mirror/Grbl_Esp32
1
0
Fork 0
mirror of https://github.com/bdring/Grbl_Esp32.git synced 2025-09-09 05:40:46 +02:00
Code Issues Releases Wiki Activity

Made everything compile again after changing the structure to be able to handle limits etc.

Browse Source
This commit is contained in:
Stefan de Bruijn
2021-02-16 12:41:17 +01:00
parent 19e2d5985f
commit 4e71d9c5f9
3 changed files with 19 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Grbl_Esp32/src/Limits.cpp
View File

@@ -111,8 +111,8 @@ void limits_go_home(uint8_t cycle_mask) {
// Initialize step pin masks
step_pin[idx] = bit(idx);
if (bit_istrue(cycle_mask, bit(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
max_travel = MAX(max_travel, (HOMING_AXIS_SEARCH_SCALAR)*axis_settings[idx]->max_travel->get());
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
max_travel = MAX(max_travel, (HOMING_AXIS_SEARCH_SCALAR)* MachineConfig::instance()->_axes->_axis[idx]->_maxTravel);
}
}
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.

32
Grbl_Esp32/src/MachineConfig.cpp
View File

@@ -73,9 +73,9 @@ Axis::~Axis() {
}
}
Axes::Axes() : axis_() {
Axes::Axes() : _axis() {
for (int i = 0; i < MAX_NUMBER_AXIS; ++i) {
axis_[i] = nullptr;
_axis[i] = nullptr;
}
}
@@ -99,7 +99,7 @@ void Axes::init() {
// certain motors need features to be turned on. Check them here
for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto& a = axis_[axis]->_gangs[gang_index]->_motor;
auto& a = _axis[axis]->_gangs[gang_index]->_motor;
if (a == nullptr) {
a = new Motors::Nullmotor();
@@ -125,7 +125,7 @@ void Axes::set_disable(bool disable) {
// now loop through all the motors to see if they can individually disable
for (int axis = 0; axis < _numberAxis; axis++) {
for (int gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = axis_[axis]->_gangs[gang_index]->_motor;
auto a = _axis[axis]->_gangs[gang_index]->_motor;
a->set_disable(disable);
}
}
@@ -141,7 +141,7 @@ void Axes::read_settings() {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Read Settings");
for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = axis_[axis]->_gangs[gang_index]->_motor;
auto a = _axis[axis]->_gangs[gang_index]->_motor;
a->read_settings();
}
}
@@ -154,7 +154,7 @@ uint8_t Axes::set_homing_mode(uint8_t homing_mask, bool isHoming) {
for (uint8_t axis = X_AXIS; axis < _numberAxis; axis++) {
if (bitnum_istrue(homing_mask, axis)) {
auto a = axis_[axis];
auto a = _axis[axis];
if (a != nullptr) {
auto motor = a->_gangs[0]->_motor;
@@ -163,7 +163,7 @@ uint8_t Axes::set_homing_mode(uint8_t homing_mask, bool isHoming) {
}
for (uint8_t gang_index = 1; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a2 = axis_[axis]->_gangs[gang_index]->_motor;
auto a2 = _axis[axis]->_gangs[gang_index]->_motor;
a2->set_homing_mode(isHoming);
}
}
@@ -187,7 +187,7 @@ void Axes::step(uint8_t step_mask, uint8_t dir_mask) {
bool thisDir = bitnum_istrue(dir_mask, axis);
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = axis_[axis]->_gangs[gang_index]->_motor;
auto a = _axis[axis]->_gangs[gang_index]->_motor;
if (a != nullptr) {
a->set_direction(thisDir);
@@ -203,7 +203,7 @@ void Axes::step(uint8_t step_mask, uint8_t dir_mask) {
// Turn on step pulses for motors that are supposed to step now
for (int axis = X_AXIS; axis < _numberAxis; axis++) {
if (bitnum_istrue(step_mask, axis)) {
auto a = axis_[axis]->_gangs[0]->_motor;
auto a = _axis[axis]->_gangs[0]->_motor;
if ((ganged_mode == SquaringMode::Dual) || (ganged_mode == SquaringMode::A)) {
a->step();
@@ -216,7 +216,7 @@ void Axes::step(uint8_t step_mask, uint8_t dir_mask) {
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
if (bitnum_istrue(step_mask, axis)) {
auto a = axis_[axis];
auto a = _axis[axis];
if ((ganged_mode == SquaringMode::Dual) || (ganged_mode == SquaringMode::A)) {
a->_gangs[0]->_motor->step();
@@ -232,7 +232,7 @@ void Axes::unstep() {
auto n_axis = _numberAxis;
for (uint8_t axis = X_AXIS; axis < n_axis; axis++) {
for (uint8_t gang_index = 0; gang_index < Axis::MAX_NUMBER_GANGED; gang_index++) {
auto a = axis_[axis]->_gangs[gang_index]->_motor;
auto a = _axis[axis]->_gangs[gang_index]->_motor;
a->unstep();
a->unstep();
}
@@ -244,7 +244,7 @@ void Axes::unstep() {
size_t Axes::findAxisIndex(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (axis_[i] != nullptr && axis_[i]->hasMotor(motor)) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
return i;
}
}
@@ -256,9 +256,9 @@ size_t Axes::findAxisIndex(const Motors::Motor* const motor) const {
size_t Axes::findAxisGanged(const Motors::Motor* const motor) const {
for (int i = 0; i < _numberAxis; ++i) {
if (axis_[i] != nullptr && axis_[i]->hasMotor(motor)) {
if (_axis[i] != nullptr && _axis[i]->hasMotor(motor)) {
for (int j = 0; j < Axis::MAX_NUMBER_GANGED; ++j) {
if (axis_[i]->_gangs[j]->_motor == motor) {
if (_axis[i]->_gangs[j]->_motor == motor) {
return j;
}
}
@@ -285,14 +285,14 @@ void Axes::handle(Configuration::HandlerBase& handler) {
tmp[1] = '\0';
if (handler.handlerType() == Configuration::HandlerType::Runtime || handler.handlerType() == Configuration::HandlerType::Parser) {
handler.handle(tmp, axis_[a]);
handler.handle(tmp, _axis[a]);
}
}
}
Axes::~Axes() {
for (int i = 0; i < MAX_NUMBER_AXIS; ++i) {
delete axis_[i];
delete _axis[i];
}
}

3
Grbl_Esp32/src/MachineConfig.h
View File

@@ -95,12 +95,11 @@ public:
class Axes : public Configuration::Configurable {
static const int MAX_NUMBER_AXIS = 6;
Axis* axis_[MAX_NUMBER_AXIS];
public:
Axes();
int _numberAxis = 3;
Axis* _axis[MAX_NUMBER_AXIS];
// Some small helpers to find the axis index and axis ganged index for a given motor. This
// is helpful for some motors that need this info, as well as debug information.