mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-09 13:50:51 +02:00
Test 6x code
This commit is contained in:
Bart Dring
@@ -46,18 +46,18 @@ Some features should not be changed. See notes below.
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// one configuration file by placing their specific defaults and pin map at the bottom of this file.
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// If doing so, simply comment out these two defines and see instructions below.
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#define DEFAULTS_GENERIC
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#define CPU_MAP_ESP32 // these are defined in cpu_map.h
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#define CPU_MAP_FOO_6X // these are defined in cpu_map.h
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#define VERBOSE_HELP // adds addition help info, but could confuse some senders
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// Serial baud rate
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#define BAUD_RATE 115200
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#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something
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//#define ENABLE_BLUETOOTH // enable bluetooth ... turns of if $I= something
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#define ENABLE_SD_CARD // enable use of SD Card to run jobs
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#define ENABLE_WIFI //enable wifi
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//#define ENABLE_WIFI //enable wifi
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#define ENABLE_HTTP //enable HTTP and all related services
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#define ENABLE_OTA //enable OTA
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@@ -1083,7 +1083,154 @@
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#endif
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#ifdef CPU_MAP_FOO_6X
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#define CPU_MAP_NAME "CPU_MAP_FOO_6X"
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// stepper motors
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#define USE_RMT_STEPS
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#define X_STEP_PIN GPIO_NUM_12
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#define X_DIRECTION_PIN GPIO_NUM_26
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#define X_RMT_CHANNEL 0
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#define Y_STEP_PIN GPIO_NUM_14
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#define Y_DIRECTION_PIN GPIO_NUM_25
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#define Y_RMT_CHANNEL 1
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// Z is a servo
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#define A_STEP_PIN GPIO_NUM_27
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#define A_DIRECTION_PIN GPIO_NUM_33
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#define A_RMT_CHANNEL 2
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#define B_STEP_PIN GPIO_NUM_15
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#define B_DIRECTION_PIN GPIO_NUM_32
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#define B_RMT_CHANNEL 3
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// C is a servo
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// servos
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#define USE_SERVO_AXES
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#define SERVO_Z_PIN GPIO_NUM_22
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#define SERVO_Z_CHANNEL_NUM 6
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#define SERVO_Z_RANGE_MIN 0.0
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#define SERVO_Z_RANGE_MAX 5.0
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#define SERVO_C_PIN GPIO_NUM_2
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#define SERVO_C_CHANNEL_NUM 7
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#define SERVO_C_RANGE_MIN 0.0
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#define SERVO_C_RANGE_MAX 5.0
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// limit switches
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#define X_LIMIT_PIN GPIO_NUM_21
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#define Y_LIMIT_PIN GPIO_NUM_17
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#define A_LIMIT_PIN GPIO_NUM_16
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#define B_LIMIT_PIN GPIO_NUM_4
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#define LIMIT_MASK B11011
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// OK to comment out to use pin for other features
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#define STEPPERS_DISABLE_PIN GPIO_NUM_13
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#ifdef HOMING_CYCLE_0 // undefine from config.h
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#undef HOMING_CYCLE_0
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#endif
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//#define HOMING_CYCLE_0 (1<<X_AXIS)
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#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))
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//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS) |(1<<A_AXIS)|(1<<B_AXIS))
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#ifdef HOMING_CYCLE_1 // undefine from config.h
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#undef HOMING_CYCLE_1
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#endif
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//#define HOMING_CYCLE_1 (1<<A_AXIS)
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#define HOMING_CYCLE_1 ((1<<A_AXIS)|(1<<B_AXIS))
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#ifdef HOMING_CYCLE_2 // undefine from config.h
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#undef HOMING_CYCLE_2
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#endif
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/*
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#define HOMING_CYCLE_2 (1<<Y_AXIS)
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#ifdef HOMING_CYCLE_3 // undefine from config.h
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#undef HOMING_CYCLE_3
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#endif
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#define HOMING_CYCLE_3 (1<<B_AXIS)
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*/
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// required spindle stuff ... fix (remove) this requirement!
