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Merge pull request #168 from bdring/Devt

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Devt
This commit is contained in:
bdring
2019-06-16 12:58:50 -05:00
committed by GitHub
parent b85f5c09fe 48d0db5fba
commit 6ffe4aef94
8 changed files with 59 additions and 58 deletions
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2
Grbl_Esp32/grbl.h
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@@ -20,7 +20,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20190602"
#define GRBL_VERSION_BUILD "20190616"
//#include <sdkconfig.h>
#include <Arduino.h>

2
Grbl_Esp32/servo_pen.cpp
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@@ -23,6 +23,8 @@
#ifdef USE_PEN_SERVO
static TaskHandle_t servoSyncTaskHandle = 0;
// used to delay turn on
bool servo_pen_enable = false;

2
Grbl_Esp32/servo_pen.h
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@@ -67,8 +67,6 @@
#ifndef servo_h
#define servo_h
static TaskHandle_t servoSyncTaskHandle = 0;
void servo_init();
void servo_disable();
bool validate_servo_settings(bool verbose);

2
Grbl_Esp32/solenoid_pen.cpp
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@@ -23,6 +23,8 @@
#ifdef USE_PEN_SOLENOID
static TaskHandle_t solenoidSyncTaskHandle = 0;
// used to delay turn on
bool solenoid_pen_enable;
uint16_t solenoide_hold_count;

2
Grbl_Esp32/solenoid_pen.h
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@@ -46,7 +46,7 @@
#ifndef solenoid_h
#define solenoid_h
static TaskHandle_t solenoidSyncTaskHandle = 0;
void solenoid_init();
void solenoid_disable();
void solenoidSyncTask(void *pvParameters);

103
Grbl_Esp32/stepper.cpp
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@@ -198,6 +198,58 @@ 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.
@@ -670,57 +722,6 @@ void set_stepper_pins_on(uint8_t onMask)
}
#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
}
#endif
// Stepper shutdown
void st_go_idle()
{

1
Grbl_Esp32/stepper.h
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@@ -83,7 +83,6 @@ void IRAM_ATTR onSteppertimer();
void IRAM_ATTR onStepperOffTimer();
void stepper_init();
void initRMT();
inline IRAM_ATTR static void stepperRMT_Outputs();
// Enable steppers, but cycle does not start unless called by motion control or realtime command.
void st_wake_up();

3
README.md
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@@ -6,7 +6,7 @@
### Project Overview
[![Build Status](https://travis-ci.org/bdring/Grbl_Esp32.svg?branch=master)](https://travis-ci.org/bdring/Grbl_Esp32)
[![Build Status](https://travis-ci.com/odaki/Grbl_Esp32.svg?branch=master)](https://travis-ci.com/odaki/Grbl_Esp32)
This is a port of [Grbl](https://github.com/gnea/grbl) for the ESP32. The ESP32 is potentially a great target for Grbl for the following reasons
@@ -54,4 +54,3 @@ Start asking questions...I'll put the frequent ones here.
This project requires a lot of work and often expensive items for testing. Please consider a safe, secure and highly appreciated donation via the PayPal link below.
[![](https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=TKNJ9Z775VXB2)