Devt (bdring#609)

* Fixed various small bugs (bdring#605) * Fixed various small bugs * Fixed potential cast bug * Fixed double reporting of errors Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com> * Stallguard tuning (bdring#607) * Devt (bdring#571) * Handles Tranimic drivers errors better - If an unsupported driver is specified, it will give a message and not crash. * Cleaned up unused files Got rid of old unipolar files Got rid of servo axis feature - it is a motor class now Got rid of solenoid pen feature - never really used and it should be a motor class if it is. * Fix ENABLE_AUTHENTICATION (bdring#569) * Fixed authentication code. * Removed another const cast Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com> * Fix step leakage with inverted steps (bdring#570) * Fix step leakage with inverted steps * Update build date for merge Co-authored-by: Bart Dring <bdring@buildlog.net> Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com> Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com> Co-authored-by: Mitch Bradley <wmb@firmworks.com> Co-authored-by: Bart Dring <bdring@buildlog.net> * Update platformio.ini Per PR 583 * Created an enum for mode * Removing some unused machine defs * Added test machine definition * Clean up for PR * Remove test machine def. Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com> Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com> Co-authored-by: Mitch Bradley <wmb@firmworks.com> Co-authored-by: Bart Dring <bdring@buildlog.net> Co-authored-by: Stefan de Bruijn <atlaste@users.noreply.github.com> Co-authored-by: Stefan de Bruijn <stefan@nubilosoft.com> Co-authored-by: Mitch Bradley <wmb@firmworks.com> Co-authored-by: Bart Dring <bdring@buildlog.net>
whhx-open · Sep 21, 2020 · 639b6c1 · 639b6c1
1 parent 050aa19
commit 639b6c1
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Showing 10 changed files with 43 additions and 173 deletions.
diff --git a/Grbl_Esp32/src/Grbl.h b/Grbl_Esp32/src/Grbl.h
@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20200910";
+const char* const GRBL_VERSION_BUILD = "20200919";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

diff --git a/Grbl_Esp32/src/Machines/6_pack_trinamic_V1.h b/Grbl_Esp32/src/Machines/6_pack_trinamic_V1.h
diff --git a/Grbl_Esp32/src/Machines/6_pack_trinamic_stallguard.h b/Grbl_Esp32/src/Machines/6_pack_trinamic_stallguard.h
@@ -32,9 +32,8 @@
 #define I2S_OUT_WS       GPIO_NUM_17
 #define I2S_OUT_DATA     GPIO_NUM_21
 
-
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
-#define TRINAMIC_HOMING_MODE        TRINAMIC_MODE_STALLGUARD
+#define TRINAMIC_RUN_MODE           Motors::TrinamicMode::CoolStep
+#define TRINAMIC_HOMING_MODE        Motors::TrinamicMode::StallGuard
 
 // Motor Socket #1
 #define X_TRINAMIC_DRIVER       2130
@@ -91,16 +90,16 @@
     Click on each module to get example for using the modules in the sockets
 
 Socket #1
-#1 GPIO_NUM_33 
-#2 GPIO_NUM_32
-#3 GPIO_NUM_35 (input only)
-#4 GPIO_NUM_34 (input only)
+#1 GPIO_NUM_33 (Sg1)
+#2 GPIO_NUM_32 (Sg2)
+#3 GPIO_NUM_35 (Sg3) (input only)
+#4 GPIO_NUM_34 (Sg4) (input only)
 
 Socket #2
 #1 GPIO_NUM_2
 #2 GPIO_NUM_25
-#3 GPIO_NUM_39 (input only)
-#4 GPIO_NUM_36 (input only)
+#3 GPIO_NUM_39 (Sg5) (input only)
+#4 GPIO_NUM_36 (Sg6) (input only)
 
 Socket #3
 #1 GPIO_NUM_26
@@ -122,12 +121,14 @@ Socket #5
 */
 
 // Socket #1 (Empty)
+// Install StallGuard Jumpers
 #define X_LIMIT_PIN             GPIO_NUM_33  // Sg1
 #define Y_LIMIT_PIN             GPIO_NUM_32  // Sg2
 #define Z_LIMIT_PIN             GPIO_NUM_35  // Sg3
 #define A_LIMIT_PIN             GPIO_NUM_34  // Sg4
 
