diff --git a/driver.json b/driver.json index b8ded2d..ed49a33 100644 --- a/driver.json +++ b/driver.json @@ -1,14 +1,17 @@ { "caps": { + "informal": 1, "axes": 6, "uart": 1, - "serial_ports": 1, + "serial_ports": 3, + "sdcard": 1, "littlefs": 1, "probe": 1, "safety_door": 1, "estop": 1, "wifi": 1, "bluetooth": 1, + "neopixels": 1, "pwm_spindle_aux": 3, "pio_board": "esp32dev", "plugins": [ @@ -50,7 +53,10 @@ "auto_square": 1, "digital_in": 2, "safety_door": 1, - "sdcard": 1 + "serial_ports": 1, + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 }, "symbols": { "DEFAULT_LIMIT_SIGNALS_INVERT_MASK": "N_AXIS", @@ -71,8 +77,8 @@ "serial_ports": 2, "trinamic_spi_cs": 1, "trinamic_spi_chain": 1, - "trinamic_uart_n": 0, - "trinamic_uart_addr": 0 + "wifi": 1, + "bluetooth": 1 } }, { @@ -86,8 +92,26 @@ "safety_door": 0, "sdcard": 1, "probe": 1, + "pwm_spindle_aux": 2, + "wifi": 1, + "bluetooth": 1 + } + }, + { + "name": "MKS DLC32 2.0", + "symbol": "BOARD_MKS_DLC32_V2P0", + "URL": "https://github.com/makerbase-mks/MKS-DLC32", + "MAP": "main/boards/mks_dlc32_2_0_map.h", + "caps": { + "axes": 3, + "digital_in": 1, + "digital_out": 4, "safety_door": 0, - "pwm_spindle_aux": 2 + "serial_ports": 1, + "pwm_spindle_aux": 2, + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -97,9 +121,12 @@ "MAP": "main/boards/mks_tinybee_1_0_map.h", "caps": { "axes": 5, + "auto_square": 2, "serial_ports": 2, "sdcard": 1, - "estop": 0 + "estop": 0, + "wifi": 1, + "bluetooth": 1 } }, { @@ -112,7 +139,10 @@ "auto_square": 0, "safety_door": 0, "estop": 0, - "pwm_spindle_aux": 1 + "serial_ports": 1, + "pwm_spindle_aux": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -124,7 +154,10 @@ "axes": 4, "auto_square": 0, "safety_door": 0, - "estop": 0 + "estop": 0, + "serial_ports": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -134,7 +167,10 @@ "MAP": "main/boards/protoneer_3.xx_map.h", "caps": { "axes": 3, - "pwm_spindle_aux": 2 + "pwm_spindle_aux": 2, + "serial_ports": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -147,7 +183,10 @@ "auto_square": 0, "pwm_spindle_aux": 2, "sdcard": 1, - "i2c": 1 + "i2c": 1, + "serial_ports": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -161,21 +200,9 @@ "serial_ports": 2, "sdcard": 1, "trinamic": 5160, - "trinamic_spi_chain": 1 - } - }, - { - "name": "MKS DLC32 2.0", - "symbol": "BOARD_MKS_DLC32_V2P0", - "URL": "https://github.com/makerbase-mks/MKS-DLC32", - "MAP": "main/boards/mks_dlc32_2_0_map.h", - "caps": { - "axes": 3, - "digital_in": 1, - "digital_out": 4, - "pwm_spindle_aux": 2, - "sdcard": 1, - "i2c": 1 + "trinamic_spi_chain": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -189,7 +216,9 @@ "digital_in": 1, "serial_ports": 2, "estop": 0, - "sdcard": 1 + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -203,7 +232,9 @@ "digital_in": 1, "serial_ports": 2, "estop": 0, - "sdcard": 1 + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -229,7 +260,9 @@ "axes": 3, "digital_in": 1, "serial_ports": 1, - "sdcard": 1 + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -241,7 +274,9 @@ "axes": 3, "serial_ports": 2, "digital_in": 1, - "sdcard": 1 + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } }, { @@ -256,7 +291,9 @@ "eeprom": 1, "fram": 1, "i2c": 1, - "sdcard": 1 + "sdcard": 1, + "wifi": 1, + "bluetooth": 1 } } ] diff --git a/main/boards/BlackBoxX32_map.h b/main/boards/BlackBoxX32_map.h index f16d121..e56ed58 100644 --- a/main/boards/BlackBoxX32_map.h +++ b/main/boards/BlackBoxX32_map.h @@ -7,18 +7,18 @@ Copyright (c) 2022 Peter van der Walt - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . Pin Definitions for the OpenBuilds BlackBox X32 Controller from https://openbuilds.com @@ -28,6 +28,14 @@ #error "Axis configuration is not supported!" #endif +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + +#if TRINAMIC_ENABLE +#error BlackBox X32 does not use Trinamic drivers +#endif + #define BOARD_NAME "BlackBox X32" #define BOARD_URL "https://docs.openbuilds.com/doku.php?id=docs:blackbox-x32:start" #if N_AUTO_SQUARED || N_AXIS > 3 @@ -72,12 +80,6 @@ #define Y_LIMIT_PIN GPIO_NUM_34 #define Z_LIMIT_PIN GPIO_NUM_39 -// Define probe switch input pin. -// NOTE: probe input is not available when an auto-squared axis is enabled. -#if PROBE_ENABLE - #define PROBE_PIN GPIO_NUM_22 -#endif - // Define driver spindle pins #if DRIVER_SPINDLE_PWM_ENABLE @@ -103,10 +105,16 @@ #define COOLANT_FLOOD_PIN GPIO_NUM_21 // coolant //#define COOLANT_MIST_PIN GPIO_NUM_21 // or mist +// Define user-control CONTROLs (cycle start, reset, feed hold) input pins. + #define AUXINPUT0_PIN GPIO_NUM_0 // Mode button on front panel #define AUXINPUT1_PIN GPIO_NUM_16 +#define AUXINPUT2_PIN GPIO_NUM_22 + +#if PROBE_ENABLE + #define PROBE_PIN AUXINPUT2_PIN +#endif -// Define user-control CONTROLs (cycle start, reset, feed hold) input pins. #if SAFETY_DOOR_ENABLE #define SAFETY_DOOR_PIN AUXINPUT1_PIN #endif @@ -121,15 +129,3 @@ // #if SDCARD_ENABLE #define PIN_NUM_CS GPIO_NUM_5 // #endif - -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED -#error BlackBox X32 does not support Modbus -#endif - -#if KEYPAD_ENABLE -#error BlackBox X32 does not support Keypad -#endif - -#if TRINAMIC_ENABLE -#error BlackBox X32 does not use Trinamic drivers -#endif diff --git a/main/boards/bdring_i2s_6_axis_map.h b/main/boards/bdring_i2s_6_axis_map.h index 8e215bb..70401eb 100644 --- a/main/boards/bdring_i2s_6_axis_map.h +++ b/main/boards/bdring_i2s_6_axis_map.h @@ -7,22 +7,26 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "BDRING 6-axis I2S" +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define USE_I2S_OUT #define I2S_OUT_PIN_BASE 64 @@ -117,11 +121,17 @@ // N/A +#define AUXINPUT0_PIN GPIO_NUM_25 + +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT0_PIN +#endif + #if TRINAMIC_SPI_ENABLE #define MOTOR_CS_PIN I2SO(3) #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_15 #define UART2_TX_PIN GPIO_NUM_14 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED @@ -129,11 +139,5 @@ #endif #endif -// Define probe switch input pin. -#if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_25 -#endif -#if KEYPAD_ENABLE -#error No free pins for keypad! -#endif + diff --git a/main/boards/bdring_i2s_6pack_ext_v2_map.h b/main/boards/bdring_i2s_6pack_ext_v2_map.h index 680ffd9..42375d0 100644 --- a/main/boards/bdring_i2s_6pack_ext_v2_map.h +++ b/main/boards/bdring_i2s_6pack_ext_v2_map.h @@ -7,18 +7,18 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "BDRING 6-Pack External drives V2.0" @@ -110,7 +110,13 @@ // N/A -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#define AUXINPUT0_PIN GPIO_NUM_25 + +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT0_PIN +#endif + +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_15 #define UART2_TX_PIN GPIO_NUM_14 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED @@ -118,11 +124,6 @@ #endif #endif -// Define probe switch input pin. -#if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_25 -#endif - #if KEYPAD_ENABLE #error No free pins for keypad! #endif diff --git a/main/boards/bdring_v3.5_map.h b/main/boards/bdring_v3.5_map.h index d1f8f56..54d2363 100644 --- a/main/boards/bdring_v3.5_map.h +++ b/main/boards/bdring_v3.5_map.h @@ -7,18 +7,18 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 0 @@ -67,8 +67,6 @@ #define AUXOUTPUT1_PIN GPIO_NUM_22 #endif -#define AUXINPUT0_PIN GPIO_NUM_35 - // Define flood and mist coolant enable output pins. // N/A @@ -77,13 +75,16 @@ #define RESET_PIN GPIO_NUM_34 #define FEED_HOLD_PIN GPIO_NUM_36 #define CYCLE_START_PIN GPIO_NUM_39 -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN AUXINPUT0_PIN -#endif -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_35 +#define AUXINPUT1_PIN GPIO_NUM_32 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_32 +#define PROBE_PIN AUXINPUT1_PIN +#endif + +#if SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_PIN AUXINPUT0_PIN #endif #if SDCARD_ENABLE diff --git a/main/boards/bdring_v4_map.h b/main/boards/bdring_v4_map.h index 4126f57..675f06b 100644 --- a/main/boards/bdring_v4_map.h +++ b/main/boards/bdring_v4_map.h @@ -7,24 +7,28 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 0 #error "Axis configuration is not supported!" #endif +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define BOARD_NAME "BDRING v4" // timer definitions @@ -59,8 +63,6 @@ #define SPINDLE_ENABLE_PIN GPIO_NUM_22 #endif -#define AUXINPUT0_PIN GPIO_NUM_35 - // Define flood and mist coolant enable output pins. #define COOLANT_FLOOD_PIN GPIO_NUM_25 @@ -72,13 +74,16 @@ #define RESET_PIN GPIO_NUM_34 #define FEED_HOLD_PIN GPIO_NUM_36 #define CYCLE_START_PIN GPIO_NUM_39 -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN AUXINPUT0_PIN -#endif -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_35 +#define AUXINPUT1_PIN GPIO_NUM_32 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_32 +#define PROBE_PIN AUXINPUT1_PIN +#endif + +#if SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_PIN AUXINPUT0_PIN #endif #if SDCARD_ENABLE @@ -91,7 +96,7 @@ #define PIN_NUM_CS GPIO_NUM_5 #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_22 #define UART2_TX_PIN GPIO_NUM_21 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED @@ -99,6 +104,3 @@ #endif #endif -#if KEYPAD_ENABLE -#error No free pins for keypad! -#endif diff --git a/main/boards/cnc3040_map.h b/main/boards/cnc3040_map.h index 86179e4..c12ebba 100644 --- a/main/boards/cnc3040_map.h +++ b/main/boards/cnc3040_map.h @@ -5,26 +5,34 @@ Part of grblHAL - Copyright (c) 2021-2022 Terje Io + Copyright (c) 2021-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 1 #error "Axis configuration is not supported!" #endif +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + +#if SDCARD_ENABLE +#error SD card not supported! +#endif + #define BOARD_NAME "CNC3040 4-axis CNC" #define BOARD_URL "https://github.com/shaise/GrblCNC/tree/master/Hardware/GrblCnc3040" @@ -32,19 +40,9 @@ #define STEP_TIMER_GROUP TIMER_GROUP_0 #define STEP_TIMER_INDEX TIMER_0 -#if MODBUS_ENABLE -#error VFD Spindle not supported! -#endif - -#if KEYPAD_ENABLE == 2 -#define UART2_TX_PIN GPIO_NUM_17 -#define UART2_RX_PIN GPIO_NUM_16 -#elif KEYPAD_ENABLE == 1 -#error I2C Keypad not supported! -#endif - -#if SDCARD_ENABLE -#error SD card not supported! +#ifdef ADD_SERIAL2 +#define UART2_TX_PIN GPIO_NUM_17 +#define UART2_RX_PIN GPIO_NUM_16 #endif // Define step pulse output pins. @@ -75,15 +73,15 @@ // Define driver spindle pins #if DRIVER_SPINDLE_PWM_ENABLE -#define SPINDLE_PWM_PIN GPIO_NUM_21 +#define SPINDLE_PWM_PIN GPIO_NUM_21 #else -#define AUXOUTPUT0_PIN GPIO_NUM_21 +#define AUXOUTPUT0_PIN GPIO_NUM_21 #endif #if DRIVER_SPINDLE_ENABLE -#define SPINDLE_ENABLE_PIN GPIO_NUM_2 +#define SPINDLE_ENABLE_PIN GPIO_NUM_2 #else -#define AUXOUTPUT1_PIN GPIO_NUM_2 +#define AUXOUTPUT1_PIN GPIO_NUM_2 #endif // Define flood and mist coolant enable output pins. @@ -94,14 +92,13 @@ // Define user-control CONTROLs (cycle start, reset, feed hold) input pins. // N/A -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_35 // ATC Door +#define AUXINPUT1_PIN GPIO_NUM_25 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_19 +#define PROBE_PIN AUXINPUT1_PIN #endif #if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN GPIO_NUM_35 // ATC Door -#else -#define AUXINPUT0_PIN GPIO_NUM_35 // ATC Door +#define SAFETY_DOOR_PIN AUXINPUT0_PIN // ATC Door #endif - diff --git a/main/boards/cnc_boosterpack_map.h b/main/boards/cnc_boosterpack_map.h index 0adc1d7..1e3b73d 100644 --- a/main/boards/cnc_boosterpack_map.h +++ b/main/boards/cnc_boosterpack_map.h @@ -7,18 +7,18 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 0 #error "Axis configuration is not supported!" @@ -39,8 +39,8 @@ #endif #if !EEPROM_ENABLE -#undef EEPROM_ENABLE -#define EEPROM_ENABLE 1 // I2C EEPROM (24LC16) support. +//#undef EEPROM_ENABLE +//#define EEPROM_ENABLE 1 // I2C EEPROM (24LC16) support. #endif #if !IOEXPAND_ENABLE @@ -90,36 +90,48 @@ #define COOLANT_FLOOD_PIN IOEXPAND #define COOLANT_MIST_PIN IOEXPAND +#ifdef ADD_SERIAL2 +#define UART2_RX_PIN GPIO_NUM_33 +#else +#define AUXINPUT0_PIN GPIO_NUM_33 +#endif #define AUXINPUT1_PIN GPIO_NUM_34 +#define AUXINPUT2_PIN GPIO_NUM_13 // Define user-control CONTROLs (cycle start, reset, feed hold) input pins. #define RESET_PIN GPIO_NUM_35 #define FEED_HOLD_PIN GPIO_NUM_39 #define CYCLE_START_PIN GPIO_NUM_36 -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN AUXINPUT1_PIN -#endif // Define probe switch input pin. -#define PROBE_PIN GPIO_NUM_13 +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT2_PIN +#endif -#if I2C_STROBE_ENABLE -#define I2C_STROBE_PIN GPIO_NUM_33 -#else -#define AUXINPUT0_PIN GPIO_NUM_33 +#if SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_PIN AUXINPUT1_PIN #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED -#define UART2_RX_PIN GPIO_NUM_33 -#define UART2_TX_PIN GPIO_NUM_25 -#if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED -#define MODBUS_DIRECTION_PIN GPIO_NUM_25 +#if I2C_STROBE_ENABLE && defined(AUXINPUT0_PIN) +#define I2C_STROBE_PIN AUXINPUT0_PIN #endif + +#if NEOPIXELS_ENABLE && !I2C_STROBE_ENABLE && defined(AUXINPUT0_PIN) +#define NEOPIXELS_PIN AUXINPUT0_PIN +#define NEOPIXELS_NUM NEOPIXELS_ENABLE #endif +#ifdef ADD_SERIAL2 #if MPG_MODE == 1 -#define UART2_RX_PIN GPIO_NUM_33 #define MPG_ENABLE_PIN GPIO_NUM_25 +#else +#define UART2_TX_PIN GPIO_NUM_25 +#endif +#if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED +#define MODBUS_DIRECTION_PIN GPIO_NUM_25 //?? +#endif +#else +#define AUXOUTPUT0_PIN GPIO_NUM_25 #endif // Define I2C port/pins diff --git a/main/boards/cnc_boosterpack_s3_map.h b/main/boards/cnc_boosterpack_s3_map.h index 6a0611d..0f3bf00 100644 --- a/main/boards/cnc_boosterpack_s3_map.h +++ b/main/boards/cnc_boosterpack_s3_map.h @@ -7,19 +7,20 @@ Copyright (c)2023-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ + #if N_ABC_MOTORS > 0 #error "Axis configuration is not supported!" #endif @@ -104,7 +105,7 @@ #define AUXINPUT0_PIN GPIO_NUM_33 #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_33 #define UART2_TX_PIN GPIO_NUM_25 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED diff --git a/main/boards/espduino-32_wemos_d1_r32_uno_map.h b/main/boards/espduino-32_wemos_d1_r32_uno_map.h index aa501c2..a3743cf 100644 --- a/main/boards/espduino-32_wemos_d1_r32_uno_map.h +++ b/main/boards/espduino-32_wemos_d1_r32_uno_map.h @@ -85,12 +85,13 @@ #define FEED_HOLD_PIN GPIO_NUM_4 #define CYCLE_START_PIN GPIO_NUM_35 -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_39 