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Code Issues Releases Wiki Activity

Laser mode fix (#541)

Browse Source 
* Changed header guards to #pragma once form

In the Machines directory, also added
// clang-format off
because it will have to be done eventually and is safe,
so it was easy to do systematically during this edit.

* Clang Format (#514)

* Apply clang-format

* Fixed conflict between "print.h" and <print.h>

print.h and print.cpp are not used.

* machine.h: clang-format off is unnecessary

* ifdef ARDUINO_ARCH_ESP32 is unnecessary

and causes irritiating indentation of other includes

* Revert formatting of nofile.h

But leave pragma changes.

* Fix nofile.h again

* Some files were not formatted ...

and .clang-format needed to be tweaked to
give the same results with clang-format v6 and v10

* clang-format v6 vs v10 compatibility

* Fixed C++ includes (#518)

* Moved all files to the src folder

* Removed all cpp includes; fixed by including the header file where needed

* Fixed build scripts and machine.h

* Removed temp file. sigh.

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Split motor files into separate files and introduced namespace Motors (#522)

* Renamed some files to match the class name.

* Split out motor class into different files.

* Fixed last newline in cpp/h files

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Fixed compile error with parking enabled (#524)

* Fix the I2S stream generates a 3x faster pulse. (#525)

I completely misunderstood the calculation of the interruption interval.
Change to calculate the correct μsec interval from the tick value.

* Bump build date

* Eliminated unused USE_GANGED_AXES (#526)

* Updated style of Spindles according to style doc. Added namespace Spindles.  (#529)

* Renamed spindleclass file.

* Added (empty) header files; renamed SpindleClass.cpp

* Moved spindle classes, introduced namespaces

* Fixed forward declaration.

* Removed obsolete commented out code

* Fixed overrides and constructors

* Applied clang-format

* Fixed 10vspindle set_spindle_dir_pin and set_enable_pin.

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Avoid reiterationIteration in spindle names (#530)

* File name changes (#532)

* Renamed files in the root folder. Haven't fixed includes yet.

* Renamed SD to SDCard to avoid name conflict

* Fixed all includes

* Fixed some "..." / <...> includes.

* Updated <Print.h> (caps!).

Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>

* Move more files to WebUI (#534)

Now everything with Luc's copyright is in WebUI/

* Fix file names in comment blocks

The recent rename made nearly all of the
file names included in header comments incorrect.

* Fixed .c -> .cpp interior names

* A few more interior name fixes

* Added second limit switch I/O option (#537)

- Added X2_LIMIT_PIN thru C2_LIMIT_PIN
- The 2 switches are simply or'd in the logic
- Limit pin difintion now prints in boot MSG's
- Cleaned up MS3 logic to use an array and defaults like limit switches
- Added a new machine definition file to test new features

* Fixed Laser Mode

Enablin pin was turning off, but not back on in laser mode

* Added Settings

- $Spindle/Enable/Invert=Off
- $Spindle/Enable/OffWithSpeed=Off
- $Spindle/PWM/Invert=Off

* Update build date

Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
This commit is contained in:
bdring
2020-08-13 06:36:05 -06:00
committed by GitHub
parent 345e5c54f0
commit d42af03f49
191 changed files with 12825 additions and 12459 deletions
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92
.clang-format Normal file
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@@ -0,0 +1,92 @@
---
AccessModifierOffset: '-4'
AlignAfterOpenBracket: Align
AlignConsecutiveAssignments: 'true'
AlignConsecutiveDeclarations: 'true'
AlignEscapedNewlines: Right
AlignOperands: 'true'
AlignTrailingComments: 'true'
AllowShortBlocksOnASingleLine: 'true'
AllowShortCaseLabelsOnASingleLine: 'true'
AllowShortFunctionsOnASingleLine: Inline
AllowShortIfStatementsOnASingleLine: 'false'
AllowShortLoopsOnASingleLine: 'false'
AlwaysBreakBeforeMultilineStrings: 'false'
AlwaysBreakTemplateDeclarations: 'true'
BinPackArguments: 'false'
BinPackParameters: 'false'
BreakBeforeBinaryOperators: None
BraceWrapping:
AfterClass: 'true'
AfterControlStatement: 'true'
AfterEnum: 'true'
AfterFunction: 'true'
AfterNamespace: 'true'
AfterObjCDeclaration: 'true'
AfterStruct: 'true'
AfterUnion: 'true'
AfterExternBlock: 'true'
BeforeCatch: 'true'
BeforeElse: 'true'
SplitEmptyFunction: 'false'
SplitEmptyRecord: 'false'
SplitEmptyNamespace: 'false'
BreakBeforeInheritanceComma: 'true'
BreakBeforeTernaryOperators: 'false'
BreakConstructorInitializers: AfterColon
BreakInheritanceList: AfterColon
ColumnLimit: '140'
CommentPragmas: '^ :: '
CompactNamespaces: 'false'
Cpp11BracedListStyle: 'false'
FixNamespaceComments: 'false'
IncludeCategories:
- Regex: '^".*'
Priority: 1
- Regex: '^"(.*)/'
Priority: 2
- Regex: '^<(.*)/'
Priority: 3
- Regex: '.*'
Priority: 4
IncludeBlocks: Regroup
IndentCaseLabels: 'true'
IndentPPDirectives: AfterHash
IndentWidth: '4'
IndentWrappedFunctionNames: 'true'
JavaScriptQuotes: Leave
KeepEmptyLinesAtTheStartOfBlocks: 'false'
Language: Cpp
MaxEmptyLinesToKeep: '1'
NamespaceIndentation: All
PenaltyBreakBeforeFirstCallParameter: 7
PenaltyBreakAssignment: 8
PenaltyBreakComment: 200
PenaltyBreakFirstLessLess: 50
PenaltyBreakString: 100
PenaltyBreakTemplateDeclaration: 10
PenaltyExcessCharacter: 10
PenaltyReturnTypeOnItsOwnLine: 1000000
PointerAlignment: Left
ReflowComments: 'false'
SortIncludes: 'false'
SortUsingDeclarations: 'true'
SpaceAfterTemplateKeyword: 'true'
SpaceBeforeAssignmentOperators: 'true'
SpaceBeforeCpp11BracedList: 'true'
SpaceBeforeCtorInitializerColon: 'true'
SpaceBeforeInheritanceColon: 'true'
SpaceBeforeParens: ControlStatements
SpaceBeforeRangeBasedForLoopColon: 'true'
SpaceInEmptyParentheses: 'false'
SpacesBeforeTrailingComments: '2'
SpacesInAngles: 'false'
SpacesInCStyleCastParentheses: 'false'
SpacesInContainerLiterals: 'false'
SpacesInParentheses: 'false'
SpacesInSquareBrackets: 'false'
Standard: Cpp11
TabWidth: '4'
UseTab: Never
...

4
.editorconfig Normal file
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root = true
[*]
insert_final_newline = true

80
CodingStyle.md Normal file
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@@ -0,0 +1,80 @@
# Coding style guidelines
While most software developers have a strong opinion about coding
style and conventions, the general agreement is that having a single
coding style in your project is beneficial for the readability and
maintainability.
Coding style of this project is enforced through `.clang-format`.
Most IDE's nowadays pick up the clang-format file automatically. If
this is not the case, please run it manually before committing code.
Note that different IDE's are compiled against different versions of
clang-format. This clang-format file is created in such a way, that
it should work with most IDE's out-of-the-box, and can apply changes
when the file is saved.
There may be violations of these guidelines in the code, due to
historical reasons or, in rare instances, other considerations.
We intend to fix such violations; patches that correct them
are most welcome - but should be tested carefully across the
supported compilation environments (Arduino and platformio).
## Guidelines
A few guidelines need to be taken into consideration while using
clang-format:
1. Include order and `".."` vs `<...>` matters. Clang-format
automatically re-orders your include files. This configuration
is created in such a way that header file includes always add
the minimum number of implicit dependencies. If this generates
problems, you should be fixing your includes, instead of disabling
clang-format.
2. Preprocessor commands are not formatted nicely in some cases.
This can hurt readibility in rare cases, in which case it's
okay to disable clang-format temporarily with
`// clang-format off` and `// clang-format on`. Most notably,
machine definitions should have clang-format off.
3. Use `#pragma once` in all header files. The reason is that
preprocessor `#ifdef`s are nested automatically, which making
things messy when using the alternative.
## Classes and namespaces
Filenames should correspond with clas names, folder names should
correspond with namespace names. This implies that a file should
have a single class.
## Naming
- Class names and namespace names are named `CamelCase`. Note that
class and namespace names should only start with an `_` if they are
(A) not in the global namespace and (b) should otherwise start with a digit.
For example `_10V`.
- Class member functions should be `snake_case`
- Class member variables should be `_snake_case` with a leading `_`.
Namespaces should have classes, and classes should have members. Avoid
using functions that have no class attached to them.
## Using namespace
- `using namespace` is not allowed in header files, except when
using it in the body of a function.
- Try to be conservative with `using namespace` in cpp files.
Prefer to use it in a function body whenever possible for clarity
what is used where.
## Including files
- It's a good practice to include just what you need. In general,
try to include as much as possible in the cpp file, and as little
as possible in the header file.
- A CPP file should normally include the corresponding header file
first (e.g. `WebSettings.cpp` should include `WebSettings.h`)
and then everything else.
- When including a system or library file, use `<...>` syntax;
when including a local file, use `"..."` syntax. Some IDE's
actually have trouble compiling if not done correctly.
- Never include a cpp file; always header files!

222
Grbl_Esp32/Custom/atari_1020.cpp
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@@ -28,60 +28,60 @@
// in Machines/atari_1020.h, thus causing this file to be included
// from ../custom_code.cpp
#define HOMING_PHASE_FULL_APPROACH 0 // move to right end
#define HOMING_PHASE_CHECK 1 // check reed switch
#define HOMING_PHASE_RETRACT 2 // retract
#define HOMING_PHASE_SHORT_APPROACH 3 // retract
#define HOMING_PHASE_FULL_APPROACH 0 // move to right end
#define HOMING_PHASE_CHECK 1 // check reed switch
#define HOMING_PHASE_RETRACT 2 // retract
#define HOMING_PHASE_SHORT_APPROACH 3 // retract
static TaskHandle_t solenoidSyncTaskHandle = 0;
static TaskHandle_t atariHomingTaskHandle = 0;
int8_t solenoid_pwm_chan_num;
uint16_t solenoid_pull_count;
bool atari_homing = false;
uint8_t homing_phase = HOMING_PHASE_FULL_APPROACH;
uint8_t current_tool;
static TaskHandle_t atariHomingTaskHandle = 0;
int8_t solenoid_pwm_chan_num;
uint16_t solenoid_pull_count;
bool atari_homing = false;
uint8_t homing_phase = HOMING_PHASE_FULL_APPROACH;
uint8_t current_tool;
void machine_init() {
solenoid_pull_count = 0; // initialize
solenoid_pull_count = 0; // initialize
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Atari 1020 Solenoid");
// setup PWM channel
solenoid_pwm_chan_num = sys_get_next_PWM_chan_num();
ledcSetup(solenoid_pwm_chan_num, SOLENOID_PWM_FREQ, SOLENOID_PWM_RES_BITS);
ledcAttachPin(SOLENOID_PEN_PIN, solenoid_pwm_chan_num);
pinMode(SOLENOID_DIRECTION_PIN, OUTPUT); // this sets the direction of the solenoid current
pinMode(REED_SW_PIN, INPUT_PULLUP); // external pullup required
pinMode(SOLENOID_DIRECTION_PIN, OUTPUT); // this sets the direction of the solenoid current
pinMode(REED_SW_PIN, INPUT_PULLUP); // external pullup required
// setup a task that will calculate solenoid position
xTaskCreatePinnedToCore(solenoidSyncTask, // task
"solenoidSyncTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
xTaskCreatePinnedToCore(solenoidSyncTask, // task
"solenoidSyncTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&solenoidSyncTaskHandle,
0 // core
);
0 // core
);
// setup a task that will do the custom homing sequence
xTaskCreatePinnedToCore(atari_home_task, // task
"atari_home_task", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
xTaskCreatePinnedToCore(atari_home_task, // task
"atari_home_task", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&atariHomingTaskHandle,
0 // core
);
0 // core
);
}
// this task tracks the Z position and sets the solenoid
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_TASK_FREQ; // in ticks (typically ms)
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
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_TASK_FREQ; // in ticks (typically ms)
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) {
// don't ever return from this or the task dies
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
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
vTaskDelayUntil(&xLastWakeTime, xSolenoidFrequency);
}
}
@@ -94,7 +94,7 @@ bool user_defined_homing() {
// create and start a task to do the special homing
homing_phase = HOMING_PHASE_FULL_APPROACH;
atari_homing = true;
return true; // this does it...skip the rest of mc_homing_cycle(...)
return true; // this does it...skip the rest of mc_homing_cycle(...)
}
/*
@@ -113,54 +113,54 @@ bool user_defined_homing() {
*/
void atari_home_task(void* pvParameters) {
uint8_t homing_attempt = 0; // how many times have we tried to home
TickType_t xLastWakeTime;
const TickType_t xHomingTaskFrequency = 100; // in ticks (typically ms) .... need to make sure there is enough time to get out of idle
char gcode_line[20];
uint8_t homing_attempt = 0; // how many times have we tried to home
TickType_t xLastWakeTime;
const TickType_t xHomingTaskFrequency = 100; // in ticks (typically ms) .... need to make sure there is enough time to get out of idle
char gcode_line[20];
while (true) {
// this task will only last as long as it is homing
if (atari_homing) {
// must be in idle or alarm state
if (sys.state == STATE_IDLE) {
switch (homing_phase) {
case HOMING_PHASE_FULL_APPROACH: // a full width move to insure it hits left end
inputBuffer.push("G90G0Z1\r"); // lift the pen
sprintf(gcode_line, "G91G0X%3.2f\r", -ATARI_PAPER_WIDTH + ATARI_HOME_POS - 3.0); // plus a little extra
inputBuffer.push(gcode_line);
homing_attempt = 1;
homing_phase = HOMING_PHASE_CHECK;
break;
case HOMING_PHASE_CHECK: // check the limits switch
if (digitalRead(REED_SW_PIN) == 0) {
// see if reed switch is grounded
inputBuffer.push("G4P0.1\n"); // dramtic pause
sys_position[X_AXIS] = ATARI_HOME_POS * axis_settings[X_AXIS]->steps_per_mm->get();
sys_position[Y_AXIS] = 0.0;
sys_position[Z_AXIS] = 1.0 * axis_settings[Y_AXIS]->steps_per_mm->get();
gc_sync_position();
plan_sync_position();
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); // alway return to right side to reduce home travel stalls
case HOMING_PHASE_FULL_APPROACH: // a full width move to insure it hits left end
inputBuffer.push("G90G0Z1\r"); // lift the pen
sprintf(gcode_line, "G91G0X%3.2f\r", -ATARI_PAPER_WIDTH + ATARI_HOME_POS - 3.0); // plus a little extra
inputBuffer.push(gcode_line);
current_tool = 1; // local copy for reference...until actual M6 change
gc_state.tool = current_tool;
atari_homing = false; // done with homing sequence
} else {
homing_phase = HOMING_PHASE_RETRACT;
homing_attempt++;
}
break;
case HOMING_PHASE_RETRACT:
sprintf(gcode_line, "G0X%3.2f\r", -ATARI_HOME_POS);
inputBuffer.push(gcode_line);
sprintf(gcode_line, "G0X%3.2f\r", ATARI_HOME_POS);
inputBuffer.push(gcode_line);
homing_phase = HOMING_PHASE_CHECK;
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Homing phase error %d", homing_phase);
atari_homing = false;
; // kills task
break;
homing_attempt = 1;
homing_phase = HOMING_PHASE_CHECK;
break;
case HOMING_PHASE_CHECK: // check the limits switch
if (digitalRead(REED_SW_PIN) == 0) {
// see if reed switch is grounded
inputBuffer.push("G4P0.1\n"); // dramtic pause
sys_position[X_AXIS] = ATARI_HOME_POS * axis_settings[X_AXIS]->steps_per_mm->get();
sys_position[Y_AXIS] = 0.0;
sys_position[Z_AXIS] = 1.0 * axis_settings[Y_AXIS]->steps_per_mm->get();
gc_sync_position();
plan_sync_position();
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); // alway return to right side to reduce home travel stalls
inputBuffer.push(gcode_line);
current_tool = 1; // local copy for reference...until actual M6 change
gc_state.tool = current_tool;
atari_homing = false; // done with homing sequence
} else {
homing_phase = HOMING_PHASE_RETRACT;
homing_attempt++;
}
break;
case HOMING_PHASE_RETRACT:
sprintf(gcode_line, "G0X%3.2f\r", -ATARI_HOME_POS);
inputBuffer.push(gcode_line);
sprintf(gcode_line, "G0X%3.2f\r", ATARI_HOME_POS);
inputBuffer.push(gcode_line);
homing_phase = HOMING_PHASE_CHECK;
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Homing phase error %d", homing_phase);
atari_homing = false;
; // kills task
break;
}
if (homing_attempt > ATARI_HOMING_ATTEMPTS) {
// try all positions plus 1
@@ -177,25 +177,25 @@ void atari_home_task(void* pvParameters) {
// calculate and set the PWM value for the servo
void calc_solenoid(float penZ) {
bool isPenUp;
bool isPenUp;
static bool previousPenState = false;
uint32_t solenoid_pen_pulse_len; // duty cycle of solenoid
isPenUp = ((penZ > 0) || (sys.state == STATE_ALARM)); // is pen above Z0 or is there an alarm
uint32_t solenoid_pen_pulse_len; // duty cycle of solenoid
isPenUp = ((penZ > 0) || (sys.state == STATE_ALARM)); // is pen above Z0 or is there an alarm
// if the state has not change, we only count down to the pull time
if (previousPenState == isPenUp) {
// if state is unchanged
if (solenoid_pull_count > 0) {
solenoid_pull_count--;
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_PULL; // stay at full power while counting down
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_PULL; // stay at full power while counting down
} else {
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_HOLD; // pull in delay has expired so lower duty cycle
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_HOLD; // pull in delay has expired so lower duty cycle
}
} else {
// pen direction has changed
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_PULL; // go to full power
solenoid_pull_count = SOLENOID_PULL_DURATION; // set the time to count down
solenoid_pen_pulse_len = SOLENOID_PULSE_LEN_PULL; // go to full power
solenoid_pull_count = SOLENOID_PULL_DURATION; // set the time to count down
}
previousPenState = isPenUp; // save the prev state
previousPenState = isPenUp; // save the prev state
digitalWrite(SOLENOID_DIRECTION_PIN, isPenUp);
// skip setting value if it is unchanged
if (ledcRead(solenoid_pwm_chan_num) == solenoid_pen_pulse_len)
@@ -214,8 +214,8 @@ void calc_solenoid(float penZ) {
*/
void user_tool_change(uint8_t new_tool) {
uint8_t move_count;
char gcode_line[20];
protocol_buffer_synchronize(); // wait for all previous moves to complete
char gcode_line[20];
protocol_buffer_synchronize(); // wait for all previous moves to complete
if ((new_tool < 1) || (new_tool > MAX_PEN_NUMBER)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Requested Pen#%d is out of 1-4 range", new_tool);
return;
@@ -226,10 +226,10 @@ void user_tool_change(uint8_t new_tool) {
move_count = BUMPS_PER_PEN_CHANGE * (new_tool - current_tool);
else
move_count = BUMPS_PER_PEN_CHANGE * ((MAX_PEN_NUMBER - current_tool) + new_tool);
sprintf(gcode_line, "G0Z%3.2f\r", ATARI_TOOL_CHANGE_Z); // go to tool change height
sprintf(gcode_line, "G0Z%3.2f\r", ATARI_TOOL_CHANGE_Z); // go to tool change height
inputBuffer.push(gcode_line);
for (uint8_t i = 0; i < move_count; i++) {
sprintf(gcode_line, "G0X%3.2f\r", ATARI_HOME_POS); //
sprintf(gcode_line, "G0X%3.2f\r", ATARI_HOME_POS); //
inputBuffer.push(gcode_line);
inputBuffer.push("G0X0\r");
}
@@ -251,38 +251,36 @@ void user_defined_macro(uint8_t index) {
char gcode_line[20];
switch (index) {
#ifdef MACRO_BUTTON_0_PIN
case CONTROL_PIN_INDEX_MACRO_0:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Pen switch");
inputBuffer.push("$H\r");
break;
case CONTROL_PIN_INDEX_MACRO_0:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Pen switch");
inputBuffer.push("$H\r");
break;
#endif
#ifdef MACRO_BUTTON_1_PIN
case CONTROL_PIN_INDEX_MACRO_1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Color switch");
atari_next_pen();
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); // alway return to right side to reduce home travel stalls
inputBuffer.push(gcode_line);
break;
case CONTROL_PIN_INDEX_MACRO_1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Color switch");
atari_next_pen();
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); // alway return to right side to reduce home travel stalls
inputBuffer.push(gcode_line);
break;
#endif
#ifdef MACRO_BUTTON_2_PIN
case CONTROL_PIN_INDEX_MACRO_2:
// feed out some paper and reset the Y 0
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Paper switch");
inputBuffer.push("G0Y-25\r");
inputBuffer.push("G4P0.1\r"); // sync...forces wait for planner to clear
sys_position[Y_AXIS] = 0.0; // reset the Y position
gc_sync_position();
plan_sync_position();
break;
case CONTROL_PIN_INDEX_MACRO_2:
// feed out some paper and reset the Y 0
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Paper switch");
inputBuffer.push("G0Y-25\r");
inputBuffer.push("G4P0.1\r"); // sync...forces wait for planner to clear
sys_position[Y_AXIS] = 0.0; // reset the Y position
gc_sync_position();
plan_sync_position();
break;
#endif
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Unknown Switch %d", index);
break;
default: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Unknown Switch %d", index); break;
}
}
void user_m30() {
char gcode_line[20];
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); //
sprintf(gcode_line, "G90G0X%3.2f\r", ATARI_PAPER_WIDTH); //
inputBuffer.push(gcode_line);
}

47
Grbl_Esp32/Custom/custom_code_template.cpp
View File

@@ -51,9 +51,7 @@ enabled with USE_ defines in Machines/my_machine.h
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()
{
}
void machine_init() {}
#endif
#ifdef USE_CUSTOM_HOMING
@@ -64,10 +62,9 @@ void machine_init()
example, if you need to manually prep the machine for homing, you could implement
user_defined_homing() to wait for some button to be pressed, then return true.
*/
bool user_defined_homing()
{
// True = done with homing, false = continue with normal Grbl_ESP32 homing
return true;
bool user_defined_homing() {
// True = done with homing, false = continue with normal Grbl_ESP32 homing
return true;
}
#endif
@@ -89,10 +86,9 @@ bool user_defined_homing()
pl_data = planner data (see the definition of this type to see what it is)
position = an N_AXIS array of where the machine is starting from for this move
*/
void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position)
{
// this simply moves to the target. Replace with your kinematics.
mc_line(target, pl_data);
void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position) {
// this simply moves to the target. Replace with your kinematics.
mc_line(target, pl_data);
}
/*
@@ -103,15 +99,13 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
*/
bool kinematics_pre_homing(uint8_t cycle_mask))
{
return false; // finish normal homing cycle
return false; // finish normal homing cycle
}
/*
kinematics_post_homing() is called at the end of normal homing
*/
void kinematics_post_homing()
{
}
void kinematics_post_homing() {}
#endif
#ifdef USE_FWD_KINEMATIC
@@ -121,10 +115,9 @@ void kinematics_post_homing()
Convert the N_AXIS array of motor positions to cartesian in your code.
*/
void forward_kinematics(float *position)
{
// position[X_AXIS] =
// position[Y_AXIS] =
void forward_kinematics(float* position) {
// position[X_AXIS] =
// position[Y_AXIS] =
}
#endif
@@ -133,9 +126,7 @@ void forward_kinematics(float *position)
user_tool_change() is called when tool change gcode is received,
to perform appropriate actions for your machine.
*/
void user_tool_change(uint8_t new_tool)
{
}
void user_tool_change(uint8_t new_tool) {}
#endif
#if defined(MACRO_BUTTON_0_PIN) || defined(MACRO_BUTTON_1_PIN) || defined(MACRO_BUTTON_2_PIN)
@@ -143,18 +134,14 @@ void user_tool_change(uint8_t new_tool)
options. user_defined_macro() is called with the button number to
perform whatever actions you choose.
*/
void user_defined_macro(uint8_t index)
{
}
void user_defined_macro(uint8_t index) {}
#endif
#ifdef USE_M30
/*
user_m30() is called when an M30 gcode signals the end of a gcode file.
*/
void user_m30()
{
}
void user_m30() {}
#endif
#ifdef USE_MACHINE_TRINAMIC_INIT
@@ -162,9 +149,7 @@ void user_m30()
machine_triaminic_setup() replaces the normal setup of trinamic
drivers with your own code. For example, you could setup StallGuard
*/
void machine_trinamic_setup()
{
}
void machine_trinamic_setup() {}
#endif
// If you add any additional functions specific to your machine that

86
Grbl_Esp32/Custom/esp32_printer_controller.cpp
View File

@@ -1,5 +1,5 @@
/*
custom_code_template.cpp (copy and use your machine name)
esp32_printer_controller.cpp (copy and use your machine name)
Part of Grbl_ESP32
copyright (c) 2020 - Bart Dring. This file was intended for use on the ESP32
@@ -51,33 +51,32 @@ enabled with USE_ defines in Machines/my_machine.h
machine_init() is called when Grbl_ESP32 first starts. You can use it to do any
special things your machine needs at startup.
*/
#define STEPPERS_DISABLE_PIN_X 138
#define STEPPERS_DISABLE_PIN_Y 134
#define STEPPERS_DISABLE_PIN_Z 131
#define STEPPERS_DISABLE_PIN_A 139
# define STEPPERS_DISABLE_PIN_X 138
# define STEPPERS_DISABLE_PIN_Y 134
# define STEPPERS_DISABLE_PIN_Z 131
# define STEPPERS_DISABLE_PIN_A 139
#define FAN1_PIN 13
#define FAN2_PIN 142
#define FAN3_PIN 143
# define FAN1_PIN 13
# define FAN2_PIN 142
# define FAN3_PIN 143
#define BED_PIN 4
#define NOZZLE_PIN 2
# define BED_PIN 4
# define NOZZLE_PIN 2
void machine_init()
{
// Enable steppers
digitalWrite(STEPPERS_DISABLE_PIN_X, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_Y, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_Z, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_A, LOW); // enable
void machine_init() {
// Enable steppers
digitalWrite(STEPPERS_DISABLE_PIN_X, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_Y, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_Z, LOW); // enable
digitalWrite(STEPPERS_DISABLE_PIN_A, LOW); // enable
// digitalWrite(FAN1_PIN, LOW); // comment out for JTAG debugging
// digitalWrite(FAN1_PIN, LOW); // comment out for JTAG debugging
digitalWrite(FAN2_PIN, LOW); // disable
digitalWrite(FAN3_PIN, LOW); // disable
digitalWrite(FAN2_PIN, LOW); // disable
digitalWrite(FAN3_PIN, LOW); // disable
digitalWrite(BED_PIN, LOW); // disable
digitalWrite(NOZZLE_PIN, LOW); // disable
digitalWrite(BED_PIN, LOW); // disable
digitalWrite(NOZZLE_PIN, LOW); // disable
}
#endif
@@ -89,10 +88,9 @@ void machine_init()
example, if you need to manually prep the machine for homing, you could implement
user_defined_homing() to wait for some button to be pressed, then return true.
*/
bool user_defined_homing()
{
// True = done with homing, false = continue with normal Grbl_ESP32 homing
return true;
bool user_defined_homing() {
// True = done with homing, false = continue with normal Grbl_ESP32 homing
return true;
}
#endif
@@ -114,10 +112,9 @@ bool user_defined_homing()
pl_data = planner data (see the definition of this type to see what it is)
position = an N_AXIS array of where the machine is starting from for this move
*/
void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position)
{
// this simply moves to the target. Replace with your kinematics.
mc_line(target, pl_data);
void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position) {
// this simply moves to the target. Replace with your kinematics.
mc_line(target, pl_data);
}
/*
@@ -128,15 +125,13 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
*/
bool kinematics_pre_homing(uint8_t cycle_mask))
{
return false; // finish normal homing cycle
return false; // finish normal homing cycle
}
/*
kinematics_post_homing() is called at the end of normal homing
*/
void kinematics_post_homing()
{
}
void kinematics_post_homing() {}
#endif
#ifdef USE_FWD_KINEMATIC
@@ -146,10 +141,9 @@ void kinematics_post_homing()
Convert the N_AXIS array of motor positions to cartesian in your code.
*/
void forward_kinematics(float *position)
{
// position[X_AXIS] =
// position[Y_AXIS] =
void forward_kinematics(float* position) {
// position[X_AXIS] =
// position[Y_AXIS] =
}
#endif
@@ -158,9 +152,7 @@ void forward_kinematics(float *position)
user_tool_change() is called when tool change gcode is received,
to perform appropriate actions for your machine.
*/
void user_tool_change(uint8_t new_tool)
{
}
void user_tool_change(uint8_t new_tool) {}
#endif
#if defined(MACRO_BUTTON_0_PIN) || defined(MACRO_BUTTON_1_PIN) || defined(MACRO_BUTTON_2_PIN)
@@ -168,18 +160,14 @@ void user_tool_change(uint8_t new_tool)
options. user_defined_macro() is called with the button number to
perform whatever actions you choose.
*/
void user_defined_macro(uint8_t index)
{
}
void user_defined_macro(uint8_t index) {}
#endif
#ifdef USE_M30
/*
user_m30() is called when an M30 gcode signals the end of a gcode file.
*/
void user_m30()
{
}
void user_m30() {}
#endif
#ifdef USE_MACHINE_TRINAMIC_INIT
@@ -187,9 +175,7 @@ void user_m30()
machine_triaminic_setup() replaces the normal setup of trinamic
drivers with your own code. For example, you could setup StallGuard
*/
void machine_trinamic_setup()
{
}
void machine_trinamic_setup() {}
#endif
// If you add any additional functions specific to your machine that

77
Grbl_Esp32/Custom/polar_coaster.cpp
View File

@@ -54,18 +54,17 @@
// in Machines/polar_coaster.h, thus causing this file to be included
// from ../custom_code.cpp
void calc_polar(float *target_xyz, float *polar, float last_angle);
void calc_polar(float* target_xyz, float* polar, float last_angle);
float abs_angle(float ang);
static float last_angle = 0;
static float last_angle = 0;
static float last_radius = 0;
// this get called before homing
// return false to complete normal home
// return true to exit normal homing
bool kinematics_pre_homing(uint8_t cycle_mask) {
return false; // finish normal homing cycle
return false; // finish normal homing cycle
}
void kinematics_post_homing() {
@@ -86,17 +85,17 @@ void kinematics_post_homing() {
*/
void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position) {
void inverse_kinematics(float* target, plan_line_data_t* pl_data, float* position) {
//static float last_angle = 0;
//static float last_radius = 0;
float dx, dy, dz; // distances in each cartesian axis
float p_dx, p_dy, p_dz; // distances in each polar axis
float dist, polar_dist; // the distances in both systems...used to determine feed rate
uint32_t segment_count; // number of segments the move will be broken in to.
float seg_target[N_AXIS]; // The target of the current segment
float polar[N_AXIS]; // target location in polar coordinates
float x_offset = gc_state.coord_system[X_AXIS] + gc_state.coord_offset[X_AXIS]; // offset from machine coordinate system
float z_offset = gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS]; // offset from machine coordinate system
float dx, dy, dz; // distances in each cartesian axis
float p_dx, p_dy, p_dz; // distances in each polar axis
float dist, polar_dist; // the distances in both systems...used to determine feed rate
uint32_t segment_count; // number of segments the move will be broken in to.
float seg_target[N_AXIS]; // The target of the current segment
float polar[N_AXIS]; // target location in polar coordinates
float x_offset = gc_state.coord_system[X_AXIS] + gc_state.coord_offset[X_AXIS]; // offset from machine coordinate system
float z_offset = gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS]; // offset from machine coordinate system
//grbl_sendf(CLIENT_SERIAL, "Position: %4.2f %4.2f %4.2f \r\n", position[X_AXIS] - x_offset, position[Y_AXIS], position[Z_AXIS]);
//grbl_sendf(CLIENT_SERIAL, "Target: %4.2f %4.2f %4.2f \r\n", target[X_AXIS] - x_offset, target[Y_AXIS], target[Z_AXIS]);
// calculate cartesian move distance for each axis
@@ -120,11 +119,11 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
calc_polar(seg_target, polar, last_angle);
// begin determining new feed rate
// calculate move distance for each axis
p_dx = polar[RADIUS_AXIS] - last_radius;
p_dy = polar[POLAR_AXIS] - last_angle;
p_dz = dz;
polar_dist = sqrt((p_dx * p_dx) + (p_dy * p_dy) + (p_dz * p_dz)); // calculate the total move distance
float polar_rate_multiply = 1.0; // fail safe rate
p_dx = polar[RADIUS_AXIS] - last_radius;
p_dy = polar[POLAR_AXIS] - last_angle;
p_dz = dz;
polar_dist = sqrt((p_dx * p_dx) + (p_dy * p_dy) + (p_dz * p_dz)); // calculate the total move distance
float polar_rate_multiply = 1.0; // fail safe rate
if (polar_dist == 0 || dist == 0) {
// prevent 0 feed rate and division by 0
polar_rate_multiply = 1.0; // default to same feed rate
@@ -141,7 +140,7 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
polar[RADIUS_AXIS] += x_offset;
polar[Z_AXIS] += z_offset;
last_radius = polar[RADIUS_AXIS];
last_angle = polar[POLAR_AXIS];
last_angle = polar[POLAR_AXIS];
mc_line(polar, pl_data);
}
// TO DO don't need a feedrate for rapids
@@ -160,18 +159,18 @@ position = the current machine position
converted = position with forward kinematics applied.
*/
void forward_kinematics(float *position) {
float original_position[N_AXIS]; // temporary storage of original
float print_position[N_AXIS];
void forward_kinematics(float* position) {
float original_position[N_AXIS]; // temporary storage of original
float print_position[N_AXIS];
int32_t current_position[N_AXIS]; // Copy current state of the system position variable
memcpy(current_position, sys_position, sizeof(sys_position));
system_convert_array_steps_to_mpos(print_position, current_position);
original_position[X_AXIS] = print_position[X_AXIS] - gc_state.coord_system[X_AXIS] + gc_state.coord_offset[X_AXIS];
original_position[Y_AXIS] = print_position[Y_AXIS] - gc_state.coord_system[Y_AXIS] + gc_state.coord_offset[Y_AXIS];
original_position[Z_AXIS] = print_position[Z_AXIS] - gc_state.coord_system[Z_AXIS] + gc_state.coord_offset[Z_AXIS];
position[X_AXIS] = cos(radians(original_position[Y_AXIS])) * original_position[X_AXIS] * -1;
position[Y_AXIS] = sin(radians(original_position[Y_AXIS])) * original_position[X_AXIS];
position[Z_AXIS] = original_position[Z_AXIS]; // unchanged
position[X_AXIS] = cos(radians(original_position[Y_AXIS])) * original_position[X_AXIS] * -1;
position[Y_AXIS] = sin(radians(original_position[Y_AXIS])) * original_position[X_AXIS];
position[Z_AXIS] = original_position[Z_AXIS]; // unchanged
}
// helper functions
@@ -189,7 +188,7 @@ void forward_kinematics(float *position) {
* a long job.
*
*/
void calc_polar(float *target_xyz, float *polar, float last_angle) {
void calc_polar(float* target_xyz, float* polar, float last_angle) {
float delta_ang; // the difference from the last and next angle
polar[RADIUS_AXIS] = hypot_f(target_xyz[X_AXIS], target_xyz[Y_AXIS]);
if (polar[RADIUS_AXIS] == 0) {
@@ -200,7 +199,7 @@ void calc_polar(float *target_xyz, float *polar, float last_angle) {
polar[POLAR_AXIS] = abs_angle(polar[POLAR_AXIS]);
}
polar[Z_AXIS] = target_xyz[Z_AXIS]; // Z is unchanged
delta_ang = polar[POLAR_AXIS] - abs_angle(last_angle);
delta_ang = polar[POLAR_AXIS] - abs_angle(last_angle);
// if the delta is above 180 degrees it means we are crossing the 0 degree line
if (fabs(delta_ang) <= 180.0)
polar[POLAR_AXIS] = last_angle + delta_ang;
@@ -225,26 +224,24 @@ float abs_angle(float ang) {
void user_defined_macro(uint8_t index) {
switch (index) {
#ifdef MACRO_BUTTON_0_PIN
case CONTROL_PIN_INDEX_MACRO_0:
inputBuffer.push("$H\r"); // home machine
break;
case CONTROL_PIN_INDEX_MACRO_0:
inputBuffer.push("$H\r"); // home machine
break;
#endif
#ifdef MACRO_BUTTON_1_PIN
case CONTROL_PIN_INDEX_MACRO_1:
inputBuffer.push("[ESP220]/1.nc\r"); // run SD card file 1.nc
break;
case CONTROL_PIN_INDEX_MACRO_1:
inputBuffer.push("[ESP220]/1.nc\r"); // run SD card file 1.nc
break;
#endif
#ifdef MACRO_BUTTON_2_PIN
case CONTROL_PIN_INDEX_MACRO_2:
inputBuffer.push("[ESP220]/2.nc\r"); // run SD card file 2.nc
break;
case CONTROL_PIN_INDEX_MACRO_2:
inputBuffer.push("[ESP220]/2.nc\r"); // run SD card file 2.nc
break;
#endif
#ifdef MACRO_BUTTON_3_PIN
case CONTROL_PIN_INDEX_MACRO_3:
break;
case CONTROL_PIN_INDEX_MACRO_3: break;
#endif
default:
break;
default: break;
}
}

85
Grbl_Esp32/Grbl_Esp32.ino
View File

@@ -18,55 +18,45 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "WiFi.h"
#include "Spindles/SpindleClass.cpp"
#include "Motors/MotorClass.cpp"
#include "src/Grbl.h"
#include <WiFi.h>
// Declare system global variable structure
system_t sys;
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
system_t sys;
int32_t sys_position[N_AXIS]; // Real-time machine (aka home) position vector in steps.
int32_t sys_probe_position[N_AXIS]; // Last probe position in machine coordinates and steps.
volatile uint8_t sys_probe_state; // Probing state value. Used to coordinate the probing cycle with stepper ISR.
volatile uint8_t sys_rt_exec_state; // Global realtime executor bitflag variable for state management. See EXEC bitmasks.
volatile uint8_t sys_rt_exec_alarm; // Global realtime executor bitflag variable for setting various alarms.
volatile uint8_t sys_rt_exec_motion_override; // Global realtime executor bitflag variable for motion-based overrides.
volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bitflag variable for spindle/coolant overrides.
#ifdef DEBUG
volatile uint8_t sys_rt_exec_debug;
volatile uint8_t sys_rt_exec_debug;
#endif
Spindle *spindle;
Spindles::Spindle* spindle;
void setup() {
#ifdef USE_I2S_OUT
i2s_out_init(); // The I2S out must be initialized before it can access the expanded GPIO port
i2s_out_init(); // The I2S out must be initialized before it can access the expanded GPIO port
#endif
WiFi.persistent(false);
WiFi.disconnect(true);
WiFi.enableSTA(false);
WiFi.enableAP(false);
WiFi.mode(WIFI_OFF);
serial_init(); // Setup serial baud rate and interrupts
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD); // print grbl_esp32 verion info
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion()); // print the SDK version
serial_init(); // Setup serial baud rate and interrupts
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Grbl_ESP32 Ver %s Date %s", GRBL_VERSION, GRBL_VERSION_BUILD); // print grbl_esp32 verion info
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Compiled with ESP32 SDK:%s", ESP.getSdkVersion()); // print the SDK version
// show the map name at startup
#ifdef MACHINE_NAME
#ifdef MACHINE_EXTRA
#define MACHINE_STRING MACHINE_NAME MACHINE_EXTRA
#else
#define MACHINE_STRING MACHINE_NAME
#endif
report_machine_type(CLIENT_SERIAL);
#endif
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
settings_init(); // Load Grbl settings from EEPROM
stepper_init(); // Configure stepper pins and interrupt timers
init_motors();
system_ini(); // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
memset(sys_position, 0, sizeof(sys_position)); // Clear machine position.
system_ini(); // Configure pinout pins and pin-change interrupt (Renamed due to conflict with esp32 files)
memset(sys_position, 0, sizeof(sys_position)); // Clear machine position.
#ifdef USE_PEN_SERVO
servo_init();
#endif
@@ -77,7 +67,7 @@ void setup() {
solenoid_init();
#endif
#ifdef USE_MACHINE_INIT
machine_init(); // user supplied function for special initialization
machine_init(); // user supplied function for special initialization
#endif
// Initialize system state.
#ifdef FORCE_INITIALIZATION_ALARM
@@ -94,9 +84,10 @@ void setup() {
// not after disabling the alarm locks. Prevents motion startup blocks from crashing into
// things uncontrollably. Very bad.
#ifdef HOMING_INIT_LOCK
if (homing_enable->get()) sys.state = STATE_ALARM;
if (homing_enable->get())
sys.state = STATE_ALARM;
#endif
spindle_select();
Spindles::Spindle::select();
#ifdef ENABLE_WIFI
wifi_config.begin();
#endif
@@ -109,26 +100,26 @@ void setup() {
void loop() {
// Reset system variables.
uint8_t prior_state = sys.state;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
memset(&sys, 0, sizeof(system_t)); // Clear system struct variable.
sys.state = prior_state;
sys.f_override = DEFAULT_FEED_OVERRIDE; // Set to 100%
sys.r_override = DEFAULT_RAPID_OVERRIDE; // Set to 100%
sys.spindle_speed_ovr = DEFAULT_SPINDLE_SPEED_OVERRIDE; // Set to 100%
memset(sys_probe_position, 0, sizeof(sys_probe_position)); // Clear probe position.
sys_probe_state = 0;
sys_rt_exec_state = 0;
sys_rt_exec_alarm = 0;
sys_rt_exec_motion_override = 0;
sys_rt_exec_accessory_override = 0;
// Reset Grbl primary systems.
serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
gc_init(); // Set g-code parser to default state
spindle->stop();
coolant_init();
limits_init();
probe_init();
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables
plan_reset(); // Clear block buffer and planner variables
st_reset(); // Clear stepper subsystem variables
// Sync cleared gcode and planner positions to current system position.
plan_sync_position();
gc_sync_position();

218
Grbl_Esp32/Motors/MotorClass.h
View File

@@ -1,218 +0,0 @@
/*
MotorClass.h
Header file for Motor Classes
Here is the hierarchy
Motor
Nullmotor
StandardStepper
TrinamicDriver
Unipolar
RC Servo
These are for motors coordinated by Grbl_ESP32
See motorClass.cpp for more details
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
*/
#ifndef MOTORCLASS_H
#define MOTORCLASS_H
#include "../grbl.h"
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
#include "TrinamicDriverClass.h"
#include "RcServoClass.h"
//#include "SolenoidClass.h"
extern uint8_t rmt_chan_num[MAX_AXES][2];
extern rmt_item32_t rmtItem[2];
extern rmt_config_t rmtConfig;
typedef enum {
MOTOR,
NULL_MOTOR,
STANDARD_MOTOR,
TRINAMIC_SPI_MOTOR,
UNIPOLAR_MOTOR,
RC_SERVO_MOTOR,
SOLENOID
} motor_class_id_t;
// These are used for setup and to talk to the motors as a group.
void init_motors();
uint8_t get_next_trinamic_driver_index();
bool motors_have_type_id(motor_class_id_t id);
void readSgTask(void* pvParameters);
void motors_read_settings();
void motors_set_homing_mode(uint8_t homing_mask, bool isHoming);
void motors_set_disable(bool disable);
void motors_set_direction_pins(uint8_t onMask);
void motors_step(uint8_t step_mask, uint8_t dir_mask);
void servoUpdateTask(void* pvParameters);
extern bool motor_class_steps; // true if at least one motor class is handling steps
// ==================== Motor Classes ====================
class Motor {
public:
Motor();
virtual void init(); // not in constructor because this also gets called when $$ settings change
virtual void config_message();
virtual void debug_message();
virtual void read_settings();
virtual void set_homing_mode(uint8_t homing_mask, bool isHoming);
virtual void set_disable(bool disable);
virtual void set_direction_pins(uint8_t onMask);
virtual void step(uint8_t step_mask, uint8_t dir_mask); // only used on Unipolar right now
virtual bool test();
virtual void set_axis_name();
virtual void update();
motor_class_id_t type_id;
uint8_t is_active = false;
protected:
uint8_t axis_index; // X_AXIS, etc
uint8_t dual_axis_index; // 0 = primary 1=ganged
bool _showError;
bool _use_mpos = true;
uint8_t _homing_mask;
char _axis_name[10];// this the name to use when reporting like "X" or "X2"
};
class Nullmotor : public Motor {
};
class StandardStepper : public Motor {
public:
StandardStepper();
StandardStepper(uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin);
virtual void config_message();
virtual void init();
virtual void set_direction_pins(uint8_t onMask);
void init_step_dir_pins();
virtual void set_disable(bool disable);
uint8_t step_pin;
protected:
bool _invert_step_pin;
uint8_t dir_pin;
uint8_t disable_pin;
};
class TrinamicDriver : public StandardStepper {
public:
TrinamicDriver(uint8_t axis_index,
uint8_t step_pin,
uint8_t dir_pin,
uint8_t disable_pin,
uint8_t cs_pin,
uint16_t driver_part_number,
float r_sense,
int8_t spi_index);
void config_message();
void init();
void set_mode(bool isHoming);
void read_settings();
void trinamic_test_response();
void trinamic_stepper_enable(bool enable);
void debug_message();
void set_homing_mode(uint8_t homing_mask, bool ishoming);
void set_disable(bool disable);
bool test();
private:
uint32_t calc_tstep(float speed, float percent);
TMC2130Stepper* tmcstepper; // all other driver types are subclasses of this one
uint8_t _homing_mode;
uint8_t cs_pin = UNDEFINED_PIN; // The chip select pin (can be the same for daisy chain)
uint16_t _driver_part_number; // example: use 2130 for TMC2130
float _r_sense;
int8_t spi_index;
protected:
uint8_t _mode;
uint8_t _lastMode = 255;
};
class UnipolarMotor : public Motor {
public:
UnipolarMotor();
UnipolarMotor(uint8_t axis_index, uint8_t pin_phase0, uint8_t pin_phase1, uint8_t pin_phase2, uint8_t pin_phase3);
void init();
void config_message();
void set_disable(bool disable);
void step(uint8_t step_mask, uint8_t dir_mask); // only used on Unipolar right now
private:
uint8_t _pin_phase0;
uint8_t _pin_phase1;
uint8_t _pin_phase2;
uint8_t _pin_phase3;
uint8_t _current_phase;
bool _half_step;
bool _enabled;
};
class RcServo : public Motor {
public:
RcServo();
RcServo(uint8_t axis_index, uint8_t pwm_pin, float min, float max);
virtual void config_message();
virtual void init();
void _write_pwm(uint32_t duty);
virtual void set_disable(bool disable);
virtual void update();
void read_settings();
void set_homing_mode(bool is_homing, bool isHoming);
protected:
void set_location();
void _get_calibration();
uint8_t _pwm_pin;
uint8_t _channel_num;
uint32_t _current_pwm_duty;
bool _disabled;
float _position_min;
float _position_max; // position in millimeters
float _homing_position;
float _pwm_pulse_min;
float _pwm_pulse_max;
};
class Solenoid : public RcServo {
public:
Solenoid();
Solenoid(uint8_t axis_index, gpio_num_t pwm_pin, float transition_poiont);
void config_message();
void set_location();
void update();
void init();
void set_disable(bool disable);
float _transition_poiont;
};
#endif

