diff --git a/FluidNC/src/Control.cpp b/FluidNC/src/Control.cpp index 630c5a7ac..e35ae2276 100644 --- a/FluidNC/src/Control.cpp +++ b/FluidNC/src/Control.cpp @@ -22,14 +22,14 @@ void Control::init() { } void Control::group(Configuration::HandlerBase& handler) { - handler.item("safety_door", _safetyDoor._pin); - handler.item("reset", _reset._pin); - handler.item("feed_hold", _feedHold._pin); - handler.item("cycle_start", _cycleStart._pin); - handler.item("macro0", _macro0._pin); - handler.item("macro1", _macro1._pin); - handler.item("macro2", _macro2._pin); - handler.item("macro3", _macro3._pin); + handler.item("safety_door_pin", _safetyDoor._pin); + handler.item("reset_pin", _reset._pin); + handler.item("feed_hold_pin", _feedHold._pin); + handler.item("cycle_start_pin", _cycleStart._pin); + handler.item("macro0_pin", _macro0._pin); + handler.item("macro1_pin", _macro1._pin); + handler.item("macro2_pin", _macro2._pin); + handler.item("macro3_pin", _macro3._pin); } String Control::report() { diff --git a/FluidNC/src/CoolantControl.cpp b/FluidNC/src/CoolantControl.cpp index 8698b723c..129fba77d 100644 --- a/FluidNC/src/CoolantControl.cpp +++ b/FluidNC/src/CoolantControl.cpp @@ -80,7 +80,7 @@ void CoolantControl::off() { } void CoolantControl::group(Configuration::HandlerBase& handler) { - handler.item("flood", _flood); - handler.item("mist", _mist); + handler.item("flood_pin", _flood); + handler.item("mist_pin", _mist); handler.item("delay_ms", _delay_ms); } diff --git a/FluidNC/src/GCode.cpp b/FluidNC/src/GCode.cpp index e1cbd76d1..457bd7b89 100644 --- a/FluidNC/src/GCode.cpp +++ b/FluidNC/src/GCode.cpp @@ -45,11 +45,7 @@ void gc_init() { // Load default G54 coordinate system. gc_state.modal.coord_select = CoordIndex::G54; - if (config->_deactivateParkingUponInit) { - gc_state.modal.override = Override::Disabled; - } else { - gc_state.modal.override = Override::ParkingMotion; - } + gc_state.modal.override = config->_start->_deactivateParking ? Override::Disabled : Override::ParkingMotion; coords[gc_state.modal.coord_select]->get(gc_state.coord_system); } @@ -1624,7 +1620,7 @@ Error gc_execute_line(char* line, Print& client) { gc_state.modal.spindle = SpindleState::Disable; gc_state.modal.coolant = {}; if (config->_enableParkingOverrideControl) { - if (config->_deactivateParkingUponInit) { + if (config->_start->_deactivateParking) { gc_state.modal.override = Override::Disabled; } else { gc_state.modal.override = Override::ParkingMotion; diff --git a/FluidNC/src/Limits.cpp b/FluidNC/src/Limits.cpp index b4845d21f..8d7f17747 100644 --- a/FluidNC/src/Limits.cpp +++ b/FluidNC/src/Limits.cpp @@ -17,6 +17,7 @@ xQueueHandle limit_sw_queue; // used by limit switch debouncing void limits_init() { +#ifdef LATER // We need to rethink debouncing if (Machine::Axes::limitMask) { if (limit_sw_queue == NULL && config->_softwareDebounceMs != 0) { // setup task used for debouncing @@ -31,6 +32,7 @@ void limits_init() { } } } +#endif } // Returns limit state as a bit-wise uint32 variable. Each bit indicates an axis limit, where @@ -73,6 +75,7 @@ void limits_soft_check(float* target) { } } +#ifdef LATER // We need to rethink debouncing void limitCheckTask(void* pvParameters) { while (true) { std::atomic_thread_fence(std::memory_order::memory_order_seq_cst); // read fence for settings @@ -87,11 +90,12 @@ void limitCheckTask(void* pvParameters) { rtAlarm = ExecAlarm::HardLimit; // Indicate hard limit critical event } static UBaseType_t uxHighWaterMark = 0; -#ifdef DEBUG_TASK_STACK +# ifdef DEBUG_TASK_STACK reportTaskStackSize(uxHighWaterMark); -#endif +# endif } } +#endif float limitsMaxPosition(size_t axis) { auto axisConfig = config->_axes->_axis[axis]; diff --git a/FluidNC/src/Machine/Axes.cpp b/FluidNC/src/Machine/Axes.cpp index df9ee9871..03a626d83 100644 --- a/FluidNC/src/Machine/Axes.cpp +++ b/FluidNC/src/Machine/Axes.cpp @@ -188,7 +188,7 @@ namespace Machine { // Configuration helpers: void Axes::group(Configuration::HandlerBase& handler) { - handler.item("shared_stepper_disable", _sharedStepperDisable); + handler.item("shared_stepper_disable_pin", _sharedStepperDisable); // Handle axis names xyzabc. handler.section is inferred // from a template. diff --git a/FluidNC/src/Machine/Axis.cpp b/FluidNC/src/Machine/Axis.cpp index f4ee0d10a..fd27c687a 100644 --- a/FluidNC/src/Machine/Axis.cpp +++ b/FluidNC/src/Machine/Axis.cpp @@ -7,9 +7,9 @@ namespace Machine { void Axis::group(Configuration::HandlerBase& handler) { handler.item("steps_per_mm", _stepsPerMm); - handler.item("max_rate", _maxRate); - handler.item("acceleration", _acceleration); - handler.item("max_travel", _maxTravel); + handler.item("max_rate_mm_per_min", _maxRate); + handler.item("acceleration_mm_per_sec2", _acceleration); + handler.item("max_travel_mm", _maxTravel); handler.item("soft_limits", _softLimits); handler.section("homing", _homing); diff --git a/FluidNC/src/Machine/Homing.h b/FluidNC/src/Machine/Homing.h index 178955759..b8ed05f06 100644 --- a/FluidNC/src/Machine/Homing.h +++ b/FluidNC/src/Machine/Homing.h @@ -42,9 +42,9 @@ namespace Machine { void group(Configuration::HandlerBase& handler) override { handler.item("cycle", _cycle); handler.item("positive_direction", _positiveDirection); - handler.item("mpos", _mpos); - handler.item("feed_rate", _feedRate); - handler.item("seek_rate", _seekRate); + handler.item("mpos_mm", _mpos); + handler.item("feed_mm_per_min", _feedRate); + handler.item("seek_mm_per_min", _seekRate); handler.item("debounce_ms", _debounce_ms); handler.item("seek_scaler", _seek_scaler); handler.item("feed_scaler", _feed_scaler); diff --git a/FluidNC/src/Machine/I2SOBus.cpp b/FluidNC/src/Machine/I2SOBus.cpp index 4ca831716..a64172499 100644 --- a/FluidNC/src/Machine/I2SOBus.cpp +++ b/FluidNC/src/Machine/I2SOBus.cpp @@ -15,9 +15,9 @@ namespace Machine { } void I2SOBus::group(Configuration::HandlerBase& handler) { - handler.item("bck", _bck); - handler.item("data", _data); - handler.item("ws", _ws); + handler.item("bck_pin", _bck); + handler.item("data_pin", _data); + handler.item("ws_pin", _ws); } void I2SOBus::init() { diff --git a/FluidNC/src/Machine/MachineConfig.cpp b/FluidNC/src/Machine/MachineConfig.cpp index c3dd5aaf3..bd9a7c410 100644 --- a/FluidNC/src/Machine/MachineConfig.cpp +++ b/FluidNC/src/Machine/MachineConfig.cpp @@ -41,19 +41,15 @@ namespace Machine { handler.section("coolant", _coolant); handler.section("probe", _probe); handler.section("macros", _macros); + handler.section("start", _start); handler.section("user_outputs", _userOutputs); - handler.item("software_debounce_ms", _softwareDebounceMs); // TODO: Consider putting these under a gcode: hierarchy level? Or motion control? - handler.item("arc_tolerance", _arcTolerance); - handler.item("junction_deviation", _junctionDeviation); + handler.item("arc_tolerance_mm", _arcTolerance); + handler.item("junction_deviation_mm", _junctionDeviation); handler.item("verbose_errors", _verboseErrors); handler.item("report_inches", _reportInches); - handler.item("homing_init_lock", _homingInitLock); handler.item("enable_parking_override_control", _enableParkingOverrideControl); - handler.item("deactivate_parking_upon_init", _deactivateParkingUponInit); - handler.item("check_limits_at_init", _checkLimitsAtInit); - handler.item("disable_laser_during_hold", _disableLaserDuringHold); handler.item("use_line_numbers", _useLineNumbers); Spindles::SpindleFactory::factory(handler, _spindles); @@ -99,6 +95,10 @@ namespace Machine { _control = new Control(); } + if (_start == nullptr) { + _start = new Start(); + } + if (_spindles.size() == 0) { log_info("Spindle: using defaults (no spindle)"); _spindles.push_back(new