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Updated the way RMT channels are assigned

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RMT channels are now dynamically assigned by init_RMT() by the #defined pins it sees.
This commit is contained in:
bdring
2020-02-22 09:53:36 -06:00
parent 7bff5ced29
commit 37d918ae90
7 changed files with 228 additions and 134 deletions
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8
Grbl_Esp32/config.h
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@@ -44,11 +44,11 @@ Some features should not be changed. See notes below.
// The CPU map is the main definition of the machine/controller you want to use
// These are typically found in the cpu_map.h file.
// See Github repo wiki for more details
#define CPU_MAP_TEST_DRIVE // these are defined in cpu_map.h
#define CPU_MAP_ESP32 // these are defined in cpu_map.h
// Number of axes defined (steppers, servos, etc) (valid range: 3 to 6)
// Even if your machine only uses less than the minimum of 3, you should select 3
#define N_AXIS 3
// Even if your machine only uses less than the minimum of 3, you should select 3
#define N_AXIS 3
#define VERBOSE_HELP // Currently this doesn't do anything
#define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
@@ -288,7 +288,7 @@ Some features should not be changed. See notes below.
#define IGNORE_CONTROL_PINS
#define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
// Inverts select limit pin states based on the following mask. This effects all limit pin functions,

59
Grbl_Esp32/cpu_map.h
View File

@@ -585,19 +585,20 @@
#endif
#define USE_GANGED_AXES // allow two motors on an axis
#define USE_RMT_STEPS
#define X_STEP_PIN GPIO_NUM_12
#define X_STEP_B_PIN GPIO_NUM_22 // ganged motor
#define X2_STEP_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING
#define Y_STEP_PIN GPIO_NUM_14
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y2_STEP_PIN GPIO_NUM_21 // ganged motor
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_27
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Z_DIRECTION_PIN GPIO_NUM_33
// OK to comment out to use pin for other features
@@ -736,14 +737,14 @@
#define X_DIRECTION_PIN GPIO_NUM_33 // use Z labeled connector
#define Y_STEP_PIN GPIO_NUM_14
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y2_STEP_PIN GPIO_NUM_21 // ganged motor
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_12 // use X labeled connector
#define Z_STEP_B_PIN GPIO_NUM_22 // use X labeled connector
#define Z2_STEP_PIN GPIO_NUM_22 // use X labeled connector
#define Z_DIRECTION_PIN GPIO_NUM_26 // use X labeled connector
#define Z_AXIS_SQUARING
#define Z_AXIS_SQUARING
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
@@ -1082,6 +1083,52 @@
#endif
#ifdef EXTERNAL_DRIVER_4X
#define CPU_MAP_NAME "External Driver Board V1.1"
#ifdef N_AXIS
#undef N_AXIS
#endif
#define N_AXIS 4
#define USE_RMT_STEPS
#define X_STEP_PIN GPIO_NUM_0
#define X_DIRECTION_PIN GPIO_NUM_2
#define Y_STEP_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_15
#define Z_STEP_PIN GPIO_NUM_27
#define Z_DIRECTION_PIN GPIO_NUM_33
#define A_STEP_PIN GPIO_NUM_14
#define A_DIRECTION_PIN GPIO_NUM_12
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#define SPINDLE_PWM_PIN GPIO_NUM_25
#define SPINDLE_PWM_CHANNEL 0
#define SPINDLE_PWM_BIT_PRECISION 8
#define SPINDLE_ENABLE_PIN GPIO_NUM_22
#define MODBUS_TX GPIO_NUM_17
#define MODBUS_RX GPIO_NUM_4
#define MODBUS_CTRL GPIO_NUM_16
#define X_LIMIT_PIN GPIO_NUM_34
#define Y_LIMIT_PIN GPIO_NUM_35
#define Z_LIMIT_PIN GPIO_NUM_36
#if (N_AXIS == 3)
#define LIMIT_MASK B0111
#else
#define A_LIMIT_PIN GPIO_NUM_39
#define LIMIT_MASK B1111
#endif
#define PROBE_PIN GPIO_NUM_32
#define COOLANT_MIST_PIN GPIO_NUM_21
#endif
#ifdef CPU_MAP_ATARI_1020
#include "atari_1020.h"
#endif

2
Grbl_Esp32/grbl.h
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@@ -20,7 +20,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20200219"
#define GRBL_VERSION_BUILD "20200221"
//#include <sdkconfig.h>
#include <Arduino.h>

