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Code Issues Releases Wiki Activity

Fixed a few bugs. Build-all runs now.

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This commit is contained in:
Stefan de Bruijn
2020-10-20 20:33:53 +02:00
parent 5d6052dc3c
commit 3cbe138cb8
10 changed files with 120 additions and 75 deletions
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4
Grbl_Esp32/src/Motors/Motors.cpp
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@@ -15,7 +15,7 @@
TODO TODO
Make sure public/private/protected is cleaned up. Make sure public/private/protected is cleaned up.
Only a few Unipolar axes have been setup in init() Only a few Unipolar axes have been setup in init()
Get rid of Z_SERVO, just reply on ServoPins[Z_AXIS][0]->get() Get rid of Z_SERVO, just reply on ServoPins[Z_AXIS][0]
Deal with custom machine ... machine_trinamic_setup(); Deal with custom machine ... machine_trinamic_setup();
Class is ready to deal with non SPI pins, but they have not been needed yet. Class is ready to deal with non SPI pins, but they have not been needed yet.
It would be nice in the config message though It would be nice in the config message though
@@ -473,7 +473,7 @@ uint8_t motors_set_homing_mode(uint8_t homing_mask, bool isHoming) {
void motors_step(uint8_t step_mask, uint8_t dir_mask) { void motors_step(uint8_t step_mask, uint8_t dir_mask) {
auto n_axis = number_axis->get(); auto n_axis = number_axis->get();
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "motors_DirectionPins[set_AXIS][0]->get()s:0x%02X", onMask); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "motors_set_direction_pins:0x%02X", onMask);
// Set the direction pins, but optimize for the common // Set the direction pins, but optimize for the common
// situation where the direction bits haven't changed. // situation where the direction bits haven't changed.

2
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -25,7 +25,7 @@
// Override default function and insert a short delay // Override default function and insert a short delay
void TMC2130Stepper::switchCSpin(bool state) { void TMC2130Stepper::switchCSpin(bool state) {
_pinCS.write(state); digitalWrite(_pinCS, state);
i2s_out_delay(); i2s_out_delay();
} }
#endif #endif

2
Grbl_Esp32/src/Pin.cpp
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@@ -64,7 +64,7 @@ bool Pin::parse(String str, Pins::PinDetail*& pinImplementation, int& pinNumber)
} else if (prefix == "undef") { } else if (prefix == "undef") {
pinImplementation = new Pins::VoidPinDetail(parser); pinImplementation = new Pins::VoidPinDetail(parser);
} }
#ifdef USE_I2S_OUT #ifdef ESP_32
else if (prefix == "i2s") { else if (prefix == "i2s") {
pinImplementation = new Pins::I2SPinDetail(uint8_t(pinNumber), parser); pinImplementation = new Pins::I2SPinDetail(uint8_t(pinNumber), parser);
} }

