Merge pull request #184 from bdring/Devt

Devt

Grbl_Esp32/cpu_map.h

@@ -192,14 +192,20 @@
 		
 		#define CPU_MAP_NAME "CPU_MAP_PEN_LASER"
 		
+		#define USE_RMT_STEPS
+		
 		// Pick a board version
 		//#define PEN_LASER_V1
 		#define PEN_LASER_V2
 
-		#define X_STEP_PIN      GPIO_NUM_12
+		#define X_STEP_PIN      	GPIO_NUM_12
-		#define Y_STEP_PIN      GPIO_NUM_14		
+		#define X_DIRECTION_PIN   	GPIO_NUM_26
-		#define X_DIRECTION_PIN   GPIO_NUM_26
+		#define X_RMT_CHANNEL		0
-		#define Y_DIRECTION_PIN   GPIO_NUM_25  
+		
+		
+		#define Y_STEP_PIN      	GPIO_NUM_14
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25
+		#define Y_RMT_CHANNEL		1
 		
 		#define STEPPERS_DISABLE_PIN GPIO_NUM_13
 		
@@ -232,7 +238,24 @@
 		
 		#define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)			
 		
-		#define SERVO_PEN_PIN 					GPIO_NUM_27
+		#define USING_SERVO  // uncommewnt to use this feature
+		#define USING_SOLENOID // uncommewnt to use this feature
+		
+		#ifdef USING_SERVO
+			#define USE_SERVO_AXES 
+			#define SERVO_Z_PIN 	GPIO_NUM_27
+			#define SERVO_Z_CHANNEL_NUM 3
+			#define SERVO_Z_RANGE_MIN 0
+			#define SERVO_Z_RANGE_MAX 10
+		#endif
+		
+		#ifdef USING_SOLENOID
+			#define USE_PEN_SOLENOID
+			#define SOLENOID_PEN_PIN GPIO_NUM_16
+			#define SOLENOID_CHANNEL_NUM 6
+		#endif
+		
+		
 		
 		#ifdef DEFAULTS_GENERIC 
 			#undef DEFAULTS_GENERIC  // undefine generic then define each default below

Grbl_Esp32/grbl.h

@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20190626"
+#define GRBL_VERSION_BUILD "20190708"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/servo_axis.cpp

@@ -26,6 +26,8 @@
 
 #ifdef USE_SERVO_AXES
 
+static TaskHandle_t servosSyncTaskHandle = 0;
+
 #ifdef SERVO_X_PIN
 	ServoAxis X_Servo_Axis(X_AXIS, SERVO_X_PIN, SERVO_X_CHANNEL_NUM);
 #endif
@@ -38,18 +40,22 @@
 
 void init_servos()
 {
+	grbl_send(CLIENT_SERIAL, "[MSG: Init Servos]\r\n");
 	#ifdef SERVO_X_PIN
+		grbl_send(CLIENT_SERIAL, "[MSG: Init X Servo]\r\n");
 		X_Servo_Axis.init();
-		Y_Servo_Axis.set_range(SERVO_X_RANGE_MIN, SERVO_X_RANGE_MAX);
+		X_Servo_Axis.set_range(SERVO_X_RANGE_MIN, SERVO_X_RANGE_MAX);
 		X_Servo_Axis.set_homing_type(SERVO_HOMING_OFF);
-		X_Servo_Axis.set_disable_on_alarm(true);
+		X_Servo_Axis.set_disable_on_alarm(false);
 		X_Servo_Axis.set_disable_with_steppers(false);
 	#endif
 	#ifdef SERVO_Y_PIN
+		grbl_send(CLIENT_SERIAL, "[MSG: Init Y Servo]\r\n");
 		Y_Servo_Axis.init();
 		Y_Servo_Axis.set_range(SERVO_Y_RANGE_MIN, SERVO_Y_RANGE_MAX);
 	#endif
 	#ifdef SERVO_Z_PIN
+		grbl_send(CLIENT_SERIAL, "[MSG: Init Z Servo]\r\n");
 		Z_Servo_Axis.init();		
 		Z_Servo_Axis.set_range(SERVO_Z_RANGE_MIN, SERVO_Z_RANGE_MAX);
 		Z_Servo_Axis.set_homing_type(SERVO_HOMING_TARGET);
@@ -73,14 +79,13 @@ void servosSyncTask(void *pvParameters)
 { 
   TickType_t xLastWakeTime;
   const TickType_t xServoFrequency = SERVO_TIMER_INT_FREQ;  // in ticks (typically ms)
-  uint16_t servo_delay_counter = 0;
   
