Update MPCNC homing added custom machine template

- Ganged axes cannot be individually homed
- Started a custom machine template, will add more to it soon.

Grbl_Esp32/cpu_map.h

@@ -585,6 +585,10 @@
 	#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
@@ -653,10 +657,13 @@
 	
 	// 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    
@@ -681,10 +688,10 @@
 
 	#define DEFAULT_HOMING_ENABLE 1  // false
 	#define DEFAULT_HOMING_DIR_MASK 3 // move positive dir Z,negative X,Y
-	#define DEFAULT_HOMING_FEED_RATE 600.0 // mm/min
-	#define DEFAULT_HOMING_SEEK_RATE 2000.0 // mm/min
+	#define DEFAULT_HOMING_FEED_RATE 500.0 // mm/min
+	#define DEFAULT_HOMING_SEEK_RATE 200.0 // mm/min
 	#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-	#define DEFAULT_HOMING_PULLOFF 1.5 // mm
+	#define DEFAULT_HOMING_PULLOFF 2.0 // mm
 
 	#ifdef USE_SPINDLE_RELAY
 		#define DEFAULT_SPINDLE_RPM_MAX 1.0 // must be 1 so PWM duty is alway 100% to prevent relay damage
@@ -1066,6 +1073,10 @@
 	#include "atari_1020.h"	
 #endif
 
+#ifdef CPU_MAP_CUSTOM_MACHINE
+	#include "custom_machine_template.h"	
+#endif
+
 	// ================= common to all machines ================================
 	
 	// These are some ESP32 CPU Settings that the program needs, but are generally not changed

