mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-03 03:13:25 +02:00
Added optional pen and solenoid control of Z axis
- Added Servo features - Added Solenoid Features - Added cpu_maps for pen/laser controler and midtbot
This commit is contained in:
bdring
@@ -58,10 +58,15 @@ void setup() {
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}
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#endif
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memset(sys_position,0,sizeof(sys_position)); // Clear machine position.
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#ifdef USE_PEN_SERVO
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servo_init();
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#endif
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#ifdef USE_PEN_SOLENOID
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solenoid_init();
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#endif
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// Initialize system state.
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#ifdef FORCE_INITIALIZATION_ALARM
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@@ -47,7 +47,6 @@ Some features should not be changed. See notes below.
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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 // currently not required
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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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@@ -223,6 +222,13 @@ Some features should not be changed. See notes below.
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// have the same steps per mm internally.
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// #define COREXY // Default disabled. Uncomment to enable.
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// Enable using a servo for the Z axis on a pen type machine.
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// You typically should not define a pin for the Z axis in cpu_map.h
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// You should configure your servo PWM pin and settings in servo_pen.h
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//#define USE_PEN_SERVO
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// Enable using a solenoid for the Z axis on a pen type machine
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//#define USE_PEN_SOLENOID
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// Inverts pin logic of the control command pins based on a mask. This essentially means you can use
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// normally-closed switches on the specified pins, rather than the default normally-open switches.
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// NOTE: The top option will mask and invert all control pins. The bottom option is an example of
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@@ -19,7 +19,7 @@
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*/
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#ifndef cpu_map_h
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#define cpu_map_h
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//#define cpu_map_h
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/*
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Not all pins can can work for all functions.
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@@ -36,6 +36,7 @@
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*/
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#ifdef CPU_MAP_ESP32
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// This is the CPU Map for the ESP32 CNC Controller R2
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// It is OK to comment out any step and direction pins. This
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@@ -71,9 +72,11 @@
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#define SPINDLE_PWM_BIT_PRECISION 12 // 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 4096 // (2^SPINDLE_PWM_BIT_PRECISION)
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// if these spindle function pins are defined, they will be activated in the code
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@@ -92,7 +95,113 @@
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#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
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#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
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// These are some ESP32 CPU Settings that the program needs, but are generally not changed
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#endif
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#ifdef CPU_MAP_PEN_LASER // The Buildlog.net pen laser controller V1
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#define X_STEP_PIN GPIO_NUM_12
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#define Y_STEP_PIN GPIO_NUM_14
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#define X_DIRECTION_PIN GPIO_NUM_26
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#define Y_DIRECTION_PIN GPIO_NUM_25
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#define STEPPERS_DISABLE_PIN GPIO_NUM_13
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#define X_LIMIT_PIN GPIO_NUM_2
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#define Y_LIMIT_PIN GPIO_NUM_4
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// ignored via config.h
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#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
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#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
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#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
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#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
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// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
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// use a virtual spindle. Do not comment out the other parameters for the spindle.
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#define SPINDLE_PWM_PIN GPIO_NUM_17 // Laser PWM
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#define SPINDLE_PWM_CHANNEL 0
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// PWM Generator is based on 80,000,000 Hz counter
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// Therefor the freq determines the resolution
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// 80,000,000 / freq = max resolution
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// For 5000 that is 80,000,000 / 5000 = 16000
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// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
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#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 12 // 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 4096 // (2^SPINDLE_PWM_BIT_PRECISION)
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// see servo_pen.h for servo i/o mapping
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#endif
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#ifdef CPU_MAP_MIDTBOT // Buildlog.net midtbot
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#define X_STEP_PIN GPIO_NUM_12
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#define Y_STEP_PIN GPIO_NUM_14
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#define X_DIRECTION_PIN GPIO_NUM_26
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#define Y_DIRECTION_PIN GPIO_NUM_25
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#ifndef COREXY // maybe set in config.h
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#define COREXY
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#endif
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#define STEPPERS_DISABLE_PIN GPIO_NUM_13
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#define X_LIMIT_PIN GPIO_NUM_2
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#define Y_LIMIT_PIN GPIO_NUM_4
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#ifndef USE_PEN_SERVO // maybe set in config.h
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#define USE_PEN_SERVO
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#endif
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#ifndef IGNORE_CONTROL_PINS // maybe set in config.h
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#define IGNORE_CONTROL_PINS
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#endif
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#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
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#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
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#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
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#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
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// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
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// use a virtual spindle. Do not comment out the other parameters for the spindle.
