Merge branch 'tapster_pro' of https://github.com/bdring/Grbl_Esp32 into tapster_pro

Grbl_Esp32/Custom/parallel_delta.cpp

@@ -125,7 +125,6 @@ void machine_init() {
     //                    DXL_CENTER,
     //                    DXL_COUNT_MAX,
     //                    DXL_COUNT_PER_RADIAN);
-}
 
     bool user_defined_homing() {  // true = do not continue with normal Grbl homing
 #ifdef USE_CUSTOM_HOMING

Grbl_Esp32/src/Machine.h

@@ -8,7 +8,7 @@
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#    include "Machines/test_drive.h"
+#    include "Machines/tapster_pro_6P_trinamic.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:

Grbl_Esp32/src/Machines/tapster_pro_stepstick.h

@@ -0,0 +1,155 @@
+#pragma once
+// clang-format off
+
+/*
+    tapster_pro_stepstick.h
+
+    2020    - Bart Dring, Jason Huggins (Tapster Robotics)
+
+    Grbl_ESP32 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_ESP32.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#define MACHINE_NAME "Tapster Pro Delta (StepStick)"
+
+#define CUSTOM_CODE_FILENAME "Custom/parallel_delta.cpp"
+/*
+// enable these special machine functions to be called from the main program
+#define USE_KINEMATICS             // there are kinematic equations for this machine
+#define FWD_KINEMATICS_REPORTING   // report in cartesian
+#define USE_RMT_STEPS              // Use the RMT periferal to generate step pulses
+#define USE_TRINAMIC               // some Trinamic motors are used on this machine
+#define USE_MACHINE_TRINAMIC_INIT  // there is a machine specific setup for the drivers
+#define USE_MACHINE_INIT           // There is some custom initialization for this machine
+
+#define SEGMENT_LENGTH 0.5  // segment length in mm
+#define KIN_ANGLE_CALC_OK 0
+#define KIN_ANGLE_ERROR -1
+
+#define MAX_NEGATIVE_ANGLE -36  // in degrees how far can the arms go up?
+
+#define HOMING_CURRENT_REDUCTION 1.0
+
+*/
+
+#define N_AXIS 3
+
+#define USE_KINEMATICS      // there are kinematic equations for this machine
+#define USE_FWD_KINEMATICS  // report in cartesian
+#define USE_MACHINE_INIT    // There is some custom initialization for this machine
+
+// ================== Delta Geometry ===========================
+
+#define RADIUS_FIXED                100.0f          // radius of the fixed side (length of motor cranks)
+#define RADIUS_EFF                  220.0f          // radius of end effector side (length of linkages)
+#define LENGTH_FIXED_SIDE           294.449f        // sized of fixed side triangel
+#define LENGTH_EFF_SIDE             86.6025f        // size of end effector side triangle
+#define KINEMATIC_SEGMENT_LENGTH    1.0f            // segment length in mm
+#define MAX_NEGATIVE_ANGLE          -0.75f          //
+#define MAX_POSITIVE_ANGLE          (M_PI / 2.0)    //
+
+
+// ================== Config ======================
+
+// Set $Homing/Cycle0=XYZ
+
+// === Special Features
+
+// I2S (steppers & other output-only pins)
+#define USE_I2S_OUT
+#define USE_I2S_STEPS
+//#define DEFAULT_STEPPER ST_I2S_STATIC
+// === Default settings
+#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
+
+#define USE_STEPSTICK   // makes sure MS1,2,3 !reset and !sleep are set
+
+#define I2S_OUT_BCK             GPIO_NUM_22
+#define I2S_OUT_WS              GPIO_NUM_17
+#define I2S_OUT_DATA            GPIO_NUM_21
+
+// ================== CPU MAP ======================
+
+#define X_STEPPER_MS3           I2SO(3)   // X_CS
+#define Y_STEPPER_MS3           I2SO(6)   // Y_CS
+#define Z_STEPPER_MS3           I2SO(11)  // Z_CS
+
+#define STEPPER_RESET           GPIO_NUM_19
+
+// Motor Socket #1
+#define X_DISABLE_PIN           I2SO(0)
+#define X_DIRECTION_PIN         I2SO(1)
+#define X_STEP_PIN              I2SO(2)
+
+// Motor Socket #2
+#define Y_DIRECTION_PIN         I2SO(4)
+#define Y_STEP_PIN              I2SO(5)
+#define Y_DISABLE_PIN           I2SO(7)
+
+// Motor Socket #3
+#define Z_DISABLE_PIN           I2SO(8)
+#define Z_DIRECTION_PIN         I2SO(9)
+#define Z_STEP_PIN              I2SO(10)
+
+// CNC I/O Modules
+
+#define X_LIMIT_PIN     GPIO_NUM_33
+#define Y_LIMIT_PIN     GPIO_NUM_32
+#define Z_LIMIT_PIN     GPIO_NUM_35
+
+// ================= defaults ===========================
+
+#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255  // keep them on, the trinamics will reduce power at idle
+
+#define DEFAULT_X_MICROSTEPS    32
+#define DEFAULT_Y_MICROSTEPS    DEFAULT_X_MICROSTEPS
+#define DEFAULT_Z_MICROSTEPS    DEFAULT_X_MICROSTEPS
+
+// some math to figure out microsteps per unit // units could bedegrees or radians
+#define UNITS_PER_REV       (2.0 * M_PI)  // 360.0 degrees or 6.2831853 radians
+#define STEPS_PER_REV       400.0
+#define REDUCTION_RATIO     (60.0 / 16.0)  // the pulleys on arm and motor
+#define MICROSTEPS_PER_REV  (STEPS_PER_REV * (float)DEFAULT_X_MICROSTEPS * REDUCTION_RATIO)
+
+#define DEFAULT_X_STEPS_PER_MM  (MICROSTEPS_PER_REV / UNITS_PER_REV)
+#define DEFAULT_Y_STEPS_PER_MM  DEFAULT_X_STEPS_PER_MM
+#define DEFAULT_Z_STEPS_PER_MM  DEFAULT_X_STEPS_PER_MM
+
+#define DEFAULT_X_MAX_RATE      100.0  // mm/min
+#define DEFAULT_Y_MAX_RATE      DEFAULT_X_MAX_RATE
+#define DEFAULT_Z_MAX_RATE      DEFAULT_X_MAX_RATE
+
+#define DEFAULT_X_ACCELERATION  20.0
+#define DEFAULT_Y_ACCELERATION  DEFAULT_X_ACCELERATION
+#define DEFAULT_Z_ACCELERATION  DEFAULT_X_ACCELERATION
+
+//  homing
+#define DEFAULT_HOMING_FEED_RATE    25
+#define DEFAULT_HOMING_SEEK_RATE    100
+#define DEFAULT_HOMING_DIR_MASK     (bit(X_AXIS) | bit(Y_AXIS) | bit(Z_AXIS))  // all axes home negative
+#define DEFAULT_HOMING_ENABLE       1
+#define DEFAULT_INVERT_LIMIT_PINS   0
+
+// The machine homes up and above center. MPos is the axis angle in radians
+// at the homing posiiton
+
+#define DEFAULT_X_HOMING_MPOS   -0.75  // neagtive because above horizontal
+#define DEFAULT_Y_HOMING_MPOS   -0.75
+#define DEFAULT_Z_HOMING_MPOS   -0.75
+
+// the total travel is straight down from horizontal (pi/2) + the up travel
+#define DEFAULT_X_MAX_TRAVEL    ((M_PI / 2.0) - DEFAULT_X_HOMING_MPOS)
+#define DEFAULT_Y_MAX_TRAVEL    DEFAULT_X_MAX_TRAVEL
+#define DEFAULT_Z_MAX_TRAVEL    DEFAULT_X_MAX_TRAVEL
+
+#define DEFAULT_HOMING_PULLOFF  -DEFAULT_X_HOMING_MPOS
+
+#define SPINDLE_TYPE    SpindleType::NONE

