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Fixed most ->get calls in motors, limits, steppers.

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This commit is contained in:
Stefan de Bruijn
2021-05-20 21:45:11 +02:00
parent 4afe056515
commit 596510965f
16 changed files with 148 additions and 114 deletions
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1
Grbl_Esp32/src/Jog.cpp
View File

@@ -34,6 +34,7 @@ Error jog_execute(plan_line_data_t* pl_data, parser_block_t* gc_block, bool* can
#ifdef USE_LINE_NUMBERS
pl_data->line_number = gc_block->values.n;
#endif
if (soft_limits->get()) {
if (limitsCheckTravel(gc_block->values.xyz)) {
return Error::TravelExceeded;

64
Grbl_Esp32/src/Limits.cpp
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@@ -118,7 +118,7 @@ void limits_go_home(uint8_t cycle_mask) {
}
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = homing_seek_rate->get();
float homing_rate = homing_seek_rate->get(); // TODO FIXME: in YAML this is per-axis. We should move this into the loop.
uint8_t n_active_axis;
AxisMask limit_state, axislock;
do {
@@ -127,6 +127,8 @@ void limits_go_home(uint8_t cycle_mask) {
axislock = 0;
n_active_axis = 0;
for (uint8_t idx = 0; idx < n_axis; idx++) {
auto axisConfig = MachineConfig::instance()->_axes->_axis[idx];
// Set target location for active axes and setup computation for homing rate.
if (bit_istrue(cycle_mask, bit(idx))) {
n_active_axis++;
@@ -228,6 +230,7 @@ void limits_go_home(uint8_t cycle_mask) {
homing_rate = homing_seek_rate->get();
}
} while (n_cycle-- > 0);
// The active cycle axes should now be homed and machine limits have been located. By
// default, Grbl defines machine space as all negative, as do most CNCs. Since limit switches
// can be on either side of an axes, check and set axes machine zero appropriately. Also,
@@ -239,10 +242,15 @@ void limits_go_home(uint8_t cycle_mask) {
auto mask = homing_dir_mask->get();
auto pulloff = homing_pulloff->get();
for (uint8_t idx = 0; idx < n_axis; idx++) {
auto steps = axis_settings[idx]->steps_per_mm->get();
Axis* axisConf = MachineConfig::instance()->_axes->_axis[idx];
auto homing = axisConf->_homing;
auto steps = axisConf->_stepsPerMm;
if (cycle_mask & bit(idx)) {
float travel = axis_settings[idx]->max_travel->get();
float mpos = axis_settings[idx]->home_mpos->get();
float travel = axisConf->_maxTravel;
float mpos = 0;
if (axisConf->_homing != nullptr) {
mpos = axisConf->_homing->_mpos;
}
if (bit_istrue(homing_dir_mask->get(), bit(idx))) {
sys_position[idx] = (mpos + pulloff) * steps;
@@ -264,8 +272,10 @@ void limits_init() {
auto n_axis = MachineConfig::instance()->_axes->_numberAxis;
for (int axis = 0; axis < n_axis; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
Pin pin;
if ((pin = LimitPins[axis][gang_index]->get()) != Pin::UNDEFINED) {
auto gangConfig = MachineConfig::instance()->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr && !gangConfig->_endstops->_dual.undefined()) {
Pin& pin = gangConfig->_endstops->_dual;