Spindles::Null()); diff --git a/FluidNC/src/Machine/MachineConfig.h b/FluidNC/src/Machine/MachineConfig.h index 90b98cea7..b8260ac57 100644 --- a/FluidNC/src/Machine/MachineConfig.h +++ b/FluidNC/src/Machine/MachineConfig.h @@ -25,6 +25,29 @@ #include "Macros.h" namespace Machine { + class Start : public Configuration::Configurable { + public: + bool _mustHome = true; + bool _deactivateParking = false; + + // At power-up or a reset, the limit switches will be checked + // to ensure they are not already active. If so, and hard + // limits are enabled, Alarm state will be entered instead of + // Idle and the user will be told to check the limits. + bool _checkLimits = false; + + public: + Start() {} + + void group(Configuration::HandlerBase& handler) { + handler.item("must_home", _mustHome); + handler.item("deactivate_parking", _deactivateParking); + handler.item("check_limits", _checkLimits); + } + + ~Start() = default; + }; + class MachineConfig : public Configuration::Configurable { public: MachineConfig() = default; @@ -39,33 +62,20 @@ namespace Machine { UserOutputs* _userOutputs = nullptr; SDCard* _sdCard = nullptr; Macros* _macros = nullptr; + Start* _start = nullptr; Spindles::SpindleList _spindles; - float _arcTolerance = 0.002f; - float _junctionDeviation = 0.01f; - bool _verboseErrors = false; - bool _reportInches = false; - bool _homingInitLock = true; - int _softwareDebounceMs = 0; + float _arcTolerance = 0.002f; + float _junctionDeviation = 0.01f; + bool _verboseErrors = false; + bool _reportInches = false; // Enables a special set of M-code commands that enables and disables the parking motion. // These are controlled by `M56`, `M56 P1`, or `M56 Px` to enable and `M56 P0` to disable. // The command is modal and will be set after a planner sync. Since it is GCode, it is // executed in sync with GCode commands. It is not a real-time command. bool _enableParkingOverrideControl = false; - bool _deactivateParkingUponInit = false; - - // At power-up or a reset, the limit switches will be checked to ensure they are not active - // before initialization. If a problem is detected and hard limits are enabled, Alarm state - // will be entered instead of Idle, messaging the user to check the limits, rather than idle. - bool _checkLimitsAtInit = true; - - // This option will automatically disable the laser during a feed hold by invoking a spindle stop - // override immediately after coming to a stop. However, this also means that the laser still may - // be reenabled by disabling the spindle stop override, if needed. This is purely a safety feature - // to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire. - bool _disableLaserDuringHold = true; // Tracks and reports gcode line numbers. Disabled by default. bool _useLineNumbers = false; diff --git a/FluidNC/src/Machine/Macros.h b/FluidNC/src/Machine/Macros.h index 4ead11afe..e806b374a 100644 --- a/FluidNC/src/Machine/Macros.h +++ b/FluidNC/src/Machine/Macros.h @@ -56,8 +56,8 @@ namespace Machine { // TODO: We could validate the startup lines void group(Configuration::HandlerBase& handler) override { - handler.item("n0", _startup_line[0]); - handler.item("n1", _startup_line[1]); + handler.item("startup_line0", _startup_line[0]); + handler.item("startup_line1", _startup_line[1]); handler.item("macro0", _macro[0]); handler.item("macro1", _macro[1]); handler.item("macro2", _macro[2]); diff --git a/FluidNC/src/Machine/Motor.cpp b/FluidNC/src/Machine/Motor.cpp index 50e4bdc78..988ce58a0 100644 --- a/FluidNC/src/Machine/Motor.cpp +++ b/FluidNC/src/Machine/Motor.cpp @@ -14,11 +14,11 @@ namespace Machine { _negLimitPin = new LimitPin(_negPin, _axis, _motorNum, -1, _hardLimits); _posLimitPin = new LimitPin(_posPin, _axis, _motorNum, 1, _hardLimits); _allLimitPin = new LimitPin(_allPin, _axis, _motorNum, 0, _hardLimits); - handler.item("limit_neg", _negPin); - handler.item("limit_pos", _posPin); - handler.item("limit_all", _allPin); + handler.item("limit_neg_pin", _negPin); + handler.item("limit_pos_pin", _posPin); + handler.item("limit_all_pin", _allPin); handler.item("hard_limits", _hardLimits); - handler.item("pulloff", _pulloff); + handler.item("pulloff_mm", _pulloff); MotorDrivers::MotorFactory::factory(handler, _driver); } diff --git a/FluidNC/src/Machine/SPIBus.cpp b/FluidNC/src/Machine/SPIBus.cpp index d6d2951f3..8e024ee8c 100644 --- a/FluidNC/src/Machine/SPIBus.cpp +++ b/FluidNC/src/Machine/SPIBus.cpp @@ -36,9 +36,9 @@ namespace Machine { } void SPIBus::group(Configuration::HandlerBase& handler) { - handler.item("miso", _miso); - handler.item("mosi", _mosi); - handler.item("sck", _sck); + handler.item("miso_pin", _miso); + handler.item("mosi_pin", _mosi); + handler.item("sck_pin", _sck); } // XXX it would be nice to have some way to turn off SPI entirely diff --git a/FluidNC/src/Machine/UserOutputs.cpp b/FluidNC/src/Machine/UserOutputs.cpp index 7af711441..e8b8d87a3 100644 --- a/FluidNC/src/Machine/UserOutputs.cpp +++ b/FluidNC/src/Machine/UserOutputs.cpp @@ -34,17 +34,17 @@ namespace Machine { } void UserOutputs::group(Configuration::HandlerBase& handler) { - handler.item("analog0", _analogOutput[0]); - handler.item("analog1", _analogOutput[1]); - handler.item("analog2", _analogOutput[2]); - handler.item("analog3", _analogOutput[3]); - handler.item("analog_frequency0", _analogFrequency[0]); - handler.item("analog_frequency1", _analogFrequency[1]); - handler.item("analog_frequency2", _analogFrequency[2]); - handler.item("analog_frequency3", _analogFrequency[3]); - handler.item("digital0", _digitalOutput[0]); - handler.item("digital1", _digitalOutput[1]); - handler.item("digital2", _digitalOutput[2]); - handler.item("digital3", _digitalOutput[3]); + handler.item("analog0_pin", _analogOutput[0]); + handler.item("analog1_pin", _analogOutput[1]); + handler.item("analog2_pin", _analogOutput[2]); + handler.item("analog3_pin", _analogOutput[3]); + handler.item("analog0_hz", _analogFrequency[0]); + handler.item("analog1_hz", _analogFrequency[1]); + handler.item("analog2_hz", _analogFrequency[2]); + handler.item("analog3_hz", _analogFrequency[3]); + handler.item("digital0_pin", _digitalOutput[0]); + handler.item("digital1_pin", _digitalOutput[1]); + handler.item("digital2_pin", _digitalOutput[2]); + handler.item("digital3_pin", _digitalOutput[3]); } } diff --git a/FluidNC/src/Main.cpp b/FluidNC/src/Main.cpp index d27b7ce26..e06981ee4 100644 --- a/FluidNC/src/Main.cpp +++ b/FluidNC/src/Main.cpp @@ -106,7 +106,7 @@ void setup() { // NOTE: The startup script will run after successful completion of the homing cycle, but // not after disabling the alarm locks. Prevents motion startup blocks from crashing into // things uncontrollably. Very bad. - if (config->_homingInitLock && Machine::Axes::homingMask) { + if (config->_start->_mustHome && Machine::Axes::homingMask) { // If there is an axis with homing configured, enter Alarm state on startup sys.state = State::Alarm; } diff --git a/FluidNC/src/Motors/RcServo.h b/FluidNC/src/Motors/RcServo.h index e5505e000..ea03972dd 100644 --- a/FluidNC/src/Motors/RcServo.h +++ b/FluidNC/src/Motors/RcServo.h @@ -20,7 +20,7 @@ namespace MotorDrivers { bool _disabled; - uint32_t _min_pulse_us = SERVO_PULSE_US_MIN_DEFAULT; // microseconds + uint32_t _min_pulse_us = SERVO_PULSE_US_MIN_DEFAULT; // microseconds uint32_t _max_pulse_us = SERVO_PULSE_US_MAX_DEFAULT; // microseconds uint32_t _min_pulse_cnt = 0; // microseconds @@ -45,7 +45,7 @@ namespace MotorDrivers { // Configuration handlers: void group(Configuration::HandlerBase& handler) override { handler.item("output_pin", _output_pin); - handler.item("pwm_freq", _pwm_freq); + handler.item("pwm_hz", _pwm_freq); handler.item("min_pulse_us", _min_pulse_us); handler.item("max_pulse_us", _max_pulse_us); } diff --git a/FluidNC/src/Motors/StandardStepper.h b/FluidNC/src/Motors/StandardStepper.h index 109910703..95864181e 100644 --- a/FluidNC/src/Motors/StandardStepper.h +++ b/FluidNC/src/Motors/StandardStepper.h @@ -35,9 +35,9 @@ namespace MotorDrivers { void validate() const override; void group(Configuration::HandlerBase& handler) override { - handler.item("step", _step_pin); - handler.item("direction", _dir_pin); - handler.item("disable", _disable_pin); + handler.item("step_pin", _step_pin); + handler.item("direction_pin", _dir_pin); + handler.item("disable_pin", _disable_pin); } // Name of the configurable. Must match the name registered in the cpp file. diff --git a/FluidNC/src/Motors/StepStick.cpp b/FluidNC/src/Motors/StepStick.cpp index 849cce913..6c68fa3cf 100644 --- a/FluidNC/src/Motors/StepStick.cpp +++ b/FluidNC/src/Motors/StepStick.cpp @@ -23,10 +23,10 @@ namespace MotorDrivers { void StepStick::group(Configuration::HandlerBase& handler) { StandardStepper::group(handler); - handler.item("ms1", _MS1); - handler.item("ms2", _MS2); - handler.item("ms3", _MS3); - handler.item("reset", _Reset); + handler.item("ms1_pin", _MS1); + handler.item("ms2_pin", _MS2); + handler.item("ms3_pin", _MS3); + handler.item("reset_pin", _Reset); } void StepStick::afterParse() { diff --git a/FluidNC/src/Motors/TrinamicBase.h b/FluidNC/src/Motors/TrinamicBase.h index 2094e8a73..4932b3f2a 100644 --- a/FluidNC/src/Motors/TrinamicBase.h +++ b/FluidNC/src/Motors/TrinamicBase.h @@ -63,12 +63,12 @@ namespace MotorDrivers { TrinamicBase(uint16_t partNumber) : StandardStepper(), _driver_part_number(partNumber) {} void group(Configuration::HandlerBase& handler) override { - handler.item("r_sense", _r_sense); - handler.item("run_current", _run_current); - handler.item("hold_current", _hold_current); + handler.item("r_sense_ohms", _r_sense); + handler.item("run_amps", _run_current); + handler.item("hold_amps", _hold_current); handler.item("microsteps", _microsteps); handler.item("stallguard", _stallguard); - handler.item("stallguardDebugMode", _stallguardDebugMode); + handler.item("stallguard_debug", _stallguardDebugMode); handler.item("toff_disable", _toff_disable); handler.item("toff_stealthchop", _toff_stealthchop); handler.item("toff_coolstep", _toff_coolstep); diff --git a/FluidNC/src/Motors/TrinamicSpiDriver.h b/FluidNC/src/Motors/TrinamicSpiDriver.h index 0c51b5636..48a652d9a 100644 --- a/FluidNC/src/Motors/TrinamicSpiDriver.h +++ b/FluidNC/src/Motors/TrinamicSpiDriver.h @@ -56,7 +56,7 @@ namespace MotorDrivers { void afterParse() override { if (daisy_chain_cs_id == 255) { // Either it is not a daisy chain or this is the first daisy-chained TMC in the config file - Assert(_cs_pin.defined(), "TMC cs: pin must be configured"); + Assert(_cs_pin.defined(), "TMC cs_pin: pin must be configured"); if (_spi_index != -1) { // This is the first daisy-chained TMC in the config file // Do the cs pin mapping now and record the ID in daisy_chain_cs_id @@ -69,7 +69,7 @@ namespace MotorDrivers { } } else { // This is another - not the first - daisy-chained TMC - Assert(_cs_pin.undefined(), "For daisy-chained TMC, cs: pin must be configured only once"); + Assert(_cs_pin.undefined(), "For daisy-chained TMC, cs_pin: pin must be configured only once"); Assert(_spi_index != -1, "spi_index: must be configured on all daisy-chained TMCs"); Assert(bitnum_is_false(spi_index_mask, _spi_index), "spi_index: must be unique among all daisy-chained TMCs"); set_bitnum(spi_index_mask, _spi_index); @@ -79,7 +79,7 @@ namespace MotorDrivers { void validate() const override { StandardStepper::validate(); } void group(Configuration::HandlerBase& handler) override { - handler.item("cs", _cs_pin); + handler.item("cs_pin", _cs_pin); handler.item("spi_index", _spi_index); TrinamicBase::group(handler); } diff --git a/FluidNC/src/Motors/UnipolarMotor.h b/FluidNC/src/Motors/UnipolarMotor.h index 1aa50f49e..456233bc6 100644 --- a/FluidNC/src/Motors/UnipolarMotor.h +++ b/FluidNC/src/Motors/UnipolarMotor.h @@ -26,10 +26,10 @@ namespace MotorDrivers { } void group(Configuration::HandlerBase& handler) override { - handler.item("phase0", _pin_phase0); - handler.item("phase1", _pin_phase1); - handler.item("phase2", _pin_phase2); - handler.item("phase3", _pin_phase3); + handler.item("phase0_pin", _pin_phase0); + handler.item("phase1_pin", _pin_phase1); + handler.item("phase2_pin", _pin_phase2); + handler.item("phase3_pin", _pin_phase3); handler.item("half_step", _half_step); } diff --git a/FluidNC/src/Protocol.cpp b/FluidNC/src/Protocol.cpp index fa61e4a5f..44d54c6fc 100644 --- a/FluidNC/src/Protocol.cpp +++ b/FluidNC/src/Protocol.cpp @@ -121,7 +121,7 @@ void protocol_main_loop() { report_feedback_message(Message::ConfigAlarmLock); } else { // Perform some machine checks to make sure everything is good to go. - if (config->_checkLimitsAtInit && config->_axes->hasHardLimits()) { + if (config->_start->_checkLimits && config->_axes->hasHardLimits()) { if (limits_get_state()) { sys.state = State::Alarm; // Ensure alarm state is active. report_feedback_message(Message::CheckLimits); diff --git a/FluidNC/src/SDCard.cpp b/FluidNC/src/SDCard.cpp index c3415e9e3..1cd0d52a5 100644 --- a/FluidNC/src/SDCard.cpp +++ b/FluidNC/src/SDCard.cpp @@ -153,7 +153,7 @@ SDCard::State SDCard::test_or_open(bool refresh) { _state = SDCard::State::NotPresent; - auto csPin = _cs.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); + auto csPin = _cs.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); //refresh content if card was removed if (SD.begin(csPin, SPI, SPIfreq, "/sd", 2)) { @@ -193,10 +193,10 @@ void SDCard::init() { log_error("SD needs SPI defined"); } else { if (init_message) { - _cardDetect.report("SD Card Detect"); - init_message = false; + _cardDetect.report("SD Card Detect"); + init_message = false; } - log_info("SD Card cs:" << _cs.name() << " dectect:" << _cardDetect.name()); + log_info("SD Card cs_pin:" << _cs.name() << " dectect:" << _cardDetect.name()); } } diff --git a/FluidNC/src/SDCard.h b/FluidNC/src/SDCard.h index 2e4db76fe..0cf7afe14 100644 --- a/FluidNC/src/SDCard.h +++ b/FluidNC/src/SDCard.h @@ -79,7 +79,7 @@ class SDCard : public Configuration::Configurable { Error readFileLine(char* line, int len); float percent_complete(); uint32_t lineNumber(); - void afterParse() override; + void afterParse() override; Print& getClient() { return _client; } WebUI::AuthenticationLevel getAuthLevel() { return _auth_level; } @@ -91,8 +91,8 @@ class SDCard : public Configuration::Configurable { // Configuration handlers. void group(Configuration::HandlerBase& handler) override { - handler.item("cs", _cs); - handler.item("card_detect", _cardDetect); + handler.item("cs_pin", _cs); + handler.item("card_detect_pin", _cardDetect); } ~SDCard(); diff --git a/FluidNC/src/Spindles/10vSpindle.h b/FluidNC/src/Spindles/10vSpindle.h index 6f838623b..229d3e4af 100644 --- a/FluidNC/src/Spindles/10vSpindle.h +++ b/FluidNC/src/Spindles/10vSpindle.h @@ -36,8 +36,8 @@ namespace Spindles { void validate() const override { PWM::validate(); } void group(Configuration::HandlerBase& handler) override { - handler.item("forward", _forward_pin); - handler.item("reverse", _reverse_pin); + handler.item("forward_pin", _forward_pin); + handler.item("reverse_pin", _reverse_pin); PWM::group(handler); } diff --git a/FluidNC/src/Spindles/Laser.h b/FluidNC/src/Spindles/Laser.h index 65d9c8ea3..360e32e4d 100644 --- a/FluidNC/src/Spindles/Laser.h +++ b/FluidNC/src/Spindles/Laser.h @@ -35,7 +35,7 @@ namespace Spindles { // pwm_freq is the only item that