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Merge remote-tracking branch 'upstream/Devt' into Devt

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This commit is contained in:
odaki
2019-10-07 00:50:59 +09:00
parent 873d555a25 92470ead27
commit f9e284ec68
13 changed files with 269 additions and 283 deletions
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6
Grbl_Esp32/config.h
View File

@@ -193,6 +193,12 @@ Some features should not be changed. See notes below.
// define to force Grbl to always set the machine origin at the homed location despite switch orientation.
// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
// Uncomment this define to force Grbl to always set the machine origin at minimum travel positions of
// the axes. Note: The $23 setting determines the direction of travel during homing. If an axes homes towards the
// minimum, it will set the machine position to 0. If it homes towards the maximum it will set the
// machine position to the max travel ($13x), minus the switch pull off ($27).
// #define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// 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

433
Grbl_Esp32/cpu_map.h
View File

@@ -546,7 +546,7 @@
#ifdef CPU_MAP_POLAR_COASTER // The Buildlog.net pen polar coaster controller V1
#define CPU_MAP_NAME "CPU_MAP_POLAR_COASTER"
#define USE_KINEMATICS
#define USE_KINEMATICS
#define FWD_KINEMATICS_REPORTING // report in cartesian
#include "polar_coaster.h"
@@ -913,179 +913,114 @@
#endif
#ifdef CPU_MAP_MPCNC_V1P2
#ifdef CPU_MAP_MPCNC // all versions...select below
// This is the CPU Map for the Buildlog.net MPCNC controller
// uncomment ONE of the following versions
//#define V1P1
#define V1P2 // works for V1.2.1 as well
#ifdef V1P1
#define CPU_MAP_NAME "CPU_MAP_MPCNC_V1P1"
#else // V1P2
#define CPU_MAP_NAME "CPU_MAP_MPCNC_V1P2"
#endif
// switch to the correct default settings
#ifdef DEFAULTS_GENERIC
#undef DEFAULTS_GENERIC
#endif
#define DEFAULTS_MPCNC
// switch to the correct default settings
#ifdef DEFAULTS_GENERIC
#undef DEFAULTS_GENERIC
#endif
#define DEFAULTS_MPCNC
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_12
#define X_STEP_B_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_12
#define X_STEP_B_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING
#define Y_STEP_PIN GPIO_NUM_14
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_27
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Z_DIRECTION_PIN GPIO_NUM_33
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#define Y_STEP_PIN GPIO_NUM_14
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_27
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Z_DIRECTION_PIN GPIO_NUM_33
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
// Note: if you use PWM rather than relay, you could map GPIO_NUM_2 to mist or flood
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
// Note: if you use PWM rather than relay, you could map GPIO_NUM_2 to mist or flood
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#ifdef V1P1
#define SPINDLE_PWM_PIN GPIO_NUM_17
#else // V1p2
#define SPINDLE_PWM_PIN GPIO_NUM_2
#else
#define SPINDLE_PWM_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif
#define SPINDLE_PWM_CHANNEL 0
// PWM Generator is based on 80,000,000 Hz counter
// Therefor the freq determines the resolution
// 80,000,000 / freq = max resolution
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
// Relay can be used for Spindle or Coolant
//#define COOLANT_FLOOD_PIN GPIO_NUM_2
#define X_LIMIT_PIN GPIO_NUM_17
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_15
#define LIMIT_MASK B111
#endif
#else
#define SPINDLE_PWM_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif
#define SPINDLE_PWM_CHANNEL 0
// PWM Generator is based on 80,000,000 Hz counter
// Therefor the freq determines the resolution