 // Socket #2 (Empty)
+// Install StallGuard Jumpers
 #define B_LIMIT_PIN               GPIO_NUM_39  // Sg5
 #define C_LIMIT_PIN               GPIO_NUM_36  // Sg6
 

diff --git a/Grbl_Esp32/src/Machines/i2s_out_xyzabc_trinamic.h b/Grbl_Esp32/src/Machines/i2s_out_xyzabc_trinamic.h
@@ -37,8 +37,8 @@
 #define I2S_OUT_WS              GPIO_NUM_17
 #define I2S_OUT_DATA            GPIO_NUM_21
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
-#define TRINAMIC_HOMING_MODE        TRINAMIC_MODE_COOLSTEP
+#define TRINAMIC_RUN_MODE           TrinamicMode :: CoolStep
+#define TRINAMIC_HOMING_MODE        TrinamicMode :: CoolStep
 
 #define X_TRINAMIC_DRIVER       2130
 #define X_DISABLE_PIN           I2SO(0)

diff --git a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h b/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyyz.h
@@ -35,8 +35,8 @@
 
 #define TRINAMIC_DAISY_CHAIN
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
-#define TRINAMIC_HOMING_MODE        TRINAMIC_MODE_COOLSTEP
+#define TRINAMIC_RUN_MODE           TrinamicMode :: CoolStep
+#define TRINAMIC_HOMING_MODE        TrinamicMode :: CoolStep
 
 // Use SPI enable instead of the enable pin
 // The hardware enable pin is tied to ground

diff --git a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyz.h b/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyz.h
@@ -35,8 +35,8 @@
 
 #define TRINAMIC_DAISY_CHAIN
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
-#define TRINAMIC_HOMING_MODE        TRINAMIC_MODE_COOLSTEP
+#define TRINAMIC_RUN_MODE           TrinamicMode :: CoolStep
+#define TRINAMIC_HOMING_MODE        TrinamicMode :: CoolStep
 
 // Use SPI enable instead of the enable pin
 // The hardware enable pin is tied to ground

diff --git a/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyza.h b/Grbl_Esp32/src/Machines/spi_daisy_4axis_xyza.h
@@ -35,7 +35,7 @@
 
 #define TRINAMIC_DAISY_CHAIN
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_STEALTHCHOP
+#define TRINAMIC_RUN_MODE           TrinamicMode::StealthChop
 
 // Use SPI enable instead of the enable pin
 // The hardware enable pin is tied to ground

diff --git a/Grbl_Esp32/src/Machines/tmc2130_pen.h b/Grbl_Esp32/src/Machines/tmc2130_pen.h
@@ -38,8 +38,8 @@
     #define X_LIMIT_PIN     GPIO_NUM_32
 #endif
 
-#define TRINAMIC_RUN_MODE           TRINAMIC_MODE_COOLSTEP
-#define TRINAMIC_HOMING_MODE        TRINAMIC_MODE_COOLSTEP
+#define TRINAMIC_RUN_MODE           TrinamicMode :: CoolStep
+#define TRINAMIC_HOMING_MODE        TrinamicMode :: CoolStep
 
 #define X_STEP_PIN              GPIO_NUM_12
 #define X_DIRECTION_PIN         GPIO_NUM_26

diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.cpp b/Grbl_Esp32/src/Motors/TrinamicDriver.cpp
@@ -205,21 +205,21 @@ namespace Motors {
         _lastMode = _mode;
 