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//#define SPINDLE_PWM_PIN /
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#define SPINDLE_PWM_CHANNEL 0
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#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
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#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// defaults ... <Idle|MPos:-497.000,-3.000,0.000,-3.000,-497.000,0.000|FS:0,0>
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#ifdef DEFAULTS_GENERIC
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#undef DEFAULTS_GENERIC // undefine generic then define each default below
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#endif
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#define DEFAULT_STEP_PULSE_MICROSECONDS 3
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 200 // 200ms
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#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
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#define DEFAULT_DIRECTION_INVERT_MASK 2 // uint8_t
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#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
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#define DEFAULT_INVERT_LIMIT_PINS 1 // boolean
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#define DEFAULT_INVERT_PROBE_PIN 0 // boolean
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#define DEFAULT_STATUS_REPORT_MASK 1
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#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
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#define DEFAULT_ARC_TOLERANCE 0.002 // mm
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#define DEFAULT_REPORT_INCHES 0 // false
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#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
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#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
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#define DEFAULT_HOMING_ENABLE 1
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#define DEFAULT_HOMING_DIR_MASK 17
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#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 2000.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 3.0 // mm
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#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
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#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
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#define DEFAULT_LASER_MODE 0 // false
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#define DEFAULT_X_STEPS_PER_MM 400.0
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#define DEFAULT_Y_STEPS_PER_MM 400.0
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#define DEFAULT_Z_STEPS_PER_MM 100.0 // This is percent in servo mode
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#define DEFAULT_A_STEPS_PER_MM 400.0
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#define DEFAULT_B_STEPS_PER_MM 400.0
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#define DEFAULT_C_STEPS_PER_MM 100.0 // This is percent in servo mode
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#define DEFAULT_X_MAX_RATE 30000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 30000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 8000.0 // mm/min
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#define DEFAULT_A_MAX_RATE 30000.0 // mm/min
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#define DEFAULT_B_MAX_RATE 30000.0 // mm/min
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#define DEFAULT_C_MAX_RATE 8000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Y_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION (100.0*60*60)
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#define DEFAULT_A_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_B_ACCELERATION (1500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_C_ACCELERATION (100.0*60*60)
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#define DEFAULT_X_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 100.0 // This is percent in servo mode
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#define DEFAULT_A_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_B_MAX_TRAVEL 250.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_C_MAX_TRAVEL 100.0 // This is percent in servo mode
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#endif
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// ================= common to all machines ================================
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@@ -1101,17 +1248,25 @@
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#define X_STEP_BIT 0 // don't change
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#define Y_STEP_BIT 1 // don't change
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#define Z_STEP_BIT 2 // don't change
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#define STEP_MASK B111 // don't change
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#define Z_STEP_BIT 2 // don't change
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#define A_STEP_BIT 3 // don't change
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#define B_STEP_BIT 4 // don't change
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#define C_STEP_BIT 5 // don't change
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#define STEP_MASK B111111 // don't change
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#define X_DIRECTION_BIT 0 // don't change
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#define Y_DIRECTION_BIT 1 // don't change
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#define Z_DIRECTION_BIT 2 // don't change
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#define A_DIRECTION_BIT 3 // don't change
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#define B_DIRECTION_BIT 4 // don't change
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#define C_DIRECTION_BIT 5 // don't change
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#define X_LIMIT_BIT 0 // don't change
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#define Y_LIMIT_BIT 1 // don't change
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#define Z_LIMIT_BIT 2 // don't change
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#define A_LIMIT_BIT 3 // don't change
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#define B_LIMIT_BIT 4 // don't change
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#define C_LIMIT_BIT 5 // don't change
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#define PROBE_MASK 1 // don't change
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@@ -66,18 +66,31 @@
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#define DEFAULT_X_STEPS_PER_MM 800.0
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#define DEFAULT_Y_STEPS_PER_MM 800.0
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#define DEFAULT_Z_STEPS_PER_MM 800.0
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#define DEFAULT_A_STEPS_PER_MM 100.0
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#define DEFAULT_B_STEPS_PER_MM 100.0
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#define DEFAULT_C_STEPS_PER_MM 100.0
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#define DEFAULT_X_MAX_RATE 5000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 4000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 3000.0 // mm/min
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#define DEFAULT_A_MAX_RATE 1000.0 // mm/min
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#define DEFAULT_B_MAX_RATE 1000.0 // mm/min
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#define DEFAULT_C_MAX_RATE 1000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Y_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION (200.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_A_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_B_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_C_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_A_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_B_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_C_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
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#endif
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@@ -280,6 +280,15 @@ void limits_init()
