Merge pull request #131 from bdring/Devt

updates from devt branch

Grbl_Esp32/config.h

@@ -49,6 +49,7 @@ Some features should not be changed. See notes below.
 #define CPU_MAP_ESP32 // these are defined in cpu_map.h
 #define VERBOSE_HELP // adds addition help info, but could confuse some senders
 
+
 // Serial baud rate
 #define BAUD_RATE 115200
 
@@ -501,6 +502,15 @@ Some features should not be changed. See notes below.
 // time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays.
 #define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
 
+
+// For test use only. This uses the ESP32's RMT perifieral to generate step pulses
+// It allows the use of the STEP_PULSE_DELAY (see below) and it automatically ends the
+// pulse in one operation.
+// Dir Pin  ____|--------------------
+// Step Pin _______|--|____________
+// While this is experimental, it is intended to be the future default method after testing
+//#define USE_RMT_STEPS
+
 // Creates a delay between the direction pin setting and corresponding step pulse by creating
 // another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare)
 // sets the direction pins, and does not immediately set the stepper pins, as it would in
@@ -510,8 +520,8 @@ Some features should not be changed. See notes below.
 // NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
 // user-supplied step pulse time, the total time must not exceed 127us. Reported successful
 // values for certain setups have ranged from 5 to 20us.
-// !!!!! ESP32 Not currently implemented
-// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
+// must use #define USE_RMT_STEPS for this to work
+//#define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
 
 // The number of linear motions in the planner buffer to be planned at any give time. The vast
 // majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra
@@ -551,14 +561,11 @@ Some features should not be changed. See notes below.
 // #define RX_BUFFER_SIZE 128 // (1-254) Uncomment to override defaults in serial.h
 // #define TX_BUFFER_SIZE 100 // (1-254)
 
-// A simple software debouncing feature for hard limit switches. When enabled, the interrupt 
-// monitoring the hard limit switch pins will enable the Arduino's watchdog timer to re-check 
-// the limit pin state after a delay of about 32msec. This can help with CNC machines with 
-// problematic false triggering of their hard limit switches, but it WILL NOT fix issues with 
-// electrical interference on the signal cables from external sources. It's recommended to first
-// use shielded signal cables with their shielding connected to ground (old USB/computer cables 
-// work well and are cheap to find) and wire in a low-pass circuit into each limit pin.
-// #define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
+// 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 DEBOUNCE_PERIOD 32 // 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/cpu_map.h

@@ -35,7 +35,9 @@
 	with AVR grbl
 	
 	*/
-	
+		
+
+
 #ifdef CPU_MAP_ESP32
 	// This is the CPU Map for the ESP32 CNC Controller R2	
 	
@@ -43,13 +45,17 @@
     // won't affect operation except that there will be no output
 		// form the pins. Grbl will virtually move the axis. This could 
 		// be handy if you are using a servo, etc. for another axis.
-		#define X_STEP_PIN      GPIO_NUM_12
-		#define Y_STEP_PIN      GPIO_NUM_14
-    #define Z_STEP_PIN      GPIO_NUM_27		
+		#define X_STEP_PIN      	GPIO_NUM_12
+		#define X_DIRECTION_PIN  	GPIO_NUM_26
+		#define X_RMT_CHANNEL		0
 		
-		#define X_DIRECTION_PIN   GPIO_NUM_26
-		#define Y_DIRECTION_PIN   GPIO_NUM_25  
-		#define Z_DIRECTION_PIN   GPIO_NUM_33 
+		#define Y_STEP_PIN      	GPIO_NUM_14
+		#define Y_DIRECTION_PIN   	GPIO_NUM_25
+		#define Y_RMT_CHANNEL		1
+		
+		#define Z_STEP_PIN      	GPIO_NUM_27		
+		#define Z_DIRECTION_PIN   	GPIO_NUM_33 		 
+		#define Z_RMT_CHANNEL		2		
 		
 		// OK to comment out to use pin for other features
 		#define STEPPERS_DISABLE_PIN GPIO_NUM_13		
@@ -851,4 +857,3 @@
 		