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//#define SPINDLE_PWM_PIN GPIO_NUM_17 // Laser PWM
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#define SPINDLE_PWM_CHANNEL 0
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// PWM Generator is based on 80,000,000 Hz counter
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// Therefor the freq determines the resolution
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// 80,000,000 / freq = max resolution
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// For 5000 that is 80,000,000 / 5000 = 16000
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// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
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#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 12 // 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 4096 // (2^SPINDLE_PWM_BIT_PRECISION)
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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// redefine some stuff from config.h
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#define HOMING_CYCLE_0 (1<<X_AXIS)
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#define HOMING_CYCLE_1 (1<<Y_AXIS)
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#ifdef HOMING_CYCLE_2
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#undef HOMING_CYCLE_2
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SERVO_PEN_PIN GPIO_NUM_27
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#endif
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// ================= common to all machines ================================
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// These are some ESP32 CPU Settings that the program needs, but are generally not changed
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#define F_TIMERS 80000000 // a reference to the speed of ESP32 timers
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#define F_STEPPER_TIMER 20000000 // frequency of step pulse timer
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#define STEPPER_OFF_TIMER_PRESCALE 8 // gives a frequency of 10MHz
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@@ -125,4 +234,5 @@
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// =======================================================================
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#endif
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@@ -82,6 +82,102 @@
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#endif
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#ifdef DEFAULTS_PEN_LASER
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// Grbl generic default settings. Should work across different machines.
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#define DEFAULT_STEP_PULSE_MICROSECONDS 3
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // msec (0-254, 255 keeps steppers enabled)
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#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
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#define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
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#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
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#define DEFAULT_INVERT_LIMIT_PINS 0 // boolean
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#define DEFAULT_INVERT_PROBE_PIN 0 // boolean
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#define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
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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 0 // false
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#define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z, negative X,Y
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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 1.0 // 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 80.0
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#define DEFAULT_Y_STEPS_PER_MM 80.0
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#define DEFAULT_Z_STEPS_PER_MM 80.0
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#define DEFAULT_X_MAX_RATE 12000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 12000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 5000.0 // 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 (50.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_X_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 100.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 10.0 // mm NOTE: Must be a positive value.
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#endif
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#ifdef DEFAULTS_MIDTBOT
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// Grbl generic default settings. Should work across different machines.
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#define DEFAULT_STEP_PULSE_MICROSECONDS 3
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#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // msec (0-254, 255 keeps steppers enabled)
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#define DEFAULT_STEPPING_INVERT_MASK 0 // uint8_t
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#define DEFAULT_DIRECTION_INVERT_MASK 0 // uint8_t
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#define DEFAULT_INVERT_ST_ENABLE 0 // boolean
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#define DEFAULT_INVERT_LIMIT_PINS 0 // boolean
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#define DEFAULT_INVERT_PROBE_PIN 0 // boolean
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#define DEFAULT_STATUS_REPORT_MASK 2 // MPos enabled
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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 // false
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#define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z, negative X,Y
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#define DEFAULT_HOMING_FEED_RATE 200.0 // mm/min
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#define DEFAULT_HOMING_SEEK_RATE 3000.0 // mm/min
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#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
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#define DEFAULT_HOMING_PULLOFF 1.0 // 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 200.0
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#define DEFAULT_Z_STEPS_PER_MM 100.0 // DEFAULT CAL VALUE !!
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#define DEFAULT_X_MAX_RATE 12000.0 // mm/min
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#define DEFAULT_Y_MAX_RATE 12000.0 // mm/min
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#define DEFAULT_Z_MAX_RATE 12000.0 // mm/min
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#define DEFAULT_X_ACCELERATION (800.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Y_ACCELERATION (800.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_Z_ACCELERATION (100.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
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#define DEFAULT_X_MAX_TRAVEL 90.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Y_MAX_TRAVEL 90.0 // mm NOTE: Must be a positive value.
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#define DEFAULT_Z_MAX_TRAVEL 100.0 // DEFAULT CAL VALUE !!