// 80,000,000 / freq = max resolution
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
// Relay can be used for spindle or either coolant
//#define COOLANT_FLOOD_PIN GPIO_NUM_2
//#define COOLANT_MIST_PIN GPIO_NUM_2
#ifdef V1P1 //v1p1
#define X_LIMIT_PIN GPIO_NUM_2
#else
#define X_LIMIT_PIN GPIO_NUM_17
#endif
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_15
#define LIMIT_MASK B111
#ifdef V1P2
#ifndef ENABLE_SOFTWARE_DEBOUNCE // V1P2 does not have R/C filters
#define ENABLE_SOFTWARE_DEBOUNCE
#endif
#define PROBE_PIN GPIO_NUM_35
// The default value in config.h is wrong for this controller
#ifdef INVERT_CONTROL_PIN_MASK
#undef INVERT_CONTROL_PIN_MASK
#endif
#define INVERT_CONTROL_PIN_MASK B1110
// Note: defualt is #define IGNORE_CONTROL_PINS in config.h
// uncomment to these lines to use them
#ifdef IGNORE_CONTROL_PINS
#undef IGNORE_CONTROL_PINS
#endif
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif
#ifdef CPU_MAP_MPCNC_V1P1
// This is the CPU Map for the Buildlog.net MPCNC controller
#endif
#define CPU_MAP_NAME "CPU_MAP_MPCNC_V1P1"
#define PROBE_PIN GPIO_NUM_35
// switch to the correct default settings
#ifdef DEFAULTS_GENERIC
#undef DEFAULTS_GENERIC
#endif
#define DEFAULTS_MPCNC
// The default value in config.h is wrong for this controller
#ifdef INVERT_CONTROL_PIN_MASK
#undef INVERT_CONTROL_PIN_MASK
#endif
#define USE_GANGED_AXES // allow two motors on an axis
#define X_STEP_PIN GPIO_NUM_12
#define X_STEP_B_PIN GPIO_NUM_22 // ganged motor
#define X_AXIS_SQUARING
#define Y_STEP_PIN GPIO_NUM_14
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_27
#define X_DIRECTION_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Z_DIRECTION_PIN GPIO_NUM_33
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
// Note: if you use PWM rather than relay, you could map GPIO_NUM_17 to mist or flood
#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#define SPINDLE_PWM_PIN GPIO_NUM_17
#else
#define SPINDLE_PWM_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif
#define SPINDLE_PWM_CHANNEL 0
// PWM Generator is based on 80,000,000 Hz counter
// Therefor the freq determines the resolution
// 80,000,000 / freq = max resolution
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
// Relay can be used for Spindle or Coolant
//#define COOLANT_FLOOD_PIN GPIO_NUM_17
#define X_LIMIT_PIN GPIO_NUM_34
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_15
#define LIMIT_MASK B111
#define PROBE_PIN GPIO_NUM_35
// The default value in config.h is wrong for this controller
#ifdef INVERT_CONTROL_PIN_MASK
#undef INVERT_CONTROL_PIN_MASK
#endif
#define INVERT_CONTROL_PIN_MASK B1100
// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
//#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#define INVERT_CONTROL_PIN_MASK B1110
// Note: default is #define IGNORE_CONTROL_PINS in config.h
// uncomment to these lines to use them
#ifdef IGNORE_CONTROL_PINS
#undef IGNORE_CONTROL_PINS
#endif
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif
@@ -1093,79 +1028,97 @@
// This is the CPU Map for the Buildlog.net MPCNC controller
// used in lowrider mode. Low rider has (2) Y and Z and one X motor
// These will not match the silkscreen or schematic descriptions
#define CPU_MAP_NAME "CPU_MAP_LOWRIDER"
//#define V1P1
#define V1P2 // works for V1.2.1 as well
#ifdef V1P1
#define CPU_MAP_NAME "CPU_MAP_LOWRIDER_V1P1"
#else // V1P2
#define CPU_MAP_NAME "CPU_MAP_LOWRIDER_V1P2"
#endif
#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
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_AXIS_SQUARING
#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
#define Y_STEP_B_PIN GPIO_NUM_21 // ganged motor
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_AXIS_SQUARING
#define Z_STEP_PIN GPIO_NUM_12 // use X labeled connector
#define Z_STEP_B_PIN GPIO_NUM_22 // use X labeled connector