190
Grbl_Esp32/Motors/RcServoClass.cpp
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/*
RcServoServoClass.cpp
This allows an RcServo to be used like any other motor. Serrvos
do have limitation in travel and speed, so you do need to respect that.
Part of Grbl_ESP32
2020 - Bart Dring
Servos have a limited travel, so they map the travel across a range in
the current work coordinatee system. The servo can only travel as far
as the range, but the internal axis value can keep going.
Range: The range is specified in the machine definition file with...
#define X_SERVO_RANGE_MIN 0.0
#define X_SERVO_RANGE_MAX 5.0
Direction: The direction can be changed using the $3 setting for the axis
Homing: During homing, the servo will move to one of the endpoints. The
endpoint is determined by the $23 or $HomingDirInvertMask setting for the axis.
Do not define a homing cycle for the axis with the servo.
You do need at least 1 homing cycle. TODO: Fix this
Calibration. You can tweak the endpoints using the $10n or nStepsPerMm and
$13n or $xMaxTravel setting, where n is the axis.
The value is a percent. If you secify a percent outside the
the range specified by the values below, it will be reset to 100.0 (100% ... no change)
The calibration adjusts in direction of positive momement, so a value above 100% moves
towards the higher axis value.
#define SERVO_CAL_MIN
#define SERVO_CAL_MAX
Grbl_ESP32 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/>.
*/
RcServo :: RcServo() {
}
RcServo :: RcServo(uint8_t axis_index, uint8_t pwm_pin, float min, float max) {
type_id = RC_SERVO_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
this->_pwm_pin = pwm_pin;
_position_min = min;
_position_max = max;
init();
}
void RcServo :: init() {
read_settings();
_channel_num = sys_get_next_PWM_chan_num();
ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
ledcAttachPin(_pwm_pin, _channel_num);
_current_pwm_duty = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
set_axis_name();
config_message();
}
void RcServo :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis RC Servo motor Output:%d Min:%5.3fmm Max:%5.3fmm",
_axis_name,
_pwm_pin,
_position_min,
_position_max);
}
void RcServo::_write_pwm(uint32_t duty) {
// to prevent excessive calls to ledcWrite, make sure duty hass changed
if (duty == _current_pwm_duty)
return;
_current_pwm_duty = duty;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Servo Pwm %d", _axis_name, duty);
ledcWrite(_channel_num, duty);
}
// sets the PWM to zero. This allows most servos to be manually moved
void RcServo::set_disable(bool disable) {
return;
_disabled = disable;
if (_disabled)
_write_pwm(0);
}
void RcServo::set_homing_mode(bool is_homing, bool isHoming) {
float home_pos = 0.0;
if (!is_homing)
return;
if (bit_istrue(homing_dir_mask->get(), bit(axis_index)))
home_pos = _position_min;
else
home_pos = _position_max;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo set home %d %3.2f", is_homing, home_pos);
sys_position[axis_index] = home_pos * axis_settings[axis_index]->steps_per_mm->get(); // convert to steps
}
void RcServo::update() {
set_location();
}
void RcServo::set_location() {
uint32_t servo_pulse_len;
float servo_pos, mpos, offset;
// skip location if we are in alarm mode
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "locate");
_get_calibration();
if (sys.state == STATE_ALARM) {
set_disable(true);
return;
}
mpos = system_convert_axis_steps_to_mpos(sys_position, axis_index); // get the axis machine position in mm
offset = gc_state.coord_system[axis_index] + gc_state.coord_offset[axis_index]; // get the current axis work offset
servo_pos = mpos - offset; // determine the current work position
// determine the pulse length
servo_pulse_len = (uint32_t)mapConstrain(servo_pos, _position_min, _position_max, _pwm_pulse_min, _pwm_pulse_max);
_write_pwm(servo_pulse_len);
}
void RcServo::read_settings() {
_get_calibration();
}
// this should change to use its own settings.
void RcServo::_get_calibration() {
float _cal_min = 1.0;
float _cal_max = 1.0;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Read settings");
// make sure the min is in range
if ((axis_settings[axis_index]->steps_per_mm->get() < SERVO_CAL_MIN) || (axis_settings[axis_index]->steps_per_mm->get() > SERVO_CAL_MAX)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration ($10%d) value error. Reset to 100", axis_index);
char reset_val[] = "100";
axis_settings[axis_index]->steps_per_mm->setStringValue(reset_val);
}
// make sure the max is in range
// Note: Max travel is set positive via $$, but stored as a negative number
if ((axis_settings[axis_index]->max_travel->get() < SERVO_CAL_MIN) || (axis_settings[axis_index]->max_travel->get() > SERVO_CAL_MAX)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration ($13%d) value error. %3.2f Reset to 100", axis_index, axis_settings[axis_index]->max_travel->get());
char reset_val[] = "100";
axis_settings[axis_index]->max_travel->setStringValue(reset_val);
}
_pwm_pulse_min = SERVO_MIN_PULSE;
_pwm_pulse_max = SERVO_MAX_PULSE;
if (bit_istrue(dir_invert_mask->get(), bit(axis_index))) { // normal direction
_cal_min = 2.0 - (axis_settings[axis_index]->steps_per_mm->get() / 100.0);
_cal_max = 2.0 - (axis_settings[axis_index]->max_travel->get() / 100.0);
swap(_pwm_pulse_min, _pwm_pulse_max);
} else { // inverted direction
_cal_min = (axis_settings[axis_index]->steps_per_mm->get() / 100.0);
_cal_max = (axis_settings[axis_index]->max_travel->get() / 100.0);
}
_pwm_pulse_min *= _cal_min;
_pwm_pulse_max *= _cal_max;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration min:%1.2f max %1.2f", _pwm_pulse_min, _pwm_pulse_max);
}

47
Grbl_Esp32/Motors/RcServoClass.h
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@@ -1,47 +0,0 @@
/*
RcServoClass.h
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
*/
#ifndef RCSERVOCLASS_H
#define RCSERVOCLASS_H
// this is the pulse range of a the servo. Typical servos are 0.001 to 0.002 seconds
// some servos have a wider range. You can adjust this here or in the calibration feature
#define SERVO_MIN_PULSE_SEC 0.001 // min pulse in seconds
#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
#define SERVO_POSITION_MIN_DEFAULT 0.0 // mm
#define SERVO_POSITION_MAX_DEFAULT 20.0 // mm
#define SERVO_PULSE_FREQ 50 // 50Hz ...This is a standard analog servo value. Digital ones can repeat faster
#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
#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_PULSE_RANGE (SERVO_MAX_PULSE-SERVO_MIN_PULSE)
#define SERVO_CAL_MIN 20.0 // Percent: the minimum allowable calibration value
#define SERVO_CAL_MAX 180.0 // Percent: the maximum allowable calibration value
#define SERVO_TIMER_INT_FREQ 50.0 // Hz This is the task frequency
#endif

107
Grbl_Esp32/Motors/StandardStepperClass.cpp
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@@ -1,107 +0,0 @@
/*
StandardStepperClass.cpp
This is used for a stepper motor that just requires step and direction
pins.
TODO: Add an enable pin
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
*/
StandardStepper :: StandardStepper() {
}
StandardStepper :: StandardStepper(uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin) {
type_id = STANDARD_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
this->step_pin = step_pin;
this->dir_pin = dir_pin;
this->disable_pin = disable_pin;
init();
}
void StandardStepper :: init() {
_homing_mask = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
set_axis_name();
init_step_dir_pins();
config_message();
}
void StandardStepper :: init_step_dir_pins() {
// TODO Step pin, but RMT complicates things
_invert_step_pin = bit_istrue(step_invert_mask->get(), bit(axis_index));
pinMode(dir_pin, OUTPUT);
#ifdef USE_RMT_STEPS
rmtConfig.rmt_mode = RMT_MODE_TX;
rmtConfig.clk_div = 20;
rmtConfig.mem_block_num = 2;
rmtConfig.tx_config.loop_en = false;
rmtConfig.tx_config.carrier_en = false;
rmtConfig.tx_config.carrier_freq_hz = 0;
rmtConfig.tx_config.carrier_duty_percent = 50;
rmtConfig.tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW;
rmtConfig.tx_config.idle_output_en = true;
#ifdef STEP_PULSE_DELAY
rmtItem[0].duration0 = STEP_PULSE_DELAY * 4;
#else
rmtItem[0].duration0 = 1;
#endif
rmtItem[0].duration1 = 4 * pulse_microseconds->get();
rmtItem[1].duration0 = 0;
rmtItem[1].duration1 = 0;
rmt_chan_num[axis_index][dual_axis_index] = sys_get_next_RMT_chan_num();
rmt_set_source_clk((rmt_channel_t)rmt_chan_num[axis_index][dual_axis_index], RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)rmt_chan_num[axis_index][dual_axis_index];
rmtConfig.tx_config.idle_level = _invert_step_pin ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = gpio_num_t(step_pin); // c is a wacky lang
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
rmt_config(&rmtConfig);
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
#else
pinMode(step_pin, OUTPUT);
#endif // USE_RMT_STEPS
pinMode(disable_pin, OUTPUT);
}
void StandardStepper :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis standard stepper motor Step:%s Dir:%s Disable:%s",
_axis_name,
pinName(step_pin).c_str(),
pinName(dir_pin).c_str(),
pinName(disable_pin).c_str());
}
void StandardStepper :: set_direction_pins(uint8_t onMask) {
digitalWrite(dir_pin, (onMask & bit(axis_index)));
}
void StandardStepper :: set_disable(bool disable) {
digitalWrite(disable_pin, disable);
}

242
Grbl_Esp32/Motors/TrinamicDriverClass.cpp
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@@ -1,242 +0,0 @@
/*
TrinamicDriverClass.cpp
This is used for Trinamic SPI controlled stepper motor drivers.
Part of Grbl_ESP32
2020 - Bart Dring
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 <TMCStepper.h>
#include "TrinamicDriverClass.h"
TrinamicDriver :: TrinamicDriver(uint8_t axis_index,
uint8_t step_pin,
uint8_t dir_pin,
uint8_t disable_pin,
uint8_t cs_pin,
uint16_t driver_part_number,
float r_sense,
int8_t spi_index) {
type_id = TRINAMIC_SPI_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < 6 ? 0 : 1; // 0 = primary 1 = ganged
_driver_part_number = driver_part_number;
_r_sense = r_sense;
this->step_pin = step_pin;
this->dir_pin = dir_pin;
this->disable_pin = disable_pin;
this->cs_pin = cs_pin;
this->spi_index = spi_index;
_homing_mode = TRINAMIC_HOMING_MODE;
_homing_mask = 0; // no axes homing
if (_driver_part_number == 2130)
tmcstepper = new TMC2130Stepper(cs_pin, _r_sense, spi_index);
else if (_driver_part_number == 5160)
tmcstepper = new TMC5160Stepper(cs_pin, _r_sense, spi_index);
else {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Trinamic unsupported p/n:%d", _driver_part_number);
return;
}
set_axis_name();
init_step_dir_pins(); // from StandardStepper
digitalWrite(cs_pin, HIGH);
pinMode(cs_pin, OUTPUT);
// use slower speed if I2S
if (cs_pin >= I2S_OUT_PIN_BASE)
tmcstepper->setSPISpeed(TRINAMIC_SPI_FREQ);
config_message();
// init() must be called later, after all TMC drivers have CS pins setup.
}
void TrinamicDriver :: init() {
SPI.begin(); // this will get called for each motor, but does not seem to hurt anything
tmcstepper->begin();
test(); // Try communicating with motor. Prints an error if there is a problem.
read_settings(); // pull info from settings
set_mode(false);
_homing_mask = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
}
/*
This is the startup message showing the basic definition
*/
void TrinamicDriver :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis Trinamic TMC%d Step:%s Dir:%s CS:%s Disable:%s Index:%d",
_axis_name,
_driver_part_number,
pinName(step_pin).c_str(),
pinName(dir_pin).c_str(),
pinName(cs_pin).c_str(),
pinName(disable_pin).c_str(),
spi_index);
}
bool TrinamicDriver :: test() {
switch (tmcstepper->test_connection()) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check connection", _axis_name);
return false;
case 2:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", _axis_name);
return false;
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", _axis_name);
return true;
}
}
/*
Read setting and send them to the driver. Called at init() and whenever related settings change
both are stored as float Amps, but TMCStepper library expects...
uint16_t run (mA)
float hold (as a percentage of run)
*/
void TrinamicDriver :: read_settings() {
uint16_t run_i_ma = (uint16_t)(axis_settings[axis_index]->run_current->get() * 1000.0);
float hold_i_percent;
if (axis_settings[axis_index]->run_current->get() == 0)
hold_i_percent = 0;
else {
hold_i_percent = axis_settings[axis_index]->hold_current->get() / axis_settings[axis_index]->run_current->get();
if (hold_i_percent > 1.0)
hold_i_percent = 1.0;
}
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Current run %d hold %f", _axis_name, run_i_ma, hold_i_percent);
tmcstepper->microsteps(axis_settings[axis_index]->microsteps->get());
tmcstepper->rms_current(run_i_ma, hold_i_percent);
}
void TrinamicDriver :: set_homing_mode(uint8_t homing_mask, bool isHoming) {
_homing_mask = homing_mask;
set_mode(isHoming);
}
/*
There are ton of settings. I'll start by grouping then into modes for now.
Many people will want quiet and stallgaurd homing. Stallguard only run in
Coolstep mode, so it will need to switch to Coolstep when homing
*/
void TrinamicDriver :: set_mode(bool isHoming) {
if (isHoming)
_mode = TRINAMIC_HOMING_MODE;
else
_mode = TRINAMIC_RUN_MODE;
if (_lastMode == _mode)
return;
_lastMode = _mode;
switch (_mode) {
case TRINAMIC_MODE_STEALTHCHOP:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_STEALTHCHOP");
tmcstepper->en_pwm_mode(true);
tmcstepper->pwm_autoscale(true);
tmcstepper->diag1_stall(false);
break;
case TRINAMIC_MODE_COOLSTEP:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_COOLSTEP");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmcstepper->THIGH(NORMAL_THIGH);
break;
case TRINAMIC_MODE_STALLGUARD:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_STALLGUARD");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(axis_settings[axis_index]->stallguard->get());
break;
default:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_UNDEFINED");
}
}
/*
This is the stallguard tuning info. It is call debug, so it could be generic across all classes.
*/
void TrinamicDriver :: debug_message() {
uint32_t tstep = tmcstepper->TSTEP();
if (tstep == 0xFFFFF || tstep < 1) // if axis is not moving return
return;
float feedrate = st_get_realtime_rate(); //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
_axis_name,
tmcstepper->stallguard(),
tmcstepper->sg_result(),
feedrate,
axis_settings[axis_index]->stallguard->get());
}
// calculate a tstep from a rate
// tstep = TRINAMIC_FCLK / (time between 1/256 steps)
// This is used to set the stallguard window from the homing speed.
// The percent is the offset on the window
uint32_t TrinamicDriver :: calc_tstep(float speed, float percent) {
float tstep = speed / 60.0 * axis_settings[axis_index]->steps_per_mm->get() * (float)(256 / axis_settings[axis_index]->microsteps->get());
tstep = TRINAMIC_FCLK / tstep * percent / 100.0;
return (uint32_t)tstep;
}
// this can use the enable feature over SPI. The dedicated pin must be in the enable mode,
// but that can be hardwired that way.
void TrinamicDriver :: set_disable(bool disable) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Axis disable %d", _axis_name, disable);
digitalWrite(disable_pin, disable);
#ifdef USE_TRINAMIC_ENABLE
if (disable)
tmcstepper->toff(TRINAMIC_TOFF_DISABLE);
else {
if (_mode == TRINAMIC_MODE_STEALTHCHOP)
tmcstepper->toff(TRINAMIC_TOFF_STEALTHCHOP);
else
tmcstepper->toff(TRINAMIC_TOFF_COOLSTEP);
}
#endif
// the pin based enable could be added here.
// This would be for individual motors, not the single pin for all motors.
}

64
Grbl_Esp32/Motors/TrinamicDriverClass.h
View File

@@ -1,64 +0,0 @@
/*
TrinamicDriverClass.h
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
*/
#define TRINAMIC_MODE_STEALTHCHOP 0 // very quiet
#define TRINAMIC_MODE_COOLSTEP 1 // everything runs cooler so higher current possible
#define TRINAMIC_MODE_STALLGUARD 2 // coolstep plus generates stall indication
#define NORMAL_TCOOLTHRS 0xFFFFF // 20 bit is max
#define NORMAL_THIGH 0
#define TMC2130_RSENSE_DEFAULT 0.11f
#define TMC5160_RSENSE_DEFAULT 0.075f
#define TRINAMIC_SPI_FREQ 100000
#define TRINAMIC_FCLK 12700000.0 // Internal clock Approx (Hz) used to calculate TSTEP from homing rate
// ==== defaults OK to define them in your machine definition ====
#ifndef TRINAMIC_RUN_MODE
#define TRINAMIC_RUN_MODE TRINAMIC_MODE_COOLSTEP
#endif
#ifndef TRINAMIC_HOMING_MODE
#define TRINAMIC_HOMING_MODE TRINAMIC_RUN_MODE
#endif
#ifndef TRINAMIC_TOFF_DISABLE
#define TRINAMIC_TOFF_DISABLE 0
#endif
#ifndef TRINAMIC_TOFF_STEALTHCHOP
#define TRINAMIC_TOFF_STEALTHCHOP 5
#endif
#ifndef TRINAMIC_TOFF_COOLSTEP
#define TRINAMIC_TOFF_COOLSTEP 3
#endif
#ifndef TRINAMICDRIVERCLASS_H
#define TRINAMICDRIVERCLASS_H
#include "MotorClass.h"
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
#endif

146
Grbl_Esp32/Motors/UnipolarMotorClass.cpp
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@@ -1,146 +0,0 @@
UnipolarMotor :: UnipolarMotor() {
}
UnipolarMotor :: UnipolarMotor(uint8_t axis_index, uint8_t pin_phase0, uint8_t pin_phase1, uint8_t pin_phase2, uint8_t pin_phase3) {
type_id = UNIPOLAR_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
_pin_phase0 = pin_phase0;
_pin_phase1 = pin_phase1;
_pin_phase2 = pin_phase2;
_pin_phase3 = pin_phase3;
_half_step = true; // TODO read from settings ... microstep > 1 = half step
set_axis_name();
init();
config_message();
}
void UnipolarMotor :: init() {
pinMode(_pin_phase0, OUTPUT);
pinMode(_pin_phase1, OUTPUT);
pinMode(_pin_phase2, OUTPUT);
pinMode(_pin_phase3, OUTPUT);
_current_phase = 0;
}
void UnipolarMotor :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis unipolar stepper motor Ph0:%s Ph1:%s Ph2:%s Ph3:%s",
_axis_name,
pinName(_pin_phase0).c_str(),
pinName(_pin_phase1).c_str(),
pinName(_pin_phase2).c_str(),
pinName(_pin_phase3).c_str());
}
void UnipolarMotor :: set_disable(bool disable) {
if (disable) {
digitalWrite(_pin_phase0, 0);
digitalWrite(_pin_phase1, 0);
digitalWrite(_pin_phase2, 0);
digitalWrite(_pin_phase3, 0);
}
_enabled = !disable;
}
void UnipolarMotor::step(uint8_t step_mask, uint8_t dir_mask) {
uint8_t _phase[8] = {0, 0, 0, 0, 0, 0, 0, 0}; // temporary phase values...all start as off
uint8_t phase_max;
if (!(step_mask & bit(axis_index)))
return; // a step is not required on this interrupt
if (!_enabled)
return; // don't do anything, phase is not changed or lost
if (_half_step)
phase_max = 7;
else
phase_max = 3;
if (dir_mask & bit(axis_index)) { // count up
if (_current_phase == phase_max)
_current_phase = 0;
else
_current_phase++;
} else { // count down
if (_current_phase == 0)
_current_phase = phase_max;
else
_current_phase--;
}
/*
8 Step : A – AB – B – BC – C – CD – D – DA
4 Step : AB – BC – CD – DA
Step IN4 IN3 IN2 IN1
A 0 0 0 1
AB 0 0 1 1
B 0 0 1 0
BC 0 1 1 0
C 0 1 0 0
CD 1 1 0 0
D 1 0 0 0
DA 1 0 0 1
*/
if (_half_step) {
switch (_current_phase) {
case 0:
_phase[0] = 1;
break;
case 1:
_phase[0] = 1;
_phase[1] = 1;
break;
case 2:
_phase[1] = 1;
break;
case 3:
_phase[1] = 1;
_phase[2] = 1;
break;
case 4:
_phase[2] = 1;
break;
case 5:
_phase[2] = 1;
_phase[3] = 1;
break;
case 6:
_phase[3] = 1;
break;
case 7:
_phase[3] = 1;
_phase[0] = 1;
break;
}
} else {
switch (_current_phase) {
case 0:
_phase[0] = 1;
_phase[1] = 1;
break;
case 1:
_phase[1] = 1;
_phase[2] = 1;
break;
case 2:
_phase[2] = 1;
_phase[3] = 1;
break;
case 3:
_phase[3] = 1;
_phase[0] = 1;
break;
}
}
digitalWrite(_pin_phase0, _phase[0]);
digitalWrite(_pin_phase1, _phase[1]);
digitalWrite(_pin_phase2, _phase[2]);
digitalWrite(_pin_phase3, _phase[3]);
}

351
Grbl_Esp32/SettingsClass.h
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@@ -1,351 +0,0 @@
#pragma once
#include "JSONencoder.h"
#include <map>
#include <nvs.h>
#include "espresponse.h"
// Command::List is a linked list of all settings,
// so common code can enumerate them.
class Command;
// extern Command *CommandsList;
// This abstract class defines the generic interface that
// is used to set and get values for all settings independent
// of their underlying data type. The values are always
// represented as human-readable strings. This generic
// interface is used for managing settings via the user interface.
// Derived classes implement these generic functions for different
// kinds of data. Code that accesses settings should use only these
// generic functions and should not use derived classes directly.
enum {
NO_AXIS = 255,
};
typedef enum : uint8_t {
GRBL = 1, // Classic GRBL settings like $100
EXTENDED, // Settings added by early versions of Grbl_Esp32
WEBSET, // Settings for ESP3D_WebUI, stored in NVS
GRBLCMD, // Non-persistent GRBL commands like $H
WEBCMD, // ESP3D_WebUI commands that are not directly settings
} type_t;
typedef enum : uint8_t {
WG, // Readable and writable as guest
WU, // Readable and writable as user and admin
WA, // Readable as user and admin, writable as admin
} permissions_t;
typedef uint8_t axis_t;
class Word {
protected:
const char* _description;
const char* _grblName;
const char* _fullName;
type_t _type;
permissions_t _permissions;
public:
Word(type_t type, permissions_t permissions, const char *description, const char * grblName, const char* fullName);
type_t getType() { return _type; }
permissions_t getPermissions() { return _permissions; }
const char* getName() { return _fullName; }
const char* getGrblName() { return _grblName; }
const char* getDescription() { return _description; }
};
class Command : public Word {
protected:
Command *link; // linked list of setting objects
public:
static Command* List;
Command* next() { return link; }
~Command() {}
Command(const char *description, type_t type, permissions_t permissions, const char * grblName, const char* fullName);
// The default implementation of addWebui() does nothing.
// Derived classes may override it to do something.
virtual void addWebui(JSONencoder *) {};
virtual err_t action(char* value, auth_t auth_level, ESPResponseStream* out) =0;
};
class Setting : public Word {
private:
protected:
static nvs_handle _handle;
// group_t _group;
axis_t _axis = NO_AXIS;
Setting *link; // linked list of setting objects
bool (*_checker)(char *);
const char* _keyName;
public:
static void init();
static Setting* List;
Setting* next() { return link; }
err_t check(char *s);
static err_t report_nvs_stats(const char* value, auth_t auth_level, ESPResponseStream* out) {
nvs_stats_t stats;
if (err_t err = nvs_get_stats(NULL, &stats))
return err;
grbl_sendf(out->client(), "[MSG: NVS Used: %d Free: %d Total: %d]\r\n",
stats.used_entries, stats.free_entries, stats.total_entries);
#if 0 // The SDK we use does not have this yet
nvs_iterator_t it = nvs_entry_find(NULL, NULL, NVS_TYPE_ANY);
while (it != NULL) {
nvs_entry_info_t info;
nvs_entry_info(it, &info);
it = nvs_entry_next(it);
grbl_sendf(out->client(), "namespace %s key '%s', type '%d' \n", info.namespace_name, info.key, info.type);
}
#endif
return STATUS_OK;
}
static err_t eraseNVS(const char* value, auth_t auth_level, ESPResponseStream* out) {
nvs_erase_all(_handle);
// return STATUS_OK;
return 0;
}
~Setting() {}
// Setting(const char *description, group_t group, const char * grblName, const char* fullName, bool (*checker)(char *));
Setting(const char *description, type_t type, permissions_t permissions, const char * grblName, const char* fullName, bool (*checker)(char *));
axis_t getAxis() { return _axis; }
void setAxis(axis_t axis) { _axis = axis; }
// load() reads the backing store to get the current
// value of the setting. This could be slow so it
// should be done infrequently, typically once at startup.
virtual void load() {};
virtual void setDefault() {};
// The default implementation of addWebui() does nothing.
// Derived classes may override it to do something.
virtual void addWebui(JSONencoder *) {};
virtual err_t setStringValue(char* value) =0;
err_t setStringValue(String s) { return setStringValue(s.c_str()); }
virtual const char* getStringValue() =0;
virtual const char* getCompatibleValue() { return getStringValue(); }
};
class IntSetting : public Setting {
private:
int32_t _defaultValue;
int32_t _currentValue;
int32_t _storedValue;
int32_t _minValue;
int32_t _maxValue;
public:
IntSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, int32_t defVal, int32_t minVal, int32_t maxVal, bool (*checker)(char *));
IntSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, int32_t defVal, int32_t minVal, int32_t maxVal, bool (*checker)(char *) = NULL)
: IntSetting(NULL, type, permissions, grblName, name, defVal, minVal, maxVal, checker)
{ }
void load();
void setDefault();
void addWebui(JSONencoder *);
err_t setStringValue(char* value);
const char* getStringValue();
int32_t get() { return _currentValue; }
};
class AxisMaskSetting : public Setting {
private:
int32_t _defaultValue;
int32_t _currentValue;
int32_t _storedValue;
public:
AxisMaskSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, int32_t defVal, bool (*checker)(char *));
AxisMaskSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, int32_t defVal, bool (*checker)(char *) = NULL)
: AxisMaskSetting(NULL, type, permissions, grblName, name, defVal, checker)
{ }
void load();
void setDefault();
void addWebui(JSONencoder *);
err_t setStringValue(char* value);
const char* getCompatibleValue();
const char* getStringValue();
int32_t get() { return _currentValue; }
};
class FloatSetting : public Setting {
private:
float _defaultValue;
float _currentValue;
float _storedValue;
float _minValue;
float _maxValue;
public:
FloatSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, float defVal, float minVal, float maxVal, bool (*checker)(char *));
FloatSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, float defVal, float minVal, float maxVal, bool (*checker)(char *) = NULL)
: FloatSetting(NULL, type, permissions, grblName, name, defVal, minVal, maxVal, checker)
{ }
void load();
void setDefault();
// There are no Float settings in WebUI
void addWebui(JSONencoder *) {}
err_t setStringValue(char* value);
const char* getStringValue();
float get() { return _currentValue; }
};
#define MAX_SETTING_STRING 256
class StringSetting : public Setting {
private:
String _defaultValue;
String _currentValue;
String _storedValue;
int _minLength;
int _maxLength;
void _setStoredValue(const char *s);
public:
StringSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, const char* defVal, int min, int max, bool (*checker)(char *));
StringSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, const char* defVal, bool (*checker)(char *) = NULL)
: StringSetting(NULL, type, permissions, grblName, name, defVal, 0, 0, checker)
{ };
void load();
void setDefault();
void addWebui(JSONencoder *);
err_t setStringValue(char* value);
const char* getStringValue();
const char* get() { return _currentValue.c_str(); }
};
struct cmp_str
{
bool operator()(char const *a, char const *b) const
{
return strcasecmp(a, b) < 0;
}
};
typedef std::map<const char *, int8_t, cmp_str> enum_opt_t;
class EnumSetting : public Setting {
private:
int8_t _defaultValue;
int8_t _storedValue;
int8_t _currentValue;
std::map<const char *, int8_t, cmp_str>* _options;
public:
EnumSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, int8_t defVal, enum_opt_t* opts);
EnumSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, int8_t defVal, enum_opt_t* opts) :
EnumSetting(NULL, type, permissions, grblName, name, defVal, opts)
{ }
void load();
void setDefault();
void addWebui(JSONencoder *);
err_t setStringValue(char* value);
const char* getStringValue();
int8_t get() { return _currentValue; }
};
class FlagSetting : public Setting {
private:
bool _defaultValue;
int8_t _storedValue;
bool _currentValue;
public:
FlagSetting(const char *description, type_t type, permissions_t permissions, const char* grblName, const char* name, bool defVal, bool (*checker)(char *));
FlagSetting(type_t type, permissions_t permissions, const char* grblName, const char* name, bool defVal, bool (*checker)(char *) = NULL)
: FlagSetting(NULL, type, permissions, grblName, name, defVal, checker)
{ }
void load();
void setDefault();
// There are no Flag settings in WebUI
// The booleans are expressed as Enums
void addWebui(JSONencoder *) {}
err_t setStringValue(char* value);
const char* getCompatibleValue();
const char* getStringValue();
bool get() { return _currentValue; }
};
class IPaddrSetting : public Setting {
private:
uint32_t _defaultValue;
uint32_t _currentValue;
uint32_t _storedValue;
public:
IPaddrSetting(const char *description, type_t type, permissions_t permissions, const char * grblName, const char* name, uint32_t defVal, bool (*checker)(char *));
IPaddrSetting(const char *description, type_t type, permissions_t permissions, const char * grblName, const char* name, const char *defVal, bool (*checker)(char *));
void load();
void setDefault();
void addWebui(JSONencoder *);
err_t setStringValue(char* value);
const char* getStringValue();
uint32_t get() { return _currentValue; }
};
class AxisSettings {
public:
const char* name;
FloatSetting *steps_per_mm;
FloatSetting *max_rate;
FloatSetting *acceleration;
FloatSetting *max_travel;
FloatSetting *run_current;
FloatSetting *hold_current;
IntSetting *microsteps;
IntSetting *stallguard;
AxisSettings(const char *axisName);
};
class WebCommand : public Command {
private:
err_t (*_action)(char *, auth_t);
const char* password;
public:
WebCommand(const char* description, type_t type, permissions_t permissions, const char * grblName, const char* name, err_t (*action)(char *, auth_t)) :
Command(description, type, permissions, grblName, name),
_action(action)
{}
err_t action(char* value, auth_t auth_level, ESPResponseStream* response);
};
enum : uint8_t {
ANY_STATE = 0,
IDLE_OR_ALARM = 0xff & ~STATE_ALARM,
IDLE_OR_JOG = 0xff & ~STATE_JOG,
NOT_CYCLE_OR_HOLD = STATE_CYCLE | STATE_HOLD,
};
class GrblCommand : public Command {
private:
err_t (*_action)(const char *, auth_t, ESPResponseStream*);
uint8_t _disallowedStates;
public:
GrblCommand(const char * grblName, const char* name, err_t (*action)(const char*, auth_t, ESPResponseStream*), uint8_t disallowedStates, permissions_t auth)
: Command(NULL, GRBLCMD, auth, grblName, name)
, _action(action)
, _disallowedStates(disallowedStates)
{}
GrblCommand(const char * grblName, const char* name, err_t (*action)(const char*, auth_t, ESPResponseStream*), uint8_t disallowedStates)
: GrblCommand(grblName, name, action, disallowedStates, WG)
{}
err_t action(char* value, auth_t auth_level, ESPResponseStream* response);
};

320
Grbl_Esp32/SettingsDefinitions.cpp
View File

@@ -1,320 +0,0 @@
#include "grbl.h"
bool motorSettingChanged = false;
StringSetting* startup_line_0;
StringSetting* startup_line_1;
StringSetting* build_info;
IntSetting* pulse_microseconds;
IntSetting* stepper_idle_lock_time;
AxisMaskSetting* step_invert_mask;
AxisMaskSetting* dir_invert_mask;
// TODO Settings - need to call st_generate_step_invert_masks;
AxisMaskSetting* homing_dir_mask;
AxisMaskSetting* stallguard_debug_mask;
FlagSetting* step_enable_invert;
FlagSetting* limit_invert;
FlagSetting* probe_invert;
FlagSetting* report_inches;
FlagSetting* soft_limits;
// TODO Settings - need to check for HOMING_ENABLE
FlagSetting* hard_limits;
// TODO Settings - need to call limits_init;
FlagSetting* homing_enable;
// TODO Settings - also need to clear, but not set, soft_limits
FlagSetting* laser_mode;
// TODO Settings - also need to call my_spindle->init;
IntSetting* status_mask;
FloatSetting* junction_deviation;
FloatSetting* arc_tolerance;
FloatSetting* homing_feed_rate;
FloatSetting* homing_seek_rate;
FloatSetting* homing_debounce;
FloatSetting* homing_pulloff;
FloatSetting* spindle_pwm_freq;
FloatSetting* rpm_max;
FloatSetting* rpm_min;
FloatSetting* spindle_delay_spinup;
FloatSetting* spindle_delay_spindown;
FloatSetting* spindle_pwm_off_value;
FloatSetting* spindle_pwm_min_value;
FloatSetting* spindle_pwm_max_value;
IntSetting* spindle_pwm_bit_precision;
EnumSetting* spindle_type;
enum_opt_t spindleTypes = {
{ "NONE", SPINDLE_TYPE_NONE, },
{ "PWM", SPINDLE_TYPE_PWM, },
{ "RELAY", SPINDLE_TYPE_RELAY, },
{ "LASER", SPINDLE_TYPE_LASER, },
{ "DAC", SPINDLE_TYPE_DAC, },
{ "HUANYANG", SPINDLE_TYPE_HUANYANG, },
{ "BESC", SPINDLE_TYPE_BESC, },
{ "10V", SPINDLE_TYPE_10V, },
};
AxisSettings* x_axis_settings;
AxisSettings* y_axis_settings;
AxisSettings* z_axis_settings;
AxisSettings* a_axis_settings;
AxisSettings* b_axis_settings;
AxisSettings* c_axis_settings;
AxisSettings* axis_settings[MAX_N_AXIS];
typedef struct {
const char* name;
float steps_per_mm;
float max_rate;
float acceleration;
float max_travel;
float run_current;
float hold_current;
uint16_t microsteps;
uint16_t stallguard;
} axis_defaults_t;
axis_defaults_t axis_defaults[] = {
{
"X",
DEFAULT_X_STEPS_PER_MM,
DEFAULT_X_MAX_RATE,
DEFAULT_X_ACCELERATION,
DEFAULT_X_MAX_TRAVEL,
DEFAULT_X_CURRENT,
DEFAULT_X_HOLD_CURRENT,
DEFAULT_X_MICROSTEPS,
DEFAULT_X_STALLGUARD
},
{
"Y",
DEFAULT_Y_STEPS_PER_MM,
DEFAULT_Y_MAX_RATE,
DEFAULT_Y_ACCELERATION,
DEFAULT_Y_MAX_TRAVEL,
DEFAULT_Y_CURRENT,
DEFAULT_Y_HOLD_CURRENT,
DEFAULT_Y_MICROSTEPS,
DEFAULT_Y_STALLGUARD
},
{
"Z",
DEFAULT_Z_STEPS_PER_MM,
DEFAULT_Z_MAX_RATE,
DEFAULT_Z_ACCELERATION,
DEFAULT_Z_MAX_TRAVEL,
DEFAULT_Z_CURRENT,
DEFAULT_Z_HOLD_CURRENT,
DEFAULT_Z_MICROSTEPS,
DEFAULT_Z_STALLGUARD
},
{
"A",
DEFAULT_A_STEPS_PER_MM,
DEFAULT_A_MAX_RATE,
DEFAULT_A_ACCELERATION,
DEFAULT_A_MAX_TRAVEL,
DEFAULT_A_CURRENT,
DEFAULT_A_HOLD_CURRENT,
DEFAULT_A_MICROSTEPS,
DEFAULT_A_STALLGUARD
},
{
"B",
DEFAULT_B_STEPS_PER_MM,
DEFAULT_B_MAX_RATE,
DEFAULT_B_ACCELERATION,
DEFAULT_B_MAX_TRAVEL,
DEFAULT_B_CURRENT,
DEFAULT_B_HOLD_CURRENT,
DEFAULT_B_MICROSTEPS,
DEFAULT_B_STALLGUARD
},
{
"C",
DEFAULT_C_STEPS_PER_MM,
DEFAULT_C_MAX_RATE,
DEFAULT_C_ACCELERATION,
DEFAULT_C_MAX_TRAVEL,
DEFAULT_C_CURRENT,
DEFAULT_C_HOLD_CURRENT,
DEFAULT_C_MICROSTEPS,
DEFAULT_C_STALLGUARD
}
};
// Construct e.g. X_MAX_RATE from axisName "X" and tail "_MAX_RATE"
// in dynamically allocated memory that will not be freed.
static const char *makename(const char *axisName, const char *tail) {
char* retval = (char *)malloc(strlen(axisName) + strlen(tail) + 2);
strcpy(retval, axisName);
strcat(retval, "/");
return strcat(retval, tail);
}
static bool checkStartupLine(char* value) {
if (sys.state != STATE_IDLE)
return STATUS_IDLE_ERROR;
return gc_execute_line(value, CLIENT_SERIAL) == 0;
}
static bool checkStallguard(char* value) {
motorSettingChanged = true;
return true;
}
static bool checkMicrosteps(char* value) {
motorSettingChanged = true;
return true;
}
static bool checkRunCurrent(char* value) {
motorSettingChanged = true;
return true;
}
static bool checkHoldcurrent(char* value) {
motorSettingChanged = true;
return true;
}
static bool checkStallguardDebugMask(char* val) {
motorSettingChanged = true;
return true;
}
// Generates a string like "122" from axisNum 2 and base 120
static const char* makeGrblName(int axisNum, int base) {
// To omit A,B,C axes:
// if (axisNum > 2) return NULL;
char buf[4];
snprintf(buf, 4, "%d", axisNum + base);
char* retval = (char*)malloc(strlen(buf));
return strcpy(retval, buf);
}
void make_settings() {
Setting::init();
// Create the axis settings in the order that people are
// accustomed to seeing.
int axis;
axis_defaults_t* def;
for (axis = 0; axis < N_AXIS; axis++) {
def = &axis_defaults[axis];
axis_settings[axis] = new AxisSettings(def->name);
}
x_axis_settings = axis_settings[X_AXIS];
y_axis_settings = axis_settings[Y_AXIS];
z_axis_settings = axis_settings[Z_AXIS];
a_axis_settings = axis_settings[A_AXIS];
b_axis_settings = axis_settings[B_AXIS];
c_axis_settings = axis_settings[C_AXIS];
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new IntSetting(EXTENDED, WG, makeGrblName(axis, 170), makename(def->name, "StallGuard"), def->stallguard, -64, 63, checkStallguard);
setting->setAxis(axis);
axis_settings[axis]->stallguard = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new IntSetting(EXTENDED, WG, makeGrblName(axis, 160), makename(def->name, "Microsteps"), def->microsteps, 0, 256, checkMicrosteps);
setting->setAxis(axis);
axis_settings[axis]->microsteps = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(EXTENDED, WG, makeGrblName(axis, 150), makename(def->name, "Current/Hold"), def->hold_current, 0.05, 20.0, checkHoldcurrent); // Amps
setting->setAxis(axis);
axis_settings[axis]->hold_current = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(EXTENDED, WG, makeGrblName(axis, 140), makename(def->name, "Current/Run"), def->run_current, 0.0, 20.0, checkRunCurrent); // Amps
setting->setAxis(axis);
axis_settings[axis]->run_current = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(GRBL, WG, makeGrblName(axis, 130), makename(def->name, "MaxTravel"), def->max_travel, 1.0, 100000.0);
setting->setAxis(axis);
axis_settings[axis]->max_travel = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(GRBL, WG, makeGrblName(axis, 120), makename(def->name, "Acceleration"), def->acceleration, 1.0, 100000.0);
setting->setAxis(axis);
axis_settings[axis]->acceleration = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(GRBL, WG, makeGrblName(axis, 110), makename(def->name, "MaxRate"), def->max_rate, 1.0, 100000.0);
setting->setAxis(axis);
axis_settings[axis]->max_rate = setting;
}
for (axis = N_AXIS - 1; axis >= 0; axis--) {
def = &axis_defaults[axis];
auto setting = new FloatSetting(GRBL, WG, makeGrblName(axis, 100), makename(def->name, "StepsPerMm"), def->steps_per_mm, 1.0, 100000.0);
setting->setAxis(axis);
axis_settings[axis]->steps_per_mm = setting;
}
// Spindle Settings
spindle_pwm_max_value = new FloatSetting(EXTENDED, WG, "36", "Spindle/PWM/Max", DEFAULT_SPINDLE_MAX_VALUE, 0.0, 100.0);
spindle_pwm_min_value = new FloatSetting(EXTENDED, WG, "35", "Spindle/PWM/Min", DEFAULT_SPINDLE_MIN_VALUE, 0.0, 100.0);
spindle_pwm_off_value = new FloatSetting(EXTENDED, WG, "34", "Spindle/PWM/Off", DEFAULT_SPINDLE_OFF_VALUE, 0.0, 100.0); // these are percentages
// IntSetting spindle_pwm_bit_precision(EXTENDED, WG, "Spindle/PWM/Precision", DEFAULT_SPINDLE_BIT_PRECISION, 1, 16);
spindle_pwm_freq = new FloatSetting(EXTENDED, WG, "33", "Spindle/PWM/Frequency", DEFAULT_SPINDLE_FREQ, 0, 100000);
spindle_delay_spinup = new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinUp", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30);
spindle_delay_spindown = new FloatSetting(EXTENDED, WG, NULL, "Spindle/Delay/SpinDown", DEFAULT_SPINDLE_DELAY_SPINUP, 0, 30);
// GRBL Non-numbered settings
startup_line_0 = new StringSetting(GRBL, WG, "N0", "GCode/Line0", "", checkStartupLine);
startup_line_1 = new StringSetting(GRBL, WG, "N1", "GCode/Line1", "", checkStartupLine);
// GRBL Numbered Settings
laser_mode = new FlagSetting(GRBL, WG, "32", "GCode/LaserMode", DEFAULT_LASER_MODE);
// TODO Settings - also need to call my_spindle->init();
rpm_min = new FloatSetting(GRBL, WG, "31", "GCode/MinS", DEFAULT_SPINDLE_RPM_MIN, 0, 100000);
rpm_max = new FloatSetting(GRBL, WG, "30", "GCode/MaxS", DEFAULT_SPINDLE_RPM_MAX, 0, 100000);
homing_pulloff = new FloatSetting(GRBL, WG, "27", "Homing/Pulloff", DEFAULT_HOMING_PULLOFF, 0, 1000);
homing_debounce = new FloatSetting(GRBL, WG, "26", "Homing/Debounce", DEFAULT_HOMING_DEBOUNCE_DELAY, 0, 10000);
homing_seek_rate = new FloatSetting(GRBL, WG, "25", "Homing/Seek", DEFAULT_HOMING_SEEK_RATE, 0, 10000);
homing_feed_rate = new FloatSetting(GRBL, WG, "24", "Homing/Feed", DEFAULT_HOMING_FEED_RATE, 0, 10000);
// TODO Settings - need to call st_generate_step_invert_masks()
homing_dir_mask = new AxisMaskSetting(GRBL, WG, "23", "Homing/DirInvert", DEFAULT_HOMING_DIR_MASK);
// TODO Settings - need to call limits_init();
homing_enable = new FlagSetting(GRBL, WG, "22", "Homing/Enable", DEFAULT_HOMING_ENABLE);
// TODO Settings - need to check for HOMING_ENABLE
hard_limits = new FlagSetting(GRBL, WG, "21", "Limits/Hard", DEFAULT_HARD_LIMIT_ENABLE);
soft_limits = new FlagSetting(GRBL, WG, "20", "Limits/Soft", DEFAULT_SOFT_LIMIT_ENABLE, NULL);
report_inches = new FlagSetting(GRBL, WG, "13", "Report/Inches", DEFAULT_REPORT_INCHES);
// TODO Settings - also need to clear, but not set, soft_limits
arc_tolerance = new FloatSetting(GRBL, WG, "12", "GCode/ArcTolerance", DEFAULT_ARC_TOLERANCE, 0, 1);
junction_deviation = new FloatSetting(GRBL, WG, "11", "GCode/JunctionDeviation", DEFAULT_JUNCTION_DEVIATION, 0, 10);
status_mask = new IntSetting(GRBL, WG, "10", "Report/Status", DEFAULT_STATUS_REPORT_MASK, 0, 2);
probe_invert = new FlagSetting(GRBL, WG, "6", "Probe/Invert", DEFAULT_INVERT_PROBE_PIN);
limit_invert = new FlagSetting(GRBL, WG, "5", "Limits/Invert", DEFAULT_INVERT_LIMIT_PINS);
step_enable_invert = new FlagSetting(GRBL, WG, "4", "Stepper/EnableInvert", DEFAULT_INVERT_ST_ENABLE);
dir_invert_mask = new AxisMaskSetting(GRBL, WG, "3", "Stepper/DirInvert", DEFAULT_DIRECTION_INVERT_MASK);
step_invert_mask = new AxisMaskSetting(GRBL, WG, "2", "Stepper/StepInvert", DEFAULT_STEPPING_INVERT_MASK);
stepper_idle_lock_time = new IntSetting(GRBL, WG, "1", "Stepper/IdleTime", DEFAULT_STEPPER_IDLE_LOCK_TIME, 0, 255);
pulse_microseconds = new IntSetting(GRBL, WG, "0", "Stepper/Pulse", DEFAULT_STEP_PULSE_MICROSECONDS, 3, 1000);
spindle_type = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", SPINDLE_TYPE, &spindleTypes);
stallguard_debug_mask = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
}

172
Grbl_Esp32/Spindles/10vSpindle.cpp
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@@ -1,172 +0,0 @@
/*
10vSpindle.cpp
This is basically a PWM spindle with some changes, so a separate forward and
reverse signal can be sent.
The direction pins will act as enables for the 2 directions. There is usually
a min RPM with VFDs, that speed will remain even if speed is 0. You
must turn off both direction pins when enable is off.
Part of Grbl_ESP32
2020 - Bart Dring
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 "SpindleClass.h"
void _10vSpindle :: init() {
get_pins_and_settings(); // these gets the standard PWM settings, but many need to be changed for BESC
// a couple more pins not inherited from PWM Spindle
#ifdef SPINDLE_FORWARD_PIN
_forward_pin = SPINDLE_FORWARD_PIN;
#else
_forward_pin = UNDEFINED_PIN;
#endif
#ifdef SPINDLE_REVERSE_PIN
_reverse_pin = SPINDLE_REVERSE_PIN;
#else
_reverse_pin = UNDEFINED_PIN;
#endif
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: BESC output pin not defined");
return; // We cannot continue without the output pin
}
ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, _pwm_precision); // setup the channel
ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin
pinMode(_enable_pin, OUTPUT);
pinMode(_direction_pin, OUTPUT);
pinMode(_forward_pin, OUTPUT);
pinMode(_reverse_pin, OUTPUT);
set_rpm(0);
config_message();
is_reversable = true; // these VFDs are always reversable
use_delays = true;
}
// prints the startup message of the spindle config
void _10vSpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"0-10V spindle Out:%s Enbl:%s, Dir:%s, Fwd:%s, Rev:%s, Freq:%dHz Res:%dbits",
pinName(_output_pin).c_str(),
pinName(_enable_pin).c_str(),
pinName(_direction_pin).c_str(),
pinName(_forward_pin).c_str(),
pinName(_reverse_pin).c_str(),
_pwm_freq,
_pwm_precision);
}
uint32_t _10vSpindle::set_rpm(uint32_t rpm) {
uint32_t pwm_value;
if (_output_pin == UNDEFINED_PIN)
return rpm;
// apply speed overrides
rpm = rpm * sys.spindle_speed_ovr / 100; // Scale by spindle speed override value (percent)
// apply limits limits
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm))
rpm = _max_rpm;
else if (rpm != 0 && rpm <= _min_rpm)
rpm = _min_rpm;
sys.spindle_speed = rpm;
// determine the pwm value
if (rpm == 0)
pwm_value = _pwm_off_value;
else
pwm_value = map_uint32_t(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
set_output(pwm_value);
return rpm;
}
/*
void _10vSpindle::set_state(uint8_t state, uint32_t rpm) {
if (sys.abort)
return; // Block during abort.
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
sys.spindle_speed = 0;
stop();
} else {
set_spindle_dir_pin(state == SPINDLE_ENABLE_CW);
set_rpm(rpm);
}
set_enable_pin(state != SPINDLE_DISABLE);
sys.report_ovr_counter = 0; // Set to report change immediately
}
*/
uint8_t _10vSpindle::get_state() {
if (_current_pwm_duty == 0 || _output_pin == UNDEFINED_PIN)
return (SPINDLE_STATE_DISABLE);
if (_direction_pin != UNDEFINED_PIN)
return digitalRead(_direction_pin) ? SPINDLE_STATE_CW : SPINDLE_STATE_CCW;
return (SPINDLE_STATE_CW);
}
void _10vSpindle::stop() {
// inverts are delt with in methods
set_enable_pin(false);
set_output(_pwm_off_value);
}
void _10vSpindle::set_enable_pin(bool enable) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "_10vSpindle::set_enable_pin");
if (_off_with_zero_speed && sys.spindle_speed == 0)
enable = false;
#ifdef INVERT_SPINDLE_ENABLE_PIN
enable = !enable;
#endif
digitalWrite(_enable_pin, enable);
// turn off anything that acts like an enable
if (!enable) {
digitalWrite(_direction_pin, enable);
digitalWrite(_forward_pin, enable);
digitalWrite(_reverse_pin, enable);
}
}
void _10vSpindle::set_spindle_dir_pin(bool Clockwise) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "_10vSpindle::set_spindle_dir_pin");
digitalWrite(_direction_pin, Clockwise);
digitalWrite(_forward_pin, Clockwise);
digitalWrite(_reverse_pin, ! Clockwise);
}

122
Grbl_Esp32/Spindles/BESCSpindle.cpp
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@@ -1,122 +0,0 @@
/*
BESCSpindle.cpp
This a special type of PWM spindle for RC type Brushless DC Speed
controllers. They use a short pulse for off and a longer pulse for
full on. The pulse is always a small portion of the full cycle.
Some BESCs have a special turn on procedure. This may be a one time
procedure or must be done every time. The user must do that via gcode.
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
Important ESC Settings
50 Hz this is a typical frequency for an ESC
Some ESCs can handle higher frequencies, but there is no advantage to changing it.
Determine the typical min and max pulse length of your ESC
BESC_MIN_PULSE_SECS is typically 1ms (0.001 sec) or less
BESC_MAX_PULSE_SECS is typically 2ms (0.002 sec) or more
*/
#include "SpindleClass.h"
// don't change these
#define BESC_PWM_FREQ 50.0f // Hz
#define BESC_PWM_BIT_PRECISION 16 // bits
#define BESC_PULSE_PERIOD (1.0 / BESC_PWM_FREQ)
// Ok to tweak. These are the pulse lengths in seconds
// #define them in your machine definition file if you want different values
#ifndef BESC_MIN_PULSE_SECS
#define BESC_MIN_PULSE_SECS 0.0009f // in seconds
#endif
#ifndef BESC_MAX_PULSE_SECS
#define BESC_MAX_PULSE_SECS 0.0022f // in seconds
#endif
//calculations...don't change
#define BESC_MIN_PULSE_CNT (uint16_t)(BESC_MIN_PULSE_SECS / BESC_PULSE_PERIOD * 65535.0)
#define BESC_MAX_PULSE_CNT (uint16_t)(BESC_MAX_PULSE_SECS / BESC_PULSE_PERIOD * 65535.0)
void BESCSpindle :: init() {
get_pins_and_settings(); // these gets the standard PWM settings, but many need to be changed for BESC
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: BESC output pin not defined");
return; // We cannot continue without the output pin
}
// override some settings to what is required for a BESC
_pwm_freq = (uint32_t)BESC_PWM_FREQ;
_pwm_precision = 16;
// override these settings
_pwm_off_value = BESC_MIN_PULSE_CNT;
_pwm_min_value = _pwm_off_value;
_pwm_max_value = BESC_MAX_PULSE_CNT;
ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, _pwm_precision); // setup the channel
ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin
pinMode(_enable_pin, OUTPUT);
set_rpm(0);
use_delays = true;
config_message();
}
// prints the startup message of the spindle config
void BESCSpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"BESC spindle on Pin:%s Min:%0.2fms Max:%0.2fms Freq:%dHz Res:%dbits",
pinName(_output_pin).c_str(),
BESC_MIN_PULSE_SECS * 1000.0, // convert to milliseconds
BESC_MAX_PULSE_SECS * 1000.0, // convert to milliseconds
_pwm_freq,
_pwm_precision);
}
uint32_t BESCSpindle::set_rpm(uint32_t rpm) {
uint32_t pwm_value;
if (_output_pin == UNDEFINED_PIN)
return rpm;
// apply speed overrides
rpm = rpm * sys.spindle_speed_ovr / 100; // Scale by spindle speed override value (percent)
// apply limits limits
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm))
rpm = _max_rpm;
else if (rpm != 0 && rpm <= _min_rpm)
rpm = _min_rpm;
sys.spindle_speed = rpm;
// determine the pwm value
if (rpm == 0) {
pwm_value = _pwm_off_value;
} else {
pwm_value = map_uint32_t(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
}
set_output(pwm_value);
return rpm;
}

