/ +#include "grbl.h" + +#ifdef USE_KINEMATICS + +void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position) +{ + // use the current tool as a flag for converting for different machine mode. + + // target: This is the target location for the move in machine space millimeters. + // position: This is the previous position in machine space millimeters + + float offsets[N_AXIS]; // current work offsets + float new_system[N_AXIS]; // target location in the new system + uint8_t index; + + // All data is in machine space and axes have different offsets, so we need to apply the offset in corrections + for (index = 0; index < N_AXIS; index++) { + offsets[index] = gc_state.coord_system[index] + gc_state.coord_offset[index]; // offset from machine coordinate system + grbl_sendf(CLIENT_SERIAL, "[MSG: Kins Offset %d %4.3f, Target %4.3f]\r\n", index, offsets[index], target[index] - offsets[index]); + } + + switch (gc_state.tool) { + case 1: // XYZ only ignore all ABC + grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 1]\r\n"); + new_system[X_AXIS] = target[X_AXIS]; + new_system[Y_AXIS] = target[Y_AXIS]; + new_system[Z_AXIS] = target[Z_AXIS]; + // remove ABC changes by setting to existing values + new_system[A_AXIS] = position[A_AXIS]; + new_system[B_AXIS] = position[B_AXIS]; + new_system[C_AXIS] = position[C_AXIS]; + mc_line(new_system, pl_data); + break; + case 2: // Convert XYZ to ABC (no motion on ABC) + // Remove XYZ by setting to existing values + grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 2]\r\n"); + new_system[X_AXIS] = position[X_AXIS]; + new_system[Y_AXIS] = position[Y_AXIS]; + new_system[Z_AXIS] = position[Z_AXIS]; + // Use XYZ values for ABC + new_system[A_AXIS] = (target[X_AXIS] - offsets[X_AXIS]) + offsets[A_AXIS]; // they have different offsets, so we need to correct for that + new_system[B_AXIS] = (target[Y_AXIS] - offsets[Y_AXIS]) + offsets[B_AXIS]; + new_system[C_AXIS] = (target[Z_AXIS] - offsets[Z_AXIS]) + offsets[C_AXIS]; + + + grbl_sendf(CLIENT_SERIAL, "[MSG:Target XYZ %4.3f, %4.3f, %4.3f]\r\n", target[X_AXIS], target[Y_AXIS], target[Z_AXIS]); + grbl_sendf(CLIENT_SERIAL, "[MSG:Offset XYZ %4.3f, %4.3f, %4.3f]\r\n", offsets[X_AXIS], offsets[Y_AXIS], offsets[Z_AXIS]); + grbl_sendf(CLIENT_SERIAL, "[MSG:Offset ABC %4.3f, %4.3f, %4.3f]\r\n", offsets[A_AXIS], offsets[B_AXIS], offsets[C_AXIS]); + grbl_sendf(CLIENT_SERIAL, "[MSG: New %4.3f, %4.3f, %4.3f]\r\n", new_system[A_AXIS], new_system[B_AXIS], new_system[C_AXIS]); + + mc_line(new_system, pl_data); + break; + default: // tool 0 or above 2 uses normal 6 axis code...no changes + grbl_sendf(CLIENT_SERIAL, "[MSG:Kin normal]\r\n"); + mc_line(target, pl_data); + grbl_sendf(CLIENT_SERIAL, "[MSG: T0 %4.3f, %4.3f, %4.3f]\r\n", target[A_AXIS], target[B_AXIS], target[C_AXIS]); + break; + } +} + +#endif \ No newline at end of file diff --git a/Grbl_Esp32/kinematics.h b/Grbl_Esp32/kinematics.h new file mode 100644 index 00000000..bb386b99 --- /dev/null +++ b/Grbl_Esp32/kinematics.h @@ -0,0 +1,27 @@ +/* + kinematics.h - Implements simple kinematics for Grbl_ESP32 + Part of Grbl_ESP32 + + Copyright (c) 2019 Barton Dring @buildlog + + + 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 . +*/ + +#ifndef kinematics_h + #define kinematics_h + +void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position); + +#endif \ No newline at end of file diff --git a/Grbl_Esp32/motion_control.cpp b/Grbl_Esp32/motion_control.cpp index da1e9fb5..709824ce 100644 --- a/Grbl_Esp32/motion_control.cpp +++ b/Grbl_Esp32/motion_control.cpp @@ -26,6 +26,18 @@ uint8_t ganged_mode = SQUARING_MODE_DUAL; + +// this allows kinematics to be used. +void mc_line_kins(float *target, plan_line_data_t *pl_data, float *position) +{ + #ifndef USE_KINEMATICS + mc_line(target, pl_data); + #else // else use kinematics + //grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool %d]\r\n", gc_state.tool); + inverse_kinematics(target, pl_data, position); + #endif +} + // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // (1 minute)/feed_rate time. diff --git a/Grbl_Esp32/motion_control.h b/Grbl_Esp32/motion_control.h index 2c2d344d..dc04a439 100644 --- a/Grbl_Esp32/motion_control.h +++ b/Grbl_Esp32/motion_control.h @@ -46,6 +46,7 @@ // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second // unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in // (1 minute)/feed_rate time. +void mc_line_kins(float *target, plan_line_data_t *pl_data, float *position); void mc_line(float *target, plan_line_data_t *pl_data); // Execute an arc in offset mode format. position == current xyz, target == target xyz, diff --git a/Grbl_Esp32/servo_axis.cpp b/Grbl_Esp32/servo_axis.cpp index 7641081b..835c8832 100644 --- a/Grbl_Esp32/servo_axis.cpp +++ b/Grbl_Esp32/servo_axis.cpp @@ -87,7 +87,7 @@ void init_servos() #endif #ifdef SERVO_C_PIN grbl_send(CLIENT_SERIAL, "[MSG: Init C Servo]\r\n"); - C_Servo_Axis.init(); + 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); C_Servo_Axis.set_homing_position(SERVO_C_RANGE_MAX); @@ -146,10 +146,12 @@ ServoAxis::ServoAxis(uint8_t axis, uint8_t pin_num, uint8_t channel_num) // cons _axis = axis; _pin_num = pin_num; _channel_num = channel_num; + _showError = true; // this will be used to show error only once } void ServoAxis::init() { + _cal_is_valid(); ledcSetup(_channel_num, _pwm_freq, _pwm_resolution_bits); ledcAttachPin(_pin_num, _channel_num); disable(); @@ -249,10 +251,9 @@ void ServoAxis::disable() bool ServoAxis::_cal_is_valid() { bool settingsOK = true; - static bool showError = true; // this will be used to show error only once - + if ( (settings.steps_per_mm[_axis] < SERVO_CAL_MIN) || (settings.steps_per_mm[_axis] > SERVO_CAL_MAX) ) { - if (showError) { + if (_showError) { grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($10%d) Error: %4.4f s/b between %.2f and %.2f]\r\n", _axis, settings.steps_per_mm[_axis], SERVO_CAL_MIN, SERVO_CAL_MAX); } settingsOK = false; @@ -260,13 +261,13 @@ 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) { + if (_showError) { grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($13%d) Error: %4.4f s/b between %.2f and %.2f]\r\n", _axis, -settings.max_travel[_axis], SERVO_CAL_MIN, SERVO_CAL_MAX); } settingsOK = false; } - showError = false; // to show error once + _showError = false; // to show error once return settingsOK; } diff --git a/Grbl_Esp32/servo_axis.h b/Grbl_Esp32/servo_axis.h index 3c50028d..ce689711 100644 --- a/Grbl_Esp32/servo_axis.h +++ b/Grbl_Esp32/servo_axis.h @@ -108,6 +108,8 @@ class ServoAxis{ int _axis; // these should be assign in constructor using Grbl X_AXIS type values int _pin_num; // The GPIO pin being used int _channel_num; // The PWM channel + bool _showError; + uint32_t _pwm_freq = SERVO_PULSE_FREQ; uint32_t _pwm_resolution_bits = SERVO_PULSE_RES_BITS; float _pulse_min = SERVO_MIN_PULSE; // in pwm counts @@ -125,6 +127,7 @@ class ServoAxis{ bool _validate_cal_settings(); void _write_pwm(uint32_t duty); bool _cal_is_valid(); // checks to see if calibration values are in acceptable range + }; #endif From 06505fed7cccdcd188d710358032b20a95eeab2e Mon Sep 17 00:00:00 2001 From: Bart Dring Date: Wed, 28 Aug 2019 14:54:09 -0500 Subject: [PATCH 3/5] removed test kinematic --- Grbl_Esp32/kinematics.cpp | 39 +++++++++------------------------------ 1 file changed, 9 insertions(+), 30 deletions(-) diff --git a/Grbl_Esp32/kinematics.cpp b/Grbl_Esp32/kinematics.cpp index 67746e6f..de9e2f6b 100644 --- a/Grbl_Esp32/kinematics.cpp +++ b/Grbl_Esp32/kinematics.cpp @@ -64,49 +64,28 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio float new_system[N_AXIS]; // target location in the new system uint8_t index; + // skip kinematics... not implemented yet. + mc_line(target, pl_data); + return; + // All data is in machine space and axes have different offsets, so we need to apply the offset in corrections for (index = 0; index < N_AXIS; index++) { - offsets[index] = gc_state.coord_system[index] + gc_state.coord_offset[index]; // offset