268
Grbl_Esp32/stepper.cpp
View File

@@ -152,6 +152,21 @@ typedef struct {
} st_prep_t;
static st_prep_t prep;
// RMT channel numbers. These are assigned dynamically as needed via the CPU MAP
// Only 8 are available (0-7)
// They are Initialized with an invalid number to prevent unitended consequences
uint8_t X_rmt_chan_num = 255;
uint8_t X2_rmt_chan_num = 255; // Ganged axes have the "2"
uint8_t Y_rmt_chan_num = 255;
uint8_t Y2_rmt_chan_num = 255;
uint8_t Z_rmt_chan_num = 255;
uint8_t Z2_rmt_chan_num = 255;
uint8_t A_rmt_chan_num = 255;
uint8_t A2_rmt_chan_num = 255;
uint8_t B_rmt_chan_num = 255;
uint8_t B2_rmt_chan_num = 255;
uint8_t C_rmt_chan_num = 255;
uint8_t C2_rmt_chan_num = 255;
/* "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. Grbl employs
the venerable Bresenham line algorithm to manage and exactly synchronize multi-axis moves.
@@ -458,22 +473,22 @@ void stepper_init()
#ifdef X_STEP_PIN
pinMode(X_STEP_PIN, OUTPUT);
#endif
#ifdef X_STEP_B_PIN // ganged motor
pinMode(X_STEP_B_PIN, OUTPUT);
#ifdef X2_STEP_PIN // ganged motor
pinMode(X2_STEP_PIN, OUTPUT);
#endif
#ifdef Y_STEP_PIN
pinMode(Y_STEP_PIN, OUTPUT);
#endif
#ifdef Y_STEP_B_PIN
pinMode(Y_STEP_B_PIN, OUTPUT);
#ifdef Y2_STEP_PIN
pinMode(Y2_STEP_PIN, OUTPUT);
#endif
#ifdef Z_STEP_PIN
pinMode(Z_STEP_PIN, OUTPUT);
#endif
#ifdef Z_STEP_B_PIN
pinMode(Z_STEP_B_PIN, OUTPUT);
#ifdef Z2_STEP_PIN
pinMode(Z2_STEP_PIN, OUTPUT);
#endif
#ifdef A_STEP_PIN
@@ -536,8 +551,6 @@ void stepper_init()
timer_set_counter_value(STEP_TIMER_GROUP, STEP_TIMER_INDEX, 0x00000000ULL);
timer_enable_intr(STEP_TIMER_GROUP, STEP_TIMER_INDEX);
timer_isr_register(STEP_TIMER_GROUP, STEP_TIMER_INDEX, onStepperDriverTimer, NULL, 0, NULL);
}
#ifdef USE_RMT_STEPS
@@ -567,8 +580,9 @@ void initRMT()
rmtItem[1].duration1 = 0;
#ifdef X_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)X_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)X_RMT_CHANNEL;
X_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)X_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)X_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, X_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = X_STEP_PIN;
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -577,11 +591,12 @@ void initRMT()
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
#endif
#ifdef X_STEP_B_PIN
rmt_set_source_clk( (rmt_channel_t)X_B_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)X_B_RMT_CHANNEL;
#ifdef X2_STEP_PIN
X2_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)X2_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)X2_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, X_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = X_STEP_B_PIN;
rmtConfig.gpio_num = X2_STEP_PIN;
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
rmt_config(&rmtConfig);
@@ -589,8 +604,9 @@ void initRMT()
#endif
#ifdef Y_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)Y_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Y_RMT_CHANNEL;
Y_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)Y_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Y_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Y_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = Y_STEP_PIN;
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -599,11 +615,12 @@ void initRMT()
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
#endif
#ifdef Y_STEP_B_PIN
rmt_set_source_clk( (rmt_channel_t)Y_B_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Y_B_RMT_CHANNEL;
#ifdef Y2_STEP_PIN
Y2_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)Y2_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Y2_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Y_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = Y_STEP_B_PIN;
rmtConfig.gpio_num = Y2_STEP_PIN;
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
rmt_config(&rmtConfig);
@@ -611,8 +628,9 @@ void initRMT()
#endif
#ifdef Z_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)Z_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Z_RMT_CHANNEL;
Z_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)Z_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)Z_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, Z_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = Z_STEP_PIN;
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -622,8 +640,9 @@ void initRMT()
#endif
#ifdef A_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)A_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)A_RMT_CHANNEL;
A_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)A_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)A_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, A_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = A_STEP_PIN; // TODO
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -633,8 +652,9 @@ void initRMT()
#endif
#ifdef B_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)B_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)B_RMT_CHANNEL;
B_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)B_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)B_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, B_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = B_STEP_PIN; // TODO
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -644,8 +664,9 @@ void initRMT()
#endif
#ifdef C_STEP_PIN
rmt_set_source_clk( (rmt_channel_t)C_RMT_CHANNEL, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)C_RMT_CHANNEL;
C_rmt_chan_num = sys_get_next_RMT_chan_num();
rmt_set_source_clk( (rmt_channel_t)C_rmt_chan_num, RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)C_rmt_chan_num;
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, C_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = C_STEP_PIN; // TODO
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
@@ -725,97 +746,117 @@ void set_direction_pins_on(uint8_t onMask)
#ifdef X_DIRECTION_PIN
digitalWrite(X_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
#endif
#ifdef X2_DIRECTION_PIN // optional ganged axis
digitalWrite(X2_DIRECTION_PIN, (onMask & (1<<X_AXIS)));
#endif
#ifdef Y_DIRECTION_PIN
digitalWrite(Y_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
#endif
#ifdef Y2_DIRECTION_PIN // optional ganged axis