104
Grbl_Esp32/Spindles/DacSpindle.cpp
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@@ -1,104 +0,0 @@
/*
DacSpindle.cpp
This uses the Analog DAC in the ESP32 to generate a voltage
proportional to the GCode S value desired. Some spindle uses
a 0-5V or 0-10V value to control the spindle. You would use
an Op Amp type circuit to get from the 0.3.3V of the ESP32 to that voltage.
Part of Grbl_ESP32
2020 - Bart Dring
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 "SpindleClass.h"
// ======================================== DacSpindle ======================================
void DacSpindle :: init() {
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN)
return;
_min_rpm = rpm_min->get();
_max_rpm = rpm_max->get();
_pwm_min_value = 0; // not actually PWM...DAC counts
_pwm_max_value = 255; // not actually PWM...DAC counts
_gpio_ok = true;
if (_output_pin != GPIO_NUM_25 && _output_pin != GPIO_NUM_26) { // DAC can only be used on these pins
_gpio_ok = false;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "DAC spindle pin invalid GPIO_NUM_%d (pin 25 or 26 only)", _output_pin);
return;
}
pinMode(_enable_pin, OUTPUT);
pinMode(_direction_pin, OUTPUT);
is_reversable = (_direction_pin != UNDEFINED_PIN);
use_delays = true;
config_message();
}
void DacSpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"DAC spindle Output:%s, Enbl:%s, Dir:%s, Res:8bits",
pinName(_output_pin).c_str(),
pinName(_enable_pin).c_str(),
pinName(_direction_pin).c_str());
}
uint32_t DacSpindle::set_rpm(uint32_t rpm) {
if (_output_pin == UNDEFINED_PIN)
return rpm;
uint32_t pwm_value;
// apply overrides and limits
rpm = rpm * sys.spindle_speed_ovr / 100; // Scale by spindle speed override value (percent)
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
// No PWM range possible. Set simple on/off spindle control pin state.
sys.spindle_speed = _max_rpm;
pwm_value = _pwm_max_value;
} else if (rpm <= _min_rpm) {
if (rpm == 0) { // S0 disables spindle
sys.spindle_speed = 0;
pwm_value = 0;
} else { // Set minimum PWM output
rpm = _min_rpm;
sys.spindle_speed = rpm;
pwm_value = 0;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM less than min RPM:%5.2f %d", rpm, pwm_value);
}
} else {
// Compute intermediate PWM value with linear spindle speed model.
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
sys.spindle_speed = rpm;
pwm_value = map_uint32_t(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
}
set_output(pwm_value);
return rpm;
}
void DacSpindle :: set_output(uint32_t duty) {
if (_gpio_ok) {
dacWrite(_output_pin, (uint8_t)duty);
}
}

483
Grbl_Esp32/Spindles/HuanyangSpindle.cpp
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@@ -1,483 +0,0 @@
/*
HuanyangSpindle.cpp
This is for a Huanyang VFD based spindle via RS485 Modbus.
Sorry for the lengthy comments, but finding the details on this
VFD was a PITA. I am just trying to help the next person.
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
WARNING!!!!
VFDs are very dangerous. They have high voltages and are very powerful
Remove power before changing bits.
==============================================================================
If a user changes state or RPM level, the command to do that is sent. If
the command is not responded to a message is sent to serial that there was
a timeout. If the Grbl is in a critical state, an alarm will be generated and
the machine stopped.
If there are no commands to execute, various status items will be polled. If there
is no response, it will behave as described above. It will stop any running jobs with
an alarm.
===============================================================================
Protocol Details
VFD frequencies are in Hz. Multiply by 60 for RPM
before using spindle, VFD must be setup for RS485 and match your spindle
PD001 2 RS485 Control of run commands
PD002 2 RS485 Control of operating frequency
PD005 400 Maximum frequency Hz (Typical for spindles)
PD011 120 Min Speed (Recommend Aircooled=120 Water=100)
PD014 10 Acceleration time (Test to optimize)
PD015 10 Deceleration time (Test to optimize)
PD023 1 Reverse run enabled
PD142 3.7 Max current Amps (0.8kw=3.7 1.5kw=7.0, 2.2kw=??)
PD143 2 Poles most are 2 (I think this is only used for RPM calc from Hz)
PD163 1 RS485 Address: 1 (Typical. OK to change...see below)
PD164 1 RS485 Baud rate: 9600 (Typical. OK to change...see below)
PD165 3 RS485 Mode: RTU, 8N1
The official documentation of the RS485 is horrible. I had to piece it together from
a lot of different sources
Manuals: https://github.com/RobertOlechowski/Huanyang_VFD/tree/master/Documentations/pdf
Reference: https://github.com/Smoothieware/Smoothieware/blob/edge/src/modules/tools/spindle/HuanyangSpindleControl.cpp
Refernece: https://gist.github.com/Bouni/803492ed0aab3f944066
VFD settings: https://www.hobbytronics.co.za/Content/external/1159/Spindle_Settings.pdf
Spindle Talker 2 https://github.com/GilchristT/SpindleTalker2/releases
Python https://github.com/RobertOlechowski/Huanyang_VFD
=========================================================================
Commands
ADDR CMD LEN DATA CRC
0x01 0x03 0x01 0x01 0x31 0x88 Start spindle clockwise
0x01 0x03 0x01 0x08 0xF1 0x8E Stop spindle
0x01 0x03 0x01 0x11 0x30 0x44 Start spindle counter-clockwise
Return values are
0 = run
1 = jog
2 = r/f
3 = running
4 = jogging
5 = r/f
6 = Braking
7 = Track start
==========================================================================
Setting RPM
ADDR CMD LEN DATA CRC
0x01 0x05 0x02 0x09 0xC4 0xBF 0x0F Write Frequency (0x9C4 = 2500 = 25.00HZ)
Response is same as data sent
==========================================================================
Status registers
Addr Read Len Reg DataH DataL CRC CRC
0x01 0x04 0x03 0x00 0x00 0x00 CRC CRC // Set Frequency * 100 (25Hz = 2500)
0x01 0x04 0x03 0x01 0x00 0x00 CRC CRC // Ouput Frequency * 100
0x01 0x04 0x03 0x02 0x00 0x00 CRC CRC // Ouput Amps * 10
0x01 0x04 0x03 0x03 0x00 0x00 0xF0 0x4E // Read RPM (example CRC shown)
0x01 0x04 0x03 0x0 0x00 0x00 CRC CRC // DC voltage
0x01 0x04 0x03 0x05 0x00 0x00 CRC CRC // AC voltage
0x01 0x04 0x03 0x06 0x00 0x00 CRC CRC // Cont
0x01 0x04 0x03 0x07 0x00 0x00 CRC CRC // VFD Temp
Message is returned with requested value = (DataH * 16) + DataL (see decimal offset above)
TODO:
Move CRC Calc to task to free up main task
*/
#include "SpindleClass.h"
#include "driver/uart.h"
#define HUANYANG_UART_PORT UART_NUM_2 // hard coded for this port right now
#define ECHO_TEST_CTS UART_PIN_NO_CHANGE // CTS pin is not used
#define HUANYANG_BUF_SIZE 127
#define HUANYANG_QUEUE_SIZE 10 // numv\ber of commands that can be queued up.
#define RESPONSE_WAIT_TICKS 50 // how long to wait for a response
#define HUANYANG_MAX_MSG_SIZE 16 // more than enough for a modbus message
#define HUANYANG_POLL_RATE 200 // in milliseconds betwwen commands
// OK to change these
// #define them in your machine definition file if you want different values
#ifndef HUANYANG_ADDR
#define HUANYANG_ADDR 0x01
#endif
#ifndef HUANYANG_BAUD_RATE
#define HUANYANG_BAUD_RATE 9600 // PD164 setting
#endif
// communication task and queue stuff
typedef struct {
uint8_t tx_length;
uint8_t rx_length;
bool critical;
char msg[HUANYANG_MAX_MSG_SIZE];
} hy_command_t;
typedef enum : uint8_t {
READ_SET_FREQ = 0, // The set frequency
READ_OUTPUT_FREQ = 1, // The current operating frequency
READ_OUTPUT_AMPS = 2, //
READ_SET_RPM = 3, // This is the last requested freq even in off mode
READ_DC_VOLTAGE = 4, //
READ_AC_VOLTAGE = 5, //
READ_CONT = 6, // counting value???
READ_TEMP = 7, //
} read_register_t;
QueueHandle_t hy_cmd_queue;
static TaskHandle_t vfd_cmdTaskHandle = 0;
bool hy_spindle_ok = true;
// The communications task
void vfd_cmd_task(void* pvParameters) {
static bool unresponsive = false; // to pop off a message once each time it becomes unresponsive
uint8_t reg_item = 0x00;
hy_command_t next_cmd;
uint8_t rx_message[HUANYANG_MAX_MSG_SIZE];
while (true) {
if (xQueueReceive(hy_cmd_queue, &next_cmd, 0) == pdTRUE) {
uart_flush(HUANYANG_UART_PORT);
//report_hex_msg(next_cmd.msg, "Tx: ", next_cmd.tx_length);
uart_write_bytes(HUANYANG_UART_PORT, next_cmd.msg, next_cmd.tx_length);
uint16_t read_length = uart_read_bytes(HUANYANG_UART_PORT, rx_message, next_cmd.rx_length, RESPONSE_WAIT_TICKS);
if (read_length < next_cmd.rx_length) {
if (!unresponsive) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RS485 Unresponsive %d", read_length);
if (next_cmd.critical) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Critical Spindle RS485 Unresponsive");
system_set_exec_alarm(EXEC_ALARM_SPINDLE_CONTROL);
}
unresponsive = true;
}
} else {
// success
unresponsive = false;
//report_hex_msg(rx_message, "Rx: ", read_length);
uint32_t ret_value = ((uint32_t)rx_message[4] << 8) + rx_message[5];
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Item:%d value:%05d ", rx_message[3], ret_value);
}
} else {
HuanyangSpindle :: read_value(reg_item); // only this appears to work all the time. Other registers are flakey.
if (reg_item < 0x03)
reg_item++;
else
{
reg_item = 0x00;
}
}
vTaskDelay(HUANYANG_POLL_RATE); // TODO: What is the best value here?
}
}
// ================== Class methods ==================================
void HuanyangSpindle :: init() {
hy_spindle_ok = true; // initialize
// fail if required items are not defined
if (!get_pins_and_settings()) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Huanyang spindle errors");
return;
}
if (! _task_running) { // init can happen many times, we only want to start one task
hy_cmd_queue = xQueueCreate(HUANYANG_QUEUE_SIZE, sizeof(hy_command_t));
xTaskCreatePinnedToCore(vfd_cmd_task, // task
"vfd_cmdTaskHandle", // name for task
2048, // size of task stack
NULL, // parameters
1, // priority
&vfd_cmdTaskHandle,
0 // core
);
_task_running = true;
}
// this allows us to init() again later.
// If you change certain settings, init() gets called agian
uart_driver_delete(HUANYANG_UART_PORT);
uart_config_t uart_config = {
.baud_rate = HUANYANG_BAUD_RATE,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
.rx_flow_ctrl_thresh = 122,
};
uart_param_config(HUANYANG_UART_PORT, &uart_config);
uart_set_pin(HUANYANG_UART_PORT,
_txd_pin,
_rxd_pin,
_rts_pin,
UART_PIN_NO_CHANGE);
uart_driver_install(HUANYANG_UART_PORT,
HUANYANG_BUF_SIZE * 2,
0,
0,
NULL,
0);
uart_set_mode(HUANYANG_UART_PORT, UART_MODE_RS485_HALF_DUPLEX);
is_reversable = true; // these VFDs are always reversable
use_delays = true;
//
_current_rpm = 0;
_state = SPINDLE_DISABLE;
config_message();
}
// Checks for all the required pin definitions
// It returns a message for each missing pin
// Returns true if all pins are defined.
bool HuanyangSpindle :: get_pins_and_settings() {
#ifdef HUANYANG_TXD_PIN
_txd_pin = HUANYANG_TXD_PIN;
#else
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Undefined HUANYANG_TXD_PIN");
hy_spindle_ok = false;
#endif
#ifdef HUANYANG_RXD_PIN
_rxd_pin = HUANYANG_RXD_PIN;
#else
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Undefined HUANYANG_RXD_PIN");
hy_spindle_ok = false;
#endif
#ifdef HUANYANG_RTS_PIN
_rts_pin = HUANYANG_RTS_PIN;
#else
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Undefined HUANYANG_RTS_PIN");
hy_spindle_ok = false;
#endif
if (laser_mode->get()) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Huanyang spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart");
hy_spindle_ok = false;
}
_min_rpm = rpm_min->get();
_max_rpm = rpm_max->get();
return hy_spindle_ok;
}
void HuanyangSpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Huanyang Spindle Tx:%s Rx:%s RTS:%s",
pinName(_txd_pin).c_str(),
pinName(_rxd_pin).c_str(),
pinName(_rts_pin).c_str());
}
void HuanyangSpindle :: set_state(uint8_t state, uint32_t rpm) {
if (sys.abort)
return; // Block during abort.
bool critical = (sys.state == STATE_CYCLE || state != SPINDLE_DISABLE);
if (_current_state != state) { // already at the desired state. This function gets called a lot.
set_mode(state, critical); // critical if we are in a job
set_rpm(rpm);
if (state == SPINDLE_DISABLE) {
sys.spindle_speed = 0;
if (_current_state != state)
mc_dwell(spindle_delay_spindown->get());
} else {
if (_current_state != state)
mc_dwell(spindle_delay_spinup->get());
}
} else {
if (_current_rpm != rpm)
set_rpm(rpm);
}
_current_state = state; // store locally for faster get_state()
sys.report_ovr_counter = 0; // Set to report change immediately
return;
}
bool HuanyangSpindle :: set_mode(uint8_t mode, bool critical) {
if (!hy_spindle_ok) return false;
hy_command_t mode_cmd;
mode_cmd.tx_length = 6;
mode_cmd.rx_length = 6;
mode_cmd.msg[0] = HUANYANG_ADDR;
mode_cmd.msg[1] = 0x03;
mode_cmd.msg[2] = 0x01;
if (mode == SPINDLE_ENABLE_CW)
mode_cmd.msg[3] = 0x01;
else if (mode == SPINDLE_ENABLE_CCW)
mode_cmd.msg[3] = 0x11;
else { //SPINDLE_DISABLE
mode_cmd.msg[3] = 0x08;
if (! xQueueReset(hy_cmd_queue)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD spindle off, queue could not be reset");
}
}
add_ModRTU_CRC(mode_cmd.msg, mode_cmd.rx_length);
mode_cmd.critical = critical;
if (xQueueSend(hy_cmd_queue, &mode_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
return true;
}
uint32_t HuanyangSpindle :: set_rpm(uint32_t rpm) {
if (!hy_spindle_ok) return 0;
hy_command_t rpm_cmd;
// apply override
rpm = rpm * sys.spindle_speed_ovr / 100; // Scale by spindle speed override value (uint8_t percent)
// apply limits
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm))
rpm = _max_rpm;
else if (rpm != 0 && rpm <= _min_rpm)
rpm = _min_rpm;
sys.spindle_speed = rpm;
if (rpm == _current_rpm) // prevent setting same RPM twice
return rpm;
_current_rpm = rpm;
// TODO add the speed modifiers override, linearization, etc.
rpm_cmd.tx_length = 7;
rpm_cmd.rx_length = 6;
rpm_cmd.msg[0] = HUANYANG_ADDR;
rpm_cmd.msg[1] = 0x05;
rpm_cmd.msg[2] = 0x02;
uint16_t data = (uint16_t)(rpm * 100 / 60); // send Hz * 10 (Ex:1500 RPM = 25Hz .... Send 2500)
rpm_cmd.msg[3] = (data & 0xFF00) >> 8;
rpm_cmd.msg[4] = (data & 0xFF);
add_ModRTU_CRC(rpm_cmd.msg, rpm_cmd.tx_length);
rpm_cmd.critical = false;
if (xQueueSend(hy_cmd_queue, &rpm_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
return rpm;
}
// This appears to read the control register and will return an RPM running or not.
void HuanyangSpindle :: read_value(uint8_t reg) {
uint16_t ret_value = 0;
hy_command_t read_cmd;
uint8_t rx_message[HUANYANG_MAX_MSG_SIZE];
read_cmd.tx_length = 8;
read_cmd.rx_length = 8;
read_cmd.msg[0] = HUANYANG_ADDR;
read_cmd.msg[1] = 0x04;
read_cmd.msg[2] = 0x03;
read_cmd.msg[3] = reg;
read_cmd.msg[4] = 0x00;
read_cmd.msg[5] = 0x00;
read_cmd.critical = (sys.state == STATE_CYCLE); // only critical if running a job TBD.... maybe spindle on?
add_ModRTU_CRC(read_cmd.msg, read_cmd.tx_length);
if (xQueueSend(hy_cmd_queue, &read_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
}
void HuanyangSpindle ::stop() {
set_mode(SPINDLE_DISABLE, false);
}
// state is cached rather than read right now to prevent delays
uint8_t HuanyangSpindle :: get_state() {
return _state;
}
// Calculate the CRC on all of the byte except the last 2
// It then added the CRC to those last 2 bytes
// full_msg_len This is the length of the message including the 2 crc bytes
// Source: https://ctlsys.com/support/how_to_compute_the_modbus_rtu_message_crc/
void HuanyangSpindle :: add_ModRTU_CRC(char* buf, int full_msg_len) {
uint16_t crc = 0xFFFF;
for (int pos = 0; pos < full_msg_len - 2; pos++) {
crc ^= (uint16_t)buf[pos]; // XOR byte into least sig. byte of crc
for (int i = 8; i != 0; i--) { // Loop over each bit
if ((crc & 0x0001) != 0) { // If the LSB is set
crc >>= 1; // Shift right and XOR 0xA001
crc ^= 0xA001;
} else // Else LSB is not set
crc >>= 1; // Just shift right
}
}
// add the calculated Crc to the message
buf[full_msg_len - 1] = (crc & 0xFF00) >> 8;
buf[full_msg_len - 2] = (crc & 0xFF);
}

268
Grbl_Esp32/Spindles/PWMSpindle.cpp
View File

@@ -1,268 +0,0 @@
/*
PWMSpindle.cpp
This is a full featured TTL PWM spindle This does not include speed/power
compensation. Use the Laser class for that.
Part of Grbl_ESP32
2020 - Bart Dring
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 "SpindleClass.h"
// ======================= PWMSpindle ==============================
/*
This gets called at startup or whenever a spindle setting changes
If the spindle is running it will stop and need to be restarted with M3Snnnn
*/
//#include "grbl.h"
void PWMSpindle :: init() {
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle output pin not defined");
return; // We cannot continue without the output pin
}
if (_output_pin >= I2S_OUT_PIN_BASE) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle output pin %s cannot do PWM", pinName(_output_pin).c_str());
return;
}
ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, _pwm_precision); // setup the channel
ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin
pinMode(_enable_pin, OUTPUT);
pinMode(_direction_pin, OUTPUT);
use_delays = true;
config_message();
}
// Get the GPIO from the machine definition
void PWMSpindle :: get_pins_and_settings() {
// setup all the pins
#ifdef SPINDLE_OUTPUT_PIN
_output_pin = SPINDLE_OUTPUT_PIN;
#else
_output_pin = UNDEFINED_PIN;
#endif
#ifdef INVERT_SPINDLE_OUTPUT_PIN
_invert_pwm = true;
#else
_invert_pwm = false;
#endif
#ifdef SPINDLE_ENABLE_PIN
_enable_pin = SPINDLE_ENABLE_PIN;
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
_off_with_zero_speed = true;
#endif
#else
_enable_pin = UNDEFINED_PIN;
_off_with_zero_speed = false;
#endif
#ifdef SPINDLE_DIR_PIN
_direction_pin = SPINDLE_DIR_PIN;
#else
_direction_pin = UNDEFINED_PIN;
#endif
is_reversable = (_direction_pin != UNDEFINED_PIN);
_pwm_freq = spindle_pwm_freq->get();
_pwm_precision = calc_pwm_precision(_pwm_freq); // detewrmine the best precision
_pwm_period = (1 << _pwm_precision);
if (spindle_pwm_min_value->get() > spindle_pwm_min_value->get())
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle min pwm is greater than max. Check $35 and $36");
// pre-caculate some PWM count values
_pwm_off_value = (_pwm_period * spindle_pwm_off_value->get() / 100.0);
_pwm_min_value = (_pwm_period * spindle_pwm_min_value->get() / 100.0);
_pwm_max_value = (_pwm_period * spindle_pwm_max_value->get() / 100.0);
#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
_min_rpm = RPM_MIN;
_max_rpm = RPM_MAX;
_piecewide_linear = true;
#else
_min_rpm = rpm_min->get();
_max_rpm = rpm_max->get();
_piecewide_linear = false;
#endif
// The pwm_gradient is the pwm duty cycle units per rpm
// _pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
_spindle_pwm_chan_num = 0; // Channel 0 is reserved for spindle use
}
uint32_t PWMSpindle::set_rpm(uint32_t rpm) {
uint32_t pwm_value;
if (_output_pin == UNDEFINED_PIN)
return rpm;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "set_rpm(%d)", rpm);
// apply override
rpm = rpm * sys.spindle_speed_ovr / 100; // Scale by spindle speed override value (uint8_t percent)
// apply limits
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm))
rpm = _max_rpm;
else if (rpm != 0 && rpm <= _min_rpm)
rpm = _min_rpm;
sys.spindle_speed = rpm;
if (_piecewide_linear) {
//pwm_value = piecewise_linear_fit(rpm); TODO
pwm_value = 0;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Linear fit not implemented yet.");
} else {
if (rpm == 0)
pwm_value = _pwm_off_value;
else
pwm_value = map_uint32_t(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
}
set_output(pwm_value);
return 0;
}
void PWMSpindle::set_state(uint8_t state, uint32_t rpm) {
if (sys.abort)
return; // Block during abort.
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
sys.spindle_speed = 0;
stop();
if (use_delays && (_current_state != state)) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "SpinDown Start ");
mc_dwell(spindle_delay_spindown->get());
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "SpinDown Done");
}
} else {
set_spindle_dir_pin(state == SPINDLE_ENABLE_CW);
set_rpm(rpm);
set_enable_pin(state != SPINDLE_DISABLE); // must be done after setting rpm for enable features to work
if (use_delays && (_current_state != state)) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "SpinUp Start %d", rpm);
mc_dwell(spindle_delay_spinup->get());
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "SpinUp Done");
}
}
_current_state = state;
sys.report_ovr_counter = 0; // Set to report change immediately
}
uint8_t PWMSpindle::get_state() {
if (_current_pwm_duty == 0 || _output_pin == UNDEFINED_PIN)
return (SPINDLE_STATE_DISABLE);
if (_direction_pin != UNDEFINED_PIN)
return digitalRead(_direction_pin) ? SPINDLE_STATE_CW : SPINDLE_STATE_CCW;
return (SPINDLE_STATE_CW);
}
void PWMSpindle::stop() {
// inverts are delt with in methods
set_enable_pin(false);
set_output(_pwm_off_value);
}
// prints the startup message of the spindle config
void PWMSpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"PWM spindle Output:%s, Enbl:%s, Dir:%s, Freq:%dHz, Res:%dbits",
pinName(_output_pin).c_str(),
pinName(_enable_pin).c_str(),
pinName(_direction_pin).c_str(),
_pwm_freq,
_pwm_precision);
}
void PWMSpindle::set_output(uint32_t duty) {
if (_output_pin == UNDEFINED_PIN)
return;
// to prevent excessive calls to ledcWrite, make sure duty hass changed
if (duty == _current_pwm_duty)
return;
_current_pwm_duty = duty;
if (_invert_pwm)
duty = (1 << _pwm_precision) - duty;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "set_output(%d)", duty);
ledcWrite(_spindle_pwm_chan_num, duty);
}
void PWMSpindle::set_enable_pin(bool enable) {
if (_enable_pin == UNDEFINED_PIN)
return;
if (_off_with_zero_speed && sys.spindle_speed == 0)
enable = false;
#ifndef INVERT_SPINDLE_ENABLE_PIN
digitalWrite(_enable_pin, enable);
#else
digitalWrite(_enable_pin, !enable);
#endif
digitalWrite(_enable_pin, enable);
}
void PWMSpindle::set_spindle_dir_pin(bool Clockwise) {
digitalWrite(_direction_pin, Clockwise);
}
/*
Calculate the highest precision of a PWM based on the frequency in bits
80,000,000 / freq = period
determine the highest precision where (1 << precision) < period
*/
uint8_t PWMSpindle :: calc_pwm_precision(uint32_t freq) {
uint8_t precision = 0;
// increase the precision (bits) until it exceeds allow by frequency the max or is 16
while ((1 << precision) < (uint32_t)(80000000 / freq) && precision <= 16)
precision++;
return precision - 1;
}

70
Grbl_Esp32/Spindles/RelaySpindle.cpp
View File

@@ -1,70 +0,0 @@
/*
RelaySpindle.cpp
This is used for a basic on/off spindle All S Values above 0
will turn the spindle on.
Part of Grbl_ESP32
2020 - Bart Dring
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 "SpindleClass.h"
// ========================= RelaySpindle ==================================
/*
This is a sub class of PWMSpindle but is a digital rather than PWM output
*/
void RelaySpindle::init() {
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN)
return;
pinMode(_output_pin, OUTPUT);
pinMode(_enable_pin, OUTPUT);
pinMode(_direction_pin, OUTPUT);
is_reversable = (_direction_pin != UNDEFINED_PIN);
use_delays = true;
config_message();
}
// prints the startup message of the spindle config
void RelaySpindle :: config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Relay spindle Output:%s, Enbl:%s, Dir:%s",
pinName(_output_pin).c_str(),
pinName(_enable_pin).c_str(),
pinName(_direction_pin).c_str());
}
uint32_t RelaySpindle::set_rpm(uint32_t rpm) {
if (_output_pin == UNDEFINED_PIN)
return rpm;
sys.spindle_speed = rpm;
set_output(rpm != 0);
return rpm;
}
void RelaySpindle::set_output(uint32_t duty) {
#ifdef INVERT_SPINDLE_PWM
duty = (duty == 0); // flip duty
#endif
digitalWrite(_output_pin, duty > 0); // anything greater
}

96
Grbl_Esp32/Spindles/SpindleClass.cpp
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@@ -1,96 +0,0 @@
/*
SpindleClass.cpp
A Base class for spindles and spinsle like things such as lasers
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
TODO
Add Spindle spin up/down delays
Get rid of dependance on machine definition #defines
SPINDLE_OUTPUT_PIN
SPINDLE_ENABLE_PIN
SPINDLE_DIR_PIN
*/
#include "NullSpindle.cpp"
#include "PWMSpindle.cpp"
#include "DacSpindle.cpp"
#include "RelaySpindle.cpp"
#include "Laser.cpp"
#include "HuanyangSpindle.cpp"
#include "BESCSpindle.cpp"
#include "10vSpindle.cpp"
// An instance of each type of spindle is created here.
// This allows the spindle to be dynamicly switched
NullSpindle null_spindle;
PWMSpindle pwm_spindle;
RelaySpindle relay_spindle;
Laser laser;
DacSpindle dac_spindle;
HuanyangSpindle huanyang_spindle;
BESCSpindle besc_spindle;
_10vSpindle _10v_spindle;
void spindle_select() {
switch (spindle_type->get()) {
case SPINDLE_TYPE_PWM:
spindle = &pwm_spindle;
break;
case SPINDLE_TYPE_RELAY:
spindle = &relay_spindle;
break;
case SPINDLE_TYPE_LASER:
spindle = &laser;
break;
case SPINDLE_TYPE_DAC:
spindle = &dac_spindle;
break;
case SPINDLE_TYPE_HUANYANG:
spindle = &huanyang_spindle;
break;
case SPINDLE_TYPE_BESC:
spindle = &besc_spindle;
break;
case SPINDLE_TYPE_10V:
spindle = &_10v_spindle;
break;
case SPINDLE_TYPE_NONE:
default:
spindle = &null_spindle;
break;
}
spindle->init();
}
// ========================= Spindle ==================================
bool Spindle::isRateAdjusted() {
return false; // default for basic spindle is false
}
void Spindle :: spindle_sync(uint8_t state, uint32_t rpm) {
if (sys.state == STATE_CHECK_MODE)
return;
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
set_state(state, rpm);
}

229
Grbl_Esp32/Spindles/SpindleClass.h
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@@ -1,229 +0,0 @@
/*
SpindleClass.h
Header file for a Spindle Class
See SpindleClass.cpp for more details
Part of Grbl_ESP32
2020 - 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/>.
See SpindleClass.cpp for more info and references
*/
#define SPINDLE_STATE_DISABLE 0 // Must be zero.
#define SPINDLE_STATE_CW bit(0)
#define SPINDLE_STATE_CCW bit(1)
#define SPINDLE_TYPE_NONE 0
#define SPINDLE_TYPE_PWM 1
#define SPINDLE_TYPE_RELAY 2
#define SPINDLE_TYPE_LASER 3
#define SPINDLE_TYPE_DAC 4
#define SPINDLE_TYPE_HUANYANG 5
#define SPINDLE_TYPE_BESC 6
#define SPINDLE_TYPE_10V 7
#ifndef SPINDLE_CLASS_H
#define SPINDLE_CLASS_H
#include "../grbl.h"
#include <driver/dac.h>
#include "driver/uart.h"
// =============== No floats! ===========================
// ================ NO FLOATS! ==========================
// This is the base class. Do not use this as your spindle
class Spindle {
public:
virtual void init(); // not in constructor because this also gets called when $$ settings change
virtual uint32_t set_rpm(uint32_t rpm);
virtual void set_state(uint8_t state, uint32_t rpm);
virtual uint8_t get_state();
virtual void stop();
virtual void config_message();
virtual bool isRateAdjusted();
virtual void spindle_sync(uint8_t state, uint32_t rpm);
bool is_reversable;
bool use_delays; // will SpinUp and SpinDown delays be used.
uint8_t _current_state;
};
// This is a dummy spindle that has no I/O.
// It is used to ignore spindle commands when no spinde is desired
class NullSpindle : public Spindle {
public:
void init();
uint32_t set_rpm(uint32_t rpm);
void set_state(uint8_t state, uint32_t rpm);
uint8_t get_state();
void stop();
void config_message();
};
// This adds support for PWM
class PWMSpindle : public Spindle {
public:
void init();
virtual uint32_t set_rpm(uint32_t rpm);
void set_state(uint8_t state, uint32_t rpm);
uint8_t get_state();
void stop();
void config_message();
private:
void set_spindle_dir_pin(bool Clockwise);
protected:
int32_t _current_pwm_duty;
uint32_t _min_rpm;
uint32_t _max_rpm;
uint32_t _pwm_off_value;
uint32_t _pwm_min_value;
uint32_t _pwm_max_value;
uint8_t _output_pin;
uint8_t _enable_pin;
uint8_t _direction_pin;
uint8_t _spindle_pwm_chan_num;
uint32_t _pwm_freq;
uint32_t _pwm_period; // how many counts in 1 period
uint8_t _pwm_precision;
bool _piecewide_linear;
bool _off_with_zero_speed;
bool _invert_pwm;
//uint32_t _pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
virtual void set_output(uint32_t duty);
void set_enable_pin(bool enable_pin);
void get_pins_and_settings();
uint8_t calc_pwm_precision(uint32_t freq);
};
// This is for an on/off spindle all RPMs above 0 are on
class RelaySpindle : public PWMSpindle {
public:
void init();
void config_message();
uint32_t set_rpm(uint32_t rpm);
protected:
void set_output(uint32_t duty);
};
// this is the same as a PWM spindle but the M4 compensation is supported.
class Laser : public PWMSpindle {
public:
bool isRateAdjusted();
void config_message();
};
// This uses one of the (2) DAC pins on ESP32 to output a voltage
class DacSpindle : public PWMSpindle {
public:
void init();
void config_message();
uint32_t set_rpm(uint32_t rpm);
private:
bool _gpio_ok; // DAC is on a valid pin
protected:
void set_output(uint32_t duty); // sets DAC instead of PWM
};
class HuanyangSpindle : public Spindle {
private:
uint16_t ModRTU_CRC(char* buf, int len);
bool set_mode(uint8_t mode, bool critical);
bool get_pins_and_settings();
uint32_t _current_rpm;
uint8_t _txd_pin;
uint8_t _rxd_pin;
uint8_t _rts_pin;
uint8_t _state;
bool _task_running;
public:
HuanyangSpindle() {
_task_running = false;
}
void init();
void config_message();
void set_state(uint8_t state, uint32_t rpm);
uint8_t get_state();
uint32_t set_rpm(uint32_t rpm);
void stop();
static void read_value(uint8_t reg);
static void add_ModRTU_CRC(char* buf, int full_msg_len);
protected:
uint32_t _min_rpm;
uint32_t _max_rpm;
};
class BESCSpindle : public PWMSpindle {
public:
void init();
void config_message();
uint32_t set_rpm(uint32_t rpm);
};
class _10vSpindle : public PWMSpindle {
public:
void init();
void config_message();
uint32_t set_rpm(uint32_t rpm);
uint8_t _forward_pin;
uint8_t _reverse_pin;
//void set_state(uint8_t state, uint32_t rpm);
uint8_t get_state();
void stop();
protected:
void set_enable_pin(bool enable_pin);
void set_spindle_dir_pin(bool Clockwise);
};
extern Spindle* spindle;
extern NullSpindle null_spindle;
extern PWMSpindle pwm_spindle;
extern RelaySpindle relay_spindle;
extern Laser laser;
extern DacSpindle dac_spindle;
extern HuanyangSpindle huanyang_spindle;
extern BESCSpindle besc_spindle;
extern _10vSpindle _10v_spindle;
void spindle_select();
// in HuanyangSpindle.cpp
void vfd_cmd_task(void* pvParameters);
#endif

13
Grbl_Esp32/authentication.h
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@@ -1,13 +0,0 @@
#pragma once
//Authentication level
typedef enum {
LEVEL_GUEST = 0,
LEVEL_USER = 1,
LEVEL_ADMIN = 2
} auth_t;
#define MIN_LOCAL_PASSWORD_LENGTH 1
#define MAX_LOCAL_PASSWORD_LENGTH 16
void remove_password(char *str, auth_t& auth_level);

437
Grbl_Esp32/defaults.h
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@@ -1,437 +0,0 @@
/*
defaults.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
2018 - Bart Dring This file was modifed 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/>.
*/
/* The defaults.h file serves as a central default settings selector for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
files listed here are supplied by users, so your results may vary. However, this should
give you a good starting point as you get to know your machine and tweak the settings for
your nefarious needs.
NOTE: Ensure one and only one of these DEFAULTS_XXX values is defined in config.h */
#ifndef defaults_h
/*
All of these settings check to see if they have been defined already
before defining them. This allows to to easily set them eslewhere.
You only need to set ones that are important or unique to your
machine. The rest will be pulled from here.
*/
// Grbl generic default settings. Should work across different machines.
#ifndef DEFAULT_STEP_PULSE_MICROSECONDS
#define DEFAULT_STEP_PULSE_MICROSECONDS 3 // $0
#endif
#ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // $1 msec (0-254, 255 keeps steppers enabled)
#endif
#ifndef DEFAULT_STEPPING_INVERT_MASK
#define DEFAULT_STEPPING_INVERT_MASK 0 // $2 uint8_t
#endif
#ifndef DEFAULT_DIRECTION_INVERT_MASK
#define DEFAULT_DIRECTION_INVERT_MASK 0 // $3 uint8_
#endif
#ifndef DEFAULT_INVERT_ST_ENABLE
#define DEFAULT_INVERT_ST_ENABLE 0 // $4 boolean
#endif
#ifndef DEFAULT_INVERT_LIMIT_PINS
#define DEFAULT_INVERT_LIMIT_PINS 1 // $5 boolean
#endif
#ifndef DEFAULT_INVERT_PROBE_PIN
#define DEFAULT_INVERT_PROBE_PIN 0 // $6 boolean
#endif
#ifndef DEFAULT_STATUS_REPORT_MASK
#define DEFAULT_STATUS_REPORT_MASK 1 // $10
#endif
#ifndef DEFAULT_JUNCTION_DEVIATION
#define DEFAULT_JUNCTION_DEVIATION 0.01 // $11 mm
#endif
#ifndef DEFAULT_ARC_TOLERANCE
#define DEFAULT_ARC_TOLERANCE 0.002 // $12 mm
#endif
#ifndef DEFAULT_REPORT_INCHES
#define DEFAULT_REPORT_INCHES 0 // $13 false
#endif
#ifndef DEFAULT_SOFT_LIMIT_ENABLE
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // $20 false
#endif
#ifndef DEFAULT_HARD_LIMIT_ENABLE
#define DEFAULT_HARD_LIMIT_ENABLE 0 // $21 false
#endif
#ifndef DEFAULT_HOMING_ENABLE
#define DEFAULT_HOMING_ENABLE 0 // $22 false
#endif
#ifndef DEFAULT_HOMING_DIR_MASK
#define DEFAULT_HOMING_DIR_MASK 3 // $23 move positive dir Z, negative X,Y
#endif
#ifndef DEFAULT_HOMING_FEED_RATE
#define DEFAULT_HOMING_FEED_RATE 200.0 // $24 mm/min
#endif
#ifndef DEFAULT_HOMING_SEEK_RATE
#define DEFAULT_HOMING_SEEK_RATE 2000.0 // $25 mm/min
#endif
#ifndef DEFAULT_HOMING_DEBOUNCE_DELAY
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // $26 msec (0-65k)
#endif
#ifndef DEFAULT_HOMING_PULLOFF
#define DEFAULT_HOMING_PULLOFF 1.0 // $27 mm
#endif
// ======== SPINDLE STUFF ====================
#ifndef SPINDLE_TYPE
#define SPINDLE_TYPE SPINDLE_TYPE_NONE
#endif
#ifndef DEFAULT_SPINDLE_RPM_MIN // $31
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#endif
#ifndef DEFAULT_LASER_MODE // $32
#define DEFAULT_LASER_MODE 0 // false
#endif
#ifndef DEFAULT_SPINDLE_RPM_MAX // $30
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#endif
#ifndef DEFAULT_SPINDLE_FREQ
#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
#endif
#ifndef DEFAULT_SPINDLE_OFF_VALUE
#define DEFAULT_SPINDLE_OFF_VALUE 0.0 // $34 Percent of full period(extended set)
#endif
#ifndef DEFAULT_SPINDLE_MIN_VALUE
#define DEFAULT_SPINDLE_MIN_VALUE 0.0 // $35 Percent of full period (extended set)
#endif
#ifndef DEFAULT_SPINDLE_MAX_VALUE
#define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent of full period (extended set)
#endif
#ifndef DEFAULT_SPINDLE_DELAY_SPINUP
#define DEFAULT_SPINDLE_DELAY_SPINUP 0
#endif
#ifndef DEFAULT_SPINDLE_DELAY_SPINDOWN
#define DEFAULT_SPINDLE_DELAY_SPINDOWN 0
#endif
// ================ user settings =====================
#ifndef DEFAULT_USER_INT_80
#define DEFAULT_USER_INT_80 0 // $80 User integer setting
#endif
#ifndef DEFAULT_USER_INT_81
#define DEFAULT_USER_INT_81 0 // $81 User integer setting
#endif
#ifndef DEFAULT_USER_INT_82
#define DEFAULT_USER_INT_82 0 // $82 User integer setting
#endif
#ifndef DEFAULT_USER_INT_83
#define DEFAULT_USER_INT_83 0 // $83 User integer setting
#endif
#ifndef DEFAULT_USER_INT_84
#define DEFAULT_USER_INT_84 0 // $84 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_90
#define DEFAULT_USER_FLOAT_90 0.0 // $90 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_91
#define DEFAULT_USER_FLOAT_91 0.0 // $92 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_92
#define DEFAULT_USER_FLOAT_92 0.0 // $92 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_93
#define DEFAULT_USER_FLOAT_93 0.0 // $93 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_94
#define DEFAULT_USER_FLOAT_94 0.0 // $94 User integer setting
#endif
// =========== AXIS RESOLUTION ======
#ifndef DEFAULT_X_STEPS_PER_MM
#define DEFAULT_X_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_Y_STEPS_PER_MM
#define DEFAULT_Y_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_Z_STEPS_PER_MM
#define DEFAULT_Z_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_A_STEPS_PER_MM
#define DEFAULT_A_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_B_STEPS_PER_MM
#define DEFAULT_B_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_C_STEPS_PER_MM
#define DEFAULT_C_STEPS_PER_MM 100.0
#endif
// ============ AXIS MAX SPPED =========
#ifndef DEFAULT_X_MAX_RATE
#define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_Y_MAX_RATE
#define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_Z_MAX_RATE
#define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_A_MAX_RATE
#define DEFAULT_A_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_B_MAX_RATE
#define DEFAULT_B_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_C_MAX_RATE
#define DEFAULT_C_MAX_RATE 1000.0 // mm/min
#endif
// ============== Axis Acceleration =========
#define SEC_PER_MIN_SQ (60.0*60.0) // Seconds Per Minute Squared, for acceleration conversion
// Default accelerations are expressed in mm/sec^2
#ifndef DEFAULT_X_ACCELERATION
#define DEFAULT_X_ACCELERATION 200.0
#endif
#ifndef DEFAULT_Y_ACCELERATION
#define DEFAULT_Y_ACCELERATION 200.0
#endif
#ifndef DEFAULT_Z_ACCELERATION
#define DEFAULT_Z_ACCELERATION 200.0
#endif
#ifndef DEFAULT_A_ACCELERATION
#define DEFAULT_A_ACCELERATION 200.0
#endif
#ifndef DEFAULT_B_ACCELERATION
#define DEFAULT_B_ACCELERATION 200.0
#endif
#ifndef DEFAULT_C_ACCELERATION
#define DEFAULT_C_ACCELERATION 200.0
#endif
// ========= AXIS MAX TRAVEL ============
#ifndef DEFAULT_X_MAX_TRAVEL
#define DEFAULT_X_MAX_TRAVEL 300.0 // $130 mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_Y_MAX_TRAVEL
#define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_Z_MAX_TRAVEL
#define DEFAULT_Z_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_A_MAX_TRAVEL
#define DEFAULT_A_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_B_MAX_TRAVEL
#define DEFAULT_B_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_C_MAX_TRAVEL
#define DEFAULT_C_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
// ========== Motor current (SPI Drivers ) =============
#ifndef DEFAULT_X_CURRENT
#define DEFAULT_X_CURRENT 0.25 // $140 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_CURRENT
#define DEFAULT_Y_CURRENT 0.25 // $141 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_CURRENT
#define DEFAULT_Z_CURRENT 0.25 // $142 current in amps (extended set)
#endif
#ifndef DEFAULT_A_CURRENT
#define DEFAULT_A_CURRENT 0.25 // $143 current in amps (extended set)
#endif
#ifndef DEFAULT_B_CURRENT
#define DEFAULT_B_CURRENT 0.25 // $144 current in amps (extended set)
#endif
#ifndef DEFAULT_C_CURRENT
#define DEFAULT_C_CURRENT 0.25 // $145 current in amps (extended set)
#endif
// ========== Motor hold current (SPI Drivers ) =============
#ifndef DEFAULT_X_HOLD_CURRENT
#define DEFAULT_X_HOLD_CURRENT 0.125 // $150 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_HOLD_CURRENT
#define DEFAULT_Y_HOLD_CURRENT 0.125 // $151 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_HOLD_CURRENT
#define DEFAULT_Z_HOLD_CURRENT 0.125 // $152 current in amps (extended set)
#endif
#ifndef DEFAULT_A_HOLD_CURRENT
#define DEFAULT_A_HOLD_CURRENT 0.125 // $153 current in amps (extended set)
#endif
#ifndef DEFAULT_B_HOLD_CURRENT
#define DEFAULT_B_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
#endif
#ifndef DEFAULT_C_HOLD_CURRENT
#define DEFAULT_C_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
#endif
// ========== Microsteps (SPI Drivers ) ================
#ifndef DEFAULT_X_MICROSTEPS
#define DEFAULT_X_MICROSTEPS 16 // $160 micro steps (extended set)
#endif
#ifndef DEFAULT_Y_MICROSTEPS
#define DEFAULT_Y_MICROSTEPS 16 // $161 micro steps (extended set)
#endif
#ifndef DEFAULT_Z_MICROSTEPS
#define DEFAULT_Z_MICROSTEPS 16 // $162 micro steps (extended set)
#endif
#ifndef DEFAULT_A_MICROSTEPS
#define DEFAULT_A_MICROSTEPS 16 // $163 micro steps (extended set)
#endif
#ifndef DEFAULT_B_MICROSTEPS
#define DEFAULT_B_MICROSTEPS 16 // $164 micro steps (extended set)
#endif
#ifndef DEFAULT_C_MICROSTEPS
#define DEFAULT_C_MICROSTEPS 16 // $165 micro steps (extended set)
#endif
// ========== Stallguard (SPI Drivers ) ================
#ifndef DEFAULT_X_STALLGUARD
#define DEFAULT_X_STALLGUARD 16 // $170 stallguard (extended set)
#endif
#ifndef DEFAULT_Y_STALLGUARD
#define DEFAULT_Y_STALLGUARD 16 // $171 stallguard (extended set)
#endif
#ifndef DEFAULT_Z_STALLGUARD
#define DEFAULT_Z_STALLGUARD 16 // $172 stallguard (extended set)
#endif
#ifndef DEFAULT_A_STALLGUARD
#define DEFAULT_A_STALLGUARD 16 // $173 stallguard (extended set)
#endif
#ifndef DEFAULT_B_STALLGUARD
#define DEFAULT_B_STALLGUARD 16 // $174 stallguard (extended set)
#endif
#ifndef DEFAULT_C_STALLGUARD
#define DEFAULT_C_STALLGUARD 16 // $175 stallguard (extended set)
#endif
// ================== pin defaults ========================
// Here is a place to default pins to UNDEFINED_PIN.
// This can eliminate checking to see if the pin is defined because
// the overridden pinMode and digitalWrite functions will deal with it.
#ifndef STEPPERS_DISABLE_PIN
#define STEPPERS_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X_DISABLE_PIN
#define X_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Y_DISABLE_PIN
#define Y_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Z_DISABLE_PIN
#define Z_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef A_DISABLE_PIN
#define A_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef B_DISABLE_PIN
#define B_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef C_DISABLE_PIN
#define C_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X2_DISABLE_PIN
#define X2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Y2_DISABLE_PIN
#define Y2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Z2_DISABLE_PIN
#define Z2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef A2_DISABLE_PIN
#define A2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef B2_DISABLE_PIN
#define B2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef C2_DISABLE_PIN
#define C2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X_LIMIT_PIN
#define X_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Y_LIMIT_PIN
#define Y_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Z_LIMIT_PIN
#define Z_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef A_LIMIT_PIN
#define A_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef B_LIMIT_PIN
#define B_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef C_LIMIT_PIN
#define C_LIMIT_PIN UNDEFINED_PIN
#endif
#endif

1390
Grbl_Esp32/gcode.cpp
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268
Grbl_Esp32/gcode.h
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@@ -1,268 +0,0 @@
/*
gcode.h - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
2018 - Bart Dring This file was modifed 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/>.
*/
#ifndef gcode_h
#define gcode_h
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
// NOTE: Modal group define values must be sequential and starting from zero.
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 6 // [G20,G21] Units
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_G13 10 // [G61] Control mode
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M6 14 // [M6] Tool change
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
#define MODAL_GROUP_M9 14 // [M56] Override control
#define MODAL_GROUP_M10 15 // [M62, M63] User Defined http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
// #define OTHER_INPUT_F 14
// #define OTHER_INPUT_S 15
// #define OTHER_INPUT_T 16
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
// NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing
// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
// to see how they are used, if you need to alter them.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
// Modal Group G4: Arc IJK distance mode
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
// Modal Group M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
// Modal Group G5: Feed rate mode
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
// Modal Group G7: Cutter radius compensation mode
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
// Modal Group G13: Control mode
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
// Modal Group M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
// Modal Group M9: Override control
#ifdef DEACTIVATE_PARKING_UPON_INIT
#define OVERRIDE_DISABLED 0 // (Default: Must be zero)
#define OVERRIDE_PARKING_MOTION 1 // M56
#else
#define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
#define OVERRIDE_DISABLED 1 // Parking disabled.
#endif
// modal Group M10: User I/O control
#define NON_MODAL_IO_ENABLE 1
#define NON_MODAL_IO_DISABLE 2
#define MAX_USER_DIGITAL_PIN 4
// Modal Group G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
#define TOOL_CHANGE 1
// Modal Group G12: Active work coordinate system
// N/A: Stores coordinate system value (54-59) to change to.
// Define parameter word mapping.
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_A 13
#define WORD_B 14
#define WORD_C 15
// Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
// Define probe cycle exit states and assign proper position updating.
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#ifdef SET_CHECK_MODE_PROBE_TO_START
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#else
#define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#endif
// Define gcode parser flags for handling special cases.
#define GC_PARSER_NONE 0 // Must be zero.
#define GC_PARSER_JOG_MOTION bit(0)
#define GC_PARSER_CHECK_MANTISSA bit(1)
#define GC_PARSER_ARC_IS_CLOCKWISE bit(2)
#define GC_PARSER_PROBE_IS_AWAY bit(3)
#define GC_PARSER_PROBE_IS_NO_ERROR bit(4)
#define GC_PARSER_LASER_FORCE_SYNC bit(5)
#define GC_PARSER_LASER_DISABLE bit(6)
#define GC_PARSER_LASER_ISMOTION bit(7)
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
uint8_t tool_change; // {M6}
uint8_t io_control; // {M62, M63}
uint8_t override; // {M56}
} gc_modal_t;
typedef struct {
float f; // Feed
float ijk[N_AXIS]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
int32_t n; // Line number
float p; // G10 or dwell parameters
// float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
} gc_values_t;
typedef struct {
gc_modal_t modal;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number. NOT USED.
int32_t line_number; // Last line number sent
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} parser_state_t;
extern parser_state_t gc_state;
typedef struct {
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t;
// Initialize the parser
void gc_init();
// Execute one block of rs275/ngc/g-code
uint8_t gc_execute_line(char* line, uint8_t client);
// Set g-code parser position. Input in steps.
void gc_sync_position();
#endif