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#ifdef Z_LIMIT_PIN
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pinMode(Z_LIMIT_PIN, INPUT_PULLUP);
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#endif
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#ifdef A_LIMIT_PIN
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pinMode(A_LIMIT_PIN, INPUT_PULLUP);
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#endif
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#ifdef B_LIMIT_PIN
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pinMode(B_LIMIT_PIN, INPUT_PULLUP);
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#endif
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#ifdef C_LIMIT_PIN
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pinMode(C_LIMIT_PIN, INPUT_PULLUP);
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#endif
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#else
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#ifdef X_LIMIT_PIN
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pinMode(X_LIMIT_PIN, INPUT); // input no pullup
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@@ -290,6 +299,15 @@ void limits_init()
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#ifdef Z_LIMIT_PIN
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pinMode(Z_LIMIT_PIN, INPUT);
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#endif
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#ifdef A_LIMIT_PIN
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pinMode(A_LIMIT_PIN, INPUT); // input no pullup
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#endif
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#ifdef B_LIMIT_PIN
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pinMode(B_LIMIT_PIN, INPUT);
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#endif
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#ifdef C_LIMIT_PIN
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pinMode(C_LIMIT_PIN, INPUT);
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#endif
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#endif
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if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) {
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@@ -303,6 +321,15 @@ void limits_init()
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#ifdef Z_LIMIT_PIN
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attachInterrupt(digitalPinToInterrupt(Z_LIMIT_PIN), isr_limit_switches, CHANGE);
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#endif
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#ifdef A_LIMIT_PIN
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attachInterrupt(digitalPinToInterrupt(A_LIMIT_PIN), isr_limit_switches, CHANGE);
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#endif
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#ifdef B_LIMIT_PIN
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attachInterrupt(digitalPinToInterrupt(B_LIMIT_PIN), isr_limit_switches, CHANGE);
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#endif
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#ifdef C_LIMIT_PIN
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attachInterrupt(digitalPinToInterrupt(C_LIMIT_PIN), isr_limit_switches, CHANGE);
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#endif
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} else {
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limits_disable();
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}
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@@ -327,6 +354,9 @@ void limits_disable()
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detachInterrupt(X_LIMIT_BIT);
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detachInterrupt(Y_LIMIT_BIT);
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detachInterrupt(Z_LIMIT_BIT);
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detachInterrupt(A_LIMIT_BIT);
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detachInterrupt(B_LIMIT_BIT);
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detachInterrupt(C_LIMIT_BIT);
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}
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@@ -349,6 +379,20 @@ uint8_t limits_get_state()
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#ifdef Z_LIMIT_PIN
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pin += (digitalRead(Z_LIMIT_PIN) << Z_AXIS);
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#endif
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#ifdef A_LIMIT_PIN
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pin += (digitalRead(A_LIMIT_PIN) << A_AXIS);
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#endif
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#ifdef B_LIMIT_PIN
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pin += (digitalRead(B_LIMIT_PIN) << B_AXIS);
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#endif
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#ifdef C_LIMIT_PIN
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pin += (digitalRead(C_LIMIT_PIN) << C_AXIS);
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#endif
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//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit pins %d]\r\n", pin);
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#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
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pin ^= INVERT_LIMIT_PIN_MASK;
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@@ -357,14 +401,20 @@ uint8_t limits_get_state()
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if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) {
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pin ^= LIMIT_MASK;
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}
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//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit Inverted %d]\r\n", pin);
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if (pin) {
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uint8_t idx;
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for (idx=0; idx<N_AXIS; idx++) {
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if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
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if (pin & get_limit_pin_mask(idx)) {
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limit_state |= (1 << idx);
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}
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}
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}
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//grbl_sendf(CLIENT_SERIAL, "[MSG: Limit State %d]\r\n", limit_state);
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return(limit_state);
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}
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@@ -27,11 +27,16 @@
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#define SOME_LARGE_VALUE 1.0E+38
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// Axis array index values. Must start with 0 and be continuous.
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#define N_AXIS 3 // Number of axes
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// Note: You set the number of axes used by changing N_AXIS.
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// Be sure to define pins or servos in cpu_map.h
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#define N_AXIS 6 // Number of axes defined
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#define X_AXIS 0 // Axis indexing value.
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#define Y_AXIS 1
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#define Z_AXIS 2
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// #define A_AXIS 3
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#define A_AXIS 3
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#define B_AXIS 4
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#define C_AXIS 5
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// CoreXY motor assignments. DO NOT ALTER.
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// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
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@@ -349,8 +349,8 @@ void report_probe_parameters(uint8_t client)
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{
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// Report in terms of machine position.