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_39 +#define PROBE_PIN AUXINPUT0_PIN #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_33 #define UART2_TX_PIN GPIO_NUM_32 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED diff --git a/main/boards/fysetc_e4_map.h b/main/boards/fysetc_e4_map.h index 3336f87..156327e 100644 --- a/main/boards/fysetc_e4_map.h +++ b/main/boards/fysetc_e4_map.h @@ -3,20 +3,20 @@ Part of grblHAL - Copyright (c) 2020-2022 Terje Io + Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 1 @@ -27,6 +27,10 @@ #error "Fystec E4 board does not have support for VFD spindle." #endif +#if KEYPAD_ENABLE +#error No free pins for I2C keypad! +#endif + #define BOARD_NAME "Fysetc E4 v1.0" // timer definitions @@ -87,33 +91,24 @@ #define RESET_PIN GPIO_NUM_34 #define FEED_HOLD_PIN GPIO_NUM_36 #define CYCLE_START_PIN GPIO_NUM_39 -#if SAFETY_DOOR_ENABLE -#if !I2C_ENABLE -#define SAFETY_DOOR_PIN GPIO_NUM_22 -#else -#warning No free pin for safety door input! -#endif -#endif -// Define probe switch input pin. -#if PROBE_ENABLE -#if !I2C_ENABLE -#define PROBE_PIN GPIO_NUM_21 +#if I2C_ENABLE +// Define I2C port/pins +#define I2C_PORT I2C_NUM_1 +#define I2C_SDA GPIO_NUM_21 +#define I2C_SCL GPIO_NUM_22 +#define I2C_CLOCK 100000 #else -#warning No free pin for probe input! -#endif +#define AUXINPUT0_PIN GPIO_NUM_21 +#define AUXINPUT1_PIN GPIO_NUM_22 #endif -#if KEYPAD_ENABLE -#error No free pins for keypad! +#if PROBE_ENABLE && defined(AUXINPUT0_PIN) +#define PROBE_PIN AUXINPUT0_PIN #endif -#if I2C_ENABLE -// Define I2C port/pins -#define I2C_PORT I2C_NUM_1 -#define I2C_SDA GPIO_NUM_21 -#define I2C_SCL GPIO_NUM_22 -#define I2C_CLOCK 100000 +#if SAFETY_DOOR_ENABLE && defined(AUXINPUT1_PIN) +#define SAFETY_DOOR_PIN AUXINPUT1_PIN #endif #if SDCARD_ENABLE diff --git a/main/boards/generic_map.h b/main/boards/generic_map.h index a9acb13..e443301 100644 --- a/main/boards/generic_map.h +++ b/main/boards/generic_map.h @@ -1,109 +1,120 @@ /* -Driver code for ESP32 + generic_map.h - driver code for ESP32 -Part of grblHAL + Part of grblHAL -Copyright (c) 2020-2023 Terje Io + Copyright (c) 2020-2023 Terje Io -Grbl 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. + grblHAL 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 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. + grblHAL 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/. + You should have received a copy of the GNU General Public License + along with grblHAL. If not, see . */ -#if VFD_SPINDLE -#error "Board RDS does not have support for VFD spindle." +#if N_ABC_MOTORS > 0 +#error "Axis configuration is not supported!" #endif -#define BOARD_NAME "RDS" #if VFD_SPINDLE #error "Generic map does not have support for VFD spindle." #endif -#define USE_I2S_OUT -#define I2S_OUT_BCK GPIO_NUM_13 -#define I2S_OUT_WS GPIO_NUM_12 -#define I2S_OUT_DATA GPIO_NUM_14 +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif // timer definitions -#define STEP_TIMER_GROUP TIMER_GROUP_0 -#define STEP_TIMER_INDEX TIMER_0 +#define STEP_TIMER_GROUP TIMER_GROUP_0 +#define STEP_TIMER_INDEX TIMER_0 -// Define step pulse output pin27 -#define X_STEP_PIN I2SO(1) -#define Y_STEP_PIN I2SO(3) -#define Z_STEP_PIN I2SO(5) +// Define step pulse output pins. +#define X_STEP_PIN GPIO_NUM_12 +#define Y_STEP_PIN GPIO_NUM_14 +#define Z_STEP_PIN GPIO_NUM_27 // Define step direction output pins. NOTE: All direction pins must be on the same port. -#define X_DIRECTION_PIN I2SO(2) -#define Y_DIRECTION_PIN I2SO(4) -#define Z_DIRECTION_PIN I2SO(6) +#define X_DIRECTION_PIN GPIO_NUM_26 +#define Y_DIRECTION_PIN GPIO_NUM_25 +#define Z_DIRECTION_PIN GPIO_NUM_33 // Define stepper driver enable/disable output pin(s). -#define STEPPERS_ENABLE_PIN GPIO_NUM_27 +#define STEPPERS_ENABLE_PIN GPIO_NUM_13 // Define homing/hard limit switch input pins and limit interrupt vectors. -#define X_LIMIT_PIN GPIO_NUM_33 -#define Y_LIMIT_PIN GPIO_NUM_32 -#define Z_LIMIT_PIN GPIO_NUM_35 - -#if N_ABC_MOTORS >= 1 -#define M3_AVAILABLE -#define M3_STEP_PIN I2SO(7) -#define M3_DIRECTION_PIN I2SO(0) -#define M3_LIMIT_PIN GPIO_NUM_34 +#define X_LIMIT_PIN GPIO_NUM_2 +#define Y_LIMIT_PIN GPIO_NUM_4 +#define Z_LIMIT_PIN GPIO_NUM_15 + +#if DRIVER_SPINDLE_ENABLE +// Define spindle enable and spindle direction output pins. +#define SPINDLE_ENABLE_PIN GPIO_NUM_18 +#define SPINDLE_DIRECTION_PIN GPIO_NUM_5 +#define SPINDLEPWMPIN GPIO_NUM_17 #endif // Define driver spindle pins #if DRIVER_SPINDLE_PWM_ENABLE -#define SPINDLE_PWM_PIN GPIO_NUM_2 +#define SPINDLE_PWM_PIN GPIO_NUM_17 #else -#define AUXOUTPUT0_PIN GPIO_NUM_2 +#define AUXOUTPUT0_PIN GPIO_NUM_17 +#endif + +#if DRIVER_SPINDLE_DIR_ENABLE +#define SPINDLE_DIRECTION_PIN GPIO_NUM_5 +#else +#define AUXOUTPUT1_PIN GPIO_NUM_5 #endif #if DRIVER_SPINDLE_ENABLE -#define SPINDLE_ENABLE_PIN GPIO_NUM_4 +#define SPINDLE_ENABLE_PIN GPIO_NUM_18 #else -#define AUXOUTPUT2_PIN GPIO_NUM_4 +#define AUXOUTPUT2_PIN GPIO_NUM_18 #endif // Define flood and mist coolant enable output pins. -#define COOLANT_FLOOD_PIN GPIO_NUM_15 -#define COOLANT_MIST_PIN I2SO(11) + +#define COOLANT_FLOOD_PIN GPIO_NUM_16 +#define COOLANT_MIST_PIN GPIO_NUM_21 // Define user-control CONTROLs (cycle start, reset, feed hold) input pins. -//#define RESET_PIN GPIO_NUM_34 -//#define FEED_HOLD_PIN GPIO_NUM_36 -//#define CYCLE_START_PIN GPIO_NUM_39 -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN GPIO_NUM_25 -#endif +#define RESET_PIN GPIO_NUM_34 +#define FEED_HOLD_PIN GPIO_NUM_36 +#define CYCLE_START_PIN GPIO_NUM_39 + +#define AUXINPUT0_PIN GPIO_NUM_35 +#define AUXINPUT1_PIN GPIO_NUM_32 -// Define probe switch input pin. #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_26 +#define PROBE_PIN AUXINPUT1_PIN #endif -#if KEYPAD_ENABLE -#error No free pins for keypad! +#if SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_PIN AUXINPUT0_PIN +#endif + +#if I2C_ENABLE +// Define I2C port/pins +#define I2C_PORT I2C_NUM_1 +#define I2C_SDA GPIO_NUM_21 +#define I2C_SCL GPIO_NUM_22 +#define I2C_CLOCK 100000 #endif #if SDCARD_ENABLE // Pin mapping when using SPI mode. // With this mapping, SD card can be used both in SPI and 1-line SD mode. // Note that a pull-up on CS line is required in SD mode. -#define PIN_NUM_MISO GPIO_NUM_19 -#define PIN_NUM_MOSI GPIO_NUM_23 -#define PIN_NUM_CLK GPIO_NUM_18 -#define PIN_NUM_CS GPIO_NUM_5 +#define PIN_NUM_MISO GPIO_NUM_19 +#define PIN_NUM_MOSI GPIO_NUM_23 +#define PIN_NUM_CLK GPIO_NUM_18 +#define PIN_NUM_CS GPIO_NUM_5 #endif - diff --git a/main/boards/jackpot_map.h b/main/boards/jackpot_map.h index 57596ea..3076481 100644 --- a/main/boards/jackpot_map.h +++ b/main/boards/jackpot_map.h @@ -7,23 +7,27 @@ Copyright (c) 2023 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "Jackpot" #define BOARD_URL "https://docs.v1e.com/electronics/jackpot/" +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define USE_I2S_OUT #define I2S_OUT_PIN_BASE 64 @@ -106,6 +110,12 @@ // N/A +#define AUXINPUT0_PIN GPIO_NUM_36 + +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT0_PIN +#endif + #define AUXOUTPUT0_PIN GPIO_NUM_26 #define AUXOUTPUT1_PIN GPIO_NUM_27 @@ -120,16 +130,7 @@ #define PIN_NUM_CS GPIO_NUM_5 #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED -#define UART2_RX_PIN GPIO_NUM_4 -#define UART2_TX_PIN GPIO_NUM_0 -#endif - -// Define probe switch input pin. -#if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_36 -#endif - -#if KEYPAD_ENABLE -#error No free pins for keypad! +#ifdef ADD_SERIAL2 +#define UART2_RX_PIN GPIO_NUM_4 +#define UART2_TX_PIN GPIO_NUM_0 #endif diff --git a/main/boards/mks_dlc32_2_0_map.h b/main/boards/mks_dlc32_2_0_map.h index e59e30f..614a430 100644 --- a/main/boards/mks_dlc32_2_0_map.h +++ b/main/boards/mks_dlc32_2_0_map.h @@ -8,18 +8,18 @@ Copyright (c) 2023 Terje Io Copyright (c) 2022 Lucio Tarantino - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if VFD_SPINDLE @@ -97,16 +97,18 @@ #endif #define AUXINPUT0_PIN GPIO_NUM_33 // EXP_1,8 (LCD_RS) -#define AUXOUTPUT0_PIN GPIO_NUM_25 // EXP_1,7 (LCD_CS_0) -#define AUXOUTPUT1_PIN GPIO_NUM_26 // EXP_1,5 (LCD_TOUCH_CS_0) -#define AUXOUTPUT2_PIN GPIO_NUM_27 // EXP_1,4 (LCD_RST_0) -#define AUXOUTPUT3_PIN GPIO_NUM_5 // EXP_1,3 (LCD_EN_0) +#define AUXINPUT1_PIN GPIO_NUM_22 // Define probe switch input pin. #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_22 +#define PROBE_PIN AUXINPUT1_PIN #endif +#define AUXOUTPUT0_PIN GPIO_NUM_25 // EXP_1,7 (LCD_CS_0) +#define AUXOUTPUT1_PIN GPIO_NUM_26 // EXP_1,5 (LCD_TOUCH_CS_0) +#define AUXOUTPUT2_PIN GPIO_NUM_27 // EXP_1,4 (LCD_RST_0) +#define AUXOUTPUT3_PIN GPIO_NUM_5 // EXP_1,3 (LCD_EN_0) + #if I2C_ENABLE // Define I2C port/pins #define I2C_SDA GPIO_NUM_0 diff --git a/main/boards/mks_tinybee_1_0_map.h b/main/boards/mks_tinybee_1_0_map.h index db35c72..f4a3610 100644 --- a/main/boards/mks_tinybee_1_0_map.h +++ b/main/boards/mks_tinybee_1_0_map.h @@ -8,27 +8,34 @@ Copyright (c) 2022 Ennio Sesana Copyright (c) 2023-2024 Terje Io (added SD card, ModBus and MPG options) - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "MKS Tinybee V1.0" #define BOARD_URL "https://github.com/makerbase-mks/MKS-TinyBee" +#if N_ABC_MOTORS > 2 +#error "Axis configuration is not supported!" +#endif + +#if KEYPAD_ENABLE == 1 +#error "No free pins for I2C keypad!" +#endif + #define USE_I2S_OUT #define I2S_OUT_PIN_BASE 64 -//#define SERIAL2_ENABLE 1 #define UART2_RX_PIN GPIO_NUM_16 // EXP_1 #define UART2_TX_PIN GPIO_NUM_17 // EXP_1 @@ -55,19 +62,25 @@ #define Z_ENABLE_PIN I2SO(6) #define Z_LIMIT_PIN GPIO_NUM_22 +#if PROBE_ENABLE || N_ABC_MOTORS == 0 +#define AUXINPUT1_PIN GPIO_NUM_35 // MT_DET +#endif + #if N_ABC_MOTORS >= 1 #define M3_AVAILABLE // E0 #define M3_STEP_PIN I2SO(10) #define M3_DIRECTION_PIN I2SO(11) #define M3_ENABLE_PIN I2SO(9) -#if SDCARD_ENABLE +#ifndef AUXINPUT1_PIN +#define M3_LIMIT_PIN GPIO_NUM_35 // MT_DET +#elif SDCARD_ENABLE #define M3_LIMIT_PIN GPIO_NUM_12 // EXP2 #else #define M3_LIMIT_PIN GPIO_NUM_19 // EXP2 #endif #endif -#if N_ABC_MOTORS >= 2 +#if N_ABC_MOTORS == 2 #define M4_AVAILABLE // E1 #define M4_STEP_PIN I2SO(13) #define M4_DIRECTION_PIN I2SO(14) @@ -79,6 +92,8 @@ #endif #endif +#define AUXINPUT0_PIN GPIO_NUM_39 // TB + // Define driver spindle pins #if DRIVER_SPINDLE_PWM_ENABLE @@ -108,13 +123,14 @@ #define CYCLE_START_PIN GPIO_NUM_36 // TH1 #define FEED_HOLD_PIN GPIO_NUM_34 // TH2 //#define RESET_PIN (use board hardware) -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN GPIO_NUM_39 // TB -#endif // Define probe switch input pin. #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_35 // MT_DET +#define PROBE_PIN AUXINPUT1_PIN // MT_DET +#endif + +#if SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_PIN AUXINPUT0_PIN // TB #endif #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED diff --git a/main/boards/protoneer_3.xx_map.h b/main/boards/protoneer_3.xx_map.h index 7111c17..256f1a1 100644 --- a/main/boards/protoneer_3.xx_map.h +++ b/main/boards/protoneer_3.xx_map.h @@ -7,18 +7,18 @@ Copyright (c) 2021 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 0 @@ -85,7 +85,8 @@ #define FEED_HOLD_PIN GPIO_NUM_4 // A1 #define CYCLE_START_PIN GPIO_NUM_35 // A2 -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_39 // A5 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_39 // A5 +#define PROBE_PIN AUXINPUT0_PIN #endif diff --git a/main/boards/root_cnc_v2_map.h b/main/boards/root_cnc_v2_map.h index ad91b42..5db27fe 100644 --- a/main/boards/root_cnc_v2_map.h +++ b/main/boards/root_cnc_v2_map.h @@ -7,23 +7,27 @@ Copyright (c) 2023 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "Root CNC v2.x" #define BOARD_URL "https://wiki.rootcnc.com/en/Root-Controller-ISO/DetailedInfo" +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define USE_I2S_OUT #define I2S_OUT_PIN_BASE 64 @@ -119,7 +123,7 @@ // N/A -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_16 #define UART2_TX_PIN GPIO_NUM_17 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED @@ -127,11 +131,8 @@ #endif #endif -// Define probe switch input pin. -#if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_27 -#endif +#define AUXINPUT0_PIN GPIO_NUM_27 -#if KEYPAD_ENABLE -#error No free pins for keypad! +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT0_PIN #endif diff --git a/main/boards/root_cnc_v3_map.h b/main/boards/root_cnc_v3_map.h index b7b2aa3..4bff6ad 100644 --- a/main/boards/root_cnc_v3_map.h +++ b/main/boards/root_cnc_v3_map.h @@ -7,23 +7,27 @@ Copyright (c) 2023 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #define BOARD_NAME "Root CNC v3" #define BOARD_URL "https://wiki.rootcnc.com/en/Root-Controller-ISO/DetailedInfo" +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define USE_I2S_OUT #define I2S_OUT_PIN_BASE 64 @@ -119,7 +123,7 @@ // N/A -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_16 #define UART2_TX_PIN GPIO_NUM_17 #if MODBUS_ENABLE & MODBUS_RTU_DIR_ENABLED @@ -127,11 +131,8 @@ #endif #endif -// Define probe switch input pin. -#if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_2 -#endif +#define AUXINPUT0_PIN GPIO_NUM_2 -#if KEYPAD_ENABLE -#error No free pins for keypad! +#if PROBE_ENABLE +#define PROBE_PIN AUXINPUT0_PIN #endif diff --git a/main/boards/sourcerabbit_4axis.h b/main/boards/sourcerabbit_4axis.h index 4042b5f..b39f207 100644 --- a/main/boards/sourcerabbit_4axis.h +++ b/main/boards/sourcerabbit_4axis.h @@ -7,18 +7,18 @@ Copyright (c) 2021-2022 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 1 @@ -97,6 +97,12 @@ #endif #endif +#ifdef BOARD_SOURCERABBIT_4AXIS_12 +#define AUXINPUT1_PIN GPIO_NUM_5 // ATC Door +#define AUXOUTPUT0_PIN GPIO_NUM_19 // ATC Lock +#define AUXOUTPUT1_PIN GPIO_NUM_18 // ATC Blow +#endif + // Define flood and mist coolant enable output pins. #define COOLANT_FLOOD_PIN GPIO_NUM_22 @@ -105,17 +111,12 @@ // Define user-control CONTROLs (cycle start, reset, feed hold) input pins. // N/A -// Define probe switch input pin. +#define AUXINPUT0_PIN GPIO_NUM_32 + #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_32 +#define PROBE_PIN AUXINPUT0_PIN #endif -#ifdef BOARD_SOURCERABBIT_4AXIS_12 -#if SAFETY_DOOR_ENABLE -#define SAFETY_DOOR_PIN GPIO_NUM_5 // ATC Door -#else -#define AUXINPUT0_PIN GPIO_NUM_5 // ATC Door -#endif -#define AUXOUTPUT0_PIN GPIO_NUM_19 // ATC Lock -#define AUXOUTPUT1_PIN GPIO_NUM_18 // ATC Blow +#if SAFETY_DOOR_ENABLE && defined(AUXINPUT1_PIN) +#define SAFETY_DOOR_PIN AUXINPUT1_PIN #endif diff --git a/main/boards/xPro_v5_map.h b/main/boards/xPro_v5_map.h index 25e69c9..b1f8ec6 