53
Grbl_Esp32/grbl_sd.h
View File

@@ -1,53 +0,0 @@
/*
* Connect the SD card to the following pins:
*
* SD Card | ESP32
* D2 -
* D3 SS
* CMD MOSI
* VSS GND
* VDD 3.3V
* CLK SCK
* VSS GND
* D0 MISO
* D1 -
*/
#ifndef grbl_sd_h
#define grbl_sd_h
#include "grbl.h"
#include "FS.h"
#include "SD.h"
#include "SPI.h"
#define FILE_TYPE_COUNT 5 // number of acceptable gcode file types in array
#define SDCARD_DET_PIN -1
#define SDCARD_DET_VAL 0
#define SDCARD_IDLE 0
#define SDCARD_NOT_PRESENT 1
#define SDCARD_BUSY_PRINTING 2
#define SDCARD_BUSY_UPLOADING 4
#define SDCARD_BUSY_PARSING 8
extern bool SD_ready_next; // Grbl has processed a line and is waiting for another
extern uint8_t SD_client;
//bool sd_mount();
uint8_t get_sd_state(bool refresh);
uint8_t set_sd_state(uint8_t flag);
void listDir(fs::FS& fs, const char* dirname, uint8_t levels, uint8_t client);
boolean openFile(fs::FS& fs, const char* path);
boolean closeFile();
boolean readFileLine(char* line, int len);
void readFile(fs::FS& fs, const char* path);
float sd_report_perc_complete();
uint32_t sd_get_current_line_number();
void sd_get_current_filename(char* name);
#endif

907
Grbl_Esp32/i2s_out.cpp
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@@ -1,907 +0,0 @@
/*
i2s_out.cpp
Part of Grbl_ESP32
Basic GPIO expander using the ESP32 I2S peripheral (output)
2020 - Michiyasu Odaki
Grbl_ESP32 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_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "config.h"
#ifdef USE_I2S_OUT
#include <FreeRTOS.h>
#include <driver/periph_ctrl.h>
#include <rom/lldesc.h>
#include <soc/i2s_struct.h>
#include <freertos/queue.h>
#include <stdatomic.h>
#include "Pins.h"
#include "i2s_out.h"
//
// Configrations for DMA connected I2S
//
// One DMA buffer transfer takes about 2 ms
// I2S_OUT_DMABUF_LEN / I2S_SAMPLE_SIZE x I2S_OUT_USEC_PER_PULSE
// = 2000 / 4 x 4
// = 2000us = 2ms
// If I2S_OUT_DMABUF_COUNT is 5, it will take about 10 ms for all the DMA buffer transfers to finish.
//
// Increasing I2S_OUT_DMABUF_COUNT has the effect of preventing buffer underflow,
// but on the other hand, it leads to a delay with pulse and/or non-pulse-generated I/Os.
// The number of I2S_OUT_DMABUF_COUNT should be chosen carefully.
//
// Reference information:
// FreeRTOS task time slice = portTICK_PERIOD_MS = 1 ms (ESP32 FreeRTOS port)
//
#define I2S_SAMPLE_SIZE 4 /* 4 bytes, 32 bits per sample */
#define DMA_SAMPLE_COUNT I2S_OUT_DMABUF_LEN / I2S_SAMPLE_SIZE /* number of samples per buffer */
#define SAMPLE_SAFE_COUNT (20/I2S_OUT_USEC_PER_PULSE) /* prevent buffer overrun (GRBL's $0 should be less than or equal 20) */
#ifdef USE_I2S_OUT_STREAM
typedef struct {
uint32_t **buffers;
uint32_t *current;
uint32_t rw_pos;
lldesc_t **desc;
xQueueHandle queue;
} i2s_out_dma_t;
static i2s_out_dma_t o_dma;
static intr_handle_t i2s_out_isr_handle;
#endif
// output value
static atomic_uint_least32_t i2s_out_port_data = ATOMIC_VAR_INIT(0);
// inner lock
static portMUX_TYPE i2s_out_spinlock = portMUX_INITIALIZER_UNLOCKED;
#define I2S_OUT_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_out_spinlock)
#define I2S_OUT_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_out_spinlock)
#define I2S_OUT_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&i2s_out_spinlock)
#define I2S_OUT_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&i2s_out_spinlock)
static int i2s_out_initialized = 0;
#ifdef USE_I2S_OUT_STREAM
static volatile uint32_t i2s_out_pulse_period;
static uint32_t i2s_out_remain_time_until_next_pulse; // Time remaining until the next pulse (μsec)
static volatile i2s_out_pulse_func_t i2s_out_pulse_func;
#endif
static uint8_t i2s_out_ws_pin = 255;
static uint8_t i2s_out_bck_pin = 255;
static uint8_t i2s_out_data_pin = 255;
enum i2s_out_pulser_status_t {
PASSTHROUGH = 0, // Static I2S mode.The i2s_out_write() reflected with very little delay
STEPPING, // Streaming step data.
WAITING, // Waiting for the step DMA completion
};
static volatile i2s_out_pulser_status_t i2s_out_pulser_status = PASSTHROUGH;
// outer lock
static portMUX_TYPE i2s_out_pulser_spinlock = portMUX_INITIALIZER_UNLOCKED;
#define I2S_OUT_PULSER_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_out_pulser_spinlock)
#define I2S_OUT_PULSER_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_out_pulser_spinlock)
#define I2S_OUT_PULSER_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&i2s_out_pulser_spinlock)
#define I2S_OUT_PULSER_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&i2s_out_pulser_spinlock)
//
// Internal functions
//
static inline void gpio_matrix_out_check(uint8_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
//if pin == 255, do not need to configure
if (gpio != 255) {
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
}
}
static inline void i2s_out_single_data() {
#if I2S_OUT_NUM_BITS == 16
uint32_t port_data = atomic_load(&i2s_out_port_data);
port_data <<= 16; // Shift needed. This specification is not spelled out in the manual.
I2S0.conf_single_data = port_data; // Apply port data in real-time (static I2S)
#else
I2S0.conf_single_data = atomic_load(&i2s_out_port_data); // Apply port data in real-time (static I2S)
#endif
}
static inline void i2s_out_reset_fifo_without_lock() {
I2S0.conf.rx_fifo_reset = 1;
I2S0.conf.rx_fifo_reset = 0;
I2S0.conf.tx_fifo_reset = 1;
I2S0.conf.tx_fifo_reset = 0;
}
static void IRAM_ATTR i2s_out_reset_fifo() {
I2S_OUT_ENTER_CRITICAL();
i2s_out_reset_fifo_without_lock();
I2S_OUT_EXIT_CRITICAL();
}
#ifdef USE_I2S_OUT_STREAM
static int IRAM_ATTR i2s_clear_dma_buffer(lldesc_t *dma_desc, uint32_t port_data) {
uint32_t *buf = (uint32_t*)dma_desc->buf;
for (int i = 0; i < DMA_SAMPLE_COUNT; i++) {
buf[i] = port_data;
}
// Restore the buffer length.
// The length may have been changed short when the data was filled in to prevent buffer overrun.
dma_desc->length = I2S_OUT_DMABUF_LEN;
return 0;
}
static int IRAM_ATTR i2s_clear_o_dma_buffers(uint32_t port_data) {
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
// Initialize DMA descriptor
o_dma.desc[buf_idx]->owner = 1;
o_dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
o_dma.desc[buf_idx]->sosf = 0;
o_dma.desc[buf_idx]->length = I2S_OUT_DMABUF_LEN;
o_dma.desc[buf_idx]->size = I2S_OUT_DMABUF_LEN;
o_dma.desc[buf_idx]->buf = (uint8_t *) o_dma.buffers[buf_idx];
o_dma.desc[buf_idx]->offset = 0;
o_dma.desc[buf_idx]->qe.stqe_next = (lldesc_t *)((buf_idx < (I2S_OUT_DMABUF_COUNT - 1)) ? (o_dma.desc[buf_idx + 1]) : o_dma.desc[0]);
i2s_clear_dma_buffer(o_dma.desc[buf_idx], port_data);
}
return 0;
}
#endif
static int IRAM_ATTR i2s_out_gpio_attach(uint8_t ws, uint8_t bck, uint8_t data) {
// Route the i2s pins to the appropriate GPIO
gpio_matrix_out_check(data, I2S0O_DATA_OUT23_IDX, 0, 0);
gpio_matrix_out_check(bck, I2S0O_BCK_OUT_IDX, 0, 0);
gpio_matrix_out_check(ws, I2S0O_WS_OUT_IDX, 0, 0);
return 0;
}
#define I2S_OUT_DETACH_PORT_IDX 0x100
static int IRAM_ATTR i2s_out_gpio_detach(uint8_t ws, uint8_t bck, uint8_t data) {
// Route the i2s pins to the appropriate GPIO
gpio_matrix_out_check(ws, I2S_OUT_DETACH_PORT_IDX, 0, 0);
gpio_matrix_out_check(bck, I2S_OUT_DETACH_PORT_IDX, 0, 0);
gpio_matrix_out_check(data, I2S_OUT_DETACH_PORT_IDX, 0, 0);
return 0;
}
static int IRAM_ATTR i2s_out_gpio_shiftout(uint32_t port_data) {
__digitalWrite(i2s_out_ws_pin, LOW);
for (int i = 0; i <I2S_OUT_NUM_BITS; i++) {
__digitalWrite(i2s_out_data_pin, !!(port_data & bit(I2S_OUT_NUM_BITS-1 - i)));
__digitalWrite(i2s_out_bck_pin, HIGH);
__digitalWrite(i2s_out_bck_pin, LOW);
}
__digitalWrite(i2s_out_ws_pin, HIGH); // Latch
return 0;
}
static int IRAM_ATTR i2s_out_stop() {
I2S_OUT_ENTER_CRITICAL();
#ifdef USE_I2S_OUT_STREAM
// Stop FIFO DMA
I2S0.out_link.stop = 1;
// Disconnect DMA from FIFO
I2S0.fifo_conf.dscr_en = 0; //Unset this bit to disable I2S DMA mode. (R/W)
#endif
// stop TX module
I2S0.conf.tx_start = 0;
// Force WS to LOW before detach
// This operation prevents unintended WS edge trigger when detach
__digitalWrite(i2s_out_ws_pin, LOW);
// Now, detach GPIO pin from I2S
i2s_out_gpio_detach(i2s_out_ws_pin, i2s_out_bck_pin, i2s_out_data_pin);
// Force BCK to LOW
// After the TX module is stopped, BCK always seems to be in LOW.
// However, I'm going to do it manually to ensure the BCK's LOW.
__digitalWrite(i2s_out_bck_pin, LOW);
// Transmit recovery data to 74HC595
uint32_t port_data = atomic_load(&i2s_out_port_data); // current expanded port value
i2s_out_gpio_shiftout(port_data);
#ifdef USE_I2S_OUT_STREAM
//clear pending interrupt
I2S0.int_clr.val = I2S0.int_st.val;
#endif
I2S_OUT_EXIT_CRITICAL();
return 0;
}
static int IRAM_ATTR i2s_out_start() {
if (!i2s_out_initialized) {
return -1;
}
I2S_OUT_ENTER_CRITICAL();
// Transmit recovery data to 74HC595
uint32_t port_data = atomic_load(&i2s_out_port_data); // current expanded port value
i2s_out_gpio_shiftout(port_data);
// Attach I2S to specified GPIO pin
i2s_out_gpio_attach(i2s_out_ws_pin, i2s_out_bck_pin, i2s_out_data_pin);
//start DMA link
i2s_out_reset_fifo_without_lock();
#ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == PASSTHROUGH) {
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = port_data;
} else {
I2S0.conf_chan.tx_chan_mod = 4; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = 0;
}
#endif
#ifdef USE_I2S_OUT_STREAM
//reset DMA
I2S0.lc_conf.in_rst = 1;
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1;
I2S0.lc_conf.out_rst = 0;
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
#endif
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
I2S0.conf1.tx_stop_en = 1; // BCK and WCK are suppressed while FIFO is empty
#ifdef USE_I2S_OUT_STREAM
// Connect DMA to FIFO
I2S0.fifo_conf.dscr_en = 1; // Set this bit to enable I2S DMA mode. (R/W)
I2S0.int_clr.val = 0xFFFFFFFF;
I2S0.out_link.start = 1;
#endif
I2S0.conf.tx_start = 1;
// Wait for the first FIFO data to prevent the unintentional generation of 0 data
ets_delay_us(20);
I2S0.conf1.tx_stop_en = 0; // BCK and WCK are generated regardless of the FIFO status
I2S_OUT_EXIT_CRITICAL();
return 0;
}
#ifdef USE_I2S_OUT_STREAM
static int IRAM_ATTR i2s_fillout_dma_buffer(lldesc_t *dma_desc) {
uint32_t *buf = (uint32_t*)dma_desc->buf;
o_dma.rw_pos = 0;
// It reuses the oldest (just transferred) buffer with the name "current"
// and fills the buffer for later DMA.
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock pulser status
if (i2s_out_pulser_status == STEPPING) {
//
// Fillout the buffer for pulse
//
// To avoid buffer overflow, all of the maximum pulse width (normaly about 10us)
// is adjusted to be in a single buffer.
// DMA_SAMPLE_SAFE_COUNT is referred to as the margin value.
// Therefore, if a buffer is close to full and it is time to generate a pulse,
// the generation of the buffer is interrupted (the buffer length is shortened slightly)
// and the pulse generation is postponed until the next buffer is filled.
//
o_dma.rw_pos = 0;
while (o_dma.rw_pos < (DMA_SAMPLE_COUNT - SAMPLE_SAFE_COUNT)) {
// no data to read (buffer empty)
if (i2s_out_remain_time_until_next_pulse < I2S_OUT_USEC_PER_PULSE) {
// pulser status may change in pulse phase func, so I need to check it every time.
if (i2s_out_pulser_status == STEPPING) {
// fillout future DMA buffer (tail of the DMA buffer chains)
if (i2s_out_pulse_func != NULL) {
I2S_OUT_PULSER_EXIT_CRITICAL(); // Temporarily unlocked status lock as it may be locked in pulse callback.
(*i2s_out_pulse_func)(); // should be pushed into buffer max DMA_SAMPLE_SAFE_COUNT
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock again.
i2s_out_remain_time_until_next_pulse = i2s_out_pulse_period;
if (i2s_out_pulser_status == WAITING) {
// i2s_out_set_passthrough() has called from the pulse function.
// It needs to go into pass-through mode.
// This DMA descriptor must be a tail of the chain.
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
} else if (i2s_out_pulser_status == PASSTHROUGH) {
// i2s_out_reset() has called during the execution of the pulse function.
// I2S has already in static mode, and buffers has cleared to zero.
// To prevent the pulse function from being called back,
// we assume that the buffer is already full.
i2s_out_remain_time_until_next_pulse = 0; // There is no need to fill the current buffer.
o_dma.rw_pos = DMA_SAMPLE_COUNT; // The buffer is full.
break;
}
continue;
}
}
}
// no pulse data in push buffer (pulse off or idle or callback is not defined)
buf[o_dma.rw_pos++] = atomic_load(&i2s_out_port_data);
if (i2s_out_remain_time_until_next_pulse >= I2S_OUT_USEC_PER_PULSE) {
i2s_out_remain_time_until_next_pulse -= I2S_OUT_USEC_PER_PULSE;
} else {
i2s_out_remain_time_until_next_pulse = 0;
}
}
// set filled length to the DMA descriptor
dma_desc->length = o_dma.rw_pos * I2S_SAMPLE_SIZE;
} else if (i2s_out_pulser_status == WAITING) {
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
} else {
// Stepper paused (passthrough state, static I2S control mode)
// In the passthrough mode, there is no need to fill the buffer with port_data.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
}
I2S_OUT_PULSER_EXIT_CRITICAL(); // Unlock pulser status
return 0;
}
//
// I2S out DMA Interrupts handler
//
static void IRAM_ATTR i2s_out_intr_handler(void *arg) {
lldesc_t *finish_desc;
portBASE_TYPE high_priority_task_awoken = pdFALSE;
if (I2S0.int_st.out_eof || I2S0.int_st.out_total_eof) {
if (I2S0.int_st.out_total_eof) {
// This is tail of the DMA descriptors
I2S_OUT_ENTER_CRITICAL_ISR();
// Stop FIFO DMA
I2S0.out_link.stop = 1;
// Disconnect DMA from FIFO
I2S0.fifo_conf.dscr_en = 0; //Unset this bit to disable I2S DMA mode. (R/W)
// Stop TX module
I2S0.conf.tx_start = 0;
I2S_OUT_EXIT_CRITICAL_ISR();
}
// Get the descriptor of the last item in the linkedlist
finish_desc = (lldesc_t*) I2S0.out_eof_des_addr;
// If the queue is full it's because we have an underflow,
// more than buf_count isr without new data, remove the front buffer
if (xQueueIsQueueFullFromISR(o_dma.queue)) {
lldesc_t *front_desc;
// Remove a descriptor from the DMA complete event queue
xQueueReceiveFromISR(o_dma.queue, &front_desc, &high_priority_task_awoken);
I2S_OUT_PULSER_ENTER_CRITICAL_ISR();
uint32_t port_data = 0;
if (i2s_out_pulser_status == STEPPING) {
port_data = atomic_load(&i2s_out_port_data);
}
I2S_OUT_PULSER_EXIT_CRITICAL_ISR();
for (int i = 0; i < DMA_SAMPLE_COUNT; i++) {
front_desc->buf[i] = port_data;
}
front_desc->length = I2S_OUT_DMABUF_LEN;
}
// Send a DMA complete event to the I2S bitstreamer task with finished buffer
xQueueSendFromISR(o_dma.queue, &finish_desc, &high_priority_task_awoken);
}
if (high_priority_task_awoken == pdTRUE) portYIELD_FROM_ISR();
// clear interrupt
I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
}
//
// I2S bitstream generator task
//
static void IRAM_ATTR i2sOutTask(void* parameter) {
lldesc_t *dma_desc;
while (1) {
// Wait a DMA complete event from I2S isr
// (Block until a DMA transfer has complete)
xQueueReceive(o_dma.queue, &dma_desc, portMAX_DELAY);
o_dma.current = (uint32_t*)(dma_desc->buf);
// It reuses the oldest (just transferred) buffer with the name "current"
// and fills the buffer for later DMA.
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock pulser status
if (i2s_out_pulser_status == STEPPING) {
//
// Fillout the buffer for pulse
//
// To avoid buffer overflow, all of the maximum pulse width (normaly about 10us)
// is adjusted to be in a single buffer.
// DMA_SAMPLE_SAFE_COUNT is referred to as the margin value.
// Therefore, if a buffer is close to full and it is time to generate a pulse,
// the generation of the buffer is interrupted (the buffer length is shortened slightly)
// and the pulse generation is postponed until the next buffer is filled.
//
i2s_fillout_dma_buffer(dma_desc);
dma_desc->length = o_dma.rw_pos * I2S_SAMPLE_SIZE;
} else if (i2s_out_pulser_status == WAITING) {
if (dma_desc->qe.stqe_next == NULL) {
// Tail of the DMA descriptor found
// I2S TX module has alrewdy stopped by ISR
i2s_out_stop();
i2s_clear_o_dma_buffers(0); // 0 for static I2S control mode (right ch. data is always 0)
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_pulser_status = PASSTHROUGH;
i2s_out_start();
} else {
// Processing a buffer slightly ahead of the tail buffer.
// We don't need to fill up the buffer by port_data any more.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
}
} else {
// Stepper paused (passthrough state, static I2S control mode)
// In the passthrough mode, there is no need to fill the buffer with port_data.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
}
I2S_OUT_PULSER_EXIT_CRITICAL(); // Unlock pulser status
}
}
#endif
//
// External funtions
//
void IRAM_ATTR i2s_out_delay() {
#ifdef USE_I2S_OUT_STREAM
I2S_OUT_PULSER_ENTER_CRITICAL();
if (i2s_out_pulser_status == PASSTHROUGH) {
// Depending on the timing, it may not be reflected immediately,
// so wait twice as long just in case.
ets_delay_us(I2S_OUT_USEC_PER_PULSE * 2);
} else {
// Just wait until the data now registered in the DMA descripter
// is reflected in the I2S TX module via FIFO.
delay(I2S_OUT_DELAY_MS);
}
I2S_OUT_PULSER_EXIT_CRITICAL();
#else
ets_delay_us(I2S_OUT_USEC_PER_PULSE * 2);
#endif
}
void IRAM_ATTR i2s_out_write(uint8_t pin, uint8_t val) {
uint32_t bit = bit(pin);
if (val) {
atomic_fetch_or(&i2s_out_port_data, bit);
} else {
atomic_fetch_and(&i2s_out_port_data, ~bit);
}
#ifdef USE_I2S_OUT_STREAM
// It needs a lock for access, but I've given up because I need speed.
// This is not a problem as long as there is no overlap between the status change and digitalWrite().
if (i2s_out_pulser_status == PASSTHROUGH) {
i2s_out_single_data();
}
#else
i2s_out_single_data();
#endif
}
uint8_t IRAM_ATTR i2s_out_state(uint8_t pin) {
uint32_t port_data = atomic_load(&i2s_out_port_data);
return (!!(port_data & bit(pin)));
}
uint32_t IRAM_ATTR i2s_out_push_sample(uint32_t num) {
#ifdef USE_I2S_OUT_STREAM
if (num > SAMPLE_SAFE_COUNT) {
return 0;
}
// push at least one sample (even if num is zero)
uint32_t port_data = atomic_load(&i2s_out_port_data);
uint32_t n = 0;
do {
o_dma.current[o_dma.rw_pos++] = port_data;
n++;
} while(n < num);
return n;
#else
return 0;
#endif
}
int IRAM_ATTR i2s_out_set_passthrough() {
I2S_OUT_PULSER_ENTER_CRITICAL();
#ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
i2s_out_pulser_status = WAITING; // Start stopping the pulser
}
#else
i2s_out_pulser_status = PASSTHROUGH;
#endif
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
int IRAM_ATTR i2s_out_set_stepping() {
I2S_OUT_PULSER_ENTER_CRITICAL();
#ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
// Re-entered (fail safe)
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
if (i2s_out_pulser_status == WAITING) {
// Wait for complete DMAs
for(;;) {
I2S_OUT_PULSER_EXIT_CRITICAL();
delay(I2S_OUT_DELAY_DMABUF_MS);
I2S_OUT_PULSER_ENTER_CRITICAL();
if (i2s_out_pulser_status == WAITING) {
continue;
}
if (i2s_out_pulser_status == PASSTHROUGH) {
// DMA completed
break;
}
// Another function change the I2S state to STEPPING
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
}
// Change I2S state from PASSTHROUGH to STEPPING
i2s_out_stop();
uint32_t port_data = atomic_load(&i2s_out_port_data);
i2s_clear_o_dma_buffers(port_data);
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_pulser_status = STEPPING;
i2s_out_start();
#else
i2s_out_pulser_status = STEPPING;
#endif
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
int IRAM_ATTR i2s_out_set_pulse_period(uint32_t period) {
#ifdef USE_I2S_OUT_STREAM
i2s_out_pulse_period = period;
#endif
return 0;
}
int IRAM_ATTR i2s_out_set_pulse_callback(i2s_out_pulse_func_t func) {
#ifdef USE_I2S_OUT_STREAM
i2s_out_pulse_func = func;
#endif
return 0;
}
int IRAM_ATTR i2s_out_reset() {
I2S_OUT_PULSER_ENTER_CRITICAL();
i2s_out_stop();
#ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
uint32_t port_data = atomic_load(&i2s_out_port_data);
i2s_clear_o_dma_buffers(port_data);
} else if (i2s_out_pulser_status == WAITING) {
i2s_clear_o_dma_buffers(0);
i2s_out_pulser_status = PASSTHROUGH;
}
#endif
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_start();
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
//
// Initialize funtion (external function)
//
int IRAM_ATTR i2s_out_init(i2s_out_init_t &init_param) {
if (i2s_out_initialized) {
// already initialized
return -1;
}
atomic_store(&i2s_out_port_data, init_param.init_val);
// To make sure hardware is enabled before any hardware register operations.
periph_module_reset(PERIPH_I2S0_MODULE);
periph_module_enable(PERIPH_I2S0_MODULE);
// Route the i2s pins to the appropriate GPIO
i2s_out_gpio_attach(init_param.ws_pin, init_param.bck_pin, init_param.data_pin);
/**
* Each i2s transfer will take
* fpll = PLL_D2_CLK -- clka_en = 0
*
* fi2s = fpll / N + b/a -- N + b/a = clkm_div_num
* fi2s = 160MHz / 2
* fi2s = 80MHz
*
* fbclk = fi2s / M -- M = tx_bck_div_num
* fbclk = 80MHz / 2
* fbclk = 40MHz
*
* fwclk = fbclk / 32
*
* for fwclk = 250kHz(16-bit: 4µS pulse time), 125kHz(32-bit: 8μS pulse time)
* N = 10, b/a = 0
* M = 2
* for fwclk = 500kHz(16-bit: 2µS pulse time), 250kHz(32-bit: 4μS pulse time)
* N = 5, b/a = 0
* M = 2
* for fwclk = 1000kHz(16-bit: 1µS pulse time), 500kHz(32-bit: 2μS pulse time)
* N = 2, b/a = 2/1 (N + b/a = 2.5)
* M = 2
*/
#ifdef USE_I2S_OUT_STREAM
// Allocate the array of pointers to the buffers
o_dma.buffers = (uint32_t **)malloc(sizeof(uint32_t*) * I2S_OUT_DMABUF_COUNT);
if (o_dma.buffers == nullptr) return -1;
// Allocate each buffer that can be used by the DMA controller
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
o_dma.buffers[buf_idx] = (uint32_t*) heap_caps_calloc(1, I2S_OUT_DMABUF_LEN, MALLOC_CAP_DMA);
if (o_dma.buffers[buf_idx] == nullptr) return -1;
}
// Allocate the array of DMA descriptors
o_dma.desc = (lldesc_t**) malloc(sizeof(lldesc_t*) * I2S_OUT_DMABUF_COUNT);
if (o_dma.desc == nullptr) return -1;
// Allocate each DMA descriptor that will be used by the DMA controller
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
o_dma.desc[buf_idx] = (lldesc_t*) heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
if (o_dma.desc[buf_idx] == nullptr) return -1;
}
// Initialize
i2s_clear_o_dma_buffers(init_param.init_val);
o_dma.rw_pos = 0;
o_dma.current = NULL;
o_dma.queue = xQueueCreate(I2S_OUT_DMABUF_COUNT, sizeof(uint32_t *));
// Set the first DMA descriptor
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
#endif
// stop i2s
I2S0.out_link.stop = 1;
I2S0.conf.tx_start = 0;
I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
//
// i2s_param_config
//
// configure I2S data port interface.
i2s_out_reset_fifo();
//reset i2s
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
//reset dma
I2S0.lc_conf.in_rst = 1; // Set this bit to reset in DMA FSM. (R/W)
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1; // Set this bit to reset out DMA FSM. (R/W)
I2S0.lc_conf.out_rst = 0;
//Enable and configure DMA
I2S0.lc_conf.check_owner = 0;
I2S0.lc_conf.out_loop_test = 0;
I2S0.lc_conf.out_auto_wrback = 0; // Disable auto outlink-writeback when all the data has been transmitted
I2S0.lc_conf.out_data_burst_en = 0;
I2S0.lc_conf.outdscr_burst_en = 0;
I2S0.lc_conf.out_no_restart_clr = 0;
I2S0.lc_conf.indscr_burst_en = 0;
#ifdef USE_I2S_OUT_STREAM
I2S0.lc_conf.out_eof_mode = 1; // I2S_OUT_EOF_INT generated when DMA has popped all data from the FIFO;
#endif
I2S0.conf2.lcd_en = 0;
I2S0.conf2.camera_en = 0;
I2S0.pdm_conf.pcm2pdm_conv_en = 0;
I2S0.pdm_conf.pdm2pcm_conv_en = 0;
I2S0.fifo_conf.dscr_en = 0;
#ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
// Stream output mode
I2S0.conf_chan.tx_chan_mod = 4; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = 0;
} else {
// Static output mode
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val;
}
#else
// For the static output mode
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val; // initial constant value
#endif
#if I2S_OUT_NUM_BITS == 16
I2S0.fifo_conf.tx_fifo_mod = 0; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 0; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.sample_rate_conf.tx_bits_mod = 16; // default is 16-bits
I2S0.sample_rate_conf.rx_bits_mod = 16; // default is 16-bits
#else
I2S0.fifo_conf.tx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
// Data width is 32-bit. Forgetting this setting will result in a 16-bit transfer.
I2S0.sample_rate_conf.tx_bits_mod = 32;
I2S0.sample_rate_conf.rx_bits_mod = 32;
#endif
I2S0.conf.tx_mono = 0; // Set this bit to enable transmitter’s mono mode in PCM standard mode.
I2S0.conf_chan.rx_chan_mod = 1; // 1: right+right
I2S0.conf.rx_mono = 0;
#ifdef USE_I2S_OUT_STREAM
I2S0.fifo_conf.dscr_en = 1; //connect DMA to fifo
#endif
I2S0.conf.tx_start = 0;
I2S0.conf.rx_start = 0;
I2S0.conf.tx_msb_right = 1; // Set this bit to place right-channel data at the MSB in the transmit FIFO.
I2S0.conf.tx_right_first = 0; // Setting this bit allows the right-channel data to be sent first.
I2S0.conf.tx_slave_mod = 0; // Master
#ifdef USE_I2S_OUT_STREAM
I2S0.fifo_conf.tx_fifo_mod_force_en = 1; //The bit should always be set to 1.
#endif
I2S0.pdm_conf.rx_pdm_en = 0; // Set this bit to enable receiver’s PDM mode.
I2S0.pdm_conf.tx_pdm_en = 0; // Set this bit to enable transmitter’s PDM mode.
// I2S_COMM_FORMAT_I2S_LSB
I2S0.conf.tx_short_sync = 0; // Set this bit to enable transmitter in PCM standard mode.
I2S0.conf.rx_short_sync = 0; // Set this bit to enable receiver in PCM standard mode.
I2S0.conf.tx_msb_shift = 0; // Do not use the Philips standard to avoid bit-shifting
I2S0.conf.rx_msb_shift = 0; // Do not use the Philips standard to avoid bit-shifting
//
// i2s_set_clk
//
// set clock (fi2s) 160MHz / 5
I2S0.clkm_conf.clka_en = 0; // Use 160 MHz PLL_D2_CLK as reference
// N + b/a = 0
#if I2S_OUT_NUM_BITS == 16
// N = 10
I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256 (I²S clock divider’s integral value)
#else
// N = 5
I2S0.clkm_conf.clkm_div_num = 5; // minimum value of 2, reset value of 4, max 256 (I²S clock divider’s integral value)
#endif
// b/a = 0
I2S0.clkm_conf.clkm_div_b = 0; // 0 at reset
I2S0.clkm_conf.clkm_div_a = 0; // 0 at reset, what about divide by 0? (not an issue)
// Bit clock configuration bit in transmitter mode.
// fbck = fi2s / tx_bck_div_num = (160 MHz / 5) / 2 = 16 MHz
I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
I2S0.sample_rate_conf.rx_bck_div_num = 2;
#ifdef USE_I2S_OUT_STREAM
// Enable TX interrupts (DMA Interrupts)
I2S0.int_ena.out_eof = 1; // Triggered when rxlink has finished sending a packet.
I2S0.int_ena.out_dscr_err = 0; // Triggered when invalid rxlink descriptors are encountered.
I2S0.int_ena.out_total_eof = 1; // Triggered when all transmitting linked lists are used up.
I2S0.int_ena.out_done = 0; // Triggered when all transmitted and buffered data have been read.
// default pulse callback period (μsec)
i2s_out_pulse_period = init_param.pulse_period;
i2s_out_pulse_func = init_param.pulse_func;
// Create the task that will feed the buffer
xTaskCreatePinnedToCore(i2sOutTask,
"I2SOutTask",
1024 * 10,
NULL,
1,
nullptr,
CONFIG_ARDUINO_RUNNING_CORE // must run the task on same core
);
// Allocate and Enable the I2S interrupt
esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_out_intr_handler, nullptr, &i2s_out_isr_handle);
esp_intr_enable(i2s_out_isr_handle);
#endif
// Remember GPIO pin numbers
i2s_out_ws_pin = init_param.ws_pin;
i2s_out_bck_pin = init_param.bck_pin;
i2s_out_data_pin = init_param.data_pin;
i2s_out_initialized = 1;
// Start the I2S peripheral
i2s_out_start();
return 0;
}
#ifndef I2S_OUT_WS
#define I2S_OUT_WS GPIO_NUM_17
#endif
#ifndef I2S_OUT_BCK
#define I2S_OUT_BCK GPIO_NUM_22
#endif
#ifndef I2S_OUT_DATA
#define I2S_OUT_DATA GPIO_NUM_21
#endif
#ifndef I2S_OUT_INIT_VAL
#define I2S_OUT_INIT_VAL 0
#endif
/*
Initialize I2S out by default parameters.
return -1 ... already initialized
*/
int IRAM_ATTR i2s_out_init() {
i2s_out_init_t default_param = {
.ws_pin = I2S_OUT_WS,
.bck_pin = I2S_OUT_BCK,
.data_pin = I2S_OUT_DATA,
.pulse_func = NULL,
.pulse_period = I2S_OUT_USEC_PER_PULSE,
.init_val = I2S_OUT_INIT_VAL,
};
return i2s_out_init(default_param);
}
#endif

38
Grbl_Esp32/machine_common.h
View File

@@ -1,38 +0,0 @@
#ifndef _machine_common_h
#define _machine_common_h
#ifndef SPINDLE_TYPE
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#endif
// Grbl setting that are common to all machines
// It should not be necessary to change anything herein
#ifndef GRBL_SPI_FREQ
// You can override these by defining them in a board file.
// To override, you must set all of them
//-1 means use the default board pin
#define GRBL_SPI_SS -1
#define GRBL_SPI_MOSI -1
#define GRBL_SPI_MISO -1
#define GRBL_SPI_SCK -1
#define GRBL_SPI_FREQ 4000000
#endif
// ESP32 CPU Settings
#define F_TIMERS 80000000 // a reference to the speed of ESP32 timers
#define F_STEPPER_TIMER 20000000 // frequency of step pulse timer
#define STEPPER_OFF_TIMER_PRESCALE 8 // gives a frequency of 10MHz
#define STEPPER_OFF_PERIOD_uSEC 3 // each tick is
#define STEP_PULSE_MIN 2 // uSeconds
#define STEP_PULSE_MAX 10 // uSeconds
// =============== Don't change or comment these out ======================
// They are for legacy purposes and will not affect your I/O
#define STEP_MASK B111111
#define PROBE_MASK 1
#endif // _machine_common_h

138
Grbl_Esp32/print.cpp
View File

@@ -1,138 +0,0 @@
/*
print.c - Functions for formatting output strings
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
2018 - Bart Dring This file was modifed 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"
// void printIntegerInBase(unsigned long n, unsigned long base)
// {
// unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars.
// unsigned long i = 0;
//
// if (n == 0) {
// serial_write('0');
// return;
// }
//
// while (n > 0) {
// buf[i++] = n % base;
// n /= base;
// }
//
// for (; i > 0; i--)
// serial_write(buf[i - 1] < 10 ?
// '0' + buf[i - 1] :
// 'A' + buf[i - 1] - 10);
// }
// Prints an uint8 variable in base 10.
void print_uint8_base10(uint8_t n) {
uint8_t digit_a = 0;
uint8_t digit_b = 0;
if (n >= 100) { // 100-255
digit_a = '0' + n % 10;
n /= 10;
}
if (n >= 10) { // 10-99
digit_b = '0' + n % 10;
n /= 10;
}
serial_write('0' + n);
if (digit_b) serial_write(digit_b);
if (digit_a) serial_write(digit_a);
}
// Prints an uint8 variable in base 2 with desired number of desired digits.
void print_uint8_base2_ndigit(uint8_t n, uint8_t digits) {
unsigned char buf[digits];
uint8_t i = 0;
for (; i < digits; i++) {
buf[i] = n % 2 ;
n /= 2;
}
for (; i > 0; i--)
Serial.print('0' + buf[i - 1]);
}
void print_uint32_base10(uint32_t n) {
if (n == 0) {
Serial.print('0');
return;
}
unsigned char buf[10];
uint8_t i = 0;
while (n > 0) {
buf[i++] = n % 10;
n /= 10;
}
for (; i > 0; i--)
Serial.print('0' + buf[i - 1]);
}
void printInteger(long n) {
if (n < 0) {
Serial.print('-');
print_uint32_base10(-n);
} else
print_uint32_base10(n);
}
// Convert float to string by immediately converting to a long integer, which contains
// more digits than a float. Number of decimal places, which are tracked by a counter,
// may be set by the user. The integer is then efficiently converted to a string.
// NOTE: AVR '%' and '/' integer operations are very efficient. Bitshifting speed-up
// techniques are actually just slightly slower. Found this out the hard way.
void printFloat(float n, uint8_t decimal_places) {
Serial.print(n, decimal_places);
}
// Floating value printing handlers for special variables types used in Grbl and are defined
// in the config.h.
// - CoordValue: Handles all position or coordinate values in inches or mm reporting.
// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
void printFloat_CoordValue(float n) {
if (report_inches->get())
printFloat(n * INCH_PER_MM, N_DECIMAL_COORDVALUE_INCH);
else
printFloat(n, N_DECIMAL_COORDVALUE_MM);
}
// Debug tool to print free memory in bytes at the called point.
// NOTE: Keep commented unless using. Part of this function always gets compiled in.
// void printFreeMemory()
// {
// extern int __heap_start, *__brkval;
// uint16_t free; // Up to 64k values.
// free = (int) &free - (__brkval == 0 ? (int) &__heap_start : (int) __brkval);
// printInteger((int32_t)free);
// printString(" ");
// }

54
Grbl_Esp32/print.h
View File

@@ -1,54 +0,0 @@
/*
print.h - Functions for formatting output strings
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
2018 - Bart Dring This file was modifed 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/>.
*/
#ifndef print_h
#define print_h
void printString(const char* s);
void printPgmString(const char* s);
void printInteger(long n);
void print_uint32_base10(uint32_t n);
// Prints an uint8 variable in base 10.
void print_uint8_base10(uint8_t n);
// Prints an uint8 variable in base 2 with desired number of desired digits.
void print_uint8_base2_ndigit(uint8_t n, uint8_t digits);
void printFloat(float n, uint8_t decimal_places);
// Floating value printing handlers for special variables types used in Grbl.
// - CoordValue: Handles all position or coordinate values in inches or mm reporting.
// - RateValue: Handles feed rate and current velocity in inches or mm reporting.
void printFloat_CoordValue(float n);
void printFloat_RateValue(float n);
// Debug tool to print free memory in bytes at the called point. Not used otherwise.
void printFreeMemory();
#endif