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float print_position[N_AXIS];
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char probe_rpt[50]; // the probe report we are building here
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char temp[30];
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char probe_rpt[100]; // the probe report we are building here
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char temp[60];
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strcpy(probe_rpt, "[PRB:"); // initialize the string with the first characters
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@@ -374,8 +374,8 @@ void report_ngc_parameters(uint8_t client)
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{
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float coord_data[N_AXIS];
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uint8_t coord_select;
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char temp[50];
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char ngc_rpt[400];
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char temp[60];
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char ngc_rpt[500];
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ngc_rpt[0] = '\0';
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@@ -414,7 +414,7 @@ void report_ngc_parameters(uint8_t client)
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grbl_send(client, ngc_rpt);
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report_probe_parameters(client);
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report_probe_parameters(client);
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}
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@@ -38,9 +38,19 @@ static TaskHandle_t servosSyncTaskHandle = 0;
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ServoAxis Z_Servo_Axis(Z_AXIS, SERVO_Z_PIN, SERVO_Z_CHANNEL_NUM);
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#endif
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#ifdef SERVO_A_PIN
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ServoAxis A_Servo_Axis(A_AXIS, SERVO_A_PIN, SERVO_A_CHANNEL_NUM);
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#endif
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#ifdef SERVO_B_PIN
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ServoAxis B_Servo_Axis(B_AXIS, SERVO_B_PIN, SERVO_B_CHANNEL_NUM);
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#endif
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#ifdef SERVO_C_PIN
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ServoAxis C_Servo_Axis(C_AXIS, SERVO_C_PIN, SERVO_C_CHANNEL_NUM);
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#endif
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void init_servos()
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{
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grbl_send(CLIENT_SERIAL, "[MSG: Init Servos]\r\n");
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//grbl_send(CLIENT_SERIAL, "[MSG: Init Servos]\r\n");
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#ifdef SERVO_X_PIN
|
||||
grbl_send(CLIENT_SERIAL, "[MSG: Init X Servo]\r\n");
|
||||
X_Servo_Axis.init();
|
||||
@@ -61,6 +71,28 @@ void init_servos()
|
||||
Z_Servo_Axis.set_homing_type(SERVO_HOMING_TARGET);
|
||||
Z_Servo_Axis.set_homing_position(SERVO_Z_RANGE_MAX);
|
||||
#endif
|
||||
|
||||
#ifdef SERVO_A_PIN
|
||||
grbl_send(CLIENT_SERIAL, "[MSG: Init A Servo]\r\n");
|
||||
A_Servo_Axis.init();
|
||||
A_Servo_Axis.set_range(SERVO_A_RANGE_MIN, SERVO_A_RANGE_MAX);
|
||||
A_Servo_Axis.set_homing_type(SERVO_HOMING_OFF);
|
||||
A_Servo_Axis.set_disable_on_alarm(false);
|
||||
A_Servo_Axis.set_disable_with_steppers(false);
|
||||
#endif
|
||||
#ifdef SERVO_B_PIN
|
||||
grbl_send(CLIENT_SERIAL, "[MSG: Init B Servo]\r\n");
|
||||
B_Servo_Axis.init();
|
||||
B_Servo_Axis.set_range(SERVO_B_RANGE_MIN, SERVO_B_RANGE_MAX);
|
||||
#endif
|
||||
#ifdef SERVO_C_PIN
|
||||
grbl_send(CLIENT_SERIAL, "[MSG: Init C Servo]\r\n");
|
||||
C_Servo_Axis.init();
|
||||
