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Code Issues Releases Wiki Activity

Devt (#971)

Browse Source 
* changing  to EXTENDED type from GRBL type to prevent sender issues when running 1585

* Oled2 (#834)

* WIP

* WIP

* Update platformio.ini

* WIP

* Cleanup

* Update platformio.ini

* Turn off soft limits with max travel (#836)

https://github.com/bdring/Grbl_Esp32/issues/831

* Yalang YL620 VFD (#838)

* New SpindleType YL620

Files for new SpindleType Yalang 620. So far the contents are a duplicate of H2ASpindle.h and H2ASpindle.cpp

* Added register documentation and implemented read and write data packets

* Some fixes, mostly regarding RX packet length

* OLED and Other Updates (#844)

* publish

* Updates - CoreXY and OLED

- Moved position calculation out of report_realtime_status(...) so other functions can access it.
- Added a function to check if a limit switch is defined
- CoreXY fixed bug in forward kinematics when midtbot is used.
- Modified OLED display.

* Cleanup for PR

* Delete midtbot_x2.h

* Incorporated PR 846

- Some OLED cleanup
- verified correct forward kinematics on MidTbot

* Pio down rev (#850)

* Update platformio.ini

* Update Grbl.h

* Use local UART driver not HardwareSerial (#857)

* Use local UART driver not HardwareSerial

The HardwareSerial driver is broken in Arduino framework versions
1.0.5 and 1.0.6 .  https://github.com/espressif/arduino-esp32/issues/5005
Instead of waiting for a fix, I wrote a very simple UART driver that
does exactly what we need with no unnecessary bells and whistles to
cause problems.

* Added missing files, changed method signatures

The methods implemented by the UART class now
have the same signatures as the HardwareSerial
class, so it will be easy to switch back if we
need to.

* Incorporated suggestions from Stefan

* Fixed TX_IDLE_NUM bug reported by mstrens

* Quick test for Bf: problem

This is not the final solution.

* Fixed stupid typo in last commit

* Another test - check for client_buffer space

* Use the esp-idf uart driver

You can revert to the direct driver for testing by
defining DIRECT_UART

* Uart class now supports VFD and TMC

* data bits, stop bits, parity as enum classes

The constants for data bits, stop bits, and parity
were changed to enum classes so the compiler can
check for argument order mismatches.

* Set half duplex after uart init

* Init TMC UART only once

* rx/tx pin order mixup, missing _uart_started

* Test: use Arduino Serial

This reverts to the Arduino serial driver for
UI communication, leaving the VFS comms on the
Uart class on top of the esp_idf UART driver.

You can switch back and forth with the
   define REVERT_TO_SERIAL
line in Serial.cpp

* REVERT_TO_ARDUINO_SERIAL off by default

* Added debug messages

* Update Grbl.h

* Update platformio.ini

Co-authored-by: bdring <barton.dring@gmail.com>

* Fixed spindle sync for all VFD spindles (#868)

* Implemented H2A spindle sync fix. Untested.

* Changed the spindle sync fix to be in the VFD code.

* Update Grbl.h

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: bdring <barton.dring@gmail.com>

* New jog fix (#872)

* Applied 741 to new Devt

* Make kinematics routines weak

to eliminate ifdefs

* Fixed warning

* Update build date

Co-authored-by: bdring <barton.dring@gmail.com>

* need to override set_rpm

* trying set_rpm override

* it turns on!

* start/stop and set speed all working

* cleanup

* fixing machine.h

* fix .gitignore *&vi .gitignore  didn't work anyway

* forgot to get rid of hard coded max_freq, fixed now

* changed 'speed' to 'freq'

* reverting platformio.ini

* minor readme update

* removed debug msg

* Big kinematics cleanup (#875)

* Applied 741 to new Devt

* Make kinematics routines weak

to eliminate ifdefs

* Fixed warning

* Big kinematics cleanup

* Cleanup

* no isCancelled arg for jog_execute; return it instead

* WIP

* Made OLED compliant with new kinematics

* Added system_get_mpos

* system_get_mpos() returns float*

* WIP

* Cleanup after testing

- Had MPos and WPos text on OLED backwards.
- Added my cartesian test def
- Will remove test defs before merging to devt.