#ifndef DISABLE_LIMIT_PIN_PULL_UP
if (pin.capabilities().has(Pins::PinCapabilities::PullUp)) {
mode = mode | Pin::Attr::PullUp;
@@ -274,7 +284,7 @@ void limits_init() {
pin.setAttr(mode);
limit_mask |= bit(axis);
if (hard_limits->get()) {
if (gangConfig->_endstops->_hardLimits) {
pin.attachInterrupt(isr_limit_switches, CHANGE, nullptr);
} else {
pin.detachInterrupt();
@@ -305,8 +315,9 @@ void limits_disable() {
auto n_axis = MachineConfig::instance()->_axes->_numberAxis;
for (int axis = 0; axis < n_axis; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
Pin pin = LimitPins[axis][gang_index]->get();
if (pin != Pin::UNDEFINED) {
auto gangConfig = MachineConfig::instance()->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr && !gangConfig->_endstops->_dual.undefined()) {
Pin& pin = gangConfig->_endstops->_dual;
pin.detachInterrupt();
}
}
@@ -321,13 +332,10 @@ AxisMask limits_get_state() {
auto n_axis = MachineConfig::instance()->_axes->_numberAxis;
for (int axis = 0; axis < n_axis; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
Pin pin = LimitPins[axis][gang_index]->get();
if (pin != Pin::UNDEFINED) {
if (limit_invert->get()) {
pinMask |= (!pin.read() << axis);
} else {
pinMask |= (pin.read() << axis);
}
auto gangConfig = MachineConfig::instance()->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr && !gangConfig->_endstops->_dual.undefined()) {
Pin& pin = gangConfig->_endstops->_dual;
pinMask |= (pin.read() << axis);
}
}
}
@@ -385,15 +393,21 @@ void limitCheckTask(void* pvParameters) {
}
float limitsMaxPosition(uint8_t axis) {
float mpos = axis_settings[axis]->home_mpos->get();
auto axisConfig = MachineConfig::instance()->_axes->_axis[axis];
auto homing = axisConfig->_homing;
float mpos = (homing != nullptr) ? homing->_mpos : 0;
auto maxtravel = axisConfig->_maxTravel;
return bitnum_istrue(homing_dir_mask->get(), axis) ? mpos + axis_settings[axis]->max_travel->get() : mpos;
return (homing == nullptr || homing->_positiveDirection) ? mpos + maxtravel : mpos;
}
float limitsMinPosition(uint8_t axis) {
float mpos = axis_settings[axis]->home_mpos->get();
auto axisConfig = MachineConfig::instance()->_axes->_axis[axis];
auto homing = axisConfig->_homing;
float mpos = (homing != nullptr) ? homing->_mpos : 0;
auto maxtravel = axisConfig->_maxTravel;
return bitnum_istrue(homing_dir_mask->get(), axis) ? mpos : mpos - axis_settings[axis]->max_travel->get();
return (homing == nullptr || homing->_positiveDirection) ? mpos : mpos - maxtravel;
}
// Checks and reports if target array exceeds machine travel limits.
@@ -413,7 +427,15 @@ bool __attribute__((weak)) limitsCheckTravel(float* target) {
}
bool limitsSwitchDefined(uint8_t axis, uint8_t gang_index) {
return (LimitPins[axis][gang_index]->get() != Pin::UNDEFINED);
auto gangConfig = MachineConfig::instance()->_axes->_axis[axis]->_gangs[gang_index];
if (gangConfig->_endstops != nullptr)
{
return !gangConfig->_endstops->_dual.undefined();
}
else {
return false;
}
}
bool __attribute__((weak)) user_defined_homing(uint8_t cycle_mask) {