#define Z_DIRECTION_PIN GPIO_NUM_26 // use X labeled connector
#define Z_AXIS_SQUARING
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
// Note: if you use PWM rather than relay, you could map GPIO_NUM_17 to mist or flood
#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#define Z_STEP_PIN GPIO_NUM_12 // use X labeled connector
#define Z_STEP_B_PIN GPIO_NUM_22 // use X labeled connector
#define Z_DIRECTION_PIN GPIO_NUM_26 // use X labeled connector
#define Z_AXIS_SQUARING
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
// Note: if you use PWM rather than relay, you could map GPIO_NUM_2 to mist or flood
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#ifdef V1P1
#define SPINDLE_PWM_PIN GPIO_NUM_17
#else
#define SPINDLE_PWM_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#else // V1p2
#define SPINDLE_PWM_PIN GPIO_NUM_2
#endif
#else
#define SPINDLE_PWM_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif
#define SPINDLE_PWM_CHANNEL 0
// PWM Generator is based on 80,000,000 Hz counter
// Therefor the freq determines the resolution
// 80,000,000 / freq = max resolution
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
// Relay can be used for Spindle or Coolant
//#define COOLANT_FLOOD_PIN GPIO_NUM_17
#define X_LIMIT_PIN GPIO_NUM_15
#define Y_LIMIT_PIN GPIO_NUM_4
#ifdef V1P1 //v1p1
#define Z_LIMIT_PIN GPIO_NUM_2
#else
#define Z_LIMIT_PIN GPIO_NUM_17
#endif
#define LIMIT_MASK B111
#ifdef V1P2
#ifndef ENABLE_SOFTWARE_DEBOUNCE // V1P2 does not have R/C filters
#define ENABLE_SOFTWARE_DEBOUNCE
#endif
#define SPINDLE_PWM_CHANNEL 0
// PWM Generator is based on 80,000,000 Hz counter
// Therefor the freq determines the resolution
// 80,000,000 / freq = max resolution
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
#define SPINDLE_PWM_OFF_VALUE 0
#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
// Relay can be used for Spindle or Coolant
//#define COOLANT_FLOOD_PIN GPIO_NUM_17
#define X_LIMIT_PIN GPIO_NUM_15
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_2
#define LIMIT_MASK B111
#define PROBE_PIN GPIO_NUM_35
// The default value in config.h is wrong for this controller
#ifdef INVERT_CONTROL_PIN_MASK
#undef INVERT_CONTROL_PIN_MASK
#endif
#define INVERT_CONTROL_PIN_MASK B1110
// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif
// The default value in config.h is wrong for this controller
#ifdef INVERT_CONTROL_PIN_MASK
#undef INVERT_CONTROL_PIN_MASK
#endif
#define INVERT_CONTROL_PIN_MASK B1110
// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif
#ifdef CPU_MAP_TMC2130_PEN
@@ -1180,22 +1133,22 @@
#define X_DIRECTION_PIN GPIO_NUM_26
#define X_TRINAMIC // using SPI control
#define X_DRIVER_TMC2130 // Which Driver Type?
#define X_CS_PIN GPIO_NUM_17 //chip select
#define X_RSENSE 0.11f // .11 Ohm
#define X_MICROSTEPS 32
#define X_RMS_CURRENT 750 // run current in mA
#define X_HOLD_CURRENT 0.25 // hold current as percentage of run current
#define X_CS_PIN GPIO_NUM_17 //chip select
#define X_RSENSE 0.11f // .11 Ohm
#define X_MICROSTEPS 32
#define X_RMS_CURRENT 700 // run current in mA
#define X_HOLD_CURRENT 0.25 // hold current as percentage of run current
#define X_RMT_CHANNEL 0
#define Y_STEP_PIN GPIO_NUM_14
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_TRINAMIC // using SPI control
#define Y_DRIVER_TMC2130 // Which Driver Type?
#define Y_CS_PIN GPIO_NUM_16 //chip select
#define Y_RSENSE 0.11f // .11 Ohm
#define Y_MICROSTEPS 32
#define Y_RMS_CURRENT 750 // in mA
#define Y_HOLD_CURRENT 0.25 // hold current as percentage of run current
#define Y_CS_PIN GPIO_NUM_16 //chip select
#define Y_RSENSE 0.11f // .11 Ohm
#define Y_MICROSTEPS 32
#define Y_RMS_CURRENT 700 // in mA
#define Y_HOLD_CURRENT 0.25 // hold current as percentage of run current
#define Y_RMT_CHANNEL 1
// OK to comment out to use pin for other features