 		
 #endif
-

Grbl_Esp32/grbl_limits.cpp

@@ -27,7 +27,7 @@
 
 #include "grbl.h"
 
-
+xQueueHandle limit_sw_queue;  // used by limit switch debouncing
 
 // Homing axis search distance multiplier. Computed by this value times the cycle travel.
 #ifndef HOMING_AXIS_SEARCH_SCALAR
@@ -39,25 +39,32 @@
 
 void IRAM_ATTR isr_limit_switches()
 {
-	 // Ignore limit switches if already in an alarm state or in-process of executing an alarm.
+	// Ignore limit switches if already in an alarm state or in-process of executing an alarm.
     // When in the alarm state, Grbl should have been reset or will force a reset, so any pending
     // moves in the planner and serial buffers are all cleared and newly sent blocks will be
     // locked out until a homing cycle or a kill lock command. Allows the user to disable the hard
     // limit setting if their limits are constantly triggering after a reset and move their axes.
 
-		if (  ( sys.state != STATE_ALARM) & (bit_isfalse(sys.state, STATE_HOMING)) ) {
-      if (!(sys_rt_exec_alarm)) {
-        #ifdef HARD_LIMIT_FORCE_STATE_CHECK
-          // Check limit pin state.
-          if (limits_get_state()) {
-            mc_reset(); // Initiate system kill.
-            system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
-          }
-        #else
-          mc_reset(); // Initiate system kill.
-          system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
-        #endif
-      }			
+	if (  ( sys.state != STATE_ALARM) & (bit_isfalse(sys.state, STATE_HOMING)) ) {
+		if (!(sys_rt_exec_alarm)) {
+			
+			#ifdef ENABLE_SOFTWARE_DEBOUNCE
+				// we will start a task that will recheck the switches after a small delay
+				int evt;
+				xQueueSendFromISR(limit_sw_queue, &evt, NULL);	
+			#else
+				#ifdef HARD_LIMIT_FORCE_STATE_CHECK
+				  // Check limit pin state.
+				  if (limits_get_state()) {
+					mc_reset(); // Initiate system kill.
+					system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
+				  }
+				#else
+				  mc_reset(); // Initiate system kill.
+				  system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
+				#endif				
+			#endif
+		}						
     }
 }
 
@@ -300,15 +307,17 @@ void limits_init()
     limits_disable();
   }
   
-
-// TODO Debounce
-/*
-  #ifdef ENABLE_SOFTWARE_DEBOUNCE
-    MCUSR &= ~(1<<WDRF);
-    WDTCSR |= (1<<WDCE) | (1<<WDE);
-    WDTCSR = (1<<WDP0); // Set time-out at ~32msec.
-  #endif
- */ 
+	// setup task used for debouncing
+	limit_sw_queue = xQueueCreate(10, sizeof( int ));
+	
+	xTaskCreate(limitCheckTask, 
+				"limitCheckTask", 
+				2048, 
+				NULL, 
+				5, // priority 
+				NULL);
+								
+								
 }
 
 
@@ -326,63 +335,57 @@ void limits_disable()
 // number in bit position, i.e. Z_AXIS is (1<<2) or bit 2, and Y_AXIS is (1<<1) or bit 1.
 uint8_t limits_get_state()
 {
-  uint8_t limit_state = 0;
-  uint8_t pin = 0;
+	uint8_t limit_state = 0;
+	uint8_t pin = 0;
 	
 	#ifdef X_LIMIT_PIN
 		pin += digitalRead(X_LIMIT_PIN);
 	#endif
+	
 	#ifdef Y_LIMIT_PIN
 		pin += (digitalRead(Y_LIMIT_PIN) << Y_AXIS);
 	#endif
+	
 	#ifdef Z_LIMIT_PIN
 		pin += (digitalRead(Z_LIMIT_PIN) << Z_AXIS);
 	#endif
 
 	#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
-    pin ^= INVERT_LIMIT_PIN_MASK;
-  #endif	
+		pin ^= INVERT_LIMIT_PIN_MASK;
+	#endif	
   