the PWM class adds to OnOff // We cannot call PWM::group() because that would pick up // direction_pin, which we do not want in Laser - handler.item("pwm_freq", _pwm_freq); + handler.item("pwm_hz", _pwm_freq); OnOff::groupCommon(handler); } diff --git a/FluidNC/src/Spindles/OnOffSpindle.h b/FluidNC/src/Spindles/OnOffSpindle.h index 8e3a86f33..232a52110 100644 --- a/FluidNC/src/Spindles/OnOffSpindle.h +++ b/FluidNC/src/Spindles/OnOffSpindle.h @@ -21,8 +21,8 @@ namespace Spindles { void groupCommon(Configuration::HandlerBase& handler) { handler.item("output_pin", _output_pin); handler.item("enable_pin", _enable_pin); - handler.item("disable_with_zero_speed", _disable_with_zero_speed); - handler.item("zero_speed_with_disable", _zero_speed_with_disable); + handler.item("disable_with_s0", _disable_with_zero_speed); + handler.item("s0_with_disable", _zero_speed_with_disable); Spindle::group(handler); } diff --git a/FluidNC/src/Spindles/PWMSpindle.h b/FluidNC/src/Spindles/PWMSpindle.h index 6af30018c..a6464aab6 100644 --- a/FluidNC/src/Spindles/PWMSpindle.h +++ b/FluidNC/src/Spindles/PWMSpindle.h @@ -35,7 +35,7 @@ namespace Spindles { void validate() const override { Spindle::validate(); } void group(Configuration::HandlerBase& handler) override { - handler.item("pwm_freq", _pwm_freq); + handler.item("pwm_hz", _pwm_freq); OnOff::group(handler); } diff --git a/FluidNC/src/Spindles/Spindle.h b/FluidNC/src/Spindles/Spindle.h index ff05d7d67..eede1a3d0 100644 --- a/FluidNC/src/Spindles/Spindle.h +++ b/FluidNC/src/Spindles/Spindle.h @@ -80,8 +80,8 @@ namespace Spindles { handler.item("spinup_ms", _spinup_ms); handler.item("spindown_ms", _spindown_ms); } - handler.item("tool", _tool); - handler.item("speeds", _speeds); + handler.item("tool_num", _tool); + handler.item("speed_map", _speeds); } diff --git a/FluidNC/test/Configuration/YamlComplete.cpp b/FluidNC/test/Configuration/YamlComplete.cpp index d1d1c16ca..fbd668353 100644 --- a/FluidNC/test/Configuration/YamlComplete.cpp +++ b/FluidNC/test/Configuration/YamlComplete.cpp @@ -18,7 +18,7 @@ namespace Configuration { "\n" "axes:\n" " number_axis: 3\n" - " shared_stepper_disable: gpio.13:low\n" + " shared_stepper_disable_pin: gpio.13:low\n" " \n" " x:\n" "\n" diff --git a/FluidNC/test/Configuration/YamlTreeBuilder.cpp b/FluidNC/test/Configuration/YamlTreeBuilder.cpp index 3c291af3f..189d70b85 100644 --- a/FluidNC/test/Configuration/YamlTreeBuilder.cpp +++ b/FluidNC/test/Configuration/YamlTreeBuilder.cpp @@ -137,7 +137,7 @@ namespace Configuration { } Test(YamlTreeBuilder, Hierarchical1) { - const char* config = "n1:\n" + const char* config = "startup_line1:\n" " a: aap\n" " b: banaan\n" " \n" @@ -169,7 +169,7 @@ namespace Configuration { const char* config = "n2:\n" " banaan: 2\n" " aap: aap\n" - "n1:\n" + "startup_line1:\n" " a: aap\n" " b: banaan\n" " \n" @@ -199,7 +199,7 @@ namespace Configuration { "n2:\n" " banaan: 2\n" " aap: aap\n" - "n1:\n" + "startup_line1:\n" " a: aap\n" " b: banaan\n" " \n" diff --git a/example_configs/3axis_v4.yaml b/example_configs/3axis_v4.yaml index b6d7f80b6..d859a2f5c 100644 --- a/example_configs/3axis_v4.yaml +++ b/example_configs/3axis_v4.yaml @@ -9,100 +9,87 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: gpio.13:low + shared_stepper_disable_pin: gpio.13:low x: steps_per_mm: 800 - max_rate: 2000 - acceleration: 25 - max_travel: 1000 + max_rate_mm_per_min: 2000 + acceleration_mm_per_sec2: 25 + max_travel_mm: 1000 homing: cycle: 2 - mpos: 10 + mpos_mm: 10 positive_direction: false motor0: - limit_all: gpio.17:low:pu + limit_all_pin: gpio.17:low:pu stepstick: - direction: gpio.14 - step: gpio.12 + direction_pin: gpio.14 + step_pin: gpio.12 motor1: null_motor: y: steps_per_mm: 800 - max_rate: 2000 - acceleration: 25 - max_travel: 1000 + max_rate_mm_per_min: 2000 + acceleration_mm_per_sec2: 25 + max_travel_mm: 1000 homing: cycle: 2 - mpos: 10 + mpos_mm: 10 positive_direction: false motor0: - limit_all: gpio.4:low:pu + limit_all_pin: gpio.4:low:pu stepstick: - direction: gpio.15 - step: gpio.26 + direction_pin: gpio.15 + step_pin: gpio.26 motor1: null_motor: z: steps_per_mm: 800 - max_rate: 2000 - acceleration: 25 - max_travel: 1000 + max_rate_mm_per_min: 2000 + acceleration_mm_per_sec2: 25 + max_travel_mm: 1000 homing: cycle: 1 - mpos: 10 + mpos_mm: 10 positive_direction: true motor0: - limit_all: gpio.16:low:pu + limit_all_pin: gpio.16:low:pu stepstick: - direction: gpio.33 - step: gpio.27 + direction_pin: gpio.33 + step_pin: gpio.27 motor1: null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN coolant: - flood: gpio.25 - mist: gpio.21 + flood_pin: gpio.25 + mist_pin: gpio.21 -comms: - telnet_enable: true - telnet_port: 23 - http_enable: true - http_port: 80 - hostname: fluidnc - wifi_ap: - ssid: FluidNC - ip_address: 10.0.0.1 - gateway: 10.0.0.1 - netmask: 255.255.0.0 - dhcp: true - channel: 1 probe: pin: gpio.32:low:pu PWM: - pwm_freq: 5000 + pwm_hz: 5000 output_pin: gpio.2 enable_pin: gpio.22 direction_pin: NO_PIN - disable_with_zero_speed: false - zero_speed_with_disable: true + disable_with_s0: false + s0_with_disable: true spinup_ms: 0 spindown_ms: 0 - tool: 0 - speeds: 0=0% 10000=100% + tool_num: 0 + speed_map: 0=0% 10000=100% diff --git a/example_configs/6_pack_TMC2130.yaml b/example_configs/6_pack_TMC2130.yaml index 54106483d..0fec67c7c 100644 --- a/example_configs/6_pack_TMC2130.yaml +++ b/example_configs/6_pack_TMC2130.yaml @@ -8,154 +8,154 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: NO_PIN + shared_stepper_disable_pin: NO_PIN x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.33:pu + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.33:pu hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: - cs: i2so.3 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + cs_pin: i2so.3 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: false - step: I2SO.2 - direction: I2SO.1 - disable: I2SO.0 + step_pin: I2SO.2 + direction_pin: I2SO.1 + disable_pin: I2SO.0 y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.32:pu + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.32:pu hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: - cs: i2so.6 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + cs_pin: i2so.6 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: I2SO.5 - direction: I2SO.4 - disable: I2SO.7 + step_pin: I2SO.5 + direction_pin: I2SO.4 + disable_pin: I2SO.7 z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 800.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 800.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.35 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.35 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: - cs: i2so.11 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + cs_pin: i2so.11 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: I2SO.10 - direction: I2SO.9 - disable: I2SO.8 + step_pin: I2SO.10 + direction_pin: I2SO.9 + disable_pin: I2SO.8 i2so: - bck: gpio.22 - data: gpio.21 - ws: gpio.17 + bck_pin: gpio.22 + data_pin: gpio.21 + ws_pin: gpio.17 spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - card_detect: NO_PIN - cs: gpio.5 + card_detect_pin: NO_PIN + cs_pin: gpio.5 control: - safety_door: NO_PIN - reset: NO_PIN - feed_hold: NO_PIN - cycle_start: NO_PIN - macro0: NO_PIN - macro1: NO_PIN - macro2: NO_PIN - macro3: NO_PIN + safety_door_pin: NO_PIN + reset_pin: NO_PIN + feed_hold_pin: NO_PIN + cycle_start_pin: NO_PIN + macro0_pin: NO_PIN + macro1_pin: NO_PIN + macro2_pin: NO_PIN + macro3_pin: NO_PIN coolant: - flood: NO_PIN - mist: NO_PIN + flood_pin: NO_PIN + mist_pin: NO_PIN delay_ms: 0 probe: @@ -163,47 +163,38 @@ probe: check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: macro3: user_outputs: - analog0: NO_PIN - analog1: NO_PIN - analog2: NO_PIN - analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 - digital0: NO_PIN - digital1: NO_PIN - digital2: NO_PIN - digital3: NO_PIN - -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: false -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: false -disable_laser_during_hold: true -use_line_numbers: false + analog0_pin: NO_PIN + analog1_pin: NO_PIN + analog2_pin: NO_PIN + analog3_pin: NO_PIN + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 + digital0_pin: NO_PIN + digital1_pin: NO_PIN + digital2_pin: NO_PIN + digital3_pin: NO_PIN + +start: + must_home: false + PWM: - pwm_freq: 5000 + pwm_hz: 5000 output_pin: gpio.26 enable_pin: gpio.4 direction_pin: NO_PIN - disable_with_zero_speed: false - zero_speed_with_disable: true + disable_with_s0: false + s0_with_disable: true spinup_ms: 1000 spindown_ms: 1000 - tool: 0 - speeds: 0=0.000% 1000=100.000% + tool_num: 0 + speed_map: 0=0.000% 1000=100.000% diff --git a/example_configs/6_pack_TMC5160.yaml b/example_configs/6_pack_TMC5160.yaml index 4ee91985a..2cc7c0ff3 100644 --- a/example_configs/6_pack_TMC5160.yaml +++ b/example_configs/6_pack_TMC5160.yaml @@ -8,202 +8,188 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: NO_PIN + shared_stepper_disable_pin: NO_PIN x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.33:pu + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.33:pu hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_5160: - cs: i2so.3 - r_sense: 0.075 - run_current: 1.75 - hold_current: 0.50 + cs_pin: i2so.3 + r_sense_ohms: 0.075 + run_amps: 1.75 + hold_amps: 0.50 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: false - step: I2SO.2 - direction: I2SO.1 - disable: I2SO.0 + step_pin: I2SO.2 + direction_pin: I2SO.1 + disable_pin: I2SO.0 y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.32:pu + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.32:pu hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_5160: - cs: i2so.6 - r_sense: 0.075 - run_current: 1.75 - hold_current: 0.50 + cs_pin: i2so.6 + r_sense_ohms: 0.075 + run_amps: 1.75 + hold_amps: 0.50 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: I2SO.5 - direction: I2SO.4 - disable: I2SO.7 + step_pin: I2SO.5 + direction_pin: I2SO.4 + disable_pin: I2SO.7 z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 800.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 800.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.35 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.35 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_5160: - cs: i2so.11 - r_sense: 0.075 - run_current: 1.750 - hold_current: 0.50 + cs_pin: i2so.11 + r_sense_ohms: 0.075 + run_amps: 1.750 + hold_amps: 0.50 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: I2SO.10 - direction: I2SO.9 - disable: I2SO.8 + step_pin: I2SO.10 + direction_pin: I2SO.9 + disable_pin: I2SO.8 i2so: - bck: gpio.22 - data: gpio.21 - ws: gpio.17 + bck_pin: gpio.22 + data_pin: gpio.21 + ws_pin: gpio.17 spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + card_detect_pin: NO_PIN + cs_pin: gpio.5 control: - safety_door: NO_PIN - reset: NO_PIN - feed_hold: NO_PIN - cycle_start: NO_PIN - macro0: NO_PIN - macro1: NO_PIN - macro2: NO_PIN - macro3: NO_PIN - -coolant: - flood: NO_PIN - mist: NO_PIN - delay_ms: 0 + safety_door_pin: NO_PIN + reset_pin: NO_PIN + feed_hold_pin: NO_PIN + cycle_start_pin: NO_PIN + macro0_pin: NO_PIN + macro1_pin: NO_PIN + macro2_pin: NO_PIN + macro3_pin: NO_PIN probe: pin: NO_PIN check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: macro3: user_outputs: - analog0: NO_PIN - analog1: NO_PIN - analog2: NO_PIN - analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 - digital0: NO_PIN - digital1: NO_PIN - digital2: NO_PIN - digital3: NO_PIN + analog0_pin: NO_PIN + analog1_pin: NO_PIN + analog2_pin: NO_PIN + analog3_pin: NO_PIN + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 + digital0_pin: NO_PIN + digital1_pin: NO_PIN + digital2_pin: NO_PIN + digital3_pin: NO_PIN + +start: + must_home: false -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: false -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: false -disable_laser_during_hold: true -use_line_numbers: false PWM: - pwm_freq: 5000 + pwm_hz: 5000 output_pin: gpio.26 enable_pin: gpio.4 direction_pin: NO_PIN - disable_with_zero_speed: false - zero_speed_with_disable: true + disable_with_s0: false + s0_with_disable: true spinup_ms: 1000 spindown_ms: 1000 - tool: 0 - speeds: 0=0.000% 1000=100.000% + tool_num: 0 + speed_map: 0=0.000% 1000=100.000% diff --git a/example_configs/6_pack_external_huanyang.yaml b/example_configs/6_pack_external_huanyang.yaml index 56f2bfba4..329ee00f3 100644 --- a/example_configs/6_pack_external_huanyang.yaml +++ b/example_configs/6_pack_external_huanyang.yaml @@ -8,115 +8,115 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: NO_PIN + shared_stepper_disable_pin: NO_PIN x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm: 1.000 standard_stepper: - step: I2SO.2 - direction: I2SO.1 - disable: I2SO.0 + step_pin: I2SO.2 + direction_pin: I2SO.1 + disable_pin: I2SO.0 y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.32:pu + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.32:pu hard_limits: true - pulloff: 1.000 + pulloff_mm: 1.000 standard_stepper: - step: I2SO.5 - direction: I2SO.4 - disable: I2SO.7 + step_pin: I2SO.5 + direction_pin: I2SO.4 + disable_pin: I2SO.7 z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 800.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 800.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.35 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.35 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 standard_stepper: - step: I2SO.10 - direction: I2SO.9 - disable: I2SO.8 + step_pin: I2SO.10 + direction_pin: I2SO.9 + disable_pin: I2SO.8 i2so: - bck: gpio.22 - data: gpio.21 - ws: gpio.17 + bck_pin: gpio.22 + data_pin: gpio.21 + ws_pin: gpio.17 spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - card_detect: NO_PIN - cs: gpio.5 + card_detect_pin: NO_PIN + cs_pin: gpio.5 control: - safety_door: NO_PIN - reset: NO_PIN - feed_hold: NO_PIN - cycle_start: NO_PIN - macro0: NO_PIN - macro1: NO_PIN - macro2: NO_PIN - macro3: NO_PIN + safety_door_pin: NO_PIN + reset_pin: NO_PIN + feed_hold_pin: NO_PIN + cycle_start_pin: NO_PIN + macro0_pin: NO_PIN + macro1_pin: NO_PIN + macro2_pin: NO_PIN + macro3_pin: NO_PIN coolant: - flood: NO_PIN - mist: NO_PIN + flood_pin: NO_PIN + mist_pin: NO_PIN delay_ms: 0 probe: @@ -124,40 +124,29 @@ probe: check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: macro3: user_outputs: - analog0: NO_PIN - analog1: NO_PIN - analog2: NO_PIN - analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 - digital0: NO_PIN - digital1: NO_PIN - digital2: NO_PIN - digital3: NO_PIN - -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: false -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: false -limits_two_switches_on_axis: false -disable_laser_during_hold: true -use_line_numbers: false + analog0_pin: NO_PIN + analog1_pin: NO_PIN + analog2_pin: NO_PIN + analog3_pin: NO_PIN + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 + digital0_pin: NO_PIN + digital1_pin: NO_PIN + digital2_pin: NO_PIN + digital3_pin: NO_PIN + +start: + must_home: false Huanyang: uart: @@ -167,7 +156,5 @@ Huanyang: baud: 9600 mode: 8N1 modbus_id: 1 - spinup_ms: 0 - spindown_ms: 0 - tool: 0 - speeds: 0=0% 0=25% 6000=25% 24000=100% + tool_num: 0 + speed_map: 0=0% 0=25% 6000=25% 24000=100% diff --git a/example_configs/TMC2130_SPI_Daisy.yaml b/example_configs/TMC2130_SPI_Daisy.yaml index 65fabedc7..45f4048d6 100644 --- a/example_configs/TMC2130_SPI_Daisy.yaml +++ b/example_configs/TMC2130_SPI_Daisy.yaml @@ -8,228 +8,188 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: NO_PIN + shared_stepper_disable_pin: NO_PIN x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: - cs: gpio.17 + cs_pin: gpio.17 spi_index: 1 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: true - step: gpio.12 - direction: gpio.14 - disable: NO_PIN + step_pin: gpio.12 + direction_pin: gpio.14 + disable_pin: NO_PIN y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: spi_index: 2 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: true - step: gpio.27 - direction: gpio.26 - disable: NO_PIN + step_pin: gpio.27 + direction_pin: gpio.26 + disable_pin: NO_PIN z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: spi_index: 3 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: true - step: gpio.15 - direction: gpio.2 - disable: NO_PIN + step_pin: gpio.15 + direction_pin: gpio.2 + disable_pin: NO_PIN a: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2130: spi_index: 4 - r_sense: 0.110 - run_current: 0.750 - hold_current: 0.750 + r_sense_ohms: 0.110 + run_amps: 0.750 + hold_amps: 0.750 microsteps: 16 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: CoolStep homing_mode: CoolStep use_enable: true - step: gpio.33 - direction: gpio.32 - disable: NO_PIN + step_pin: gpio.33 + direction_pin: gpio.32 + disable_pin: NO_PIN spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - card_detect: NO_PIN - cs: gpio.5 - -control: - safety_door: NO_PIN - reset: NO_PIN - feed_hold: NO_PIN - cycle_start: NO_PIN - macro0: NO_PIN - macro1: NO_PIN - macro2: NO_PIN - macro3: NO_PIN - -coolant: - flood: NO_PIN - mist: NO_PIN - delay_ms: 0 + card_detect_pin: NO_PIN + cs_pin: gpio.5 probe: pin: NO_PIN check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: macro3: -user_outputs: - analog0: NO_PIN - analog1: NO_PIN - analog2: NO_PIN - analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 - digital0: NO_PIN - digital1: NO_PIN - digital2: NO_PIN - digital3: NO_PIN - -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: false -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: false -limits_two_switches_on_axis: false -disable_laser_during_hold: true -use_line_numbers: false +start: + must_home: false diff --git a/example_configs/TMC2130_pen.yaml b/example_configs/TMC2130_pen.yaml index 05519ea45..0b7077add 100644 --- a/example_configs/TMC2130_pen.yaml +++ b/example_configs/TMC2130_pen.yaml @@ -9,36 +9,36 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: gpio.13:high + shared_stepper_disable_pin: gpio.13:high x: steps_per_mm: 800 - max_rate: 2000 - acceleration: 25 - max_travel: 1000 + max_rate_mm_per_min: 2000 + acceleration_mm_per_sec2: 25 + max_travel_mm: 1000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_all: gpio.32:low:pu + limit_all_pin: gpio.32:low:pu tmc_2130: - direction: gpio.26 - step: gpio.12 - cs: gpio.17 - r_sense: 0.110 - run_current: 0.250 - hold_current: 0.250 + direction_pin: gpio.26 + step_pin: gpio.12 + cs_pin: gpio.17 + r_sense_ohms: 0.110 + run_amps: 0.250 + hold_amps: 0.250 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 @@ -50,32 +50,32 @@ axes: y: steps_per_mm: 800 - max_rate: 2000 - acceleration: 25 - max_travel: 1000 + max_rate_mm_per_min: 2000 + acceleration_mm_per_sec2: 25 + max_travel_mm: 1000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_all: NO_PIN + limit_all_pin: NO_PIN tmc_2130: - direction: gpio.25 - step: gpio.14 - cs: gpio.16 - r_sense: 0.110 - run_current: 0.250 - hold_current: 0.250 + direction_pin: gpio.25 + step_pin: gpio.14 + cs_pin: gpio.16 + r_sense_ohms: 0.110 + run_amps: 0.250 + hold_amps: 0.250 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 @@ -87,35 +87,35 @@ axes: z: steps_per_mm: 400 - max_rate: 1000 - acceleration: 50 - max_travel: 5.00 + max_rate_mm_per_min: 1000 + acceleration_mm_per_sec2: 50 + max_travel_mm: 5.00 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 5 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 5 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: rc_servo: - pwm_freq: 50 + pwm_hz: 50 output_pin: gpio.27 min_pulse_us: 2100 max_pulse_us: 1000 spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN coolant: flood: NO_PIN diff --git a/example_configs/TMC2209.yaml b/example_configs/TMC2209.yaml index eb2696bb4..566a8e5f3 100644 --- a/example_configs/TMC2209.yaml +++ b/example_configs/TMC2209.yaml @@ -8,119 +8,119 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: gpio.25 + shared_stepper_disable_pin: gpio.25 x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.35 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.35 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: - step: gpio.26 - direction: gpio.27 + step_pin: gpio.26 + direction_pin: gpio.27 y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.34 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.34 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: - step: gpio.33 - direction: gpio.32 + step_pin: gpio.33 + direction_pin: gpio.32 z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 800.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 800.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: gpio.39 + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: gpio.39 hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: - step: gpio.2 - direction: gpio.14 + step_pin: gpio.2 + direction_pin: gpio.14 a: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: true - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 800.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 800.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm: 1.000 tmc_2209: - step: gpio.16 - direction: gpio.15 + step_pin: gpio.16 + direction_pin: gpio.15 spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN control: safety_door: NO_PIN @@ -132,18 +132,13 @@ control: macro2: NO_PIN macro3: NO_PIN -coolant: - flood: NO_PIN - mist: NO_PIN - delay_ms: 0 - probe: pin: NO_PIN check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: @@ -154,35 +149,26 @@ user_outputs: analog1: NO_PIN analog2: NO_PIN analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 digital0: NO_PIN digital1: NO_PIN digital2: NO_PIN digital3: NO_PIN -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: false -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: false -disable_laser_during_hold: true -use_line_numbers: false +start: + must_home: false + PWM: - pwm_freq: 5000 + pwm_hz: 5000 output_pin: gpio.4 enable_pin: gpio.13 direction_pin: gpio.17 - disable_with_zero_speed: false - zero_speed_with_disable: true + disable_with_s0: false + s0_with_disable: true spinup_ms: 1000 spindown_ms: 1000 - tool: 0 - speeds: 0=0.000% 1000=100.000% + tool_num: 0 + speed_map: 0=0.000% 1000=100.000% diff --git a/example_configs/TMC2209_pen.yaml b/example_configs/TMC2209_pen.yaml new file mode 100644 index 000000000..922727517 --- /dev/null +++ b/example_configs/TMC2209_pen.yaml @@ -0,0 +1,186 @@ +board: TMC2209 Pen +name: TMC2209 Pen +stepping: + engine: RMT + idle_ms: 250 + pulse_us: 2 + dir_delay_us: 1 + disable_delay_us: 0 + +axes: + shared_stepper_disable_pin: gpio.13 + x: + steps_per_mm: 80.000 + max_rate_mm_per_min: 30000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 + soft_limits: false + homing: + cycle: 1 + positive_direction: false + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 + debounce_ms: 500 + seek_scaler: 1.100 + feed_scaler: 1.100 + + motor0: + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.33 + limit_all_pin: NO_PIN + hard_limits: false + pulloff_mm:1.000 + tmc_2209: + uart: + txd_pin: gpio.22 + rxd_pin: gpio.21 + rts_pin: NO_PIN + cts_pin: NO_PIN + baud: 115200 + mode: 8N1 + + addr: 0 + r_sense_ohm: 0.110 + run_amps: 0.500 + hold_amps: 0.500 + microsteps: 4 + stallguard: 0 + stallguard_debug: false + toff_disable: 0 + toff_stealthchop: 5 + toff_coolstep: 3 + run_mode: CoolStep + homing_mode: CoolStep + use_enable: false + step_pin: gpio.12 + direction_pin: gpio.26 + disable_pin: NO_PIN + + motor1: + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN + hard_limits: true + pulloff_mm:1.000 + null_motor: + + y: + steps_per_mm: 800.