C_Servo_Axis.set_range(SERVO_C_RANGE_MIN, SERVO_C_RANGE_MAX);
|
||||
C_Servo_Axis.set_homing_type(SERVO_HOMING_TARGET);
|
||||
C_Servo_Axis.set_homing_position(SERVO_C_RANGE_MAX);
|
||||
#endif
|
||||
|
||||
|
||||
// setup a task that will calculate the determine and set the servo positions
|
||||
xTaskCreatePinnedToCore( servosSyncTask, // task
|
||||
@@ -93,6 +125,16 @@ void servosSyncTask(void *pvParameters)
|
||||
#ifdef SERVO_Z_PIN
|
||||
Z_Servo_Axis.set_location();
|
||||
#endif
|
||||
#ifdef SERVO_A_PIN
|
||||
A_Servo_Axis.set_location();
|
||||
#endif
|
||||
#ifdef SERVO_B_PIN
|
||||
B_Servo_Axis.set_location();
|
||||
#endif
|
||||
#ifdef SERVO_C_PIN
|
||||
C_Servo_Axis.set_location();
|
||||
#endif
|
||||
|
||||
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
|
||||
}
|
||||
}
|
||||
@@ -224,7 +266,7 @@ bool ServoAxis::_cal_is_valid()
|
||||
settingsOK = false;
|
||||
}
|
||||
|
||||
//showError = false; // to show error once
|
||||
showError = false; // to show error once
|
||||
return settingsOK;
|
||||
}
|
||||
|
||||
|
||||
@@ -100,6 +100,29 @@ void settings_restore(uint8_t restore_flag) {
|
||||
settings.max_travel[X_AXIS] = (-DEFAULT_X_MAX_TRAVEL);
|
||||
settings.max_travel[Y_AXIS] = (-DEFAULT_Y_MAX_TRAVEL);
|
||||
settings.max_travel[Z_AXIS] = (-DEFAULT_Z_MAX_TRAVEL);
|
||||
|
||||
#if N_AXIS > A_AXIS
|
||||
settings.steps_per_mm[A_AXIS] = DEFAULT_A_STEPS_PER_MM;
|
||||
settings.max_rate[A_AXIS] = DEFAULT_A_MAX_RATE;
|
||||
settings.acceleration[A_AXIS] = DEFAULT_A_ACCELERATION;
|
||||
settings.max_travel[A_AXIS] = (-DEFAULT_A_MAX_TRAVEL);
|
||||
#endif
|
||||
|
||||
#if N_AXIS > B_AXIS
|
||||
settings.steps_per_mm[B_AXIS] = DEFAULT_B_STEPS_PER_MM;
|
||||
settings.max_rate[B_AXIS] = DEFAULT_B_MAX_RATE;
|
||||
settings.acceleration[B_AXIS] = DEFAULT_B_ACCELERATION;
|
||||
settings.max_travel[B_AXIS] = (-DEFAULT_B_MAX_TRAVEL);
|
||||
#endif
|
||||
|
||||
#if N_AXIS > C_AXIS
|
||||
settings.steps_per_mm[C_AXIS] = DEFAULT_C_STEPS_PER_MM;
|
||||
settings.max_rate[C_AXIS] = DEFAULT_C_MAX_RATE;
|
||||
settings.acceleration[C_AXIS] = DEFAULT_C_ACCELERATION;
|
||||
settings.max_travel[C_AXIS] = (-DEFAULT_C_MAX_TRAVEL);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
write_global_settings();
|
||||
}
|
||||
|
||||
@@ -67,7 +67,17 @@ typedef struct {
|
||||
// Used by the bresenham line algorithm
|
||||
uint32_t counter_x, // Counter variables for the bresenham line tracer
|
||||
counter_y,
|
||||
counter_z;
|
||||
counter_z
|
||||
#ifdef A_AXIS
|
||||
, counter_a
|
||||
#endif
|
||||
#ifdef B_AXIS
|
||||
, counter_b
|
||||
#endif
|
||||
#ifdef C_AXIS
|
||||
, counter_c
|
||||
#endif
|
||||
;
|
||||
#ifdef STEP_PULSE_DELAY
|
||||
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay
|
||||
#endif
|
||||
@@ -198,58 +208,6 @@ static st_prep_t prep;
|
||||
|
||||
|
||||
*/
|
||||
|
||||
#ifdef USE_RMT_STEPS
|
||||
// Set stepper pulse output pins
|
||||
inline IRAM_ATTR static void stepperRMT_Outputs()
|
||||
{
|
||||
|
||||
#ifdef X_STEP_PIN
|
||||
if(st.step_outbits & (1<<X_AXIS)) {
|
||||
#ifndef X_STEP_B_PIN // if not a ganged axis
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
#else // it is a ganged axis
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1; }
|
||||
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
|
||||
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef Y_STEP_PIN
|
||||
if(st.step_outbits & (1<<Y_AXIS)) {
|
||||
#ifndef Y_STEP_B_PIN // if not a ganged axis
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
#else // it is a ganged axis
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
|
||||
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef Z_STEP_PIN
|
||||
if(st.step_outbits & (1<<Z_AXIS)) {
|
||||
RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
// TODO: Replace direct updating of the int32 position counters in the ISR somehow. Perhaps use smaller
|
||||
// int8 variables and update position counters only when a segment completes. This can get complicated
|
||||
// with probing and homing cycles that require true real-time positions.
