mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-09-02 19:02:35 +02:00
Cleanup and some RcServo stuff
This commit is contained in:
bdring
@@ -249,5 +249,9 @@
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#define Z_DIRECTION_PIN GPIO_NUM_32
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#define Z_CS_PIN X_CS_PIN // Daisy Chain, all share same CS pin
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#define A_SERVO
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#define A_SERVO_PIN GPIO_NUM_33
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#define SPINDLE_TYPE SPINDLE_TYPE_NONE
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@@ -41,6 +41,7 @@
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#include "TrinamicDriverClass.cpp"
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#include "StandardStepperClass.cpp"
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#include "UnipolarMotorClass.cpp"
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#include "RcServoClass.cpp"
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Motor* myMotor[6][2]; // number of axes (normal and ganged)
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static TaskHandle_t readSgTaskHandle = 0; // for realtime stallguard data diaplay
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@@ -60,130 +61,164 @@ void init_motors() {
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// this WILL be done better with settings
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#ifdef X_TRINAMIC_DRIVER
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myMotor[X_AXIS][0] = new TrinamicDriver(X_AXIS, X_STEP_PIN, X_DIRECTION_PIN, X_TRINAMIC_DRIVER, X_RSENSE, X_CS_PIN, get_next_trinamic_driver_index());
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#else
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#ifdef X_UNIPOLAR
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#elif defined(X_SERVO)
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myMotor[X_AXIS][0] = new RcServo(X_AXIS, X_SERVO_PIN);
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#elif defined(X_UNIPOLAR)
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myMotor[X_AXIS][0] = new UnipolarMotor(X_AXIS, X_PIN_PHASE_0, X_PIN_PHASE_1, X_PIN_PHASE_2, X_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#else
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#ifdef X_STEP_PIN
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myMotor[X_AXIS][0] = new StandardStepper(X_AXIS, X_STEP_PIN, X_DIRECTION_PIN);
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#else
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myMotor[X_AXIS][0] = new Nullmotor();
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#endif
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#endif
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#elif defined(X_STEP_PIN)
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myMotor[X_AXIS][0] = new StandardStepper(X_AXIS, X_STEP_PIN, X_DIRECTION_PIN);
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#else
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myMotor[X_AXIS][0] = new Nullmotor();
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#endif
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#ifdef X2_TRINAMIC_DRIVER
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myMotor[X_AXIS][1] = new TrinamicDriver(X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN, X2_TRINAMIC_DRIVER, X2_RSENSE, X2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(X2_SERVO)
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myMotor[X_AXIS][1] = new RcServo(X2_AXIS, X2_SERVO_PIN);
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#elif defined(X_UNIPOLAR)
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myMotor[X_AXIS][1] = new UnipolarMotor(X2_AXIS, X2_PIN_PHASE_0, X2_PIN_PHASE_1, X2_PIN_PHASE_2, X2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(X2_STEP_PIN)
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myMotor[X_AXIS][1] = new StandardStepper(X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN);
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#else
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#ifdef X2_STEP_PIN
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myMotor[X_AXIS][1] = new StandardStepper(X2_AXIS, X2_STEP_PIN, X2_DIRECTION_PIN);
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#else
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myMotor[X_AXIS][1] = new Nullmotor();
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#endif
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myMotor[X_AXIS][1] = new Nullmotor();
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#endif
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// this WILL be done better with settings
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#ifdef Y_TRINAMIC_DRIVER
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myMotor[Y_AXIS][0] = new TrinamicDriver(Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN, Y_TRINAMIC_DRIVER, Y_RSENSE, Y_CS_PIN, get_next_trinamic_driver_index());
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#else
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#ifdef Y_UNIPOLAR
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#elif defined(Y_SERVO)
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myMotor[Y_AXIS][0] = new RcServo(Y_AXIS, Y_SERVO_PIN);
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#elif defined(Y_UNIPOLAR)
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myMotor[Y_AXIS][0] = new UnipolarMotor(Y_AXIS, Y_PIN_PHASE_0, Y_PIN_PHASE_1, Y_PIN_PHASE_2, Y_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#else
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#ifdef Y_STEP_PIN
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myMotor[Y_AXIS][0] = new StandardStepper(Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN);
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#else