100644 --- a/main/boards/xPro_v5_map.h +++ b/main/boards/xPro_v5_map.h @@ -7,24 +7,28 @@ Copyright (c) 2021-2022 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #if N_ABC_MOTORS > 1 #error "Axis configuration is not supported!" #endif +#if KEYPAD_ENABLE == 1 +#error No free pins for I2C keypad! +#endif + #define BOARD_NAME "x-Pro v5" #define HAS_BOARD_INIT #if TRINAMIC_ENABLE != 5160 @@ -74,6 +78,7 @@ #define AUXINPUT0_PIN GPIO_NUM_13 #define AUXINPUT1_PIN GPIO_NUM_0 +#define AUXINPUT2_PIN GPIO_NUM_22 // Define flood and mist coolant enable output pins. // Only one can be enabled! @@ -86,7 +91,7 @@ // Define probe switch input pin. #if PROBE_ENABLE -#define PROBE_PIN GPIO_NUM_22 +#define PROBE_PIN AUXINPUT2_PIN #endif // Pin mapping when using SPI mode. @@ -100,11 +105,7 @@ #define PIN_NUM_CS GPIO_NUM_5 #endif -#if MODBUS_ENABLE & MODBUS_RTU_ENABLED +#ifdef ADD_SERIAL2 #define UART2_RX_PIN GPIO_NUM_25 #define UART2_TX_PIN GPIO_NUM_4 #endif - -#if KEYPAD_ENABLE -#error No free pins for keypad! -#endif diff --git a/main/driver.c b/main/driver.c index 8c12542..7b10b16 100644 --- a/main/driver.c +++ b/main/driver.c @@ -11,18 +11,18 @@ Copyright (c) 2011-2015 Sungeun K. Jeon Copyright (c) 2009-2011 Simen Svale Skogsrud - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #include @@ -49,6 +49,8 @@ #include "hal/gpio_types.h" #include "xtensa/core-macros.h" +#define AUX_DEVICES // until all drivers are converted? + #include "grbl/protocol.h" #include "grbl/state_machine.h" #include "grbl/motor_pins.h" @@ -108,8 +110,6 @@ static spindle_id_t spindle_id = -1; #if DRIVER_SPINDLE_PWM_ENABLE -#define pwm(s) ((spindle_pwm_t *)s->context) - static uint32_t pwm_max_value; static bool pwmEnabled = false; static spindle_pwm_t spindle_pwm; @@ -165,9 +165,6 @@ typedef struct { static pwm_ramp_t pwm_ramp; #endif -#if SAFETY_DOOR_ENABLE -static input_signal_t *door_pin; -#endif static periph_signal_t *periph_pins = NULL; static input_signal_t inputpin[] = { @@ -184,45 +181,65 @@ static input_signal_t inputpin[] = { #ifdef CYCLE_START_PIN { .id = Input_CycleStart, .pin = CYCLE_START_PIN, .group = PinGroup_Control }, #endif -#if SAFETY_DOOR_BIT - { .id = Input_SafetyDoor, .pin = SAFETY_DOOR_PIN, .group = PinGroup_Control }, -#endif -#ifdef PROBE_PIN - { .id = Input_Probe, .pin = PROBE_PIN, .group = PinGroup_Probe }, -#endif #ifdef X_LIMIT_PIN { .id = Input_LimitX, .pin = X_LIMIT_PIN, .group = PinGroup_Limit }, #endif #ifdef X2_LIMIT_PIN { .id = Input_LimitX_2, .pin = X2_LIMIT_PIN, .group = PinGroup_Limit }, #endif +#ifdef X_LIMIT_PIN_MAX + { .id = Input_LimitX_Max, .pin = X_LIMIT_PIN_MAX, .group = PinGroup_LimitMax }, +#endif #ifdef Y_LIMIT_PIN { .id = Input_LimitY, .pin = Y_LIMIT_PIN, .group = PinGroup_Limit }, #endif #ifdef Y2_LIMIT_PIN { .id = Input_LimitY_2, .pin = Y2_LIMIT_PIN, .group = PinGroup_Limit }, #endif +#ifdef Y_LIMIT_PIN_MAX + { .id = Input_LimitY_Max, .pin = Y_LIMIT_PIN_MAX, .group = PinGroup_LimitMax }, +#endif #ifdef Z_LIMIT_PIN { .id = Input_LimitZ, .pin = Z_LIMIT_PIN, .group = PinGroup_Limit }, #endif #ifdef Z2_LIMIT_PIN { .id = Input_LimitZ_2, .pin = Z2_LIMIT_PIN, .group = PinGroup_Limit }, #endif +#ifdef Z_LIMIT_PIN_MAX + { .id = Input_LimitZ_Max, .pin = Z_LIMIT_PIN_MAX, .group = PinGroup_LimitMax }, +#endif #ifdef A_LIMIT_PIN { .id = Input_LimitA, .pin = A_LIMIT_PIN, .group = PinGroup_Limit }, #endif +#ifdef A_LIMIT_PIN_MAX + { .id = Input_LimitA_Max, .pin = A_LIMIT_PIN_MAX, .group = PinGroup_Limit }, +#endif #ifdef B_LIMIT_PIN { .id = Input_LimitB, .pin = B_LIMIT_PIN, .group = PinGroup_Limit }, #endif +#ifdef B_LIMIT_PIN_MAX + { .id = Input_LimitB_Max, .pin = B_LIMIT_PIN_MAX, .group = PinGroup_Limit }, +#endif #ifdef C_LIMIT_PIN { .id = Input_LimitC, .pin = C_LIMIT_PIN, .group = PinGroup_Limit }, #endif -#if MPG_MODE == 1 - { .id = Input_ModeSelect, .pin = MPG_ENABLE_PIN, .group = PinGroup_MPG }, +#ifdef C_LIMIT_PIN_MAX + { .id = Input_LimitC_Max, .pin = C_LIMIT_PIN_MAX, .group = PinGroup_Limit }, #endif -#ifdef I2C_STROBE_PIN +#ifndef AUX_DEVICES + #if SAFETY_DOOR_BIT + { .id = Input_SafetyDoor, .pin = SAFETY_DOOR_PIN, .group = PinGroup_Control }, + #endif + #ifdef PROBE_PIN + { .id = Input_Probe, .pin = PROBE_PIN, .group = PinGroup_Probe }, + #endif + #if MPG_MODE == 1 + { .id = Input_ModeSelect, .pin = MPG_ENABLE_PIN, .group = PinGroup_MPG }, + #endif + #ifdef I2C_STROBE_PIN { .id = Input_I2CStrobe, .pin = I2C_STROBE_PIN, .group = PinGroup_Keypad }, -#endif + #endif +#endif // AUX_DEVICES // Aux input pins must be consecutive in this array #ifdef AUXINPUT0_PIN { .id = Input_Aux0, .pin = AUXINPUT0_PIN, .group = PinGroup_AuxInput }, @@ -413,28 +430,30 @@ static output_signal_t outputpin[] = { }; static bool IOInitDone = false, rtc_started = false; -static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED, debounce_mux = portMUX_INITIALIZER_UNLOCKED; +static portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED; +static pin_group_pins_t limit_inputs = {0}; +static on_execute_realtime_ptr on_execute_realtime; #if PROBE_ENABLE static probe_state_t probe = { .connected = On }; #endif -#ifdef SQUARING_ENABLED -static axes_signals_t motors_1 = {AXES_BITMASK}, motors_2 = {AXES_BITMASK}; +#if IOEXPAND_ENABLE +static ioexpand_t iopins = {0}; #endif -#if USE_I2S_OUT -static bool goIdlePending = false; -static uint32_t i2s_step_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_samples = 1, i2s_step_samples = 1; -static bool laser_mode = false; -#if DRIVER_SPINDLE_ENABLE -static on_spindle_selected_ptr on_spindle_selected; +#ifdef NEOPIXELS_PIN +neopixel_cfg_t neopixel = { .intensity = 255 }; #endif -#endif // USE_I2S_OUT -#if IOEXPAND_ENABLE -static ioexpand_t iopins = {0}; +#if AUX_CONTROLS_ENABLED +static uint8_t probe_port; +#ifdef SAFETY_DOOR_PIN +static pin_debounce_t debounce = {0}; +static input_signal_t *safety_door = NULL; +#endif +static void aux_irq_handler (uint8_t port, bool state); #endif #if I2C_STROBE_ENABLE @@ -469,107 +488,7 @@ static void gpio_isr (void *arg); #endif static void stepper_driver_isr (void *arg); -static TimerHandle_t xDelayTimer = NULL, debounceTimer = NULL; - -#if USE_I2S_OUT - -// Set stepper pulse output pins -inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs (axes_signals_t step_outbits_1); - -#else - -void initRMT (settings_t *settings) -{ - rmt_item32_t rmtItem[2]; - - rmt_config_t rmtConfig = { - .rmt_mode = RMT_MODE_TX, - .clk_div = 20, - .mem_block_num = 1, - .tx_config.loop_en = false, - .tx_config.carrier_en = false, - .tx_config.carrier_freq_hz = 0, - .tx_config.carrier_duty_percent = 50, - .tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW, - .tx_config.idle_output_en = true - }; - - rmtItem[0].duration0 = (uint32_t)(settings->steppers.pulse_delay_microseconds > 0.0f ? 4.0f * settings->steppers.pulse_delay_microseconds : 1.0f); - rmtItem[0].duration1 = (uint32_t)(4.0f * settings->steppers.pulse_microseconds); - rmtItem[1].duration0 = 0; - rmtItem[1].duration1 = 0; - -// hal.max_step_rate = 4000000UL / (rmtItem[0].duration0 + rmtItem[0].duration1); // + latency - - uint32_t channel; - for(channel = 0; channel < (N_AXIS + N_GANGED); channel++) { - - rmtConfig.channel = channel; - - switch(channel) { - case X_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.x; - rmtConfig.gpio_num = X_STEP_PIN; - break; - case Y_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.y; - rmtConfig.gpio_num = Y_STEP_PIN; - break; -#ifdef Z_STEP_PIN - case Z_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.z; - rmtConfig.gpio_num = Z_STEP_PIN; - break; -#endif -#ifdef A_STEP_PIN - case A_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.a; - rmtConfig.gpio_num = A_STEP_PIN; - break; -#endif -#ifdef B_STEP_PIN - case B_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.b; - rmtConfig.gpio_num = B_STEP_PIN; - break; -#endif -#ifdef C_STEP_PIN - case C_AXIS: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.c; - rmtConfig.gpio_num = C_STEP_PIN; - break; -#endif -#ifdef X2_STEP_PIN - case X2_MOTOR: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.x; - rmtConfig.gpio_num = X2_STEP_PIN; - break; -#endif -#ifdef Y2_STEP_PIN - case Y2_MOTOR: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.y; - rmtConfig.gpio_num = Y2_STEP_PIN; - break; -#endif -#ifdef Z2_STEP_PIN - case Z2_MOTOR: - rmtConfig.tx_config.idle_level = settings->steppers.step_invert.z; - rmtConfig.gpio_num = Z2_STEP_PIN; - break; -#endif - } -#ifndef Z_STEP_PIN - if(channel == Z_AXIS) - continue; -#endif - rmtItem[0].level0 = rmtConfig.tx_config.idle_level; - rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; - rmt_config(&rmtConfig); - rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], 2, 0); - } -} - -#endif +static TimerHandle_t xDelayTimer = NULL; void vTimerCallback (TimerHandle_t xTimer) { @@ -590,10 +509,13 @@ IRAM_ATTR static void driver_delay_ms (uint32_t ms, void (*callback)(void)) xTimerDelete(xDelayTimer, 3); xDelayTimer = NULL; } - xDelayTimer = xTimerCreate("msDelay", pdMS_TO_TICKS(ms), pdFALSE, callback, vTimerCallback); - xTimerStartFromISR(xDelayTimer, &xHigherPriorityTaskWoken); - if(xHigherPriorityTaskWoken) - portYIELD_FROM_ISR(); + if(ms) { + xDelayTimer = xTimerCreate("msDelay", pdMS_TO_TICKS(ms), pdFALSE, callback, vTimerCallback); + xTimerStartFromISR(xDelayTimer, &xHigherPriorityTaskWoken); + if(xHigherPriorityTaskWoken) + portYIELD_FROM_ISR(); + } else + callback(); } else { if(xDelayTimer) { xTimerDelete(xDelayTimer, 3); @@ -607,71 +529,48 @@ IRAM_ATTR static void driver_delay_ms (uint32_t ms, void (*callback)(void)) } } -#if !CONFIG_IDF_TARGET_ESP32S3 - -IRAM_ATTR static void delay_us (uint32_t us) -{ -#if CONFIG_IDF_TARGET_ESP32S3 - int32_t t = XTHAL_GET_CCOUNT() + hal.f_mcu * us; - - while((XTHAL_GET_CCOUNT() - t) < 0) { - __asm__ __volatile__ ("nop"); - } -#else - uint64_t start_time = esp_timer_get_time(); - - while (esp_timer_get_time() - start_time < us) { - __asm__ __volatile__ ("nop"); - } -#endif -} - -#endif - // Enable/disable steppers static void stepperEnable (axes_signals_t enable) { enable.mask ^= settings.steppers.enable_invert.mask; #if !TRINAMIC_MOTOR_ENABLE - #if IOEXPAND_ENABLE // TODO: read from expander? + #if IOEXPAND_ENABLE // TODO: read from expander? iopins.stepper_enable_x = enable.x; iopins.stepper_enable_y = enable.y; iopins.stepper_enable_z = enable.z; ioexpand_out(iopins); - #else - #if defined(STEPPERS_ENABLE_PIN) - DIGITAL_OUT(STEPPERS_ENABLE_PIN, enable.x); - #else - #ifdef X_ENABLE_PIN - DIGITAL_OUT(X_ENABLE_PIN, enable.x); - #endif - #ifdef Y_ENABLE_PIN - DIGITAL_OUT(Y_ENABLE_PIN, enable.y); - #endif - #ifdef Z_ENABLE_PIN - DIGITAL_OUT(Z_ENABLE_PIN, enable.z); - #endif - #ifdef A_ENABLE_PIN - DIGITAL_OUT(A_ENABLE_PIN, enable.a); - #endif - #ifdef B_ENABLE_PIN - DIGITAL_OUT(B_ENABLE_PIN, enable.b); - #endif - #ifdef C_ENABLE_PIN - DIGITAL_OUT(C_ENABLE_PIN, enable.c); - #endif - #ifdef X2_ENABLE_PIN - DIGITAL_OUT(X2_ENABLE_PIN, enable.x); - #endif - #ifdef Y2_ENABLE_PIN - DIGITAL_OUT(Y2_ENABLE_PIN, enable.y); - #endif - #ifdef Z2_ENABLE_PIN - DIGITAL_OUT(Z2_ENABLE_PIN, enable.z); - #endif - #endif + #elif defined(STEPPERS_ENABLE_PIN) + DIGITAL_OUT(STEPPERS_ENABLE_PIN, enable.x); + #else + #ifdef X_ENABLE_PIN + DIGITAL_OUT(X_ENABLE_PIN, enable.x); + #endif + #ifdef X2_ENABLE_PIN + DIGITAL_OUT(X2_ENABLE_PIN, enable.x); + #endif + #ifdef Y_ENABLE_PIN + DIGITAL_OUT(Y_ENABLE_PIN, enable.y); + #endif + #ifdef Y2_ENABLE_PIN + DIGITAL_OUT(Y2_ENABLE_PIN, enable.y); #endif + #ifdef Z_ENABLE_PIN + DIGITAL_OUT(Z_ENABLE_PIN, enable.z); + #endif + #ifdef Z2_ENABLE_PIN + DIGITAL_OUT(Z2_ENABLE_PIN, enable.z); + #endif + #ifdef A_ENABLE_PIN + DIGITAL_OUT(A_ENABLE_PIN, enable.a); + #endif + #ifdef B_ENABLE_PIN + DIGITAL_OUT(B_ENABLE_PIN, enable.b); + #endif + #ifdef C_ENABLE_PIN + DIGITAL_OUT(C_ENABLE_PIN, enable.c); + #endif + #endif #endif } @@ -751,16 +650,60 @@ inline IRAM_ATTR static void set_dir_outputs (axes_signals_t dir_outbits) #endif } +#ifdef SQUARING_ENABLED + +static axes_signals_t motors_1 = {AXES_BITMASK}, motors_2 = {AXES_BITMASK}; + +// Enable/disable motors for auto squaring of ganged axes +static void StepperDisableMotors (axes_signals_t axes, squaring_mode_t mode) +{ + motors_1.mask = (mode == SquaringMode_A || mode == SquaringMode_Both ? axes.mask : 0) ^ AXES_BITMASK; + motors_2.mask = (mode == SquaringMode_B || mode == SquaringMode_Both ? axes.mask : 0) ^ AXES_BITMASK; +} + +#endif // SQUARING_ENABLED + #if USE_I2S_OUT -IRAM_ATTR static void I2S_stepperCyclesPerTick (uint32_t cycles_per_tick) +static bool goIdlePending = false; +static uint32_t i2s_step_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_samples = 1, i2s_step_samples = 1; +static bool laser_mode = false; +#if DRIVER_SPINDLE_ENABLE +static on_spindle_selected_ptr on_spindle_selected; +#endif + +// Set stepper pulse output pins +inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs (axes_signals_t step_outbits_1); + +#if !CONFIG_IDF_TARGET_ESP32S3 + +IRAM_ATTR static void delay_us (uint32_t us) +{ +#if CONFIG_IDF_TARGET_ESP32S3 + int32_t t = XTHAL_GET_CCOUNT() + hal.f_mcu * us; + + while((XTHAL_GET_CCOUNT() - t) < 0) { + __asm__ __volatile__ ("nop"); + } +#else + uint64_t start_time = esp_timer_get_time(); + + while (esp_timer_get_time() - start_time < us) { + __asm__ __volatile__ ("nop"); + } +#endif +} + +#endif // !CONFIG_IDF_TARGET_ESP32S3 + +IRAM_ATTR static void I2SStepperCyclesPerTick (uint32_t cycles_per_tick) { i2s_out_set_pulse_period((cycles_per_tick < (1UL << 18) ? cycles_per_tick : (1UL << 18) - 1UL) / (hal.f_step_timer / 1000000)); } // Sets stepper direction and pulse pins and starts a step pulse // Called when in I2S stepping mode -IRAM_ATTR static void I2S_stepperPulseStart (stepper_t *stepper) +IRAM_ATTR static void I2SStepperPulseStart (stepper_t *stepper) { if(stepper->dir_change) { set_dir_outputs(stepper->dir_outbits); @@ -776,19 +719,15 @@ IRAM_ATTR static void I2S_stepperPulseStart (stepper_t *stepper) } // Starts stepper driver ISR timer and forces a stepper driver interrupt callback -static void I2S_stepperWakeUp (void) +static void I2SStepperWakeUp (void) { // Enable stepper drivers. stepperEnable((axes_signals_t){AXES_BITMASK}); i2s_out_set_stepping(); } -#endif // USE_I2S_OUT - #ifdef SQUARING_ENABLED -#if USE_I2S_OUT - // Set stepper pulse output pins inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs (axes_signals_t step_outbits_1) { @@ -821,99 +760,22 @@ inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs #endif } -#else // RMT +#else // !SQUARING_ENABLED // Set stepper pulse output pins -inline IRAM_ATTR static void set_step_outputs (axes_signals_t step_outbits_1) +inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs (axes_signals_t step_outbits) { - axes_signals_t step_outbits_2; - step_outbits_2.mask = (step_outbits_1.mask & motors_2.mask) ^ settings.steppers.step_invert.mask; - step_outbits_1.mask = (step_outbits_1.mask & motors_1.mask) ^ settings.steppers.step_invert.mask; - - if(step_outbits_1.x) { - rmt_ll_tx_reset_pointer(&RMT, X_AXIS); - rmt_ll_tx_start(&RMT, X_AXIS); - } + step_outbits.value ^= settings.steppers.step_invert.mask; + DIGITAL_OUT(X_STEP_PIN, step_outbits.x); + DIGITAL_OUT(Y_STEP_PIN, step_outbits.y); +#ifdef Z_STEP_PIN + DIGITAL_OUT(Z_STEP_PIN, step_outbits.z); +#endif #ifdef X2_STEP_PIN - if(step_outbits_2.x) { - rmt_ll_tx_reset_pointer(&RMT, X2_MOTOR); - rmt_ll_tx_start(&RMT, X2_MOTOR); - } + DIGITAL_OUT(X2_STEP_PIN, step_outbits.x); #endif - - if(step_outbits_1.y) { - rmt_ll_tx_reset_pointer(&RMT, Y_AXIS); - rmt_ll_tx_start(&RMT, Y_AXIS); - } #ifdef Y2_STEP_PIN - if(step_outbits_2.y) { - rmt_ll_tx_reset_pointer(&RMT, Y2_MOTOR); - rmt_ll_tx_start(&RMT, Y2_MOTOR); - } -#endif - -#ifdef Z_STEP_PIN - if(step_outbits_1.z) { - rmt_ll_tx_reset_pointer(&RMT, Z_AXIS); - rmt_ll_tx_start(&RMT, Z_AXIS); - } - #ifdef Z2_STEP_PIN - if(step_outbits_2.z) { - rmt_ll_tx_reset_pointer(&RMT, Z2_MOTOR); - rmt_ll_tx_start(&RMT, Z2_MOTOR); - } - #endif -#endif // Z_STEP_PIN - -#ifdef A_STEP_PIN - if(step_outbits_1.a) { - rmt_ll_tx_reset_pointer(&RMT, A_AXIS); - rmt_ll_tx_start(&RMT, A_AXIS); - } -#endif - -#ifdef B_STEP_PIN - if(step_outbits_1.b) { - rmt_ll_tx_reset_pointer(&RMT, B_AXIS); - rmt_ll_tx_start(&RMT, B_AXIS); - } -#endif - -#ifdef C_STEP_PIN - if(step_outbits_1.c) { - rmt_ll_tx_reset_pointer(&RMT, C_AXIS); - rmt_ll_tx_start(&RMT, C_AXIS); - } -#endif -} - -#endif // SQUARING_ENABLED - -// Enable/disable motors for auto squaring of ganged axes -static void StepperDisableMotors (axes_signals_t axes, squaring_mode_t mode) -{ - motors_1.mask = (mode == SquaringMode_A || mode == SquaringMode_Both ? axes.mask : 0) ^ AXES_BITMASK; - motors_2.mask = (mode == SquaringMode_B || mode == SquaringMode_Both ? axes.mask : 0) ^ AXES_BITMASK; -} - -#else // SQUARING DISABLED - -#if USE_I2S_OUT - -// Set stepper pulse output pins -inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs (axes_signals_t step_outbits) -{ - step_outbits.value ^= settings.steppers.step_invert.mask; - DIGITAL_OUT(X_STEP_PIN, step_outbits.x); - DIGITAL_OUT(Y_STEP_PIN, step_outbits.y); -#ifdef Z_STEP_PIN - DIGITAL_OUT(Z_STEP_PIN, step_outbits.z); -#endif -#ifdef X2_STEP_PIN - DIGITAL_OUT(X2_STEP_PIN, step_outbits.x); -#endif -#ifdef Y2_STEP_PIN - DIGITAL_OUT(Y2_STEP_PIN, step_outbits.y); + DIGITAL_OUT(Y2_STEP_PIN, step_outbits.y); #endif #ifdef Z2_STEP_PIN DIGITAL_OUT(Z2_STEP_PIN, step_outbits.z); @@ -929,6 +791,8 @@ inline __attribute__((always_inline)) IRAM_ATTR static void i2s_set_step_outputs #endif } +#endif // !SQUARING_ENABLED + #if STEP_INJECT_ENABLE void stepperOutputStep (axes_signals_t step_outbits, axes_signals_t dir_outbits) @@ -1014,10 +878,199 @@ void stepperOutputStep (axes_signals_t step_outbits, axes_signals_t dir_outbits) i2s_set_step_outputs((axes_signals_t){0}); } } + #endif // STEP_INJECT_ENABLE +void i2s_step_sink (void) +{ + //NOOP +} + +void I2SReset (void) +{ + if(goIdlePending) { + i2s_out_set_passthrough(); + i2s_out_delay(); +// i2s_out_reset(); + goIdlePending = false; + } +} + +IRAM_ATTR static void I2SStepperGoIdle (bool clear_signals) +{ + if(clear_signals) { + i2s_set_step_outputs((axes_signals_t){0}); + set_dir_outputs((axes_signals_t){0}); + i2s_out_reset(); + } + + if(!(goIdlePending = xPortInIsrContext())) { + i2s_out_set_passthrough(); + i2s_out_delay(); + } +} + #else // RMT stepping +void initRMT (settings_t *settings) +{ + rmt_item32_t rmtItem[2]; + + rmt_config_t rmtConfig = { + .rmt_mode = RMT_MODE_TX, + .clk_div = 20, + .mem_block_num = 1, + .tx_config.loop_en = false, + .tx_config.carrier_en = false, + .tx_config.carrier_freq_hz = 0, + .tx_config.carrier_duty_percent = 50, + .tx_config.carrier_level = RMT_CARRIER_LEVEL_LOW, + .tx_config.idle_output_en = true + }; + + rmtItem[0].duration0 = (uint32_t)(settings->steppers.pulse_delay_microseconds > 0.0f ? 4.0f * settings->steppers.pulse_delay_microseconds : 1.0f); + rmtItem[0].duration1 = (uint32_t)(4.0f * settings->steppers.pulse_microseconds); + rmtItem[1].duration0 = 0; + rmtItem[1].duration1 = 0; + +// hal.max_step_rate = 4000000UL / (rmtItem[0].duration0 + rmtItem[0].duration1); // + latency + + uint32_t channel; + for(channel = 0; channel < (N_AXIS + N_GANGED); channel++) { + + rmtConfig.channel = channel; + + switch(channel) { + case X_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.x; + rmtConfig.gpio_num = X_STEP_PIN; + break; + case Y_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.y; + rmtConfig.gpio_num = Y_STEP_PIN; + break; +#ifdef Z_STEP_PIN + case Z_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.z; + rmtConfig.gpio_num = Z_STEP_PIN; + break; +#endif +#ifdef A_STEP_PIN + case A_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.a; + rmtConfig.gpio_num = A_STEP_PIN; + break; +#endif +#ifdef B_STEP_PIN + case B_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.b; + rmtConfig.gpio_num = B_STEP_PIN; + break; +#endif +#ifdef C_STEP_PIN + case C_AXIS: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.c; + rmtConfig.gpio_num = C_STEP_PIN; + break; +#endif +#ifdef X2_STEP_PIN + case X2_MOTOR: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.x; + rmtConfig.gpio_num = X2_STEP_PIN; + break; +#endif +#ifdef Y2_STEP_PIN + case Y2_MOTOR: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.y; + rmtConfig.gpio_num = Y2_STEP_PIN; + break; +#endif +#ifdef Z2_STEP_PIN + case Z2_MOTOR: + rmtConfig.tx_config.idle_level = settings->steppers.step_invert.z; + rmtConfig.gpio_num = Z2_STEP_PIN; + break; +#endif + } +#ifndef Z_STEP_PIN + if(channel == Z_AXIS) + continue; +#endif + rmtItem[0].level0 = rmtConfig.tx_config.idle_level; + rmtItem[0].level1 = !rmtConfig.tx_config.idle_level; + rmt_config(&rmtConfig); + rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], 2, 0); + } +} + +#ifdef SQUARING_ENABLED + +// Set stepper pulse output pins +inline IRAM_ATTR static void set_step_outputs (axes_signals_t step_outbits_1) +{ + axes_signals_t step_outbits_2; + step_outbits_2.mask = (step_outbits_1.mask & motors_2.mask) ^ settings.steppers.step_invert.mask; + step_outbits_1.mask = (step_outbits_1.mask & motors_1.mask) ^ settings.steppers.step_invert.mask; + + if(step_outbits_1.x) { + rmt_ll_tx_reset_pointer(&RMT, X_AXIS); + rmt_ll_tx_start(&RMT, X_AXIS); + } +#ifdef X2_STEP_PIN + if(step_outbits_2.x) { + rmt_ll_tx_reset_pointer(&RMT, X2_MOTOR); + rmt_ll_tx_start(&RMT, X2_MOTOR); + } +#endif + + if(step_outbits_1.y) { + rmt_ll_tx_reset_pointer(&RMT, Y_AXIS); + rmt_ll_tx_start(&RMT, Y_AXIS); + } +#ifdef Y2_STEP_PIN + if(step_outbits_2.y) { + rmt_ll_tx_reset_pointer(&RMT, Y2_MOTOR); + rmt_ll_tx_start(&RMT, Y2_MOTOR); + } +#endif + +#ifdef Z_STEP_PIN + if(step_outbits_1.z) { + rmt_ll_tx_reset_pointer(&RMT, Z_AXIS); + rmt_ll_tx_start(&RMT, Z_AXIS); + } + #ifdef Z2_STEP_PIN + if(step_outbits_2.z) { + rmt_ll_tx_reset_pointer(&RMT, Z2_MOTOR); + rmt_ll_tx_start(&RMT, Z2_MOTOR); + } + #endif +#endif // Z_STEP_PIN + +#ifdef A_STEP_PIN + if(step_outbits_1.a) { + rmt_ll_tx_reset_pointer(&RMT, A_AXIS); + rmt_ll_tx_start(&RMT, A_AXIS); + } +#endif + +#ifdef B_STEP_PIN + if(step_outbits_1.b) { + rmt_ll_tx_reset_pointer(&RMT, B_AXIS); + rmt_ll_tx_start(&RMT, B_AXIS); + } +#endif + +#ifdef C_STEP_PIN + if(step_outbits_1.c) { + rmt_ll_tx_reset_pointer(&RMT, C_AXIS); + rmt_ll_tx_start(&RMT, C_AXIS); + } +#endif +} + +#else // !SQUARING_ENABLED + // Set stepper pulse output pins inline IRAM_ATTR static void set_step_outputs (axes_signals_t step_outbits) { @@ -1070,6 +1123,8 @@ inline IRAM_ATTR static void set_step_outputs (axes_signals_t step_outbits) #endif } +#endif // !SQUARING_ENABLED + #if STEP_INJECT_ENABLE void stepperOutputStep (axes_signals_t step_outbits, axes_signals_t dir_outbits) @@ -1172,8 +1227,6 @@ void stepperOutputStep (axes_signals_t step_outbits, axes_signals_t dir_outbits) #endif // RMT Stepping -#endif // SQUARING DISABLED - #ifdef GANGING_ENABLED static axes_signals_t getGangedAxes (bool auto_squared) @@ -1286,35 +1339,6 @@ IRAM_ATTR static void stepperGoIdle (bool clear_signals) #if USE_I2S_OUT -void i2s_step_sink (void) -{ - //NOOP -} - -void I2S_reset (void) -{ - if(goIdlePending) { - i2s_out_set_passthrough(); - i2s_out_delay(); -// i2s_out_reset(); - goIdlePending = false; - } -} - -IRAM_ATTR static void I2S_stepperGoIdle (bool clear_signals) -{ - if(clear_signals) { - i2s_set_step_outputs((axes_signals_t){0}); - set_dir_outputs((axes_signals_t){0}); - i2s_out_reset(); - } - - if(!(goIdlePending = xPortInIsrContext())) { - i2s_out_set_passthrough(); - i2s_out_delay(); - } -} - static void i2s_set_streaming_mode (bool stream) { #if CONFIG_IDF_TARGET_ESP32S3 @@ -1323,17 +1347,17 @@ static void i2s_set_streaming_mode (bool stream) TIMERG0.hw_timer[STEP_TIMER_INDEX].config.enable = 0; #endif - if(!stream && hal.stepper.wake_up == I2S_stepperWakeUp && i2s_out_get_pulser_status() == STEPPING) { + if(!stream && hal.stepper.wake_up == I2SStepperWakeUp && i2s_out_get_pulser_status() == STEPPING) { i2s_out_set_passthrough(); i2s_out_delay(); } if(stream) { - if(hal.stepper.wake_up != I2S_stepperWakeUp) { - hal.stepper.wake_up = I2S_stepperWakeUp; - hal.stepper.go_idle = I2S_stepperGoIdle; - hal.stepper.cycles_per_tick = I2S_stepperCyclesPerTick; - hal.stepper.pulse_start = I2S_stepperPulseStart; + if(hal.stepper.wake_up != I2SStepperWakeUp) { + hal.stepper.wake_up = I2SStepperWakeUp; + hal.stepper.go_idle = I2SStepperGoIdle; + hal.stepper.cycles_per_tick = I2SStepperCyclesPerTick; + hal.stepper.pulse_start = I2SStepperPulseStart; i2s_out_set_pulse_callback(hal.stepper.interrupt_callback); } } else if(hal.stepper.wake_up != stepperWakeUp) { @@ -1367,23 +1391,21 @@ static void limitsEnable (bool on, axes_signals_t homing_cycle) #endif bool disable = !on; - uint32_t i = sizeof(inputpin) / sizeof(input_signal_t); + uint32_t i = limit_inputs.n_pins; axes_signals_t pin; limit_signals_t homing_source = xbar_get_homing_source_from_cycle(homing_cycle); - do { + if(i) do { i--; - if(inputpin[i].group & (PinGroup_Limit|PinGroup_LimitMax)) { - if(on && homing_cycle.mask) { - pin = xbar_fn_to_axismask(inputpin[i].id); - disable = inputpin[i].group == PinGroup_Limit ? (pin.mask & homing_source.min.mask) : (pin.mask & homing_source.max.mask); - } - gpio_set_intr_type(inputpin[i].pin, on ? map_intr_type(inputpin[i].mode.irq_mode) : GPIO_INTR_DISABLE); - if(disable) - gpio_intr_disable(inputpin[i].pin); - else - gpio_intr_enable(inputpin[i].pin); + if(on && homing_cycle.mask) { + pin = xbar_fn_to_axismask(limit_inputs.pins.inputs[i].id); + disable = limit_inputs.pins.inputs[i].group == PinGroup_Limit ? (pin.mask & homing_source.min.mask) : (pin.mask & homing_source.max.mask); } + gpio_set_intr_type(limit_inputs.pins.inputs[i].pin, on ? map_intr_type(limit_inputs.pins.inputs[i].mode.irq_mode) : GPIO_INTR_DISABLE); + if(disable) + gpio_intr_disable(limit_inputs.pins.inputs[i].pin); + else + gpio_intr_enable(limit_inputs.pins.inputs[i].pin); } while(i); } @@ -1397,6 +1419,10 @@ inline IRAM_ATTR static limit_signals_t limitsGetState (void) #ifdef DUAL_LIMIT_SWITCHES signals.min2.mask = settings.limits.invert.mask; #endif +#ifdef MAX_LIMIT_SWITCHES + signals.max.mask = settings.limits.invert.mask; +#endif + #ifdef X_LIMIT_PIN signals.min.x = DIGITAL_IN(X_LIMIT_PIN); #endif @@ -1426,10 +1452,32 @@ inline IRAM_ATTR static limit_signals_t limitsGetState (void) signals.min2.z = DIGITAL_IN(Z2_LIMIT_PIN); #endif +#ifdef X_LIMIT_PIN_MAX + signals.max.x = DIGITAL_IN(X_LIMIT_PIN_MAX); +#endif +#ifdef Y_LIMIT_PIN_MAX + signals.max.y = DIGITAL_IN(Y_LIMIT_PIN_MAX); +#endif +#ifdef Z_LIMIT_PIN_MAX + signals.max.z = DIGITAL_IN(Z_LIMIT_PIN_MAX); +#endif +#ifdef A_LIMIT_PIN_MAX + signals.max.a = DIGITAL_IN(A_LIMIT_PIN_MAX); +#endif +#ifdef B_LIMIT_PIN_MAX + signals.max.b = DIGITAL_IN(B_LIMIT_PIN_MAX); +#endif +#ifdef C_LIMIT_PIN_MAX + signals.max.c = DIGITAL_IN(C_LIMIT_PIN_MAX); +#endif + if(settings.limits.invert.mask) { signals.min.value ^= settings.limits.invert.mask; #ifdef DUAL_LIMIT_SWITCHES signals.min2.mask ^= settings.limits.invert.mask; +#endif +#ifdef MAX_LIMIT_SWITCHES + signals.max.value ^= settings.limits.invert.mask; #endif } @@ -1468,143 +1516,82 @@ inline IRAM_ATTR static control_signals_t systemGetState (void) #if AUX_CONTROLS_ENABLED #ifdef SAFETY_DOOR_PIN - if(aux_ctrl[AuxCtrl_SafetyDoor].debouncing) + if(safety_door && debounce.safety_door) signals.safety_door_ajar = !settings.control_invert.safety_door_ajar; else signals.safety_door_ajar = DIGITAL_IN(SAFETY_DOOR_PIN); #endif - #ifdef MOTOR_FAULT_PIN - signals.motor_fault = DIGITAL_IN(MOTOR_FAULT_PIN); - #endif - #ifdef MOTOR_WARNING_PIN - signals.motor_warning = DIGITAL_IN(MOTOR_WARNING_PIN); - #endif - - if(settings.control_invert.mask) - signals.value ^= settings.control_invert.mask; - - #if AUX_CONTROLS_SCAN - uint_fast8_t i; - for(i = AUX_CONTROLS_SCAN; i < AuxCtrl_NumEntries; i++) { - if(!fpu_hack && aux_ctrl[i].enabled) { - signals.mask &= ~aux_ctrl[i].cap.mask; - if(hal.port.wait_on_input(Port_Digital, aux_ctrl[i].port, WaitMode_Immediate, FZERO) == 1) - signals.mask |= aux_ctrl[i].cap.mask; - } - } - #endif - -#else - if(settings.control_invert.mask) - signals.value ^= settings.control_invert.mask; - -#endif // AUX_CONTROLS_ENABLED - - return signals; -} - -#if AUX_CONTROLS_ENABLED - -IRAM_ATTR static void aux_irq_handler (uint8_t port, bool state) -{ - uint_fast8_t i; - control_signals_t signals = {0}; - BaseType_t xHigherPriorityTaskWoken = pdFALSE; - - for(i = 0; i < AuxCtrl_NumEntries; i++) { - if(aux_ctrl[i].port == port) { - if(!aux_ctrl[i].debouncing) { -#if SAFETY_DOOR_ENABLE - if(i == AuxCtrl_SafetyDoor) { - if((aux_ctrl[i].debouncing = door_pin->active = (xTimerStartFromISR(debounceTimer, &xHigherPriorityTaskWoken) == pdPASS))) - break; - } -#endif - signals.mask |= aux_ctrl[i].cap.mask; - if(aux_ctrl[i].irq_mode == IRQ_Mode_Change) - signals.deasserted = hal.port.wait_on_input(Port_Digital, aux_ctrl[i].port, WaitMode_Immediate, FZERO) == 0; - } - break; - } - } - - if(signals.mask) { - if(!signals.deasserted) { - fpu_hack = true; - signals.mask |= systemGetState().mask; - } - hal.control.interrupt_callback(signals); - fpu_hack = false; - } - - if(xHigherPriorityTaskWoken) - portYIELD_FROM_ISR(); -} - -static bool aux_attach (xbar_t *properties, aux_ctrl_t *aux_ctrl) -{ - bool ok; - uint_fast8_t i = sizeof(inputpin) / sizeof(input_signal_t); - - do { - i--; - if((ok = inputpin[i].pin == properties->pin)) { - inputpin[i].aux_ctrl = aux_ctrl; - break; - } - } while(i); + #ifdef MOTOR_FAULT_PIN + signals.motor_fault = DIGITAL_IN(MOTOR_FAULT_PIN); + #endif + #ifdef MOTOR_WARNING_PIN + signals.motor_warning = DIGITAL_IN(MOTOR_WARNING_PIN); + #endif - return ok; -} + if(settings.control_invert.mask) + signals.value ^= settings.control_invert.mask; -static bool aux_claim (xbar_t *properties, uint8_t port, void *data) -{ - bool ok; + #if AUX_CONTROLS_SCAN + signals = aux_ctrl_scan_status(signals); + #endif - ((aux_ctrl_t *)data)->port = port; +#else + if(settings.control_invert.mask) + signals.value ^= settings.control_invert.mask; - if((ok = ioport_claim(Port_Digital, Port_Input, &((aux_ctrl_t *)data)->port, xbar_fn_to_pinname(((aux_ctrl_t *)data)->function)))) - aux_attach(properties, (aux_ctrl_t *)data); +#endif // AUX_CONTROLS_ENABLED - return ok; + return signals; } -#if AUX_CONTROLS_XMAP +#if MPG_MODE == 1 -static bool aux_claim_explicit (aux_ctrl_t *aux_ctrl) +static void modeChange (void *data) { - if((aux_ctrl->enabled = aux_ctrl->port != 0xFF && ioport_claim(Port_Digital, Port_Input, &aux_ctrl->port, xbar_fn_to_pinname(aux_ctrl->function)))) { - hal.signals_cap.mask |= aux_ctrl->cap.mask; - aux_attach(hal.port.get_pin_info(Port_Digital, Port_Input, aux_ctrl->port), aux_ctrl); - } else - aux_ctrl->port = 0xFF; - - return aux_ctrl->enabled; + stream_mpg_enable(!DIGITAL_IN(MPG_ENABLE_PIN)); } -#endif +static void mpg_enable (void *data) +{ + if(sys.mpg_mode == DIGITAL_IN(MPG_ENABLE_PIN)) + stream_mpg_enable(true); +} -#endif // AUX_CONTROLS_ENABLED +#endif // MPG_MODE == 1 #ifdef PROBE_PIN +// Toggle probe connected status. Used when no input pin is available. +static void probeConnectedToggle (void) +{ + probe.connected = !probe.connected; +} + // 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. -static void probeConfigure(bool is_probe_away, bool probing) +static void probeConfigure (bool is_probe_away, bool probing) { #if USE_I2S_OUT i2s_set_streaming_mode(!(probing || laser_mode)); #endif - probe.triggered = Off; - probe.is_probing = probing; probe.inverted = is_probe_away ? !settings.probe.invert_probe_pin : settings.probe.invert_probe_pin; -#if PROBE_ISR - gpio_set_intr_type(inputpin[INPUT_PROBE].pin, probe_invert ? GPIO_INTR_NEGEDGE : GPIO_INTR_POSEDGE); - inputpin[INPUT_PROBE].active = false; +#ifdef AUX_DEVICES + + if(hal.driver_cap.probe_latch) { + probe.is_probing = Off; + probe.triggered = hal.probe.get_state().triggered; + pin_irq_mode_t irq_mode = probing && !probe.triggered ? (probe.inverted ? IRQ_Mode_Falling : IRQ_Mode_Rising) : IRQ_Mode_None; + probe.irq_enabled = hal.port.register_interrupt_handler(probe_port, irq_mode, aux_irq_handler) && irq_mode != IRQ_Mode_None; + } + + if(!probe.irq_enabled) #endif + probe.triggered = Off; + + probe.is_probing = probing; } // Returns the probe connected and triggered pin states. @@ -1613,19 +1600,91 @@ static probe_state_t probeGetState (void) probe_state_t state = {0}; state.connected = probe.connected; + state.triggered = probe.is_probing && probe.irq_enabled ? probe.triggered : DIGITAL_IN(PROBE_PIN) ^ probe.inverted; -#if PROBE_ISR - // TODO: verify! - inputpin[INPUT_PROBE].active = inputpin[INPUT_PROBE].active || ((uint8_t)DIGITAL_IN(PROBE_PIN) ^ probe.inverted); - state.triggered = inputpin[INPUT_PROBE].active; -#else - state.triggered = (uint8_t)DIGITAL_IN(PROBE_PIN) ^ probe.inverted; + return state; +} + +#endif // PROBE_PIN + +#if AUX_CONTROLS_ENABLED + +IRAM_ATTR static void aux_irq_handler (uint8_t port, bool state) +{ + aux_ctrl_t *pin; + control_signals_t signals = {0}; + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + + if((pin = aux_ctrl_get_pin(port))) { + switch(pin->function) { +#ifdef PROBE_PIN + case Input_Probe: + if(probe.is_probing) { + probe.triggered = On; + return; + } else + signals.probe_triggered = On; + break; +#endif +#ifdef I2C_STROBE_PIN + case Input_I2CStrobe: + if(i2c_strobe.callback) + i2c_strobe.callback(0, DIGITAL_IN(I2C_STROBE_PIN) == 0); + break; +#endif +#ifdef MPG_MODE_PIN + case Input_MPGSelect: + protocol_enqueue_foreground_task(mpg_select, NULL); + break; #endif + default: + break; + } + signals.mask |= pin->cap.mask; + if(pin->irq_mode == IRQ_Mode_Change && pin->cap.mask) + signals.deasserted = hal.port.wait_on_input(Port_Digital, pin->aux_port, WaitMode_Immediate, FZERO) == 0; // DIGITAL_IN(((input_signal_t *)pin->input)->pin) + } - return state; + if(signals.mask) { + if(!signals.deasserted) { + fpu_hack = true; + signals.mask |= systemGetState().mask; + } + hal.control.interrupt_callback(signals); + fpu_hack = false; + } + + if(xHigherPriorityTaskWoken) + portYIELD_FROM_ISR(); } +static bool aux_claim_explicit (aux_ctrl_t *aux_ctrl) +{ + if(ioport_claim(Port_Digital, Port_Input, &aux_ctrl->aux_port, NULL)) { + ioport_assign_function(aux_ctrl, &((input_signal_t *)aux_ctrl->input)->id); +#ifdef PROBE_PIN + if(aux_ctrl->function == Input_Probe) { + probe_port = aux_ctrl->aux_port; + hal.probe.get_state = probeGetState; + hal.probe.configure = probeConfigure; + hal.probe.connected_toggle = probeConnectedToggle; + hal.driver_cap.probe_pull_up = On; + hal.signals_cap.probe_triggered = hal.driver_cap.probe_latch = aux_ctrl->irq_mode != IRQ_Mode_None; + } +#endif +#ifdef SAFETY_DOOR_PIN + if(aux_ctrl->function == Input_SafetyDoor) { + safety_door = (input_signal_t *)aux_ctrl->input; + safety_door->mode.debounce = hal.driver_cap.software_debounce; + } #endif + } else + aux_ctrl->aux_port = 0xFF; + + return aux_ctrl->aux_port != 0xFF; +} + +#endif // AUX_CONTROLS_ENABLED #if DRIVER_SPINDLE_ENABLE @@ -1685,9 +1744,9 @@ IRAM_ATTR static void spindleSetState (spindle_ptrs_t *spindle, spindle_state_t // Sets spindle speed IRAM_ATTR static void spindleSetSpeed (spindle_ptrs_t *spindle, uint_fast16_t pwm_value) { - if(pwm_value == pwm(spindle)->off_value) { - if(pwm(spindle)->settings->flags.enable_rpm_controlled) { - if(pwm(spindle)->cloned) + if(pwm_value == spindle->context.pwm->off_value) { + if(spindle->context.pwm->settings->flags.enable_rpm_controlled) { + if(spindle->context.pwm->cloned) spindle_dir(false); else spindle_off(); @@ -1697,10 +1756,10 @@ IRAM_ATTR static void spindleSetSpeed (spindle_ptrs_t *spindle, uint_fast16_t pw ledc_set_fade_step_and_start(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, pwm_ramp.pwm_target, 1, 4, LEDC_FADE_NO_WAIT); #else if(spindle_pwm.always_on) { - ledc_set_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, pwm(spindle)->off_value); + ledc_set_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, spindle->context.pwm->off_value); ledc_update_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel); } else - ledc_stop(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, pwm(spindle)->settings->invert.pwm ? 1 : 0); + ledc_stop(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, spindle->context.pwm->settings->invert.pwm ? 1 : 0); #endif pwmEnabled = false; } else { @@ -1708,11 +1767,11 @@ IRAM_ATTR static void spindleSetSpeed (spindle_ptrs_t *spindle, uint_fast16_t pw pwm_ramp.pwm_target = pwm_value; ledc_set_fade_step_and_start(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, pwm_ramp.pwm_target, 1, 4, LEDC_FADE_NO_WAIT); #else - ledc_set_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, pwm(spindle)->settings->invert.pwm ? pwm_max_value - pwm_value : pwm_value); + ledc_set_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel, spindle->context.pwm->settings->invert.pwm ? pwm_max_value - pwm_value : pwm_value); ledc_update_duty(spindle_pwm_channel.speed_mode, spindle_pwm_channel.channel); #endif if(!pwmEnabled) { - if(pwm(spindle)->cloned) + if(spindle->context.pwm->cloned) spindle_dir(true); else spindle_on(); @@ -1723,7 +1782,7 @@ IRAM_ATTR static void spindleSetSpeed (spindle_ptrs_t *spindle, uint_fast16_t pw static uint_fast16_t spindleGetPWM (spindle_ptrs_t *spindle, float rpm) { - return pwm(spindle)->compute_value(pwm(spindle), rpm, false); + return spindle->context.pwm->compute_value(spindle->context.pwm, rpm, false); } // Start or stop spindle, variable version @@ -1732,25 +1791,25 @@ IRAM_ATTR static void spindleOff (spindle_ptrs_t *spindle) { spindle_off(); if(spindle) - spindleSetSpeed(spindle, pwm(spindle)->off_value); + spindleSetSpeed(spindle, spindle->context.pwm->off_value); } IRAM_ATTR static void spindleSetStateVariable (spindle_ptrs_t *spindle, spindle_state_t state, float rpm) { #ifdef SPINDLE_DIRECTION_PIN - if(state.on || pwm(spindle)->cloned) + if(state.on || spindle->context.pwm->cloned) spindle_dir(state.ccw); #endif - if(!pwm(spindle)->settings->flags.enable_rpm_controlled) { + if(!spindle->context.pwm->settings->flags.enable_rpm_controlled) { if(state.on) spindle_on(); else spindle_off(); } - spindleSetSpeed(spindle, state.on || (state.ccw && pwm(spindle)->cloned) - ? pwm(spindle)->compute_value(pwm(spindle), rpm, false) - : pwm(spindle)->off_value); + spindleSetSpeed(spindle, state.on || (state.ccw && spindle->context.pwm->cloned) + ? spindle->context.pwm->compute_value(spindle->context.pwm, rpm, false) + : spindle->context.pwm->off_value); } bool spindleConfig (spindle_ptrs_t *spindle) @@ -1920,53 +1979,6 @@ static inline uint64_t getElapsedMicros (void) return (uint64_t)esp_timer_get_time(); } -#if MPG_MODE == 1 - -static void modeChange (void *data) -{ - stream_mpg_enable(!DIGITAL_IN(MPG_ENABLE_PIN)); -} - -static void modeEnable (void *data) -{ - if(sys.mpg_mode == DIGITAL_IN(MPG_ENABLE_PIN)) - stream_mpg_enable(true); -} - -#endif - -void debounceTimerCallback (TimerHandle_t xTimer) -{ - uint32_t grp = 0, i = sizeof(inputpin) / sizeof(input_signal_t); - do { - i--; - if(inputpin[i].debounce && inputpin[i].active) { - inputpin[i].active = false; //DIGITAL_IN(inputpin[i].pin) == (inputpin[i].invert ? 0 : 1); - grp |= inputpin[i].group; - } -#if SAFETY_DOOR_ENABLE - if(&inputpin[i] == door_pin) - aux_ctrl[AuxCtrl_SafetyDoor].debouncing = Off; -#endif - } while(i); - - if(grp & (PinGroup_Limit|PinGroup_LimitMax)) { - portENTER_CRITICAL(&debounce_mux); - hal.limits.interrupt_callback(limitsGetState()); - portEXIT_CRITICAL(&debounce_mux); - } - -#if SAFETY_DOOR_ENABLE - if(grp & (PinGroup_Control|PinGroup_AuxInput)) { -#else - if(grp & PinGroup_Control) { -#endif - portENTER_CRITICAL(&debounce_mux); - hal.control.interrupt_callback(systemGetState()); - portEXIT_CRITICAL(&debounce_mux); - } -} - gpio_int_type_t map_intr_type (pin_irq_mode_t mode) { switch(mode) { @@ -2000,6 +2012,31 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha { if(IOInitDone) { +#ifdef NEOPIXELS_PIN + + if(neopixel.leds == NULL || hal.rgb.num_devices != settings->rgb_strip0_length) { + + if(settings->rgb_strip0_length == 0) + settings->rgb_strip0_length = hal.rgb.num_devices; + else + hal.rgb.num_devices = settings->rgb_strip0_length; + + if(neopixel.leds) { + free(neopixel.leds); + neopixel.leds = NULL; + } + + if(hal.rgb.num_devices) { + neopixel.num_bytes = hal.rgb.num_devices * 3; + if((neopixel.leds = calloc(neopixel.num_bytes, sizeof(uint8_t))) == NULL) + hal.rgb.num_devices = 0; + } + + neopixel.num_leds = hal.rgb.num_devices; + } + +#endif + #if DRIVER_SPINDLE_PWM_ENABLE if(changed.spindle) { spindleConfig(spindle_get_hal(spindle_id, SpindleHAL_Configured)); @@ -2057,7 +2094,6 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha * Control, limit & probe pins config * ****************************************/ - bool pullup = true; control_signals_t control_fei; gpio_config_t config; input_signal_t *signal; @@ -2072,96 +2108,103 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha do { signal = &inputpin[--i]; - signal->mode.irq_mode = IRQ_Mode_None; if(signal->group == PinGroup_AuxInputAnalog) continue; + if(!(signal->group == PinGroup_AuxInput || signal->group == PinGroup_MPG)) + signal->mode.irq_mode = IRQ_Mode_None; + switch(signal->id) { case Input_Reset: - pullup = !settings->control_disable_pullup.reset; - signal->invert = control_fei.reset; + signal->mode.pull_mode = settings->control_disable_pullup.reset ? PullMode_Down : PullMode_Up; + signal->mode.inverted = control_fei.reset; break; case Input_FeedHold: - pullup = !settings->control_disable_pullup.feed_hold; - signal->invert = control_fei.feed_hold; + signal->mode.pull_mode = settings->control_disable_pullup.feed_hold ? PullMode_Down : PullMode_Up; + signal->mode.inverted = control_fei.feed_hold; break; case Input_CycleStart: - pullup = !settings->control_disable_pullup.cycle_start; - signal->invert = control_fei.cycle_start; + signal->mode.pull_mode = settings->control_disable_pullup.cycle_start ? PullMode_Down : PullMode_Up; + signal->mode.inverted = control_fei.cycle_start; break; case Input_SafetyDoor: - pullup = !settings->control_disable_pullup.safety_door_ajar; - signal->invert = control_fei.safety_door_ajar; - break; - - case Input_Probe: - pullup = hal.driver_cap.probe_pull_up; - signal->invert = false; + signal->mode.pull_mode = settings->control_disable_pullup.safety_door_ajar ? PullMode_Down : PullMode_Up; + signal->mode.inverted = control_fei.safety_door_ajar; break; case Input_LimitX: case Input_LimitX_2: case Input_LimitX_Max: - pullup = !settings->limits.disable_pullup.x; - signal->invert = limit_fei.x; + signal->mode.pull_mode = settings->limits.disable_pullup.x ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.x; break; case Input_LimitY: case Input_LimitY_2: case Input_LimitY_Max: - pullup = !settings->limits.disable_pullup.y; - signal->invert = limit_fei.y; + signal->mode.pull_mode = settings->limits.disable_pullup.y ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.y; break; case Input_LimitZ: case Input_LimitZ_2: case Input_LimitZ_Max: - pullup = !settings->limits.disable_pullup.z; - signal->invert = limit_fei.z; + signal->mode.pull_mode = settings->limits.disable_pullup.z ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.z; break; #ifdef A_LIMIT_PIN case Input_LimitA: - pullup = !settings->limits.disable_pullup.a; - signal->invert = limit_fei.a; + case Input_LimitA_Max: + signal->mode.pull_mode = settings->limits.disable_pullup.a ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.a; break; #endif #ifdef B_LIMIT_PIN case Input_LimitB: - pullup = !settings->limits.disable_pullup.b; - signal->invert = limit_fei.b; + case Input_LimitB_Max: + signal->mode.pull_mode = settings->limits.disable_pullup.b ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.b; break; #endif #ifdef C_LIMIT_PIN case Input_LimitC: - pullup = !settings->limits.disable_pullup.c; - signal->invert = limit_fei.c; + case Input_LimitC_Max: + signal->mode.pull_mode = settings->limits.disable_pullup.c ? PullMode_Down : PullMode_Up; + signal->mode.inverted = limit_fei.c; break; #endif -#if MPG_MODE == 1 +#ifndef AUX_DEVICES + case Input_Probe: + signal->mode.pull_mode = settings->probe.flag.disable_pullup ? PullMode_Down : PullMode_Up; + signal->mode.inverted = false; + break; + + #if MPG_MODE == 1 case Input_ModeSelect: - pullup = true; - signal->invert = false; + signal->mode.pull_mode = PullMode_Up; + signal->mode.inverted = false; config.intr_type = GPIO_INTR_ANYEDGE; #if ETHERNET_ENABLE gpio_isr_handler_add(signal->pin, gpio_mpg_isr, signal); #endif break; -#endif -#if I2C_STROBE_ENABLE + #endif + #if I2C_STROBE_ENABLE case Input_I2CStrobe: - pullup = true; - signal->invert = false; + signal->mode.pull_mode = PullMode_Up; + signal->mode.inverted = false; config.intr_type = GPIO_INTR_ANYEDGE; #if ETHERNET_ENABLE gpio_isr_handler_add(signal->pin, gpio_i2c_strobe_isr, signal); #endif break; -#endif + #endif +#endif // AUX_DEVICES default: break; } @@ -2171,16 +2214,14 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha case PinGroup_Control: case PinGroup_Limit: case PinGroup_LimitMax: - signal->mode.irq_mode = signal->invert ? IRQ_Mode_Falling : IRQ_Mode_Rising; - signal->debounce = hal.driver_cap.software_debounce; + signal->mode.debounce = hal.driver_cap.software_debounce; + signal->mode.irq_mode = signal->mode.inverted ? IRQ_Mode_Falling : IRQ_Mode_Rising; #if ETHERNET_ENABLE gpio_isr_handler_add(signal->pin, (signal->group & (PinGroup_Limit|PinGroup_LimitMax)) ? gpio_limit_isr : gpio_control_isr, signal); #endif break; case PinGroup_AuxInput: - pullup = true; - signal->invert = false; #if ETHERNET_ENABLE gpio_isr_handler_add(signal->pin, gpio_aux_isr, signal); #endif @@ -2201,8 +2242,8 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha config.pull_down_en = pullup ? GPIO_PULLDOWN_DISABLE : GPIO_PULLDOWN_ENABLE; // Early versions(?) has an internal pullup on 45 - https://github.com/espressif/esp-idf/issues/9731 #else - config.pull_up_en = pullup && signal->pin < 34 ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE; - config.pull_down_en = pullup || signal->pin >= 34 ? GPIO_PULLDOWN_DISABLE : GPIO_PULLDOWN_ENABLE; + config.pull_up_en = signal->mode.pull_mode == PullMode_Up && signal->pin < 34 ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE; + config.pull_down_en = signal->mode.pull_mode == PullMode_Up || signal->pin >= 34 ? GPIO_PULLDOWN_DISABLE : GPIO_PULLDOWN_ENABLE; #endif config.intr_type = (signal->group & (PinGroup_Limit|PinGroup_LimitMax)) ? GPIO_INTR_DISABLE : map_intr_type(signal->mode.irq_mode); @@ -2212,19 +2253,13 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha // printf("IN %d - %d - %d : %x\n", signal->pin, signal->offset, signal->mask, signal->invert); gpio_config(&config); - - signal->active = signal->debounce && DIGITAL_IN(signal->pin) == (signal->invert ? 0 : 1); } } while(i); + hal.limits.enable(settings->limits.flags.hard_enabled, (axes_signals_t){0}); + #if AUX_CONTROLS_ENABLED - for(i = 0; i < AuxCtrl_NumEntries; i++) { - if(aux_ctrl[i].enabled && aux_ctrl[i].irq_mode != IRQ_Mode_None) { - if(aux_ctrl[i].irq_mode & (IRQ_Mode_Falling|IRQ_Mode_Rising)) - aux_ctrl[i].irq_mode = (settings->control_invert.mask & aux_ctrl[i].cap.mask) ? IRQ_Mode_Falling : IRQ_Mode_Rising; - hal.port.register_interrupt_handler(aux_ctrl[i].port, aux_ctrl[i].irq_mode, aux_irq_handler); - } - } + aux_ctrl_irq_enable(settings, aux_irq_handler); #endif } } @@ -2232,11 +2267,13 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data) { static xbar_t pin = {0}; - uint32_t i = sizeof(inputpin) / sizeof(input_signal_t); + + uint32_t i, id = 0; pin.mode.input = On; for(i = 0; i < sizeof(inputpin) / sizeof(input_signal_t); i++) { + pin.id = id++; pin.pin = inputpin[i].pin; pin.function = inputpin[i].id; pin.group = inputpin[i].group; @@ -2251,6 +2288,7 @@ static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data) pin.mode.output = On; for(i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) { + pin.id = id++; pin.pin = outputpin[i].pin - (outputpin[i].pin < I2S_OUT_PIN_BASE ? 0 : I2S_OUT_PIN_BASE); pin.port = low_level || outputpin[i].pin < I2S_OUT_PIN_BASE ? NULL : "I2S"; pin.function = outputpin[i].id; @@ -2263,6 +2301,7 @@ static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data) periph_signal_t *ppin = periph_pins; if(ppin) do { + pin.id = id++; pin.pin = ppin->pin.pin; pin.function = ppin->pin.function; pin.group = ppin->pin.group; @@ -2270,9 +2309,7 @@ static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data) pin.description = ppin->pin.description; pin_info(&pin, data); - - ppin = ppin->next; - } while(ppin); + } while((ppin = ppin->next)); } void registerPeriphPin (const periph_pin_t *pin) @@ -2371,18 +2408,14 @@ static char *sdcard_mount (FATFS **fs) }; sdmmc_host_t host = SDSPI_HOST_DEFAULT(); -#if CONFIG_IDF_TARGET_ESP32S3 - host.max_freq_khz = 10000; // higher corrupts the card... Still incredible fast: ~35 Kb/sec vs. ~1.5 Mb/sec for the Teensy4 via FTP - 20 times faster! /sarc -#endif - sdspi_device_config_t slot_config = SDSPI_DEVICE_CONFIG_DEFAULT(); slot_config.gpio_cs = PIN_NUM_CS; slot_config.host_id = host.slot; gpio_set_drive_capability(PIN_NUM_CS, GPIO_DRIVE_CAP_3); - if ((ret = esp_vfs_fat_sdspi_mount("/sdcard", &host, &slot_config, &mount_config, &card)) != ESP_OK) - report_message(ret == ESP_FAIL ? "Failed to mount filesystem" : "Failed to initialize SD card", Message_Warning); + if((ret = esp_vfs_fat_sdspi_mount("/sdcard", &host, &slot_config, &mount_config, &card)) != ESP_OK) + protocol_enqueue_foreground_task(report_warning, ret == ESP_FAIL ? "Failed to mount filesystem" : "Failed to initialize SD card"); } if(card && fs) { @@ -2408,7 +2441,11 @@ static char *sdcard_mount (FATFS **fs) #define NEOPIXELS_NUM 1 #endif -static rmt_config_t neo_config = RMT_DEFAULT_CONFIG_TX(NEOPIXELS_PIN, 3); // TODO: sort out channel allocation +#if CONFIG_IDF_TARGET_ESP32S3 +static rmt_config_t neo_config = RMT_DEFAULT_CONFIG_TX(NEOPIXELS_PIN, 3); +#else +static rmt_config_t neo_config = RMT_DEFAULT_CONFIG_TX(NEOPIXELS_PIN, 7); +#endif #define WS2812_T0H_NS (450) #define WS2812_T0L_NS (850) @@ -2426,73 +2463,94 @@ static rmt_config_t neo_config = RMT_DEFAULT_CONFIG_TX(NEOPIXELS_PIN, 3); // TOD #define WS2812_T1L_NS (1300) */ -static uint8_t pixels[NEOPIXELS_NUM * 3] = {0}; static uint32_t t0h_ticks = 0, t1h_ticks = 0, t0l_ticks = 0, t1l_ticks = 0; static void IRAM_ATTR ws2812_rmt_adapter (const void *src, rmt_item32_t *dest, size_t src_size, size_t wanted_num, size_t *translated_size, size_t *item_num) { - if (src == NULL || dest == NULL) { - *translated_size = 0; - *item_num = 0; - return; - } const rmt_item32_t bit0 = {{{ t0h_ticks, 1, t0l_ticks, 0 }}}; //Logical 0 const rmt_item32_t bit1 = {{{ t1h_ticks, 1, t1l_ticks, 0 }}}; //Logical 1 - size_t size = 0; - size_t num = 0; - uint8_t *psrc = (uint8_t *)src; - rmt_item32_t *pdest = dest; - while (size < src_size && num < wanted_num) { - for (int i = 0; i < 8; i++) { - // MSB first - if (*psrc & (1 << (7 - i))) { - pdest->val = bit1.val; - } else { - pdest->val = bit0.val; - } - num++; - pdest++; + + rgb_color_t color = {0}; + size_t size = 0, num = 0; + uint8_t *psrc = (uint8_t *)src, bitmask; + + if(!(src == NULL || dest == NULL)) { + while(size < src_size && num < wanted_num) { + + color.G = *psrc++; + color.R = *psrc++; + color.B = *psrc++; + color = rgb_set_intensity(color, neopixel.intensity); + + bitmask = 0b10000000; + do { + dest->val = color.G & bitmask ? bit1.val : bit0.val; + dest++; + } while(bitmask >>= 1); + + bitmask = 0b10000000; + do { + dest->val = color.R & bitmask ? bit1.val : bit0.val; + dest++; + } while(bitmask >>= 1); + + bitmask = 0b10000000; + do { + dest->val = color.B & bitmask ? bit1.val : bit0.val; + dest++; + } while(bitmask >>= 1); + + num += 24; + size += 3; } - size++; - psrc++; } + *translated_size = size; *item_num = num; } void neopixels_write (void) { - rmt_write_sample(neo_config.channel, pixels, sizeof(pixels), true); + uint8_t *buf = neopixel.leds; + size_t size = neopixel.num_bytes; + + if(buf) do { + rmt_write_sample(neo_config.channel, buf, size > 6 ? 6 : size, true); + buf += size > 6 ? 6 : size; + size -= size > 6 ? 6 : size; + } while(size); } static void neopixel_out_masked (uint16_t device, rgb_color_t color, rgb_color_mask_t mask) { - if(device < NEOPIXELS_NUM) { + if(neopixel.num_leds && device < neopixel.num_leds) { - device *= 3; - if(mask.G) - pixels[device++] = color.G; - else - device++; - if(mask.R) - pixels[device++] = color.R; - else - device++; - if(mask.B) - pixels[device] = color.B; -#if NEOPIXELS_NUM == 1 - rmt_write_sample(neo_config.channel, pixels, sizeof(pixels), true); -#endif -//?? rmt_wait_tx_done(neo_config.channel, pdMS_TO_TICKS(100)); + rgb_1bpp_assign(&neopixel.leds[device * 3], color, mask); + + if(neopixel.num_leds == 1) + neopixels_write(); } } -static void neopixel_out (uint8_t device, rgb_color_t color) +static void neopixel_out (uint16_t device, rgb_color_t color) { neopixel_out_masked(device, color, (rgb_color_mask_t){ .mask = 0xFF }); } +uint8_t neopixels_set_intensity (uint8_t value) +{ + uint8_t prev = neopixel.intensity; + + if(neopixel.intensity != value) { + + neopixel.intensity = value; +// neopixels_write(); + } + + return prev; +} + #endif // NEOPIXELS_PIN // Initializes MCU peripherals for Grbl use @@ -2595,13 +2653,6 @@ static bool driver_setup (settings_t *settings) #endif - /**************************** - * Software debounce init * - ****************************/ - - if(hal.driver_cap.software_debounce) - debounceTimer = xTimerCreate("debounce", pdMS_TO_TICKS(32), pdFALSE, NULL, debounceTimerCallback); - /****************************************** * Control, limit & probe pins dir init * ******************************************/ @@ -2733,7 +2784,8 @@ static void wdt_tickler (sys_state_t state) if(xTaskGetTickCountFromISR() - ms > 250) { ms = xTaskGetTickCountFromISR(); vTaskDelay(1); - } + } else + on_execute_realtime(state); } // Initialize HAL pointers, setup serial comms and enable EEPROM @@ -2750,7 +2802,7 @@ bool driver_init (void) #else hal.info = "ESP32"; #endif - hal.driver_version = "240119"; + hal.driver_version = "240304"; hal.driver_url = GRBL_URL "/ESP32"; #ifdef BOARD_NAME hal.board = BOARD_NAME; @@ -2767,22 +2819,22 @@ bool driver_init (void) hal.delay_ms = driver_delay_ms; hal.settings_changed = settings_changed; -#if !USE_I2S_OUT +#if USE_I2S_OUT + hal.driver_reset = I2SReset; + hal.stepper.wake_up = I2SStepperWakeUp; + hal.stepper.go_idle = I2SStepperGoIdle; + hal.stepper.enable = stepperEnable; + hal.stepper.cycles_per_tick = I2SStepperCyclesPerTick; + hal.stepper.pulse_start = I2SStepperPulseStart; +#else hal.stepper.wake_up = stepperWakeUp; hal.stepper.go_idle = stepperGoIdle; hal.stepper.enable = stepperEnable; hal.stepper.cycles_per_tick = stepperCyclesPerTick; hal.stepper.pulse_start = stepperPulseStart; - #if STEP_INJECT_ENABLE +#endif +#if STEP_INJECT_ENABLE hal.stepper.output_step = stepperOutputStep; - #endif -#else - hal.driver_reset = I2S_reset; - hal.stepper.wake_up = I2S_stepperWakeUp; - hal.stepper.go_idle = I2S_stepperGoIdle; - hal.stepper.enable = stepperEnable; - hal.stepper.cycles_per_tick = I2S_stepperCyclesPerTick; - hal.stepper.pulse_start = I2S_stepperPulseStart; #endif hal.stepper.motor_iterator = motor_iterator; #ifdef GANGING_ENABLED @@ -2798,9 +2850,11 @@ bool driver_init (void) hal.coolant.set_state = coolantSetState; hal.coolant.get_state = coolantGetState; -#ifdef PROBE_PIN +#if defined(PROBE_PIN) && !defined(AUX_DEVICES) hal.probe.get_state = probeGetState; hal.probe.configure = probeConfigure; + hal.probe.connected_toggle = probeConnectedToggle; + hal.driver_cap.probe_pull_up = On; #endif hal.control.get_state = systemGetState; @@ -2825,6 +2879,7 @@ bool driver_init (void) serialRegisterStreams(); + on_execute_realtime = grbl.on_execute_realtime; grbl.on_execute_realtime = wdt_tickler; #if USB_SERIAL_CDC @@ -2910,7 +2965,6 @@ bool driver_init (void) hal.driver_cap.amass_level = 3; hal.driver_cap.control_pull_up = On; hal.driver_cap.limits_pull_up = On; - hal.driver_cap.probe_pull_up = On; #if ESTOP_ENABLE hal.signals_cap.e_stop = On; hal.signals_cap.reset = Off; @@ -2918,11 +2972,11 @@ bool driver_init (void) hal.limits_cap = get_limits_cap(); hal.home_cap = get_home_cap(); - uint32_t i; static pin_group_pins_t aux_inputs = {0}, aux_outputs = {0}, aux_analog_in = {0}, aux_analog_out = {0}; + + uint32_t i; input_signal_t *input; - output_signal_t *output; for(i = 0 ; i < sizeof(inputpin) / sizeof(input_signal_t); i++) { input = &inputpin[i]; @@ -2930,32 +2984,35 @@ bool driver_init (void) if(input->group == PinGroup_AuxInput) { if(aux_inputs.pins.inputs == NULL) aux_inputs.pins.inputs = input; - input->id = (pin_function_t)(Input_Aux0 + aux_inputs.n_pins++); + input->user_port = aux_inputs.n_pins++; + input->id = (pin_function_t)(Input_Aux0 + input->user_port); + input->cap.debounce = On; input->cap.pull_mode = PullMode_UpDown; input->cap.irq_mode = IRQ_Mode_Edges; -#if SAFETY_DOOR_ENABLE - if(input->pin == SAFETY_DOOR_PIN && input->cap.irq_mode != IRQ_Mode_None) { - door_pin = input; - door_pin->debounce = On; - aux_ctrl[AuxCtrl_SafetyDoor].port = aux_inputs.n_pins - 1; + input->mode.pull_mode = PullMode_Up; +#if AUX_CONTROLS_ENABLED + aux_ctrl_t *aux_remap; + if((aux_remap = aux_ctrl_remap_explicit(input->port, input->pin, input->user_port, input))) { + if(aux_remap->function == Input_Probe) + aux_remap->irq_mode = IRQ_Mode_Change; } #endif -#if MOTOR_FAULT_ENABLE - if(input->pin == MOTOR_FAULT_PIN && input->cap.irq_mode != IRQ_Mode_None) - aux_ctrl[AuxCtrl_MotorFault].port = aux_inputs.n_pins - 1; -#endif -#if MOTOR_WARNING_ENABLE - if(input->pin == MOTOR_WARNING_PIN && input->cap.irq_mode != IRQ_Mode_None) - aux_ctrl[AuxCtrl_MotorWarning].port = aux_inputs.n_pins - 1; -#endif + } else if(input->group == PinGroup_Limit || input->group == PinGroup_LimitMax) { + if(limit_inputs.pins.inputs == NULL) + limit_inputs.pins.inputs = input; + limit_inputs.n_pins++; + input->mode.debounce = hal.driver_cap.software_debounce; } else if(input->group == PinGroup_AuxInputAnalog) { if(aux_analog_in.pins.inputs == NULL) aux_analog_in.pins.inputs = input; input->mode.analog = input->cap.analog = On; input->id = (pin_function_t)(Input_Analog_Aux0 + aux_analog_in.n_pins++); - } + } else if(input->group == PinGroup_Control) + input->mode.debounce = hal.driver_cap.software_debounce; } + output_signal_t *output; + for(i = 0 ; i < sizeof(outputpin) / sizeof(output_signal_t); i++) { output = &outputpin[i]; output->mode.output = On; @@ -2975,33 +3032,12 @@ bool driver_init (void) if(aux_analog_in.n_pins || aux_analog_out.n_pins) ioports_init_analog(&aux_analog_in, &aux_analog_out); -#if SAFETY_DOOR_ENABLE - aux_claim_explicit(&aux_ctrl[AuxCtrl_SafetyDoor]); +#if AUX_CONTROLS_ENABLED + aux_ctrl_claim_ports(aux_claim_explicit, NULL); #elif defined(SAFETY_DOOR_PIN) hal.signals_cap.safety_door_ajar = On; #endif -#if MOTOR_FAULT_ENABLE - aux_claim_explicit(&aux_ctrl[AuxCtrl_MotorFault]); -#elif defined(MOTOR_FAULT_PIN) - hal.signals_cap.motor_fault = On; -#endif - -#if MOTOR_WARNING_ENABLE - aux_claim_explicit(&aux_ctrl[AuxCtrl_MotorWarning]); -#elif defined(MOTOR_WARNING_PIN) - hal.signals_cap.motor_warning = On; -#endif - -#if AUX_CONTROLS_ENABLED - for(i = AuxCtrl_ProbeDisconnect; i < AuxCtrl_NumEntries; i++) { - if(aux_ctrl[i].enabled) { - if((aux_ctrl[i].enabled = ioports_enumerate(Port_Digital, Port_Input, (pin_cap_t){ .irq_mode = aux_ctrl[i].irq_mode, .claimable = On }, aux_claim, (void *)&aux_ctrl[i]))) - hal.signals_cap.mask |= aux_ctrl[i].cap.mask; - } - } -#endif - #ifdef NEOPIXELS_PIN neo_config.clk_div = 2; @@ -3026,9 +3062,8 @@ bool driver_init (void) hal.rgb.out = neopixel_out; hal.rgb.out_masked = neopixel_out_masked; -#if NEOPIXELS_NUM > 1 hal.rgb.write = neopixels_write; -#endif + hal.rgb.set_intensity = neopixels_set_intensity; hal.rgb.num_devices = NEOPIXELS_NUM; hal.rgb.cap = (rgb_color_t){ .R = 255, .G = 255, .B = 255 }; @@ -3036,7 +3071,8 @@ bool driver_init (void) .function = Output_LED_Adressable, .group = PinGroup_LED, .pin = NEOPIXELS_PIN, - .mode = { .mask = PINMODE_OUTPUT } + .mode = { .mask = PINMODE_OUTPUT }, + .description = "NeoPixels" }; hal.periph_port.register_pin(&neopixels); @@ -3049,16 +3085,18 @@ bool driver_init (void) #if MPG_MODE == 1 #if KEYPAD_ENABLE == 2 - if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, keypad_enqueue_keycode))) - protocol_enqueue_foreground_task(modeEnable, NULL); + if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, keypad_enqueue_keycode))) + protocol_enqueue_foreground_task(mpg_enable, NULL); #else - if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), MPG_STREAM_DUPLEX, NULL))) - protocol_enqueue_foreground_task(modeEnable, NULL); + if((hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, NULL))) + protocol_enqueue_foreground_task(mpg_enable, NULL); #endif #elif MPG_MODE == 2 - hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL), 0, keypad_enqueue_keycode); + hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, keypad_enqueue_keycode); +#elif MPG_MODE == 3 + hal.driver_cap.mpg_mode = stream_mpg_register(stream_open_instance(MPG_STREAM, 115200, NULL, NULL), false, stream_mpg_check_enable); #elif KEYPAD_ENABLE == 2 - stream_open_instance(KEYPAD_STREAM, 115200, keypad_enqueue_keycode); + stream_open_instance(KEYPAD_STREAM, 115200, keypad_enqueue_keycode, "Keypad"); #endif #if WIFI_ENABLE @@ -3079,6 +3117,39 @@ bool driver_init (void) return hal.version == 10; } +void pin_debounce (void *pin) +{ + input_signal_t *input = (input_signal_t *)pin; + +#if SAFETY_DOOR_ENABLE + if(input->id == Input_SafetyDoor) + debounce.safety_door = Off; +#endif + + if(input->mode.irq_mode == IRQ_Mode_Change || + DIGITAL_IN(input->pin) == (input->mode.irq_mode == IRQ_Mode_Falling ? 0 : 1)) + switch(input->group) { + + case PinGroup_Limit: + case PinGroup_LimitMax: + hal.limits.interrupt_callback(limitsGetState()); + break; + + case PinGroup_Control: + hal.control.interrupt_callback(systemGetState()); + break; + + case PinGroup_AuxInput: + ioports_event(input); + break; + + default: + break; + } + + gpio_intr_enable(input->pin); +} + /* interrupt handlers */ // Main stepper driver @@ -3098,21 +3169,17 @@ IRAM_ATTR static void stepper_driver_isr (void *arg) IRAM_ATTR static void gpio_limit_isr (void *signal) { - if(((input_signal_t *)signal)->debounce) { - ((input_signal_t *)signal)->active = true; - BaseType_t xHigherPriorityTaskWoken = pdFALSE; - xTimerStartFromISR(debounceTimer, &xHigherPriorityTaskWoken); - } else + if(((input_signal_t *)signal)->debounce) + task_add_delayed(pin_debounce, (input_signal_t *)signal, 40); + else hal.limits.interrupt_callback(limitsGetState()); } IRAM_ATTR static void gpio_control_isr (void *signal) { - if(((input_signal_t *)signal)->debounce) { - ((input_signal_t *)signal)->active = true; - BaseType_t xHigherPriorityTaskWoken = pdFALSE; - xTimerStartFromISR(debounceTimer, &xHigherPriorityTaskWoken); - } else + if(((input_signal_t *)signal)->debounce) + task_add_delayed(pin_debounce, (input_signal_t *)signal, 40); + else hal.control.interrupt_callback(systemGetState()); } @@ -3146,12 +3213,10 @@ IRAM_ATTR static void gpio_i2c_strobe_isr (void *signal) #else // ETHERNET_ENABLE - //GPIO intr process +//GPIO IRQ process IRAM_ATTR static void gpio_isr (void *arg) { - bool debounce = false; uint32_t grp = 0, intr_status[2]; - BaseType_t xHigherPriorityTaskWoken = pdFALSE; gpio_ll_get_intr_status(&GPIO, GRBLHAL_TASK_CORE, &intr_status[0]); // get interrupt status for GPIO0-31 gpio_ll_get_intr_status_high(&GPIO, GRBLHAL_TASK_CORE, &intr_status[1]); // get interrupt status for GPIO32-39 @@ -3162,29 +3227,28 @@ IRAM_ATTR static void gpio_isr (void *arg) do { i--; if(intr_status[inputpin[i].offset] & inputpin[i].mask) { - - if(inputpin[i].group & PinGroup_AuxInput) + if(inputpin[i].mode.debounce && task_add_delayed(pin_debounce, &inputpin[i], 40)) { +#if SAFETY_DOOR_ENABLE + if(inputpin[i].id == Input_SafetyDoor) + debounce.safety_door = On; +#endif + gpio_intr_disable(inputpin[i].pin); + } else if(inputpin[i].group & PinGroup_AuxInput) ioports_event(&inputpin[i]); - else { - inputpin[i].active = true; - if(inputpin[i].debounce) - debounce = true; - else - grp |= inputpin[i].group; - } + else + grp |= inputpin[i].group; } } while(i); - if(debounce) - xTimerStartFromISR(debounceTimer, &xHigherPriorityTaskWoken); - if(grp & (PinGroup_Limit|PinGroup_LimitMax)) hal.limits.interrupt_callback(limitsGetState()); if(grp & PinGroup_Control) hal.control.interrupt_callback(systemGetState()); -#if MPG_MODE == 1 +#if !AUX_CONTROLS_ENABLED + + #if MPG_MODE == 1 static bool mpg_mutex = false; @@ -3193,15 +3257,14 @@ IRAM_ATTR static void gpio_isr (void *arg) protocol_enqueue_foreground_task(modeChange, NULL); mpg_mutex = false; } -#endif + #endif -#if I2C_STROBE_ENABLE + #if I2C_STROBE_ENABLE if((grp & PinGroup_Keypad) && i2c_strobe.callback) i2c_strobe.callback(0, DIGITAL_IN(I2C_STROBE_PIN)); -#endif + #endif - if(xHigherPriorityTaskWoken) - portYIELD_FROM_ISR(); +#endif } #endif diff --git a/main/driver.h b/main/driver.h index 263a84e..5a193bc 100644 --- a/main/driver.h +++ b/main/driver.h @@ -9,18 +9,18 @@ Copyright (c) 2011-2015 Sungeun K. Jeon Copyright (c) 2009-2011 Simen Svale Skogsrud - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #ifndef __DRIVER_H__ @@ -114,6 +114,10 @@ typedef struct { // End configuration +#if !USB_SERIAL_CDC && ((MODBUS_ENABLE & MODBUS_RTU_ENABLED) || TRINAMIC_UART_ENABLE || MPG_ENABLE || (KEYPAD_ENABLE == 2 && MPG_ENABLE == 0)) +#define ADD_SERIAL2 +#endif + #ifdef BOARD_CNC_BOOSTERPACK #include "boards/cnc_boosterpack_map.h" #elif defined(BOARD_BDRING_V4) @@ -128,7 +132,7 @@ typedef struct { #include "boards/bdring_i2s_6pack_ext_v2_map.h" #elif defined(BOARD_ESPDUINO32) #include "boards/espduino-32_wemos_d1_r32_uno_map.h" -#elif defined(BOARD_SOURCERABBIT_4AXIS) +#elif defined(BOARD_SOURCERABBIT_4AXIS) || defined(BOARD_SOURCERABBIT_4AXIS_12) #include "boards/sourcerabbit_4axis.h" #elif defined(BOARD_PROTONEER_3XX) #include "boards/protoneer_3.xx_map.h" @@ -155,7 +159,9 @@ typedef struct { #elif defined(BOARD_GENERIC_I2S_S3) #include "boards/generic_i2s_s3_map.h" #else // default board - NOTE: NOT FINAL VERSION! + #ifndef WEB_BUILD #warning "Compiling for generic board!" + #endif #include "boards/generic_map.h" #endif @@ -173,6 +179,12 @@ typedef struct { #define DRIVER_SPINDLE_PWM_ENABLE 0 #endif +#if SAFETY_DOOR_ENABLE && !defined(SAFETY_DOOR_PIN) +#warning "Safety door input is not available!" +#undef SAFETY_DOOR_ENABLE +#define SAFETY_DOOR_ENABLE 0 +#endif + #if IOEXPAND_ENABLE || EEPROM_ENABLE || KEYPAD_ENABLE == 1 || I2C_STROBE_ENABLE || (TRINAMIC_ENABLE && TRINAMIC_I2C) #undef I2C_ENABLE #define I2C_ENABLE 1 @@ -301,25 +313,24 @@ typedef struct { } adc_map_t; typedef struct { - pin_function_t id; - pin_group_t group; uint8_t pin; - uint32_t mask; + uint8_t user_port; uint8_t offset; - bool invert; - volatile bool active; - volatile bool debounce; + pin_group_t group; + void *port; + uint32_t mask; pin_cap_t cap; pin_mode_t mode; + pin_function_t id; const adc_map_t *adc; ioport_interrupt_callback_ptr interrupt_callback; - aux_ctrl_t *aux_ctrl; const char *description; } input_signal_t; typedef struct { pin_function_t id; pin_group_t group; + void *port; uint8_t pin; esp_pin_t type; pin_mode_t mode; diff --git a/main/grbl b/main/grbl index b200199..06f4426 160000 --- a/main/grbl +++ b/main/grbl @@ -1 +1 @@ -Subproject commit b200199612fba6f163d532a5815c48ba23cf6c34 +Subproject commit 06f442643a115ab3acd6722b4afc1fcee8d9d7be diff --git a/main/ioexpand.c b/main/ioexpand.c index 9b84dd6..fdcf3f8 100644 --- a/main/ioexpand.c +++ b/main/ioexpand.c @@ -4,22 +4,22 @@ I2C I/O expander, PCA9654E - with address pins to GND. PCA9654EA has a different address! - Part of Grbl + Part of grblHAL - Copyright (c) 2018-2023 Terje Io + Copyright (c) 2018-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ @@ -46,6 +46,39 @@ void ioexpand_init (void) .reserved = 1 }; + periph_pin_t pin = { + .pin = 0, + .mode.output = On, + .description = "PCA9654" + }; + + const pin_function_t function[] = { + Output_SpindleOn, + Output_SpindleDir, + Output_CoolantMist, + Output_CoolantFlood, + Output_StepperEnableX, + Output_StepperEnableY, + Output_StepperEnableZ + }; + + const pin_group_t group[] = { + PinGroup_SpindleControl, + PinGroup_SpindleControl, + PinGroup_Coolant, + PinGroup_Coolant, + PinGroup_StepperEnable, + PinGroup_StepperEnable, + PinGroup_StepperEnable + }; + + for(uint32_t i = 0; i < 7; i++) { + pin.group = group[i]; + pin.function = function[i]; + hal.periph_port.register_pin(&pin); + pin.pin++; + } + i2c_cmd_handle_t cmd = i2c_cmd_link_create(); i2c_master_start(cmd); i2c_master_write_byte(cmd, IOEX_ADDRESS|I2C_MASTER_WRITE, true); diff --git a/main/ioports.c b/main/ioports.c index 8c332a9..025d0b6 100644 --- a/main/ioports.c +++ b/main/ioports.c @@ -5,18 +5,18 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ #include "driver.h" @@ -35,44 +35,80 @@ static io_ports_data_t digital; static input_signal_t *aux_in; static output_signal_t *aux_out; -static ioport_bus_t invert_digital_out; -static volatile uint32_t event_bits; -static volatile bool spin_lock = false; static volatile input_signal_t *event_port; +static bool digital_out_cfg (xbar_t *output, gpio_out_config_t *config, bool persistent) +{ + if(output->id < digital.out.n_ports) { + + if(config->inverted != aux_out[output->id].mode.inverted) { + aux_out[output->id].mode.inverted = config->inverted; + DIGITAL_OUT(aux_out[output->id].pin, !DIGITAL_IN(aux_out[output->id].pin)); + } +/* + if(config->open_drain != aux_out[output->id].mode.open_drain) { + if((aux_out[output->id].mode.open_drain = config->open_drain)) + aux_out[output->id].port->OTYPER |= (GPIO_OTYPER_OT_0 << aux_out[output->id].pin); + else + aux_out[output->id].port->OTYPER &= ~(GPIO_OTYPER_OT_0 << aux_out[output->id].pin); + } +*/ + if(persistent) + ioport_save_output_settings(output, config); + } + + return aux_out->id < digital.out.n_ports; +} + static void digital_out (uint8_t port, bool on) { if(port < digital.out.n_ports) { port = ioports_map(digital.out, port); - DIGITAL_OUT(aux_out[port].pin, ((settings.ioport.invert_out.mask >> port) & 0x01) ? !on : on); + DIGITAL_OUT(aux_out[port].pin, aux_out[port].mode.inverted ? !on : on); } } -static float digital_out_state (xbar_t *pin) +static float digital_out_state (xbar_t *output) { float value = -1.0f; - uint8_t port = pin->function - Output_Aux0; - if(port < digital.out.n_ports) - value = (float)(DIGITAL_IN(aux_out[port].pin) ^ aux_out[port].mode.inverted); + if(output->id < digital.out.n_ports) + value = (float)(DIGITAL_IN(aux_out[output->id].pin) ^ aux_out[output->id].mode.inverted); return value; } -static float digital_in_state (xbar_t *pin) +static bool digital_in_cfg (xbar_t *input, gpio_in_config_t *config, bool persistent) +{ + if(input->id < digital.in.n_ports && config->pull_mode != PullMode_UpDown) { + + aux_in[input->id].mode.inverted = config->inverted; + aux_in[input->id].mode.debounce = config->debounce; + aux_in[input->id].mode.pull_mode = config->pull_mode; +/* aux_in[input->id].port->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << (input->pin << 1)); + aux_in[input->id].port->PUPDR |= (config->pull_mode << (input->pin << 1));*/ + + if(persistent) + ioport_save_input_settings(input, config); + } + + return input->id < digital.in.n_ports; +} + +static float digital_in_state (xbar_t *input) { float value = -1.0f; - uint8_t port = pin->function - Input_Aux0; - if(port < digital.in.n_ports) - value = (float)(DIGITAL_IN(aux_in[port].pin) ^ aux_in[port].mode.inverted); + if(input->id < digital.in.n_ports) + value = (float)(DIGITAL_IN(aux_in[input->id].pin) ^ aux_in[input->id].mode.inverted); return value; } -inline static __attribute__((always_inline)) int32_t get_input (const input_signal_t *input, bool invert, wait_mode_t wait_mode, float timeout) + +inline static __attribute__((always_inline)) int32_t get_input (const input_signal_t *input, wait_mode_t wait_mode, float timeout) { if(wait_mode == WaitMode_Immediate) - return DIGITAL_IN(input->pin) ^ invert; + return DIGITAL_IN(input->pin) ^ input->mode.inverted; int32_t value = -1; uint_fast16_t delay = (uint_fast16_t)ceilf((1000.0f / 50.0f) * timeout) + 1; @@ -89,7 +125,7 @@ inline static __attribute__((always_inline)) int32_t