Initial release with custom machine

Grbl_Esp32/Custom/4axis_xyxz.cpp

@@ -0,0 +1,142 @@
+/*
+	custom_code_template.cpp (copy and use your machine name)
+	Part of Grbl_ESP32
+*/
+
+uint8_t AmountOfToolChanges;
+
+#ifdef USE_MACHINE_INIT
+/*
+machine_init() is called when Grbl_ESP32 first starts. You can use it to do any
+special things your machine needs at startup.
+*/
+void machine_init()
+{
+    // First call means AmountOfToolChanges=0.
+    AmountOfToolChanges=0;
+
+    grbl_send(CLIENT_ALL, "machine_init");
+}
+#endif
+
+#ifdef USE_TOOL_CHANGE
+/*
+  user_tool_change() is called when tool change gcode is received,
+  to perform appropriate actions for your machine.
+*/
+
+float getCurrentZPos()
+{
+    int32_t current_position[N_AXIS]; // copy of current location
+    float m_pos[N_AXIS];   // machine position in mm
+
+    memcpy(current_position, sys_position, sizeof(sys_position)); // get current position in step
+    system_convert_array_steps_to_mpos(m_pos, sys_position); // convert to millimeters
+
+    return m_pos[Z_AXIS];
+}
+
+float getLastZProbePos()
+{
+    float m_pos[N_AXIS];   // machine position in mm
+    char output[200];
+
+    //memcpy(current_position, sys_position, sizeof(sys_position)); // get current position in step
+    system_convert_array_steps_to_mpos(m_pos, sys_probe_position); // convert to millimeters
+
+    return m_pos[Z_AXIS];
+}
+
+float getG54Zvalue()
+{
+    float coord_data[N_AXIS];
+
+    settings_read_coord_data(0, coord_data); //0=G54
+
+    return coord_data[Z_AXIS];
+}
+
+void user_tool_change(uint8_t new_tool)
+{
+    // Variables
+    char temp[200];
+    float value1, value2, diff;
+
+    // Start of function
+    // AmountOfToolChanges=AmountOfToolChanges+1 each time.
+
+    AmountOfToolChanges=+1;
+
+    sprintf(temp, "Tool change amount=%d\r\n", AmountOfToolChanges);
+    grbl_send(CLIENT_ALL, temp);
+
+    // Init. Safe start block. G54, XY plane, mm mode, relative addressing mode
+    inputBuffer.push("G54\r\n");
+    inputBuffer.push("G17 G21 G91\r\n");
+
+    // Switch off spindle
+    inputBuffer.push("M05\r\n");
+
+    /*
+    // Set speed
+    inputBuffer.push("F100\r\n");
+
+    // Place spindle directly above button in X/Y and a few mm above Z
+    inputBuffer.push("G53 G0 Z-5 F500\r\n");
+    inputBuffer.push("G53 G0 X-29 Y-410 F100\r\n");
+    inputBuffer.push("G53 G0 Z-60 F100\r\n");
+
+    // Z probe, max. 50mm to find button
+    inputBuffer.push("G38.2 Z-50 F250\r\n");
+
+    // Raise spindle a little bit
+    inputBuffer.push("G0 Z1.5\r\n");
+
+    // Z probe again
+    inputBuffer.push("G38.2 Z-2 F30\r\n");
+    */
+
+
+    protocol_buffer_synchronize(); // wait for all previous moves to complete
+
+
+    // Z Probe Pos.
+    value1=getCurrentZPos();
+    sprintf(temp, "z probe pos=%4.3f\r\n", value1);
+    grbl_send(CLIENT_ALL, temp); // send the report
+
+
+    // Raise spindle a little bit
+    inputBuffer.push("G0 Z1.5\r\n");
+    protocol_buffer_synchronize(); // wait for all previous moves to complete
+
+    // Z Probe Pos.
+    value2=getCurrentZPos();
+    sprintf(temp, "z probe pos neu=%4.3f\r\n",  value2);
+    grbl_send(CLIENT_ALL, temp); // send the report
+
+    diff = value2 - value1;
+    sprintf(temp, "diff=%4.3f mm\r\n",  diff);
+    grbl_send(CLIENT_ALL, temp); // send the report
+
+    
+
+    //sprintf(temp, "z pos=%4.3f\r\n", getCurrentZPos());
+    //grbl_send(CLIENT_ALL, temp); // send the report
+
+    //sprintf(temp, "z G54=%4.3f\r\n", getG54Zvalue());
+    //grbl_send(CLIENT_ALL, temp); // send the report
+
+
+  
+    
+
+    // Clean up
+    inputBuffer.push("G90\r\n");
+
+
+    protocol_buffer_synchronize(); // wait for all previous moves to complete
+
+    return;
+}
+#endif