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myMotor[Y_AXIS][0] = new Nullmotor();
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#endif
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#endif
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#elif defined(Y_STEP_PIN)
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myMotor[Y_AXIS][0] = new StandardStepper(Y_AXIS, Y_STEP_PIN, Y_DIRECTION_PIN);
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#else
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myMotor[Y_AXIS][0] = new Nullmotor();
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#endif
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#ifdef Y2_TRINAMIC_DRIVER
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myMotor[Y_AXIS][1] = new TrinamicDriver(Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN, Y2_TRINAMIC_DRIVER, Y2_RSENSE, Y2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(Y2_SERVO)
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myMotor[Y_AXIS][1] = new RcServo(Y2_AXIS, Y2_SERVO_PIN);
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#elif defined(Y2_UNIPOLAR)
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myMotor[Y_AXIS][1] = new UnipolarMotor(Y2_AXIS, Y2_PIN_PHASE_0, Y2_PIN_PHASE_1, Y2_PIN_PHASE_2, Y2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(Y2_STEP_PIN)
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myMotor[Y_AXIS][1] = new StandardStepper(Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN);
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#else
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#ifdef Y2_STEP_PIN
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myMotor[Y_AXIS][1] = new StandardStepper(Y2_AXIS, Y2_STEP_PIN, Y2_DIRECTION_PIN);
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#else
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myMotor[Y_AXIS][1] = new Nullmotor();
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#endif
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myMotor[Y_AXIS][1] = new Nullmotor();
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#endif
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// this WILL be done better with settings
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#ifdef Z_TRINAMIC_DRIVER
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myMotor[Z_AXIS][0] = new TrinamicDriver(Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN, Z_TRINAMIC_DRIVER, Z_RSENSE, Z_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(Z_SERVO)
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myMotor[Z_AXIS][0] = new RcServo(Z_AXIS, Z_SERVO_PIN);
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#elif defined(Z_UNIPOLAR)
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myMotor[Z_AXIS][0] = new UnipolarMotor(Z_AXIS, Z_PIN_PHASE_0, Z_PIN_PHASE_1, Z_PIN_PHASE_2, Z_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(Z_STEP_PIN)
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myMotor[Z_AXIS][0] = new StandardStepper(Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN);
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#else
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#ifdef Z_STEP_PIN
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myMotor[Z_AXIS][0] = new StandardStepper(Z_AXIS, Z_STEP_PIN, Z_DIRECTION_PIN);
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#else
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myMotor[Z_AXIS][0] = new Nullmotor();
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#endif
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myMotor[Z_AXIS][0] = new Nullmotor();
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#endif
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#ifdef Z2_TRINAMIC_DRIVER
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myMotor[Z_AXIS][1] = new TrinamicDriver(Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN, Z2_TRINAMIC_DRIVER, Z2_RSENSE, Z2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(Z2_SERVO)
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myMotor[Z_AXIS][1] = new RcServo(Z2_AXIS, Z2_SERVO_PIN);
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#elif defined(Z2_UNIPOLAR)
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myMotor[Z_AXIS][1] = new UnipolarMotor(Z2_AXIS, Z2_PIN_PHASE_0, Z2_PIN_PHASE_1, Z2_PIN_PHASE_2, Z2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(Z2_STEP_PIN)
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myMotor[Z_AXIS][1] = new StandardStepper(Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN);
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#else
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#ifdef Z2_STEP_PIN
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myMotor[Z_AXIS][1] = new StandardStepper(Z2_AXIS, Z2_STEP_PIN, Z2_DIRECTION_PIN);
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#else
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myMotor[Z_AXIS][1] = new Nullmotor();
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#endif
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myMotor[Z_AXIS][1] = new Nullmotor();
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#endif
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// this WILL be done better with settings
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#ifdef A_TRINAMIC_DRIVER
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myMotor[A_AXIS][0] = new TrinamicDriver(A_AXIS, A_STEP_PIN, A_DIRECTION_PIN, A_TRINAMIC_DRIVER, A_RSENSE, A_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(A_SERVO)
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myMotor[A_AXIS][0] = new RcServo(A_AXIS, A_SERVO_PIN);
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#elif defined(A_UNIPOLAR)
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myMotor[A_AXIS][0] = new UnipolarMotor(A_AXIS, A_PIN_PHASE_0, A_PIN_PHASE_1, A_PIN_PHASE_2, A_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(A_STEP_PIN)