33
Grbl_Esp32/src/MachineConfig.cpp
View File

@@ -18,18 +18,18 @@
// TODO FIXME: Split this file up into several files, perhaps put it in some folder and namespace Machine?
void Endstops::validate() const {
if (!_dual.undefined()) {
Assert(_positive.undefined(), "If dual endstops are defined, you cannot also define positive and negative endstops");
Assert(_negative.undefined(), "If dual endstops are defined, you cannot also define positive and negative endstops");
}
if (!_positive.undefined() || !_negative.undefined()) {
Assert(_positive.undefined(), "If positive or negative endstops are defined, you cannot also define dual endstops");
}
// if (!_dual.undefined()) {
// Assert(_positive.undefined(), "If dual endstops are defined, you cannot also define positive and negative endstops");
// Assert(_negative.undefined(), "If dual endstops are defined, you cannot also define positive and negative endstops");
// }
// if (!_positive.undefined() || !_negative.undefined()) {
// Assert(_positive.undefined(), "If positive or negative endstops are defined, you cannot also define dual endstops");
// }
}
void Endstops::handle(Configuration::HandlerBase& handler) {
handler.handle("positive", _positive);
handler.handle("negative", _negative);
// handler.handle("positive", _positive);
// handler.handle("negative", _negative);
handler.handle("dual", _dual);
handler.handle("hard_limits", _hardLimits);
}
@@ -98,6 +98,7 @@ Axes::Axes() : _axis() {
void Axes::init() {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Init Motors");
// TODO FIXME! If use_stepstick, this should be in stepstick?
#ifdef USE_STEPSTICK
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Using StepStick Mode");
@@ -107,9 +108,10 @@ void Axes::init() {
}
#endif
if (SteppersDisablePin->get() != Pin::UNDEFINED) {
SteppersDisablePin->get().setAttr(Pin::Attr::Output); // global motor enable pin
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Global stepper disable pin:%s", SteppersDisablePin->get().name());
if (!_sharedStepperDisable.undefined())
{
_sharedStepperDisable.setAttr(Pin::Attr::Output);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Shared stepper disable pin:%s", _sharedStepperDisable.name());
}
// certain motors need features to be turned on. Check them here
@@ -147,10 +149,7 @@ void Axes::set_disable(bool disable) {
}
// invert only inverts the global stepper disable pin.
if (step_enable_invert->get()) {
disable = !disable; // Apply pin invert.
}
SteppersDisablePin->get().write(disable);
_sharedStepperDisable.write(disable);
}
void Axes::read_settings() {
@@ -290,6 +289,7 @@ void Axes::validate() const {}
void Axes::handle(Configuration::HandlerBase& handler) {
handler.handle("number_axis", _numberAxis);
handler.handle("shared_stepper_disable", _sharedStepperDisable);
const char* allAxis = "xyzabc";
@@ -360,6 +360,7 @@ void MachineConfig::handle(Configuration::HandlerBase& handler) {
handler.handle("coolant", _coolant);
handler.handle("probe", _probe);
handler.handle("laser_mode", _laserMode);
handler.handle("pulse_microseconds", _pulseMicroSeconds);
}
void MachineConfig::afterParse() {

42
Grbl_Esp32/src/MachineConfig.h
View File

@@ -14,14 +14,14 @@ namespace Motors {
}
class Endstops : public Configuration::Configurable {
Pin _positive;
Pin _negative;
Pin _dual;
bool _hardLimits = true;
public:
Endstops() = default;
// Pin _positive;
// Pin _negative;
Pin _dual;
bool _hardLimits = true;
// Configuration system helpers:
void validate() const override;
void handle(Configuration::HandlerBase& handler) override;
@@ -102,6 +102,8 @@ class Axes : public Configuration::Configurable {
public:
Axes();
Pin _sharedStepperDisable;
int _numberAxis = 3;
Axis* _axis[MAX_NUMBER_AXIS];
@@ -110,6 +112,15 @@ public:
size_t findAxisIndex(const Motors::Motor* const motor) const;
size_t findAxisGanged(const Motors::Motor* const motor) const;
inline bool hasSoftLimits() const {
for (int i = 0; i < _numberAxis; ++i) {
if (_axis[i]->_softLimits) {
return true;
}
}
return false;
}
// These are used for setup and to talk to the motors as a group.
void init();
void read_settings(); // more like 'after read settings, before init'. Oh well...
@@ -315,14 +326,19 @@ public:
class MachineConfig : public Configuration::Configurable {
public:
MachineConfig() = default;
Axes* _axes = nullptr;
SPIBus* _spi = nullptr;
I2SOBus* _i2so = nullptr;
CoolantControl* _coolant = nullptr;
Probe* _probe = nullptr;
bool _laserMode = false;
Communications* _comms = nullptr;
MachineConfig() = default;
Axes* _axes = nullptr;
SPIBus* _spi = nullptr;
I2SOBus* _i2so = nullptr;
CoolantControl* _coolant = nullptr;
Probe* _probe = nullptr;
Communications* _comms = nullptr;
bool _laserMode = false;
int _pulseMicroSeconds = 3;
float _arcTolerance = 0.002;
float _junctionDeviation = 0.01;
static MachineConfig*& instance() {
static MachineConfig* instance = nullptr;