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#endif
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#endif
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@@ -73,3 +73,6 @@
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#include "telnet_server.h"
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#endif
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#endif
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#include "servo_pen.h"
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#include "solenoid_pen.h"
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157
Grbl_Esp32/servo_pen.cpp
Normal file
157
Grbl_Esp32/servo_pen.cpp
Normal file
@@ -0,0 +1,157 @@
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/*
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servo_pen.cpp
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Part of Grbl_ESP32
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copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
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CPU. Do not use this with Grbl for atMega328P
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
|
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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#ifdef USE_PEN_SERVO
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// used to delay turn on
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bool servo_pen_enable = false;
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void servo_init()
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{
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grbl_send(CLIENT_SERIAL, "[MSG:Servo Pen Mode]\r\n"); // startup message
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//validate_servo_settings(true); // display any calibration errors
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// Debug stuff
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grbl_sendf(CLIENT_SERIAL, "[MSG:Servo max,min pulse times %.4f sec,%.4f sec]\r\n", SERVO_MAX_PULSE_SEC, SERVO_MIN_PULSE_SEC);
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grbl_sendf(CLIENT_SERIAL, "[MSG:Servo max,min pulse counts %d,%d]\r\n", SERVO_MAX_PULSE, SERVO_MIN_PULSE);
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validate_servo_settings(true); // will print errors
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// debug stuff
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servo_pen_enable = false; // start delay has not completed yet.
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// setup PWM channel
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ledcSetup(SERVO_PEN_CHANNEL_NUM, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
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ledcAttachPin(SERVO_PEN_PIN, SERVO_PEN_CHANNEL_NUM);
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servo_disable(); // start it it off
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// setup a task that will calculate the determine and set the servo position
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xTaskCreatePinnedToCore( servoSyncTask, // task
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"servoSyncTask", // name for task
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4096, // size of task stack
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NULL, // parameters
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1, // priority
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&servoSyncTaskHandle,
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0 // core
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);
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}
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// turn off the PWM (0 duty) to prevent servo jitter when not in use.
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void servo_disable()
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{
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ledcWrite(SERVO_PEN_CHANNEL_NUM, 0);
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}
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||||
|
||||
// Grbl settings are used to calibrate the servo positions
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// They work on a percentage, so a value of 100 (100%) applies no calibration
|
||||
// Values outside a reasonable range can cause errors, so this function checks