* Cleanup of remaining user optional code.

* Fixed delta kinematics loop ending early.

* Account for jog cancel in saved motor positions

* Update Grbl.h

Co-authored-by: bdring <barton.dring@gmail.com>

* Add the Root 4 Lite CNC machine to the Machines folder (#886)

* update for the Root 4 Lite

* Return machine.h to use test_drive.hy

* Removed some machine definitions

Co-authored-by: bdring <barton.dring@gmail.com>

* YL620_Fix (#941)

* YL620_Fix

Fix per ... https://github.com/bdring/Grbl_Esp32/issues/926#issuecomment-867885248
Added CNC_xPro machine def

* Update Grbl.h

* Delete CNC_xPRO_V5_XYYZ_PWM_NO.h

* fixes for RPM

* note

* fixed rx length

* fix smell and update readme

* clang format

* trying to fix newlines

* trying to fix newlines part 2

* fix cast issue

* fixed spinup spindown swap.

* Core xy soft limits (#960)

* Soft limit fix

* Update Grbl.h

* Increase serial task stack size (#970)

* Increase stack size

- Also changed defaults of trinamic motor currents

* Update Grbl.h

* 5160 class fix (#981)

* Fixed class inheritance

* Update date

Co-authored-by: me <me_xeon_wsl_ubuntu18@brng.us>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: marcosprojects <marco1601@web.de>
Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Pete <rcnc3d@gmail.com>
Co-authored-by: Jesse Schoch <schoch@gmail.com>
This commit is contained in:
bdring
2021-10-16 12:44:32 -05:00
committed by GitHub
parent 5316c64abb
commit 3c6c3fe34d
12 changed files with 126 additions and 75 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
Grbl_Esp32/Custom/CoreXY.cpp
View File

@@ -312,11 +312,6 @@ void kinematics_post_homing() {
memcpy(gc_state.position, last_cartesian, n_axis * sizeof(last_cartesian[0]));
}
// this is used used by Limits.cpp to see if the range of the machine is exceeded.
bool limitsCheckTravel(float* target) {
return false;
}
void user_m30() {}
// ================ Local Helper functions =================

24
Grbl_Esp32/src/Defaults.h
View File

@@ -386,43 +386,43 @@
// ========== Motor current (SPI Drivers ) =============
#ifndef DEFAULT_X_CURRENT
# define DEFAULT_X_CURRENT 0.25 // $140 current in amps (extended set)
# define DEFAULT_X_CURRENT 0.8 // $140 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_CURRENT
# define DEFAULT_Y_CURRENT 0.25 // $141 current in amps (extended set)
# define DEFAULT_Y_CURRENT 0.8 // $141 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_CURRENT
# define DEFAULT_Z_CURRENT 0.25 // $142 current in amps (extended set)
# define DEFAULT_Z_CURRENT 0.8 // $142 current in amps (extended set)
#endif
#ifndef DEFAULT_A_CURRENT
# define DEFAULT_A_CURRENT 0.25 // $143 current in amps (extended set)
# define DEFAULT_A_CURRENT 0.8 // $143 current in amps (extended set)
#endif
#ifndef DEFAULT_B_CURRENT
# define DEFAULT_B_CURRENT 0.25 // $144 current in amps (extended set)
# define DEFAULT_B_CURRENT 0.8 // $144 current in amps (extended set)
#endif
#ifndef DEFAULT_C_CURRENT
# define DEFAULT_C_CURRENT 0.25 // $145 current in amps (extended set)
# define DEFAULT_C_CURRENT 0.8 // $145 current in amps (extended set)
#endif
// ========== Motor hold current (SPI Drivers ) =============
#ifndef DEFAULT_X_HOLD_CURRENT
# define DEFAULT_X_HOLD_CURRENT 0.125 // $150 current in amps (extended set)
# define DEFAULT_X_HOLD_CURRENT 0.4 // $150 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_HOLD_CURRENT
# define DEFAULT_Y_HOLD_CURRENT 0.125 // $151 current in amps (extended set)
# define DEFAULT_Y_HOLD_CURRENT 0.4 // $151 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_HOLD_CURRENT
# define DEFAULT_Z_HOLD_CURRENT 0.125 // $152 current in amps (extended set)
# define DEFAULT_Z_HOLD_CURRENT 0.4 // $152 current in amps (extended set)
#endif
#ifndef DEFAULT_A_HOLD_CURRENT
# define DEFAULT_A_HOLD_CURRENT 0.125 // $153 current in amps (extended set)
# define DEFAULT_A_HOLD_CURRENT 0.4 // $153 current in amps (extended set)
#endif
#ifndef DEFAULT_B_HOLD_CURRENT
# define DEFAULT_B_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
# define DEFAULT_B_HOLD_CURRENT 0.4 // $154 current in amps (extended set)
#endif
#ifndef DEFAULT_C_HOLD_CURRENT
# define DEFAULT_C_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
# define DEFAULT_C_HOLD_CURRENT 0.4 // $154 current in amps (extended set)
#endif
// ========== Microsteps (SPI Drivers ) ================

4
Grbl_Esp32/src/GCode.cpp
View File

@@ -1483,8 +1483,10 @@ Error gc_execute_line(char* line, uint8_t client) {
// and absolute and incremental modes.
pl_data->motion.rapidMotion = 1; // Set rapid motion flag.
if (axis_command != AxisCommand::None) {
limitsCheckSoft(gc_block.values.xyz);
cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
}
limitsCheckSoft(coord_data);
cartesian_to_motors(coord_data, pl_data, gc_state.position);
memcpy(gc_state.position, coord_data, sizeof(gc_state.position));
break;
@@ -1513,9 +1515,11 @@ Error gc_execute_line(char* line, uint8_t client) {
if (axis_command == AxisCommand::MotionMode) {
GCUpdatePos gc_update_pos = GCUpdatePos::Target;
if (gc_state.modal.motion == Motion::Linear) {
limitsCheckSoft(gc_block.values.xyz);
cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
} else if (gc_state.modal.motion == Motion::Seek) {
pl_data->motion.rapidMotion = 1; // Set rapid motion flag.
limitsCheckSoft(gc_block.values.xyz);
cartesian_to_motors(gc_block.values.xyz, pl_data, gc_state.position);
} else if ((gc_state.modal.motion == Motion::CwArc) || (gc_state.modal.motion == Motion::CcwArc)) {
mc_arc(gc_block.values.xyz,

2
Grbl_Esp32/src/Grbl.h
View File

@@ -22,7 +22,7 @@
// Grbl versioning system
const char* const GRBL_VERSION = "1.3a";
const char* const GRBL_VERSION_BUILD = "20210816";
const char* const GRBL_VERSION_BUILD = "20211016";
//#include <sdkconfig.h>
#include <Arduino.h>

9
Grbl_Esp32/src/Limits.cpp
View File

@@ -416,3 +416,12 @@ bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) {
bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) {
return false;
}
void limitsCheckSoft(float* target) {
if (soft_limits->get()) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != State::Jog && sys.state != State::Homing) {
limits_soft_check(target);
}
}
}

2
Grbl_Esp32/src/Limits.h
View File

@@ -57,3 +57,5 @@ bool limitsCheckTravel(float* target);
// check if a switch has been defined
bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index);
void limitsCheckSoft(float* target);

3
Grbl_Esp32/src/Machine.h
View File

@@ -8,8 +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/6_pack_TMC2130_XYZ_Test.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:
// #include "Machines/3axis_v4.h"