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myMotor[A_AXIS][0] = new StandardStepper(A_AXIS, A_STEP_PIN, A_DIRECTION_PIN);
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#else
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#ifdef A_STEP_PIN
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myMotor[A_AXIS][0] = new StandardStepper(A_AXIS, A_STEP_PIN, A_DIRECTION_PIN);
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#else
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myMotor[A_AXIS][0] = new Nullmotor();
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#endif
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myMotor[A_AXIS][0] = new Nullmotor();
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#endif
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#ifdef A2_TRINAMIC_DRIVER
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myMotor[A_AXIS][1] = new TrinamicDriver(A_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN, A2_TRINAMIC_DRIVER, A2_RSENSE, A2_CS_PIN, get_next_trinamic_driver_index());
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myMotor[A_AXIS][1] = new TrinamicDriver(A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN, A2_TRINAMIC_DRIVER, A2_RSENSE, A2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(A2_SERVO)
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myMotor[A_AXIS][1] = new RcServo(A2_AXIS, A2_SERVO_PIN);
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#elif defined(A2_UNIPOLAR)
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myMotor[A_AXIS][1] = new UnipolarMotor(A2_AXIS, A2_PIN_PHASE_0, A2_PIN_PHASE_1, A2_PIN_PHASE_2, A2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(A2_STEP_PIN)
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myMotor[A_AXIS][1] = new StandardStepper(A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN);
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#else
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#ifdef A2_STEP_PIN
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myMotor[A_AXIS][1] = new StandardStepper(A2_AXIS, A2_STEP_PIN, A2_DIRECTION_PIN);
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#else
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myMotor[A_AXIS][1] = new Nullmotor();
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#endif
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myMotor[A_AXIS][1] = new Nullmotor();
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#endif
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// this WILL be done better with settings
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#ifdef B_TRINAMIC_DRIVER
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myMotor[B_AXIS][0] = new TrinamicDriver(B_AXIS, B_STEP_PIN, B_DIRECTION_PIN, B_TRINAMIC_DRIVER, B_RSENSE, B_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(B_SERVO)
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myMotor[B_AXIS][0] = new RcServo(B_AXIS, B_SERVO_PIN);
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#elif defined(B_UNIPOLAR)
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myMotor[B_AXIS][0] = new UnipolarMotor(B_AXIS, B_PIN_PHASE_0, B_PIN_PHASE_1, B_PIN_PHASE_2, B_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(B_STEP_PIN)
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myMotor[B_AXIS][0] = new StandardStepper(B_AXIS, B_STEP_PIN, B_DIRECTION_PIN);
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#else
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#ifdef B_STEP_PIN
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myMotor[B_AXIS][0] = new StandardStepper(B_AXIS, B_STEP_PIN, B_DIRECTION_PIN);
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#else
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myMotor[B_AXIS][0] = new Nullmotor();
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#endif
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#endif
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#ifdef B2_TRINAMIC_DRIVER
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myMotor[B_AXIS][1] = new TrinamicDriver(B_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN, B2_TRINAMIC_DRIVER, B2_RSENSE, B2_CS_PIN, get_next_trinamic_driver_index());
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#else
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#ifdef B2_STEP_PIN
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myMotor[B_AXIS][1] = new StandardStepper(B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN);
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#else
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myMotor[B_AXIS][1] = new Nullmotor();
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#endif
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myMotor[B_AXIS][0] = new Nullmotor();
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#endif
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#ifdef B2_TRINAMIC_DRIVER
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myMotor[B_AXIS][1] = new TrinamicDriver(B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN, B2_TRINAMIC_DRIVER, B2_RSENSE, B2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(B2_SERVO)
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myMotor[B_AXIS][1] = new RcServo(B2_AXIS, B2_SERVO_PIN);
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#elif defined(B2_UNIPOLAR)
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myMotor[B_AXIS][1] = new UnipolarMotor(B2_AXIS, B2_PIN_PHASE_0, B2_PIN_PHASE_1, B2_PIN_PHASE_2, B2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(B2_STEP_PIN)
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myMotor[B_AXIS][1] = new StandardStepper(B2_AXIS, B2_STEP_PIN, B2_DIRECTION_PIN);
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#else
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myMotor[B_AXIS][1] = new Nullmotor();
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#endif
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// this WILL be done better with settings
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#ifdef C_TRINAMIC_DRIVER