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// that they are within a reasonable range
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bool validate_servo_settings(bool verbose) // make sure the settings are reasonable..otherwise reset the settings to default
|
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{
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bool settingsOK = true;
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if ( (settings.steps_per_mm[Z_AXIS] < SERVO_CAL_MIN) || (settings.steps_per_mm[Z_AXIS] > SERVO_CAL_MAX) ) {
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if (verbose) {
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grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($102) Error: %4.4f s/b between %.2f and %.2f]\r\n", settings.steps_per_mm[Z_AXIS], SERVO_CAL_MIN, SERVO_CAL_MAX);
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}
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||||
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settingsOK = false;
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}
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||||
// Note: Max travel is set positive via $$, but stored as a negative number
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if ( (settings.max_travel[Z_AXIS] < -SERVO_CAL_MAX) || (settings.max_travel[Z_AXIS] > -SERVO_CAL_MIN) ) {
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if (verbose) {
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grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($132) Error: %4.4f s/b between %.2f and %.2f]\r\n", -settings.max_travel[Z_AXIS], SERVO_CAL_MIN, SERVO_CAL_MAX);
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||||
}
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settingsOK = false;
|
||||
}
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||||
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||||
return settingsOK;
|
||||
}
|
||||
|
||||
// this is the task
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||||
void servoSyncTask(void *pvParameters)
|
||||
{
|
||||
int32_t current_position[N_AXIS]; // copy of current location
|
||||
float m_pos[N_AXIS]; // machine position in mm
|
||||
TickType_t xLastWakeTime;
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||||
const TickType_t xServoFrequency = SERVO_TIMER_INT_FREQ; // in ticks (typically ms)
|
||||
uint16_t servo_delay_counter = 0;
|
||||
|
||||
while(true) { // don't ever return from this or the task dies
|
||||
|
||||
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
|
||||
|
||||
if (!servo_pen_enable) {
|
||||
servo_delay_counter++;
|
||||
servo_pen_enable = (servo_delay_counter > SERVO_TURNON_DELAY);
|
||||
} else {
|
||||
if(!stepper_idle) {
|
||||
memcpy(current_position,sys_position,sizeof(sys_position)); // get current position in step
|
||||
system_convert_array_steps_to_mpos(m_pos,current_position); // convert to millimeters
|
||||
|
||||
calc_pen_servo(m_pos[Z_AXIS]); // calculate kinematics and move the servos
|
||||
} else {
|
||||
servo_disable();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// calculate and set the PWM value for the servo
|
||||
void calc_pen_servo(float penZ)
|
||||
{
|
||||
uint32_t servo_pen_pulse_len;
|
||||
float servo_pen_pulse_min, servo_pen_pulse_max;
|
||||
|
||||
if (!servo_pen_enable) { // only proceed if startup delay as expired
|
||||
return;
|
||||
}
|
||||
|
||||
if (validate_servo_settings(false)) { // if calibration settings are OK then apply them
|
||||
// Apply a calibration to the minimum position
|
||||
servo_pen_pulse_min = SERVO_MIN_PULSE * (settings.steps_per_mm[Z_AXIS] / 100.0);
|
||||
|
||||
// Apply a calibration to the maximum position
|
||||
servo_pen_pulse_max = SERVO_MAX_PULSE * (settings.max_travel[Z_AXIS] / -100.0);
|
||||
} else { // use the defaults
|
||||
servo_pen_pulse_min = SERVO_MIN_PULSE;
|
||||
servo_pen_pulse_max = SERVO_MAX_PULSE;
|
||||
}
|
||||
|
||||
// determine the pulse length
|
||||
servo_pen_pulse_len = mapConstrain(penZ, SERVO_PEN_RANGE_MIN_MM, SERVO_PEN_RANGE_MAX_MM, servo_pen_pulse_min, servo_pen_pulse_max );
|
||||
|
||||
// TODO only update it if it has changed
|
||||
|
||||
// update the PWM value
|
||||
// ledcWrite appears to have issues with interrupts, so make this a critical section
|
||||
portMUX_TYPE myMutex = portMUX_INITIALIZER_UNLOCKED;