|
||||
@@ -294,6 +252,7 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
|
||||
|
||||
// Initialize Bresenham line and distance counters
|
||||
st.counter_x = st.counter_y = st.counter_z = (st.exec_block->step_event_count >> 1);
|
||||
// TODO ABC
|
||||
}
|
||||
st.dir_outbits = st.exec_block->direction_bits ^ settings.dir_invert_mask;
|
||||
|
||||
@@ -302,6 +261,17 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
|
||||
st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
|
||||
st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
|
||||
st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
|
||||
|
||||
#ifdef A_AXIS
|
||||
st.steps[A_AXIS] = st.exec_block->steps[A_AXIS] >> st.exec_segment->amass_level;
|
||||
#endif
|
||||
#ifdef B_AXIS
|
||||
st.steps[B_AXIS] = st.exec_block->steps[B_AXIS] >> st.exec_segment->amass_level;
|
||||
#endif
|
||||
#ifdef C_AXIS
|
||||
st.steps[C_AXIS] = st.exec_block->steps[C_AXIS] >> st.exec_segment->amass_level;
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
@@ -380,6 +350,49 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
|
||||
sys_position[Z_AXIS]++;
|
||||
}
|
||||
}
|
||||
|
||||
#if N_AXIS > A_AXIS
|
||||
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
|
||||
st.counter_a += st.steps[A_AXIS];
|
||||
#else
|
||||
st.counter_a += st.exec_block->steps[A_AXIS];
|
||||
#endif
|
||||
if (st.counter_a > st.exec_block->step_event_count) {
|
||||
st.step_outbits |= (1<<A_STEP_BIT);
|
||||
st.counter_a -= st.exec_block->step_event_count;
|
||||
if (st.exec_block->direction_bits & (1<<A_DIRECTION_BIT)) { sys_position[A_AXIS]--; }
|
||||
else { sys_position[A_AXIS]++; }
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#if N_AXIS > B_AXIS
|
||||
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
|
||||
st.counter_b += st.steps[B_AXIS];
|
||||
#else
|
||||
st.counter_b += st.exec_block->steps[B_AXIS];
|
||||
#endif
|
||||
if (st.counter_b > st.exec_block->step_event_count) {
|
||||
st.step_outbits |= (1<<B_STEP_BIT);
|
||||
st.counter_b -= st.exec_block->step_event_count;
|
||||
if (st.exec_block->direction_bits & (1<<B_DIRECTION_BIT)) { sys_position[B_AXIS]--; }
|
||||
else { sys_position[B_AXIS]++; }
|
||||
}
|
||||
#endif
|
||||
|
||||
#if N_AXIS > C_AXIS
|
||||
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
|
||||
st.counter_c += st.steps[C_AXIS];
|
||||
#else
|
||||
st.counter_c += st.exec_block->steps[C_AXIS];
|
||||
#endif
|
||||
if (st.counter_c > st.exec_block->step_event_count) {
|
||||
st.step_outbits |= (1<<C_STEP_BIT);
|
||||
st.counter_c -= st.exec_block->step_event_count;
|
||||
if (st.exec_block->direction_bits & (1<<C_DIRECTION_BIT)) { sys_position[C_AXIS]--; }
|
||||
else { sys_position[C_AXIS]++; }
|
||||
}
|
||||
#endif
|
||||
|
||||
// During a homing cycle, lock out and prevent desired axes from moving.
|
||||
if (sys.state == STATE_HOMING) {
|
||||
@@ -414,8 +427,14 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
|
||||
void stepper_init()
|
||||
{
|
||||
|
||||
#ifdef USE_TMC2130
|
||||
TMC2130_Init();
|
||||
// make the stepper disable pin an output
|
||||
#ifdef STEPPERS_DISABLE_PIN
|
||||
pinMode(STEPPERS_DISABLE_PIN, OUTPUT);
|
||||
set_stepper_disable(true);
|
||||
#endif
|
||||
|
||||
#ifdef USE_TRINAMIC
|
||||
Trinamic_Init();
|
||||
#endif
|
||||
|
||||
#ifdef USE_RMT_STEPS
|
||||
@@ -444,6 +463,19 @@ void stepper_init()
|
||||
#ifdef Z_STEP_B_PIN
|
||||
pinMode(Z_STEP_B_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
#ifdef A_STEP_PIN
|
||||
pinMode(A_STEP_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
#ifdef B_STEP_PIN
|
||||
pinMode(B_STEP_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
#ifdef C_STEP_PIN
|
||||
pinMode(C_STEP_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// make the direction pins outputs
|
||||
@@ -456,14 +488,18 @@ void stepper_init()
|
||||
#ifdef Z_DIRECTION_PIN
|
||||
pinMode(Z_DIRECTION_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
// make the stepper disable pin an output
|
||||
#ifdef STEPPERS_DISABLE_PIN
|
||||
pinMode(STEPPERS_DISABLE_PIN, OUTPUT);
|
||||
set_stepper_disable(true);
|
||||
#ifdef A_DIRECTION_PIN
|
||||
pinMode(A_DIRECTION_PIN, OUTPUT);
|
||||
#endif
|
||||
#ifdef B_DIRECTION_PIN
|
||||
pinMode(B_DIRECTION_PIN, OUTPUT);
|
||||
#endif
|
||||
#ifdef C_DIRECTION_PIN
|
||||
pinMode(C_DIRECTION_PIN, OUTPUT);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
// setup stepper timer interrupt
|
||||
|
||||
@@ -573,6 +609,38 @@ void initRMT()
|
||||
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
|
||||
#endif
|
||||
|
||||
#ifdef A_STEP_PIN
|
||||
rmt_set_source_clk( (rmt_channel_t)A_RMT_CHANNEL, RMT_BASECLK_APB);