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myMotor[C_AXIS][0] = new TrinamicDriver(C_AXIS, C_STEP_PIN, C_DIRECTION_PIN, C_TRINAMIC_DRIVER, C_RSENSE, C_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(C_SERVO)
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myMotor[C_AXIS][0] = new RcServo(C_AXIS, C_SERVO_PIN);
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#elif defined(C_UNIPOLAR)
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myMotor[C_AXIS][0] = new UnipolarMotor(C_AXIS, C_PIN_PHASE_0, C_PIN_PHASE_1, C_PIN_PHASE_2, C_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(C_STEP_PIN)
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myMotor[C_AXIS][0] = new StandardStepper(C_AXIS, C_STEP_PIN, C_DIRECTION_PIN);
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#else
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#ifdef C_STEP_PIN
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myMotor[C_AXIS][0] = new StandardStepper(C_AXIS, C_STEP_PIN, C_DIRECTION_PIN);
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#else
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myMotor[C_AXIS][0] = new Nullmotor();
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#endif
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myMotor[C_AXIS][0] = new Nullmotor();
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#endif
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#ifdef C2_TRINAMIC_DRIVER
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myMotor[C_AXIS][1] = new TrinamicDriver(C_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN, C2_TRINAMIC_DRIVER, C2_RSENSE, C2_CS_PIN, get_next_trinamic_driver_index());
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myMotor[C_AXIS][1] = new TrinamicDriver(C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN, C2_TRINAMIC_DRIVER, C2_RSENSE, C2_CS_PIN, get_next_trinamic_driver_index());
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#elif defined(C2_SERVO)
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myMotor[C_AXIS][1] = new RcServo(C2_AXIS, C2_SERVO_PIN);
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#elif defined(C2_UNIPOLAR)
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myMotor[C_AXIS][1] = new UnipolarMotor(C2_AXIS, C2_PIN_PHASE_0, C2_PIN_PHASE_1, C2_PIN_PHASE_2, C2_PIN_PHASE_3);
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motor_class_steps = true; // could be moved to class
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#elif defined(C2_STEP_PIN)
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myMotor[C_AXIS][1] = new StandardStepper(C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN);
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#else
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#ifdef C2_STEP_PIN
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myMotor[C_AXIS][1] = new StandardStepper(C2_AXIS, C2_STEP_PIN, C2_DIRECTION_PIN);
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#else
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myMotor[C_AXIS][1] = new Nullmotor();
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#endif
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myMotor[C_AXIS][1] = new Nullmotor();
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#endif
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for (uint8_t axis = X_AXIS; axis < N_AXIS; axis++) {
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@@ -98,12 +98,8 @@ class Motor {
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uint8_t dual_axis_index; // 0 = primary 1=ganged
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uint8_t is_active = false;
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bool _is_homing;
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char _axis_name[10];
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char _axis_name[10];// this the name to use when reporting like "X" or "X2"
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};
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@@ -172,6 +168,22 @@ class UnipolarMotor : public Motor {
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bool _enabled;
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};
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class RcServo : public Motor {
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public:
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RcServo();
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RcServo(uint8_t axis_index, uint8_t pwm_pin);
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void config_message();
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void init();
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void _write_pwm(uint32_t duty);
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void set_disable(bool disable);
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uint8_t _pwm_pin;
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uint8_t _channel_num;
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uint32_t _current_pwm_duty;
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void set_location();
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};
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98
Grbl_Esp32/Motors/RcServoClass.cpp
Normal file
98
Grbl_Esp32/Motors/RcServoClass.cpp
Normal file
@@ -0,0 +1,98 @@
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/*
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StandardStepperClass.cpp
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This is used for a stepper motor that just requires step and direction
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pins.
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TODO: Add an enable pin
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Part of Grbl_ESP32
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2020 - Bart Dring
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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/>.