|
||||
taskENTER_CRITICAL(&myMutex);
|
||||
ledcWrite(SERVO_PEN_CHANNEL_NUM, servo_pen_pulse_len);
|
||||
taskEXIT_CRITICAL(&myMutex);
|
||||
}
|
||||
|
||||
#endif
|
||||
80
Grbl_Esp32/servo_pen.h
Normal file
80
Grbl_Esp32/servo_pen.h
Normal file
@@ -0,0 +1,80 @@
|
||||
/*
|
||||
servo.h
|
||||
Part of Grbl_ESP32
|
||||
|
||||
copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
|
||||
CPU. Do not use this with Grbl for atMega328P
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
To use this, uncomment #define USE_PEN_SERVO in config.h
|
||||
|
||||
That should be the only change you need at the top level
|
||||
Everything occurs as a low priority task that syncs the servo with the
|
||||
current machine position.
|
||||
|
||||
TODO Make it reversible (turn opposite way)
|
||||
|
||||
*/
|
||||
|
||||
// ==== Begin: Things you are likely to change ====================
|
||||
//#define SERVO_PEN_PIN GPIO_NUM_27 // FYI...you can disable the Z stepper pins (step & dir)
|
||||
|
||||
// the pulse lengths for the min and max travel .. (Note: Servo brands vary)
|
||||
// If the servo goes backward from what you want, flip the values
|
||||
// Note: this is not necessarily the servos limits (just the travel you want)
|
||||
#define SERVO_MIN_PULSE_SEC 0.0012 // min pulse in seconds
|
||||
#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
|
||||
|
||||
// Pulse repeat rate (PWM Frequency)
|
||||
#define SERVO_PULSE_FREQ 50 // 50Hz ...This is a standard analog servo value. Digital ones can repeat faster
|
||||
|
||||
// the range of the servo is constrained
|
||||
// values above or below these will be limited to the min or max
|
||||
#define SERVO_PEN_RANGE_MIN_MM 0.0 // the minimum z position in mm
|
||||
#define SERVO_PEN_RANGE_MAX_MM 5.0 // the minimum z position in mm
|
||||
// ==== End: Things you are likely to change =======================
|
||||
|
||||
// Begin: Advanced settings
|
||||
|
||||
#define SERVO_TIMER_NUM 1
|
||||
#define SERVO_TIMER_INT_FREQ 20 // Hz This is the task frequency
|
||||
#define SERVO_PEN_CHANNEL_NUM 5
|
||||
|
||||
#define SERVO_PULSE_RES_BITS 16 // bits of resolution of PWM (16 is max)
|
||||
#define SERVO_PULSE_RES_COUNT 65535 // see above TODO...do the math here 2^SERVO_PULSE_RES_BITS
|
||||
|
||||
// A way to reduce the turn on current
|
||||
#define SERVO_TURNON_DELAY 25 // Wait this many task counts to turn on servo
|
||||
|
||||
#define SERVO_TIME_PER_BIT ((1.0 / (float)SERVO_PULSE_FREQ) / ((float)SERVO_PULSE_RES_COUNT) ) // seconds
|
||||
|
||||
#define SERVO_MIN_PULSE (uint16_t)(SERVO_MIN_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
|
||||
#define SERVO_MAX_PULSE (uint16_t)(SERVO_MAX_PULSE_SEC / SERVO_TIME_PER_BIT) // in timer counts
|
||||
|
||||
#define SERVO_CAL_MIN 20.0 // Percent: the minimum allowable calibration value
|
||||
#define SERVO_CAL_MAX 180.0 // Percent: the maximum allowable calibration value
|
||||
|
||||
#ifndef servo_h
|
||||
#define servo_h
|
||||
|
||||
static TaskHandle_t servoSyncTaskHandle = 0;
|
||||
|
||||
void servo_init();
|
||||
void servo_disable();
|
||||
bool validate_servo_settings(bool verbose);
|
||||
void servoSyncTask(void *pvParameters);
|
||||
void calc_pen_servo(float penZ);
|
||||
|
||||
#endif
|
||||
125
Grbl_Esp32/solenoid_pen.cpp
Normal file
125
Grbl_Esp32/solenoid_pen.cpp
Normal file
@@ -0,0 +1,125 @@
|
||||
/*
|
||||
solenoid_pen.cpp
|
||||
Part of Grbl_ESP32
|
||||
|
||||
copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
|
||||
CPU. Do not use this with Grbl for atMega328P
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
*/
|
||||
#include "grbl.h"
|
||||
|
||||
#ifdef USE_PEN_SOLENOID
|
||||
|
||||
// used to delay turn on
|
||||
bool solenoid_pen_enable;
|
||||
uint16_t solenoide_hold_count;
|
||||
|
||||
void solenoid_init()
|
||||
{
|
||||
grbl_send(CLIENT_SERIAL, "[MSG:Solenoid Mode]\r\n"); // startup message
|
||||
//validate_servo_settings(true); // display any calibration errors
|
||||
|
||||
solenoid_pen_enable = false; // start delay has not completed yet.
|
||||
solenoide_hold_count = 0; // initialize
|
||||
|
||||
// setup PWM channel
|
||||
ledcSetup(SOLENOID_CHANNEL_NUM, SOLENOID_PWM_FREQ, SOLENOID_PWM_RES_BITS);
|
||||
ledcAttachPin(SOLENOID_PEN_PIN, SOLENOID_CHANNEL_NUM);
|
||||
|
||||
solenoid_disable(); // start it it off
|
||||
|
||||