73
Grbl_Esp32/src/PinSettingsDefinitions.cpp
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@@ -138,6 +138,47 @@ const char* DYNAMIXEL_RXD_DEFAULT = DYNAMIXEL_RXD;
#endif #endif
const char* DYNAMIXEL_RTS_DEFAULT = DYNAMIXEL_RTS; const char* DYNAMIXEL_RTS_DEFAULT = DYNAMIXEL_RTS;
#ifndef USER_DIGITAL_PIN_0
# define USER_DIGITAL_PIN_0 UNDEFINED_PIN
#endif
const char* USER_DIGITAL_PIN_0_DEFAULT = USER_DIGITAL_PIN_0;
#ifndef USER_DIGITAL_PIN_1
# define USER_DIGITAL_PIN_1 UNDEFINED_PIN
#endif
const char* USER_DIGITAL_PIN_1_DEFAULT = USER_DIGITAL_PIN_1;
#ifndef USER_DIGITAL_PIN_2
# define USER_DIGITAL_PIN_2 UNDEFINED_PIN
#endif
const char* USER_DIGITAL_PIN_2_DEFAULT = USER_DIGITAL_PIN_2;
#ifndef USER_DIGITAL_PIN_3
# define USER_DIGITAL_PIN_3 UNDEFINED_PIN
#endif
const char* USER_DIGITAL_PIN_3_DEFAULT = USER_DIGITAL_PIN_3;
#ifndef USER_ANALOG_PIN_0
# define USER_ANALOG_PIN_0 UNDEFINED_PIN
#endif
const char* USER_ANALOG_PIN_0_DEFAULT = USER_ANALOG_PIN_0;
#ifndef USER_ANALOG_PIN_1
# define USER_ANALOG_PIN_1 UNDEFINED_PIN
#endif
const char* USER_ANALOG_PIN_1_DEFAULT = USER_ANALOG_PIN_1;
#ifndef USER_ANALOG_PIN_2
# define USER_ANALOG_PIN_2 UNDEFINED_PIN
#endif
const char* USER_ANALOG_PIN_2_DEFAULT = USER_ANALOG_PIN_2;
#ifndef USER_ANALOG_PIN_3
# define USER_ANALOG_PIN_3 UNDEFINED_PIN
#endif
const char* USER_ANALOG_PIN_3_DEFAULT = USER_ANALOG_PIN_3;
#ifndef SPINDLE_OUTPUT_PIN #ifndef SPINDLE_OUTPUT_PIN
# define SPINDLE_OUTPUT_PIN "undef" # define SPINDLE_OUTPUT_PIN "undef"
#endif #endif
@@ -827,25 +868,25 @@ void make_pin_settings() {
DynamixelRTSPin = new PinSetting("Pins/DynamixelRTS", DYNAMIXEL_RTS_DEFAULT); DynamixelRTSPin = new PinSetting("Pins/DynamixelRTS", DYNAMIXEL_RTS_DEFAULT);
// User pins: // User pins:
UserDigitalPin[0] = new PinSetting("Pins/UserDigital/0", USER_DIGITAL_PIN_0); UserDigitalPin[0] = new PinSetting("Pins/UserDigital/0", USER_DIGITAL_PIN_0_DEFAULT);
UserAnalogPin[0] = new PinSetting("Pins/UserAnalog/0", USER_ANALOG_PIN_0); UserAnalogPin[0] = new PinSetting("Pins/UserAnalog/0", USER_ANALOG_PIN_0_DEFAULT);
UserDigitalPin[1] = new PinSetting("Pins/UserDigital/1", USER_DIGITAL_PIN_1); UserDigitalPin[1] = new PinSetting("Pins/UserDigital/1", USER_DIGITAL_PIN_1_DEFAULT);
UserAnalogPin[1] = new PinSetting("Pins/UserAnalog/1", USER_ANALOG_PIN_1); UserAnalogPin[1] = new PinSetting("Pins/UserAnalog/1", USER_ANALOG_PIN_1_DEFAULT);
UserDigitalPin[2] = new PinSetting("Pins/UserDigital/2", USER_DIGITAL_PIN_2); UserDigitalPin[2] = new PinSetting("Pins/UserDigital/2", USER_DIGITAL_PIN_2_DEFAULT);
UserAnalogPin[2] = new PinSetting("Pins/UserAnalog/2", USER_ANALOG_PIN_2); UserAnalogPin[2] = new PinSetting("Pins/UserAnalog/2", USER_ANALOG_PIN_2_DEFAULT);
UserDigitalPin[3] = new PinSetting("Pins/UserDigital/3", USER_DIGITAL_PIN_3); UserDigitalPin[3] = new PinSetting("Pins/UserDigital/3", USER_DIGITAL_PIN_3_DEFAULT);
UserAnalogPin[3] = new PinSetting("Pins/UserAnalog/3", USER_ANALOG_PIN_3); UserAnalogPin[3] = new PinSetting("Pins/UserAnalog/3", USER_ANALOG_PIN_3_DEFAULT);
// Spindes: // Spindes:
SpindleOutputPin = new PinSetting("Pins/Spindle/Output", SPINDLE_OUTPUT_PIN); SpindleOutputPin = new PinSetting("Pins/Spindle/Output", SPINDLE_OUTPUT_PIN_DEFAULT);
SpindleEnablePin = new PinSetting("Pins/Spindle/Enable", SPINDLE_ENABLE_PIN); SpindleEnablePin = new PinSetting("Pins/Spindle/Enable", SPINDLE_ENABLE_PIN_DEFAULT);
SpindleDirectionPin = new PinSetting("Pins/Spindle/Direction", SPINDLE_DIRECTION_PIN); SpindleDirectionPin = new PinSetting("Pins/Spindle/Direction", SPINDLE_DIRECTION_PIN_DEFAULT);
SpindleForwardPin = new PinSetting("Pins/Spindle/Forward", SPINDLE_FORWARD_PIN); SpindleForwardPin = new PinSetting("Pins/Spindle/Forward", SPINDLE_FORWARD_PIN_DEFAULT);
SpindleReversePin = new PinSetting("Pins/Spindle/Reverse", SPINDLE_REVERSE_PIN); SpindleReversePin = new PinSetting("Pins/Spindle/Reverse", SPINDLE_REVERSE_PIN_DEFAULT);
VFDRS485TXDPin = new PinSetting("Pins/Spindle/RS485TXD", VFD_RS485_TXD_PIN); // VFD_RS485_TXD_PIN VFDRS485TXDPin = new PinSetting("Pins/Spindle/RS485TXD", VFD_RS485_TXD_PIN_DEFAULT); // VFD_RS485_TXD_PIN
VFDRS485RXDPin = new PinSetting("Pins/Spindle/RS485RXD", VFD_RS485_RXD_PIN); // VFD_RS485_RXD_PIN VFDRS485RXDPin = new PinSetting("Pins/Spindle/RS485RXD", VFD_RS485_RXD_PIN_DEFAULT); // VFD_RS485_RXD_PIN
VFDRS485RTSPin = new PinSetting("Pins/Spindle/RS485RTS", VFD_RS485_RTS_PIN); // VFD_RS485_RTS_PIN VFDRS485RTSPin = new PinSetting("Pins/Spindle/RS485RTS", VFD_RS485_RTS_PIN_DEFAULT); // VFD_RS485_RTS_PIN
// Axis: // Axis:
LimitPins[X_AXIS][0] = new PinSetting("Pins/X/Limit", X_LIMIT_PIN_DEFAULT); LimitPins[X_AXIS][0] = new PinSetting("Pins/X/Limit", X_LIMIT_PIN_DEFAULT);