0
Grbl_Esp32/cpu_map.h → Grbl_Esp32/src/CPUMap.h
View File

226
Grbl_Esp32/config.h → Grbl_Esp32/src/Config.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
config.h - compile time configuration
Config.h - compile time configuration
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -35,8 +37,6 @@ Some features should not be changed. See notes below.
*/
#ifndef config_h
#define config_h
#include <Arduino.h>
// It is no longer necessary to edit this file to choose
@@ -62,7 +62,7 @@ Some features should not be changed. See notes below.
// NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
// 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_0 bit(Z_AXIS) // TYPICALLY REQUIRED: First move Z to clear workspace.
#define HOMING_CYCLE_1 bit(X_AXIS)
#define HOMING_CYCLE_2 bit(Y_AXIS)
@@ -74,34 +74,34 @@ Some features should not be changed. See notes below.
// normally-closed switches on the specified pins, rather than the default normally-open switches.
// The mask order is Cycle Start | Feed Hold | Reset | Safety Door
// For example B1101 will invert the function of the Reset pin.
#define INVERT_CONTROL_PIN_MASK B1111
#define INVERT_CONTROL_PIN_MASK B1111
#define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
#define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
#define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
#define USE_RMT_STEPS
// Include the file that loads the machine-specific config file.
// machine.h must be edited to choose the desired file.
#include "machine.h"
#include "Machine.h"
// machine_common.h contains settings that do not change
#include "machine_common.h"
#include "MachineCommon.h"
#define MAX_N_AXIS 6
// Number of axes defined (steppers, servos, etc) (valid range: 3 to 6)
// Even if your machine only uses less than the minimum of 3, you should select 3
#ifndef N_AXIS
#define N_AXIS 3
# define N_AXIS 3
#endif
#ifndef LIMIT_MASK
#define LIMIT_MASK B0
# define LIMIT_MASK B0
#endif
#define VERBOSE_HELP // Currently this doesn't do anything
#define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
#define VERBOSE_HELP // Currently this doesn't do anything
#define GRBL_MSG_LEVEL MSG_LEVEL_INFO // what level of [MSG:....] do you want to see 0=all off
// Serial baud rate
// OK to change, but the ESP32 boot text is 115200, so you will not see that is your
@@ -112,24 +112,23 @@ Some features should not be changed. See notes below.
//#define CONNECT_TO_SSID "your SSID"
//#define SSID_PASSWORD "your SSID password"
//CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
#define ENABLE_BLUETOOTH // enable bluetooth
#define ENABLE_BLUETOOTH // enable bluetooth
#define ENABLE_SD_CARD // enable use of SD Card to run jobs
#define ENABLE_SD_CARD // enable use of SD Card to run jobs
#define ENABLE_WIFI //enable wifi
#define ENABLE_WIFI //enable wifi
#if defined(ENABLE_WIFI) || defined(ENABLE_BLUETOOTH)
#define WIFI_OR_BLUETOOTH
# define WIFI_OR_BLUETOOTH
#endif
#define ENABLE_HTTP //enable HTTP and all related services
#define ENABLE_OTA //enable OTA
#define ENABLE_TELNET //enable telnet
#define ENABLE_TELNET_WELCOME_MSG //display welcome string when connect to telnet
#define ENABLE_MDNS //enable mDNS discovery
#define ENABLE_SSDP //enable UPNP discovery
#define ENABLE_NOTIFICATIONS //enable notifications
#define ENABLE_HTTP //enable HTTP and all related services
#define ENABLE_OTA //enable OTA
#define ENABLE_TELNET //enable telnet
#define ENABLE_TELNET_WELCOME_MSG //display welcome string when connect to telnet
#define ENABLE_MDNS //enable mDNS discovery
#define ENABLE_SSDP //enable UPNP discovery
#define ENABLE_NOTIFICATIONS //enable notifications
#define ENABLE_SERIAL2SOCKET_IN
#define ENABLE_SERIAL2SOCKET_OUT
@@ -150,32 +149,32 @@ Some features should not be changed. See notes below.
#define NAMESPACE "GRBL"
#ifdef ENABLE_AUTHENTICATION
#define DEFAULT_ADMIN_PWD "admin"
#define DEFAULT_USER_PWD "user"
#define DEFAULT_ADMIN_LOGIN "admin"
#define DEFAULT_USER_LOGIN "user"
# define DEFAULT_ADMIN_PWD "admin"
# define DEFAULT_USER_PWD "user"
# define DEFAULT_ADMIN_LOGIN "admin"
# define DEFAULT_USER_LOGIN "user"
#endif
//Radio Mode
#define ESP_RADIO_OFF 0
#define ESP_WIFI_STA 1
#define ESP_WIFI_AP 2
#define ESP_BT 3
#define ESP_WIFI_AP 2
#define ESP_BT 3
//Default mode
#ifdef ENABLE_WIFI
#ifdef CONNECT_TO_SSID
#define DEFAULT_RADIO_MODE ESP_WIFI_STA
#else
#define DEFAULT_RADIO_MODE ESP_WIFI_AP
#endif //CONNECT_TO_SSID
# ifdef CONNECT_TO_SSID
# define DEFAULT_RADIO_MODE ESP_WIFI_STA
# else
# define DEFAULT_RADIO_MODE ESP_WIFI_AP
# endif //CONNECT_TO_SSID
#else
#undef ENABLE_NOTIFICATIONS
#ifdef ENABLE_BLUETOOTH
#define DEFAULT_RADIO_MODE ESP_BT
#else
#define DEFAULT_RADIO_MODE ESP_RADIO_OFF
#endif
# undef ENABLE_NOTIFICATIONS
# ifdef ENABLE_BLUETOOTH
# define DEFAULT_RADIO_MODE ESP_BT
# else
# define DEFAULT_RADIO_MODE ESP_RADIO_OFF
# endif
#endif
// Define realtime command special characters. These characters are 'picked-off' directly from the
@@ -185,7 +184,7 @@ Some features should not be changed. See notes below.
// g-code programs, maybe selected for interface programs.
// NOTE: If changed, manually update help message in report.c.
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_RESET 0x18 // ctrl-x.
#define CMD_STATUS_REPORT '?'
#define CMD_CYCLE_START '~'
#define CMD_FEED_HOLD '!'
@@ -199,19 +198,19 @@ Some features should not be changed. See notes below.
// #define CMD_CYCLE_START 0x82
// #define CMD_FEED_HOLD 0x83
#define CMD_SAFETY_DOOR 0x84
#define CMD_JOG_CANCEL 0x85
#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
#define CMD_FEED_OVR_RESET 0x90 // Restores feed override value to 100%.
#define CMD_JOG_CANCEL 0x85
#define CMD_DEBUG_REPORT 0x86 // Only when DEBUG enabled, sends debug report in '{}' braces.
#define CMD_FEED_OVR_RESET 0x90 // Restores feed override value to 100%.
#define CMD_FEED_OVR_COARSE_PLUS 0x91
#define CMD_FEED_OVR_COARSE_MINUS 0x92
#define CMD_FEED_OVR_FINE_PLUS 0x93
#define CMD_FEED_OVR_FINE_MINUS 0x94
#define CMD_RAPID_OVR_RESET 0x95 // Restores rapid override value to 100%.
#define CMD_FEED_OVR_FINE_PLUS 0x93
#define CMD_FEED_OVR_FINE_MINUS 0x94
#define CMD_RAPID_OVR_RESET 0x95 // Restores rapid override value to 100%.
#define CMD_RAPID_OVR_MEDIUM 0x96
#define CMD_RAPID_OVR_LOW 0x97
// #define CMD_RAPID_OVR_EXTRA_LOW 0x98 // *NOT SUPPORTED*
#define CMD_SPINDLE_OVR_RESET 0x99 // Restores spindle override value to 100%.
#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A // 154
#define CMD_SPINDLE_OVR_RESET 0x99 // Restores spindle override value to 100%.
#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A // 154
#define CMD_SPINDLE_OVR_COARSE_MINUS 0x9B
#define CMD_SPINDLE_OVR_FINE_PLUS 0x9C
#define CMD_SPINDLE_OVR_FINE_MINUS 0x9D
@@ -222,18 +221,18 @@ 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
// greater.
#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
#define N_HOMING_LOCATE_CYCLE 1 // Integer (1-128)
// Enables single axis homing commands. $HX, $HY, and $HZ for X, Y, and Z-axis homing. The full homing
// cycle is still invoked by the $H command. This is disabled by default. It's here only to address
// users that need to switch between a two-axis and three-axis machine. This is actually very rare.
// If you have a two-axis machine, DON'T USE THIS. Instead, just alter the homing cycle for two-axes.
#define HOMING_SINGLE_AXIS_COMMANDS // Default disabled. Uncomment to enable.
#define HOMING_SINGLE_AXIS_COMMANDS // Default disabled. Uncomment to enable.
// After homing, Grbl will set by default the entire machine space into negative space, as is typical
// for professional CNC machines, regardless of where the limit switches are located. Uncomment this
@@ -250,7 +249,7 @@ Some features should not be changed. See notes below.
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
// parser state depending on user preferences.
#define N_STARTUP_LINE 2 // Integer (1-2)
#define N_STARTUP_LINE 2 // Integer (1-2)
// Number of floating decimal points printed by Grbl for certain value types. These settings are
// determined by realistic and commonly observed values in CNC machines. For example, position
@@ -258,12 +257,12 @@ Some features should not be changed. See notes below.
// precise this. So, there is likely no need to change these, but you can if you need to here.
// NOTE: Must be an integer value from 0 to ~4. More than 4 may exhibit round-off errors.
// ESP32 Note: These are mostly hard coded, so these values will not change anything
#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values
#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min.
#define N_DECIMAL_COORDVALUE_INCH 4 // Coordinate or position value in inches
#define N_DECIMAL_COORDVALUE_MM 3 // Coordinate or position value in mm
#define N_DECIMAL_RATEVALUE_INCH 1 // Rate or velocity value in in/min
#define N_DECIMAL_RATEVALUE_MM 0 // Rate or velocity value in mm/min
#define N_DECIMAL_SETTINGVALUE 3 // Decimals for floating point setting values
#define N_DECIMAL_RPMVALUE 0 // RPM value in rotations per min.
// If your machine has two limits switches wired in parallel to one axis, you will need to enable
// this feature. Since the two switches are sharing a single pin, there is no way for Grbl to tell
@@ -280,7 +279,7 @@ Some features should not be changed. See notes below.
// Upon a successful probe cycle, this option provides immediately feedback of the probe coordinates
// through an automatically generated message. If disabled, users can still access the last probe
// coordinates through Grbl '$#' print parameters.
#define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.
#define MESSAGE_PROBE_COORDINATES // Enabled by default. Comment to disable.
// Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
// analog pin 4. Only use this option if you require a second coolant control pin.
@@ -293,12 +292,12 @@ Some features should not be changed. See notes below.
// immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
// the safety door is re-engaged. When it is, Grbl will re-energize the machine and then resume on the
// previous tool path, as if nothing happened.
#define ENABLE_SAFETY_DOOR_INPUT_PIN // ESP32 Leave this enabled for now .. code for undefined not ready
#define ENABLE_SAFETY_DOOR_INPUT_PIN // ESP32 Leave this enabled for now .. code for undefined not ready
// After the safety door switch has been toggled and restored, this setting sets the power-up delay
// between restoring the spindle and coolant and resuming the cycle.
#define SAFETY_DOOR_SPINDLE_DELAY 4.0 // Float (seconds)
#define SAFETY_DOOR_COOLANT_DELAY 1.0 // Float (seconds)
#define SAFETY_DOOR_SPINDLE_DELAY 4.0 // Float (seconds)
#define SAFETY_DOOR_COOLANT_DELAY 1.0 // Float (seconds)
// Enable CoreXY kinematics. Use ONLY with CoreXY machines.
// IMPORTANT: If homing is enabled, you must reconfigure the homing cycle #defines above to
@@ -317,13 +316,6 @@ Some features should not be changed. See notes below.
// NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
// #define INVERT_LIMIT_PIN_MASK (bit(X_AXIS)|bit(Y_AXIS)) // Default disabled. Uncomment to enable.
// Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// #define INVERT_SPINDLE_ENABLE_PIN // Default disabled. Uncomment to enable.
// Inverts the spindle PWM output pin from low-disabled/high-enabled to low-enabled/high-disabled.
// #define INVERT_SPINDLE_OUTPUT_PIN // Default disabled. Uncomment to enable.
// Inverts the selected coolant pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
// for some pre-built electronic boards.
// #define INVERT_COOLANT_FLOOD_PIN // Default disabled. Uncomment to enable.
@@ -352,27 +344,27 @@ Some features should not be changed. See notes below.
// Configure rapid, feed, and spindle override settings. These values define the max and min
// allowable override values and the coarse and fine increments per command received. Please
// note the allowable values in the descriptions following each define.
#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-255). Usually 120% or 200%
#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_FEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_FEED_RATE_OVERRIDE 200 // Percent of programmed feed rate (100-255). Usually 120% or 200%
#define MIN_FEED_RATE_OVERRIDE 10 // Percent of programmed feed rate (1-100). Usually 50% or 1%
#define FEED_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define FEED_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
#define DEFAULT_RAPID_OVERRIDE 100 // 100%. Don't change this value.
#define RAPID_OVERRIDE_MEDIUM 50 // Percent of rapid (1-99). Usually 50%.
#define RAPID_OVERRIDE_LOW 25 // Percent of rapid (1-99). Usually 25%.
// #define RAPID_OVERRIDE_EXTRA_LOW 5 // *NOT SUPPORTED* Percent of rapid (1-99). Usually 5%.
#define DEFAULT_SPINDLE_SPEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_SPINDLE_SPEED_OVERRIDE 200 // Percent of programmed spindle speed (100-255). Usually 200%.
#define MIN_SPINDLE_SPEED_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
#define DEFAULT_SPINDLE_SPEED_OVERRIDE 100 // 100%. Don't change this value.
#define MAX_SPINDLE_SPEED_OVERRIDE 200 // Percent of programmed spindle speed (100-255). Usually 200%.
#define MIN_SPINDLE_SPEED_OVERRIDE 10 // Percent of programmed spindle speed (1-100). Usually 10%.
#define SPINDLE_OVERRIDE_COARSE_INCREMENT 10 // (1-99). Usually 10%.
#define SPINDLE_OVERRIDE_FINE_INCREMENT 1 // (1-99). Usually 1%.
// When a M2 or M30 program end command is executed, most g-code states are restored to their defaults.
// This compile-time option includes the restoring of the feed, rapid, and spindle speed override values
// to their default values at program end.
#define RESTORE_OVERRIDES_AFTER_PROGRAM_END // Default enabled. Comment to disable.
#define RESTORE_OVERRIDES_AFTER_PROGRAM_END // Default enabled. Comment to disable.
// The status report change for Grbl v1.1 and after also removed the ability to disable/enable most data
// fields from the report. This caused issues for GUI developers, who've had to manage several scenarios
@@ -380,12 +372,12 @@ Some features should not be changed. See notes below.
// be sent without potential performance issues.
// NOTE: The options below are here only provide a way to disable certain data fields if a unique
// situation demands it, but be aware GUIs may depend on this data. If disabled, it may not be compatible.
#define REPORT_FIELD_BUFFER_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_PIN_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_CURRENT_FEED_SPEED // Default enabled. Comment to disable.
#define REPORT_FIELD_WORK_COORD_OFFSET // Default enabled. Comment to disable.
#define REPORT_FIELD_OVERRIDES // Default enabled. Comment to disable.
#define REPORT_FIELD_LINE_NUMBERS // Default enabled. Comment to disable.
#define REPORT_FIELD_BUFFER_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_PIN_STATE // Default enabled. Comment to disable.
#define REPORT_FIELD_CURRENT_FEED_SPEED // Default enabled. Comment to disable.
#define REPORT_FIELD_WORK_COORD_OFFSET // Default enabled. Comment to disable.
#define REPORT_FIELD_OVERRIDES // Default enabled. Comment to disable.
#define REPORT_FIELD_LINE_NUMBERS // Default enabled. Comment to disable.
// Some status report data isn't necessary for realtime, only intermittently, because the values don't
// change often. The following macros configures how many times a status report needs to be called before
@@ -414,7 +406,7 @@ Some features should not be changed. See notes below.
// smoothing the stepping of multi-axis motions. This feature smooths motion particularly at low step
// frequencies below 10kHz, where the aliasing between axes of multi-axis motions can cause audible
// noise and shake your machine. At even lower step frequencies, AMASS adapts and provides even better
// step smoothing. See stepper.c for more details on the AMASS system works.
// step smoothing. See Stepper.c for more details on the AMASS system works.
#define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING // Default enabled. Comment to disable.
// Sets the maximum step rate allowed to be written as a Grbl setting. This option enables an error
@@ -444,14 +436,7 @@ Some features should not be changed. See notes below.
// Sets which axis the tool length offset is applied. Assumes the spindle is always parallel with
// the selected axis with the tool oriented toward the negative direction. In other words, a positive
// tool length offset value is subtracted from the current location.
#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
// Alters the behavior of the spindle enable pin. By default Grbl will not disable the enable pin if
// spindle speed is zero and M3/4 is active, but still sets the PWM output to zero. This allows the users
// to know if the spindle is active and use it as an additional control input.
// However, in some use cases, user may want the enable pin to disable with a zero spindle speed and
// re-enable when spindle speed is greater than zero. This option does that.
#define SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED // Default enabled. Comment to disable.
#define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
// With this enabled, Grbl sends back an echo of the line it has received, which has been pre-parsed (spaces
// removed, capitalized letters, no comments) and is to be immediately executed by Grbl. Echoes will not be
@@ -474,19 +459,19 @@ Some features should not be changed. See notes below.
// limits or angle between neighboring block line move directions. This is useful for machines that can't
// tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value
// should not be much greater than zero or to the minimum value necessary for the machine to work.
#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
#define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min)
// Sets the minimum feed rate the planner will allow. Any value below it will be set to this minimum
// value. This also ensures that a planned motion always completes and accounts for any floating-point
// round-off errors. Although not recommended, a lower value than 1.0 mm/min will likely work in smaller
// machines, perhaps to 0.1mm/min, but your success may vary based on multiple factors.
#define MINIMUM_FEED_RATE 1.0 // (mm/min)
#define MINIMUM_FEED_RATE 1.0 // (mm/min)
// Number of arc generation iterations by small angle approximation before exact arc trajectory
// correction with expensive sin() and cos() calcualtions. This parameter maybe decreased if there
// are issues with the accuracy of the arc generations, or increased if arc execution is getting
// bogged down by too many trig calculations.
#define N_ARC_CORRECTION 12 // Integer (1-255)
#define N_ARC_CORRECTION 12 // Integer (1-255)
// The arc G2/3 g-code standard is problematic by definition. Radius-based arcs have horrible numerical
// errors when arc at semi-circles(pi) or full-circles(2*pi). Offset-based arcs are much more accurate
@@ -496,15 +481,14 @@ Some features should not be changed. See notes below.
// This define value sets the machine epsilon cutoff to determine if the arc is a full-circle or not.
// NOTE: Be very careful when adjusting this value. It should always be greater than 1.2e-7 but not too
// much greater than this. The default setting should capture most, if not all, full arc error situations.
#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
#define ARC_ANGULAR_TRAVEL_EPSILON 5E-7 // Float (radians)
// Time delay increments performed during a dwell. The default value is set at 50ms, which provides
// a maximum time delay of roughly 55 minutes, more than enough for most any application. Increasing
// this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of
// run-time command executions, like status reports, since these are performed between each dwell
// 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)
#define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds)
// For test use only. This uses the ESP32's RMT peripheral to generate step pulses
// It allows the use of the STEP_PULSE_DELAY (see below) and it automatically ends the
@@ -568,7 +552,7 @@ Some features should not be changed. See notes below.
// 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
#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.
@@ -597,9 +581,9 @@ Some features should not be changed. See notes below.
// Enable the '$RST=*', '$RST=$', and '$RST=#' eeprom restore commands. There are cases where
// these commands may be undesirable. Simply comment the desired macro to disable it.
// NOTE: See SETTINGS_RESTORE_ALL macro for customizing the `$RST=*` command.
#define ENABLE_RESTORE_EEPROM_WIPE_ALL // '$RST=*' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // '$RST=$' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // '$RST=#' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_WIPE_ALL // '$RST=*' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_DEFAULT_SETTINGS // '$RST=$' Default enabled. Comment to disable.
#define ENABLE_RESTORE_EEPROM_CLEAR_PARAMETERS // '$RST=#' Default enabled. Comment to disable.
// Defines the EEPROM data restored upon a settings version change and `$RST=*` command. Whenever the
// the settings or other EEPROM data structure changes between Grbl versions, Grbl will automatically
@@ -622,7 +606,7 @@ Some features should not be changed. See notes below.
// NOTE: If disabled and to ensure Grbl can never alter the build info line, you'll also need to enable
// the SETTING_RESTORE_ALL macro above and remove SETTINGS_RESTORE_BUILD_INFO from the mask.
// NOTE: See the included grblWrite_BuildInfo.ino example file to write this string seperately.
#define ENABLE_BUILD_INFO_WRITE_COMMAND // '$I=' Default enabled. Comment to disable.
#define ENABLE_BUILD_INFO_WRITE_COMMAND // '$I=' Default enabled. Comment to disable.
// AVR processors require all interrupts to be disabled during an EEPROM write. This includes both
// the stepper ISRs and serial comm ISRs. In the event of a long EEPROM write, this ISR pause can
@@ -636,7 +620,7 @@ Some features should not be changed. See notes below.
// NOTE: Most EEPROM write commands are implicitly blocked during a job (all '$' commands). However,
// coordinate set g-code commands (G10,G28/30.1) are not, since they are part of an active streaming
// job. At this time, this option only forces a planner buffer sync with these g-code commands.
#define FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // Default enabled. Comment to disable.
#define FORCE_BUFFER_SYNC_DURING_EEPROM_WRITE // Default enabled. Comment to disable.
// In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
// may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
@@ -644,7 +628,7 @@ Some features should not be changed. See notes below.
// motion whenever there is a command that alters the work coordinate offsets `G10,G43.1,G92,G54-59`.
// This is the simplest way to ensure `WPos:` is always correct. Fortunately, it's exceedingly rare
// that any of these commands are used need continuous motions through them.
#define FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // Default enabled. Comment to disable.
#define FORCE_BUFFER_SYNC_DURING_WCO_CHANGE // Default enabled. Comment to disable.
// By default, Grbl disables feed rate overrides for all G38.x probe cycle commands. Although this
// may be different than some pro-class machine control, it's arguable that it should be this way.
@@ -669,11 +653,11 @@ Some features should not be changed. See notes below.
//#define PARKING_ENABLE // Default disabled. Uncomment to enable
// Configure options for the parking motion, if enabled.
#define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
#define PARKING_AXIS Z_AXIS // Define which axis that performs the parking motion
#define PARKING_TARGET -5.0 // Parking axis target. In mm, as machine coordinate [-max_travel,0].
#define PARKING_RATE 500.0 // Parking fast rate after pull-out in mm/min.
#define PARKING_PULLOUT_RATE 100.0 // Pull-out/plunge slow feed rate in mm/min.
#define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
// Must be positive value or equal to zero.
// Enables a special set of M-code commands that enables and disables the parking motion.
@@ -689,7 +673,7 @@ Some features should not be changed. See notes below.
// override immediately after coming to a stop. However, this also means that the laser still may
// be reenabled by disabling the spindle stop override, if needed. This is purely a safety feature
// to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire.
#define DISABLE_LASER_DURING_HOLD // Default enabled. Comment to disable.
#define DISABLE_LASER_DURING_HOLD // Default enabled. Comment to disable.
// Enables a piecewise linear model of the spindle PWM/speed output. Requires a solution by the
// 'fit_nonlinear_spindle.py' script in the /doc/script folder of the repo. See file comments
@@ -728,5 +712,3 @@ Some features should not be changed. See notes below.
#define RPM_LINE_B2 4.754411e+01
#define RPM_LINE_A3 9.528342e-03
#define RPM_LINE_B3 3.306286e+01
#endif

59
Grbl_Esp32/coolant_control.cpp → Grbl_Esp32/src/CoolantControl.cpp
View File

@@ -1,5 +1,5 @@
/*
coolant_control.c - coolant control methods
CoolantControl.cpp - coolant control methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -21,8 +21,7 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
void coolant_init() {
#ifdef COOLANT_FLOOD_PIN
@@ -34,88 +33,86 @@ void coolant_init() {
coolant_stop();
}
// Returns current coolant output state. Overrides may alter it from programmed state.
uint8_t coolant_get_state() {
uint8_t cl_state = COOLANT_STATE_DISABLE;
#ifdef COOLANT_FLOOD_PIN
#ifdef INVERT_COOLANT_FLOOD_PIN
if (! digitalRead(COOLANT_FLOOD_PIN)) {
#else
# ifdef INVERT_COOLANT_FLOOD_PIN
if (!digitalRead(COOLANT_FLOOD_PIN)) {
# else
if (digitalRead(COOLANT_FLOOD_PIN)) {
#endif
# endif
cl_state |= COOLANT_STATE_FLOOD;
}
#endif
#ifdef COOLANT_MIST_PIN
#ifdef INVERT_COOLANT_MIST_PIN
if (! digitalRead(COOLANT_MIST_PIN)) {
#else
# ifdef INVERT_COOLANT_MIST_PIN
if (!digitalRead(COOLANT_MIST_PIN)) {
# else
if (digitalRead(COOLANT_MIST_PIN)) {
#endif
# endif
cl_state |= COOLANT_STATE_MIST;
}
#endif
return (cl_state);
}
// Directly called by coolant_init(), coolant_set_state(), and mc_reset(), which can be at
// an interrupt-level. No report flag set, but only called by routines that don't need it.
void coolant_stop() {
#ifdef COOLANT_FLOOD_PIN
#ifdef INVERT_COOLANT_FLOOD_PIN
# ifdef INVERT_COOLANT_FLOOD_PIN
digitalWrite(COOLANT_FLOOD_PIN, 1);
#else
# else
digitalWrite(COOLANT_FLOOD_PIN, 0);
#endif
# endif
#endif
#ifdef COOLANT_MIST_PIN
#ifdef INVERT_COOLANT_MIST_PIN
# ifdef INVERT_COOLANT_MIST_PIN
digitalWrite(COOLANT_MIST_PIN, 1);
#else
# else
digitalWrite(COOLANT_MIST_PIN, 0);
#endif
# endif
#endif
}
// Main program only. Immediately sets flood coolant running state and also mist coolant,
// if enabled. Also sets a flag to report an update to a coolant state.
// Called by coolant toggle override, parking restore, parking retract, sleep mode, g-code
// parser program end, and g-code parser coolant_sync().
void coolant_set_state(uint8_t mode) {
if (sys.abort) return; // Block during abort.
if (sys.abort)
return; // Block during abort.
if (mode == COOLANT_DISABLE)
coolant_stop();
else {
#ifdef COOLANT_FLOOD_PIN
if (mode & COOLANT_FLOOD_ENABLE) {
#ifdef INVERT_COOLANT_FLOOD_PIN
# ifdef INVERT_COOLANT_FLOOD_PIN
digitalWrite(COOLANT_FLOOD_PIN, 0);
#else
# else
digitalWrite(COOLANT_FLOOD_PIN, 1);
#endif
# endif
}
#endif
#ifdef COOLANT_MIST_PIN
if (mode & COOLANT_MIST_ENABLE) {
#ifdef INVERT_COOLANT_MIST_PIN
# ifdef INVERT_COOLANT_MIST_PIN
digitalWrite(COOLANT_MIST_PIN, 0);
#else
# else
digitalWrite(COOLANT_MIST_PIN, 1);
#endif
# endif
}
#endif
}
sys.report_ovr_counter = 0; // Set to report change immediately
sys.report_ovr_counter = 0; // Set to report change immediately
}
// G-code parser entry-point for setting coolant state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
void coolant_sync(uint8_t mode) {
if (sys.state == STATE_CHECK_MODE) return;
protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
if (sys.state == STATE_CHECK_MODE)
return;
protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.
coolant_set_state(mode);
}

20
Grbl_Esp32/coolant_control.h → Grbl_Esp32/src/CoolantControl.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
coolant_control.h - spindle control methods
CoolantControl.h - spindle control methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -21,16 +23,12 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef coolant_control_h
#define coolant_control_h
#define COOLANT_NO_SYNC false
#define COOLANT_FORCE_SYNC true
#define COOLANT_STATE_DISABLE 0 // Must be zero
#define COOLANT_STATE_FLOOD bit(0)
#define COOLANT_STATE_MIST bit(1)
#define COOLANT_NO_SYNC false
#define COOLANT_FORCE_SYNC true
#define COOLANT_STATE_DISABLE 0 // Must be zero
#define COOLANT_STATE_FLOOD bit(0)
#define COOLANT_STATE_MIST bit(1)
// Initializes coolant control pins.
void coolant_init();
@@ -46,5 +44,3 @@ void coolant_set_state(uint8_t mode);
// G-code parser entry-point for setting coolant states. Checks for and executes additional conditions.
void coolant_sync(uint8_t mode);
#endif

4
Grbl_Esp32/custom_code.cpp → Grbl_Esp32/src/CustomCode.cpp
View File

@@ -1,8 +1,8 @@
// This file loads custom code from the Custom/ subdirectory if
// CUSTOM_CODE_FILENAME is defined.
#include "grbl.h"
#include "Grbl.h"
#ifdef CUSTOM_CODE_FILENAME
#include CUSTOM_CODE_FILENAME
# include CUSTOM_CODE_FILENAME
#endif

501
Grbl_Esp32/src/Defaults.h Normal file
View File

@@ -0,0 +1,501 @@
#pragma once
/*
Defaults.h - defaults settings configuration file
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
2018 - Bart Dring This file was modifed 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/>.
*/
/* The defaults.h file serves as a central default settings selector for different machine
types, from DIY CNC mills to CNC conversions of off-the-shelf machines. The settings
files listed here are supplied by users, so your results may vary. However, this should
give you a good starting point as you get to know your machine and tweak the settings for
your nefarious needs.
NOTE: Ensure one and only one of these DEFAULTS_XXX values is defined in config.h */
/*
All of these settings check to see if they have been defined already
before defining them. This allows to to easily set them eslewhere.
You only need to set ones that are important or unique to your
machine. The rest will be pulled from here.
*/
// Grbl generic default settings. Should work across different machines.
#ifndef DEFAULT_STEP_PULSE_MICROSECONDS
# define DEFAULT_STEP_PULSE_MICROSECONDS 3 // $0
#endif
#ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
# define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // $1 msec (0-254, 255 keeps steppers enabled)
#endif
#ifndef DEFAULT_STEPPING_INVERT_MASK
# define DEFAULT_STEPPING_INVERT_MASK 0 // $2 uint8_t
#endif
#ifndef DEFAULT_DIRECTION_INVERT_MASK
# define DEFAULT_DIRECTION_INVERT_MASK 0 // $3 uint8_
#endif
#ifndef DEFAULT_INVERT_ST_ENABLE
# define DEFAULT_INVERT_ST_ENABLE 0 // $4 boolean
#endif
#ifndef DEFAULT_INVERT_LIMIT_PINS
# define DEFAULT_INVERT_LIMIT_PINS 1 // $5 boolean
#endif
#ifndef DEFAULT_INVERT_PROBE_PIN
# define DEFAULT_INVERT_PROBE_PIN 0 // $6 boolean
#endif
#ifndef DEFAULT_STATUS_REPORT_MASK
# define DEFAULT_STATUS_REPORT_MASK 1 // $10
#endif
#ifndef DEFAULT_JUNCTION_DEVIATION
# define DEFAULT_JUNCTION_DEVIATION 0.01 // $11 mm
#endif
#ifndef DEFAULT_ARC_TOLERANCE
# define DEFAULT_ARC_TOLERANCE 0.002 // $12 mm
#endif
#ifndef DEFAULT_REPORT_INCHES
# define DEFAULT_REPORT_INCHES 0 // $13 false
#endif
#ifndef DEFAULT_SOFT_LIMIT_ENABLE
# define DEFAULT_SOFT_LIMIT_ENABLE 0 // $20 false
#endif
#ifndef DEFAULT_HARD_LIMIT_ENABLE
# define DEFAULT_HARD_LIMIT_ENABLE 0 // $21 false
#endif
#ifndef DEFAULT_HOMING_ENABLE
# define DEFAULT_HOMING_ENABLE 0 // $22 false
#endif
#ifndef DEFAULT_HOMING_DIR_MASK
# define DEFAULT_HOMING_DIR_MASK 3 // $23 move positive dir Z, negative X,Y
#endif
#ifndef DEFAULT_HOMING_FEED_RATE
# define DEFAULT_HOMING_FEED_RATE 200.0 // $24 mm/min
#endif
#ifndef DEFAULT_HOMING_SEEK_RATE
# define DEFAULT_HOMING_SEEK_RATE 2000.0 // $25 mm/min
#endif
#ifndef DEFAULT_HOMING_DEBOUNCE_DELAY
# define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // $26 msec (0-65k)
#endif
#ifndef DEFAULT_HOMING_PULLOFF
# define DEFAULT_HOMING_PULLOFF 1.0 // $27 mm
#endif
// ======== SPINDLE STUFF ====================
#ifndef SPINDLE_TYPE
# define SPINDLE_TYPE SPINDLE_TYPE_NONE
#endif
#ifndef DEFAULT_SPINDLE_RPM_MIN // $31
# define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#endif
#ifndef DEFAULT_LASER_MODE // $32
# define DEFAULT_LASER_MODE 0 // false
#endif
#ifndef DEFAULT_SPINDLE_RPM_MAX // $30
# define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#endif
#ifndef DEFAULT_SPINDLE_FREQ
# define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
#endif
#ifndef DEFAULT_SPINDLE_OFF_VALUE
# define DEFAULT_SPINDLE_OFF_VALUE 0.0 // $34 Percent of full period(extended set)
#endif
#ifndef DEFAULT_SPINDLE_MIN_VALUE
# define DEFAULT_SPINDLE_MIN_VALUE 0.0 // $35 Percent of full period (extended set)
#endif
#ifndef DEFAULT_SPINDLE_MAX_VALUE
# define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent of full period (extended set)
#endif
#ifndef DEFAULT_SPINDLE_DELAY_SPINUP
# define DEFAULT_SPINDLE_DELAY_SPINUP 0
#endif
#ifndef DEFAULT_SPINDLE_DELAY_SPINDOWN
# define DEFAULT_SPINDLE_DELAY_SPINDOWN 0
#endif
#ifndef DEFAULT_INVERT_SPINDLE_OUTPUT_PIN
# define DEFAULT_INVERT_SPINDLE_OUTPUT_PIN 0
#endif
#ifndef DEFAULT_INVERT_SPINDLE_ENABLE_PIN
# define DEFAULT_INVERT_SPINDLE_ENABLE_PIN 0
#endif
#ifndef DEFAULT_SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
# define DEFAULT_SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED 0
#endif
// ================ user settings =====================
#ifndef DEFAULT_USER_INT_80
# define DEFAULT_USER_INT_80 0 // $80 User integer setting
#endif
#ifndef DEFAULT_USER_INT_81
# define DEFAULT_USER_INT_81 0 // $81 User integer setting
#endif
#ifndef DEFAULT_USER_INT_82
# define DEFAULT_USER_INT_82 0 // $82 User integer setting
#endif
#ifndef DEFAULT_USER_INT_83
# define DEFAULT_USER_INT_83 0 // $83 User integer setting
#endif
#ifndef DEFAULT_USER_INT_84
# define DEFAULT_USER_INT_84 0 // $84 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_90
# define DEFAULT_USER_FLOAT_90 0.0 // $90 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_91
# define DEFAULT_USER_FLOAT_91 0.0 // $92 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_92
# define DEFAULT_USER_FLOAT_92 0.0 // $92 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_93
# define DEFAULT_USER_FLOAT_93 0.0 // $93 User integer setting
#endif
#ifndef DEFAULT_USER_FLOAT_94
# define DEFAULT_USER_FLOAT_94 0.0 // $94 User integer setting
#endif
// =========== AXIS RESOLUTION ======
#ifndef DEFAULT_X_STEPS_PER_MM
# define DEFAULT_X_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_Y_STEPS_PER_MM
# define DEFAULT_Y_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_Z_STEPS_PER_MM
# define DEFAULT_Z_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_A_STEPS_PER_MM
# define DEFAULT_A_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_B_STEPS_PER_MM
# define DEFAULT_B_STEPS_PER_MM 100.0
#endif
#ifndef DEFAULT_C_STEPS_PER_MM
# define DEFAULT_C_STEPS_PER_MM 100.0
#endif
// ============ AXIS MAX SPPED =========
#ifndef DEFAULT_X_MAX_RATE
# define DEFAULT_X_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_Y_MAX_RATE
# define DEFAULT_Y_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_Z_MAX_RATE
# define DEFAULT_Z_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_A_MAX_RATE
# define DEFAULT_A_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_B_MAX_RATE
# define DEFAULT_B_MAX_RATE 1000.0 // mm/min
#endif
#ifndef DEFAULT_C_MAX_RATE
# define DEFAULT_C_MAX_RATE 1000.0 // mm/min
#endif
// ============== Axis Acceleration =========
#define SEC_PER_MIN_SQ (60.0 * 60.0) // Seconds Per Minute Squared, for acceleration conversion
// Default accelerations are expressed in mm/sec^2
#ifndef DEFAULT_X_ACCELERATION
# define DEFAULT_X_ACCELERATION 200.0
#endif
#ifndef DEFAULT_Y_ACCELERATION
# define DEFAULT_Y_ACCELERATION 200.0
#endif
#ifndef DEFAULT_Z_ACCELERATION
# define DEFAULT_Z_ACCELERATION 200.0
#endif
#ifndef DEFAULT_A_ACCELERATION
# define DEFAULT_A_ACCELERATION 200.0
#endif
#ifndef DEFAULT_B_ACCELERATION
# define DEFAULT_B_ACCELERATION 200.0
#endif
#ifndef DEFAULT_C_ACCELERATION
# define DEFAULT_C_ACCELERATION 200.0
#endif
// ========= AXIS MAX TRAVEL ============
#ifndef DEFAULT_X_MAX_TRAVEL
# define DEFAULT_X_MAX_TRAVEL 300.0 // $130 mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_Y_MAX_TRAVEL
# define DEFAULT_Y_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_Z_MAX_TRAVEL
# define DEFAULT_Z_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_A_MAX_TRAVEL
# define DEFAULT_A_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_B_MAX_TRAVEL
# define DEFAULT_B_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
#ifndef DEFAULT_C_MAX_TRAVEL
# define DEFAULT_C_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#endif
// ========== Motor current (SPI Drivers ) =============
#ifndef DEFAULT_X_CURRENT
# define DEFAULT_X_CURRENT 0.25 // $140 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_CURRENT
# define DEFAULT_Y_CURRENT 0.25 // $141 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_CURRENT
# define DEFAULT_Z_CURRENT 0.25 // $142 current in amps (extended set)
#endif
#ifndef DEFAULT_A_CURRENT
# define DEFAULT_A_CURRENT 0.25 // $143 current in amps (extended set)
#endif
#ifndef DEFAULT_B_CURRENT
# define DEFAULT_B_CURRENT 0.25 // $144 current in amps (extended set)
#endif
#ifndef DEFAULT_C_CURRENT
# define DEFAULT_C_CURRENT 0.25 // $145 current in amps (extended set)
#endif
// ========== Motor hold current (SPI Drivers ) =============
#ifndef DEFAULT_X_HOLD_CURRENT
# define DEFAULT_X_HOLD_CURRENT 0.125 // $150 current in amps (extended set)
#endif
#ifndef DEFAULT_Y_HOLD_CURRENT
# define DEFAULT_Y_HOLD_CURRENT 0.125 // $151 current in amps (extended set)
#endif
#ifndef DEFAULT_Z_HOLD_CURRENT
# define DEFAULT_Z_HOLD_CURRENT 0.125 // $152 current in amps (extended set)
#endif
#ifndef DEFAULT_A_HOLD_CURRENT
# define DEFAULT_A_HOLD_CURRENT 0.125 // $153 current in amps (extended set)
#endif
#ifndef DEFAULT_B_HOLD_CURRENT
# define DEFAULT_B_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
#endif
#ifndef DEFAULT_C_HOLD_CURRENT
# define DEFAULT_C_HOLD_CURRENT 0.125 // $154 current in amps (extended set)
#endif
// ========== Microsteps (SPI Drivers ) ================
#ifndef DEFAULT_X_MICROSTEPS
# define DEFAULT_X_MICROSTEPS 16 // $160 micro steps (extended set)
#endif
#ifndef DEFAULT_Y_MICROSTEPS
# define DEFAULT_Y_MICROSTEPS 16 // $161 micro steps (extended set)
#endif
#ifndef DEFAULT_Z_MICROSTEPS
# define DEFAULT_Z_MICROSTEPS 16 // $162 micro steps (extended set)
#endif
#ifndef DEFAULT_A_MICROSTEPS
# define DEFAULT_A_MICROSTEPS 16 // $163 micro steps (extended set)
#endif
#ifndef DEFAULT_B_MICROSTEPS
# define DEFAULT_B_MICROSTEPS 16 // $164 micro steps (extended set)
#endif
#ifndef DEFAULT_C_MICROSTEPS
# define DEFAULT_C_MICROSTEPS 16 // $165 micro steps (extended set)
#endif
// ========== Stallguard (SPI Drivers ) ================
#ifndef DEFAULT_X_STALLGUARD
# define DEFAULT_X_STALLGUARD 16 // $170 stallguard (extended set)
#endif
#ifndef DEFAULT_Y_STALLGUARD
# define DEFAULT_Y_STALLGUARD 16 // $171 stallguard (extended set)
#endif
#ifndef DEFAULT_Z_STALLGUARD
# define DEFAULT_Z_STALLGUARD 16 // $172 stallguard (extended set)
#endif
#ifndef DEFAULT_A_STALLGUARD
# define DEFAULT_A_STALLGUARD 16 // $173 stallguard (extended set)
#endif
#ifndef DEFAULT_B_STALLGUARD
# define DEFAULT_B_STALLGUARD 16 // $174 stallguard (extended set)
#endif
#ifndef DEFAULT_C_STALLGUARD
# define DEFAULT_C_STALLGUARD 16 // $175 stallguard (extended set)
#endif
// ================== pin defaults ========================
// Here is a place to default pins to UNDEFINED_PIN.
// This can eliminate checking to see if the pin is defined because
// the overridden pinMode and digitalWrite functions will deal with it.
#ifndef STEPPERS_DISABLE_PIN
# define STEPPERS_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X_DISABLE_PIN
# define X_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Y_DISABLE_PIN
# define Y_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Z_DISABLE_PIN
# define Z_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef A_DISABLE_PIN
# define A_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef B_DISABLE_PIN
# define B_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef C_DISABLE_PIN
# define C_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X2_DISABLE_PIN
# define X2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Y2_DISABLE_PIN
# define Y2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef Z2_DISABLE_PIN
# define Z2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef A2_DISABLE_PIN
# define A2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef B2_DISABLE_PIN
# define B2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef C2_DISABLE_PIN
# define C2_DISABLE_PIN UNDEFINED_PIN
#endif
#ifndef X_LIMIT_PIN
# define X_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Y_LIMIT_PIN
# define Y_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Z_LIMIT_PIN
# define Z_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef A_LIMIT_PIN
# define A_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef B_LIMIT_PIN
# define B_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef C_LIMIT_PIN
# define C_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef X2_LIMIT_PIN
# define X2_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Y2_LIMIT_PIN
# define Y2_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef Z2_LIMIT_PIN
# define Z2_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef A2_LIMIT_PIN
# define A2_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef B2_LIMIT_PIN
# define B2_LIMIT_PIN UNDEFINED_PIN
#endif
#ifndef C2_LIMIT_PIN
# define C2_LIMIT_PIN UNDEFINED_PIN
#endif
// assigned all MS3 (microstep pin 3) to UNDEFINED_PIN
#ifndef X_STEPPER_MS3
# define X_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef Y_STEPPER_MS3
# define Y_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef Z_STEPPER_MS3
# define Z_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef A_STEPPER_MS3
# define A_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef B_STEPPER_MS3
# define B_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef C_STEPPER_MS3
# define C_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef X2_STEPPER_MS3
# define X2_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef Y2_STEPPER_MS3
# define Y2_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef Z2_STEPPER_MS3
# define Z2_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef A2_STEPPER_MS3
# define A2_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef B2_STEPPER_MS3
# define B2_STEPPER_MS3 UNDEFINED_PIN
#endif
#ifndef C2_STEPPER_MS3
# define C2_STEPPER_MS3 UNDEFINED_PIN
#endif

6
Grbl_Esp32/grbl_eeprom.cpp → Grbl_Esp32/src/Eeprom.cpp
View File

@@ -1,5 +1,5 @@
/*
eeprom.cpp - Header for system level commands and real-time processes
Eeprom.cpp - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -18,7 +18,7 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source, unsigned int size) {
unsigned char checksum = 0;
@@ -34,7 +34,7 @@ void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source
int memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, unsigned int size) {
unsigned char data, checksum = 0;
for (; size > 0; size--) {
data = EEPROM.read(source++);
data = EEPROM.read(source++);
checksum = (checksum << 1) || (checksum >> 7);
checksum += data;
*(destination++) = data;

13
Grbl_Esp32/grbl_eeprom.h → Grbl_Esp32/src/Eeprom.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
eeprom.h - Header for system level commands and real-time processes
Eeprom.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -18,14 +20,9 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef eeprom_memcpy_h
#define eeprom_memcpy_h
#include "grbl.h"
#include "Grbl.h"
//unsigned char eeprom_get_char(unsigned int addr);
//void eeprom_put_char(unsigned int addr, unsigned char new_value);
void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source, unsigned int size);
int memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, unsigned int size);
#endif
int memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, unsigned int size);

1365
Grbl_Esp32/src/GCode.cpp Normal file
View File

File diff suppressed because it is too large Load Diff

261
Grbl_Esp32/src/GCode.h Normal file
View File

@@ -0,0 +1,261 @@
#pragma once
/*
GCode.h - rs274/ngc parser.
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud
2018 - Bart Dring This file was modifed 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/>.
*/
// Define modal group internal numbers for checking multiple command violations and tracking the
// type of command that is called in the block. A modal group is a group of g-code commands that are
// mutually exclusive, or cannot exist on the same line, because they each toggle a state or execute
// a unique motion. These are defined in the NIST RS274-NGC v3 g-code standard, available online,
// and are similar/identical to other g-code interpreters by manufacturers (Haas,Fanuc,Mazak,etc).
// NOTE: Modal group define values must be sequential and starting from zero.
#define MODAL_GROUP_G0 0 // [G4,G10,G28,G28.1,G30,G30.1,G53,G92,G92.1] Non-modal
#define MODAL_GROUP_G1 1 // [G0,G1,G2,G3,G38.2,G38.3,G38.4,G38.5,G80] Motion
#define MODAL_GROUP_G2 2 // [G17,G18,G19] Plane selection
#define MODAL_GROUP_G3 3 // [G90,G91] Distance mode
#define MODAL_GROUP_G4 4 // [G91.1] Arc IJK distance mode
#define MODAL_GROUP_G5 5 // [G93,G94] Feed rate mode
#define MODAL_GROUP_G6 6 // [G20,G21] Units
#define MODAL_GROUP_G7 7 // [G40] Cutter radius compensation mode. G41/42 NOT SUPPORTED.
#define MODAL_GROUP_G8 8 // [G43.1,G49] Tool length offset
#define MODAL_GROUP_G12 9 // [G54,G55,G56,G57,G58,G59] Coordinate system selection
#define MODAL_GROUP_G13 10 // [G61] Control mode
#define MODAL_GROUP_M4 11 // [M0,M1,M2,M30] Stopping
#define MODAL_GROUP_M6 14 // [M6] Tool change
#define MODAL_GROUP_M7 12 // [M3,M4,M5] Spindle turning
#define MODAL_GROUP_M8 13 // [M7,M8,M9] Coolant control
#define MODAL_GROUP_M9 14 // [M56] Override control
#define MODAL_GROUP_M10 15 // [M62, M63] User Defined http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
// #define OTHER_INPUT_F 14
// #define OTHER_INPUT_S 15
// #define OTHER_INPUT_T 16
// Define command actions for within execution-type modal groups (motion, stopping, non-modal). Used
// internally by the parser to know which command to execute.
// NOTE: Some macro values are assigned specific values to make g-code state reporting and parsing
// compile a litte smaller. Necessary due to being completely out of flash on the 328p. Although not
// ideal, just be careful with values that state 'do not alter' and check both report.c and gcode.c
// to see how they are used, if you need to alter them.
// Modal Group G0: Non-modal actions
#define NON_MODAL_NO_ACTION 0 // (Default: Must be zero)
#define NON_MODAL_DWELL 4 // G4 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_DATA 10 // G10 (Do not alter value)
#define NON_MODAL_GO_HOME_0 28 // G28 (Do not alter value)
#define NON_MODAL_SET_HOME_0 38 // G28.1 (Do not alter value)
#define NON_MODAL_GO_HOME_1 30 // G30 (Do not alter value)
#define NON_MODAL_SET_HOME_1 40 // G30.1 (Do not alter value)
#define NON_MODAL_ABSOLUTE_OVERRIDE 53 // G53 (Do not alter value)
#define NON_MODAL_SET_COORDINATE_OFFSET 92 // G92 (Do not alter value)
#define NON_MODAL_RESET_COORDINATE_OFFSET 102 //G92.1 (Do not alter value)
// Modal Group G1: Motion modes
#define MOTION_MODE_SEEK 0 // G0 (Default: Must be zero)
#define MOTION_MODE_LINEAR 1 // G1 (Do not alter value)
#define MOTION_MODE_CW_ARC 2 // G2 (Do not alter value)
#define MOTION_MODE_CCW_ARC 3 // G3 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD 140 // G38.2 (Do not alter value)
#define MOTION_MODE_PROBE_TOWARD_NO_ERROR 141 // G38.3 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY 142 // G38.4 (Do not alter value)
#define MOTION_MODE_PROBE_AWAY_NO_ERROR 143 // G38.5 (Do not alter value)
#define MOTION_MODE_NONE 80 // G80 (Do not alter value)
// Modal Group G2: Plane select
#define PLANE_SELECT_XY 0 // G17 (Default: Must be zero)
#define PLANE_SELECT_ZX 1 // G18 (Do not alter value)
#define PLANE_SELECT_YZ 2 // G19 (Do not alter value)
// Modal Group G3: Distance mode
#define DISTANCE_MODE_ABSOLUTE 0 // G90 (Default: Must be zero)
#define DISTANCE_MODE_INCREMENTAL 1 // G91 (Do not alter value)
// Modal Group G4: Arc IJK distance mode
#define DISTANCE_ARC_MODE_INCREMENTAL 0 // G91.1 (Default: Must be zero)
// Modal Group M4: Program flow
#define PROGRAM_FLOW_RUNNING 0 // (Default: Must be zero)
#define PROGRAM_FLOW_PAUSED 3 // M0
#define PROGRAM_FLOW_OPTIONAL_STOP 1 // M1 NOTE: Not supported, but valid and ignored.
#define PROGRAM_FLOW_COMPLETED_M2 2 // M2 (Do not alter value)
#define PROGRAM_FLOW_COMPLETED_M30 30 // M30 (Do not alter value)
// Modal Group G5: Feed rate mode
#define FEED_RATE_MODE_UNITS_PER_MIN 0 // G94 (Default: Must be zero)
#define FEED_RATE_MODE_INVERSE_TIME 1 // G93 (Do not alter value)
// Modal Group G6: Units mode
#define UNITS_MODE_MM 0 // G21 (Default: Must be zero)
#define UNITS_MODE_INCHES 1 // G20 (Do not alter value)
// Modal Group G7: Cutter radius compensation mode
#define CUTTER_COMP_DISABLE 0 // G40 (Default: Must be zero)
// Modal Group G13: Control mode
#define CONTROL_MODE_EXACT_PATH 0 // G61 (Default: Must be zero)
// Modal Group M7: Spindle control
#define SPINDLE_DISABLE 0 // M5 (Default: Must be zero)
#define SPINDLE_ENABLE_CW PL_COND_FLAG_SPINDLE_CW // M3 (NOTE: Uses planner condition bit flag)
#define SPINDLE_ENABLE_CCW PL_COND_FLAG_SPINDLE_CCW // M4 (NOTE: Uses planner condition bit flag)
// Modal Group M8: Coolant control
#define COOLANT_DISABLE 0 // M9 (Default: Must be zero)
#define COOLANT_FLOOD_ENABLE PL_COND_FLAG_COOLANT_FLOOD // M8 (NOTE: Uses planner condition bit flag)
#define COOLANT_MIST_ENABLE PL_COND_FLAG_COOLANT_MIST // M7 (NOTE: Uses planner condition bit flag)
// Modal Group M9: Override control
#ifdef DEACTIVATE_PARKING_UPON_INIT
# define OVERRIDE_DISABLED 0 // (Default: Must be zero)
# define OVERRIDE_PARKING_MOTION 1 // M56
#else
# define OVERRIDE_PARKING_MOTION 0 // M56 (Default: Must be zero)
# define OVERRIDE_DISABLED 1 // Parking disabled.
#endif
// modal Group M10: User I/O control
#define NON_MODAL_IO_ENABLE 1
#define NON_MODAL_IO_DISABLE 2
#define MAX_USER_DIGITAL_PIN 4
// Modal Group G8: Tool length offset
#define TOOL_LENGTH_OFFSET_CANCEL 0 // G49 (Default: Must be zero)
#define TOOL_LENGTH_OFFSET_ENABLE_DYNAMIC 1 // G43.1
#define TOOL_CHANGE 1
// Modal Group G12: Active work coordinate system
// N/A: Stores coordinate system value (54-59) to change to.
// Define parameter word mapping.
#define WORD_F 0
#define WORD_I 1
#define WORD_J 2
#define WORD_K 3
#define WORD_L 4
#define WORD_N 5
#define WORD_P 6
#define WORD_R 7
#define WORD_S 8
#define WORD_T 9
#define WORD_X 10
#define WORD_Y 11
#define WORD_Z 12
#define WORD_A 13
#define WORD_B 14
#define WORD_C 15
// Define g-code parser position updating flags
#define GC_UPDATE_POS_TARGET 0 // Must be zero
#define GC_UPDATE_POS_SYSTEM 1
#define GC_UPDATE_POS_NONE 2
// Define probe cycle exit states and assign proper position updating.
#define GC_PROBE_FOUND GC_UPDATE_POS_SYSTEM
#define GC_PROBE_ABORT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_INIT GC_UPDATE_POS_NONE
#define GC_PROBE_FAIL_END GC_UPDATE_POS_TARGET
#ifdef SET_CHECK_MODE_PROBE_TO_START
# define GC_PROBE_CHECK_MODE GC_UPDATE_POS_NONE
#else
# define GC_PROBE_CHECK_MODE GC_UPDATE_POS_TARGET
#endif
// Define gcode parser flags for handling special cases.
#define GC_PARSER_NONE 0 // Must be zero.
#define GC_PARSER_JOG_MOTION bit(0)
#define GC_PARSER_CHECK_MANTISSA bit(1)
#define GC_PARSER_ARC_IS_CLOCKWISE bit(2)
#define GC_PARSER_PROBE_IS_AWAY bit(3)
#define GC_PARSER_PROBE_IS_NO_ERROR bit(4)
#define GC_PARSER_LASER_FORCE_SYNC bit(5)
#define GC_PARSER_LASER_DISABLE bit(6)
#define GC_PARSER_LASER_ISMOTION bit(7)
// NOTE: When this struct is zeroed, the above defines set the defaults for the system.
typedef struct {
uint8_t motion; // {G0,G1,G2,G3,G38.2,G80}
uint8_t feed_rate; // {G93,G94}
uint8_t units; // {G20,G21}
uint8_t distance; // {G90,G91}
// uint8_t distance_arc; // {G91.1} NOTE: Don't track. Only default supported.
uint8_t plane_select; // {G17,G18,G19}
// uint8_t cutter_comp; // {G40} NOTE: Don't track. Only default supported.
uint8_t tool_length; // {G43.1,G49}
uint8_t coord_select; // {G54,G55,G56,G57,G58,G59}
// uint8_t control; // {G61} NOTE: Don't track. Only default supported.
uint8_t program_flow; // {M0,M1,M2,M30}
uint8_t coolant; // {M7,M8,M9}
uint8_t spindle; // {M3,M4,M5}
uint8_t tool_change; // {M6}
uint8_t io_control; // {M62, M63}
uint8_t override; // {M56}
} gc_modal_t;
typedef struct {
float f; // Feed
float ijk[N_AXIS]; // I,J,K Axis arc offsets
uint8_t l; // G10 or canned cycles parameters
int32_t n; // Line number
float p; // G10 or dwell parameters
// float q; // G82 peck drilling
float r; // Arc radius
float s; // Spindle speed
uint8_t t; // Tool selection
float xyz[N_AXIS]; // X,Y,Z Translational axes
} gc_values_t;
typedef struct {
gc_modal_t modal;
float spindle_speed; // RPM
float feed_rate; // Millimeters/min
uint8_t tool; // Tracks tool number. NOT USED.
int32_t line_number; // Last line number sent
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
float coord_system[N_AXIS]; // Current work coordinate system (G54+). Stores offset from absolute machine
// position in mm. Loaded from EEPROM when called.
float coord_offset[N_AXIS]; // Retains the G92 coordinate offset (work coordinates) relative to
// machine zero in mm. Non-persistent. Cleared upon reset and boot.
float tool_length_offset; // Tracks tool length offset value when enabled.
} parser_state_t;
extern parser_state_t gc_state;
typedef struct {
uint8_t non_modal_command;
gc_modal_t modal;
gc_values_t values;
} parser_block_t;
// Initialize the parser
void gc_init();
// Execute one block of rs275/ngc/g-code
uint8_t gc_execute_line(char* line, uint8_t client);
// Set g-code parser position. Input in steps.
void gc_sync_position();

94
Grbl_Esp32/grbl.h → Grbl_Esp32/src/Grbl.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
grbl.h - Header for system level commands and real-time processes
Grbl.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -18,12 +20,10 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// Grbl versioning system
#define GRBL_VERSION "1.3a"
#define GRBL_VERSION_BUILD "20200727"
#define GRBL_VERSION_BUILD "20200812"
//#include <sdkconfig.h>
#include <Arduino.h>
@@ -33,72 +33,66 @@
#include <freertos/task.h>
#include <Preferences.h>
#include "driver/timer.h"
#include <driver/timer.h>
// Define the Grbl system include files. NOTE: Do not alter organization.
#include "config.h"
#include "nuts_bolts.h"
#include "tdef.h"
#include "Config.h"
#include "NutsBolts.h"
#include "defaults.h"
#include "settings.h"
#include "authentication.h"
#include "system.h"
#include "Defaults.h"
#include "SettingsStorage.h"
#include "WebUI/Authentication.h"
#include "WebUI/Commands.h"
#include "System.h"
#include "planner.h"
#include "coolant_control.h"
#include "grbl_eeprom.h"
#include "gcode.h"
#include "grbl_limits.h"
#include "motion_control.h"
#include "print.h"
#include "probe.h"
#include "protocol.h"
#include "report.h"
#include "serial.h"
#include "Planner.h"
#include "CoolantControl.h"
#include "Eeprom.h"
#include "GCode.h"
#include "Limits.h"
#include "MotionControl.h"
#include "Probe.h"
#include "Protocol.h"
#include "Report.h"
#include "Serial.h"
#include "Pins.h"
#include "Spindles/SpindleClass.h"
#include "Motors/MotorClass.h"
#include "stepper.h"
#include "jog.h"
#include "inputbuffer.h"
#include "commands.h"
#include "SettingsClass.h"
#include "Spindles/Spindle.h"
#include "Motors/Motors.h"
#include "Stepper.h"
#include "Jog.h"
#include "WebUI/InputBuffer.h"
#include "Settings.h"
#include "SettingsDefinitions.h"
#include "WebSettings.h"
#include "WebUI/WebSettings.h"
// Do not guard this because it is needed for local files too
#include "grbl_sd.h"
#include "SDCard.h"
#ifdef ENABLE_BLUETOOTH
#include "BTconfig.h"
# include "WebUI/BTConfig.h"
#endif
#ifdef ENABLE_WIFI
#include "wificonfig.h"
#ifdef ENABLE_HTTP
#include "serial2socket.h"
#endif
#ifdef ENABLE_TELNET
#include "telnet_server.h"
#endif
#ifdef ENABLE_NOTIFICATIONS
#include "notifications_service.h"
#endif
# include "WebUI/WifiConfig.h"
# ifdef ENABLE_HTTP
# include "WebUI/Serial2Socket.h"
# endif
# ifdef ENABLE_TELNET
# include "WebUI/TelnetServer.h"
# endif
# ifdef ENABLE_NOTIFICATIONS
# include "WebUI/NotificationsService.h"
# endif
#endif
#include "solenoid_pen.h"
#include "SolenoidPen.h"
#ifdef USE_SERVO_AXES
#include "servo_axis.h"
#endif
#ifdef USE_UNIPOLAR
#include "grbl_unipolar.h"
# include "ServoAxis.h"
#endif
#ifdef USE_I2S_OUT
#include "i2s_out.h"
# include "I2SOut.h"
#endif
// Called if USE_MACHINE_INIT is defined