// setup a task that will calculate the determine and set the servo position
|
||||
xTaskCreatePinnedToCore( solenoidSyncTask, // task
|
||||
"solenoidSyncTask", // name for task
|
||||
4096, // size of task stack
|
||||
NULL, // parameters
|
||||
1, // priority
|
||||
&solenoidSyncTaskHandle,
|
||||
0 // core
|
||||
);
|
||||
}
|
||||
|
||||
// turn off the PWM (0 duty)
|
||||
void solenoid_disable()
|
||||
{
|
||||
ledcWrite(SOLENOID_CHANNEL_NUM, 0);
|
||||
}
|
||||
|
||||
// this is the task
|
||||
void solenoidSyncTask(void *pvParameters)
|
||||
{
|
||||
int32_t current_position[N_AXIS]; // copy of current location
|
||||
float m_pos[N_AXIS]; // machine position in mm
|
||||
TickType_t xLastWakeTime;
|
||||
const TickType_t xSolenoidFrequency = SOLENOID_TIMER_INT_FREQ; // in ticks (typically ms)
|
||||
uint16_t solenoid_delay_counter = 0;
|
||||
|
||||
while(true) { // don't ever return from this or the task dies
|
||||
|
||||
vTaskDelayUntil(&xLastWakeTime, xSolenoidFrequency);
|
||||
|
||||
if (!solenoid_pen_enable) {
|
||||
solenoid_delay_counter++;
|
||||
solenoid_pen_enable = (solenoid_delay_counter > SOLENOID_TURNON_DELAY);
|
||||
}
|
||||
else {
|
||||
memcpy(current_position,sys_position,sizeof(sys_position)); // get current position in step
|
||||
system_convert_array_steps_to_mpos(m_pos,current_position); // convert to millimeters
|
||||
calc_solenoid(m_pos[Z_AXIS]); // calculate kinematics and move the servos
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// calculate and set the PWM value for the servo
|
||||
void calc_solenoid(float penZ)
|
||||
{
|
||||
uint32_t solenoid_pen_pulse_len;
|
||||
|
||||
if (!solenoid_pen_enable) // only proceed if startup delay as expired
|
||||
return;
|
||||
|
||||
|
||||
|
||||
|
||||
if (penZ < 0 && (sys.state != STATE_ALARM)) { // alarm also makes it go up
|
||||
solenoide_hold_count = 0; // reset this count
|
||||
solenoid_pen_pulse_len = 0; //
|
||||
}
|
||||
else {
|
||||
if (solenoide_hold_count < SOLENOID_PULSE_LEN_HOLD) {
|
||||
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_UP;
|
||||
solenoide_hold_count++;
|
||||
}
|
||||
else {
|
||||
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_HOLD;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// skip setting value if it is unchanged
|
||||
if (ledcRead(SOLENOID_CHANNEL_NUM) == solenoid_pen_pulse_len)
|
||||
return;
|
||||
|
||||
// update the PWM value
|
||||
// ledcWrite appears to have issues with interrupts, so make this a critical section
|
||||
portMUX_TYPE myMutex = portMUX_INITIALIZER_UNLOCKED;
|
||||
taskENTER_CRITICAL(&myMutex);
|
||||
ledcWrite(SOLENOID_CHANNEL_NUM, solenoid_pen_pulse_len);
|
||||
taskEXIT_CRITICAL(&myMutex);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
53
Grbl_Esp32/solenoid_pen.h
Normal file
53
Grbl_Esp32/solenoid_pen.h
Normal file
@@ -0,0 +1,53 @@
|
||||
/*
|
||||
solenoid_pen.h
|
||||
Part of Grbl_ESP32
|
||||
|
||||
copyright (c) 2018 - Bart Dring This file was modified for use on the ESP32
|
||||
CPU. Do not use this with Grbl for atMega328P
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
Grbl is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Usage notes:
|
||||
This is designed to use a solenoid to lift a pen.
|
||||
When the current Z location is below zero the pen is down
|
||||
If the Z goes to zero or above the pen goes up.
|
||||
|
||||
Note: There is a still a virtual Z axis that has a finite speed.
|
||||
If your gcode is commanding long travels in Z, there will be delays
|
||||
between solenoid states as the Z "travels" to the location that will
|
||||
change the state.
|
||||
|
||||
*/
|
||||
|
||||
#define SOLENOID_PEN_PIN GPIO_NUM_16
|
||||
#define SOLENOID_CHANNEL_NUM 6
|
||||
#define SOLENOID_PWM_FREQ 5000
|
||||
#define SOLENOID_PWM_RES_BITS 8
|
||||
|
||||
#define SOLENOID_TURNON_DELAY (SOLENOID_TIMER_INT_FREQ/2)
|
||||
#define SOLENOID_PULSE_LEN_UP 255
|
||||
#define SOLENOID_PULSE_LEN_HOLD 80 // a lower value to prevent overheating
|
||||
#define SOLENOID_HOLD_DELAY (SOLENOID_TIMER_INT_FREQ/2) // in task counts
|
||||
|
||||
#define SOLENOID_TIMER_INT_FREQ 50
|
||||
|
||||
#ifndef solenoid_h
|
||||
#define solenoid_h
|
||||
static TaskHandle_t solenoidSyncTaskHandle = 0;
|
||||
void solenoid_init();
|
||||
void solenoid_disable();
|
||||
void solenoidSyncTask(void *pvParameters);
|
||||
void calc_solenoid(float penZ);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user