|
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|
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*/
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// this is the pulse range of a the servo. Typical servos are 0.001 to 0.002 seconds
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// some servos have a wider range. You can adjust this here or in the calibration feature
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#define SERVO_MIN_PULSE_SEC 0.001 // min pulse in seconds
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#define SERVO_MAX_PULSE_SEC 0.002 // max pulse in seconds
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#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 20.0 // Hz This is the task frequency
|
||||
|
||||
#define SERVO_HOMING_OFF 0 // servo is off during homing
|
||||
#define SERVO_HOMING_TARGET 1 // servo is send to a location during homing
|
||||
|
||||
RcServo :: RcServo() {
|
||||
|
||||
}
|
||||
|
||||
RcServo :: RcServo(uint8_t axis_index, uint8_t pwm_pin) {
|
||||
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;
|
||||
set_axis_name();
|
||||
init();
|
||||
config_message();
|
||||
is_active = true; // as opposed to NullMotors, this is a real motor
|
||||
}
|
||||
|
||||
void RcServo :: init() {
|
||||
_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;
|
||||
|
||||
}
|
||||
|
||||
void RcServo :: config_message() {
|
||||
grbl_msg_sendf(CLIENT_SERIAL,
|
||||
MSG_LEVEL_INFO,
|
||||
"%s Axis RC Servo motor PWM:%d",
|
||||
_axis_name,
|
||||
_pwm_pin);
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
ledcWrite(_channel_num, duty);
|
||||
}
|
||||
|
||||
// sets the PWM to zero. This allows most servos to be manually moved
|
||||
void RcServo::set_disable(bool disable) {
|
||||
if (disable)
|
||||
_write_pwm(0);
|
||||
}
|
||||
|
||||
@@ -31,7 +31,7 @@ StandardStepper :: StandardStepper(uint8_t axis_index, gpio_num_t step_pin, uint
|
||||
this->dual_axis_index = axis_index < MAX_AXES ? 0 : 1; // 0 = primary 1 = ganged
|
||||
this->step_pin = step_pin;
|
||||
this->dir_pin = dir_pin;
|
||||
|
||||
set_axis_name();
|
||||
init();
|
||||
config_message();
|
||||
}
|
||||
@@ -87,20 +87,11 @@ void StandardStepper :: init_step_dir_pins() {
|
||||
}
|
||||
|
||||
|
||||
void StandardStepper :: config_message() {
|
||||
char ganged[3];
|
||||
|
||||
if (dual_axis_index) {
|
||||
strcpy(ganged, "2");
|
||||
} else {
|
||||
strcpy(ganged, "");
|
||||
}
|
||||
|
||||
void StandardStepper :: config_message() {
|
||||
grbl_msg_sendf(CLIENT_SERIAL,
|
||||
MSG_LEVEL_INFO,
|
||||
"%c%s Axis standard stepper motor Step:%d Dir:%d",
|
||||
report_get_axis_letter(axis_index),
|
||||
ganged,
|
||||
"%s Axis standard stepper motor Step:%d Dir:%d",
|
||||
_axis_name,
|
||||
step_pin,
|
||||
dir_pin);
|
||||
}
|
||||
|
||||
@@ -42,6 +42,7 @@ TrinamicDriver :: TrinamicDriver( uint8_t axis_index,
|
||||
}
|
||||
|
||||
void TrinamicDriver :: init() {
|
||||
set_axis_name();
|
||||
if (_driver_part_number == 2130)
|
||||
tmcstepper = new TMC2130Stepper(cs_pin, _r_sense, spi_index);
|
||||
else if (_driver_part_number == 5160)
|
||||
@@ -50,7 +51,7 @@ void TrinamicDriver :: init() {
|
||||
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Trinamic unsupported p/n:%d", _driver_part_number);
|
||||
return;
|
||||
}
|
||||
set_axis_name();
|
||||
|
||||
config_message();
|
||||
// TODO step pins
|
||||
init_step_dir_pins(); // from StandardStepper
|
||||
|
||||
@@ -13,6 +13,7 @@ UnipolarMotor :: UnipolarMotor(uint8_t axis_index, uint8_t pin_phase0, uint8_t p
|
||||
|
||||
_half_step = true; // TODO read from settings ... microstep > 1 = half step
|
||||
|
||||
set_axis_name();
|
||||
init();
|
||||
config_message();
|
||||
}
|
||||
@@ -28,8 +29,8 @@ void UnipolarMotor :: init() {
|
||||
void UnipolarMotor :: config_message() {
|
||||
grbl_msg_sendf(CLIENT_SERIAL,
|
||||
MSG_LEVEL_INFO,
|
||||
"%c Axis unipolar stepper motor Ph0:%d Ph1:%d Ph2:%d Ph3:%d",
|
||||
report_get_axis_letter(axis_index),
|
||||
"%s Axis unipolar stepper motor Ph0:%d Ph1:%d Ph2:%d Ph3:%d",
|
||||
_axis_name,
|
||||
_pin_phase0,
|
||||
_pin_phase1,
|
||||
_pin_phase2,
|
||||
|
||||
Reference in New Issue
Block a user