from machine coordinate system - grbl_sendf(CLIENT_SERIAL, "[MSG: Kins Offset %d %4.3f, Target %4.3f]\r\n", index, offsets[index], target[index] - offsets[index]); + offsets[index] = gc_state.coord_system[index] + gc_state.coord_offset[index]; // offset from machine coordinate system } switch (gc_state.tool) { case 1: // XYZ only ignore all ABC - grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 1]\r\n"); - new_system[X_AXIS] = target[X_AXIS]; - new_system[Y_AXIS] = target[Y_AXIS]; - new_system[Z_AXIS] = target[Z_AXIS]; - // remove ABC changes by setting to existing values - new_system[A_AXIS] = position[A_AXIS]; - new_system[B_AXIS] = position[B_AXIS]; - new_system[C_AXIS] = position[C_AXIS]; - mc_line(new_system, pl_data); + break; case 2: // Convert XYZ to ABC (no motion on ABC) - // Remove XYZ by setting to existing values - grbl_sendf(CLIENT_SERIAL, "[MSG:Kin Tool 2]\r\n"); - new_system[X_AXIS] = position[X_AXIS]; - new_system[Y_AXIS] = position[Y_AXIS]; - new_system[Z_AXIS] = position[Z_AXIS]; - // Use XYZ values for ABC - new_system[A_AXIS] = (target[X_AXIS] - offsets[X_AXIS]) + offsets[A_AXIS]; // they have different offsets, so we need to correct for that - new_system[B_AXIS] = (target[Y_AXIS] - offsets[Y_AXIS]) + offsets[B_AXIS]; - new_system[C_AXIS] = (target[Z_AXIS] - offsets[Z_AXIS]) + offsets[C_AXIS]; - - grbl_sendf(CLIENT_SERIAL, "[MSG:Target XYZ %4.3f, %4.3f, %4.3f]\r\n", target[X_AXIS], target[Y_AXIS], target[Z_AXIS]); - grbl_sendf(CLIENT_SERIAL, "[MSG:Offset XYZ %4.3f, %4.3f, %4.3f]\r\n", offsets[X_AXIS], offsets[Y_AXIS], offsets[Z_AXIS]); - grbl_sendf(CLIENT_SERIAL, "[MSG:Offset ABC %4.3f, %4.3f, %4.3f]\r\n", offsets[A_AXIS], offsets[B_AXIS], offsets[C_AXIS]); - grbl_sendf(CLIENT_SERIAL, "[MSG: New %4.3f, %4.3f, %4.3f]\r\n", new_system[A_AXIS], new_system[B_AXIS], new_system[C_AXIS]); - - mc_line(new_system, pl_data); break; default: // tool 0 or above 2 uses normal 6 axis code...no changes - grbl_sendf(CLIENT_SERIAL, "[MSG:Kin normal]\r\n"); - mc_line(target, pl_data); - grbl_sendf(CLIENT_SERIAL, "[MSG: T0 %4.3f, %4.3f, %4.3f]\r\n", target[A_AXIS], target[B_AXIS], target[C_AXIS]); + break; } + + } #endif \ No newline at end of file From 360c23128105752fe38dffe96bac6594d083ce43 Mon Sep 17 00:00:00 2001 From: Luc Date: Thu, 29 Aug 2019 14:44:27 +0200 Subject: [PATCH 4/5] Add multi axis support for webUI --- Grbl_Esp32/commands.cpp | 5 ++++- Grbl_Esp32/grbl.h | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/Grbl_Esp32/commands.cpp b/Grbl_Esp32/commands.cpp index 1c7dff63..87e275bd 100644 --- a/Grbl_Esp32/commands.cpp +++ b/Grbl_Esp32/commands.cpp @@ -1983,10 +1983,13 @@ bool COMMANDS::execute_internal_command (int cmd, String cmd_params, level_authe resp += " # webcommunication: Sync: "; resp += String(web_server.port() + 1); #endif - resp += "# hostname:"; + resp += " # hostname:"; resp += wifi_config.Hostname(); if (WiFi.getMode() == WIFI_AP)resp += "(AP mode)"; #endif + //to save time in decoding `?` + resp += " # axis:"; + resp += String(N_AXIS); if (espresponse)espresponse->println (resp.c_str()); } break; diff --git a/Grbl_Esp32/grbl.h b/Grbl_Esp32/grbl.h index 8b58f43b..586286b2 100644 --- a/Grbl_Esp32/grbl.h +++ b/Grbl_Esp32/grbl.h @@ -20,7 +20,7 @@ // Grbl versioning system #define GRBL_VERSION "1.1f" -#define GRBL_VERSION_BUILD "20190828" +#define GRBL_VERSION_BUILD "20190829" //#include #include From f7a413fdc90785d4d1f40269c1feaf76b23ccc9a Mon Sep 17 00:00:00 2001 From: Luc Date: Thu, 29 Aug 2019 14:48:21 +0200 Subject: [PATCH 5/5] update index.html.gz for 6 axis support --- Grbl_Esp32/data/index.html.gz | Bin 124511 -> 126413 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/Grbl_Esp32/data/index.html.gz b/Grbl_Esp32/data/index.html.gz index 089cd067ccb0b6640d0b511407c30714b6bb5e9c..16af0b11f05b6b32a0ea204759ff2727059c0f09 100644 GIT binary patch delta 124989 zcmZtNQ*dBS{3hU-6Wg|J+xEn^oykci6Wg|JV`AGjCzu!$ZN7i)#qQSj)p@J?;yl$= 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