20
Grbl_Esp32/src/Pins/GPIOPinDetail.cpp
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@@ -13,13 +13,15 @@ namespace Pins {
switch (index) { switch (index) {
case 0: // Outputs PWM signal at boot case 0: // Outputs PWM signal at boot
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp | return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp |
PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::PWM | PinCapabilities::ISR; PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::PWM | PinCapabilities::ISR |
PinCapabilities::UART;
case 1: // TX pin of Serial0. Note that Serial0 also runs through the Pins framework! case 1: // TX pin of Serial0. Note that Serial0 also runs through the Pins framework!
return PinCapabilities::Native | PinCapabilities::Output | PinCapabilities::Input; return PinCapabilities::Native | PinCapabilities::Output | PinCapabilities::Input | PinCapabilities::UART;
case 3: // RX pin of Serial0. Note that Serial0 also runs through the Pins framework! case 3: // RX pin of Serial0. Note that Serial0 also runs through the Pins framework!
return PinCapabilities::Native | PinCapabilities::Output | PinCapabilities::Input | PinCapabilities::ISR; return PinCapabilities::Native | PinCapabilities::Output | PinCapabilities::Input | PinCapabilities::ISR |
PinCapabilities::UART;
case 5: case 5:
case 16: case 16:
@@ -31,7 +33,7 @@ namespace Pins {
case 23: case 23:
case 29: case 29:
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp | return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp |
PinCapabilities::PullDown | PinCapabilities::PWM | PinCapabilities::ISR; PinCapabilities::PullDown | PinCapabilities::PWM | PinCapabilities::ISR | PinCapabilities::UART;
case 2: // Normal pins case 2: // Normal pins
case 4: case 4:
@@ -43,12 +45,14 @@ namespace Pins {
case 32: case 32:
case 33: case 33:
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp | return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp |
PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::PWM | PinCapabilities::ISR; PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::PWM | PinCapabilities::ISR |
PinCapabilities::UART;
case 25: case 25:
case 26: case 26:
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp | return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PullUp |
PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::DAC | PinCapabilities::PWM | PinCapabilities::ISR; PinCapabilities::PullDown | PinCapabilities::ADC | PinCapabilities::DAC | PinCapabilities::PWM |
PinCapabilities::ISR | PinCapabilities::UART;
case 6: // SPI flash integrated case 6: // SPI flash integrated
case 7: case 7:
@@ -57,13 +61,13 @@ namespace Pins {
case 10: case 10:
case 11: case 11:
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PWM | return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::Output | PinCapabilities::PWM |
PinCapabilities::ISR; PinCapabilities::ISR | PinCapabilities::UART;
case 34: // Input only pins case 34: // Input only pins
case 35: case 35:
case 36: case 36:
case 39: case 39:
return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::ADC | PinCapabilities::ISR; return PinCapabilities::Native | PinCapabilities::Input | PinCapabilities::ADC | PinCapabilities::ISR | PinCapabilities::UART;
break; break;
default: // Not mapped to actual GPIO pins default: // Not mapped to actual GPIO pins