Grbl_Esp32/custom_machine_template.cpp

@@ -0,0 +1,171 @@
+/*
+	custom_machine_template.cpp
+	Part of Grbl_ESP32
+
+	copyright (c) 2020 -	Bart Dring. This file was intended for use on the ESP32
+						CPU. Do not use this with Grbl for atMega328P
+
+	Grbl_ESP32 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_ESP32 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/>.
+
+	=======================================================================
+
+This is a template of a custom machine file. All of these functions are called by
+main Grbl_ESP when enabled via #define statements. The machine designer must fill 
+in the contents of the functions. Almost all of them are optional. Remove any 
+unused functions. See each function for more information
+
+Make copies of custom_machine_template.cpp and custom_machine_template.h
+and replace the file prefix with your machine's name
+
+Example:
+my_machine.h
+my_machine.cpp
+
+In cpu_map.h you need to create #include links to your new machine files. This is 
+done using a CPU_MAP name so that you can switch to it in config.h like any of 
+the other defined machine. See the template example at the bottom of cpu_map.h
+
+Example
+#ifdef CPU_MAP_MY_MACHINE
+	#include my_machine.h
+#endif
+
+in config.h make sure CPU_MAP_MY_MACHINE is the only define cpu map. 
+
+To keep your machine organized and cpu_map.h clean, put all of the stuff normally put in 
+cpu_map.h in your my_machine.h file. There are sections in that template expaining it.
+
+===============================================================================
+
+*/
+
+#ifdef CPU_MAP_CUSTOM_MACHINE // !!! Change this name to your machine map name
+/*
+This function is called if you have #define USE_MACHINE_INIT in your my_machine.h file
+This function will be called when Grbl_ESP32 first starts. You can use it to do any
+special things your machine needs at startup.
+*/
+void machine_init() {
+	
+}
+
+/*
+This function is called if you have #define USE_CUSTOM_HOMING in your my_machine.h file
+This function gets called at the begining of the normal Grbl_ESP32 homing sequence. You 
+Can skip the rest of normal Grbl_ESP32 homing by returning false. You return true if you 
+want normal homing to continue. You might do this if you just need to prep the machine 
+for homing.
+*/
+bool user_defined_homing() {
+	return true; // True = done with homing, false = continue with normal Grbl_ESP32 homing
+}
+
+
+/*
+Inverse Kinematics converts X,Y,Z cartesian coordinate to the steps on your "joint"
+motors.
+
+This function allows you to look at incoming move commands and modify them before
+Grbl_ESP32 puts them in the motion planner.
+
+Grbl_ESP32 processes arc by converting them into tiny little line segments. 
+Kinematics in Grbl_ESP32 works the same way. Search for this function across Grbl_ESP32 
+for examples. You are basically converting cartesian X,Y,Z... targets to 
+
+target = an N_AXIS array of target positions (where the move is supposed to go)
+pl_data = planner data (see the definition of this type to see what it is)
+position = an N_AXIS array of where the machine is starting from for this move
+*/
+void inverse_kinematics(target, pl_data, position) {
+
+	mc_line(target, pl_data); // this simply moves to the target Replace with your kinematics.
+}
+
+/*
+Forward Kinematics converts your motor postions to X,Y,Z... cartesian information. 
+This is used by the status command. 
+
+Convert the N_AXIS array of motor positions to cartesian in your code. 
+
+*/
+void forward_kinematics(float *position) {
+
+	// position[X_AXIS] = 
+	// position[Y_AXIS] = 
+}
+
+/*
+ This function is required if you have #define USE_KINEMATIC
+ This function is called before normal homing
+ You can use it to do special homing or just to set stuff up 
+ 
+ cycle_mask = is a bit mask of the axes being homed this time.
+ 
+*/
+bool kinematics_pre_homing(cycle_mask)) {
+	return false; // finish normal homing cycle
+}
+
+
+
+/* 
+	This function is required if you have #define USE_KINEMATIC
+	It is called at the end of normal homing
+	
+*/
+void kinematics_post_homing() {
+	
+}
+
+/*
+	This function is called if #USE_TOOL_CHANGE is define and
+	a gcode for a tool change is received
+
+*/
+void user_tool_change(uint8_t new_tool) {
+	
+}
+
+/* 
+	This will be called if any of the #define MACRO_BUTTON_0_PIN options
+	are defined
+*/
+void user_defined_macro(uint8_t index)
+{
+}
+
+/*
+	This function is called if #define USE_M30 is defined and 
+	an M30 gcode is received. M30 signals the end of a gcode file.
+	
+		
+*/
+void user_m30() {
+}
+
+/*
+	Enable this function with #define USE_MACHINE_TRINAMIC_INIT
+	This will replace the normal setup of trinamic drivers with your own
+	This is where you could setup StallGaurd
+	
+*/
+void machine_trinamic_setup() {
+	
+}
+
+
+// feel free to add any additional functions specific to your machine
+
+
+#endif

Grbl_Esp32/custom_machine_template.h

@@ -0,0 +1,96 @@
+/*
+	custom_machine_template.h
+	Part of Grbl_ESP32
+
+	copyright (c) 2020 -	Bart Dring. This file was intended for use on the ESP32
+						CPU. Do not use this with Grbl for atMega328P
+
+	Grbl_ESP32 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_ESP32 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/>.
+
+	====================================================================
+
+	See custom_machine_templete.cpp for getting started creating custom
+	machines
+
+*/
+
+// ================ config.h overrides ========================================
+/*
+
+If you want to make some changes to config.h, it might be easier to do it here
+so all your changes are in your files.
+
+example to change baud rate
+#ifdef BAUD_RATE
+	#undef BAUDRATE	
+#endif
+#define BAUD_RATE 9600
+
+example to change the number of axes
+#idef N_AXIS
+	#undef N_AXIS
+#endif
+#define N_AXIS 4
+
+
+*/
+
+
+// =============== CPU MAP ========================
+// Look at cpu_map.h for all the things that can go here
+
+
+#define CPU_MAP_NAME 		"CPU_MAP_MY_MACHINE"
+
+#define LIMIT_MASK      	B111 // you need this with as many switches you are using
+
+// ============== Enable custom features =======================
+
+// #define #USE_MACHINE_INIT
+// #define USE_CUSTOM_HOMING
+// #define USE_KINEMATICS
+// #define USE_FWD_KINEMATIC
+// #define USE_TOOL_CHANGE
+// #define USE_M30
+// #define USE_MACHINE_TRINAMIC_INIT
+
+// ===================== $$ Defaults ==========================================
+/* 	These are default values for any of the $$ settings.
+	This will automatically set them when you upload new firmware or if you 
+ 	reset them with $RST=$.
+	All default values are set in the defaults.h file. You would only need to 
+	put values here that are different from those values
+	Below are a few examples
+*/
+#define DEFAULT_SPINDLE_FREQ 2000.0
+#define DEFAULT_X_MAX_TRAVEL 100.0
+
+#ifndef custom_machine_template_h  // !!!!!!!!!!!!!!! Change this to your file !!!!!!!!!!!!!
+  #define custom_machine_template_h // !!! here too !!!!
+    
+	#include "grbl.h"
+
+	// ================ Function Prototypes ================
+	void machine_init();
+	bool user_defined_homing();
+	void inverse_kinematics(float *target, plan_line_data_t *pl_data, float *position);
+	void forward_kinematics(float *position);
+	void kinematics_post_homing();
+	void user_tool_change(uint8_t new_tool);
+	void user_defined_macro(uint8_t index);
+	void user_m30();
+	void machine_trinamic_setup();
+
+#endif
+

