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Merge pull request #183 from bdring/pr/181

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Pr/181
This commit is contained in:
bdring
2019-07-12 10:59:51 -05:00
committed by GitHub
parent 991c8eb6fd 50246cb1e9
commit c2543381ab
8 changed files with 72 additions and 42 deletions
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33
Grbl_Esp32/cpu_map.h
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@@ -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 Y_STEP_PIN GPIO_NUM_14
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_26
#define X_RMT_CHANNEL 0
#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

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 "20190626"
#define GRBL_VERSION_BUILD "20190708"
//#include <sdkconfig.h>
#include <Arduino.h>

37
Grbl_Esp32/servo_axis.cpp
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@@ -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;
while(true) { // don't ever return from this or the task dies
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while(true) { // don't ever return from this or the task dies
#ifdef SERVO_X_PIN
X_Servo_Axis.set_location();
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;
}

6
Grbl_Esp32/servo_axis.h
View File

@@ -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

9
Grbl_Esp32/servo_pen.cpp
View File

@@ -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

13
Grbl_Esp32/solenoid_pen.cpp
View File

@@ -68,11 +68,9 @@ void solenoidSyncTask(void *pvParameters)
TickType_t xLastWakeTime;
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);
ledcWrite(SOLENOID_CHANNEL_NUM, solenoid_pen_pulse_len);
taskEXIT_CRITICAL(&myMutex);
portENTER_CRITICAL(&myMutex);
ledcWrite(SOLENOID_CHANNEL_NUM, solenoid_pen_pulse_len);
portEXIT_CRITICAL(&myMutex);
}
#endif

2
Grbl_Esp32/solenoid_pen.h
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@@ -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

12
platformio.ini
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@@ -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