digitalWrite(Y2_DIRECTION_PIN, (onMask & (1<<Y_AXIS)));
#endif
#ifdef Z_DIRECTION_PIN
digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
#endif
#ifdef Z2_DIRECTION_PIN // optional ganged axis
digitalWrite(Z2_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
#endif
#ifdef A_DIRECTION_PIN
digitalWrite(A_DIRECTION_PIN, (onMask & (1<<A_AXIS)));
#endif
#ifdef A2_DIRECTION_PIN // optional ganged axis
digitalWrite(A2_DIRECTION_PIN, (onMask & (1<<A_AXIS)));
#endif
#ifdef B_DIRECTION_PIN
digitalWrite(B_DIRECTION_PIN, (onMask & (1<<B_AXIS)));
#endif
#ifdef B2_DIRECTION_PIN // optional ganged axis
digitalWrite(B2_DIRECTION_PIN, (onMask & (1<<B_AXIS)));
#endif
#ifdef C_DIRECTION_PIN
digitalWrite(C_DIRECTION_PIN, (onMask & (1<<C_AXIS)));
#endif
#ifdef C2_DIRECTION_PIN // optional ganged axis
digitalWrite(C2_DIRECTION_PIN, (onMask & (1<<C_AXIS)));
#endif
}
#ifndef USE_GANGED_AXES
// basic one motor per axis
void set_stepper_pins_on(uint8_t onMask)
{
onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
void set_stepper_pins_on(uint8_t onMask)
{
onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
#ifdef X_STEP_PIN
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
#endif
#ifdef Y_STEP_PIN
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
#endif
#ifdef Z_STEP_PIN
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
#endif
#ifdef A_STEP_PIN
digitalWrite(A_STEP_PIN, (onMask & (1<<A_AXIS)));
#endif
}
#else // we use ganged axes
void set_stepper_pins_on(uint8_t onMask)
{
onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
#ifdef X_STEP_PIN
#ifndef X_STEP_B_PIN // if not a ganged axis
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
#ifdef X_STEP_PIN
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
}
#endif
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(X_STEP_B_PIN, (onMask & (1<<X_AXIS)));
}
#endif
#endif
#ifdef Y_STEP_PIN
#ifndef Y_STEP_B_PIN // if not a ganged axis
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
#ifdef Y_STEP_PIN
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
}
#endif
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(Y_STEP_B_PIN, (onMask & (1<<Y_AXIS)));
}
#endif
#endif
#ifdef Z_STEP_PIN
#ifndef Z_STEP_B_PIN // if not a ganged axis
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
#ifdef Z_STEP_PIN
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
#endif
#ifdef A_STEP_PIN
digitalWrite(A_STEP_PIN, (onMask & (1<<A_AXIS)));
#endif
}
#else // we use ganged axes
void set_stepper_pins_on(uint8_t onMask)
{
onMask ^= settings.step_invert_mask; // invert pins as required by invert mask
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(Z_STEP_B_PIN, (onMask & (1<<Z_AXIS)));
#ifdef X_STEP_PIN
#ifndef X2_STEP_PIN // if not a ganged axis
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
digitalWrite(X_STEP_PIN, (onMask & (1<<X_AXIS)));
}
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(X2_STEP_PIN, (onMask & (1<<X_AXIS)));
}
#endif
#endif
#ifdef Y_STEP_PIN
#ifndef Y2_STEP_PIN // if not a ganged axis
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
digitalWrite(Y_STEP_PIN, (onMask & (1<<Y_AXIS)));
}
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(Y2_STEP_PIN, (onMask & (1<<Y_AXIS)));
}
#endif
#endif
#ifdef Z_STEP_PIN
#ifndef Z2_STEP_PIN // if not a ganged axis
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
#else // is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
}
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
digitalWrite(Z2_STEP_PIN, (onMask & (1<<Z_AXIS)));
}
#endif
#endif
}
#endif
#endif
}
#endif
#ifdef USE_RMT_STEPS
// Set stepper pulse output pins
@@ -824,17 +865,17 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
#ifdef X_STEP_PIN
if(st.step_outbits & (1<<X_AXIS)) {
#ifndef X_STEP_B_PIN // if not a ganged axis
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
#ifndef X2_STEP_PIN // if not a ganged axis
RMT.conf_ch[X_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[X_rmt_chan_num].conf1.tx_start = 1;
#else // it is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1; }
RMT.conf_ch[X_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[X_rmt_chan_num].conf1.tx_start = 1; }
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[X2_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[X2_rmt_chan_num].conf1.tx_start = 1;
}
#endif
}
@@ -843,17 +884,17 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
#ifdef Y_STEP_PIN
if(st.step_outbits & (1<<Y_AXIS)) {
#ifndef Y_STEP_B_PIN // if not a ganged axis
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
#ifndef Y2_STEP_PIN // if not a ganged axis
RMT.conf_ch[Y_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y_rmt_chan_num].conf1.tx_start = 1;
#else // it is a ganged axis
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[Y_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y_rmt_chan_num].conf1.tx_start = 1;
}
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[Y2_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[Y2_rmt_chan_num].conf1.tx_start = 1;
}
#endif
}
@@ -861,32 +902,32 @@ inline IRAM_ATTR static void stepperRMT_Outputs()
#ifdef Z_STEP_PIN
if(st.step_outbits & (1<<Z_AXIS)) {
RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[Z_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[Z_rmt_chan_num].conf1.tx_start = 1;
}
#endif
#ifdef A_STEP_PIN
if(st.step_outbits & (1<<A_AXIS)) {
RMT.conf_ch[A_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[A_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[A_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[A_rmt_chan_num].conf1.tx_start = 1;
}
#endif
#ifdef B_STEP_PIN
if(st.step_outbits & (1<<B_AXIS)) {
RMT.conf_ch[B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[B_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[B_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[B_rmt_chan_num].conf1.tx_start = 1;
}
#endif
#ifdef C_STEP_PIN
if(st.step_outbits & (1<<C_AXIS)) {
RMT.conf_ch[C_RMT_CHANNEL].conf1.mem_rd_rst = 1;
RMT.conf_ch[C_RMT_CHANNEL].conf1.tx_start = 1;
RMT.conf_ch[C_rmt_chan_num].conf1.mem_rd_rst = 1;
RMT.conf_ch[C_rmt_chan_num].conf1.tx_start = 1;
}
#endif
@@ -1535,7 +1576,4 @@ bool get_stepper_disable() // returns true if steppers are disabled
return disabled;
}
}