2
Grbl_Esp32/src/Pins/GPIOPinDetail.h
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@@ -7,7 +7,7 @@ namespace Pins {
uint8_t _index; uint8_t _index;
PinCapabilities _capabilities; PinCapabilities _capabilities;
PinAttributes _attributes; PinAttributes _attributes;
int _readWriteMask; int _readWriteMask;
static PinCapabilities GetDefaultCapabilities(uint8_t index); static PinCapabilities GetDefaultCapabilities(uint8_t index);

10
Grbl_Esp32/src/Pins/I2SPinDetail.cpp
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@@ -2,11 +2,14 @@
# include "I2SPinDetail.h" # include "I2SPinDetail.h"
# include "../I2SOut.h" # include "../I2SOut.h"
# include "../Assert.h"
# ifdef USE_I2S_OUT extern "C" void __digitalWrite(uint8_t pin, uint8_t val);
namespace Pins { namespace Pins {
I2SPinDetail::I2SPinDetail(uint8_t index, const PinOptionsParser& options) : _index(index) { I2SPinDetail::I2SPinDetail(uint8_t index, const PinOptionsParser& options) :
_index(index), _capabilities(PinCapabilities::Output | PinCapabilities::I2S), _attributes(Pins::PinAttributes::Undefined),
_readWriteMask(0) {
// User defined pin capabilities // User defined pin capabilities
for (auto opt : options) { for (auto opt : options) {
if (opt.is("pu")) { if (opt.is("pu")) {
@@ -53,8 +56,7 @@ namespace Pins {
// just check for conflicts above... // just check for conflicts above...
} }
String I2SPinDetail::toString() { return String("I2S_") + int(_index); } String I2SPinDetail::toString() const { return String("I2S_") + int(_index); }
} }
# endif
#endif #endif

8
Grbl_Esp32/src/Pins/I2SPinDetail.h
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@@ -1,15 +1,14 @@
#pragma once #pragma once
#ifdef ESP32 #ifdef ESP32
#include "PinDetail.h" # include "PinDetail.h"
#ifdef USE_I2S_OUT
namespace Pins { namespace Pins {
class I2SPinDetail : public PinDetail { class I2SPinDetail : public PinDetail {
uint8_t _index; uint8_t _index;
PinCapabilities _capabilities; PinCapabilities _capabilities;
PinAttributes _attributes; PinAttributes _attributes;
int _readWriteMask;
public: public:
I2SPinDetail(uint8_t index, const PinOptionsParser& options); I2SPinDetail(uint8_t index, const PinOptionsParser& options);
@@ -21,11 +20,10 @@ namespace Pins {
int read() override; int read() override;
void setAttr(PinAttributes value) override; void setAttr(PinAttributes value) override;
String toString() override; String toString() const override;
~I2SPinDetail() override {} ~I2SPinDetail() override {}
}; };
} }
#endif #endif
#endif