8
Grbl_Esp32/src/MotionControl.cpp
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@@ -49,7 +49,8 @@ bool 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()) {
bool hasSoftLimits = MachineConfig::instance()->_axes->hasSoftLimits();
if (hasSoftLimits) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != State::Jog) {
limits_soft_check(target);
@@ -154,11 +155,14 @@ void mc_arc(float* target,
angular_travel += 2 * M_PI;
}
}
auto mconfig = MachineConfig::instance();
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5 * angular_travel * radius) / sqrt(arc_tolerance->get() * (2 * radius - arc_tolerance->get())));
uint16_t segments = floor(fabs(0.5 * angular_travel * radius) / sqrt(mconfig->_arcTolerance * (2 * radius - mconfig->_arcTolerance)));
if (segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of

2
Grbl_Esp32/src/Motors/Dynamixel2.cpp
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@@ -109,7 +109,7 @@ namespace Motors {
_dxl_count_min = DXL_COUNT_MIN;
_dxl_count_max = DXL_COUNT_MAX;
if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) { // normal direction
if (_invert_direction) { // normal direction
swap(_dxl_count_min, _dxl_count_min);
}
}

4
Grbl_Esp32/src/Motors/Dynamixel2.h
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@@ -108,6 +108,7 @@ namespace Motors {
Pin _rts_pin;
uart_port_t _uart_num;
int _axis_index;
bool _invert_direction = false;
bool _disabled;
bool _has_errors;
@@ -137,7 +138,8 @@ namespace Motors {
handler.handle("tx", _tx_pin);
handler.handle("rx", _rx_pin);
handler.handle("rts", _rts_pin);
handler.handle("invert_direction", _invert_direction);
int id = _id;
handler.handle("id", id);
_id = id;

25
Grbl_Esp32/src/Motors/RcServo.cpp
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@@ -39,19 +39,6 @@ namespace Motors {
auto pwmNative = _pwm_pin.getNative(Pin::Capabilities::PWM);
#ifdef LATER
char* setting_cal_min = (char*)malloc(20);
sprintf(setting_cal_min, "%c/RcServo/Cal/Min", report_get_axis_letter(_axis_index)); //
rc_servo_cal_min = new FloatSetting(EXTENDED, WG, NULL, setting_cal_min, 1.0, 0.5, 2.0);
char* setting_cal_max = (char*)malloc(20);
sprintf(setting_cal_max, "%c/RcServo/Cal/Max", report_get_axis_letter(_axis_index)); //
rc_servo_cal_max = new FloatSetting(EXTENDED, WG, NULL, setting_cal_max, 1.0, 0.5, 2.0);
rc_servo_cal_min->load();
rc_servo_cal_max->load();
#endif
read_settings();
_channel_num = sys_get_next_PWM_chan_num();
ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
@@ -127,17 +114,15 @@ namespace Motors {
}
void RcServo::read_settings() {
#ifdef LATER
if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) {
if (_invert_direction) {
// swap the pwm values
_pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - rc_servo_cal_min->get()));
_pwm_pulse_max = SERVO_MIN_PULSE * (1.0 + (1.0 - rc_servo_cal_max->get()));
_pwm_pulse_min = SERVO_MAX_PULSE * (1.0 + (1.0 - _cal_min));
_pwm_pulse_max = SERVO_MIN_PULSE * (1.0 + (1.0 - _cal_max));
} else {
_pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get();
_pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get();
_pwm_pulse_min = SERVO_MIN_PULSE * _cal_min;
_pwm_pulse_max = SERVO_MAX_PULSE * _cal_max;
}
#endif
}
// Configuration registration