Grbl_Esp32/Machines/4axis_xyxz.h

@@ -0,0 +1,77 @@
+/*
+ * 4 Achsen CNC Fr<46>se von Jens
+ * Infos zur Benutzung einer Spindel mit Relais https://github.com/bdring/Grbl_Esp32/wiki/Spindle-Types
+ */
+ 
+#define MACHINE_NAME            "MACHINE_ESP32 Jens XYZA"
+
+#ifdef N_AXIS
+        #undef N_AXIS
+#endif
+
+// M<>chte ich mit 3 oder 4 Achsen arbeiten?
+// Beides ist eingerichtet.
+#define N_AXIS 3
+
+#define CUSTOM_CODE_FILENAME "Custom/4axis_xyxz.cpp"
+
+/*
+ * Zuordnung Schrittmotoren
+ */
+#define X_STEP_PIN              GPIO_NUM_12
+#define X_DIRECTION_PIN         GPIO_NUM_14
+#define Y_STEP_PIN              GPIO_NUM_26
+#define Y_DIRECTION_PIN         GPIO_NUM_15
+#define Z_STEP_PIN              GPIO_NUM_27
+#define Z_DIRECTION_PIN         GPIO_NUM_33
+
+#define STEPPERS_DISABLE_PIN    GPIO_NUM_13 //ok
+
+// Falls die 4. Achse genutzt wird
+#if (N_AXIS == 4)
+    #define A_STEP_PIN              GPIO_NUM_25
+    #define A_DIRECTION_PIN         GPIO_NUM_22
+#endif
+
+#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
+//#define SPINDLE_ENABLE_PIN      GPIO_NUM_32
+#define SPINDLE_OUTPUT_PIN GPIO_NUM_32
+
+
+/*
+ * Zuordnung Endschalter
+ * The 1 bits in LIMIT_MASK set the axes that have limit switches
+ * X, Y, Z, A do, the LIMIT_MASK value would be B1111
+ */
+#define LIMIT_MASK              B1111
+#define X_LIMIT_PIN             GPIO_NUM_17 //ok
+#define Y_LIMIT_PIN             GPIO_NUM_4  //ok
+#define Z_LIMIT_PIN             GPIO_NUM_16 //ok
+
+// Falls die 4. Achse genutzt wird
+#if (N_AXIS == 4)
+    #define A_LIMIT_PIN         GPIO_NUM_21 //ok
+    #define LIMIT_MASK          B1111
+#else
+    // bei 3 Achsen
+    #define LIMIT_MASK          B111
+#endif
+
+/*
+ * Control pins
+ */
+#define PROBE_PIN               GPIO_NUM_35 //ok
+#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_36  // needs external pullup
+#define CONTROL_RESET_PIN       GPIO_NUM_34  // needs external pullup
+// #define CONTROL_FEED_HOLD_PIN   GPIO_NUM_35  // needs external pullup
+#define CONTROL_CYCLE_START_PIN GPIO_NUM_39  // needs external pullup
+
+/* Normally Grbl_ESP32 ignores tool changes.
+ * It just tracks the current tool number.
+ * If you put #define USE_TOOL_CHANGE in you header file,
+ * it will call a function void user_tool_change(uint8_t new_tool) when it sees the M6 gcode command.
+ */
+
+
+#define USE_MACHINE_INIT
+#define USE_TOOL_CHANGE

Grbl_Esp32/config.h

@@ -63,12 +63,12 @@ Some features should not be changed. See notes below.
 // These homing cycle definitions precede the machine.h file so that the machine
 // definition can undefine them if necessary.
 #define HOMING_CYCLE_0 bit(Z_AXIS)	// TYPICALLY REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 bit(X_AXIS)
+//#define HOMING_CYCLE_1 bit(X_AXIS)
-#define HOMING_CYCLE_2 bit(Y_AXIS)
+//#define HOMING_CYCLE_2 bit(Y_AXIS)
 
 // NOTE: The following is for for homing X and Y at the same time
 // #define HOMING_CYCLE_0 bit(Z_AXIS) // first home z by itself
-// #define HOMING_CYCLE_1 (bit(X_AXIS)|bit(Y_AXIS))  // Homes both X-Y in one cycle. NOT COMPATIBLE WITH COREXY!!!
+#define HOMING_CYCLE_1 (bit(X_AXIS)|bit(Y_AXIS))  // Homes both X-Y in one cycle. NOT COMPATIBLE WITH COREXY!!!
 
 // Inverts pin logic of the control command pins based on a mask. This essentially means you can use
 // normally-closed switches on the specified pins, rather than the default normally-open switches.
@@ -222,7 +222,7 @@ Some features should not be changed. See notes below.
 // If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
 // the user to perform the homing cycle (or override the locks) before doing anything else. This is
 // mainly a safety feature to remind the user to home, since position is unknown to Grbl.
-#define HOMING_INIT_LOCK // Comment to disable
+//#define HOMING_INIT_LOCK // Comment to disable
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
@@ -567,8 +567,8 @@ Some features should not be changed. See notes below.
 // A simple software debouncing feature for hard limit switches. When enabled, the limit
 // switch interrupt unblock a waiting task which will recheck the limit switch pins after
 // a short delay. Default disabled
-//#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
+#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
-#define DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
+#define DEBOUNCE_PERIOD 50 // in milliseconds default 32 microseconds
 
 // Configures the position after a probing cycle during Grbl's check mode. Disabled sets
 // the position to the probe target, when enabled sets the position to the start position.

Grbl_Esp32/machine.h

@@ -17,7 +17,8 @@ PWM
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#include "Machines/test_drive.h"
+//#include "Machines/test_drive.h"
+#include "Machines/4axis_xyxz.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example: