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Applied UART configurable to TrinamicUart

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This commit is contained in:
Mitch Bradley
2021-06-26 12:09:34 -10:00
parent 2f06f1a2af
commit ea8aa1c921
4 changed files with 11 additions and 40 deletions
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6
Grbl_Esp32/src/Motors/Dynamixel2.cpp
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@@ -31,7 +31,7 @@
#include "../Limits.h" // limitsMinPosition
namespace Motors {
bool Motors::Dynamixel2::uart_ready = false;
bool Motors::Dynamixel2::_uart_started = false;
uint8_t Motors::Dynamixel2::ids[MAX_N_AXIS][2] = { { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 }, { 0, 0 } };
void Dynamixel2::init() {
@@ -40,7 +40,7 @@ namespace Motors {
ids[_axis_index][dual_axis_index()] = _id; // learn all the ids
if (!uart_ready) {
if (!_uart_started) {
if (_uart->baud != 1000000) {
info_serial("Warning: The baud rate is %d. Dynamixels typically use 1000000 baud.");
}
@@ -54,7 +54,7 @@ namespace Motors {
info_serial("Dynamixel:");
_uart->config_message();
uart_ready = true;
_uart_started = true;
}
read_settings();

3
Grbl_Esp32/src/Motors/Dynamixel2.h
View File

@@ -62,7 +62,7 @@ namespace Motors {
Uart* _uart = nullptr;
static const int DYNAMIXEL_BAUD_RATE = 1000000;
static bool _uart_started;
static const int DXL_RESPONSE_WAIT_TICKS = 20; // how long to wait for a response
@@ -114,7 +114,6 @@ namespace Motors {
void set_disable(bool disable) override;
void update() override;
static bool uart_ready;
static uint8_t ids[MAX_N_AXIS][2];
// Configuration handlers:

21
Grbl_Esp32/src/Motors/TrinamicUartDriver.cpp
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@@ -32,8 +32,6 @@
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
#include <atomic>
Uart tmc_serial(TMC_UART);
namespace Motors {
bool TrinamicUartDriver::_uart_started = false;
@@ -43,10 +41,9 @@ namespace Motors {
void TrinamicUartDriver::init() {
if (!_uart_started) {
#ifdef LATER
tmc_serial.setPins(TMC_UART_TX, TMC_UART_RX);
#endif
tmc_serial.begin(115200, UartData::Bits8, UartStop::Bits1, UartParity::None);
_uart->begin();
info_serial("Trinamic:");
_uart->config_message();
_uart_started = true;
}
_has_errors = hw_serial_init();
@@ -89,7 +86,7 @@ namespace Motors {
bool TrinamicUartDriver::hw_serial_init() {
if (_driver_part_number == 2209) {
tmcstepper = new TMC2209Stepper(&tmc_serial, _r_sense, _addr);
tmcstepper = new TMC2209Stepper(_uart, _r_sense, _addr);
return false;
}
info_serial("Unsupported Trinamic motor p/n:%d", _driver_part_number);
@@ -100,20 +97,12 @@ namespace Motors {
This is the startup message showing the basic definition.
*/
void TrinamicUartDriver::config_message() { //TODO: The RX/TX pin could be added to the msg.
info_serial("%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s UART%d Rx:%s Tx:%s Addr:%d R:%0.3f %s",
info_serial("%s motor Trinamic TMC%d Step:%s Dir:%s Disable:%s Addr:%d R:%0.3f %s",
reportAxisNameMsg(axis_index(), dual_axis_index()),
_driver_part_number,
_step_pin.name().c_str(),
_dir_pin.name().c_str(),
_disable_pin.name().c_str(),
TMC_UART,
#ifdef LATER
pinName(TMC_UART_RX),
pinName(TMC_UART_TX),
#else
0,
0,
#endif
_addr,
_r_sense,
reportAxisLimitsMsg(axis_index()));

21
Grbl_Esp32/src/Motors/TrinamicUartDriver.h
View File

@@ -25,31 +25,14 @@
#include <cstdint>
const float TMC2208_RSENSE_DEFAULT = 0.11f;
const float TMC2209_RSENSE_DEFAULT = 0.11f;
#ifndef TMC_UART
# define TMC_UART UART_NUM_2
#endif
#ifdef LATER
# ifndef TMC_UART_RX
# define TMC_UART_RX UNDEFINED_PIN
# endif
# ifndef TMC_UART_TX
# define TMC_UART_TX UNDEFINED_PIN
# endif
#endif
class TMC2209Stepper; // Forward declaration
extern Uart tmc_serial;
namespace Motors {
class TrinamicUartDriver : public TrinamicBase {
private:
Uart* _uart = nullptr;
static bool _uart_started;
TMC2209Stepper* tmcstepper; // all other driver types are subclasses of this one