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Devt (#628)

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* Fixed various small bugs (#605)

* Fixed various small bugs

* Fixed potential cast bug

* Fixed double reporting of errors

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

* Stallguard tuning (#607)

* Devt (#571)

* Handles Tranimic drivers errors better

- If an unsupported driver is specified, it will give a message and not crash.

* Cleaned up unused files

Got rid of old unipolar files
Got rid of servo axis feature - it is a motor class now
Got rid of solenoid pen feature - never really used and it should be a motor class if it is.

* Fix ENABLE_AUTHENTICATION (#569)

* Fixed authentication code.

* Removed another const cast

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

* Fix step leakage with inverted steps (#570)

* Fix step leakage with inverted steps

* Update build date for merge

Co-authored-by: Bart Dring <bdring@buildlog.net>

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>

* Update platformio.ini

Per PR 583

* Created an enum for mode

* Removing some unused machine defs

* Added test machine definition

* Clean up for PR

* Remove test machine def.

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>

* Basic testing Complete

* Made state variable volatile.

* Homing cycle settings (#613)

* Initial Tests Complete

* Update Grbl.h

* Update variables

Co-authored-by: Mitch Bradley <wmb@firmworks.com>

* fixed dual switches when inverted (#614)

* fixed dual switches when inverted

* Removed debug message

* Cleaning up the machine defs

Removed unused #defines.

* Store coordinate offsets in NVS (#611)

* Store coordinate offsets in NVS

* Handle both old Eeprom formats

* Implementing fixes (#616)

- Stop creating additional tasks when limit_init() gets called again from homing and resets
- Explicitly delete an object that was causing a memory loss.

* Update Grbl.h

* Tweak memory fix and add $H check for $Homing/Cycles

* Fix G28.1 and G30.1

* Update Grbl.h

* Homing cycle defaults (#624)

* Changed to add homing cycle defaults

There needs to be a way to set the homing cycle defaults in a machine definition.
There will likely be a better way to do this in the future.

* Update 10vSpindle.cpp

Had wrong error message

* Fixed typos and removed obsolete #defines

* Probe cleanup (#625)

* Cleanup probing code

* Update Grbl.h

* Update after review

* Update error_codes_en_US.csv

Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com>
Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com>
Co-authored-by: Mitch Bradley <wmb@firmworks.com>
Co-authored-by: Bart Dring <bdring@buildlog.net>
This commit is contained in:
bdring
2020-10-06 13:53:59 -05:00
committed by GitHub
parent 1ccc8752bf
commit e8e4d96759
15 changed files with 109 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
Grbl_Esp32/src/Defaults.h
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@@ -118,6 +118,30 @@
# define DEFAULT_HOMING_SQUARED_AXES 0
#endif
#ifndef DEFAULT_HOMING_CYCLE_0
# define DEFAULT_HOMING_CYCLE_0 bit(Z_AXIS)
#endif
#ifndef DEFAULT_HOMING_CYCLE_1
# define DEFAULT_HOMING_CYCLE_1 (bit(X_AXIS) | bit(Y_AXIS))
#endif
#ifndef DEFAULT_HOMING_CYCLE_2
# define DEFAULT_HOMING_CYCLE_2 0
#endif
#ifndef DEFAULT_HOMING_CYCLE_3
# define DEFAULT_HOMING_CYCLE_3 0
#endif
#ifndef DEFAULT_HOMING_CYCLE_4
# define DEFAULT_HOMING_CYCLE_4 0
#endif
#ifndef DEFAULT_HOMING_CYCLE_5
# define DEFAULT_HOMING_CYCLE_5 0
#endif
// ======== SPINDLE STUFF ====================
#ifndef SPINDLE_TYPE
# define SPINDLE_TYPE SpindleType::NONE
@@ -575,6 +599,10 @@
# define USER_ANALOG_PIN_3 UNDEFINED_PIN
#endif
#ifndef PROBE_PIN
# define PROBE_PIN UNDEFINED_PIN
#endif
#ifndef USER_ANALOG_PIN_0_FREQ
# define USER_ANALOG_PIN_0_FREQ 5000
#endif

9
Grbl_Esp32/src/GCode.cpp
View File

@@ -271,10 +271,11 @@ Error gc_execute_line(char* line, uint8_t client) {
mg_word_bit = ModalGroup::MG1;
break;
case 38: // G38 - probe
#ifndef PROBE_PIN //only allow G38 "Probe" commands if a probe pin is defined.
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "No probe pin defined");
FAIL(Error::GcodeUnsupportedCommand); // [Unsupported G command]
#endif
//only allow G38 "Probe" commands if a probe pin is defined.
if (PROBE_PIN == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "No probe pin defined");
FAIL(Error::GcodeUnsupportedCommand); // [Unsupported G command]
}
// Check for G0/1/2/3/38 being called with G10/28/30/92 on same block.
// * G43.1 is also an axis command but is not explicitly defined this way.
if (axis_command != AxisCommand::None) {