12
Grbl_Esp32/src/Machines/TMC2209_4x.h
View File

@@ -75,12 +75,12 @@
#define STEPPERS_DISABLE_PIN GPIO_NUM_25
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-5V-Buffered-Output-Module
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/Quad-MOSFET-Module
#define USER_DIGITAL_PIN_0 GPIO_NUM_4 // M62 M63
#define USER_DIGITAL_PIN_1 GPIO_NUM_13 // M62 M63
#define USER_DIGITAL_PIN_2 GPIO_NUM_17 // M62 M63
#define USER_DIGITAL_PIN_3 GPIO_NUM_12 // M62 M63
// Built in I/O
#define SPINDLE_TYPE SpindleType::PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_4
#define SPINDLE_ENABLE_PIN GPIO_NUM_13
#define COOLANT_MIST_PIN GPIO_NUM_17 // M7 on M9 Off
#define COOLANT_FLOOD_PIN GPIO_NUM_12 // M8 on M9 off
// ===================== defaults ======================

12
Grbl_Esp32/src/MotionControl.cpp
View File

@@ -45,14 +45,7 @@ bool mc_line(float* target, plan_line_data_t* pl_data) {
bool submitted_result = false;
// store the plan data so it can be cancelled by the protocol system if needed
sys_pl_data_inflight = 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) {
limits_soft_check(target);
}
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == State::CheckMode) {
sys_pl_data_inflight = NULL;
@@ -222,6 +215,7 @@ void mc_arc(float* target,
position[axis_1] = center_axis1 + r_axis1;
position[axis_linear] += linear_per_segment;
pl_data->feed_rate = original_feedrate; // This restores the feedrate kinematics may have altered
limitsCheckSoft(position);
cartesian_to_motors(position, pl_data, previous_position);
previous_position[axis_0] = position[axis_0];
previous_position[axis_1] = position[axis_1];
@@ -233,6 +227,7 @@ void mc_arc(float* target,
}
}
// Ensure last segment arrives at target location.
limitsCheckSoft(target);
cartesian_to_motors(target, pl_data, previous_position);
}
@@ -419,6 +414,7 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Found");
limitsCheckSoft(target);
cartesian_to_motors(target, pl_data, gc_state.position);
// Activate the probing state monitor in the stepper module.
sys_probe_state = Probe::Active;

122
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
View File

@@ -54,9 +54,9 @@ namespace Motors {
_spi_index(spi_index) {
_has_errors = false;
if (_driver_part_number == 2130) {
tmcstepper = new TMC2130Stepper(_cs_pin, _r_sense, _spi_index);
tmc2130 = new TMC2130Stepper(_cs_pin, _r_sense, _spi_index);
} else if (_driver_part_number == 5160) {
tmcstepper = new TMC5160Stepper(_cs_pin, _r_sense, _spi_index);
tmc5160 = new TMC5160Stepper(_cs_pin, _r_sense, _spi_index);
} else {
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
@@ -67,14 +67,14 @@ namespace Motors {
return;
}
_has_errors = false;
_has_errors = false;
digitalWrite(_cs_pin, HIGH);
pinMode(_cs_pin, OUTPUT);
// use slower speed if I2S
if (_cs_pin >= I2S_OUT_PIN_BASE) {
tmcstepper->setSPISpeed(TRINAMIC_SPI_FREQ);
(tmc2130) ? tmc2130->setSPISpeed(TRINAMIC_SPI_FREQ) : tmc5160->setSPISpeed(TRINAMIC_SPI_FREQ);
}
link = List;
@@ -98,7 +98,7 @@ namespace Motors {
SPI.begin(); // this will get called for each motor, but does not seem to hurt anything
tmcstepper->begin();
(tmc2130) ? tmc2130->begin() : tmc5160->begin();
_has_errors = !test(); // Try communicating with motor. Prints an error if there is a problem.
@@ -142,7 +142,10 @@ namespace Motors {
if (_has_errors) {
return false;
}
switch (tmcstepper->test_connection()) {
uint8_t result = tmc2130 ? tmc2130->test_connection() : tmc5160->test_connection();
switch (result) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
@@ -159,7 +162,8 @@ namespace Motors {
// driver responded, so check for other errors from the DRV_STATUS register
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();
status.sr = tmc2130 ? tmc2130->DRV_STATUS() : tmc5160->DRV_STATUS();
bool err = false;
@@ -208,8 +212,13 @@ namespace Motors {
if (hold_i_percent > 1.0)
hold_i_percent = 1.0;
}
tmcstepper->microsteps(axis_settings[_axis_index]->microsteps->get());
tmcstepper->rms_current(run_i_ma, hold_i_percent);
if (tmc2130) {
tmc2130->microsteps(axis_settings[_axis_index]->microsteps->get());
tmc2130->rms_current(run_i_ma, hold_i_percent);
} else {
tmc5160->microsteps(axis_settings[_axis_index]->microsteps->get());
tmc5160->rms_current(run_i_ma, hold_i_percent);
}
init_step_dir_pins();
}
@@ -236,33 +245,65 @@ namespace Motors {
}
_mode = newMode;
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmcstepper->en_pwm_mode(true);
tmcstepper->pwm_autoscale(true);
tmcstepper->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmcstepper->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
if (tmc2130) {
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmc2130->en_pwm_mode(true);
tmc2130->pwm_autoscale(true);
tmc2130->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmc2130->en_pwm_mode(false);
tmc2130->pwm_autoscale(false);
tmc2130->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmc2130->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmc2130->en_pwm_mode(false);
tmc2130->pwm_autoscale(false);
tmc2130->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmc2130->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmc2130->sfilt(1);
tmc2130->diag1_stall(true); // stallguard i/o is on diag1
tmc2130->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
}
} else {
switch (_mode) {
case TrinamicMode ::StealthChop:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
tmc5160->en_pwm_mode(true);
tmc5160->pwm_autoscale(true);
tmc5160->diag1_stall(false);
break;
case TrinamicMode ::CoolStep:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
tmc5160->en_pwm_mode(false);
tmc5160->pwm_autoscale(false);
tmc5160->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmc5160->THIGH(NORMAL_THIGH);
break;
case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmc5160->en_pwm_mode(false);
tmc5160->pwm_autoscale(false);
tmc5160->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmc5160->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmc5160->sfilt(1);
tmc5160->diag1_stall(true); // stallguard i/o is on diag1
tmc5160->sgt(constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
}
}
}
/*
@@ -272,24 +313,27 @@ namespace Motors {
if (_has_errors) {
return;
}
uint32_t tstep = tmcstepper->TSTEP();
uint32_t tstep = (tmc2130) ? tmc2130->TSTEP() : tmc5160->TSTEP();
if (tstep == 0xFFFFF || tstep < 1) { // if axis is not moving return
return;
}
float feedrate = st_get_realtime_rate(); //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
int32_t st = (tmc2130) ? tmc2130->stallguard() : tmc5160->stallguard();
int32_t sg = (tmc2130) ? tmc2130->sg_result() : tmc5160->sg_result();
grbl_msg_sendf(CLIENT_SERIAL,
MsgLevel::Info,
"%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
reportAxisNameMsg(_axis_index, _dual_axis_index),
tmcstepper->stallguard(),
tmcstepper->sg_result(),
st,
sg,
feedrate,
constrain(axis_settings[_axis_index]->stallguard->get(), -64, 63));
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();
status.sr = (tmc2130) ? tmc2130->DRV_STATUS() : tmc5160->DRV_STATUS();
// these only report if there is a fault condition
report_open_load(status);

4
Grbl_Esp32/src/Motors/TrinamicDriver.h
View File

@@ -100,7 +100,9 @@ namespace Motors {
private:
uint32_t calc_tstep(float speed, float percent);
TMC2130Stepper* tmcstepper; // all other driver types are subclasses of this one
TMC2130Stepper* tmc2130 = nullptr;
TMC2130Stepper* tmc5160 = nullptr;
TrinamicMode _homing_mode;
uint8_t _cs_pin = UNDEFINED_PIN; // The chip select pin (can be the same for daisy chain)
uint16_t _driver_part_number; // example: use 2130 for TMC2130

2
Grbl_Esp32/src/Serial.cpp
View File

@@ -119,7 +119,7 @@ void client_init() {
// after WebUI attaches.
xTaskCreatePinnedToCore(clientCheckTask, // task
"clientCheckTask", // name for task
4096, // size of task stack
8192, // size of task stack
NULL, // parameters
1, // priority
&clientCheckTaskHandle,