Grbl_Esp32/src/Machines/test_drive.h

@@ -37,6 +37,8 @@
 
 #define MACHINE_NAME "Test Drive - Demo Only No I/O!"
 
+
+#define N_AXIS 3
 // This cannot use homing because there are no switches
 #ifdef DEFAULT_HOMING_CYCLE_0
     #undef DEFAULT_HOMING_CYCLE_0

Grbl_Esp32/src/MotionControl.cpp

@@ -52,7 +52,6 @@ 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) {
     // If enabled, check for soft limit violations. Placed here all line motions are picked up
     // from everywhere in Grbl.
-
     if (soft_limits->get()) {
         // NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
         if (sys.state != State::Jog) {
@@ -351,7 +350,6 @@ void mc_homing_cycle(uint8_t cycle_mask) {
                 }
             }
         }
-
         if (no_cycles_defined) {
             report_status_message(Error::HomingNoCycles, CLIENT_ALL);
         }

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -204,6 +204,17 @@ namespace Motors {
             return;
         }
 
+        float max_travel = axis_settings[_axis_index]->max_travel->get();
+        float mpos       = axis_settings[_axis_index]->home_mpos->get();
+
+        if (bit_istrue(homing_dir_mask->get(), bit(_axis_index))) {
+            _position_min = mpos;
+            _position_max = mpos + max_travel;
+        } else {
+            _position_min = mpos - max_travel;
+            _position_max = mpos;
+        }
+
         uint16_t run_i_ma = (uint16_t)(axis_settings[_axis_index]->run_current->get() * 1000.0);
         float    hold_i_percent;
 

platformio.ini

@@ -27,10 +27,11 @@ build_flags =
 	;-DMACHINE_FILENAME=test_drive.h ;Remove ";" from the beginning of this line and specify the machine file
 	-DCORE_DEBUG_LEVEL=0
 	-Wno-unused-variable
-	-Wno-unused-function
+	-Wno-unused-
      ;-DDEBUG_REPORT_HEAP_SIZE
      ;-DDEBUG_REPORT_STACK_FREE
 
+
 [env]
 lib_deps =
 	TMCStepper@>=0.7.0,<1.0.0