2
Grbl_Esp32/src/Grbl.h
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@@ -23,7 +23,7 @@
// Grbl versioning system
const char* const GRBL_VERSION = "1.3a";
const char* const GRBL_VERSION_BUILD = "20200929";
const char* const GRBL_VERSION_BUILD = "20201004";
//#include <sdkconfig.h>
#include <Arduino.h>

12
Grbl_Esp32/src/Machines/6_pack_Lowrider_stepstick_v1.h
View File

@@ -47,29 +47,27 @@
#define STEPPER_RESET GPIO_NUM_19
// Mosor Socket #1
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
#define X_AXIS_SQUARING
// Mosor Socket #2
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
#define Y_DISABLE_PIN I2SO(7)
#define Y_AXIS_SQUARING
// Mosor Socket #3
// Motor Socket #3
#define Y2_DISABLE_PIN I2SO(8)
#define Y2_DIRECTION_PIN I2SO(9)
#define Y2_STEP_PIN I2SO(10)
// Mosor Socket #4
// Motor Socket #4
#define Z_DIRECTION_PIN I2SO(12)
#define Z_STEP_PIN I2SO(13)
#define Z_DISABLE_PIN I2SO(15)
// Mosor Socket #5
// Motor Socket #5
#define Z2_DISABLE_PIN I2SO(16)
#define Z2_DIRECTION_PIN I2SO(17)
#define Z2_STEP_PIN I2SO(18)

12
Grbl_Esp32/src/Machines/6_pack_MPCNC_stepstick_v1.h
View File

@@ -47,29 +47,27 @@
#define STEPPER_RESET GPIO_NUM_19
// Mosor Socket #1
// Motor Socket #1
#define X_DISABLE_PIN I2SO(0)
#define X_DIRECTION_PIN I2SO(1)
#define X_STEP_PIN I2SO(2)
#define X_AXIS_SQUARING
// Mosor Socket #2
// Motor Socket #2
#define Y_DIRECTION_PIN I2SO(4)
#define Y_STEP_PIN I2SO(5)
#define Y_DISABLE_PIN I2SO(7)
#define Y_AXIS_SQUARING
// Mosor Socket #3
// Motor Socket #3
#define Z_DISABLE_PIN I2SO(8)
#define Z_DIRECTION_PIN I2SO(9)
#define Z_STEP_PIN I2SO(10)
// Mosor Socket #4
// Motor Socket #4
#define X2_DIRECTION_PIN I2SO(12)
#define X2_STEP_PIN I2SO(13)
#define X2_DISABLE_PIN I2SO(15)
// Mosor Socket #5
// Motor Socket #5
#define Y2_DISABLE_PIN I2SO(16)
#define Y2_DIRECTION_PIN I2SO(17)
#define Y2_STEP_PIN I2SO(18)

38
Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h
View File

@@ -26,16 +26,6 @@
#define N_AXIS 3
#ifdef HOMING_CYCLE_0
#undef HOMING_CYCLE_0
#endif
#define HOMING_CYCLE_0 bit(Z_AXIS) // Z first
#ifdef HOMING_CYCLE_1
#undef HOMING_CYCLE_1
#endif
#define HOMING_CYCLE_1 (bit(X_AXIS)|bit(Y_AXIS))
// === Special Features
// I2S (steppers & other output-only pins)
@@ -110,27 +100,27 @@ Socket #5
*/
/*
// 4x Input Module in Socket #1
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define X_LIMIT_PIN GPIO_NUM_33
#define Y_LIMIT_PIN GPIO_NUM_32
#define Z_LIMIT_PIN GPIO_NUM_35
*/
// 4x Input Module in Socket #2
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define X_LIMIT_PIN GPIO_NUM_2
#define Y_LIMIT_PIN GPIO_NUM_25
#define Z_LIMIT_PIN GPIO_NUM_39
// 4x Input Module in Socket #3
// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
#define CONTROL_CYCLE_START_PIN GPIO_NUM_26
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_4
#define CONTROL_RESET_PIN GPIO_NUM_16
#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_27
//#define INVERT_CONTROL_PIN_MASK B0000
// // 4x Input Module in Socket #2
// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
// #define X_LIMIT_PIN GPIO_NUM_2
// #define Y_LIMIT_PIN GPIO_NUM_25
// #define Z_LIMIT_PIN GPIO_NUM_39
// // 4x Input Module in Socket #3
// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
// #define CONTROL_CYCLE_START_PIN GPIO_NUM_26
// #define CONTROL_FEED_HOLD_PIN GPIO_NUM_4
// #define CONTROL_RESET_PIN GPIO_NUM_16
// #define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_27
// //#define INVERT_CONTROL_PIN_MASK B0000
// ================= Setting Defaults ==========================