8
Grbl_Esp32/stepper.h
View File

@@ -47,14 +47,6 @@
#define PREP_FLAG_PARKING bit(2)
#define PREP_FLAG_DECEL_OVERRIDE bit(3)
// which RMT channels to use with the axes
#define X_RMT_CHANNEL 0
#define Y_RMT_CHANNEL 1
#define Z_RMT_CHANNEL 2
#define A_RMT_CHANNEL 3
#define B_RMT_CHANNEL 4
#define C_RMT_CHANNEL 5
// Define Adaptive Multi-Axis Step-Smoothing(AMASS) levels and cutoff frequencies. The highest level
// frequency bin starts at 0Hz and ends at its cutoff frequency. The next lower level frequency bin
// starts at the next higher cutoff frequency, and so on. The cutoff frequencies for each level must

15
Grbl_Esp32/system.cpp
View File

@@ -623,4 +623,19 @@ void sys_io_control(uint8_t io_num_mask, bool turnOn) {
return;
}
#endif
}
// Call this function to get an RMT channel number
// returns -1 for error
int8_t sys_get_next_RMT_chan_num()
{
static uint8_t next_RMT_chan_num = 0; // channels 0-7 are valid
if (next_RMT_chan_num< 8) { // 7 is the max PWM channel number
return next_RMT_chan_num++;
}
else {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_ERROR, "Error: out of RMT channels");
return -1;
}
}

2
Grbl_Esp32/system.h
View File

@@ -227,5 +227,7 @@ void system_exec_control_pin(uint8_t pin);
void sys_io_control(uint8_t io_num_mask, bool turnOn);
//
int8_t sys_get_next_RMT_chan_num();
#endif