+  
+
+  xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
   while(true) { // don't ever return from this or the task dies	
-
-    vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
 		#ifdef SERVO_X_PIN
 			X_Servo_Axis.set_location();			
-			
 		#endif
 		#ifdef SERVO_Y_PIN
 			Y_Servo_Axis.set_location();
@@ -88,6 +93,7 @@ void servosSyncTask(void *pvParameters)
 		#ifdef SERVO_Z_PIN
 			Z_Servo_Axis.set_location();
 		#endif
+		vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
   }
 } 
 
@@ -104,7 +110,7 @@ void ServoAxis::init()
 {
 	ledcSetup(_channel_num, _pwm_freq, _pwm_resolution_bits);
 	ledcAttachPin(_pin_num, _channel_num);
-  disable();
+	disable();
 }
 /*
 void ServoAxis::set_location()
@@ -139,7 +145,7 @@ void ServoAxis::set_location()
 	}
   
 	// get the calibration values
-	if (_cal_is_valid(false)) { // if calibration settings are OK then apply them
+	if (_cal_is_valid()) { // if calibration settings are OK then apply them
 		min_pulse_cal = (settings.steps_per_mm[_axis] / 100.0);
 		max_pulse_cal = (settings.max_travel[_axis] / -100.0);
 		if (bit_istrue(settings.dir_invert_mask,bit(_axis))) { // the offset needs to be backwards
@@ -182,7 +188,7 @@ void ServoAxis::set_location()
   float servo_pulse_min, servo_pulse_max;
   float min_pulse_cal, max_pulse_cal; // calibration values in percent 110% = 1.1
   uint32_t servo_pulse_len;
-	float servo_pos, mpos, offset, wpos;
+	float servo_pos, mpos, offset;
 	
 	// skip location if we are in alarm mode
 	if (_disable_on_alarm && (sys.state == STATE_ALARM)) {
@@ -213,7 +219,7 @@ void ServoAxis::set_location()
 	}
   
 	// get the calibration values
-	if (_cal_is_valid(false)) { // if calibration settings are OK then apply them
+	if (_cal_is_valid()) { // if calibration settings are OK then apply them
 		min_pulse_cal = (settings.steps_per_mm[_axis] / 100.0);
 		max_pulse_cal = (settings.max_travel[_axis] / -100.0);
 		if (bit_istrue(settings.dir_invert_mask,bit(_axis))) { // the offset needs to be backwards
@@ -263,12 +269,13 @@ void ServoAxis::disable()
 
 // checks to see if calibration values are in an acceptable range
 // vebose = true if you want an error sent to serial port
-bool ServoAxis::_cal_is_valid(bool verbose)
+bool ServoAxis::_cal_is_valid()
 {
   bool settingsOK = true;
+  static bool showError = true; // this will be used to show error only once
 
 	if ( (settings.steps_per_mm[_axis] < SERVO_CAL_MIN) || (settings.steps_per_mm[_axis] > SERVO_CAL_MAX) ) {
-		if (verbose) {
+		if (showError) {
 			grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($10%d) Error: %4.4f s/b between %.2f and %.2f]\r\n", _axis, settings.steps_per_mm[_axis], SERVO_CAL_MIN, SERVO_CAL_MAX);
 		}
 		settingsOK = false;
@@ -276,11 +283,13 @@ bool ServoAxis::_cal_is_valid(bool verbose)
 
 	// Note: Max travel is set positive via $$, but stored as a negative number
 	if ( (settings.max_travel[_axis] < -SERVO_CAL_MAX) || (settings.max_travel[_axis] > -SERVO_CAL_MIN) ) {
-		if (verbose) {
+		if (showError) {
 			grbl_sendf(CLIENT_SERIAL, "[MSG:Servo cal ($13%d) Error: %4.4f s/b between %.2f and %.2f]\r\n", _axis, -settings.max_travel[_axis], SERVO_CAL_MIN, SERVO_CAL_MAX);
 		}
 		settingsOK = false;
 	}
+	
+	showError = false;  // to show error once 
 	return settingsOK;
 }
 