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

@@ -54,6 +54,9 @@
#define SPINDLE_TYPE SpindleType::NONE
// defaults
#define DEFAULT_HOMING_CYCLE_0 bit(Y_AXIS)
#define DEFAULT_HOMING_CYCLE_1 bit(X_AXIS)
#define DEFAULT_STEP_PULSE_MICROSECONDS 3
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on

9
Grbl_Esp32/src/Machines/test_drive.h
View File

@@ -37,6 +37,15 @@
#define MACHINE_NAME "Test Drive - Demo Only No I/O!"
// This cannot use homing because there are no switches
#ifdef DEFAULT_HOMING_CYCLE_0
#undef DEFAULT_HOMING_CYCLE_0
#endif
#ifdef DEFAULT_HOMING_CYCLE_1
#undef DEFAULT_HOMING_CYCLE_1
#endif
#define SPINDLE_TYPE SpindleType::NONE
#ifdef USE_RMT_STEPS

12
Grbl_Esp32/src/MotionControl.cpp
View File

@@ -375,14 +375,13 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
uint8_t is_probe_away = bit_istrue(parser_flags, GCParserProbeIsAway);
uint8_t is_no_error = bit_istrue(parser_flags, GCParserProbeIsNoError);
sys.probe_succeeded = false; // Re-initialize probe history before beginning cycle.
probe_configure_invert_mask(is_probe_away);
set_probe_direction(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() ^ is_probe_away) { // Check probe pin state.
system_set_exec_alarm(ExecAlarm::ProbeFailInitial);
protocol_execute_realtime();
probe_configure_invert_mask(false); // Re-initialize invert mask before returning.
return GCUpdatePos::None; // Nothing else to do but bail.
return GCUpdatePos::None; // Nothing else to do but bail.
}
// Setup and queue probing motion. Auto cycle-start should not start the cycle.
mc_line(target, pl_data);
@@ -407,9 +406,8 @@ GCUpdatePos mc_probe_cycle(float* target, plan_line_data_t* pl_data, uint8_t par
} else {
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.
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.

45
Grbl_Esp32/src/Probe.cpp
View File

@@ -24,47 +24,40 @@
#include "Grbl.h"
// Inverts the probe pin state depending on user settings and probing cycle mode.
uint8_t probe_invert_mask;
static bool is_probe_away;
// Probe pin initialization routine.
void probe_init() {
#ifdef PROBE_PIN
# ifdef DISABLE_PROBE_PIN_PULL_UP
pinMode(PROBE_PIN, INPUT);
# else
pinMode(PROBE_PIN, INPUT_PULLUP); // Enable internal pull-up resistors. Normal high operation.
# endif
probe_configure_invert_mask(false); // Initialize invert mask.
static bool show_init_msg = true; // used to show message only once.
if (PROBE_PIN != UNDEFINED_PIN) {
#ifdef DISABLE_PROBE_PIN_PULL_UP
pinMode(PROBE_PIN, INPUT);
#else
pinMode(PROBE_PIN, INPUT_PULLUP); // Enable internal pull-up resistors. Normal high operation.
#endif
if (show_init_msg) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Probe on pin %s", pinName(PROBE_PIN).c_str());
show_init_msg = false;
}
}
}
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void probe_configure_invert_mask(uint8_t is_probe_away) {
probe_invert_mask = 0; // Initialize as zero.
if (probe_invert->get()) {
probe_invert_mask ^= PROBE_MASK;
}
if (is_probe_away) {
probe_invert_mask ^= PROBE_MASK;
}
void set_probe_direction(bool is_away) {
is_probe_away = is_away;
}
// Returns the probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state() {
#ifdef PROBE_PIN
return digitalRead(PROBE_PIN) ^ probe_invert_mask;
#else
return false;
#endif
bool probe_get_state() {
return digitalRead(PROBE_PIN) ^ probe_invert->get();
}
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.
// NOTE: This function must be extremely efficient as to not bog down the stepper ISR.
void probe_state_monitor() {
if (probe_get_state()) {
if (probe_get_state() ^ is_probe_away) {
sys_probe_state = PROBE_OFF;
memcpy(sys_probe_position, sys_position, sizeof(sys_position));
bit_true(sys_rt_exec_state, EXEC_MOTION_CANCEL);