8
Grbl_Esp32/src/Motors/RcServo.h
View File

@@ -34,8 +34,8 @@ namespace Motors {
Pin _pwm_pin;
uint8_t _channel_num;
uint32_t _current_pwm_duty;
float _homing_position;
float _homing_position;
bool _invert_direction = false;
float _pwm_pulse_min;
float _pwm_pulse_max;
@@ -60,9 +60,7 @@ namespace Motors {
void _write_pwm(uint32_t duty);
// Configuration handlers:
void validate() const override {
Assert(!_pwm_pin.undefined(), "PWM pin should be configured.");
}
void validate() const override { Assert(!_pwm_pin.undefined(), "PWM pin should be configured."); }
void handle(Configuration::HandlerBase& handler) override {
handler.handle("pwm", _pwm_pin);

3
Grbl_Esp32/src/Motors/StandardStepper.cpp
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@@ -22,6 +22,7 @@
*/
#include "StandardStepper.h"
#include "../MachineConfig.h"
namespace Motors {
rmt_item32_t StandardStepper::rmtItem[2];
@@ -69,7 +70,7 @@ namespace Motors {
auto stepPulseDelay = _direction_delay_ms;
rmtItem[0].duration0 = stepPulseDelay < 1 ? 1 : stepPulseDelay * 4;
rmtItem[0].duration1 = 4 * pulse_microseconds->get();
rmtItem[0].duration1 = 4 * MachineConfig::instance()->_pulseMicroSeconds;
rmtItem[1].duration0 = 0;
rmtItem[1].duration1 = 0;

1
Grbl_Esp32/src/Motors/StepStick.h
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@@ -8,6 +8,7 @@ namespace Motors {
Pin _MS1;
Pin _MS2;
Pin _MS3;
public:
StepStick() = default;

24
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
View File

@@ -111,7 +111,7 @@ namespace Motors {
xTaskCreatePinnedToCore(readSgTask, // task
"readSgTask", // name for task
4096, // size of task stack
NULL, // parameters
this, // parameters
1, // priority
NULL,
SUPPORT_TASK_CORE // must run the task on same core
@@ -266,7 +266,7 @@ namespace Motors {
tmcstepper->THIGH(calc_tstep(feedrate, 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));
tmcstepper->sgt(constrain(_stallguard, -64, 63));
break;
}
default:
@@ -295,7 +295,7 @@ namespace Motors {
tmcstepper->stallguard(),
tmcstepper->sg_result(),
feedrate,
constrain(axis_settings[axis_index()]->stallguard->get(), -64, 63));
constrain(_stallguard, -64, 63));
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();
@@ -357,22 +357,22 @@ namespace Motors {
// Prints StallGuard data that is useful for tuning.
void TrinamicDriver::readSgTask(void* pvParameters) {
auto trinamicDriver = static_cast<TrinamicDriver*>(pvParameters);
TickType_t xLastWakeTime;
const TickType_t xreadSg = 200; // in ticks (typically ms)
auto n_axis = MachineConfig::instance()->_axes->_numberAxis;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
if (stallguard_debug_mask->get() != 0) {
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicDriver* p = List; p; p = p->link) {
if (bitnum_istrue(stallguard_debug_mask->get(), p->axis_index())) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
p->debug_message();
}
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicDriver* p = List; p; p = p->link) {
if (p->_stallguardDebugMode) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
p->debug_message();
}
} // sys.state
} // if mask
}
} // sys.state
vTaskDelayUntil(&xLastWakeTime, xreadSg);