914
Grbl_Esp32/src/I2SOut.cpp Normal file
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@@ -0,0 +1,914 @@
/*
I2SOut.cpp
Part of Grbl_ESP32
Basic GPIO expander using the ESP32 I2S peripheral (output)
2020 - Michiyasu Odaki
Grbl_ESP32 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_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#include "Config.h"
#ifdef USE_I2S_OUT
# include <FreeRTOS.h>
# include <driver/periph_ctrl.h>
# include <rom/lldesc.h>
# include <soc/i2s_struct.h>
# include <freertos/queue.h>
# include <stdatomic.h>
# include "Pins.h"
# include "I2SOut.h"
//
// Configrations for DMA connected I2S
//
// One DMA buffer transfer takes about 2 ms
// I2S_OUT_DMABUF_LEN / I2S_SAMPLE_SIZE x I2S_OUT_USEC_PER_PULSE
// = 2000 / 4 x 4
// = 2000us = 2ms
// If I2S_OUT_DMABUF_COUNT is 5, it will take about 10 ms for all the DMA buffer transfers to finish.
//
// Increasing I2S_OUT_DMABUF_COUNT has the effect of preventing buffer underflow,
// but on the other hand, it leads to a delay with pulse and/or non-pulse-generated I/Os.
// The number of I2S_OUT_DMABUF_COUNT should be chosen carefully.
//
// Reference information:
// FreeRTOS task time slice = portTICK_PERIOD_MS = 1 ms (ESP32 FreeRTOS port)
//
# define I2S_SAMPLE_SIZE 4 /* 4 bytes, 32 bits per sample */
# define DMA_SAMPLE_COUNT I2S_OUT_DMABUF_LEN / I2S_SAMPLE_SIZE /* number of samples per buffer */
# define SAMPLE_SAFE_COUNT (20 / I2S_OUT_USEC_PER_PULSE) /* prevent buffer overrun (GRBL's $0 should be less than or equal 20) */
# ifdef USE_I2S_OUT_STREAM
typedef struct {
uint32_t** buffers;
uint32_t* current;
uint32_t rw_pos;
lldesc_t** desc;
xQueueHandle queue;
} i2s_out_dma_t;
static i2s_out_dma_t o_dma;
static intr_handle_t i2s_out_isr_handle;
# endif
// output value
static atomic_uint_least32_t i2s_out_port_data = ATOMIC_VAR_INIT(0);
// inner lock
static portMUX_TYPE i2s_out_spinlock = portMUX_INITIALIZER_UNLOCKED;
# define I2S_OUT_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_out_spinlock)
# define I2S_OUT_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_out_spinlock)
# define I2S_OUT_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&i2s_out_spinlock)
# define I2S_OUT_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&i2s_out_spinlock)
static int i2s_out_initialized = 0;
# ifdef USE_I2S_OUT_STREAM
static volatile uint64_t i2s_out_pulse_period;
static uint64_t i2s_out_remain_time_until_next_pulse; // Time remaining until the next pulse (μsec)
static volatile i2s_out_pulse_func_t i2s_out_pulse_func;
# endif
static uint8_t i2s_out_ws_pin = 255;
static uint8_t i2s_out_bck_pin = 255;
static uint8_t i2s_out_data_pin = 255;
enum i2s_out_pulser_status_t {
PASSTHROUGH = 0, // Static I2S mode.The i2s_out_write() reflected with very little delay
STEPPING, // Streaming step data.
WAITING, // Waiting for the step DMA completion
};
static volatile i2s_out_pulser_status_t i2s_out_pulser_status = PASSTHROUGH;
// outer lock
static portMUX_TYPE i2s_out_pulser_spinlock = portMUX_INITIALIZER_UNLOCKED;
# define I2S_OUT_PULSER_ENTER_CRITICAL() portENTER_CRITICAL(&i2s_out_pulser_spinlock)
# define I2S_OUT_PULSER_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_out_pulser_spinlock)
# define I2S_OUT_PULSER_ENTER_CRITICAL_ISR() portENTER_CRITICAL_ISR(&i2s_out_pulser_spinlock)
# define I2S_OUT_PULSER_EXIT_CRITICAL_ISR() portEXIT_CRITICAL_ISR(&i2s_out_pulser_spinlock)
//
// Internal functions
//
static inline void gpio_matrix_out_check(uint8_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) {
//if pin == 255, do not need to configure
if (gpio != 255) {
PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO);
gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT);
gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv);
}
}
static inline void i2s_out_single_data() {
# if I2S_OUT_NUM_BITS == 16
uint32_t port_data = atomic_load(&i2s_out_port_data);
port_data <<= 16; // Shift needed. This specification is not spelled out in the manual.
I2S0.conf_single_data = port_data; // Apply port data in real-time (static I2S)
# else
I2S0.conf_single_data = atomic_load(&i2s_out_port_data); // Apply port data in real-time (static I2S)
# endif
}
static inline void i2s_out_reset_fifo_without_lock() {
I2S0.conf.rx_fifo_reset = 1;
I2S0.conf.rx_fifo_reset = 0;
I2S0.conf.tx_fifo_reset = 1;
I2S0.conf.tx_fifo_reset = 0;
}
static void IRAM_ATTR i2s_out_reset_fifo() {
I2S_OUT_ENTER_CRITICAL();
i2s_out_reset_fifo_without_lock();
I2S_OUT_EXIT_CRITICAL();
}
# ifdef USE_I2S_OUT_STREAM
static int IRAM_ATTR i2s_clear_dma_buffer(lldesc_t* dma_desc, uint32_t port_data) {
uint32_t* buf = (uint32_t*)dma_desc->buf;
for (int i = 0; i < DMA_SAMPLE_COUNT; i++) {
buf[i] = port_data;
}
// Restore the buffer length.
// The length may have been changed short when the data was filled in to prevent buffer overrun.
dma_desc->length = I2S_OUT_DMABUF_LEN;
return 0;
}
static int IRAM_ATTR i2s_clear_o_dma_buffers(uint32_t port_data) {
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
// Initialize DMA descriptor
o_dma.desc[buf_idx]->owner = 1;
o_dma.desc[buf_idx]->eof = 1; // set to 1 will trigger the interrupt
o_dma.desc[buf_idx]->sosf = 0;
o_dma.desc[buf_idx]->length = I2S_OUT_DMABUF_LEN;
o_dma.desc[buf_idx]->size = I2S_OUT_DMABUF_LEN;
o_dma.desc[buf_idx]->buf = (uint8_t*)o_dma.buffers[buf_idx];
o_dma.desc[buf_idx]->offset = 0;
o_dma.desc[buf_idx]->qe.stqe_next = (lldesc_t*)((buf_idx < (I2S_OUT_DMABUF_COUNT - 1)) ? (o_dma.desc[buf_idx + 1]) : o_dma.desc[0]);
i2s_clear_dma_buffer(o_dma.desc[buf_idx], port_data);
}
return 0;
}
# endif
static int IRAM_ATTR i2s_out_gpio_attach(uint8_t ws, uint8_t bck, uint8_t data) {
// Route the i2s pins to the appropriate GPIO
gpio_matrix_out_check(data, I2S0O_DATA_OUT23_IDX, 0, 0);
gpio_matrix_out_check(bck, I2S0O_BCK_OUT_IDX, 0, 0);
gpio_matrix_out_check(ws, I2S0O_WS_OUT_IDX, 0, 0);
return 0;
}
# define I2S_OUT_DETACH_PORT_IDX 0x100
static int IRAM_ATTR i2s_out_gpio_detach(uint8_t ws, uint8_t bck, uint8_t data) {
// Route the i2s pins to the appropriate GPIO
gpio_matrix_out_check(ws, I2S_OUT_DETACH_PORT_IDX, 0, 0);
gpio_matrix_out_check(bck, I2S_OUT_DETACH_PORT_IDX, 0, 0);
gpio_matrix_out_check(data, I2S_OUT_DETACH_PORT_IDX, 0, 0);
return 0;
}
static int IRAM_ATTR i2s_out_gpio_shiftout(uint32_t port_data) {
__digitalWrite(i2s_out_ws_pin, LOW);
for (int i = 0; i < I2S_OUT_NUM_BITS; i++) {
__digitalWrite(i2s_out_data_pin, !!(port_data & bit(I2S_OUT_NUM_BITS - 1 - i)));
__digitalWrite(i2s_out_bck_pin, HIGH);
__digitalWrite(i2s_out_bck_pin, LOW);
}
__digitalWrite(i2s_out_ws_pin, HIGH); // Latch
return 0;
}
static int IRAM_ATTR i2s_out_stop() {
I2S_OUT_ENTER_CRITICAL();
# ifdef USE_I2S_OUT_STREAM
// Stop FIFO DMA
I2S0.out_link.stop = 1;
// Disconnect DMA from FIFO
I2S0.fifo_conf.dscr_en = 0; //Unset this bit to disable I2S DMA mode. (R/W)
# endif
// stop TX module
I2S0.conf.tx_start = 0;
// Force WS to LOW before detach
// This operation prevents unintended WS edge trigger when detach
__digitalWrite(i2s_out_ws_pin, LOW);
// Now, detach GPIO pin from I2S
i2s_out_gpio_detach(i2s_out_ws_pin, i2s_out_bck_pin, i2s_out_data_pin);
// Force BCK to LOW
// After the TX module is stopped, BCK always seems to be in LOW.
// However, I'm going to do it manually to ensure the BCK's LOW.
__digitalWrite(i2s_out_bck_pin, LOW);
// Transmit recovery data to 74HC595
uint32_t port_data = atomic_load(&i2s_out_port_data); // current expanded port value
i2s_out_gpio_shiftout(port_data);
# ifdef USE_I2S_OUT_STREAM
//clear pending interrupt
I2S0.int_clr.val = I2S0.int_st.val;
# endif
I2S_OUT_EXIT_CRITICAL();
return 0;
}
static int IRAM_ATTR i2s_out_start() {
if (!i2s_out_initialized) {
return -1;
}
I2S_OUT_ENTER_CRITICAL();
// Transmit recovery data to 74HC595
uint32_t port_data = atomic_load(&i2s_out_port_data); // current expanded port value
i2s_out_gpio_shiftout(port_data);
// Attach I2S to specified GPIO pin
i2s_out_gpio_attach(i2s_out_ws_pin, i2s_out_bck_pin, i2s_out_data_pin);
//start DMA link
i2s_out_reset_fifo_without_lock();
# ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == PASSTHROUGH) {
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = port_data;
} else {
I2S0.conf_chan.tx_chan_mod = 4; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = 0;
}
# endif
# ifdef USE_I2S_OUT_STREAM
//reset DMA
I2S0.lc_conf.in_rst = 1;
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1;
I2S0.lc_conf.out_rst = 0;
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
# endif
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
I2S0.conf1.tx_stop_en = 1; // BCK and WCK are suppressed while FIFO is empty
# ifdef USE_I2S_OUT_STREAM
// Connect DMA to FIFO
I2S0.fifo_conf.dscr_en = 1; // Set this bit to enable I2S DMA mode. (R/W)
I2S0.int_clr.val = 0xFFFFFFFF;
I2S0.out_link.start = 1;
# endif
I2S0.conf.tx_start = 1;
// Wait for the first FIFO data to prevent the unintentional generation of 0 data
ets_delay_us(20);
I2S0.conf1.tx_stop_en = 0; // BCK and WCK are generated regardless of the FIFO status
I2S_OUT_EXIT_CRITICAL();
return 0;
}
# ifdef USE_I2S_OUT_STREAM
static int IRAM_ATTR i2s_fillout_dma_buffer(lldesc_t* dma_desc) {
uint32_t* buf = (uint32_t*)dma_desc->buf;
o_dma.rw_pos = 0;
// It reuses the oldest (just transferred) buffer with the name "current"
// and fills the buffer for later DMA.
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock pulser status
if (i2s_out_pulser_status == STEPPING) {
//
// Fillout the buffer for pulse
//
// To avoid buffer overflow, all of the maximum pulse width (normaly about 10us)
// is adjusted to be in a single buffer.
// DMA_SAMPLE_SAFE_COUNT is referred to as the margin value.
// Therefore, if a buffer is close to full and it is time to generate a pulse,
// the generation of the buffer is interrupted (the buffer length is shortened slightly)
// and the pulse generation is postponed until the next buffer is filled.
//
o_dma.rw_pos = 0;
while (o_dma.rw_pos < (DMA_SAMPLE_COUNT - SAMPLE_SAFE_COUNT)) {
// no data to read (buffer empty)
if (i2s_out_remain_time_until_next_pulse < I2S_OUT_USEC_PER_PULSE) {
// pulser status may change in pulse phase func, so I need to check it every time.
if (i2s_out_pulser_status == STEPPING) {
// fillout future DMA buffer (tail of the DMA buffer chains)
if (i2s_out_pulse_func != NULL) {
uint32_t old_rw_pos = o_dma.rw_pos;
I2S_OUT_PULSER_EXIT_CRITICAL(); // Temporarily unlocked status lock as it may be locked in pulse callback.
(*i2s_out_pulse_func)(); // should be pushed into buffer max DMA_SAMPLE_SAFE_COUNT
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock again.
// Calculate pulse period. About magic number 2, refer to the st_wake_up(). (Ad hoc delay value)
i2s_out_remain_time_until_next_pulse = i2s_out_pulse_period - I2S_OUT_USEC_PER_PULSE * (o_dma.rw_pos - old_rw_pos) + 2;
if (i2s_out_pulser_status == WAITING) {
// i2s_out_set_passthrough() has called from the pulse function.
// It needs to go into pass-through mode.
// This DMA descriptor must be a tail of the chain.
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
} else if (i2s_out_pulser_status == PASSTHROUGH) {
// i2s_out_reset() has called during the execution of the pulse function.
// I2S has already in static mode, and buffers has cleared to zero.
// To prevent the pulse function from being called back,
// we assume that the buffer is already full.
i2s_out_remain_time_until_next_pulse = 0; // There is no need to fill the current buffer.
o_dma.rw_pos = DMA_SAMPLE_COUNT; // The buffer is full.
break;
}
continue;
}
}
}
// no pulse data in push buffer (pulse off or idle or callback is not defined)
buf[o_dma.rw_pos++] = atomic_load(&i2s_out_port_data);
if (i2s_out_remain_time_until_next_pulse >= I2S_OUT_USEC_PER_PULSE) {
i2s_out_remain_time_until_next_pulse -= I2S_OUT_USEC_PER_PULSE;
} else {
i2s_out_remain_time_until_next_pulse = 0;
}
}
// set filled length to the DMA descriptor
dma_desc->length = o_dma.rw_pos * I2S_SAMPLE_SIZE;
} else if (i2s_out_pulser_status == WAITING) {
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
} else {
// Stepper paused (passthrough state, static I2S control mode)
// In the passthrough mode, there is no need to fill the buffer with port_data.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
}
I2S_OUT_PULSER_EXIT_CRITICAL(); // Unlock pulser status
return 0;
}
//
// I2S out DMA Interrupts handler
//
static void IRAM_ATTR i2s_out_intr_handler(void* arg) {
lldesc_t* finish_desc;
portBASE_TYPE high_priority_task_awoken = pdFALSE;
if (I2S0.int_st.out_eof || I2S0.int_st.out_total_eof) {
if (I2S0.int_st.out_total_eof) {
// This is tail of the DMA descriptors
I2S_OUT_ENTER_CRITICAL_ISR();
// Stop FIFO DMA
I2S0.out_link.stop = 1;
// Disconnect DMA from FIFO
I2S0.fifo_conf.dscr_en = 0; //Unset this bit to disable I2S DMA mode. (R/W)
// Stop TX module
I2S0.conf.tx_start = 0;
I2S_OUT_EXIT_CRITICAL_ISR();
}
// Get the descriptor of the last item in the linkedlist
finish_desc = (lldesc_t*)I2S0.out_eof_des_addr;
// If the queue is full it's because we have an underflow,
// more than buf_count isr without new data, remove the front buffer
if (xQueueIsQueueFullFromISR(o_dma.queue)) {
lldesc_t* front_desc;
// Remove a descriptor from the DMA complete event queue
xQueueReceiveFromISR(o_dma.queue, &front_desc, &high_priority_task_awoken);
I2S_OUT_PULSER_ENTER_CRITICAL_ISR();
uint32_t port_data = 0;
if (i2s_out_pulser_status == STEPPING) {
port_data = atomic_load(&i2s_out_port_data);
}
I2S_OUT_PULSER_EXIT_CRITICAL_ISR();
for (int i = 0; i < DMA_SAMPLE_COUNT; i++) {
front_desc->buf[i] = port_data;
}
front_desc->length = I2S_OUT_DMABUF_LEN;
}
// Send a DMA complete event to the I2S bitstreamer task with finished buffer
xQueueSendFromISR(o_dma.queue, &finish_desc, &high_priority_task_awoken);
}
if (high_priority_task_awoken == pdTRUE)
portYIELD_FROM_ISR();
// clear interrupt
I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
}
//
// I2S bitstream generator task
//
static void IRAM_ATTR i2sOutTask(void* parameter) {
lldesc_t* dma_desc;
while (1) {
// Wait a DMA complete event from I2S isr
// (Block until a DMA transfer has complete)
xQueueReceive(o_dma.queue, &dma_desc, portMAX_DELAY);
o_dma.current = (uint32_t*)(dma_desc->buf);
// It reuses the oldest (just transferred) buffer with the name "current"
// and fills the buffer for later DMA.
I2S_OUT_PULSER_ENTER_CRITICAL(); // Lock pulser status
if (i2s_out_pulser_status == STEPPING) {
//
// Fillout the buffer for pulse
//
// To avoid buffer overflow, all of the maximum pulse width (normaly about 10us)
// is adjusted to be in a single buffer.
// DMA_SAMPLE_SAFE_COUNT is referred to as the margin value.
// Therefore, if a buffer is close to full and it is time to generate a pulse,
// the generation of the buffer is interrupted (the buffer length is shortened slightly)
// and the pulse generation is postponed until the next buffer is filled.
//
i2s_fillout_dma_buffer(dma_desc);
dma_desc->length = o_dma.rw_pos * I2S_SAMPLE_SIZE;
} else if (i2s_out_pulser_status == WAITING) {
if (dma_desc->qe.stqe_next == NULL) {
// Tail of the DMA descriptor found
// I2S TX module has alrewdy stopped by ISR
i2s_out_stop();
i2s_clear_o_dma_buffers(0); // 0 for static I2S control mode (right ch. data is always 0)
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_pulser_status = PASSTHROUGH;
i2s_out_start();
} else {
// Processing a buffer slightly ahead of the tail buffer.
// We don't need to fill up the buffer by port_data any more.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
dma_desc->qe.stqe_next = NULL; // Cut the DMA descriptor ring. This allow us to identify the tail of the buffer.
}
} else {
// Stepper paused (passthrough state, static I2S control mode)
// In the passthrough mode, there is no need to fill the buffer with port_data.
i2s_clear_dma_buffer(dma_desc, 0); // Essentially, no clearing is required. I'll make sure I know when I've written something.
o_dma.rw_pos = 0; // If someone calls i2s_out_push_sample, make sure there is no buffer overflow
}
I2S_OUT_PULSER_EXIT_CRITICAL(); // Unlock pulser status
}
}
# endif
//
// External funtions
//
void IRAM_ATTR i2s_out_delay() {
# ifdef USE_I2S_OUT_STREAM
I2S_OUT_PULSER_ENTER_CRITICAL();
if (i2s_out_pulser_status == PASSTHROUGH) {
// Depending on the timing, it may not be reflected immediately,
// so wait twice as long just in case.
ets_delay_us(I2S_OUT_USEC_PER_PULSE * 2);
} else {
// Just wait until the data now registered in the DMA descripter
// is reflected in the I2S TX module via FIFO.
delay(I2S_OUT_DELAY_MS);
}
I2S_OUT_PULSER_EXIT_CRITICAL();
# else
ets_delay_us(I2S_OUT_USEC_PER_PULSE * 2);
# endif
}
void IRAM_ATTR i2s_out_write(uint8_t pin, uint8_t val) {
uint32_t bit = bit(pin);
if (val) {
atomic_fetch_or(&i2s_out_port_data, bit);
} else {
atomic_fetch_and(&i2s_out_port_data, ~bit);
}
# ifdef USE_I2S_OUT_STREAM
// It needs a lock for access, but I've given up because I need speed.
// This is not a problem as long as there is no overlap between the status change and digitalWrite().
if (i2s_out_pulser_status == PASSTHROUGH) {
i2s_out_single_data();
}
# else
i2s_out_single_data();
# endif
}
uint8_t IRAM_ATTR i2s_out_state(uint8_t pin) {
uint32_t port_data = atomic_load(&i2s_out_port_data);
return (!!(port_data & bit(pin)));
}
uint32_t IRAM_ATTR i2s_out_push_sample(uint32_t num) {
# ifdef USE_I2S_OUT_STREAM
if (num > SAMPLE_SAFE_COUNT) {
return 0;
}
// push at least one sample (even if num is zero)
uint32_t port_data = atomic_load(&i2s_out_port_data);
uint32_t n = 0;
do {
o_dma.current[o_dma.rw_pos++] = port_data;
n++;
} while (n < num);
return n;
# else
return 0;
# endif
}
int IRAM_ATTR i2s_out_set_passthrough() {
I2S_OUT_PULSER_ENTER_CRITICAL();
# ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
i2s_out_pulser_status = WAITING; // Start stopping the pulser
}
# else
i2s_out_pulser_status = PASSTHROUGH;
# endif
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
int IRAM_ATTR i2s_out_set_stepping() {
I2S_OUT_PULSER_ENTER_CRITICAL();
# ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
// Re-entered (fail safe)
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
if (i2s_out_pulser_status == WAITING) {
// Wait for complete DMAs
for (;;) {
I2S_OUT_PULSER_EXIT_CRITICAL();
delay(I2S_OUT_DELAY_DMABUF_MS);
I2S_OUT_PULSER_ENTER_CRITICAL();
if (i2s_out_pulser_status == WAITING) {
continue;
}
if (i2s_out_pulser_status == PASSTHROUGH) {
// DMA completed
break;
}
// Another function change the I2S state to STEPPING
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
}
// Change I2S state from PASSTHROUGH to STEPPING
i2s_out_stop();
uint32_t port_data = atomic_load(&i2s_out_port_data);
i2s_clear_o_dma_buffers(port_data);
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_pulser_status = STEPPING;
i2s_out_start();
# else
i2s_out_pulser_status = STEPPING;
# endif
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
int IRAM_ATTR i2s_out_set_pulse_period(uint64_t period) {
# ifdef USE_I2S_OUT_STREAM
// Use 64-bit values to avoid overflowing during the calculation.
i2s_out_pulse_period = period * 1000000 / F_STEPPER_TIMER;
# endif
return 0;
}
int IRAM_ATTR i2s_out_set_pulse_callback(i2s_out_pulse_func_t func) {
# ifdef USE_I2S_OUT_STREAM
i2s_out_pulse_func = func;
# endif
return 0;
}
int IRAM_ATTR i2s_out_reset() {
I2S_OUT_PULSER_ENTER_CRITICAL();
i2s_out_stop();
# ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
uint32_t port_data = atomic_load(&i2s_out_port_data);
i2s_clear_o_dma_buffers(port_data);
} else if (i2s_out_pulser_status == WAITING) {
i2s_clear_o_dma_buffers(0);
i2s_out_pulser_status = PASSTHROUGH;
}
# endif
// You need to set the status before calling i2s_out_start()
// because the process in i2s_out_start() is different depending on the status.
i2s_out_start();
I2S_OUT_PULSER_EXIT_CRITICAL();
return 0;
}
//
// Initialize funtion (external function)
//
int IRAM_ATTR i2s_out_init(i2s_out_init_t& init_param) {
if (i2s_out_initialized) {
// already initialized
return -1;
}
atomic_store(&i2s_out_port_data, init_param.init_val);
// To make sure hardware is enabled before any hardware register operations.
periph_module_reset(PERIPH_I2S0_MODULE);
periph_module_enable(PERIPH_I2S0_MODULE);
// Route the i2s pins to the appropriate GPIO
i2s_out_gpio_attach(init_param.ws_pin, init_param.bck_pin, init_param.data_pin);
/**
* Each i2s transfer will take
* fpll = PLL_D2_CLK -- clka_en = 0
*
* fi2s = fpll / N + b/a -- N + b/a = clkm_div_num
* fi2s = 160MHz / 2
* fi2s = 80MHz
*
* fbclk = fi2s / M -- M = tx_bck_div_num
* fbclk = 80MHz / 2
* fbclk = 40MHz
*
* fwclk = fbclk / 32
*
* for fwclk = 250kHz(16-bit: 4µS pulse time), 125kHz(32-bit: 8μS pulse time)
* N = 10, b/a = 0
* M = 2
* for fwclk = 500kHz(16-bit: 2µS pulse time), 250kHz(32-bit: 4μS pulse time)
* N = 5, b/a = 0
* M = 2
* for fwclk = 1000kHz(16-bit: 1µS pulse time), 500kHz(32-bit: 2μS pulse time)
* N = 2, b/a = 2/1 (N + b/a = 2.5)
* M = 2
*/
# ifdef USE_I2S_OUT_STREAM
// Allocate the array of pointers to the buffers
o_dma.buffers = (uint32_t**)malloc(sizeof(uint32_t*) * I2S_OUT_DMABUF_COUNT);
if (o_dma.buffers == nullptr)
return -1;
// Allocate each buffer that can be used by the DMA controller
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
o_dma.buffers[buf_idx] = (uint32_t*)heap_caps_calloc(1, I2S_OUT_DMABUF_LEN, MALLOC_CAP_DMA);
if (o_dma.buffers[buf_idx] == nullptr)
return -1;
}
// Allocate the array of DMA descriptors
o_dma.desc = (lldesc_t**)malloc(sizeof(lldesc_t*) * I2S_OUT_DMABUF_COUNT);
if (o_dma.desc == nullptr)
return -1;
// Allocate each DMA descriptor that will be used by the DMA controller
for (int buf_idx = 0; buf_idx < I2S_OUT_DMABUF_COUNT; buf_idx++) {
o_dma.desc[buf_idx] = (lldesc_t*)heap_caps_malloc(sizeof(lldesc_t), MALLOC_CAP_DMA);
if (o_dma.desc[buf_idx] == nullptr)
return -1;
}
// Initialize
i2s_clear_o_dma_buffers(init_param.init_val);
o_dma.rw_pos = 0;
o_dma.current = NULL;
o_dma.queue = xQueueCreate(I2S_OUT_DMABUF_COUNT, sizeof(uint32_t*));
// Set the first DMA descriptor
I2S0.out_link.addr = (uint32_t)o_dma.desc[0];
# endif
// stop i2s
I2S0.out_link.stop = 1;
I2S0.conf.tx_start = 0;
I2S0.int_clr.val = I2S0.int_st.val; //clear pending interrupt
//
// i2s_param_config
//
// configure I2S data port interface.
i2s_out_reset_fifo();
//reset i2s
I2S0.conf.tx_reset = 1;
I2S0.conf.tx_reset = 0;
I2S0.conf.rx_reset = 1;
I2S0.conf.rx_reset = 0;
//reset dma
I2S0.lc_conf.in_rst = 1; // Set this bit to reset in DMA FSM. (R/W)
I2S0.lc_conf.in_rst = 0;
I2S0.lc_conf.out_rst = 1; // Set this bit to reset out DMA FSM. (R/W)
I2S0.lc_conf.out_rst = 0;
//Enable and configure DMA
I2S0.lc_conf.check_owner = 0;
I2S0.lc_conf.out_loop_test = 0;
I2S0.lc_conf.out_auto_wrback = 0; // Disable auto outlink-writeback when all the data has been transmitted
I2S0.lc_conf.out_data_burst_en = 0;
I2S0.lc_conf.outdscr_burst_en = 0;
I2S0.lc_conf.out_no_restart_clr = 0;
I2S0.lc_conf.indscr_burst_en = 0;
# ifdef USE_I2S_OUT_STREAM
I2S0.lc_conf.out_eof_mode = 1; // I2S_OUT_EOF_INT generated when DMA has popped all data from the FIFO;
# endif
I2S0.conf2.lcd_en = 0;
I2S0.conf2.camera_en = 0;
I2S0.pdm_conf.pcm2pdm_conv_en = 0;
I2S0.pdm_conf.pdm2pcm_conv_en = 0;
I2S0.fifo_conf.dscr_en = 0;
# ifdef USE_I2S_OUT_STREAM
if (i2s_out_pulser_status == STEPPING) {
// Stream output mode
I2S0.conf_chan.tx_chan_mod = 4; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = 0;
} else {
// Static output mode
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val;
}
# else
// For the static output mode
I2S0.conf_chan.tx_chan_mod = 3; // 3:right+constant 4:left+constant (when tx_msb_right = 1)
I2S0.conf_single_data = init_param.init_val; // initial constant value
# endif
# if I2S_OUT_NUM_BITS == 16
I2S0.fifo_conf.tx_fifo_mod = 0; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 0; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.sample_rate_conf.tx_bits_mod = 16; // default is 16-bits
I2S0.sample_rate_conf.rx_bits_mod = 16; // default is 16-bits
# else
I2S0.fifo_conf.tx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
I2S0.fifo_conf.rx_fifo_mod = 3; // 0: 16-bit dual channel data, 3: 32-bit single channel data
// Data width is 32-bit. Forgetting this setting will result in a 16-bit transfer.
I2S0.sample_rate_conf.tx_bits_mod = 32;
I2S0.sample_rate_conf.rx_bits_mod = 32;
# endif
I2S0.conf.tx_mono = 0; // Set this bit to enable transmitter’s mono mode in PCM standard mode.
I2S0.conf_chan.rx_chan_mod = 1; // 1: right+right
I2S0.conf.rx_mono = 0;
# ifdef USE_I2S_OUT_STREAM
I2S0.fifo_conf.dscr_en = 1; //connect DMA to fifo
# endif
I2S0.conf.tx_start = 0;
I2S0.conf.rx_start = 0;
I2S0.conf.tx_msb_right = 1; // Set this bit to place right-channel data at the MSB in the transmit FIFO.
I2S0.conf.tx_right_first = 0; // Setting this bit allows the right-channel data to be sent first.
I2S0.conf.tx_slave_mod = 0; // Master
# ifdef USE_I2S_OUT_STREAM
I2S0.fifo_conf.tx_fifo_mod_force_en = 1; //The bit should always be set to 1.
# endif
I2S0.pdm_conf.rx_pdm_en = 0; // Set this bit to enable receiver’s PDM mode.
I2S0.pdm_conf.tx_pdm_en = 0; // Set this bit to enable transmitter’s PDM mode.
// I2S_COMM_FORMAT_I2S_LSB
I2S0.conf.tx_short_sync = 0; // Set this bit to enable transmitter in PCM standard mode.
I2S0.conf.rx_short_sync = 0; // Set this bit to enable receiver in PCM standard mode.
I2S0.conf.tx_msb_shift = 0; // Do not use the Philips standard to avoid bit-shifting
I2S0.conf.rx_msb_shift = 0; // Do not use the Philips standard to avoid bit-shifting
//
// i2s_set_clk
//
// set clock (fi2s) 160MHz / 5
I2S0.clkm_conf.clka_en = 0; // Use 160 MHz PLL_D2_CLK as reference
// N + b/a = 0
# if I2S_OUT_NUM_BITS == 16
// N = 10
I2S0.clkm_conf.clkm_div_num = 10; // minimum value of 2, reset value of 4, max 256 (I²S clock divider’s integral value)
# else
// N = 5
I2S0.clkm_conf.clkm_div_num = 5; // minimum value of 2, reset value of 4, max 256 (I²S clock divider’s integral value)
# endif
// b/a = 0
I2S0.clkm_conf.clkm_div_b = 0; // 0 at reset
I2S0.clkm_conf.clkm_div_a = 0; // 0 at reset, what about divide by 0? (not an issue)
// Bit clock configuration bit in transmitter mode.
// fbck = fi2s / tx_bck_div_num = (160 MHz / 5) / 2 = 16 MHz
I2S0.sample_rate_conf.tx_bck_div_num = 2; // minimum value of 2 defaults to 6
I2S0.sample_rate_conf.rx_bck_div_num = 2;
# ifdef USE_I2S_OUT_STREAM
// Enable TX interrupts (DMA Interrupts)
I2S0.int_ena.out_eof = 1; // Triggered when rxlink has finished sending a packet.
I2S0.int_ena.out_dscr_err = 0; // Triggered when invalid rxlink descriptors are encountered.
I2S0.int_ena.out_total_eof = 1; // Triggered when all transmitting linked lists are used up.
I2S0.int_ena.out_done = 0; // Triggered when all transmitted and buffered data have been read.
// default pulse callback period (μsec)
i2s_out_pulse_period = init_param.pulse_period;
i2s_out_pulse_func = init_param.pulse_func;
// Create the task that will feed the buffer
xTaskCreatePinnedToCore(i2sOutTask,
"I2SOutTask",
1024 * 10,
NULL,
1,
nullptr,
CONFIG_ARDUINO_RUNNING_CORE // must run the task on same core
);
// Allocate and Enable the I2S interrupt
esp_intr_alloc(ETS_I2S0_INTR_SOURCE, 0, i2s_out_intr_handler, nullptr, &i2s_out_isr_handle);
esp_intr_enable(i2s_out_isr_handle);
# endif
// Remember GPIO pin numbers
i2s_out_ws_pin = init_param.ws_pin;
i2s_out_bck_pin = init_param.bck_pin;
i2s_out_data_pin = init_param.data_pin;
i2s_out_initialized = 1;
// Start the I2S peripheral
i2s_out_start();
return 0;
}
# ifndef I2S_OUT_WS
# define I2S_OUT_WS GPIO_NUM_17
# endif
# ifndef I2S_OUT_BCK
# define I2S_OUT_BCK GPIO_NUM_22
# endif
# ifndef I2S_OUT_DATA
# define I2S_OUT_DATA GPIO_NUM_21
# endif
# ifndef I2S_OUT_INIT_VAL
# define I2S_OUT_INIT_VAL 0
# endif
/*
Initialize I2S out by default parameters.
return -1 ... already initialized
*/
int IRAM_ATTR i2s_out_init() {
i2s_out_init_t default_param = {
.ws_pin = I2S_OUT_WS,
.bck_pin = I2S_OUT_BCK,
.data_pin = I2S_OUT_DATA,
.pulse_func = NULL,
.pulse_period = I2S_OUT_USEC_PER_PULSE,
.init_val = I2S_OUT_INIT_VAL,
};
return i2s_out_init(default_param);
}
#endif

61
Grbl_Esp32/i2s_out.h → Grbl_Esp32/src/I2SOut.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
i2s_out.h
I2SOut.h
Part of Grbl_ESP32
Header for basic GPIO expander using the ESP32 I2S peripheral
2020 - Michiyasu Odaki
@@ -35,44 +37,42 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef i2s_out_h
#define i2s_out_h
// It should be included at the outset to know the machine configuration.
#include "config.h"
#include "Config.h"
// If USE_I2S_OUT_STREAM is defined
// but the prerequisite USE_I2S_OUT is not defined,
// it is forced to be defined.
#ifdef USE_I2S_OUT_STREAM
#ifndef USE_I2S_OUT
#define USE_I2S_OUT
#endif
# ifndef USE_I2S_OUT
# define USE_I2S_OUT
# endif
#endif
#ifdef USE_I2S_OUT
#include <stdint.h>
# include <stdint.h>
/* Assert */
#if defined(I2S_OUT_NUM_BITS)
#if (I2S_OUT_NUM_BITS != 16) && (I2S_OUT_NUM_BITS != 32)
#error "I2S_OUT_NUM_BITS should be 16 or 32"
#endif
#else
#define I2S_OUT_NUM_BITS 32
#endif
# if defined(I2S_OUT_NUM_BITS)
# if (I2S_OUT_NUM_BITS != 16) && (I2S_OUT_NUM_BITS != 32)
# error "I2S_OUT_NUM_BITS should be 16 or 32"
# endif
# else
# define I2S_OUT_NUM_BITS 32
# endif
#define I2SO(n) (I2S_OUT_PIN_BASE + n)
# define I2SO(n) (I2S_OUT_PIN_BASE + n)
/* 16-bit mode: 1000000 usec / ((160000000 Hz) / 10 / 2) x 16 bit/pulse x 2(stereo) = 4 usec/pulse */
/* 32-bit mode: 1000000 usec / ((160000000 Hz) / 5 / 2) x 32 bit/pulse x 2(stereo) = 4 usec/pulse */
#define I2S_OUT_USEC_PER_PULSE 4
# define I2S_OUT_USEC_PER_PULSE 4
#define I2S_OUT_DMABUF_COUNT 5 /* number of DMA buffers to store data */
#define I2S_OUT_DMABUF_LEN 2000 /* maximum size in bytes (4092 is DMA's limit) */
# define I2S_OUT_DMABUF_COUNT 5 /* number of DMA buffers to store data */
# define I2S_OUT_DMABUF_LEN 2000 /* maximum size in bytes (4092 is DMA's limit) */
#define I2S_OUT_DELAY_DMABUF_MS (I2S_OUT_DMABUF_LEN / sizeof(uint32_t) * I2S_OUT_USEC_PER_PULSE / 1000)
#define I2S_OUT_DELAY_MS (I2S_OUT_DELAY_DMABUF_MS * (I2S_OUT_DMABUF_COUNT + 1))
# define I2S_OUT_DELAY_DMABUF_MS (I2S_OUT_DMABUF_LEN / sizeof(uint32_t) * I2S_OUT_USEC_PER_PULSE / 1000)
# define I2S_OUT_DELAY_MS (I2S_OUT_DELAY_DMABUF_MS * (I2S_OUT_DMABUF_COUNT + 1))
typedef void (*i2s_out_pulse_func_t)(void);
@@ -90,19 +90,19 @@ typedef struct {
If I2S_OUT_PIN_BASE is set to 128,
bit0:Expanded GPIO 128, 1: Expanded GPIO 129, ..., v: Expanded GPIO 159
*/
uint8_t ws_pin;
uint8_t bck_pin;
uint8_t data_pin;
uint8_t ws_pin;
uint8_t bck_pin;
uint8_t data_pin;
i2s_out_pulse_func_t pulse_func;
uint32_t pulse_period; // aka step rate.
uint32_t init_val;
uint32_t pulse_period; // aka step rate.
uint32_t init_val;
} i2s_out_init_t;
/*
Initialize I2S out by parameters.
return -1 ... already initialized
*/
int i2s_out_init(i2s_out_init_t &init_param);
int i2s_out_init(i2s_out_init_t& init_param);
/*
Initialize I2S out by default parameters.
@@ -164,10 +164,10 @@ int i2s_out_set_stepping();
void i2s_out_delay();
/*
Set the pulse callback period in microseconds
(like the timer period for the ISR)
Set the pulse callback period in ISR ticks.
(same value of the timer period for the ISR)
*/
int i2s_out_set_pulse_period(uint32_t period);
int i2s_out_set_pulse_period(uint64_t period);
/*
Register a callback function to generate pulse data
@@ -188,4 +188,3 @@ int i2s_out_reset();
Reference: "ESP32 Technical Reference Manual" by Espressif Systems
https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf
*/
#endif

10
Grbl_Esp32/jog.cpp → Grbl_Esp32/src/Jog.cpp
View File

@@ -1,5 +1,5 @@
/*
jog.h - Jogging methods
Jog.cpp - Jogging methods
Part of Grbl
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
@@ -21,8 +21,7 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t* pl_data, parser_block_t* gc_block) {
@@ -34,12 +33,13 @@ uint8_t jog_execute(plan_line_data_t* pl_data, parser_block_t* gc_block) {
pl_data->line_number = gc_block->values.n;
#endif
if (soft_limits->get()) {
if (system_check_travel_limits(gc_block->values.xyz)) return (STATUS_TRAVEL_EXCEEDED);
if (system_check_travel_limits(gc_block->values.xyz))
return (STATUS_TRAVEL_EXCEEDED);
}
// Valid jog command. Plan, set state, and execute.
mc_line(gc_block->values.xyz, pl_data);
if (sys.state == STATE_IDLE) {
if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
sys.state = STATE_JOG;
st_prep_buffer();
st_wake_up(); // NOTE: Manual start. No state machine required.

14
Grbl_Esp32/jog.h → Grbl_Esp32/src/Jog.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
jog.h - Jogging methods
Jog.h - Jogging methods
Part of Grbl
Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC
@@ -20,16 +22,10 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef jog_h
#define jog_h
#include "grbl.h"
#include "Grbl.h"
// System motion line numbers must be zero.
#define JOG_LINE_NUMBER 0
// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(plan_line_data_t *pl_data, parser_block_t *gc_block);
#endif
uint8_t jog_execute(plan_line_data_t* pl_data, parser_block_t* gc_block);

228
Grbl_Esp32/grbl_limits.cpp → Grbl_Esp32/src/Limits.cpp
View File

@@ -1,5 +1,5 @@
/*
limits.c - code pertaining to limit-switches and performing the homing cycle
Limits.cpp - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -25,7 +25,7 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
uint8_t n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE;
@@ -33,10 +33,10 @@ 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
#define HOMING_AXIS_SEARCH_SCALAR 1.1 // Must be > 1 to ensure limit switch will be engaged.
# define HOMING_AXIS_SEARCH_SCALAR 1.1 // Must be > 1 to ensure limit switch will be engaged.
#endif
#ifndef HOMING_AXIS_LOCATE_SCALAR
#define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
# define HOMING_AXIS_LOCATE_SCALAR 5.0 // Must be > 1 to ensure limit switch is cleared.
#endif
void IRAM_ATTR isr_limit_switches() {
@@ -52,16 +52,16 @@ void IRAM_ATTR isr_limit_switches() {
int evt;
xQueueSendFromISR(limit_sw_queue, &evt, NULL);
#else
#ifdef HARD_LIMIT_FORCE_STATE_CHECK
# 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
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
# else
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
# endif
#endif
}
}
@@ -75,10 +75,11 @@ void IRAM_ATTR isr_limit_switches() {
// NOTE: Only the abort realtime command can interrupt this process.
// TODO: Move limit pin-specific calls to a general function for portability.
void limits_go_home(uint8_t cycle_mask) {
if (sys.abort) return; // Block if system reset has been issued.
if (sys.abort)
return; // Block if system reset has been issued.
// Initialize plan data struct for homing motion. Spindle and coolant are disabled.
motors_set_homing_mode(cycle_mask, true); // tell motors homing is about to start
plan_line_data_t plan_data;
motors_set_homing_mode(cycle_mask, true); // tell motors homing is about to start
plan_line_data_t plan_data;
plan_line_data_t* pl_data = &plan_data;
memset(pl_data, 0, sizeof(plan_line_data_t));
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE);
@@ -88,28 +89,29 @@ void limits_go_home(uint8_t cycle_mask) {
// Initialize variables used for homing computations.
uint8_t n_cycle = (2 * n_homing_locate_cycle + 1);
uint8_t step_pin[N_AXIS];
float target[N_AXIS];
float max_travel = 0.0;
float target[N_AXIS];
float max_travel = 0.0;
uint8_t idx;
for (idx = 0; idx < N_AXIS; idx++) {
// Initialize step pin masks
step_pin[idx] = get_step_pin_mask(idx);
#ifdef COREXY
if ((idx == A_MOTOR) || (idx == B_MOTOR)) step_pin[idx] = (get_step_pin_mask(X_AXIS) | get_step_pin_mask(Y_AXIS));
if ((idx == A_MOTOR) || (idx == B_MOTOR))
step_pin[idx] = (get_step_pin_mask(X_AXIS) | get_step_pin_mask(Y_AXIS));
#endif
if (bit_istrue(cycle_mask, bit(idx))) {
// Set target based on max_travel setting. Ensure homing switches engaged with search scalar.
max_travel = MAX(max_travel, (HOMING_AXIS_SEARCH_SCALAR) * axis_settings[idx]->max_travel->get());
max_travel = MAX(max_travel, (HOMING_AXIS_SEARCH_SCALAR)*axis_settings[idx]->max_travel->get());
}
}
// Set search mode with approach at seek rate to quickly engage the specified cycle_mask limit switches.
bool approach = true;
float homing_rate = homing_seek_rate->get();
bool approach = true;
float homing_rate = homing_seek_rate->get();
uint8_t limit_state, axislock, n_active_axis;
do {
system_convert_array_steps_to_mpos(target, sys_position);
// Initialize and declare variables needed for homing routine.
axislock = 0;
axislock = 0;
n_active_axis = 0;
for (idx = 0; idx < N_AXIS; idx++) {
// Set target location for active axes and setup computation for homing rate.
@@ -132,24 +134,28 @@ void limits_go_home(uint8_t cycle_mask) {
// NOTE: This happens to compile smaller than any other implementation tried.
auto mask = homing_dir_mask->get();
if (bit_istrue(mask, bit(idx))) {
if (approach) target[idx] = -max_travel;
else target[idx] = max_travel;
if (approach)
target[idx] = -max_travel;
else
target[idx] = max_travel;
} else {
if (approach) target[idx] = max_travel;
else target[idx] = -max_travel;
if (approach)
target[idx] = max_travel;
else
target[idx] = -max_travel;
}
// Apply axislock to the step port pins active in this cycle.
axislock |= step_pin[idx];
}
}
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
homing_rate *= sqrt(n_active_axis); // [sqrt(N_AXIS)] Adjust so individual axes all move at homing rate.
sys.homing_axis_lock = axislock;
// Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
pl_data->feed_rate = homing_rate; // Set current homing rate.
plan_buffer_line(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION; // Set to execute homing motion and clear existing flags.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
st_wake_up(); // Initiate motion
pl_data->feed_rate = homing_rate; // Set current homing rate.
plan_buffer_line(target, pl_data); // Bypass mc_line(). Directly plan homing motion.
sys.step_control = STEP_CONTROL_EXECUTE_SYS_MOTION; // Set to execute homing motion and clear existing flags.
st_prep_buffer(); // Prep and fill segment buffer from newly planned block.
st_wake_up(); // Initiate motion
do {
if (approach) {
// Check limit state. Lock out cycle axes when they change.
@@ -158,8 +164,10 @@ void limits_go_home(uint8_t cycle_mask) {
if (axislock & step_pin[idx]) {
if (limit_state & bit(idx)) {
#ifdef COREXY
if (idx == Z_AXIS) axislock &= ~(step_pin[Z_AXIS]);
else axislock &= ~(step_pin[A_MOTOR] | step_pin[B_MOTOR]);
if (idx == Z_AXIS)
axislock &= ~(step_pin[Z_AXIS]);
else
axislock &= ~(step_pin[A_MOTOR] | step_pin[B_MOTOR]);
#else
axislock &= ~(step_pin[idx]);
#endif
@@ -168,21 +176,25 @@ void limits_go_home(uint8_t cycle_mask) {
}
sys.homing_axis_lock = axislock;
}
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
st_prep_buffer(); // Check and prep segment buffer. NOTE: Should take no longer than 200us.
// Exit routines: No time to run protocol_execute_realtime() in this loop.
if (sys_rt_exec_state & (EXEC_SAFETY_DOOR | EXEC_RESET | EXEC_CYCLE_STOP)) {
uint8_t rt_exec = sys_rt_exec_state;
// Homing failure condition: Reset issued during cycle.
if (rt_exec & EXEC_RESET) system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
if (rt_exec & EXEC_RESET)
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
// Homing failure condition: Safety door was opened.
if (rt_exec & EXEC_SAFETY_DOOR) system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_DOOR);
if (rt_exec & EXEC_SAFETY_DOOR)
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_DOOR);
// Homing failure condition: Limit switch still engaged after pull-off motion
if (!approach && (limits_get_state() & cycle_mask)) system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_PULLOFF);
if (!approach && (limits_get_state() & cycle_mask))
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_PULLOFF);
// Homing failure condition: Limit switch not found during approach.
if (approach && (rt_exec & EXEC_CYCLE_STOP)) system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_APPROACH);
if (sys_rt_exec_alarm) {
motors_set_homing_mode(cycle_mask, false); // tell motors homing is done...failed
mc_reset(); // Stop motors, if they are running.
if (approach && (rt_exec & EXEC_CYCLE_STOP))
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_APPROACH);
if (sys_rt_exec_alarm) {
motors_set_homing_mode(cycle_mask, false); // tell motors homing is done...failed
mc_reset(); // Stop motors, if they are running.
protocol_execute_realtime();
return;
} else {
@@ -197,16 +209,16 @@ void limits_go_home(uint8_t cycle_mask) {
delay_ms(I2S_OUT_DELAY_MS);
}
#endif
st_reset(); // Immediately force kill steppers and reset step segment buffer.
delay_ms(homing_debounce->get()); // Delay to allow transient dynamics to dissipate.
st_reset(); // Immediately force kill steppers and reset step segment buffer.
delay_ms(homing_debounce->get()); // Delay to allow transient dynamics to dissipate.
// Reverse direction and reset homing rate for locate cycle(s).
approach = !approach;
// After first cycle, homing enters locating phase. Shorten search to pull-off distance.
if (approach) {
max_travel = homing_pulloff->get() * HOMING_AXIS_LOCATE_SCALAR;
max_travel = homing_pulloff->get() * HOMING_AXIS_LOCATE_SCALAR;
homing_rate = homing_feed_rate->get();
} else {
max_travel = homing_pulloff->get();
max_travel = homing_pulloff->get();
homing_rate = homing_seek_rate->get();
}
} while (n_cycle-- > 0);
@@ -218,7 +230,7 @@ void limits_go_home(uint8_t cycle_mask) {
// triggering when hard limits are enabled or when more than one axes shares a limit pin.
int32_t set_axis_position;
// Set machine positions for homed limit switches. Don't update non-homed axes.
auto mask = homing_dir_mask->get();
auto mask = homing_dir_mask->get();
auto pulloff = homing_pulloff->get();
for (idx = 0; idx < N_AXIS; idx++) {
auto steps = axis_settings[idx]->steps_per_mm->get();
@@ -228,28 +240,28 @@ void limits_go_home(uint8_t cycle_mask) {
#else
auto travel = axis_settings[idx]->max_travel->get();
if (bit_istrue(mask, bit(idx))) {
#ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
#else
# ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
# else
set_axis_position = lround((-travel + pulloff) * steps);
#endif
# endif
} else {
#ifdef HOMING_FORCE_POSITIVE_SPACE
# ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = lround((-travel - pulloff) * steps);
#else
# else
set_axis_position = lround(-pulloff * steps);
#endif
# endif
}
#endif
#ifdef COREXY
if (idx == X_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_y_axis_steps(sys_position);
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
sys_position[A_MOTOR] = set_axis_position + off_axis_position;
sys_position[B_MOTOR] = set_axis_position - off_axis_position;
} else if (idx == Y_AXIS) {
int32_t off_axis_position = system_convert_corexy_to_x_axis_steps(sys_position);
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
sys_position[A_MOTOR] = off_axis_position + set_axis_position;
sys_position[B_MOTOR] = off_axis_position - set_axis_position;
} else
sys_position[idx] = set_axis_position;
#else
@@ -257,55 +269,62 @@ void limits_go_home(uint8_t cycle_mask) {
#endif
}
}
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
motors_set_homing_mode(cycle_mask, false); // tell motors homing is done
sys.step_control = STEP_CONTROL_NORMAL_OP; // Return step control to normal operation.
motors_set_homing_mode(cycle_mask, false); // tell motors homing is done
}
uint8_t limit_pins[] = {
X_LIMIT_PIN,
Y_LIMIT_PIN,
Z_LIMIT_PIN,
A_LIMIT_PIN,
B_LIMIT_PIN,
C_LIMIT_PIN,
};
uint8_t limit_pins[MAX_N_AXIS][2] = { { X_LIMIT_PIN, X2_LIMIT_PIN }, { Y_LIMIT_PIN, Y2_LIMIT_PIN }, { Z_LIMIT_PIN, Z2_LIMIT_PIN },
{ A_LIMIT_PIN, A2_LIMIT_PIN }, { B_LIMIT_PIN, B2_LIMIT_PIN }, { C_LIMIT_PIN, C2_LIMIT_PIN } };
uint8_t limit_mask = 0;
void limits_init() {
limit_mask = 0;
int mode = INPUT_PULLUP;
int mode = INPUT_PULLUP;
#ifdef DISABLE_LIMIT_PIN_PULL_UP
mode = INPUT;
#endif
for (int i=0; i<N_AXIS; i++) {
uint8_t pin;
if ((pin = limit_pins[i]) != UNDEFINED_PIN) {
limit_mask |= bit(i);
pinMode(pin, mode);
if (hard_limits->get()) {
attachInterrupt(pin, isr_limit_switches, CHANGE);
} else {
detachInterrupt(pin);
for (int axis = 0; axis < N_AXIS; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
uint8_t pin;
if ((pin = limit_pins[axis][gang_index]) != UNDEFINED_PIN) {
pinMode(pin, mode);
limit_mask |= bit(axis);
if (hard_limits->get()) {
attachInterrupt(pin, isr_limit_switches, CHANGE);
} else {
detachInterrupt(pin);
}
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%c%s Axis limit switch on pin %s",
report_get_axis_letter(axis),
gang_index ? "2" : " ",
pinName(pin).c_str());
}
}
}
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Limit Mask %d", limit_mask);
// setup task used for debouncing
limit_sw_queue = xQueueCreate(10, sizeof(int));
xTaskCreate(limitCheckTask,
"limitCheckTask",
2048,
NULL,
5, // priority
5, // priority
NULL);
}
// Disables hard limits.
void limits_disable() {
for (int i=0; i<N_AXIS; i++) {
if (limit_pins[i] != UNDEFINED_PIN) {
detachInterrupt(i);
for (int axis = 0; axis < N_AXIS; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
uint8_t pin = limit_pins[axis][gang_index];
if (pin != UNDEFINED_PIN) {
detachInterrupt(pin);
}
}
}
}
@@ -315,14 +334,16 @@ void limits_disable() {
// number in bit position, i.e. Z_AXIS is bit(2), and Y_AXIS is bit(1).
uint8_t limits_get_state() {
uint8_t pinMask = 0;
for (int i=0; i<N_AXIS; i++) {
uint8_t pin;
if ((pin = limit_pins[i]) != UNDEFINED_PIN) {
pinMask += digitalRead(pin) << i;
for (int axis = 0; axis < N_AXIS; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
uint8_t pin = limit_pins[axis][gang_index];
if (pin != UNDEFINED_PIN) {
pinMask |= (digitalRead(pin) << axis);
}
}
}
#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
#ifdef INVERT_LIMIT_PIN_MASK // not normally used..unless you have both normal and inverted switches
pinMask ^= INVERT_LIMIT_PIN_MASK;
#endif
if (limit_invert->get()) {
@@ -338,11 +359,11 @@ void limits_soft_check(float* target) {
if (system_check_travel_limits(target)) {
// TODO for debugging only 3 axes right now
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Soft limit error target WPOS X:%5.2f Y:%5.2f Z:%5.2f",
target[X_AXIS] - gc_state.coord_system[X_AXIS],
target[Y_AXIS] - gc_state.coord_system[Y_AXIS],
target[Z_AXIS] - gc_state.coord_system[Z_AXIS]);
MSG_LEVEL_INFO,
"Soft limit error target WPOS X:%5.2f Y:%5.2f Z:%5.2f",
target[X_AXIS] - gc_state.coord_system[X_AXIS],
target[Y_AXIS] - gc_state.coord_system[Y_AXIS],
target[Z_AXIS] - gc_state.coord_system[Z_AXIS]);
sys.soft_limit = true;
// Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
@@ -352,12 +373,13 @@ void limits_soft_check(float* target) {
system_set_exec_state_flag(EXEC_FEED_HOLD);
do {
protocol_execute_realtime();
if (sys.abort) return;
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
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
return;
}
}
@@ -366,14 +388,14 @@ void limits_soft_check(float* target) {
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
xQueueReceive(limit_sw_queue, &evt, portMAX_DELAY); // block until receive queue
vTaskDelay(DEBOUNCE_PERIOD / portTICK_PERIOD_MS); // delay a while
uint8_t switch_state;
switch_state = limits_get_state();
if (switch_state) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Limit Switch State %08d", switch_state);
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Limit Switch State %08d", switch_state);
mc_reset(); // Initiate system kill.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT); // Indicate hard limit critical event
}
}
}
@@ -398,17 +420,17 @@ bool axis_is_squared(uint8_t axis_mask) {
return true;
#endif
}
if (axis_mask == (1 << A_AXIS)) {
if (axis_mask == (1 << A_AXIS)) {
#ifdef A_AXIS_SQUARING
return true;
#endif
}
if (axis_mask == (1 << B_AXIS)) {
if (axis_mask == (1 << B_AXIS)) {
#ifdef B_AXIS_SQUARING
return true;
#endif
}
if (axis_mask == (1 << C_AXIS)) {
if (axis_mask == (1 << C_AXIS)) {
#ifdef C_AXIS_SQUARING
return true;
#endif