         switch (_mode) {
-            case TRINAMIC_MODE_STEALTHCHOP:
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_STEALTHCHOP");
+            case TrinamicMode ::StealthChop:
+                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "StealthChop");
                 tmcstepper->en_pwm_mode(true);
                 tmcstepper->pwm_autoscale(true);
                 tmcstepper->diag1_stall(false);
                 break;
-            case TRINAMIC_MODE_COOLSTEP:
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_COOLSTEP");
+            case TrinamicMode :: CoolStep:
+                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Coolstep");
                 tmcstepper->en_pwm_mode(false);
                 tmcstepper->pwm_autoscale(false);
                 tmcstepper->TCOOLTHRS(NORMAL_TCOOLTHRS);  // when to turn on coolstep
                 tmcstepper->THIGH(NORMAL_THIGH);
                 break;
-            case TRINAMIC_MODE_STALLGUARD:
-                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_STALLGUARD");
+            case TrinamicMode ::StallGuard:
+                //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
                 tmcstepper->en_pwm_mode(false);
                 tmcstepper->pwm_autoscale(false);
                 tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0));
@@ -286,7 +286,7 @@ namespace Motors {
         if (_disabled) {
             tmcstepper->toff(TRINAMIC_TOFF_DISABLE);
         } else {
-            if (_mode == TRINAMIC_MODE_STEALTHCHOP) {
+            if (_mode == TrinamicMode::StealthChop) {
                 tmcstepper->toff(TRINAMIC_TOFF_STEALTHCHOP);
             } else {
                 tmcstepper->toff(TRINAMIC_TOFF_COOLSTEP);

diff --git a/Grbl_Esp32/src/Motors/TrinamicDriver.h b/Grbl_Esp32/src/Motors/TrinamicDriver.h
@@ -24,9 +24,9 @@
 
 #include <TMCStepper.h>  // https://github.com/teemuatlut/TMCStepper
 
-#define TRINAMIC_MODE_STEALTHCHOP 0  // very quiet
-#define TRINAMIC_MODE_COOLSTEP 1     // everything runs cooler so higher current possible
-#define TRINAMIC_MODE_STALLGUARD 2   // coolstep plus generates stall indication
+//#define TRINAMIC_MODE_STEALTHCHOP 0  // very quiet
+//#define TRINAMIC_MODE_COOLSTEP 1     // everything runs cooler so higher current possible
+//#define TRINAMIC_MODE_STALLGUARD 2   // coolstep plus generates stall indication
 
 const float TMC2130_RSENSE_DEFAULT = 0.11f;
 const float TMC5160_RSENSE_DEFAULT = 0.075f;
@@ -39,8 +39,9 @@ const int TRINAMIC_SPI_FREQ = 100000;
 const double TRINAMIC_FCLK = 12700000.0;  // Internal clock Approx (Hz) used to calculate TSTEP from homing rate
 
 // ==== defaults OK to define them in your machine definition ====
+
 #ifndef TRINAMIC_RUN_MODE
-#    define TRINAMIC_RUN_MODE TRINAMIC_MODE_COOLSTEP
+#    define TRINAMIC_RUN_MODE TrinamicMode ::StealthChop
 #endif
 
 #ifndef TRINAMIC_HOMING_MODE
@@ -60,6 +61,14 @@ const double TRINAMIC_FCLK = 12700000.0;  // Internal clock Approx (Hz) used to
 #endif
 
 namespace Motors {
+
+    enum class TrinamicMode : uint8_t {
+        None            = 0, // not for machine defs!
+        StealthChop     = 1, 
+        CoolStep        = 2,
+        StallGuard      = 3,
+    };
+
     class TrinamicDriver : public StandardStepper {
     public:
         TrinamicDriver(uint8_t  axis_index,
@@ -86,14 +95,14 @@ namespace Motors {
         uint32_t calc_tstep(float speed, float percent);
 
         TMC2130Stepper* tmcstepper;  // all other driver types are subclasses of this one
-        uint8_t         _homing_mode;
+        TrinamicMode    _homing_mode;
         uint8_t         cs_pin = UNDEFINED_PIN;  // The chip select pin (can be the same for daisy chain)
         uint16_t        _driver_part_number;     // example: use 2130 for TMC2130
         float           _r_sense;
         int8_t          spi_index;
 
     protected:
-        uint8_t _mode;
-        uint8_t _lastMode = 255;
+        TrinamicMode _mode;
+        TrinamicMode _lastMode = TrinamicMode::None;
     };
 }