2
Grbl_Esp32/src/Motors/TrinamicDriver.h
View File

@@ -86,6 +86,7 @@ namespace Motors {
float _hold_current = 0.25;
int _microsteps = 256;
int _stallguard = 0;
bool _stallguardDebugMode = false;
TrinamicMode _mode = TrinamicMode::None;
bool test();
@@ -137,6 +138,7 @@ namespace Motors {
handler.handle("hold_current", _hold_current);
handler.handle("microsteps", _microsteps);
handler.handle("stallguard", _stallguard);
handler.handle("stallguardDebugMode", _stallguardDebugMode);
StandardStepper::handle(handler);
}

10
Grbl_Esp32/src/Motors/TrinamicUartDriver.h
View File

@@ -90,10 +90,11 @@ namespace Motors {
bool _has_errors;
bool _disabled;
float _run_current = 0.25;
float _hold_current = 0.25;
int _microsteps = 256;
int _stallguard = 0;
float _run_current = 0.25;
float _hold_current = 0.25;
int _microsteps = 256;
int _stallguard = 0;
bool _stallguardDebugMode = false;
TrinamicUartMode _mode = TrinamicUartMode::None;
bool test();
@@ -142,6 +143,7 @@ namespace Motors {
handler.handle("hold_current", _hold_current);
handler.handle("microsteps", _microsteps);
handler.handle("stallguard", _stallguard);
handler.handle("stallguardDebugMode", _stallguardDebugMode);
StandardStepper::handle(handler);
}

26
Grbl_Esp32/src/Motors/TrinamicUartDriverClass.cpp
View File

@@ -235,12 +235,16 @@ namespace Motors {
tmcstepper->pwm_autoscale(false);
break;
case TrinamicUartMode ::StallGuard: //TODO: check all configurations for stallguard
{
auto axisConfig = MachineConfig::instance()->_axes->_axis[this->axis_index()];
auto homingFeedRate = (axisConfig->_homing != nullptr) ? axisConfig->_homing->_feedRate : 200;
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
tmcstepper->en_spreadCycle(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->SGTHRS(constrain(axis_settings[axis_index()]->stallguard->get(), 0, 255));
tmcstepper->TCOOLTHRS(calc_tstep(homingFeedRate, 150.0));
tmcstepper->SGTHRS(constrain(_stallguard, 0, 255));
break;
}
default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Unknown Trinamic mode:d", _mode);
}
@@ -266,7 +270,7 @@ namespace Motors {
reportAxisNameMsg(axis_index(), dual_axis_index()),
tmcstepper->SG_RESULT(), // tmcstepper->sg_result(),
feedrate,
constrain(axis_settings[axis_index()]->stallguard->get(), -64, 63));
constrain(_stallguard, -64, 63));
TMC2208_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS();
@@ -334,16 +338,14 @@ namespace Motors {
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
if (stallguard_debug_mask->get() != 0) {
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicUartDriver* p = List; p; p = p->link) {
if (bitnum_istrue(stallguard_debug_mask->get(), p->axis_index())) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", stallguard_debug_mask->get());
p->debug_message();
}
if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
for (TrinamicUartDriver* p = List; p; p = p->link) {
if (p->_stallguardDebugMode) {
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "SG:%d", _stallguardDebugMode);
p->debug_message();
}
} // sys.state
} // if mask
}
} // sys.state
vTaskDelayUntil(&xLastWakeTime, xreadSg);

9
Grbl_Esp32/src/Stepper.cpp
View File

@@ -993,12 +993,9 @@ void IRAM_ATTR Stepper_Timer_Stop() {
}
bool get_stepper_disable() { // returns true if steppers are disabled
if (SteppersDisablePin->get() != Pin::UNDEFINED) {
bool disabled = SteppersDisablePin->get().read();
if (step_enable_invert->get()) {
disabled = !disabled; // Apply pin invert.
}
auto axesConfig = MachineConfig::instance()->_axes;
if (!axesConfig->_sharedStepperDisable.undefined()) {
bool disabled = axesConfig->_sharedStepperDisable.read();
return disabled;
} else {
return false; // thery are never disabled if there is no pin defined