get_input (const input_sign do { if(event_port == input) { - value = gpio_get_level(input->pin) ^ invert; + value = gpio_get_level(input->pin) ^ input->mode.inverted; break; } if(delay) { @@ -111,8 +147,8 @@ inline static __attribute__((always_inline)) int32_t get_input (const input_sign bool wait_for = wait_mode != WaitMode_Low; do { - if((gpio_get_level(input->pin) ^ invert) == wait_for) { - value = gpio_get_level(input->pin) ^ invert; + if((gpio_get_level(input->pin) ^ input->mode.inverted) == wait_for) { + value = gpio_get_level(input->pin) ^ input->mode.inverted; break; } if(delay) { @@ -132,7 +168,7 @@ IRAM_ATTR static int32_t wait_on_input (io_port_type_t type, uint8_t port, wait_ if(type == Port_Digital && port < digital.in.n_ports) { port = ioports_map(digital.in, port); - value = get_input(&aux_in[port], (settings.ioport.invert_in.mask >> port) & 0x01, wait_mode, timeout); + value = get_input(&aux_in[port], wait_mode, timeout); } return value; @@ -140,19 +176,10 @@ IRAM_ATTR static int32_t wait_on_input (io_port_type_t type, uint8_t port, wait_ IRAM_ATTR void ioports_event (input_signal_t *input) { - spin_lock = true; event_port = input; - if(input->interrupt_callback) { - uint_fast8_t port = digital.in.n_ports; - do { - port--; - if(input == &aux_in[port]) - input->interrupt_callback(ioports_map_reverse(&digital.in, port), DIGITAL_IN(input->pin)); - } while(port); - } - - spin_lock = false; + if(input->interrupt_callback) + input->interrupt_callback(input->user_port, DIGITAL_IN(input->pin)); } static bool register_interrupt_handler (uint8_t port, pin_irq_mode_t irq_mode, ioport_interrupt_callback_ptr interrupt_callback) @@ -173,10 +200,11 @@ static bool register_interrupt_handler (uint8_t port, pin_irq_mode_t irq_mode, i } if(irq_mode == IRQ_Mode_None || !ok) { - while(spin_lock); + hal.irq_disable(); gpio_intr_disable(input->pin); // Disable pin interrupt input->mode.irq_mode = IRQ_Mode_None; input->interrupt_callback = NULL; + hal.irq_enable(); } } @@ -186,39 +214,18 @@ static bool register_interrupt_handler (uint8_t port, pin_irq_mode_t irq_mode, i static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8_t port) { static xbar_t pin; + xbar_t *info = NULL; if(type == Port_Digital) { - memset(&pin, 0, sizeof(xbar_t)); - if(dir == Port_Input && port < digital.in.n_ports) { - port = ioports_map(digital.in, port); - pin.mode = aux_in[port].mode; - pin.mode.input = On; - pin.cap = aux_in[port].cap; - pin.cap.invert = On; - pin.cap.claimable = !pin.mode.claimed; - pin.function = aux_in[port].id; - pin.group = aux_in[port].group; - pin.pin = aux_in[port].pin; - pin.description = aux_in[port].description; - pin.get_value = digital_in_state; + XBAR_SET_DIN_INFO(pin, ioports_map(digital.in, port), aux_in[pin.id], digital_in_cfg, digital_in_state); info = &pin; } if(dir == Port_Output && port < digital.out.n_ports) { - port = ioports_map(digital.out, port); - pin.mode = aux_out[port].mode; - pin.mode.output = On; - XBAR_SET_CAP(pin.cap, pin.mode); - pin.cap.invert = On; - pin.mode.inverted = (settings.ioport.invert_out.mask >> port) & 0x01; - pin.function = aux_out[port].id; - pin.group = aux_out[port].group; - pin.pin = aux_out[port].pin; - pin.description = aux_out[port].description; - pin.get_value = digital_out_state; + XBAR_SET_DOUT_INFO(pin, ioports_map(digital.out, port), aux_out[pin.id], digital_out_cfg, digital_out_state); info = &pin; } } @@ -252,10 +259,12 @@ static bool claim (io_port_type_t type, io_port_direction_t dir, uint8_t *port, for(i = ioports_map_reverse(&digital.in, *port); i < hal.port.num_digital_in ; i++) { digital.in.map[i] = digital.in.map[i + 1]; + aux_in[digital.in.map[i]].user_port = i; aux_in[digital.in.map[i]].description = iports_get_pnum(digital, i); } aux_in[*port].mode.claimed = On; + aux_in[*port].user_port = hal.port.num_digital_in; aux_in[*port].description = description; digital.in.map[hal.port.num_digital_in] = *port; @@ -318,95 +327,6 @@ bool swap_pins (io_port_type_t type, io_port_direction_t dir, uint8_t port_a, ui return ok; } -static void on_setting_changed (setting_id_t id) -{ - bool write = false; - uint_fast8_t port; - - switch(id) { - - case Settings_IoPort_InvertIn: - port = digital.in.n_ports; - do { - port--; - aux_in[port].mode.inverted = !!(settings.ioport.invert_in.mask & (1 << port)); - if(aux_in[port].aux_ctrl) { - write = true; - if(aux_in[port].mode.inverted) - settings.control_invert.mask |= aux_in[port].aux_ctrl->cap.mask; - else - settings.control_invert.mask &= ~aux_in[port].aux_ctrl->cap.mask; - } - } while(port); - break; - - case Settings_IoPort_InvertOut: - if(invert_digital_out.mask != settings.ioport.invert_out.mask) { - port = digital.out.n_ports; - do { - port--; - aux_out[port].mode.inverted = !!(settings.ioport.invert_out.mask & (1 << port)); - if(((settings.ioport.invert_out.mask >> port) & 0x01) != ((invert_digital_out.mask >> port) & 0x01)) - DIGITAL_OUT(aux_out[port].pin, !DIGITAL_IN(aux_out[port].pin)); - } while(port); - - invert_digital_out = settings.ioport.invert_out; - } - break; - - case Setting_ControlInvertMask: - port = digital.in.n_ports; - do { - if(aux_in[--port].aux_ctrl) { - write = true; - if(settings.control_invert.mask & aux_in[port].aux_ctrl->cap.mask) - settings.ioport.invert_in.mask |= (1 << port); - else - settings.ioport.invert_in.mask &= ~(1 << port); - aux_in[port].mode.inverted = !!(settings.ioport.invert_in.mask & (1 << port)); - } - } while(port); - break; - - default: - break; - } - - if(write) - settings_write_global(); -} - -static void on_settings_loaded (void) -{ - bool write = false; - uint_fast8_t port = digital.out.n_ports; - - invert_digital_out = settings.ioport.invert_out; - - if(digital.out.n_ports) do { - port--; - aux_out[port].mode.inverted = !!(settings.ioport.invert_out.mask & (1 << port)); - DIGITAL_OUT(aux_out[port].pin, aux_out[port].mode.inverted); - } while(port); - - port = digital.in.n_ports; - do { - if(aux_in[--port].aux_ctrl && - !!(settings.control_invert.mask & aux_in[port].aux_ctrl->cap.mask) != - !!(settings.ioport.invert_in.mask & (1 << port))) { - write = true; - if(settings.control_invert.mask & aux_in[port].aux_ctrl->cap.mask) - settings.ioport.invert_in.mask |= (1 << port); - else - settings.ioport.invert_in.mask &= ~(1 << port); - } - aux_in[port].mode.inverted = !!(settings.ioport.invert_in.mask & (1 << port)); - } while(port); - - if(write) - settings_write_global(); -} - void ioports_init (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_outputs) { aux_in = aux_inputs->pins.inputs; @@ -428,7 +348,7 @@ void ioports_init (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_outputs) hal.port.swap_pins = swap_pins; hal.port.get_pin_info = get_pin_info; - ioports_add_settings(on_settings_loaded, on_setting_changed); + ioports_add_settings(NULL, NULL); } else hal.port.set_pin_description = NULL; diff --git a/main/ioports_analog.c b/main/ioports_analog.c index 096687e..4b2610a 100644 --- a/main/ioports_analog.c +++ b/main/ioports_analog.c @@ -5,18 +5,18 @@ Copyright (c) 2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 Licens - along with Grbl. If not, see . + along with grblHAL. If not, see . */ #include "driver.h" @@ -163,7 +163,7 @@ static void pwm_set_value (uint_fast8_t ch, float value) #ifdef AUXOUTPUT0_PWM_PIN -static bool init_pwm0 (xbar_t *pin, pwm_config_t *config) +static bool init_pwm0 (xbar_t *pin, pwm_config_t *config, bool persistent) { static bool init_ok = false; @@ -242,7 +242,7 @@ static bool init_pwm0 (xbar_t *pin, pwm_config_t *config) #ifdef AUXOUTPUT1_PWM_PIN -static bool init_pwm1 (xbar_t *pin, pwm_config_t *config) +static bool init_pwm1 (xbar_t *pin, pwm_config_t *config, bool persistent) { static bool init_ok = false; @@ -368,14 +368,14 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8 else #endif if(aux_in_analog[port].cap.analog) { - pin.mode = aux_in_analog[port].mode; - pin.cap = aux_in_analog[port].cap; + pin.id = port; + pin.mode = aux_in_analog[pin.id].mode; + pin.cap = aux_in_analog[pin.id].cap; pin.cap.claimable = !pin.mode.claimed; - pin.function = aux_in_analog[port].id; - pin.group = aux_in_analog[port].group; - pin.pin = aux_in_analog[port].pin; - pin.bit = 1 << aux_in_analog[port].pin; - pin.description = aux_in_analog[port].description; + pin.function = aux_in_analog[pin.id].id; + pin.group = aux_in_analog[pin.id].group; + pin.pin = aux_in_analog[pin.id].pin; + pin.description = aux_in_analog[pin.id].description; info = &pin; } } @@ -386,23 +386,22 @@ static xbar_t *get_pin_info (io_port_type_t type, io_port_direction_t dir, uint8 memset(&pin, 0, sizeof(xbar_t)); if(port < analog.out.n_ports) { - port = ioports_map(analog.out, port); - pin.mode = aux_out_analog[port].mode; + pin.id = ioports_map(analog.out, port); + pin.mode = aux_out_analog[pin.id].mode; pin.mode.pwm = !pin.mode.servo_pwm; //?? for easy filtering XBAR_SET_CAP(pin.cap, pin.mode); - pin.function = aux_out_analog[port].id; - pin.group = aux_out_analog[port].group; - pin.pin = aux_out_analog[port].pin; - pin.bit = 1 << aux_out_analog[port].pin; - pin.description = aux_out_analog[port].description; + pin.function = aux_out_analog[pin.id].id; + pin.group = aux_out_analog[pin.id].group; + pin.pin = aux_out_analog[pin.id].pin; + pin.description = aux_out_analog[pin.id].description; pin.get_value = pwm_get_value; #ifdef AUXOUTPUT0_PWM_PIN - if(aux_out_analog[port].pin == AUXOUTPUT0_PWM_PIN) - pin.config = (xbar_config_ptr)init_pwm0; + if(aux_out_analog[pin.id].pin == AUXOUTPUT0_PWM_PIN) + pin.config = init_pwm0; #endif #ifdef AUXOUTPUT1_PWM_PIN - if(aux_out_analog[port].pin == AUXOUTPUT1_PWM_PIN) - pin.config = (xbar_config_ptr)init_pwm1; + if(aux_out_analog[pin.id].pin == AUXOUTPUT1_PWM_PIN) + pin.config = init_pwm1; #endif info = &pin; } @@ -593,7 +592,7 @@ void ioports_init_analog (pin_group_pins_t *aux_inputs, pin_group_pins_t *aux_ou for(i = 0; i < analog.out.n_ports; i++) { if((pin = get_pin_info(Port_Analog, Port_Output, i))) - pin->config(pin, &config); + pin->config(pin, &config, false); } } diff --git a/main/keypad b/main/keypad index 61d86aa..138aeaa 160000 --- a/main/keypad +++ b/main/keypad @@ -1 +1 @@ -Subproject commit 61d86aafb4b7d4c01a8506e0d07ba56a402a6149 +Subproject commit 138aeaa3be1ca76ee7108374c3f4aab049f8cb81 diff --git a/main/laser b/main/laser index c3e3aca..3b25965 160000 --- a/main/laser +++ b/main/laser @@ -1 +1 @@ -Subproject commit c3e3aca0d4840fce88c17238a608f50370083e11 +Subproject commit 3b25965519370f314485daea1a5f87ae41e95824 diff --git a/main/my_machine.h b/main/my_machine.h index 3a0be34..4a55276 100644 --- a/main/my_machine.h +++ b/main/my_machine.h @@ -3,18 +3,18 @@ Copyright (c) 2020-2024 Terje Io - Grbl is free software: you can redistribute it and/or modify + grblHAL 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 is distributed in the hope that it will be useful, + grblHAL 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 + 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 . + along with grblHAL. If not, see . */ // NOTE: Only one board may be enabled! @@ -53,7 +53,7 @@ // Spindle definitions can be found in grbl/spindle_control.h. // More here https://github.com/grblHAL/Plugins_spindle //#define SPINDLE0_ENABLE SPINDLE_HUANYANG1 -//#define SPINDLE0_ENABLE SPINDLE_PWM0_NODIR +//#define SPINDLE1_ENABLE SPINDLE_PWM0_NODIR //#define SPINDLE2_ENABLE SPINDLE_NONE //#define SPINDLE3_ENABLE SPINDLE_NONE // ********************** @@ -64,8 +64,13 @@ //#define WIFI_SOFTAP 1 // Use Soft AP mode for WiFi. //#define ETHERNET_ENABLE 1 // Ethernet streaming. Uses networking plugin. //#define BLUETOOTH_ENABLE 1 // Set to 1 for native radio, 2 for HC-05 module. -#define SDCARD_ENABLE 2 // Run gcode programs from SD card. Set to 2 to enable YModem upload. -//#define KEYPAD_ENABLE 1 // I2C keypad for jogging etc., uses keypad plugin. +//#define SDCARD_ENABLE 1 // Run gcode programs from SD card. Set to 2 to enable YModem upload. +//#define MPG_ENABLE 1 // Enable MPG interface. Requires a serial port and means to switch between normal and MPG mode. + // 1: Mode switching is by handshake pin input unless the keypad plugin is enabled in mode 2 which + // uses mode switching by the CMD_MPG_MODE_TOGGLE (0x8B) command character. + // 2: Mode switching is by the CMD_MPG_MODE_TOGGLE command character. The keypad plugin is not required. +//#define KEYPAD_ENABLE 1 // 1: uses a I2C keypad for input. + // 2: uses a serial port for input. If MPG_ENABLE is set to 1 the serial stream is shared with the MPG. //#define PPI_ENABLE 1 // Laser PPI plugin. To be completed. //#define LASER_COOLANT_ENABLE 1 // Laser coolant plugin. To be completed. //#define LB_CLUSTERS_ENABLE 1 // LaserBurn cluster support. diff --git a/main/networking b/main/networking index f87c17f..b4cdfd9 160000 --- a/main/networking +++ b/main/networking @@ -1 +1 @@ -Subproject commit f87c17f26c24e8eec585c0663779a8904b64001c +Subproject commit b4cdfd9f11ea797fc2708b795e8dd8c6293f9a70 diff --git a/main/sdcard b/main/sdcard index 686e114..dc208df 160000 --- a/main/sdcard +++ b/main/sdcard @@ -1 +1 @@ -Subproject commit 686e1145601d9652c0a03e8420cc6b96ddb02238 +Subproject commit dc208df956add3944dcd8752bf658a8fa73b6b0d diff --git a/main/spi.c b/main/spi.c index b075727..bf10ada 100644 --- a/main/spi.c +++ b/main/spi.c @@ -118,7 +118,7 @@ uint8_t spi_get_byte (void) uint8_t spi_put_byte (uint8_t byte) { - esp_err_t err; +// esp_err_t err; // err = spi_device_acquire_bus(handle, portMAX_DELAY); // if (err != ESP_OK) return err; diff --git a/main/spindle b/main/spindle index 7056c25..8069ca2 160000 --- a/main/spindle +++ b/main/spindle @@ -1 +1 @@ -Subproject commit 7056c25b302f0719dd3ac1c52e8bb0a1b4624463 +Subproject commit 8069ca2093b8915cfefbe029b772377a6102286a diff --git a/main/trinamic_if.c b/main/trinamic_if.c index e4422d8..7f72e64 100644 --- a/main/trinamic_if.c +++ b/main/trinamic_if.c @@ -261,10 +261,8 @@ void board_init (void) const io_stream_t *stream; - if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL)) == NULL) + if((stream = stream_open_instance(TRINAMIC_STREAM, 230400, NULL, "Trinamic UART")) == NULL) stream = stream_null_init(230400); - else - stream_set_description(stream, "Trinamic UART"); if(stream) { memcpy(&tmc_uart, stream, sizeof(io_stream_t)); diff --git a/main/webui b/main/webui index 60dddcc..8e6e51b 160000 --- a/main/webui +++ b/main/webui @@ -1 +1 @@ -Subproject commit 60dddcc13259f4d564e475ba8055d34000df4354 +Subproject commit 8e6e51ba8eda14864712ab14fc31c026a4751c05