15
Grbl_Esp32/grbl_limits.h → Grbl_Esp32/src/Limits.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
limits.h - code pertaining to limit-switches and performing the homing cycle
Limits.h - code pertaining to limit-switches and performing the homing cycle
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -25,14 +27,11 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef grbl_limits_h
#define grbl_limits_h
extern uint8_t n_homing_locate_cycle;
#define SQUARING_MODE_DUAL 0 // both motors run
#define SQUARING_MODE_A 1 // A motor runs
#define SQUARING_MODE_B 2 // B motor runs
#define SQUARING_MODE_DUAL 0 // both motors run
#define SQUARING_MODE_A 1 // A motor runs
#define SQUARING_MODE_B 2 // B motor runs
// Initialize the limits module
void limits_init();
@@ -55,5 +54,3 @@ bool axis_is_squared(uint8_t axis_mask);
// A task that runs after a limit switch interrupt.
void limitCheckTask(void* pvParameters);
#endif

23
Grbl_Esp32/machine.h → Grbl_Esp32/src/Machine.h
View File

@@ -1,23 +1,14 @@
#pragma once
// This file is where you choose the machine type, by including
// one or more machine definition files as described below.
#ifndef _machine_h
#define _machine_h
/*
PWM
Tested on arc_arrow.nc
*/
#ifndef MACHINE_FILENAME
// !!! 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"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:
@@ -48,10 +39,8 @@ PWM
// supplied automatically.
// MACHINE_PATHNAME_QUOTED constructs a path that is suitable for #include
#define MACHINE_PATHNAME_QUOTED(name) <Machines/name>
# define MACHINE_PATHNAME_QUOTED(name) <src/Machines/name>
#include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME)
# include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME)
#endif // MACHINE_FILENAME
#endif // _machine_h
#endif // MACHINE_FILENAME

35
Grbl_Esp32/src/MachineCommon.h Normal file
View File

@@ -0,0 +1,35 @@
#pragma once
#ifndef SPINDLE_TYPE
# define SPINDLE_TYPE SPINDLE_TYPE_PWM
#endif
// Grbl setting that are common to all machines
// It should not be necessary to change anything herein
#ifndef GRBL_SPI_FREQ
// You can override these by defining them in a board file.
// To override, you must set all of them
//-1 means use the default board pin
# define GRBL_SPI_SS -1
# define GRBL_SPI_MOSI -1
# define GRBL_SPI_MISO -1
# define GRBL_SPI_SCK -1
# define GRBL_SPI_FREQ 4000000
#endif
// ESP32 CPU Settings
#define F_TIMERS 80000000 // a reference to the speed of ESP32 timers
#define F_STEPPER_TIMER 20000000 // frequency of step pulse timer
#define STEPPER_OFF_TIMER_PRESCALE 8 // gives a frequency of 10MHz
#define STEPPER_OFF_PERIOD_uSEC 3 // each tick is
#define STEP_PULSE_MIN 2 // uSeconds
#define STEP_PULSE_MAX 10 // uSeconds
// =============== Don't change or comment these out ======================
// They are for legacy purposes and will not affect your I/O
#define STEP_MASK B111111
#define PROBE_MASK 1

3
Grbl_Esp32/Machines/3axis_v3.h → Grbl_Esp32/src/Machines/3axis_v3.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
3axis_v3.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/3axis_v4.h → Grbl_Esp32/src/Machines/3axis_v4.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
3axis_v4.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/3axis_xyx.h → Grbl_Esp32/src/Machines/3axis_xyx.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
3axis_xyx.h
Part of Grbl_ESP32

5
Grbl_Esp32/Machines/4axis_external_driver.h → Grbl_Esp32/src/Machines/4axis_external_driver.h
View File

@@ -1,5 +1,8 @@
#pragma once
// clang-format off
/*
4axis_external_driver_4x.h
4axis_external_driver.h
Part of Grbl_ESP32
Pin assignments for the buildlog.net 4-axis external driver board

95
Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h Normal file
View File

@@ -0,0 +1,95 @@
#pragma once
// clang-format off
/*
6_pack_MPCNC_stepstick_v1.h
Covers all V1 versions V1p0, V1p1, etc
Part of Grbl_ESP32
Pin assignments for the ESP32 I2S 6-axis board
2018 - Bart Dring
2020 - Mitch Bradley
2020 - Michiyasu Odaki
Grbl_ESP32 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_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME "6 Pack MPCNC XYZXY V1 (StepStick)"
#ifdef N_AXIS
#undef N_AXIS
#endif
#define N_AXIS 3
#ifdef ENABLE_SD_CARD
#undef ENABLE_SD_CARD
#endif
// === Special Features
// I2S (steppers & other output-only pins)
#define USE_I2S_OUT
// Define USE_I2S_OUT_STREAM if buffering is used.
// (there will be a delay between the specified I/O operation and the actual I/O execution)
#define USE_I2S_OUT_STREAM
#undef USE_RMT_STEPS
#define USE_STEPSTICK // makes sure MS1,2,3 !reset and !sleep are set
#define I2S_OUT_BCK GPIO_NUM_22
#define I2S_OUT_WS GPIO_NUM_17
#define I2S_OUT_DATA GPIO_NUM_21
#define X_STEPPER_MS3 I2SO(3) // Labeled X_CS
#define Y_STEPPER_MS3 I2SO(6) // Y_CS
#define Z_STEPPER_MS3 I2SO(11) // Z_CS
#define X2_STEPPER_MS3 I2SO(14) // A_CS
#define Y2_STEPPER_MS3 I2SO(19) // B_CS
#define STEPPER_RESET GPIO_NUM_19
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
#define X_AXIS_SQUARING
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
#define Y_DISABLE_PIN I2SO(7)
#define Y_AXIS_SQUARING
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
// labeled A on controller
#define X2_DIRECTION_PIN I2SO(12)
#define X2_STEP_PIN I2SO(13)
#define X2_DISABLE_PIN I2SO(15)
// labeled B on controller
#define Y2_DISABLE_PIN I2SO(16)
#define Y2_DIRECTION_PIN I2SO(17)
#define Y2_STEP_PIN I2SO(18)
// stepper C unused
#define X_LIMIT_PIN GPIO_NUM_33
#define Y_LIMIT_PIN GPIO_NUM_32
#define Z_LIMIT_PIN GPIO_NUM_35
#define X2_LIMIT_PIN GPIO_NUM_34 // labeled A
#define Y2_LIMIT_PIN GPIO_NUM_39 // labeled B
// === Default settings
#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE

15
Grbl_Esp32/Machines/6_pack_stepstick_v1.h → Grbl_Esp32/src/Machines/6_pack_stepstick_v1.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
6_pack_stepstick_v1.h
@@ -46,12 +49,12 @@
#define I2S_OUT_DATA GPIO_NUM_21
#define STEPPER_X_MS3 I2SO(3) // X_CS
#define STEPPER_Y_MS3 I2SO(6) // Y_CS
#define STEPPER_Z_MS3 I2SO(11) // Z_CS
#define STEPPER_A_MS3 I2SO(14) // A_CS
#define STEPPER_B_MS3 I2SO(19) // B_CS
#define STEPPER_C_MS3 I2SO(22) // C_CS
#define X_STEPPER_MS3 I2SO(3) // X_CS
#define Y_STEPPER_MS3 I2SO(6) // Y_CS
#define Z_STEPPER_MS3 I2SO(11) // Z_CS
#define A_STEPPER_MS3 I2SO(14) // A_CS
#define B_STEPPER_MS3 I2SO(19) // B_CS
#define C_STEPPER_MS3 I2SO(22) // C_CS
#define STEPPER_RESET GPIO_NUM_19

3
Grbl_Esp32/Machines/6_pack_trinamic_V1.h → Grbl_Esp32/src/Machines/6_pack_trinamic_V1.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
6_pack_trinamic_V1.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/atari_1020.h → Grbl_Esp32/src/Machines/atari_1020.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
atari_1020.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/esp32_printer_controller.h → Grbl_Esp32/src/Machines/esp32_printer_controller.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
esp32_printer_controller.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/espduino.h → Grbl_Esp32/src/Machines/espduino.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
espduino.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/foo_6axis.h → Grbl_Esp32/src/Machines/foo_6axis.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
foo_6axis.h
Part of Grbl_ESP32

6
Grbl_Esp32/Machines/i2s_out_xxyyzz.h → Grbl_Esp32/src/Machines/i2s_out_xxyyzz.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
i2s_out_xxyyzz.h
Part of Grbl_ESP32
@@ -16,6 +19,7 @@
You should have received a copy of the GNU General Public License
along with Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME "ESP32 I2S XXYYZZ Axis Driver Board (StepStick)"
#ifdef N_AXIS
@@ -55,8 +59,6 @@
#define STEPPER_RESET GPIO_NUM_19
#define USE_GANGED_AXES // allow two motors on an axis
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)

3
Grbl_Esp32/Machines/i2s_out_xyzabc.h → Grbl_Esp32/src/Machines/i2s_out_xyzabc.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
i2s_out_xyzabc.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/i2s_out_xyzabc_trinamic.h → Grbl_Esp32/src/Machines/i2s_out_xyzabc_trinamic.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
i2s_out_xyzabc_trinamic.h
Part of Grbl_ESP32

9
Grbl_Esp32/Machines/lowrider_v1p2.h → Grbl_Esp32/src/Machines/lowrider_v1p2.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
lowrider_v1p2.h
Part of Grbl_ESP32
@@ -19,19 +22,15 @@
along with Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME "LOWRIDER_V1P2"
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_27 // use Z labeled connector
#define X_DIRECTION_PIN GPIO_NUM_33 // use Z labeled connector
#define Y_STEP_PIN GPIO_NUM_14 // use Y labeled connector
#define Y2_STEP_PIN GPIO_NUM_21 // ganged motor
#define Y_DIRECTION_PIN GPIO_NUM_25 // use Y labeled connector
#define Y2_DIRECTION_PIN X_DIRECTION_PIN
#define Y2_DIRECTION_PIN Y_DIRECTION_PIN
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_12 // use X labeled connector

3
Grbl_Esp32/Machines/midtbot.h → Grbl_Esp32/src/Machines/midtbot.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
midtbot.h
Part of Grbl_ESP32

7
Grbl_Esp32/Machines/mpcnc_v1p1.h → Grbl_Esp32/src/Machines/mpcnc_v1p1.h
View File

@@ -1,5 +1,8 @@
#pragma once
// clang-format off
/*
mpcnc.h
mpcnc_v1p1.h
Part of Grbl_ESP32
Pin assignments for the Buildlog.net MPCNC controller
@@ -27,8 +30,6 @@
#define MACHINE_NAME "MPCNC_V1P1"
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_12
#define X2_STEP_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING

5
Grbl_Esp32/Machines/mpcnc_v1p2.h → Grbl_Esp32/src/Machines/mpcnc_v1p2.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
mpcnc_v1p2.h
Part of Grbl_ESP32
@@ -28,8 +31,6 @@
#define MACHINE_NAME "MPCNC_V1P2"
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_12
#define X2_STEP_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING

3
Grbl_Esp32/Machines/pen_laser.h → Grbl_Esp32/src/Machines/pen_laser.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
pen_laser.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/polar_coaster.h → Grbl_Esp32/src/Machines/polar_coaster.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
polar_coaster.h
Part of Grbl_ESP32

6
Grbl_Esp32/Machines/spi_daisy_4axis_xyyz.h → Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
spi_daisy_4axis_xyyz.h
Part of Grbl_ESP32
@@ -39,9 +42,6 @@
// The hardware enable pin is tied to ground
#define USE_TRINAMIC_ENABLE
// allow two motors on an axis
#define USE_GANGED_AXES
// Y motor connects to the 1st driver
#define X_TRINAMIC_DRIVER 2130 // Which Driver Type?
#define X_RSENSE TMC2130_RSENSE_DEFAULT

3
Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h → Grbl_Esp32/src/Machines/spi_daisy_4axis_xyz.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
spi_daisy_4axis_xyz.h
Part of Grbl_ESP32

17
Grbl_Esp32/Machines/spi_daisy_4axis_xyza.h → Grbl_Esp32/src/Machines/spi_daisy_4axis_xyza.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
spi_daisy_4axis_xyza.h
Part of Grbl_ESP32
@@ -70,21 +73,11 @@
#define SPINDLE_OUTPUT_PIN GPIO_NUM_25
#define SPINDLE_ENABLE_PIN GPIO_NUM_4
// Relay operation
// Install Jumper near relay
// For PWM remove jumper to prevent relay damage
// Interlock jumper along top edge needs to be installed for both versions
#define USE_RELAY // comment out to use PWM
#ifdef USE_RELAY
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
#else
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#endif
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY // default use $Spindle/Type=PWM or $Spindle/Type=Laser
#define PROBE_PIN GPIO_NUM_22
#define X_LIMIT_PIN GPIO_NUM_36
#define Y_LIMIT_PIN GPIO_NUM_39
#define Z_LIMIT_PIN GPIO_NUM_34
#define A_LIMIT_PIN GPIO_NUM_35
#define A_LIMIT_PIN GPIO_NUM_35

5
Grbl_Esp32/Machines/spindle_class_test.h → Grbl_Esp32/src/Machines/spindle_class_test.h
View File

@@ -1,5 +1,8 @@
#pragma once
// clang-format off
/*
3axis_v4.h
spindle_class_test.h
Part of Grbl_ESP32
Pin assignments for the ESP32 Development Controller, v4.1 and later.

3
Grbl_Esp32/Machines/template.h → Grbl_Esp32/src/Machines/template.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
template.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/test_drive.h → Grbl_Esp32/src/Machines/test_drive.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
test_drive.h
Part of Grbl_ESP32

3
Grbl_Esp32/Machines/tmc2130_pen.h → Grbl_Esp32/src/Machines/tmc2130_pen.h
View File

@@ -1,3 +1,6 @@
#pragma once
// clang-format off
/*
tmc2130_pen.h
Part of Grbl_ESP32

242
Grbl_Esp32/motion_control.cpp → Grbl_Esp32/src/MotionControl.cpp
View File

@@ -1,5 +1,5 @@
/*
motion_control.c - high level interface for issuing motion commands
MotionControl.cpp - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -22,23 +22,22 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
// M_PI is not defined in standard C/C++ but some compilers
// support it anyway. The following suppresses Intellisense
// problem reports.
#ifndef M_PI
#define M_PI 3.14159265358979323846
# define M_PI 3.14159265358979323846
#endif
uint8_t ganged_mode = SQUARING_MODE_DUAL;
// this allows kinematics to be used.
void mc_line_kins(float* target, plan_line_data_t* pl_data, float* position) {
#ifndef USE_KINEMATICS
mc_line(target, pl_data);
#else // else use kinematics
#else // else use kinematics
inverse_kinematics(target, pl_data, position);
#endif
}
@@ -55,10 +54,12 @@ void mc_line(float* target, plan_line_data_t* pl_data) {
// from everywhere in Grbl.
if (soft_limits->get()) {
// NOTE: Block jog state. Jogging is a special case and soft limits are handled independently.
if (sys.state != STATE_JOG) limits_soft_check(target);
if (sys.state != STATE_JOG)
limits_soft_check(target);
}
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) return;
if (sys.state == STATE_CHECK_MODE)
return;
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
@@ -75,17 +76,19 @@ void mc_line(float* target, plan_line_data_t* pl_data) {
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_realtime(); // Check for any run-time commands
if (sys.abort) return; // Bail, if system abort.
if (plan_check_full_buffer()) protocol_auto_cycle_start(); // Auto-cycle start when buffer is full.
else break;
protocol_execute_realtime(); // Check for any run-time commands
if (sys.abort)
return; // Bail, if system abort.
if (plan_check_full_buffer())
protocol_auto_cycle_start(); // Auto-cycle start when buffer is full.
else
break;
} while (1);
// Plan and queue motion into planner buffer
// uint8_t plan_status; // Not used in normal operation.
plan_buffer_line(target, pl_data);
}
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_X defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
@@ -93,42 +96,50 @@ void mc_line(float* target, plan_line_data_t* pl_data) {
// The arc is approximated by generating a huge number of tiny, linear segments. The chordal tolerance
// of each segment is configured in the arc_tolerance setting, which is defined to be the maximum normal
// distance from segment to the circle when the end points both lie on the circle.
void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc) {
void mc_arc(float* target,
plan_line_data_t* pl_data,
float* position,
float* offset,
float radius,
uint8_t axis_0,
uint8_t axis_1,
uint8_t axis_linear,
uint8_t is_clockwise_arc) {
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
#ifdef USE_KINEMATICS
float previous_position[N_AXIS];
float previous_position[N_AXIS];
uint16_t n;
for (n = 0; n < N_AXIS; n++)
previous_position[n] = position[n];
#endif
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
if (is_clockwise_arc) { // Correct atan2 output per direction
if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON) angular_travel -= 2 * M_PI;
if (is_clockwise_arc) { // Correct atan2 output per direction
if (angular_travel >= -ARC_ANGULAR_TRAVEL_EPSILON)
angular_travel -= 2 * M_PI;
} else {
if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON) angular_travel += 2 * M_PI;
if (angular_travel <= ARC_ANGULAR_TRAVEL_EPSILON)
angular_travel += 2 * M_PI;
}
// NOTE: Segment end points are on the arc, which can lead to the arc diameter being smaller by up to
// (2x) arc_tolerance. For 99% of users, this is just fine. If a different arc segment fit
// is desired, i.e. least-squares, midpoint on arc, just change the mm_per_arc_segment calculation.
// For the intended uses of Grbl, this value shouldn't exceed 2000 for the strictest of cases.
uint16_t segments = floor(fabs(0.5 * angular_travel * radius) /
sqrt(arc_tolerance->get() * (2 * radius - arc_tolerance->get())));
uint16_t segments = floor(fabs(0.5 * angular_travel * radius) / sqrt(arc_tolerance->get() * (2 * radius - arc_tolerance->get())));
if (segments) {
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (pl_data->condition & PL_COND_FLAG_INVERSE_TIME) {
pl_data->feed_rate *= segments;
bit_false(pl_data->condition, PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
bit_false(pl_data->condition, PL_COND_FLAG_INVERSE_TIME); // Force as feed absolute mode over arc segments.
}
float theta_per_segment = angular_travel / segments;
float theta_per_segment = angular_travel / segments;
float linear_per_segment = (target[axis_linear] - position[axis_linear]) / segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Solution approach by Jens Geisler.
@@ -159,12 +170,12 @@ void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* of
float cos_T = 2.0 - theta_per_segment * theta_per_segment;
float sin_T = theta_per_segment * 0.16666667 * (cos_T + 4.0);
cos_T *= 0.5;
float sin_Ti;
float cos_Ti;
float r_axisi;
float sin_Ti;
float cos_Ti;
float r_axisi;
uint16_t i;
uint8_t count = 0;
for (i = 1; i < segments; i++) { // Increment (segments-1).
uint8_t count = 0;
for (i = 1; i < segments; i++) { // Increment (segments-1).
if (count < N_ARC_CORRECTION) {
// Apply vector rotation matrix. ~40 usec
r_axisi = r_axis0 * sin_T + r_axis1 * cos_T;
@@ -174,11 +185,11 @@ void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* of
} else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. ~375 usec
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i * theta_per_segment);
sin_Ti = sin(i * theta_per_segment);
cos_Ti = cos(i * theta_per_segment);
sin_Ti = sin(i * theta_per_segment);
r_axis0 = -offset[axis_0] * cos_Ti + offset[axis_1] * sin_Ti;
r_axis1 = -offset[axis_0] * sin_Ti - offset[axis_1] * cos_Ti;
count = 0;
count = 0;
}
// Update arc_target location
position[axis_0] = center_axis0 + r_axis0;
@@ -186,14 +197,15 @@ void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* of
position[axis_linear] += linear_per_segment;
#ifdef USE_KINEMATICS
mc_line_kins(position, pl_data, previous_position);
previous_position[axis_0] = position[axis_0];
previous_position[axis_1] = position[axis_1];
previous_position[axis_0] = position[axis_0];
previous_position[axis_1] = position[axis_1];
previous_position[axis_linear] = position[axis_linear];
#else
mc_line(position, pl_data);
#endif
// Bail mid-circle on system abort. Runtime command check already performed by mc_line.
if (sys.abort) return;
if (sys.abort)
return;
}
}
// Ensure last segment arrives at target location.
@@ -204,15 +216,14 @@ void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* of
#endif
}
// Execute dwell in seconds.
void mc_dwell(float seconds) {
if (sys.state == STATE_CHECK_MODE) return;
if (sys.state == STATE_CHECK_MODE)
return;
protocol_buffer_synchronize();
delay_sec(seconds, DELAY_MODE_DWELL);
}
// Perform homing cycle to locate and set machine zero. Only '$H' executes this command.
// NOTE: There should be no motions in the buffer and Grbl must be in an idle state before
// executing the homing cycle. This prevents incorrect buffered plans after homing.
@@ -221,23 +232,23 @@ void mc_homing_cycle(uint8_t cycle_mask) {
if (user_defined_homing())
return;
#endif
// This give kinematics a chance to do something before normal homing
// if it returns true, the homing is canceled.
// This give kinematics a chance to do something before normal homing
// if it returns true, the homing is canceled.
#ifdef USE_KINEMATICS
if (kinematics_pre_homing(cycle_mask))
return;
#endif
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to limits.c as a function.
// Check and abort homing cycle, if hard limits are already enabled. Helps prevent problems
// with machines with limits wired on both ends of travel to one limit pin.
// TODO: Move the pin-specific LIMIT_PIN call to Limits.cpp as a function.
#ifdef LIMITS_TWO_SWITCHES_ON_AXES
if (limits_get_state()) {
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
mc_reset(); // Issue system reset and ensure spindle and coolant are shutdown.
system_set_exec_alarm(EXEC_ALARM_HARD_LIMIT);
return;
}
#endif
limits_disable(); // Disable hard limits pin change register for cycle duration
limits_disable(); // Disable hard limits pin change register for cycle duration
// -------------------------------------------------------------------------------------
// Perform homing routine. NOTE: Special motion case. Only system reset works.
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE;
@@ -247,65 +258,65 @@ void mc_homing_cycle(uint8_t cycle_mask) {
else
*/
if (cycle_mask) {
if (! axis_is_squared(cycle_mask))
if (!axis_is_squared(cycle_mask))
limits_go_home(cycle_mask); // Homing cycle 0
else {
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_B;
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
}
} // Perform homing cycle based on mask.
} // Perform homing cycle based on mask.
else
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.
if (! axis_is_squared(HOMING_CYCLE_0))
if (!axis_is_squared(HOMING_CYCLE_0))
limits_go_home(HOMING_CYCLE_0); // Homing cycle 0
else {
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_0);
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_0);
ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_0);
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
}
#ifdef HOMING_CYCLE_1
if (! axis_is_squared(HOMING_CYCLE_1))
if (!axis_is_squared(HOMING_CYCLE_1))
limits_go_home(HOMING_CYCLE_1);
else {
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_1);
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_1);
ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_1);
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
}
#endif
#ifdef HOMING_CYCLE_2
if (! axis_is_squared(HOMING_CYCLE_2))
if (!axis_is_squared(HOMING_CYCLE_2))
limits_go_home(HOMING_CYCLE_2);
else {
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
ganged_mode = SQUARING_MODE_DUAL;
n_homing_locate_cycle = 0; // don't do a second touch cycle
limits_go_home(HOMING_CYCLE_2);
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
ganged_mode = SQUARING_MODE_A;
n_homing_locate_cycle = N_HOMING_LOCATE_CYCLE; // restore to default value
limits_go_home(HOMING_CYCLE_2);
ganged_mode = SQUARING_MODE_B;
limits_go_home(HOMING_CYCLE_2);
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
}
#endif
#ifdef HOMING_CYCLE_3
@@ -318,15 +329,15 @@ void mc_homing_cycle(uint8_t cycle_mask) {
limits_go_home(HOMING_CYCLE_5); // Homing cycle 5
#endif
}
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) {
return; // Did not complete. Alarm state set by mc_alarm.
protocol_execute_realtime(); // Check for reset and set system abort.
if (sys.abort) {
return; // Did not complete. Alarm state set by mc_alarm.
}
// Homing cycle complete! Setup system for normal operation.
// -------------------------------------------------------------------------------------
// Sync gcode parser and planner positions to homed position.
gc_sync_position();
plan_sync_position();
plan_sync_position();
#ifdef USE_KINEMATICS
// This give kinematics a chance to do something after normal homing
kinematics_post_homing();
@@ -335,27 +346,28 @@ void mc_homing_cycle(uint8_t cycle_mask) {
limits_init();
}
// Perform tool length probe cycle. Requires probe switch.
// NOTE: Upon probe failure, the program will be stopped and placed into ALARM state.
uint8_t mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_flags) {
// TODO: Need to update this cycle so it obeys a non-auto cycle start.
if (sys.state == STATE_CHECK_MODE) return (GC_PROBE_CHECK_MODE);
if (sys.state == STATE_CHECK_MODE)
return (GC_PROBE_CHECK_MODE);
// Finish all queued commands and empty planner buffer before starting probe cycle.
protocol_buffer_synchronize();
if (sys.abort) return (GC_PROBE_ABORT); // Return if system reset has been issued.
if (sys.abort)
return (GC_PROBE_ABORT); // Return if system reset has been issued.
// Initialize probing control variables
uint8_t is_probe_away = bit_istrue(parser_flags, GC_PARSER_PROBE_IS_AWAY);
uint8_t is_no_error = bit_istrue(parser_flags, GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
uint8_t is_no_error = bit_istrue(parser_flags, GC_PARSER_PROBE_IS_NO_ERROR);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
// After syncing, check if probe is already triggered. If so, halt and issue alarm.
// NOTE: This probe initialization error applies to all probing cycles.
if (probe_get_state()) { // Check probe pin state.
if (probe_get_state()) { // Check probe pin state.
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_INITIAL);
protocol_execute_realtime();
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return (GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return (GC_PROBE_FAIL_INIT); // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);
@@ -365,48 +377,54 @@ uint8_t mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t parser_
system_set_exec_state_flag(EXEC_CYCLE_START);
do {
protocol_execute_realtime();
if (sys.abort) return (GC_PROBE_ABORT); // Check for system abort
if (sys.abort)
return (GC_PROBE_ABORT); // Check for system abort
} while (sys.state != STATE_IDLE);
// Probing cycle complete!
// Set state variables and error out, if the probe failed and cycle with error is enabled.
if (sys_probe_state == PROBE_ACTIVE) {
if (is_no_error) memcpy(sys_probe_position, sys_position, sizeof(sys_position));
else system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT);
if (is_no_error)
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
else
system_set_exec_alarm(EXEC_ALARM_PROBE_FAIL_CONTACT);
} else {
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
sys.probe_succeeded = true; // Indicate to system the probing cycle completed successfully.
}
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
probe_configure_invert_mask(false); // Re-initialize invert mask.
protocol_execute_realtime(); // Check and execute run-time commands
sys_probe_state = PROBE_OFF; // Ensure probe state monitor is disabled.
probe_configure_invert_mask(false); // Re-initialize invert mask.
protocol_execute_realtime(); // Check and execute run-time commands
// Reset the stepper and planner buffers to remove the remainder of the probe motion.
st_reset(); // Reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
st_reset(); // Reset step segment buffer.
plan_reset(); // Reset planner buffer. Zero planner positions. Ensure probing motion is cleared.
plan_sync_position(); // Sync planner position to current machine position.
#ifdef MESSAGE_PROBE_COORDINATES
// All done! Output the probe position as message.
report_probe_parameters(CLIENT_ALL);
#endif
if (sys.probe_succeeded) return (GC_PROBE_FOUND); // Successful probe cycle.
else return (GC_PROBE_FAIL_END); // Failed to trigger probe within travel. With or without error.
if (sys.probe_succeeded)
return (GC_PROBE_FOUND); // Successful probe cycle.
else
return (GC_PROBE_FAIL_END); // Failed to trigger probe within travel. With or without error.
}
// Plans and executes the single special motion case for parking. Independent of main planner buffer.
// NOTE: Uses the always free planner ring buffer head to store motion parameters for execution.
void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data) {
if (sys.abort) return; // Block during abort.
if (sys.abort)
return; // Block during abort.
uint8_t plan_status = plan_buffer_line(parking_target, pl_data);
if (plan_status) {
bit_true(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
bit_false(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
st_parking_setup_buffer(); // Setup step segment buffer for special parking motion case
bit_false(sys.step_control, STEP_CONTROL_END_MOTION); // Allow parking motion to execute, if feed hold is active.
st_parking_setup_buffer(); // Setup step segment buffer for special parking motion case
st_prep_buffer();
st_wake_up();
do {
protocol_exec_rt_system();
if (sys.abort) return;
if (sys.abort)
return;
} while (sys.step_control & STEP_CONTROL_EXECUTE_SYS_MOTION);
st_parking_restore_buffer(); // Restore step segment buffer to normal run state.
st_parking_restore_buffer(); // Restore step segment buffer to normal run state.
} else {
bit_false(sys.step_control, STEP_CONTROL_EXECUTE_SYS_MOTION);
protocol_exec_rt_system();
@@ -417,12 +435,12 @@ void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data) {
void mc_override_ctrl_update(uint8_t override_state) {
// Finish all queued commands before altering override control state
protocol_buffer_synchronize();
if (sys.abort) return;
if (sys.abort)
return;
sys.override_ctrl = override_state;
}
#endif
// Method to ready the system to reset by setting the realtime reset command and killing any
// active processes in the system. This also checks if a system reset is issued while Grbl
// is in a motion state. If so, kills the steppers and sets the system alarm to flag position
@@ -434,7 +452,7 @@ void mc_reset() {
system_set_exec_state_flag(EXEC_RESET);
// Kill spindle and coolant.
spindle->stop();
coolant_stop();
coolant_stop();
// turn off all digital I/O immediately
fast_sys_io_control(0xFF, false);
@@ -451,18 +469,18 @@ void mc_reset() {
// the steppers enabled by avoiding the go_idle call altogether, unless the motion state is
// violated, by which, all bets are off.
if ((sys.state & (STATE_CYCLE | STATE_HOMING | STATE_JOG)) ||
(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
(sys.step_control & (STEP_CONTROL_EXECUTE_HOLD | STEP_CONTROL_EXECUTE_SYS_MOTION))) {
if (sys.state == STATE_HOMING) {
if (!sys_rt_exec_alarm) system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
} else system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE);
st_go_idle(); // Force kill steppers. Position has likely been lost.
if (!sys_rt_exec_alarm)
system_set_exec_alarm(EXEC_ALARM_HOMING_FAIL_RESET);
} else
system_set_exec_alarm(EXEC_ALARM_ABORT_CYCLE);
st_go_idle(); // Force kill steppers. Position has likely been lost.
}
ganged_mode = SQUARING_MODE_DUAL; // in case an error occurred during squaring
ganged_mode = SQUARING_MODE_DUAL; // in case an error occurred during squaring
#ifdef USE_I2S_OUT_STREAM
i2s_out_reset();
#endif
}
}

40
Grbl_Esp32/motion_control.h → Grbl_Esp32/src/MotionControl.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
motion_control.h - high level interface for issuing motion commands
MotionControl.h - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2011-2015 Sungeun K. Jeon
@@ -22,26 +24,19 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef motion_control_h
#define motion_control_h
#include "grbl.h"
#include "Grbl.h"
// System motion commands must have a line number of zero.
#define HOMING_CYCLE_LINE_NUMBER 0
#define PARKING_MOTION_LINE_NUMBER 0
#define HOMING_CYCLE_ALL 0 // Must be zero.
#define HOMING_CYCLE_X bit(X_AXIS)
#define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS)
#define HOMING_CYCLE_A bit(A_AXIS)
#define HOMING_CYCLE_B bit(B_AXIS)
#define HOMING_CYCLE_C bit(C_AXIS)
#define HOMING_CYCLE_ALL 0 // Must be zero.
#define HOMING_CYCLE_X bit(X_AXIS)
#define HOMING_CYCLE_Y bit(Y_AXIS)
#define HOMING_CYCLE_Z bit(Z_AXIS)
#define HOMING_CYCLE_A bit(A_AXIS)
#define HOMING_CYCLE_B bit(B_AXIS)
#define HOMING_CYCLE_C bit(C_AXIS)
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
@@ -53,8 +48,15 @@ void mc_line(float* target, plan_line_data_t* pl_data);
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, is_clockwise_arc boolean. Used
// for vector transformation direction.
void mc_arc(float* target, plan_line_data_t* pl_data, float* position, float* offset, float radius,
uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, uint8_t is_clockwise_arc);
void mc_arc(float* target,
plan_line_data_t* pl_data,
float* position,
float* offset,
float radius,
uint8_t axis_0,
uint8_t axis_1,
uint8_t axis_linear,
uint8_t is_clockwise_arc);
// Dwell for a specific number of seconds
void mc_dwell(float seconds);
@@ -73,5 +75,3 @@ void mc_parking_motion(float* parking_target, plan_line_data_t* pl_data);
// Performs system reset. If in motion state, kills all motion and sets system alarm.
void mc_reset();
#endif

53
Grbl_Esp32/src/Motors/Motor.cpp Normal file
View File

@@ -0,0 +1,53 @@
/*
Motor.cpp
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
TODO
Make sure public/private/protected is cleaned up.
Only a few Unipolar axes have been setup in init()
Get rid of Z_SERVO, just reply on Z_SERVO_PIN
Deal with custom machine ... machine_trinamic_setup();
Class is ready to deal with non SPI pins, but they have not been needed yet.
It would be nice in the config message though
Testing
Done (success)
3 Axis (3 Standard Steppers)
MPCNC (ganged with shared direction pin)
TMC2130 Pen Laser (trinamics, stallguard tuning)
Unipolar
TODO
4 Axis SPI (Daisy Chain, Ganged with unique direction pins)
Reference
TMC2130 Datasheet https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
*/
#include "Motor.h"
namespace Motors {
Motor::Motor() { type_id = MOTOR; }
void Motor::init() { _homing_mask = 0; }
void Motor::config_message() {}
void Motor::debug_message() {}
void Motor::read_settings() {}
void Motor::set_disable(bool disable) {}
void Motor::set_direction_pins(uint8_t onMask) {}
void Motor::step(uint8_t step_mask, uint8_t dir_mask) {}
bool Motor::test() { return true; }; // true = OK
void Motor::update() {}
void Motor::set_axis_name() { sprintf(_axis_name, "%c%s", report_get_axis_letter(axis_index), dual_axis_index ? "2" : " "); }
void Motor::set_homing_mode(uint8_t homing_mask, bool isHoming) { _homing_mask = homing_mask; }
}

65
Grbl_Esp32/src/Motors/Motor.h Normal file
View File

@@ -0,0 +1,65 @@
#pragma once
/*
Motor.h
Header file for Motor Classes
Here is the hierarchy
Motor
Nullmotor
StandardStepper
TrinamicDriver
Unipolar
RC Servo
These are for motors coordinated by Grbl_ESP32
See motorClass.cpp for more details
Part of Grbl_ESP32
2020 - Bart Dring
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 "Motors.h"
#include <cstdint>
namespace Motors {
class Motor {
public:
Motor();
virtual void init(); // not in constructor because this also gets called when $$ settings change
virtual void config_message();
virtual void debug_message();
virtual void read_settings();
virtual void set_homing_mode(uint8_t homing_mask, bool isHoming);
virtual void set_disable(bool disable);
virtual void set_direction_pins(uint8_t onMask);
virtual void step(uint8_t step_mask, uint8_t dir_mask); // only used on Unipolar right now
virtual bool test();
virtual void set_axis_name();
virtual void update();
motor_class_id_t type_id;
uint8_t is_active = false;
protected:
uint8_t axis_index; // X_AXIS, etc
uint8_t dual_axis_index; // 0 = primary 1=ganged
bool _showError;
bool _use_mpos = true;
uint8_t _homing_mask;
char _axis_name[10]; // this the name to use when reporting like "X" or "X2"
};
}