Grbl_Esp32/servo_axis.h

@@ -85,8 +85,6 @@
 #define SERVO_HOMING_OFF 0 // servo is off during homing
 #define SERVO_HOMING_TARGET 1 // servo is send to a location during homing
 
-static TaskHandle_t servosSyncTaskHandle = 0;
-
 extern float my_location;
 
 void init_servos();
@@ -126,9 +124,7 @@ class ServoAxis{
 				
 		bool _validate_cal_settings();
 		void _write_pwm(uint32_t duty);
-    bool _cal_is_valid(bool verbose); // checks to see if calibration values are in acceptable range
+		bool _cal_is_valid(); // checks to see if calibration values are in acceptable range 
-    
-		
 };
 
 #endif

Grbl_Esp32/servo_pen.cpp

@@ -104,10 +104,8 @@ void servoSyncTask(void *pvParameters)
 	float mpos_z, wpos_z;
 	float z_offset;
 
+	xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
 	while(true) { // don't ever return from this or the task dies
-
-		vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
-
 		if (sys.state != STATE_ALARM) {	// don't move until alarm is cleared...typically homing
 			if (!servo_pen_enable ) {
 				servo_delay_counter++;
@@ -120,6 +118,7 @@ void servoSyncTask(void *pvParameters)
 					calc_pen_servo(wpos_z); // calculate kinematics and move the servos
 			}
 		}
+		vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
 	}
 }
 
@@ -169,9 +168,9 @@ void calc_pen_servo(float penZ)
 	// 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);
+	portENTER_CRITICAL(&myMutex);
 	ledcWrite(SERVO_PEN_CHANNEL_NUM, servo_pen_pulse_len);
-	taskEXIT_CRITICAL(&myMutex);
+	portEXIT_CRITICAL(&myMutex);
 }
 
 #endif

Grbl_Esp32/solenoid_pen.cpp

@@ -69,10 +69,8 @@ void solenoidSyncTask(void *pvParameters)
 	const TickType_t xSolenoidFrequency = SOLENOID_TIMER_INT_FREQ;  // in ticks (typically ms)
 	uint16_t solenoid_delay_counter = 0;
 
+	xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
 	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);
@@ -82,6 +80,7 @@ void solenoidSyncTask(void *pvParameters)
 					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
 			}			
+			vTaskDelayUntil(&xLastWakeTime, xSolenoidFrequency);
     }
 }
 
@@ -115,9 +114,9 @@ void calc_solenoid(float penZ)
 	// 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);
+	portENTER_CRITICAL(&myMutex);
-			ledcWrite(SOLENOID_CHANNEL_NUM, solenoid_pen_pulse_len);		
+		ledcWrite(SOLENOID_CHANNEL_NUM, solenoid_pen_pulse_len);		
-	taskEXIT_CRITICAL(&myMutex);	
+	portEXIT_CRITICAL(&myMutex);	
 }
 
 #endif

Grbl_Esp32/solenoid_pen.h

@@ -32,8 +32,6 @@
 
 */
 
-#define SOLENOID_PEN_PIN GPIO_NUM_16
-#define SOLENOID_CHANNEL_NUM 6
 #define SOLENOID_PWM_FREQ 5000
 #define SOLENOID_PWM_RES_BITS 8
 

platformio.ini

@@ -5,15 +5,20 @@ data_dir=Grbl_Esp32/data
 
 [common_env_data]
 lib_deps_builtin =
-	EEPROM
+	ArduinoOTA
 	BluetoothSerial
-	WiFi
+	DNSServer
+	EEPROM
+	ESPmDNS
 	FS
+	Preferences
 	SD
 	SPI
-	Preferences
 	SPIFFS
+	Update
 	WebServer
+	WiFi
+	WiFiClientSecure
 
 [env:nodemcu-32s]
 platform = espressif32
@@ -21,3 +26,4 @@ board = nodemcu-32s
 framework = arduino
 upload_speed = 512000
 board_build.partitions = min_spiffs.csv
+monitor_speed = 115200