|
||||
rmtConfig.channel = (rmt_channel_t)A_RMT_CHANNEL;
|
||||
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, A_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
|
||||
rmtConfig.gpio_num = A_STEP_PIN; // TODO
|
||||
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
|
||||
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
|
||||
rmt_config(&rmtConfig);
|
||||
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
|
||||
#endif
|
||||
|
||||
#ifdef B_STEP_PIN
|
||||
rmt_set_source_clk( (rmt_channel_t)B_RMT_CHANNEL, RMT_BASECLK_APB);
|
||||
rmtConfig.channel = (rmt_channel_t)B_RMT_CHANNEL;
|
||||
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, B_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
|
||||
rmtConfig.gpio_num = B_STEP_PIN; // TODO
|
||||
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
|
||||
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
|
||||
rmt_config(&rmtConfig);
|
||||
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
|
||||
#endif
|
||||
|
||||
#ifdef C_STEP_PIN
|
||||
rmt_set_source_clk( (rmt_channel_t)C_RMT_CHANNEL, RMT_BASECLK_APB);
|
||||
rmtConfig.channel = (rmt_channel_t)C_RMT_CHANNEL;
|
||||
rmtConfig.tx_config.idle_level = bit_istrue(settings.step_invert_mask, C_AXIS) ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
|
||||
rmtConfig.gpio_num = C_STEP_PIN; // TODO
|
||||
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
|
||||
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
|
||||
rmt_config(&rmtConfig);
|
||||
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
@@ -651,6 +719,17 @@ void set_direction_pins_on(uint8_t onMask)
|
||||
#ifdef Z_DIRECTION_PIN
|
||||
digitalWrite(Z_DIRECTION_PIN, (onMask & (1<<Z_AXIS)));
|
||||
#endif
|
||||
#ifdef A_DIRECTION_PIN
|
||||
digitalWrite(A_DIRECTION_PIN, (onMask & (1<<A_AXIS)));
|
||||
#endif
|
||||
#ifdef B_DIRECTION_PIN
|
||||
digitalWrite(B_DIRECTION_PIN, (onMask & (1<<B_AXIS)));
|
||||
#endif
|
||||
#ifdef C_DIRECTION_PIN
|
||||
digitalWrite(C_DIRECTION_PIN, (onMask & (1<<C_AXIS)));
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
|
||||
#ifndef USE_GANGED_AXES
|
||||
@@ -670,6 +749,10 @@ void set_stepper_pins_on(uint8_t onMask)
|
||||
#ifdef Z_STEP_PIN
|
||||
digitalWrite(Z_STEP_PIN, (onMask & (1<<Z_AXIS)));
|
||||
#endif
|
||||
|
||||
#ifdef A_STEP_PIN
|
||||
digitalWrite(A_STEP_PIN, (onMask & (1<<A_AXIS)));
|
||||
#endif
|
||||
}
|
||||
#else // we use ganged axes
|
||||
void set_stepper_pins_on(uint8_t onMask)
|
||||
@@ -719,6 +802,82 @@ void set_stepper_pins_on(uint8_t onMask)
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RMT_STEPS
|
||||
// Set stepper pulse output pins
|
||||
inline IRAM_ATTR static void stepperRMT_Outputs()
|
||||
{
|
||||
|
||||
#ifdef X_STEP_PIN
|
||||
if(st.step_outbits & (1<<X_AXIS)) {
|
||||
#ifndef X_STEP_B_PIN // if not a ganged axis
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
#else // it is a ganged axis
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_RMT_CHANNEL].conf1.tx_start = 1; }
|
||||
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
|
||||
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[X_B_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef Y_STEP_PIN
|
||||
if(st.step_outbits & (1<<Y_AXIS)) {
|
||||
#ifndef Y_STEP_B_PIN // if not a ganged axis
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
#else // it is a ganged axis
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_A) ) {
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
if ( (ganged_mode == SQUARING_MODE_DUAL) || (ganged_mode == SQUARING_MODE_B) ) {
|
||||
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Y_B_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef Z_STEP_PIN
|
||||
if(st.step_outbits & (1<<Z_AXIS)) {
|
||||
RMT.conf_ch[Z_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[Z_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef A_STEP_PIN
|
||||
if(st.step_outbits & (1<<A_AXIS)) {
|
||||
|
||||
RMT.conf_ch[A_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[A_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef B_STEP_PIN
|
||||
if(st.step_outbits & (1<<B_AXIS)) {
|
||||
|
||||
RMT.conf_ch[B_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[B_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef C_STEP_PIN
|
||||
if(st.step_outbits & (1<<C_AXIS)) {
|
||||
|
||||
RMT.conf_ch[C_RMT_CHANNEL].conf1.mem_rd_rst = 1;
|
||||
RMT.conf_ch[C_RMT_CHANNEL].conf1.tx_start = 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
@@ -728,6 +887,8 @@ void st_go_idle()
|
||||
// Disable Stepper Driver Interrupt. Allow Stepper Port Reset Interrupt to finish, if active.