271
Grbl_Esp32/Motors/MotorClass.cpp → Grbl_Esp32/src/Motors/Motors.cpp
View File

@@ -1,58 +1,65 @@
/*
MotorClass.cpp
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
TODO
Make sure public/private/protected is cleaned up.
Only a few Unipolar axes have been setup in init()
Get rid of Z_SERVO, just reply on Z_SERVO_PIN
Deal with custom machine ... machine_trinamic_setup();
Class is ready to deal with non SPI pins, but they have not been needed yet.
It would be nice in the config message though
Testing
Done (success)
3 Axis (3 Standard Steppers)
MPCNC (ganged with shared direction pin)
TMC2130 Pen Laser (trinamics, stallguard tuning)
Unipolar
TODO
4 Axis SPI (Daisy Chain, Ganged with unique direction pins)
Reference
TMC2130 Datasheet https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
Motors.cpp
Part of Grbl_ESP32
2020 - Bart Dring
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/>.
TODO
Make sure public/private/protected is cleaned up.
Only a few Unipolar axes have been setup in init()
Get rid of Z_SERVO, just reply on Z_SERVO_PIN
Deal with custom machine ... machine_trinamic_setup();
Class is ready to deal with non SPI pins, but they have not been needed yet.
It would be nice in the config message though
Testing
Done (success)
3 Axis (3 Standard Steppers)
MPCNC (ganged with shared direction pin)
TMC2130 Pen Laser (trinamics, stallguard tuning)
Unipolar
TODO
4 Axis SPI (Daisy Chain, Ganged with unique direction pins)
Reference
TMC2130 Datasheet https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
*/
#include "../grbl.h"
#include "TrinamicDriverClass.cpp"
#include "StandardStepperClass.cpp"
#include "UnipolarMotorClass.cpp"
#include "RcServoClass.cpp"
//#include "SolenoidClass.cpp"
#include "Motors.h"
Motor* myMotor[MAX_AXES][MAX_GANGED]; // number of axes (normal and ganged)
static TaskHandle_t readSgTaskHandle = 0; // for realtime stallguard data diaplay
#include "Motor.h"
#include "../Grbl.h"
#include "NullMotor.h"
#include "StandardStepper.h"
#include "UnipolarMotor.h"
#include "RcServo.h"
#include "TrinamicDriver.h"
Motors::Motor* myMotor[MAX_AXES][MAX_GANGED]; // number of axes (normal and ganged)
static TaskHandle_t readSgTaskHandle = 0; // for realtime stallguard data diaplay
static TaskHandle_t servoUpdateTaskHandle = 0;
uint8_t rmt_chan_num[MAX_AXES][MAX_GANGED];
uint8_t rmt_chan_num[MAX_AXES][MAX_GANGED];
rmt_item32_t rmtItem[2];
rmt_config_t rmtConfig;
bool motor_class_steps; // true if at least one motor class is handling steps
bool motor_class_steps; // true if at least one motor class is handling steps
void init_motors() {
using namespace Motors;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Init Motors");
#ifdef X_TRINAMIC_DRIVER
myMotor[X_AXIS][0] = new TrinamicDriver(X_AXIS, X_STEP_PIN, X_DIRECTION_PIN, X_DISABLE_PIN, X_CS_PIN, X_TRINAMIC_DRIVER, X_RSENSE, get_next_trinamic_driver_index());
myMotor[X_AXIS][0] = new TrinamicDriver(
X_AXIS, X_STEP_PIN, X_DIRECTION_PIN, X_DISABLE_PIN, X_CS_PIN, X_TRINAMIC_DRIVER, X_RSENSE, get_next_trinamic_driver_index());
#elif defined(X_SERVO_PIN)
myMotor[X_AXIS][0] = new RcServo(X_AXIS, X_SERVO_PIN, X_SERVO_RANGE_MIN, X_SERVO_RANGE_MAX);
#elif defined(X_UNIPOLAR)
@@ -64,7 +71,8 @@ void init_motors() {
#endif
#ifdef X2_TRINAMIC_DRIVER
myMotor[X_AXIS][1] = new TrinamicDriver(X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN, X2_DISABLE_PIN, X2_CS_PIN, X2_TRINAMIC_DRIVER, X2_RSENSE, get_next_trinamic_driver_index());
myMotor[X_AXIS][1] = new TrinamicDriver(
X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN, X2_DISABLE_PIN, X2_CS_PIN, X2_TRINAMIC_DRIVER, X2_RSENSE, get_next_trinamic_driver_index());
#elif defined(X2_SERVO_PIN)
myMotor[X_AXIS][1] = new RcServo(X2_AXIS, X2_SERVO_PIN, X2_SERVO_RANGE_MIN, X2_SERVO_RANGE_MAX);
#elif defined(X2_UNIPOLAR)
@@ -75,10 +83,10 @@ void init_motors() {
myMotor[X_AXIS][1] = new Nullmotor();
#endif
// this WILL be done better with settings
#ifdef Y_TRINAMIC_DRIVER
myMotor[Y_AXIS][0] = new TrinamicDriver(Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN, Y_DISABLE_PIN, Y_CS_PIN, Y_TRINAMIC_DRIVER, Y_RSENSE, get_next_trinamic_driver_index());
myMotor[Y_AXIS][0] = new TrinamicDriver(
Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN, Y_DISABLE_PIN, Y_CS_PIN, Y_TRINAMIC_DRIVER, Y_RSENSE, get_next_trinamic_driver_index());
#elif defined(Y_SERVO_PIN)
myMotor[Y_AXIS][0] = new RcServo(Y_AXIS, Y_SERVO_PIN, Y_SERVO_RANGE_MIN, Y_SERVO_RANGE_MAX);
#elif defined(Y_UNIPOLAR)
@@ -90,7 +98,8 @@ void init_motors() {
#endif
#ifdef Y2_TRINAMIC_DRIVER
myMotor[Y_AXIS][1] = new TrinamicDriver(Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN, Y2_DISABLE_PIN, Y2_CS_PIN, Y2_TRINAMIC_DRIVER, Y2_RSENSE, get_next_trinamic_driver_index());
myMotor[Y_AXIS][1] = new TrinamicDriver(
Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN, Y2_DISABLE_PIN, Y2_CS_PIN, Y2_TRINAMIC_DRIVER, Y2_RSENSE, get_next_trinamic_driver_index());
#elif defined(Y2_SERVO_PIN)
myMotor[Y_AXIS][1] = new RcServo(Y2_AXIS, Y2_SERVO_PIN, Y2_SERVO_RANGE_MIN, Y2_SERVO_RANGE_MAX);
#elif defined(Y2_UNIPOLAR)
@@ -101,10 +110,10 @@ void init_motors() {
myMotor[Y_AXIS][1] = new Nullmotor();
#endif
// this WILL be done better with settings
#ifdef Z_TRINAMIC_DRIVER
myMotor[Z_AXIS][0] = new TrinamicDriver(Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN, Z_DISABLE_PIN, Z_CS_PIN, Z_TRINAMIC_DRIVER, Z_RSENSE, get_next_trinamic_driver_index());
myMotor[Z_AXIS][0] = new TrinamicDriver(
Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN, Z_DISABLE_PIN, Z_CS_PIN, Z_TRINAMIC_DRIVER, Z_RSENSE, get_next_trinamic_driver_index());
#elif defined(Z_SERVO_PIN)
myMotor[Z_AXIS][0] = new RcServo(Z_AXIS, Z_SERVO_PIN, Z_SERVO_RANGE_MIN, Z_SERVO_RANGE_MAX);
#elif defined(Z_UNIPOLAR)
@@ -116,7 +125,8 @@ void init_motors() {
#endif
#ifdef Z2_TRINAMIC_DRIVER
myMotor[Z_AXIS][1] = new TrinamicDriver(Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN, Z2_DISABLE_PIN, Z2_CS_PIN, Z2_TRINAMIC_DRIVER, Z2_RSENSE, get_next_trinamic_driver_index());
myMotor[Z_AXIS][1] = new TrinamicDriver(
Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN, Z2_DISABLE_PIN, Z2_CS_PIN, Z2_TRINAMIC_DRIVER, Z2_RSENSE, get_next_trinamic_driver_index());
#elif defined(Z2_SERVO_PIN)
myMotor[Z_AXIS][1] = new RcServo(Z2_AXIS, Z2_SERVO_PIN, Z2_SERVO_RANGE_MIN, Z2_SERVO_RANGE_MAX);
#elif defined(Z2_UNIPOLAR)
@@ -129,7 +139,8 @@ void init_motors() {
// this WILL be done better with settings
#ifdef A_TRINAMIC_DRIVER
myMotor[A_AXIS][0] = new TrinamicDriver(A_AXIS, A_STEP_PIN, A_DIRECTION_PIN, A_DISABLE_PIN, A_CS_PIN, A_TRINAMIC_DRIVER, A_RSENSE, get_next_trinamic_driver_index());
myMotor[A_AXIS][0] = new TrinamicDriver(
A_AXIS, A_STEP_PIN, A_DIRECTION_PIN, A_DISABLE_PIN, A_CS_PIN, A_TRINAMIC_DRIVER, A_RSENSE, get_next_trinamic_driver_index());
#elif defined(A_SERVO_PIN)
myMotor[A_AXIS][0] = new RcServo(A_AXIS, A_SERVO_PIN, A_SERVO_RANGE_MIN, A_SERVO_RANGE_MAX);
#elif defined(A_UNIPOLAR)
@@ -141,7 +152,8 @@ void init_motors() {
#endif
#ifdef A2_TRINAMIC_DRIVER
myMotor[A_AXIS][1] = new TrinamicDriver(A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN, A2_DISABLE_PIN, A2_CS_PIN, A2_TRINAMIC_DRIVER, A2_RSENSE, get_next_trinamic_driver_index());
myMotor[A_AXIS][1] = new TrinamicDriver(
A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN, A2_DISABLE_PIN, A2_CS_PIN, A2_TRINAMIC_DRIVER, A2_RSENSE, get_next_trinamic_driver_index());
#elif defined(A2_SERVO_PIN)
myMotor[A_AXIS][1] = new RcServo(A2_AXIS, A2_SERVO_PIN, A2_SERVO_RANGE_MIN, A2_SERVO_RANGE_MAX);
#elif defined(A2_UNIPOLAR)
@@ -154,7 +166,8 @@ void init_motors() {
// this WILL be done better with settings
#ifdef B_TRINAMIC_DRIVER
myMotor[B_AXIS][0] = new TrinamicDriver(B_AXIS, B_STEP_PIN, B_DIRECTION_PIN, B_DISABLE_PIN, B_CS_PIN, B_TRINAMIC_DRIVER, B_RSENSE, get_next_trinamic_driver_index());
myMotor[B_AXIS][0] = new TrinamicDriver(
B_AXIS, B_STEP_PIN, B_DIRECTION_PIN, B_DISABLE_PIN, B_CS_PIN, B_TRINAMIC_DRIVER, B_RSENSE, get_next_trinamic_driver_index());
#elif defined(B_SERVO_PIN)
myMotor[B_AXIS][0] = new RcServo(B_AXIS, B_SERVO_PIN, B_SERVO_RANGE_MIN, B_SERVO_RANGE_MAX);
#elif defined(B_UNIPOLAR)
@@ -166,7 +179,8 @@ void init_motors() {
#endif
#ifdef B2_TRINAMIC_DRIVER
myMotor[B_AXIS][1] = new TrinamicDriver(B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN, B2_DISABLE_PIN, B2_CS_PIN, B2_TRINAMIC_DRIVER, B2_RSENSE, get_next_trinamic_driver_index());
myMotor[B_AXIS][1] = new TrinamicDriver(
B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN, B2_DISABLE_PIN, B2_CS_PIN, B2_TRINAMIC_DRIVER, B2_RSENSE, get_next_trinamic_driver_index());
#elif defined(B2_SERVO_PIN)
myMotor[B_AXIS][1] = new RcServo(B2_AXIS, B2_SERVO_PIN, B2_SERVO_RANGE_MIN, B2_SERVO_RANGE_MAX);
#elif defined(B2_UNIPOLAR)
@@ -179,7 +193,8 @@ void init_motors() {
// this WILL be done better with settings
#ifdef C_TRINAMIC_DRIVER
myMotor[C_AXIS][0] = new TrinamicDriver(C_AXIS, C_STEP_PIN, C_DIRECTION_PIN, C_DISABLE_PIN, C_CS_PIN, C_TRINAMIC_DRIVER, C_RSENSE, get_next_trinamic_driver_index());
myMotor[C_AXIS][0] = new TrinamicDriver(
C_AXIS, C_STEP_PIN, C_DIRECTION_PIN, C_DISABLE_PIN, C_CS_PIN, C_TRINAMIC_DRIVER, C_RSENSE, get_next_trinamic_driver_index());
#elif defined(C_SERVO_PIN)
myMotor[C_AXIS][0] = new RcServo(C_AXIS, C_SERVO_PIN, C_SERVO_RANGE_MIN, C_SERVO_RANGE_MAX);
#elif defined(C_UNIPOLAR)
@@ -191,7 +206,8 @@ void init_motors() {
#endif
#ifdef C2_TRINAMIC_DRIVER
myMotor[C_AXIS][1] = new TrinamicDriver(C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN, C2_DISABLE_PIN, C2_CS_PIN, C2_TRINAMIC_DRIVER, C2_RSENSE, get_next_trinamic_driver_index());
myMotor[C_AXIS][1] = new TrinamicDriver(
C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN, C2_DISABLE_PIN, C2_CS_PIN, C2_TRINAMIC_DRIVER, C2_RSENSE, get_next_trinamic_driver_index());
#elif defined(C2_SERVO_PIN)
myMotor[C_AXIS][1] = new RcServo(C2_AXIS, C2_SERVO_PIN, C2_SERVO_RANGE_MIN, C2_SERVO_RANGE_MAX);
#elif defined(C2_UNIPOLAR)
@@ -202,61 +218,39 @@ void init_motors() {
myMotor[C_AXIS][1] = new Nullmotor();
#endif
#ifdef USE_STEPSTICK
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Using StepStick Mode");
#ifdef STEPPER_MS1
digitalWrite(STEPPER_MS1, HIGH);
pinMode(STEPPER_MS1, OUTPUT);
#endif
#ifdef STEPPER_MS2
digitalWrite(STEPPER_MS2, HIGH);
pinMode(STEPPER_MS2, OUTPUT);
#endif
#ifdef STEPPER_X_MS3
digitalWrite(STEPPER_X_MS3, HIGH);
pinMode(STEPPER_X_MS3, OUTPUT);
#endif
#ifdef STEPPER_Y_MS3
digitalWrite(STEPPER_Y_MS3, HIGH);
pinMode(STEPPER_Y_MS3, OUTPUT);
#endif
#ifdef STEPPER_Z_MS3
digitalWrite(STEPPER_Z_MS3, HIGH);
pinMode(STEPPER_Z_MS3, OUTPUT);
#endif
#ifdef STEPPER_A_MS3
digitalWrite(STEPPER_A_MS3, HIGH);
pinMode(STEPPER_A_MS3, OUTPUT);
#endif
#ifdef STEPPER_B_MS3
digitalWrite(STEPPER_B_MS3, HIGH);
pinMode(STEPPER_B_MS3, OUTPUT);
#endif
#ifdef STEPPER_C_MS3
digitalWrite(STEPPER_C_MS3, HIGH);
pinMode(STEPPER_C_MS3, OUTPUT);
#endif
#ifdef STEPPER_RESET
uint8_t ms3_pins[MAX_N_AXIS][2] = { { X_STEPPER_MS3, X2_STEPPER_MS3 }, { Y_STEPPER_MS3, Y2_STEPPER_MS3 }, { Z_STEPPER_MS3, Z2_STEPPER_MS3 },
{ A_STEPPER_MS3, A2_STEPPER_MS3 }, { B_STEPPER_MS3, B2_STEPPER_MS3 }, { C_STEPPER_MS3, C2_STEPPER_MS3 } };
for (int axis = 0; axis < N_AXIS; axis++) {
for (int gang_index = 0; gang_index < 2; gang_index++) {
uint8_t pin = ms3_pins[axis][gang_index];
if (pin != UNDEFINED_PIN) {
digitalWrite(pin, HIGH);
pinMode(pin, OUTPUT);
}
}
}
# ifdef STEPPER_RESET
// !RESET pin on steppers (MISO On Schematic)
digitalWrite(STEPPER_RESET, HIGH);
pinMode(STEPPER_RESET, OUTPUT);
#endif
# endif
#endif
if (STEPPERS_DISABLE_PIN != UNDEFINED_PIN) {
pinMode(STEPPERS_DISABLE_PIN, OUTPUT); // global motor enable pin
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Global stepper disable pin:%s",
pinName(STEPPERS_DISABLE_PIN));
pinMode(STEPPERS_DISABLE_PIN, OUTPUT); // global motor enable pin
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Global stepper disable pin:%s", pinName(STEPPERS_DISABLE_PIN));
}
// certain motors need features to be turned on. Check them here
for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++) {
for (uint8_t gang_index = 0; gang_index < 2; gang_index++) {
if (myMotor[axis][gang_index]->type_id == UNIPOLAR_MOTOR)
motor_class_steps = true;
@@ -272,39 +266,36 @@ void init_motors() {
if (motors_have_type_id(TRINAMIC_SPI_MOTOR)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TMCStepper Library Ver. 0x%06x", TMCSTEPPER_VERSION);
xTaskCreatePinnedToCore(readSgTask, // task
"readSgTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
xTaskCreatePinnedToCore(readSgTask, // task
"readSgTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&readSgTaskHandle,
0 // core
);
0 // core
);
if (stallguard_debug_mask->get() != 0)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Stallguard debug enabled: %d", stallguard_debug_mask->get());
}
if (motors_have_type_id(RC_SERVO_MOTOR)) {
xTaskCreatePinnedToCore(servoUpdateTask, // task
"servoUpdateTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
xTaskCreatePinnedToCore(servoUpdateTask, // task
"servoUpdateTask", // name for task
4096, // size of task stack
NULL, // parameters
1, // priority
&servoUpdateTaskHandle,
0 // core
);
0 // core
);
}
}
void servoUpdateTask(void* pvParameters) {
TickType_t xLastWakeTime;
TickType_t xLastWakeTime;
const TickType_t xUpdate = SERVO_TIMER_INT_FREQ; // in ticks (typically ms)
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo update");
@@ -328,7 +319,6 @@ bool motors_have_type_id(motor_class_id_t id) {
return false;
}
void motors_set_disable(bool disable) {
static bool previous_state = false;
@@ -338,7 +328,7 @@ void motors_set_disable(bool disable) {
previous_state = disable;
if (step_enable_invert->get()) {
disable = !disable; // Apply pin invert.
disable = !disable; // Apply pin invert.
}
digitalWrite(STEPPERS_DISABLE_PIN, disable);
@@ -369,7 +359,6 @@ void motors_set_homing_mode(uint8_t homing_mask, bool isHoming) {
}
}
void motors_set_direction_pins(uint8_t onMask) {
static uint8_t previous_val = 255; // should never be this value
if (previous_val == onMask)
@@ -388,7 +377,7 @@ void motors_set_direction_pins(uint8_t onMask) {
// need to be inserted into the order of axes.
uint8_t get_next_trinamic_driver_index() {
#ifdef TRINAMIC_DAISY_CHAIN
static uint8_t index = 1; // they start at 1
static uint8_t index = 1; // they start at 1
return index++;
#else
return -1;
@@ -397,7 +386,7 @@ uint8_t get_next_trinamic_driver_index() {
// some motor objects, like unipolar need step signals
void motors_step(uint8_t step_mask, uint8_t dir_mask) {
if (motor_class_steps) { // determined in init_motors if any motors need to handle steps
if (motor_class_steps) { // determined in init_motors if any motors need to handle steps
for (uint8_t gang_index = 0; gang_index < 2; gang_index++) {
for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++)
myMotor[axis][gang_index]->step(step_mask, dir_mask);
@@ -406,14 +395,14 @@ void motors_step(uint8_t step_mask, uint8_t dir_mask) {
}
/*
This will print StallGuard data that is useful for tuning.
This will print StallGuard data that is useful for tuning.
*/
void readSgTask(void* pvParameters) {
TickType_t xLastWakeTime;
TickType_t xLastWakeTime;
const TickType_t xreadSg = 200; // in ticks (typically ms)
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while (true) { // don't ever return from this or the task dies
if (motorSettingChanged) {
motors_read_settings();
motorSettingChanged = false;
@@ -428,13 +417,12 @@ void readSgTask(void* pvParameters) {
myMotor[axis][gang_index]->debug_message();
}
}
} // sys.state
} // if mask
} // sys.state
} // if mask
vTaskDelayUntil(&xLastWakeTime, xreadSg);
}
}
#ifdef USE_I2S_OUT
//
// Override default function and insert a short delay
@@ -444,32 +432,3 @@ void TMC2130Stepper::switchCSpin(bool state) {
i2s_out_delay();
}
#endif
// ============================== Class Methods ================================================
Motor :: Motor() {
type_id = MOTOR;
}
void Motor :: init() {
_homing_mask = 0;
}
void Motor :: config_message() {}
void Motor :: debug_message() {}
void Motor :: read_settings() {}
void Motor :: set_disable(bool disable) {}
void Motor :: set_direction_pins(uint8_t onMask) {}
void Motor :: step(uint8_t step_mask, uint8_t dir_mask) {}
bool Motor :: test() {return true;}; // true = OK
void Motor :: update() {}
void Motor :: set_axis_name() {
sprintf(_axis_name, "%c%s", report_get_axis_letter(axis_index), dual_axis_index ? "2" : "");
}
void Motor :: set_homing_mode(uint8_t homing_mask, bool isHoming) {
_homing_mask = homing_mask;
}

53
Grbl_Esp32/src/Motors/Motors.h Normal file
View File

@@ -0,0 +1,53 @@
#pragma once
/*
Motors.h
Header file for Motor Classes
Here is the hierarchy
Motor
Nullmotor
StandardStepper
TrinamicDriver
Unipolar
RC Servo
These are for motors coordinated by Grbl_ESP32
See motorClass.cpp for more details
Part of Grbl_ESP32
2020 - Bart Dring
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"
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
extern uint8_t rmt_chan_num[MAX_AXES][2];
extern rmt_item32_t rmtItem[2];
extern rmt_config_t rmtConfig;
typedef enum { MOTOR, NULL_MOTOR, STANDARD_MOTOR, TRINAMIC_SPI_MOTOR, UNIPOLAR_MOTOR, RC_SERVO_MOTOR, SOLENOID } motor_class_id_t;
// These are used for setup and to talk to the motors as a group.
void init_motors();
uint8_t get_next_trinamic_driver_index();
bool motors_have_type_id(motor_class_id_t id);
void readSgTask(void* pvParameters);
void motors_read_settings();
void motors_set_homing_mode(uint8_t homing_mask, bool isHoming);
void motors_set_disable(bool disable);
void motors_set_direction_pins(uint8_t onMask);
void motors_step(uint8_t step_mask, uint8_t dir_mask);
void servoUpdateTask(void* pvParameters);
extern bool motor_class_steps; // true if at least one motor class is handling steps

7
Grbl_Esp32/src/Motors/NullMotor.h Normal file
View File

@@ -0,0 +1,7 @@
#pragma once
#include "Motor.h"
namespace Motors {
class Nullmotor : public Motor {};
}

189
Grbl_Esp32/src/Motors/RcServo.cpp Normal file
View File

@@ -0,0 +1,189 @@
/*
RcServo.cpp
This allows an RcServo to be used like any other motor. Serrvos
do have limitation in travel and speed, so you do need to respect that.
Part of Grbl_ESP32
2020 - Bart Dring
Servos have a limited travel, so they map the travel across a range in
the current work coordinatee system. The servo can only travel as far
as the range, but the internal axis value can keep going.
Range: The range is specified in the machine definition file with...
#define X_SERVO_RANGE_MIN 0.0
#define X_SERVO_RANGE_MAX 5.0
Direction: The direction can be changed using the $3 setting for the axis
Homing: During homing, the servo will move to one of the endpoints. The
endpoint is determined by the $23 or $HomingDirInvertMask setting for the axis.
Do not define a homing cycle for the axis with the servo.
You do need at least 1 homing cycle. TODO: Fix this
Calibration. You can tweak the endpoints using the $10n or nStepsPerMm and
$13n or $xMaxTravel setting, where n is the axis.
The value is a percent. If you secify a percent outside the
the range specified by the values below, it will be reset to 100.0 (100% ... no change)
The calibration adjusts in direction of positive momement, so a value above 100% moves
towards the higher axis value.
#define SERVO_CAL_MIN
#define SERVO_CAL_MAX
Grbl_ESP32 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 "RcServo.h"
namespace Motors {
RcServo::RcServo() {}
RcServo::RcServo(uint8_t axis_index, uint8_t pwm_pin, float min, float max) {
type_id = RC_SERVO_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
this->_pwm_pin = pwm_pin;
_position_min = min;
_position_max = max;
init();
}
void RcServo::init() {
read_settings();
_channel_num = sys_get_next_PWM_chan_num();
ledcSetup(_channel_num, SERVO_PULSE_FREQ, SERVO_PULSE_RES_BITS);
ledcAttachPin(_pwm_pin, _channel_num);
_current_pwm_duty = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
set_axis_name();
config_message();
}
void RcServo::config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis RC Servo motor Output:%d Min:%5.3fmm Max:%5.3fmm",
_axis_name,
_pwm_pin,
_position_min,
_position_max);
}
void RcServo::_write_pwm(uint32_t duty) {
// to prevent excessive calls to ledcWrite, make sure duty hass changed
if (duty == _current_pwm_duty)
return;
_current_pwm_duty = duty;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Servo Pwm %d", _axis_name, duty);
ledcWrite(_channel_num, duty);
}
// sets the PWM to zero. This allows most servos to be manually moved
void RcServo::set_disable(bool disable) {
return;
_disabled = disable;
if (_disabled)
_write_pwm(0);
}
void RcServo::set_homing_mode(bool is_homing, bool isHoming) {
float home_pos = 0.0;
if (!is_homing)
return;
if (bit_istrue(homing_dir_mask->get(), bit(axis_index)))
home_pos = _position_min;
else
home_pos = _position_max;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo set home %d %3.2f", is_homing, home_pos);
sys_position[axis_index] = home_pos * axis_settings[axis_index]->steps_per_mm->get(); // convert to steps
}
void RcServo::update() { set_location(); }
void RcServo::set_location() {
uint32_t servo_pulse_len;
float servo_pos, mpos, offset;
// skip location if we are in alarm mode
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "locate");
_get_calibration();
if (sys.state == STATE_ALARM) {
set_disable(true);
return;
}
mpos = system_convert_axis_steps_to_mpos(sys_position, axis_index); // get the axis machine position in mm
offset = gc_state.coord_system[axis_index] + gc_state.coord_offset[axis_index]; // get the current axis work offset
servo_pos = mpos - offset; // determine the current work position
// determine the pulse length
servo_pulse_len = (uint32_t)mapConstrain(servo_pos, _position_min, _position_max, _pwm_pulse_min, _pwm_pulse_max);
_write_pwm(servo_pulse_len);
}
void RcServo::read_settings() { _get_calibration(); }
// this should change to use its own settings.
void RcServo::_get_calibration() {
float _cal_min = 1.0;
float _cal_max = 1.0;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Read settings");
// make sure the min is in range
if ((axis_settings[axis_index]->steps_per_mm->get() < SERVO_CAL_MIN) ||
(axis_settings[axis_index]->steps_per_mm->get() > SERVO_CAL_MAX)) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration ($10%d) value error. Reset to 100", axis_index);
char reset_val[] = "100";
axis_settings[axis_index]->steps_per_mm->setStringValue(reset_val);
}
// make sure the max is in range
// Note: Max travel is set positive via $$, but stored as a negative number
if ((axis_settings[axis_index]->max_travel->get() < SERVO_CAL_MIN) || (axis_settings[axis_index]->max_travel->get() > SERVO_CAL_MAX)) {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"Servo calibration ($13%d) value error. %3.2f Reset to 100",
axis_index,
axis_settings[axis_index]->max_travel->get());
char reset_val[] = "100";
axis_settings[axis_index]->max_travel->setStringValue(reset_val);
}
_pwm_pulse_min = SERVO_MIN_PULSE;
_pwm_pulse_max = SERVO_MAX_PULSE;
if (bit_istrue(dir_invert_mask->get(), bit(axis_index))) { // normal direction
_cal_min = 2.0 - (axis_settings[axis_index]->steps_per_mm->get() / 100.0);
_cal_max = 2.0 - (axis_settings[axis_index]->max_travel->get() / 100.0);
swap(_pwm_pulse_min, _pwm_pulse_max);
} else { // inverted direction
_cal_min = (axis_settings[axis_index]->steps_per_mm->get() / 100.0);
_cal_max = (axis_settings[axis_index]->max_travel->get() / 100.0);
}
_pwm_pulse_min *= _cal_min;
_pwm_pulse_max *= _cal_max;
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Servo calibration min:%1.2f max %1.2f", _pwm_pulse_min, _pwm_pulse_max);
}
}

55
Grbl_Esp32/src/Motors/RcServo.h Normal file
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#pragma once
/*
RcServo.h
Part of Grbl_ESP32
2020 - Bart Dring
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 "Motor.h"
#include "RcServoSettings.h"
namespace Motors {
class RcServo : public Motor {
public:
RcServo();
RcServo(uint8_t axis_index, uint8_t pwm_pin, float min, float max);
virtual void config_message();
virtual void init();
void _write_pwm(uint32_t duty);
virtual void set_disable(bool disable);
virtual void update();
void read_settings();
void set_homing_mode(bool is_homing, bool isHoming);
protected:
void set_location();
void _get_calibration();
uint8_t _pwm_pin;
uint8_t _channel_num;
uint32_t _current_pwm_duty;
bool _disabled;
float _position_min;
float _position_max; // position in millimeters
float _homing_position;
float _pwm_pulse_min;
float _pwm_pulse_max;
};
}

26
Grbl_Esp32/src/Motors/RcServoSettings.h Normal file
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#pragma once
// this is the pulse range of a the servo. Typical servos are 0.001 to 0.002 seconds
// some servos have a wider range. You can adjust this here or in the calibration feature
#define SERVO_MIN_PULSE_SEC 0.001 // min pulse in seconds
#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
#define SERVO_POSITION_MIN_DEFAULT 0.0 // mm
#define SERVO_POSITION_MAX_DEFAULT 20.0 // mm
#define SERVO_PULSE_FREQ 50 // 50Hz ...This is a standard analog servo value. Digital ones can repeat faster
#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
#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_PULSE_RANGE (SERVO_MAX_PULSE - SERVO_MIN_PULSE)
#define SERVO_CAL_MIN 20.0 // Percent: the minimum allowable calibration value
#define SERVO_CAL_MAX 180.0 // Percent: the maximum allowable calibration value
#define SERVO_TIMER_INT_FREQ 50.0 // Hz This is the task frequency

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#pragma once
#include "RcServo.h"
namespace Motors {
class Solenoid : public RcServo {
public:
Solenoid();
Solenoid(uint8_t axis_index, gpio_num_t pwm_pin, float transition_poiont);
void config_message();
void set_location();
void update();
void init();
void set_disable(bool disable);
float _transition_poiont;
};
}

103
Grbl_Esp32/src/Motors/StandardStepper.cpp Normal file
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/*
StandardStepper.cpp
This is used for a stepper motor that just requires step and direction
pins.
TODO: Add an enable pin
Part of Grbl_ESP32
2020 - Bart Dring
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 "StandardStepper.h"
namespace Motors {
StandardStepper::StandardStepper() {}
StandardStepper::StandardStepper(uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin) {
type_id = STANDARD_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
this->step_pin = step_pin;
this->dir_pin = dir_pin;
this->disable_pin = disable_pin;
init();
}
void StandardStepper::init() {
_homing_mask = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
set_axis_name();
init_step_dir_pins();
config_message();
}
void StandardStepper::init_step_dir_pins() {
// TODO Step pin, but RMT complicates things
_invert_step_pin = bit_istrue(step_invert_mask->get(), bit(axis_index));
pinMode(dir_pin, OUTPUT);
#ifdef USE_RMT_STEPS
rmtConfig.rmt_mode = RMT_MODE_TX;
rmtConfig.clk_div = 20;
rmtConfig.mem_block_num = 2;
rmtConfig.tx_config.loop_en = false;
rmtConfig.tx_config.carrier_en = false;
rmtConfig.tx_config.carrier_freq_hz = 0;
rmtConfig.tx_config.carrier_duty_percent = 50;
rmtConfig.tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW;
rmtConfig.tx_config.idle_output_en = true;
# ifdef STEP_PULSE_DELAY
rmtItem[0].duration0 = STEP_PULSE_DELAY * 4;
# else
rmtItem[0].duration0 = 1;
# endif
rmtItem[0].duration1 = 4 * pulse_microseconds->get();
rmtItem[1].duration0 = 0;
rmtItem[1].duration1 = 0;
rmt_chan_num[axis_index][dual_axis_index] = sys_get_next_RMT_chan_num();
rmt_set_source_clk((rmt_channel_t)rmt_chan_num[axis_index][dual_axis_index], RMT_BASECLK_APB);
rmtConfig.channel = (rmt_channel_t)rmt_chan_num[axis_index][dual_axis_index];
rmtConfig.tx_config.idle_level = _invert_step_pin ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
rmtConfig.gpio_num = gpio_num_t(step_pin); // c is a wacky lang
rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
rmt_config(&rmtConfig);
rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
#else
pinMode(step_pin, OUTPUT);
#endif // USE_RMT_STEPS
pinMode(disable_pin, OUTPUT);
}
void StandardStepper::config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis standard stepper motor Step:%s Dir:%s Disable:%s",
_axis_name,
pinName(step_pin).c_str(),
pinName(dir_pin).c_str(),
pinName(disable_pin).c_str());
}
void StandardStepper::set_direction_pins(uint8_t onMask) { digitalWrite(dir_pin, (onMask & bit(axis_index))); }
void StandardStepper::set_disable(bool disable) { digitalWrite(disable_pin, disable); }
}

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Grbl_Esp32/src/Motors/StandardStepper.h Normal file
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#pragma once
#include "Motor.h"
namespace Motors {
class StandardStepper : public Motor {
public:
StandardStepper();
StandardStepper(uint8_t axis_index, uint8_t step_pin, uint8_t dir_pin, uint8_t disable_pin);
virtual void config_message();
virtual void init();
virtual void set_direction_pins(uint8_t onMask);
void init_step_dir_pins();
virtual void set_disable(bool disable);
uint8_t step_pin;
protected:
bool _invert_step_pin;
uint8_t dir_pin;
uint8_t disable_pin;
};
}

235
Grbl_Esp32/src/Motors/TrinamicDriver.cpp Normal file
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/*
TrinamicDriver.cpp
This is used for Trinamic SPI controlled stepper motor drivers.
Part of Grbl_ESP32
2020 - Bart Dring
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 "TrinamicDriver.h"
#include <TMCStepper.h>
namespace Motors {
TrinamicDriver::TrinamicDriver(uint8_t axis_index,
uint8_t step_pin,
uint8_t dir_pin,
uint8_t disable_pin,
uint8_t cs_pin,
uint16_t driver_part_number,
float r_sense,
int8_t spi_index) {
type_id = TRINAMIC_SPI_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < 6 ? 0 : 1; // 0 = primary 1 = ganged
_driver_part_number = driver_part_number;
_r_sense = r_sense;
this->step_pin = step_pin;
this->dir_pin = dir_pin;
this->disable_pin = disable_pin;
this->cs_pin = cs_pin;
this->spi_index = spi_index;
_homing_mode = TRINAMIC_HOMING_MODE;
_homing_mask = 0; // no axes homing
if (_driver_part_number == 2130)
tmcstepper = new TMC2130Stepper(cs_pin, _r_sense, spi_index);
else if (_driver_part_number == 5160)
tmcstepper = new TMC5160Stepper(cs_pin, _r_sense, spi_index);
else {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Trinamic unsupported p/n:%d", _driver_part_number);
return;
}
set_axis_name();
init_step_dir_pins(); // from StandardStepper
digitalWrite(cs_pin, HIGH);
pinMode(cs_pin, OUTPUT);
// use slower speed if I2S
if (cs_pin >= I2S_OUT_PIN_BASE)
tmcstepper->setSPISpeed(TRINAMIC_SPI_FREQ);
config_message();
// init() must be called later, after all TMC drivers have CS pins setup.
}
void TrinamicDriver::init() {
SPI.begin(); // this will get called for each motor, but does not seem to hurt anything
tmcstepper->begin();
test(); // Try communicating with motor. Prints an error if there is a problem.
read_settings(); // pull info from settings
set_mode(false);
_homing_mask = 0;
is_active = true; // as opposed to NullMotors, this is a real motor
}
/*
This is the startup message showing the basic definition
*/
void TrinamicDriver::config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis Trinamic TMC%d Step:%s Dir:%s CS:%s Disable:%s Index:%d",
_axis_name,
_driver_part_number,
pinName(step_pin).c_str(),
pinName(dir_pin).c_str(),
pinName(cs_pin).c_str(),
pinName(disable_pin).c_str(),
spi_index);
}
bool TrinamicDriver::test() {
switch (tmcstepper->test_connection()) {
case 1:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check connection", _axis_name);
return false;
case 2:
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test failed. Check motor power", _axis_name);
return false;
default: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Trinamic driver test passed", _axis_name); return true;
}
}
/*
Read setting and send them to the driver. Called at init() and whenever related settings change
both are stored as float Amps, but TMCStepper library expects...
uint16_t run (mA)
float hold (as a percentage of run)
*/
void TrinamicDriver::read_settings() {
uint16_t run_i_ma = (uint16_t)(axis_settings[axis_index]->run_current->get() * 1000.0);
float hold_i_percent;
if (axis_settings[axis_index]->run_current->get() == 0)
hold_i_percent = 0;
else {
hold_i_percent = axis_settings[axis_index]->hold_current->get() / axis_settings[axis_index]->run_current->get();
if (hold_i_percent > 1.0)
hold_i_percent = 1.0;
}
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Current run %d hold %f", _axis_name, run_i_ma, hold_i_percent);
tmcstepper->microsteps(axis_settings[axis_index]->microsteps->get());
tmcstepper->rms_current(run_i_ma, hold_i_percent);
}
void TrinamicDriver::set_homing_mode(uint8_t homing_mask, bool isHoming) {
_homing_mask = homing_mask;
set_mode(isHoming);
}
/*
There are ton of settings. I'll start by grouping then into modes for now.
Many people will want quiet and stallgaurd homing. Stallguard only run in
Coolstep mode, so it will need to switch to Coolstep when homing
*/
void TrinamicDriver::set_mode(bool isHoming) {
if (isHoming)
_mode = TRINAMIC_HOMING_MODE;
else
_mode = TRINAMIC_RUN_MODE;
if (_lastMode == _mode)
return;
_lastMode = _mode;
switch (_mode) {
case TRINAMIC_MODE_STEALTHCHOP:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_STEALTHCHOP");
tmcstepper->en_pwm_mode(true);
tmcstepper->pwm_autoscale(true);
tmcstepper->diag1_stall(false);
break;
case TRINAMIC_MODE_COOLSTEP:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_COOLSTEP");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS); // when to turn on coolstep
tmcstepper->THIGH(NORMAL_THIGH);
break;
case TRINAMIC_MODE_STALLGUARD:
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_STALLGUARD");
tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0));
tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(axis_settings[axis_index]->stallguard->get());
break;
default: grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "TRINAMIC_MODE_UNDEFINED");
}
}
/*
This is the stallguard tuning info. It is call debug, so it could be generic across all classes.
*/
void TrinamicDriver::debug_message() {
uint32_t tstep = tmcstepper->TSTEP();
if (tstep == 0xFFFFF || tstep < 1) // if axis is not moving return
return;
float feedrate = st_get_realtime_rate(); //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Stallguard %d SG_Val: %04d Rate: %05.0f mm/min SG_Setting:%d",
_axis_name,
tmcstepper->stallguard(),
tmcstepper->sg_result(),
feedrate,
axis_settings[axis_index]->stallguard->get());
}
// calculate a tstep from a rate
// tstep = TRINAMIC_FCLK / (time between 1/256 steps)
// This is used to set the stallguard window from the homing speed.
// The percent is the offset on the window
uint32_t TrinamicDriver::calc_tstep(float speed, float percent) {
float tstep =
speed / 60.0 * axis_settings[axis_index]->steps_per_mm->get() * (float)(256 / axis_settings[axis_index]->microsteps->get());
tstep = TRINAMIC_FCLK / tstep * percent / 100.0;
return (uint32_t)tstep;
}
// this can use the enable feature over SPI. The dedicated pin must be in the enable mode,
// but that can be hardwired that way.
void TrinamicDriver::set_disable(bool disable) {
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s Axis disable %d", _axis_name, disable);
digitalWrite(disable_pin, disable);
#ifdef USE_TRINAMIC_ENABLE
if (disable)
tmcstepper->toff(TRINAMIC_TOFF_DISABLE);
else {
if (_mode == TRINAMIC_MODE_STEALTHCHOP)
tmcstepper->toff(TRINAMIC_TOFF_STEALTHCHOP);
else
tmcstepper->toff(TRINAMIC_TOFF_COOLSTEP);
}
#endif
// the pin based enable could be added here.
// This would be for individual motors, not the single pin for all motors.
}
}

98
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#pragma once
/*
TrinamicDriver.h
Part of Grbl_ESP32
2020 - Bart Dring
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 "Motor.h"
#include "StandardStepper.h"
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
#define TRINAMIC_MODE_STEALTHCHOP 0 // very quiet
#define TRINAMIC_MODE_COOLSTEP 1 // everything runs cooler so higher current possible
#define TRINAMIC_MODE_STALLGUARD 2 // coolstep plus generates stall indication
#define NORMAL_TCOOLTHRS 0xFFFFF // 20 bit is max
#define NORMAL_THIGH 0
#define TMC2130_RSENSE_DEFAULT 0.11f
#define TMC5160_RSENSE_DEFAULT 0.075f
#define TRINAMIC_SPI_FREQ 100000
#define TRINAMIC_FCLK 12700000.0 // Internal clock Approx (Hz) used to calculate TSTEP from homing rate
// ==== defaults OK to define them in your machine definition ====
#ifndef TRINAMIC_RUN_MODE
# define TRINAMIC_RUN_MODE TRINAMIC_MODE_COOLSTEP
#endif
#ifndef TRINAMIC_HOMING_MODE
# define TRINAMIC_HOMING_MODE TRINAMIC_RUN_MODE
#endif
#ifndef TRINAMIC_TOFF_DISABLE
# define TRINAMIC_TOFF_DISABLE 0
#endif
#ifndef TRINAMIC_TOFF_STEALTHCHOP
# define TRINAMIC_TOFF_STEALTHCHOP 5
#endif
#ifndef TRINAMIC_TOFF_COOLSTEP
# define TRINAMIC_TOFF_COOLSTEP 3
#endif
namespace Motors {
class TrinamicDriver : public StandardStepper {
public:
TrinamicDriver(uint8_t axis_index,
uint8_t step_pin,
uint8_t dir_pin,
uint8_t disable_pin,
uint8_t cs_pin,
uint16_t driver_part_number,
float r_sense,
int8_t spi_index);
void config_message();
void init();
void set_mode(bool isHoming);
void read_settings();
void trinamic_test_response();
void trinamic_stepper_enable(bool enable);
void debug_message();
void set_homing_mode(uint8_t homing_mask, bool ishoming);
void set_disable(bool disable);
bool test();
private:
uint32_t calc_tstep(float speed, float percent);
TMC2130Stepper* tmcstepper; // all other driver types are subclasses of this one
uint8_t _homing_mode;
uint8_t cs_pin = UNDEFINED_PIN; // The chip select pin (can be the same for daisy chain)
uint16_t _driver_part_number; // example: use 2130 for TMC2130
float _r_sense;
int8_t spi_index;
protected:
uint8_t _mode;
uint8_t _lastMode = 255;
};
}

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#include "UnipolarMotor.h"
namespace Motors {
UnipolarMotor::UnipolarMotor() {}
UnipolarMotor::UnipolarMotor(uint8_t axis_index, uint8_t pin_phase0, uint8_t pin_phase1, uint8_t pin_phase2, uint8_t pin_phase3) {
type_id = UNIPOLAR_MOTOR;
this->axis_index = axis_index % MAX_AXES;
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
_pin_phase0 = pin_phase0;
_pin_phase1 = pin_phase1;
_pin_phase2 = pin_phase2;
_pin_phase3 = pin_phase3;
_half_step = true; // TODO read from settings ... microstep > 1 = half step
set_axis_name();
init();
config_message();
}
void UnipolarMotor::init() {
pinMode(_pin_phase0, OUTPUT);
pinMode(_pin_phase1, OUTPUT);
pinMode(_pin_phase2, OUTPUT);
pinMode(_pin_phase3, OUTPUT);
_current_phase = 0;
}
void UnipolarMotor::config_message() {
grbl_msg_sendf(CLIENT_SERIAL,
MSG_LEVEL_INFO,
"%s Axis unipolar stepper motor Ph0:%s Ph1:%s Ph2:%s Ph3:%s",
_axis_name,
pinName(_pin_phase0).c_str(),
pinName(_pin_phase1).c_str(),
pinName(_pin_phase2).c_str(),
pinName(_pin_phase3).c_str());
}
void UnipolarMotor::set_disable(bool disable) {
if (disable) {
digitalWrite(_pin_phase0, 0);
digitalWrite(_pin_phase1, 0);
digitalWrite(_pin_phase2, 0);
digitalWrite(_pin_phase3, 0);
}
_enabled = !disable;
}
void UnipolarMotor::step(uint8_t step_mask, uint8_t dir_mask) {
uint8_t _phase[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; // temporary phase values...all start as off
uint8_t phase_max;
if (!(step_mask & bit(axis_index)))
return; // a step is not required on this interrupt
if (!_enabled)
return; // don't do anything, phase is not changed or lost
if (_half_step)
phase_max = 7;
else
phase_max = 3;
if (dir_mask & bit(axis_index)) { // count up
if (_current_phase == phase_max)
_current_phase = 0;
else
_current_phase++;
} else { // count down
if (_current_phase == 0)
_current_phase = phase_max;
else
_current_phase--;
}
/*
8 Step : A – AB – B – BC – C – CD – D – DA
4 Step : AB – BC – CD – DA
Step IN4 IN3 IN2 IN1
A 0 0 0 1
AB 0 0 1 1
B 0 0 1 0
BC 0 1 1 0
C 0 1 0 0
CD 1 1 0 0
D 1 0 0 0
DA 1 0 0 1
*/
if (_half_step) {
switch (_current_phase) {
case 0: _phase[0] = 1; break;
case 1:
_phase[0] = 1;
_phase[1] = 1;
break;
case 2: _phase[1] = 1; break;
case 3:
_phase[1] = 1;
_phase[2] = 1;
break;
case 4: _phase[2] = 1; break;
case 5:
_phase[2] = 1;
_phase[3] = 1;
break;
case 6: _phase[3] = 1; break;
case 7:
_phase[3] = 1;
_phase[0] = 1;
break;
}
} else {
switch (_current_phase) {
case 0:
_phase[0] = 1;
_phase[1] = 1;
break;
case 1:
_phase[1] = 1;
_phase[2] = 1;
break;
case 2:
_phase[2] = 1;
_phase[3] = 1;
break;
case 3:
_phase[3] = 1;
_phase[0] = 1;
break;
}
}
digitalWrite(_pin_phase0, _phase[0]);
digitalWrite(_pin_phase1, _phase[1]);
digitalWrite(_pin_phase2, _phase[2]);
digitalWrite(_pin_phase3, _phase[3]);
}
}

24
Grbl_Esp32/src/Motors/UnipolarMotor.h Normal file
View File

@@ -0,0 +1,24 @@
#pragma once
#include "Motor.h"
namespace Motors {
class UnipolarMotor : public Motor {
public:
UnipolarMotor();
UnipolarMotor(uint8_t axis_index, uint8_t pin_phase0, uint8_t pin_phase1, uint8_t pin_phase2, uint8_t pin_phase3);
void init();
void config_message();
void set_disable(bool disable);
void step(uint8_t step_mask, uint8_t dir_mask); // only used on Unipolar right now
private:
uint8_t _pin_phase0;
uint8_t _pin_phase1;
uint8_t _pin_phase2;
uint8_t _pin_phase3;
uint8_t _current_phase;
bool _half_step;
bool _enabled;
};
}

75
Grbl_Esp32/nuts_bolts.cpp → Grbl_Esp32/src/NutsBolts.cpp
View File

@@ -1,5 +1,5 @@
/*
nuts_bolts.c - Shared functions
NutsBolts.cpp - Shared functions
Part of Grbl
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -22,12 +22,9 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include "grbl.h"
#include "Grbl.h"
#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
// Extracts a floating point value from a string. The following code is based loosely on
// the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely
@@ -37,7 +34,7 @@
// be a g-code word on some CNC systems. So, 'E' notation will not be recognized.
// NOTE: Thanks to Radu-Eosif Mihailescu for identifying the issues with using strtod().
uint8_t read_float(const char* line, uint8_t* char_counter, float* float_ptr) {
const char* ptr = line + *char_counter;
const char* ptr = line + *char_counter;
unsigned char c;
// Grab first character and increment pointer. No spaces assumed in line.
c = *ptr++;
@@ -45,32 +42,36 @@ uint8_t read_float(const char* line, uint8_t* char_counter, float* float_ptr) {
bool isnegative = false;
if (c == '-') {
isnegative = true;
c = *ptr++;
c = *ptr++;
} else if (c == '+')
c = *ptr++;
// Extract number into fast integer. Track decimal in terms of exponent value.
uint32_t intval = 0;
int8_t exp = 0;
uint8_t ndigit = 0;
bool isdecimal = false;
uint32_t intval = 0;
int8_t exp = 0;
uint8_t ndigit = 0;
bool isdecimal = false;
while (1) {
c -= '0';
if (c <= 9) {
ndigit++;
if (ndigit <= MAX_INT_DIGITS) {
if (isdecimal) exp--;
intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
if (isdecimal)
exp--;
intval = (((intval << 2) + intval) << 1) + c; // intval*10 + c
} else {
if (!(isdecimal)) exp++; // Drop overflow digits
if (!(isdecimal))
exp++; // Drop overflow digits
}
} else if (c == (('.' - '0') & 0xff) && !(isdecimal))
} else if (c == (('.' - '0') & 0xff) && !(isdecimal))
isdecimal = true;
else
break;
c = *ptr++;
}
// Return if no digits have been read.
if (!ndigit) return (false); ;
if (!ndigit)
return (false);
;
// Convert integer into floating point.
float fval;
fval = (float)intval;
@@ -94,7 +95,7 @@ uint8_t read_float(const char* line, uint8_t* char_counter, float* float_ptr) {
*float_ptr = -fval;
else
*float_ptr = fval;
*char_counter = ptr - line - 1; // Set char_counter to next statement
*char_counter = ptr - line - 1; // Set char_counter to next statement
return (true);
}
@@ -106,40 +107,44 @@ void delay_ms(uint16_t ms) {
void delay_sec(float seconds, uint8_t mode) {
uint16_t i = ceil(1000 / DWELL_TIME_STEP * seconds);
while (i-- > 0) {
if (sys.abort) return;
if (sys.abort)
return;
if (mode == DELAY_MODE_DWELL)
protocol_execute_realtime();
else { // DELAY_MODE_SYS_SUSPEND
else { // DELAY_MODE_SYS_SUSPEND
// Execute rt_system() only to avoid nesting suspend loops.
protocol_exec_rt_system();
if (sys.suspend & SUSPEND_RESTART_RETRACT) return; // Bail, if safety door reopens.
if (sys.suspend & SUSPEND_RESTART_RETRACT)
return; // Bail, if safety door reopens.
}
delay(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
delay(DWELL_TIME_STEP); // Delay DWELL_TIME_STEP increment
}
}
// Simple hypotenuse computation function.
float hypot_f(float x, float y) { return (sqrt(x * x + y * y)); }
float hypot_f(float x, float y) {
return (sqrt(x * x + y * y));
}
float convert_delta_vector_to_unit_vector(float* vector) {
uint8_t idx;
float magnitude = 0.0;
float magnitude = 0.0;
for (idx = 0; idx < N_AXIS; idx++) {
if (vector[idx] != 0.0)
magnitude += vector[idx] * vector[idx];
}
magnitude = sqrt(magnitude);
magnitude = sqrt(magnitude);
float inv_magnitude = 1.0 / magnitude;
for (idx = 0; idx < N_AXIS; idx++) vector[idx] *= inv_magnitude;
for (idx = 0; idx < N_AXIS; idx++)
vector[idx] *= inv_magnitude;
return (magnitude);
}
float limit_acceleration_by_axis_maximum(float* unit_vec) {
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
float limit_value = SOME_LARGE_VALUE;
for (idx = 0; idx < N_AXIS; idx++) {
if (unit_vec[idx] != 0) // Avoid divide by zero.
if (unit_vec[idx] != 0) // Avoid divide by zero.
limit_value = MIN(limit_value, fabs(axis_settings[idx]->acceleration->get() / unit_vec[idx]));
}
// The acceleration setting is stored and displayed in units of mm/sec^2,
@@ -151,15 +156,15 @@ float limit_acceleration_by_axis_maximum(float* unit_vec) {
float limit_rate_by_axis_maximum(float* unit_vec) {
uint8_t idx;
float limit_value = SOME_LARGE_VALUE;
float limit_value = SOME_LARGE_VALUE;
for (idx = 0; idx < N_AXIS; idx++) {
if (unit_vec[idx] != 0) // Avoid divide by zero.
if (unit_vec[idx] != 0) // Avoid divide by zero.
limit_value = MIN(limit_value, fabs(axis_settings[idx]->max_rate->get() / unit_vec[idx]));
}
return (limit_value);
}
float map_float(float x, float in_min, float in_max, float out_min, float out_max) { // DrawBot_Badge
float map_float(float x, float in_min, float in_max, float out_min, float out_max) { // DrawBot_Badge
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
@@ -167,7 +172,7 @@ uint32_t map_uint32_t(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
float constrain_float(float in, float min, float max) { // DrawBot_Badge
float constrain_float(float in, float min, float max) { // DrawBot_Badge
if (in < min)
return min;
if (in > max)
@@ -181,7 +186,5 @@ float mapConstrain(float x, float in_min, float in_max, float out_min, float out
}
bool char_is_numeric(char value) {
return (value >= '0' && value <='9');
return (value >= '0' && value <= '9');
}

60
Grbl_Esp32/nuts_bolts.h → Grbl_Esp32/src/NutsBolts.h
View File

@@ -1,5 +1,7 @@
#pragma once
/*
nuts_bolts.h - Header for system level commands and real-time processes
NutsBolts.h - Header for system level commands and real-time processes
Part of Grbl
Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
@@ -18,10 +20,7 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef nuts_bolts_h
#define nuts_bolts_h
#include "config.h"
#include "Config.h"
#define false 0
#define true 1
@@ -31,7 +30,7 @@
// Axis array index values. Must start with 0 and be continuous.
// Note: You set the number of axes used by changing N_AXIS.
// Be sure to define pins or servos in the machine definition file.
#define X_AXIS 0 // Axis indexing value.
#define X_AXIS 0 // Axis indexing value.
#define Y_AXIS 1
#define Z_AXIS 2
#define A_AXIS 3
@@ -41,8 +40,8 @@
#define MAX_AXES 6
#define MAX_GANGED 2
#define PRIMARY_MOTOR 0
#define GANGED_MOTOR 1
#define PRIMARY_MOTOR 0
#define GANGED_MOTOR 1
#define X2_AXIS (X_AXIS + MAX_AXES)
#define Y2_AXIS (Y_AXIS + MAX_AXES)
@@ -53,34 +52,32 @@
// CoreXY motor assignments. DO NOT ALTER.
// NOTE: If the A and B motor axis bindings are changed, this effects the CoreXY equations.
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
#define A_MOTOR X_AXIS // Must be X_AXIS
#define B_MOTOR Y_AXIS // Must be Y_AXIS
// Conversions
#define MM_PER_INCH (25.40)
#define INCH_PER_MM (0.0393701)
#define TICKS_PER_MICROSECOND (F_STEPPER_TIMER/1000000) // Different from AVR version
#define TICKS_PER_MICROSECOND (F_STEPPER_TIMER / 1000000) // Different from AVR version
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_DWELL 0
#define DELAY_MODE_SYS_SUSPEND 1
// Useful macros
#define clear_vector(a) memset(a, 0, sizeof(a))
#define clear_vector_float(a) memset(a, 0.0, sizeof(float)*N_AXIS)
#define clear_vector_float(a) memset(a, 0.0, sizeof(float) * N_AXIS)
// #define clear_vector_long(a) memset(a, 0.0, sizeof(long)*N_AXIS)
#define MAX(a,b) (((a) > (b)) ? (a) : (b)) // changed to upper case to remove conflicts with other libraries
#define MIN(a,b) (((a) < (b)) ? (a) : (b)) // changed to upper case to remove conflicts with other libraries
#define isequal_position_vector(a,b) !(memcmp(a, b, sizeof(float)*N_AXIS))
#define MAX(a, b) (((a) > (b)) ? (a) : (b)) // changed to upper case to remove conflicts with other libraries
#define MIN(a, b) (((a) < (b)) ? (a) : (b)) // changed to upper case to remove conflicts with other libraries
#define isequal_position_vector(a, b) !(memcmp(a, b, sizeof(float) * N_AXIS))
// Bit field and masking macros
//Arduino.h:104:0: note: this is the location of the previous definition
//#define bit(n) (1 << n)
#define bit_true(x,mask) (x) |= (mask)
#define bit_false(x,mask) (x) &= ~(mask)
#define bit_istrue(x,mask) ((x & mask) != 0)
#define bit_isfalse(x,mask) ((x & mask) == 0)
#define bit_true(x, mask) (x) |= (mask)
#define bit_false(x, mask) (x) &= ~(mask)
#define bit_istrue(x, mask) ((x & mask) != 0)
#define bit_isfalse(x, mask) ((x & mask) == 0)
// Read a floating point value from a string. Line points to the input buffer, char_counter
// is the indexer pointing to the current character of the line, while float_ptr is
@@ -100,15 +97,16 @@ float convert_delta_vector_to_unit_vector(float* vector);
float limit_acceleration_by_axis_maximum(float* unit_vec);
float limit_rate_by_axis_maximum(float* unit_vec);
float mapConstrain(float x, float in_min, float in_max, float out_min, float out_max);
float map_float(float x, float in_min, float in_max, float out_min, float out_max);
float mapConstrain(float x, float in_min, float in_max, float out_min, float out_max);
float map_float(float x, float in_min, float in_max, float out_min, float out_max);
uint32_t map_uint32_t(uint32_t x, uint32_t in_min, uint32_t in_max, uint32_t out_min, uint32_t out_max);
float constrain_float(float in, float min, float max);
bool char_is_numeric(char value);
char* trim(char* value);
float constrain_float(float in, float min, float max);
bool char_is_numeric(char value);
char* trim(char* value);
template <class T> void swap(T& a, T& b) {
T c(a); a = b; b = c;
template <class T>
void swap(T& a, T& b) {
T c(a);
a = b;
b = c;
}
#endif

4
Grbl_Esp32/Pins.cpp → Grbl_Esp32/src/Pins.cpp
View File

@@ -1,5 +1,5 @@
#include "grbl.h"
#include "i2s_out.h"
#include "Grbl.h"
#include "I2SOut.h"
String pinName(uint8_t pin) {
if (pin == UNDEFINED_PIN) {

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