-  if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) 
-	{ 
+	if (bit_istrue(settings.flags,BITFLAG_INVERT_LIMIT_PINS)) { 
 		pin ^= LIMIT_MASK;
 	}
   
-  if (pin) {
-    uint8_t idx;
-    for (idx=0; idx<N_AXIS; idx++) {
-      if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
-    }
-  }
-	
-  return(limit_state);
-  
+	if (pin) {
+		uint8_t idx;
+		for (idx=0; idx<N_AXIS; idx++) {
+			if (pin & get_limit_pin_mask(idx)) { limit_state |= (1 << idx); }
+		}
+	}
 	
+	return(limit_state);	
 }
 
-
-
-
-
-
-
 // Performs a soft limit check. Called from mc_line() only. Assumes the machine has been homed,
 // the workspace volume is in all negative space, and the system is in normal operation.
 // NOTE: Used by jogging to limit travel within soft-limit volume.
 void limits_soft_check(float *target)
 {
-  if (system_check_travel_limits(target)) {
-    sys.soft_limit = true;
-    // Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
-    // workspace volume so just come to a controlled stop so position is not lost. When complete
-    // enter alarm mode.
-    if (sys.state == STATE_CYCLE) {
-      system_set_exec_state_flag(EXEC_FEED_HOLD);
-      do {
-        protocol_execute_realtime();
-        if (sys.abort) { return; }
-      } while ( sys.state != STATE_IDLE );
+	if (system_check_travel_limits(target)) {
+		sys.soft_limit = true;
+		// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
+		// workspace volume so just come to a controlled stop so position is not lost. When complete
+		// enter alarm mode.
+		if (sys.state == STATE_CYCLE) {
+			system_set_exec_state_flag(EXEC_FEED_HOLD);
+		do {
+			protocol_execute_realtime();
+			if (sys.abort) { return; }
+		} while ( sys.state != STATE_IDLE );
     }
+	
     mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
     system_set_exec_alarm(EXEC_ALARM_SOFT_LIMIT); // Indicate soft limit critical event
     protocol_execute_realtime(); // Execute to enter critical event loop and system abort
@@ -390,6 +393,21 @@ void limits_soft_check(float *target)
   }
 }
 
+// this is the task
+void limitCheckTask(void *pvParameters)
+{	
+	while(true) {
+		int evt;
+		xQueueReceive(limit_sw_queue, &evt, portMAX_DELAY); // block until receive queue
+		vTaskDelay( DEBOUNCE_PERIOD / portTICK_PERIOD_MS ); // delay a while
+		
+		if (limits_get_state()) {
+			mc_reset(); // Initiate system kill.
+			system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
+		}		
+	}
+}
+
 // return true if the axis is defined as a squared axis
 // Squaring: is used on gantry type axes that have two motors
 // Each motor with touch off its own switch to square the axis

Grbl_Esp32/grbl_limits.h

@@ -32,8 +32,6 @@
 #define SQUARING_MODE_A			1  // A motor runs
 #define SQUARING_MODE_B			2  // B motor runs
 
-
-
 // Initialize the limits module
 void limits_init();
 
@@ -53,4 +51,7 @@ void isr_limit_switches();
 
 bool axis_is_squared(uint8_t axis_mask);
 
+// A task that runs after a limit switch interrupt.
+void limitCheckTask(void *pvParameters); 
+
 #endif

Grbl_Esp32/stepper.h

@@ -82,6 +82,8 @@ extern uint8_t ganged_mode;
 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();

Grbl_Esp32/web_server.cpp

@@ -522,6 +522,10 @@ void Web_Server::handle_web_command ()
         uint8_t sindex = 0;
         scmd = get_Splited_Value(cmd,'\n', sindex);
         while ( scmd != "" ){
+        if ((scmd.length() == 2) && (scmd[0] == 0xC2)){
+              scmd[0]=scmd[1];
+              scmd.remove(1,1);
+            }  
         if (scmd.length() > 1)scmd += "\n";
         else if (!is_realtime_cmd(scmd[0]) )scmd += "\n";
         if (!Serial2Socket.push(scmd.c_str()))res = "Error";