|
||||
Stepper_Timer_Stop();
|
||||
busy = false;
|
||||
|
||||
|
||||
|
||||
bool pin_state = false;
|
||||
// Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
|
||||
@@ -1324,11 +1485,15 @@ void IRAM_ATTR Stepper_Timer_Stop()
|
||||
|
||||
|
||||
void set_stepper_disable(uint8_t isOn) // isOn = true // to disable
|
||||
{
|
||||
{
|
||||
#ifdef TRINAMIC
|
||||
return;
|
||||
#endif
|
||||
|
||||
if (bit_istrue(settings.flags,BITFLAG_INVERT_ST_ENABLE)) {
|
||||
isOn = !isOn; // Apply pin invert.
|
||||
}
|
||||
|
||||
|
||||
#ifdef STEPPERS_DISABLE_PIN
|
||||
digitalWrite(STEPPERS_DISABLE_PIN, isOn );
|
||||
#endif
|
||||
@@ -1354,4 +1519,3 @@ bool get_stepper_disable() // returns true if steppers are disabled
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -32,7 +32,7 @@
|
||||
|
||||
|
||||
#include "grbl.h"
|
||||
//#include "config.h"
|
||||
#include "config.h"
|
||||
|
||||
// Some useful constants.
|
||||
#define DT_SEGMENT (1.0/(ACCELERATION_TICKS_PER_SECOND*60.0)) // min/segment
|
||||
@@ -81,8 +81,11 @@ extern uint8_t ganged_mode;
|
||||
// -- Task handles for use in the notifications
|
||||
void IRAM_ATTR onSteppertimer();
|
||||
void IRAM_ATTR onStepperOffTimer();
|
||||
void stepper_init();
|
||||
void initRMT();
|
||||
|
||||
void initRMT();
|
||||
inline IRAM_ATTR static void stepperRMT_Outputs();
|
||||
|
||||
void stepper_init();
|
||||
|
||||
// Enable steppers, but cycle does not start unless called by motion control or realtime command.
|
||||
void st_wake_up();
|
||||
@@ -124,4 +127,4 @@ void Stepper_Timer_WritePeriod(uint64_t alarm_val);
|
||||
void Stepper_Timer_Start();
|
||||
void Stepper_Timer_Stop();
|
||||
|
||||
#endif
|
||||
#endif
|
||||
@@ -156,7 +156,7 @@ uint8_t system_execute_line(char *line, uint8_t client)
|
||||
if ( line[2] != 0 ) { return(STATUS_INVALID_STATEMENT); }
|
||||
else { report_ngc_parameters(client); }
|
||||
break;
|
||||
case 'H' : // Perform homing cycle [IDLE/ALARM]
|
||||
case 'H' : // Perform homing cycle [IDLE/ALARM] $H
|
||||
if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
|
||||
if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
|
||||
sys.state = STATE_HOMING; // Set system state variable
|
||||
@@ -168,6 +168,9 @@ uint8_t system_execute_line(char *line, uint8_t client)
|
||||
case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
|
||||
case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
|
||||
case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
|
||||
case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
|
||||
case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
|
||||
case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
|
||||
default: return(STATUS_INVALID_STATEMENT);
|
||||
}
|
||||
#endif
|
||||
@@ -430,7 +433,10 @@ uint8_t get_limit_pin_mask(uint8_t axis_idx)
|
||||
{
|
||||
if ( axis_idx == X_AXIS ) { return((1<<X_LIMIT_BIT)); }
|
||||
if ( axis_idx == Y_AXIS ) { return((1<<Y_LIMIT_BIT)); }
|
||||
return((1<<Z_LIMIT_BIT));
|
||||
if ( axis_idx == Z_AXIS ) { return((1<<Z_LIMIT_BIT)); }
|
||||
if ( axis_idx == A_AXIS ) { return((1<<A_LIMIT_BIT)); }
|
||||
if ( axis_idx == B_AXIS ) { return((1<<B_LIMIT_BIT)); }
|
||||
return((1<<C_LIMIT_BIT));
|
||||
}
|
||||
|
||||
// CoreXY calculation only. Returns x or y-axis "steps" based on CoreXY motor steps.
|
||||
|
||||
Reference in New Issue
Block a user