Grbl_Esp32/grbl.h

@@ -20,7 +20,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1f"
-#define GRBL_VERSION_BUILD "20200208"
+#define GRBL_VERSION_BUILD "20200215"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/grbl_trinamic.cpp

@@ -140,6 +140,11 @@ void Trinamic_Init()
 	
 	SPI.begin();
 	
+	#ifdef USE_MACHINE_TRINAMIC_INIT		
+		machine_trinamic_setup();
+		return;
+	#endif
+	
 	#ifdef X_TRINAMIC
 		TRINAMIC_X.begin(); // Initiate pins and registries
 		testResult = TRINAMIC_X.test_connection();

Grbl_Esp32/polar_coaster.h

@@ -24,7 +24,7 @@
 
 #define SEGMENT_LENGTH 0.5 // segment length in mm
 #define USE_KINEMATICS
-#define FWD_KINEMATICS_REPORTING // report in cartesian	
+#define USE_FWD_KINEMATIC // report in cartesian	
 #define USE_M30
 
 // ============= Begin CPU MAP ================

Grbl_Esp32/report.cpp

@@ -726,7 +726,7 @@ void report_realtime_status(uint8_t client)
   if (bit_istrue(settings.status_report_mask,BITFLAG_RT_STATUS_POSITION_TYPE)) {
     strcat(status, "|MPos:");
   } else {
-	#ifdef FWD_KINEMATICS_REPORTING
+	#ifdef USE_FWD_KINEMATIC
 		forward_kinematics(print_position);
 	#endif
     strcat(status, "|WPos:");

Grbl_Esp32/system.cpp

@@ -233,19 +233,19 @@ uint8_t system_execute_line(char *line, uint8_t client)
           break;
         case 'H' : // Perform homing cycle [IDLE/ALARM]  $H
           if (bit_isfalse(settings.flags,BITFLAG_HOMING_ENABLE)) {return(STATUS_SETTING_DISABLED); }
-          if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.
-          sys.state = STATE_HOMING; // Set system state variable
+          if (system_check_safety_door_ajar()) { return(STATUS_CHECK_DOOR); } // Block if safety door is ajar.          
           if (line[2] == 0) {
+            sys.state = STATE_HOMING; // Set system state variable
             mc_homing_cycle(HOMING_CYCLE_ALL);
           #ifdef HOMING_SINGLE_AXIS_COMMANDS
             } else if (line[3] == 0) {
               switch (line[2]) {
-                case 'X': mc_homing_cycle(HOMING_CYCLE_X); break;
-                case 'Y': mc_homing_cycle(HOMING_CYCLE_Y); break;
-                case 'Z': mc_homing_cycle(HOMING_CYCLE_Z); break;
-				case 'A': mc_homing_cycle(HOMING_CYCLE_A); break;
-				case 'B': mc_homing_cycle(HOMING_CYCLE_B); break;
-				case 'C': mc_homing_cycle(HOMING_CYCLE_C); break;
+                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);
               }
           #endif