8
Grbl_Esp32/src/Probe.h
View File

@@ -30,13 +30,11 @@ const int PROBE_ACTIVE = 1; // Actively watching the input pin.
// Probe pin initialization routine.
void probe_init();
// Called by probe_init() and the mc_probe() routines. Sets up the probe pin invert mask to
// appropriately set the pin logic according to setting for normal-high/normal-low operation
// and the probing cycle modes for toward-workpiece/away-from-workpiece.
void probe_configure_invert_mask(uint8_t is_probe_away);
// setup probing direction G38.2 vs. G38.4
void set_probe_direction(bool is_away);
// Returns probe pin state. Triggered = true. Called by gcode parser and probe state monitor.
uint8_t probe_get_state();
bool probe_get_state();
// Monitors probe pin state and records the system position when detected. Called by the
// stepper ISR per ISR tick.

4
Grbl_Esp32/src/Settings.cpp
View File

@@ -537,6 +537,10 @@ void FlagSetting::setDefault() {
Error FlagSetting::setStringValue(char* s) {
s = trim(s);
Error err = check(s);
if (err != Error::Ok) {
return err;
}
_currentValue = (strcasecmp(s, "on") == 0) || (strcasecmp(s, "true") == 0) || (strcasecmp(s, "enabled") == 0) ||
(strcasecmp(s, "yes") == 0) || (strcasecmp(s, "1") == 0);
// _storedValue is -1, 0, or 1

11
Grbl_Esp32/src/SettingsDefinitions.cpp
View File

@@ -375,9 +375,10 @@ void make_settings() {
spindle_type = new EnumSetting(NULL, EXTENDED, WG, NULL, "Spindle/Type", static_cast<int8_t>(SPINDLE_TYPE), &spindleTypes);
stallguard_debug_mask = new AxisMaskSetting(EXTENDED, WG, NULL, "Report/StallGuard", 0, checkStallguardDebugMask);
const char* homing_names[] = { "Homing/Cycle0", "Homing/Cycle1", "Homing/Cycle2",
"Homing/Cycle3", "Homing/Cycle4", "Homing/Cycle5" };
for (uint8_t i = 0; i < MAX_N_AXIS; i++) {
homing_cycle[i] = new AxisMaskSetting(EXTENDED, WG, NULL, homing_names[i], 0);
}
homing_cycle[0] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle0", DEFAULT_HOMING_CYCLE_0);
homing_cycle[1] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle1", DEFAULT_HOMING_CYCLE_1);
homing_cycle[2] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle2", DEFAULT_HOMING_CYCLE_2);
homing_cycle[3] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle3", DEFAULT_HOMING_CYCLE_3);
homing_cycle[4] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle4", DEFAULT_HOMING_CYCLE_4);
homing_cycle[5] = new AxisMaskSetting(EXTENDED, WG, NULL, "Homing/Cycle5", DEFAULT_HOMING_CYCLE_5);
}

2
Grbl_Esp32/src/Spindles/10vSpindle.cpp
View File

@@ -44,7 +44,7 @@ namespace Spindles {
#endif
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: BESC output pin not defined");
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Warning: Spindle output pin not defined");
return; // We cannot continue without the output pin
}

1
doc/csv/error_codes_en_US.csv
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@@ -16,6 +16,7 @@
"15","Travel exceeded","Jog target exceeds machine travel. Jog command has been ignored."
"16","Invalid jog command","Jog command has no '=' or contains prohibited g-code."
"17","Setting disabled","Laser mode requires PWM output."
"18","No Homing/Cycle defined in settings","Set some $homing/CycleX= Settings"
"20","Unsupported command","Unsupported or invalid g-code command found in block."
"21","Modal group violation","More than one g-code command from same modal group found in block."
"22","Undefined feed rate","Feed rate has not yet been set or is undefined."
1 Error Code in v1.1+ Error Message in v1.0- Error Description
16 15 Travel exceeded Jog target exceeds machine travel. Jog command has been ignored.
17 16 Invalid jog command Jog command has no '=' or contains prohibited g-code.
18 17 Setting disabled Laser mode requires PWM output.
19 18 No Homing/Cycle defined in settings Set some $homing/CycleX= Settings
20 20 Unsupported command Unsupported or invalid g-code command found in block.
21 21 Modal group violation More than one g-code command from same modal group found in block.
22 22 Undefined feed rate Feed rate has not yet been set or is undefined.