2
Grbl_Esp32/src/Spindles/DacSpindle.cpp
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@@ -104,7 +104,7 @@ namespace Spindles {
if (_gpio_ok) { if (_gpio_ok) {
auto outputNative = _output_pin.getNative(Pin::Capabilities::DAC); auto outputNative = _output_pin.getNative(Pin::Capabilities::DAC);
dacWrite(outputNative, (uint8_t)duty); dacWrite(outputNative, static_cast<uint8_t>(duty));
} }
} }
} }

72
Grbl_Esp32/src/System.cpp
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@@ -51,42 +51,42 @@ void system_ini() { // Renamed from system_init() due to conflict with esp32 fi
ControlSafetyDoorPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp); ControlSafetyDoorPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
ControlSafetyDoorPin->get().attachInterrupt(isr_control_inputs, CHANGE); ControlSafetyDoorPin->get().attachInterrupt(isr_control_inputs, CHANGE);
} }
#ifdef CONTROL_SAFETY_DOOR_PIN
pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT_PULLUP); if (ControlResetPin->get() != Pin::UNDEFINED) {
attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE); ControlResetPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
#endif ControlResetPin->get().attachInterrupt(isr_control_inputs, CHANGE);
#ifdef CONTROL_RESET_PIN }
pinMode(CONTROL_RESET_PIN, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(CONTROL_RESET_PIN), isr_control_inputs, CHANGE); if (ControlFeedHoldPin->get() != Pin::UNDEFINED) {
#endif ControlFeedHoldPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
#ifdef CONTROL_FEED_HOLD_PIN ControlFeedHoldPin->get().attachInterrupt(isr_control_inputs, CHANGE);
pinMode(CONTROL_FEED_HOLD_PIN, INPUT_PULLUP); }
attachInterrupt(digitalPinToInterrupt(CONTROL_FEED_HOLD_PIN), isr_control_inputs, CHANGE);
#endif if (ControlCycleStartPin->get() != Pin::UNDEFINED) {
#ifdef CONTROL_CYCLE_START_PIN ControlCycleStartPin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
pinMode(CONTROL_CYCLE_START_PIN, INPUT_PULLUP); ControlCycleStartPin->get().attachInterrupt(isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(CONTROL_CYCLE_START_PIN), isr_control_inputs, CHANGE); }
#endif
#ifdef MACRO_BUTTON_0_PIN if (MacroButton0Pin->get() != Pin::UNDEFINED) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Macro Pin 0"); MacroButton0Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
pinMode(MACRO_BUTTON_0_PIN, INPUT_PULLUP); MacroButton0Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_0_PIN), isr_control_inputs, CHANGE); }
#endif
#ifdef MACRO_BUTTON_1_PIN if (MacroButton1Pin->get() != Pin::UNDEFINED) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Macro Pin 1"); MacroButton1Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
pinMode(MACRO_BUTTON_1_PIN, INPUT_PULLUP); MacroButton1Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_1_PIN), isr_control_inputs, CHANGE); }
#endif
#ifdef MACRO_BUTTON_2_PIN if (MacroButton2Pin->get() != Pin::UNDEFINED) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Macro Pin 2"); MacroButton2Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
pinMode(MACRO_BUTTON_2_PIN, INPUT_PULLUP); MacroButton2Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_2_PIN), isr_control_inputs, CHANGE); }
#endif
#ifdef MACRO_BUTTON_3_PIN if (MacroButton3Pin->get() != Pin::UNDEFINED) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Macro Pin 3"); MacroButton3Pin->get().setAttr(Pin::Attr::Input | Pin::Attr::PullUp);
pinMode(MACRO_BUTTON_3_PIN, INPUT_PULLUP); MacroButton3Pin->get().attachInterrupt(isr_control_inputs, CHANGE);
attachInterrupt(digitalPinToInterrupt(MACRO_BUTTON_3_PIN), isr_control_inputs, CHANGE); }
#endif
#ifdef ENABLE_CONTROL_SW_DEBOUNCE #ifdef ENABLE_CONTROL_SW_DEBOUNCE
// setup task used for debouncing // setup task used for debouncing
control_sw_queue = xQueueCreate(10, sizeof(int)); control_sw_queue = xQueueCreate(10, sizeof(int));