mirror/Grbl_Esp32
1
0
Fork 0
mirror of https://github.com/bdring/Grbl_Esp32.git synced 2025-09-03 03:13:25 +02:00
Code Issues Releases Wiki Activity

Added single axis homing to ganged axis machine

Browse Source 
- You can now single axis home ganged machines
- Added comments to due to recent questions
This commit is contained in:
bdring
2020-02-16 09:34:46 -06:00
parent fc798c9946
commit f5ee67b4cd
5 changed files with 38 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
Grbl_Esp32/config.h
View File

@@ -46,13 +46,17 @@ Some features should not be changed. See notes below.
// See Github repo wiki for more details
#define CPU_MAP_TEST_DRIVE // these are defined in cpu_map.h
#define N_AXIS 3 // Number of axes defined (valid range: 3 to 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
#define N_AXIS 3
#define VERBOSE_HELP // adds addition help info, but could confuse some senders
#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
#define BAUD_RATE 115200
// OK to change, but the ESP32 boot text is 115200, so you will not see that is your
// serial monitor, sender, etc uses a different value than 115200
#define BAUD_RATE 115200
#define ENABLE_BLUETOOTH // enable bluetooth

9
Grbl_Esp32/cpu_map.h
View File

@@ -585,10 +585,6 @@
#endif
#define USE_GANGED_AXES // allow two motors on an axis
#ifdef HOMING_SINGLE_AXIS_COMMANDS
#undef HOMING_SINGLE_AXIS_COMMANDS
#endif
#define X_STEP_PIN GPIO_NUM_12
#define X_STEP_B_PIN GPIO_NUM_22 // ganged motor
@@ -688,7 +684,7 @@
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z,negative X,Y
#define DEFAULT_HOMING_FEED_RATE 500.0 // mm/min
#define DEFAULT_HOMING_FEED_RATE 100.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 200.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 2.0 // mm
@@ -840,11 +836,10 @@
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#ifndef USE_SERVO_AXES // maybe set in config.h
#ifndef USE_SERVO_AXES // may be set in config.h
#define USE_SERVO_AXES
#endif
#define SERVO_Z_PIN GPIO_NUM_27
#define SERVO_Z_CHANNEL_NUM 5
#define SERVO_Z_RANGE_MIN 0.0

2
Grbl_Esp32/grbl.h
View File

@@ -20,7 +20,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20200215"
#define GRBL_VERSION_BUILD "20200216"
//#include <sdkconfig.h>
#include <Arduino.h>

17
Grbl_Esp32/motion_control.cpp
View File

@@ -263,8 +263,25 @@ void mc_homing_cycle(uint8_t cycle_mask)
// Perform homing routine. NOTE: Special motion case. Only system reset works.
#ifdef HOMING_SINGLE_AXIS_COMMANDS
/*
if (cycle_mask) { limits_go_home(cycle_mask); } // Perform homing cycle based on mask.
else
*/
if (cycle_mask) {
if (! axis_is_squared(cycle_mask))
limits_go_home(cycle_mask); // Homing cycle 0
else {
ganged_mode = SQUARING_MODE_DUAL;
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_A;
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_B;
limits_go_home(cycle_mask);
ganged_mode = SQUARING_MODE_DUAL; // always return to dual
}
} // Perform homing cycle based on mask.
else
#endif
{
// Search to engage all axes limit switches at faster homing seek rate.

15
Grbl_Esp32/system.cpp
View File

@@ -243,10 +243,17 @@ uint8_t system_execute_line(char *line, uint8_t client)
case 'X': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_X); break;
case 'Y': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_Y); break;
case 'Z': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_Z); break;
case 'A': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_A); break;
case 'B': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_B); break;
case 'C': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_C); break;
default: return(STATUS_INVALID_STATEMENT);
#if (N_AXIS > 3) // make sure axis is defined
case 'A': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_A); break;
#endif
#if (N_AXIS > 4) // make sure axis is defined
case 'B': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_B); break;
#endif
#if (N_AXIS > 5) // make sure axis is defined
case 'C': sys.state = STATE_HOMING; mc_homing_cycle(HOMING_CYCLE_C); break;
#endif
default:
return(STATUS_INVALID_STATEMENT);
}
#endif
} else { return(STATUS_INVALID_STATEMENT); }