5
Grbl_Esp32/grbl.h
View File

@@ -20,7 +20,7 @@
// Grbl versioning system
#define GRBL_VERSION "1.1f"
#define GRBL_VERSION_BUILD "20190916"
#define GRBL_VERSION_BUILD "20191004"
//#include <sdkconfig.h>
#include <Arduino.h>
@@ -86,7 +86,6 @@
#endif
#ifdef USE_TRINAMIC
#include "grbl_trinamic.h"
//#include "TMCStepper.h" // https://github.com/teemuatlut/TMCStepper
#include "grbl_trinamic.h"
#endif

12
Grbl_Esp32/grbl_limits.cpp
View File

@@ -239,9 +239,17 @@ void limits_go_home(uint8_t cycle_mask)
set_axis_position = 0;
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
#ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
#else
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
#endif
} else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
#ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = lround((-settings.max_travel[idx]-settings.homing_pulloff)*settings.steps_per_mm[idx]);
#else
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
#endif
}
#endif

28
Grbl_Esp32/grbl_trinamic.cpp
View File

@@ -2,7 +2,7 @@
grbl_trinamic.cpp - Support for Trinamic Stepper Drivers SPI Mode
using the TMCStepper library
Part of Grbl_ESP32
Part of Grbl_ESP32
Copyright (c) 2019 Barton Dring for Buildlog.net LLC
@@ -19,9 +19,9 @@
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"
#ifdef USE_TRINAMIC
// TODO try to use the #define ## method to clean this up
//#define DRIVER(driver, axis) driver##Stepper = TRINAMIC_axis## = driver##Stepper(axis##_CS_PIN, axis##_RSENSE);
@@ -30,9 +30,6 @@
#ifdef X_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_X = TMC2130Stepper(X_CS_PIN, X_RSENSE);
#endif
#ifdef X_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_X = TMC2208Stepper(X_CS_PIN, X_RSENSE);
#endif
#ifdef X_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_X = TMC2209Stepper(X_CS_PIN, X_RSENSE);
#endif
@@ -45,9 +42,6 @@
#ifdef Y_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_Y = TMC2130Stepper(Y_CS_PIN, Y_RSENSE);
#endif
#ifdef Y_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_Y = TMC2208Stepper(Y_CS_PIN, Y_RSENSE);
#endif
#ifdef Y_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_Y = TMC2209Stepper(Y_CS_PIN, Y_RSENSE);
#endif
@@ -60,9 +54,6 @@
#ifdef Z_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_Z = TMC2130Stepper(Z_CS_PIN, Z_RSENSE);
#endif
#ifdef Z_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_Z = TMC2208Stepper(Z_CS_PIN, Z_RSENSE);
#endif
#ifdef Z_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_Z = TMC2209Stepper(Z_CS_PIN, Z_RSENSE);
#endif
@@ -75,9 +66,6 @@
#ifdef A_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_A = TMC2130Stepper(A_CS_PIN, A_RSENSE);
#endif
#ifdef A_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_A = TMC2208Stepper(A_CS_PIN, A_RSENSE);
#endif
#ifdef A_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_A = TMC2209Stepper(A_CS_PIN, A_RSENSE);
#endif
@@ -90,9 +78,6 @@
#ifdef B_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_B = TMC2130Stepper(B_CS_PIN, B_RSENSE);
#endif
#ifdef B_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_B = TMC2208Stepper(B_CS_PIN, B_RSENSE);
#endif
#ifdef B_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_B = TMC2209Stepper(B_CS_PIN, B_RSENSE);
#endif
@@ -105,9 +90,6 @@
#ifdef C_DRIVER_TMC2130
TMC2130Stepper TRINAMIC_c = TMC2130Stepper(C_CS_PIN, C_RSENSE);
#endif
#ifdef C_DRIVER_TMC2208
TMC2208Stepper TRINAMIC_C = TMC2208Stepper(C_CS_PIN, C_RSENSE);
#endif
#ifdef C_DRIVER_TMC2209
TMC2209Stepper TRINAMIC_C = TMC2209Stepper(C_CS_PIN, C_RSENSE);
#endif
@@ -120,7 +102,7 @@
void Trinamic_Init()
{
grbl_send(CLIENT_SERIAL, "[MSG:Using TMCStepper Library]\r\n");
grbl_sendf(CLIENT_SERIAL, "[MSG:Using TMCStepper Library Ver 0x%06x]\r\n", TMCSTEPPER_VERSION);
SPI.begin();
@@ -187,4 +169,6 @@ void Trinamic_Init()
#endif
// TODO ABC Axes
}
}
#endif

2
Grbl_Esp32/grbl_trinamic.h
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@@ -22,9 +22,9 @@
#define GRBL_TRINAMIC_h
#include "grbl.h"
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
#ifdef USE_TRINAMIC
#include <TMCStepper.h> // https://github.com/teemuatlut/TMCStepper
void Trinamic_Init();
#endif

8
Grbl_Esp32/motion_control.cpp
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@@ -213,6 +213,14 @@ void mc_dwell(float seconds)
// executing the homing cycle. This prevents incorrect buffered plans after homing.
void mc_homing_cycle(uint8_t cycle_mask)
{
// This give kinematics a chance to do something before normal homing
// if it returns true, the homing is canceled.
#ifdef USE_KINEMATICS
if (!kinematics_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.

39
Grbl_Esp32/polar_coaster.cpp
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@@ -53,6 +53,20 @@
#ifdef CPU_MAP_POLAR_COASTER
#ifdef USE_KINEMATICS
// this get called before homing
// return true to complete normal home
// return false to exit normal homing
bool kinematics_homing(uint8_t cycle_mask)
{
// cycle mask not used for polar coaster
// zero the axes that are not homed
sys_position[Y_AXIS] = 0.0f;
sys_position[Z_AXIS] = 0.0f;
return true; // finish normal homing cycle
}
/*
Apply inverse kinematics for a polar system
@@ -140,6 +154,8 @@ void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *positio
mc_line(polar, pl_data);
}
// TO DO don't need a feedrate for rapids
}
@@ -193,17 +209,24 @@ void calc_polar(float *target_xyz, float *polar, float last_angle)
{
float delta_ang; // the difference from the last and next angle
target_xyz[X_AXIS] *= -1.0; // compensate for Polar Coaster's radial axis being mirrored (right side) from normal 0deg
//grbl_sendf(CLIENT_SERIAL, "calc polar: x...%4.2f y...%4.2f\r\n", target_xyz[X_AXIS], target_xyz[Y_AXIS]);
// determine the new polar values
polar[POLAR_AXIS] = atan2(target_xyz[Y_AXIS], target_xyz[X_AXIS]) * 180.0 / M_PI;
//target_xyz[X_AXIS] *= -1.0; // compensate for Polar Coaster's radial axis being mirrored (right side) from normal 0deg
// no negative angles...we want the absolute angle not -90, use 270
if (polar[POLAR_AXIS] < 0.0) {
polar[POLAR_AXIS] = 360.0 + polar[POLAR_AXIS];
}
polar[RADIUS_AXIS] = hypot_f(target_xyz[X_AXIS], target_xyz[Y_AXIS]);
if (polar[RADIUS_AXIS] == 0) {
polar[POLAR_AXIS] = last_angle; // don't care about angle at center
}
else {
polar[POLAR_AXIS] = atan2(target_xyz[Y_AXIS], target_xyz[X_AXIS]) * 180.0 / M_PI;
// no negative angles...we want the absolute angle not -90, use 270
if (polar[POLAR_AXIS] < 0.0) {
polar[POLAR_AXIS] = 360.0 + polar[POLAR_AXIS];
}
}
polar[Z_AXIS] = target_xyz[Z_AXIS]; // Z is unchanged

1
Grbl_Esp32/polar_coaster.h
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@@ -29,6 +29,7 @@
#include "grbl.h"
bool kinematics_homing(uint8_t cycle_mask);
void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position);
void calc_polar(float *target_xyz, float *polar, float last_angle);
void user_defined_macro(uint8_t index);

6
Grbl_Esp32/report.cpp
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@@ -542,9 +542,9 @@ void report_build_info(char *line, uint8_t client)
#ifdef PARKING_ENABLE
strcat(build_info,"P");
#endif
#ifdef HOMING_FORCE_SET_ORIGIN
strcat(build_info,"Z");
#endif
#if (defined(HOMING_FORCE_SET_ORIGIN) || defined(HOMING_FORCE_POSITIVE_SPACE))
strcat(build_info,"Z"); // homing MPOS bahavior is not the default behavior
#endif
#ifdef HOMING_SINGLE_AXIS_COMMANDS
strcat(build_info,"H");
#endif

4
Grbl_Esp32/stepper.cpp
View File

@@ -274,11 +274,9 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
#endif
#ifdef VARIABLE_SPINDLE
#ifdef VARIABLE_SPINDLE
// Set real-time spindle output as segment is loaded, just prior to the first step.
if (st_prep_block->is_pwm_rate_adjusted) {
spindle_set_speed(st.exec_segment->spindle_pwm);
}
#endif
} else {

2
Grbl_Esp32/stepper.h
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@@ -82,8 +82,10 @@ extern uint8_t ganged_mode;
void IRAM_ATTR onSteppertimer();
void IRAM_ATTR onStepperOffTimer();
#ifdef USE_RMT_STEPS
void initRMT();
inline IRAM_ATTR static void stepperRMT_Outputs();
#endif
void stepper_init();

6
Grbl_Esp32/system.cpp
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@@ -425,7 +425,11 @@ uint8_t system_check_travel_limits(float *target)
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#ifdef HOMING_FORCE_POSITIVE_SPACE
if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
#else
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#endif
#endif
}
return(false);