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 + soft_limits: false + homing: + cycle: 2 + positive_direction: false + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 + debounce_ms: 500 + seek_scaler: 1.100 + feed_scaler: 1.100 + + motor0: + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.32 + limit_all_pin: NO_PIN + hard_limits: false + pulloff_mm:1.000 + tmc_2209: + uart: + txd_pin: gpio.22 + rxd_pin: gpio.21 + rts_pin: NO_PIN + cts_pin: NO_PIN + baud: 115200 + mode: 8N1 + + addr: 1 + r_sense_ohm: 0.110 + run_amps: 0.500 + hold_amps: 0.500 + microsteps: 16 + stallguard: 0 + stallguard_debug: false + toff_disable: 0 + toff_stealthchop: 5 + toff_coolstep: 3 + run_mode: StealthChop + homing_mode: StealthChop + use_enable: false + step_pin: gpio.14 + direction_pin: gpio.25 + disable_pin: NO_PIN + + motor1: + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN + hard_limits: true + pulloff_mm:1.000 + null_motor: + + z: + steps_per_mm: 320.000 + max_rate_mm_per_min: 1000.000 + acceleration_mm_per_sec2: 25.000 + max_travel_mm: 200.000 + soft_limits: false + +spi: + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 + +sdcard: + cs_pin: gpio.5 + card_detect_pin: NO_PIN + +control: + safety_door_pin: NO_PIN + reset_pin: NO_PIN + feed_hold_pin: NO_PIN + cycle_start_pin: NO_PIN + macro0_pin: NO_PIN + macro1_pin: NO_PIN + macro2_pin: NO_PIN + macro3_pin: NO_PIN + +probe: + pin: NO_PIN + check_mode_start: true + +macros: + startup_line0: + startup_line1: + macro0: + macro1: + macro2: + macro3: + +user_outputs: + analog0_pin: NO_PIN + analog1_pin: NO_PIN + analog2_pin: NO_PIN + analog3_pin: NO_PIN + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 + digital0_pin: NO_PIN + digital1_pin: NO_PIN + digital2_pin: NO_PIN + digital3_pin: NO_PIN + +start: + check_limits: true + +Laser: + pwm_hz: 5000 + output_pin: gpio.27 + enable_pin: gpio.17 + disable_with_s0: false + s0_with_disable: true + tool_num: 100 + speed_map: 0=0.000% 255=100.000% diff --git a/example_configs/test_drive_SD.yaml b/example_configs/test_drive_SD.yaml index 598d1e097..8423c5f57 100644 --- a/example_configs/test_drive_SD.yaml +++ b/example_configs/test_drive_SD.yaml @@ -8,32 +8,32 @@ stepping: disable_delay_us: 0 axes: - shared_stepper_disable: NO_PIN + shared_stepper_disable_pin: NO_PIN x: steps_per_mm: 320.000 - max_rate: 1000.000 - acceleration: 25.000 - max_travel: 200.000 + max_rate_mm_per_min: 1000.000 + acceleration_mm_per_sec2: 25.000 + max_travel_mm: 200.000 soft_limits: false y: steps_per_mm: 320.000 - max_rate: 1000.000 - acceleration: 25.000 - max_travel: 200.000 + max_rate_mm_per_min: 1000.000 + acceleration_mm_per_sec2: 25.000 + max_travel_mm: 200.000 soft_limits: false z: steps_per_mm: 320.000 - max_rate: 1000.000 - acceleration: 25.000 - max_travel: 200.000 + max_rate_mm_per_min: 1000.000 + acceleration_mm_per_sec2: 25.000 + max_travel_mm: 200.000 soft_limits: false spi: - miso: NO_PIN - mosi: NO_PIN - sck: NO_PIN + miso_pin: NO_PIN + mosi_pin: NO_PIN + sck_pin: NO_PIN control: safety_door: NO_PIN @@ -45,18 +45,13 @@ control: macro2: NO_PIN macro3: NO_PIN -coolant: - flood: NO_PIN - mist: NO_PIN - delay_ms: 0 - probe: pin: NO_PIN check_mode_start: true macros: - n0: - n1: + startup_line0: + startup_line1: macro0: macro1: macro2: @@ -67,29 +62,17 @@ user_outputs: analog1: NO_PIN analog2: NO_PIN analog3: NO_PIN - analog_frequency0: 5000 - analog_frequency1: 5000 - analog_frequency2: 5000 - analog_frequency3: 5000 + analog0_hz: 5000 + analog1_hz: 5000 + analog2_hz: 5000 + analog3_hz: 5000 digital0: NO_PIN digital1: NO_PIN digital2: NO_PIN digital3: NO_PIN sdcard: - card_detect: NO_PIN - cs: gpio.5 + card_detect_pin: NO_PIN + cs_pin: gpio.5 -software_debounce_ms: 0 -laser_mode: false -arc_tolerance: 0.002 -junction_deviation: 0.010 -verbose_errors: false -report_inches: false -homing_init_lock: true -enable_parking_override_control: false -deactivate_parking_upon_init: false -check_limits_at_init: true -disable_laser_during_hold: true -use_line_numbers: false NoSpindle: diff --git a/example_configs/tmc2209_10V.yaml b/example_configs/tmc2209_10V.yaml index 3c1e86181..6722600d5 100644 --- a/example_configs/tmc2209_10V.yaml +++ b/example_configs/tmc2209_10V.yaml @@ -8,28 +8,26 @@ stepping: pulse_us: 2 disable_delay_us: 0 -homing_init_lock: true - axes: - shared_stepper_disable: gpio.25:high + shared_stepper_disable_pin: gpio.25:high x: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 1 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_pos: gpio.35 + limit_pos_pin: gpio.35 hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: uart: txd_pin: gpio.22 @@ -37,48 +35,48 @@ axes: baud: 115200 mode: 8N1 addr: 0 - r_sense: 0.110 - run_current: 0.500 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 0.500 + hold_amps: 0.500 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.26 - direction: gpio.27 - disable: NO_PIN + step_pin: gpio.26 + direction_pin: gpio.27 + disable_pin: NO_PIN motor1: null_motor: y: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.34 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.34 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.33 - direction: gpio.32 + step_pin: gpio.33 + direction_pin: gpio.32 microsteps: 16 addr: 1 @@ -87,27 +85,27 @@ axes: z: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.39 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.39 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.2 - direction: gpio.14 + step_pin: gpio.2 + direction_pin: gpio.14 addr: 2 motor1: @@ -116,49 +114,49 @@ axes: a: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.36 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.36 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.16 - direction: gpio.15 + step_pin: gpio.16 + direction_pin: gpio.15 addr: 3 motor1: null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN probe: pin: NO_PIN 10V: output_pin: gpio.4 - forward: gpio.13 - reverse: gpio.17 + forward_pin: gpio.13 + reverse_pin: gpio.17 spinup_ms: 0 spindown_ms: 0 - tool: 0 - speeds: 0=0% 1000=0% 24000=100% + tool_num: 0 + speed_map: 0=0% 1000=0% 24000=100% diff --git a/example_configs/tmc2209_BESC.yaml b/example_configs/tmc2209_BESC.yaml index a7c12cf26..225dbb2a7 100644 --- a/example_configs/tmc2209_BESC.yaml +++ b/example_configs/tmc2209_BESC.yaml @@ -8,28 +8,26 @@ stepping: pulse_us: 2 disable_delay_us: 0 -homing_init_lock: true - axes: - shared_stepper_disable: gpio.25:high + shared_stepper_disable_pin: gpio.25:high x: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 1 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_pos: gpio.35 + limit_pos_pin: gpio.35 hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: uart: txd_pin: gpio.22 @@ -37,48 +35,48 @@ axes: baud: 115200 mode: 8N1 addr: 0 - r_sense: 0.110 - run_current: 0.500 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 0.500 + hold_amps: 0.500 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.26 - direction: gpio.27 - disable: NO_PIN + step_pin: gpio.26 + direction_pin: gpio.27 + disable_pin: NO_PIN motor1: null_motor: y: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.34 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.34 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.33 - direction: gpio.32 + step_pin: gpio.33 + direction_pin: gpio.32 microsteps: 16 addr: 1 @@ -87,27 +85,27 @@ axes: z: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.39 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.39 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.2 - direction: gpio.14 + step_pin: gpio.2 + direction_pin: gpio.14 addr: 2 motor1: @@ -116,55 +114,54 @@ axes: a: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.36 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.36 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.16 - direction: gpio.15 + step_pin: gpio.16 + direction_pin: gpio.15 addr: 3 motor1: null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN probe: pin: NO_PIN besc: - pwm_freq: 50 + pwm_hz: 50 output_pin: gpio.4 enable_pin: NO_PIN direction_pin: NO_PIN - disable_with_zero_speed: false - zero_speed_with_disable: true + disable_with_s0: false + s0_with_disable: true spinup_ms: 0 spindown_ms: 0 - tool: 100 - speeds: 0=0.000% 0=20.000% 4000=20.000% 20000=100.000% + tool_num: 100 + speed_map: 0=0.000% 0=20.000% 4000=20.000% 20000=100.000% min_pulse_us: 900 max_pulse_us: 2200 - \ No newline at end of file diff --git a/example_configs/tmc2209_huanyang.yml b/example_configs/tmc2209_huanyang.yml index d22372ea8..33fd53951 100644 --- a/example_configs/tmc2209_huanyang.yml +++ b/example_configs/tmc2209_huanyang.yml @@ -11,25 +11,25 @@ stepping: homing_init_lock: true axes: - shared_stepper_disable: gpio.25:high + shared_stepper_disable_pin: gpio.25:high x: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 1 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_pos: gpio.35 + limit_pos_pin: gpio.35 hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: uart: txd_pin: gpio.22 @@ -37,48 +37,48 @@ axes: baud: 115200 mode: 8N1 addr: 0 - r_sense: 0.110 - run_current: 0.500 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 0.500 + hold_amps: 0.500 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.26 - direction: gpio.27 - disable: NO_PIN + step_pin: gpio.26 + direction_pin: gpio.27 + disable_pin: NO_PIN motor1: null_motor: y: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.34 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.34 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.33 - direction: gpio.32 + step_pin: gpio.33 + direction_pin: gpio.32 addr: 1 motor1: @@ -86,27 +86,27 @@ axes: z: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.39 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.39 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.2 - direction: gpio.14 + step_pin: gpio.2 + direction_pin: gpio.14 addr: 2 motor1: @@ -115,40 +115,40 @@ axes: a: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.36 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.36 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.16 - direction: gpio.15 + step_pin: gpio.16 + direction_pin: gpio.15 addr: 3 motor1: null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN probe: pin: NO_PIN @@ -162,7 +162,5 @@ Huanyang: baud: 9600 mode: 8N1 modbus_id: 1 - spinup_ms: 0 - spindown_ms: 0 - tool: 0 - speeds: 0=0% 1000=0% 24000=100% + tool_num: 0 + speed_map: 0=0% 1000=0% 24000=100% diff --git a/example_configs/tmc2209_laser.yaml b/example_configs/tmc2209_laser.yaml index 85f284c3c..1c1a1c601 100644 --- a/example_configs/tmc2209_laser.yaml +++ b/example_configs/tmc2209_laser.yaml @@ -8,33 +8,31 @@ stepping: pulse_us: 2 disable_delay_us: 0 -homing_init_lock: true - axes: - shared_stepper_disable: gpio.25:high + shared_stepper_disable_pin: gpio.25:high x: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 1 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: gpio.35 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.35 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: uart: txd_pin: gpio.22 @@ -45,195 +43,195 @@ axes: mode: 8N1 addr: 0 - r_sense: 0.110 - run_current: 1.200 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 1.200 + hold_amps: 0.500 microsteps: 8 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.26 - direction: gpio.27 - disable: NO_PIN + step_pin: gpio.26 + direction_pin: gpio.27 + disable_pin: NO_PIN motor1: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 null_motor: y: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: gpio.34 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.34 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: addr: 1 - r_sense: 0.110 - run_current: 1.200 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 1.200 + hold_amps: 0.500 microsteps: 8 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.33 - direction: gpio.32 - disable: NO_PIN + step_pin: gpio.33 + direction_pin: gpio.32 + disable_pin: NO_PIN motor1: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 null_motor: z: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: gpio.39 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.39 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: addr: 2 - r_sense: 0.110 - run_current: 1.200 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 1.200 + hold_amps: 0.500 microsteps: 8 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.2 - direction: gpio.14 - disable: NO_PIN + step_pin: gpio.2 + direction_pin: gpio.14 + disable_pin: NO_PIN motor1: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 null_motor: a: steps_per_mm: 800.000 - max_rate: 5000.000 - acceleration: 100.000 - max_travel: 300.000 + max_rate_mm_per_min: 5000.000 + acceleration_mm_per_sec2: 100.000 + max_travel_mm: 300.000 soft_limits: false homing: cycle: 2 positive_direction: false - mpos: 150.000 - feed_rate: 100.000 - seek_rate: 200.000 + mpos_mm: 150.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 seek_scaler: 1.100 feed_scaler: 1.100 motor0: - limit_neg: NO_PIN - limit_pos: gpio.36 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.36 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: addr: 3 - r_sense: 0.110 - run_current: 1.200 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 1.200 + hold_amps: 0.500 microsteps: 8 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.16 - direction: gpio.15 - disable: NO_PIN + step_pin: gpio.16 + direction_pin: gpio.15 + disable_pin: NO_PIN motor1: - limit_neg: NO_PIN - limit_pos: NO_PIN - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: NO_PIN + limit_all_pin: NO_PIN hard_limits: true - pulloff: 1.000 + pulloff_mm:1.000 null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - card_detect: NO_PIN - cs: gpio.5 + card_detect_pin: NO_PIN + cs_pin: gpio.5 probe: pin: NO_PIN -homing_init_lock: false +start: + must_home: false Laser: - pwm_freq: 5000 + pwm_hz: 5000 output_pin: gpio.4 enable_pin: gpio.12 - disable_with_zero_speed: false - zero_speed_with_disable: true - tool: 100 - speeds: 0=0.000% 255=100.000% - \ No newline at end of file + disable_with_s0: false + s0_with_disable: true + tool_num: 100 + speed_map: 0=0.000% 255=100.000% diff --git a/example_configs/tmc2209_relay.yaml b/example_configs/tmc2209_relay.yaml index 19551dd1f..1f729805f 100644 --- a/example_configs/tmc2209_relay.yaml +++ b/example_configs/tmc2209_relay.yaml @@ -8,28 +8,26 @@ stepping: pulse_us: 2 disable_delay_us: 0 -homing_init_lock: true - axes: - shared_stepper_disable: gpio.25:high + shared_stepper_disable_pin: gpio.25:high x: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 1 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_pos: gpio.35 + limit_pos_pin: gpio.35 hard_limits: false - pulloff: 1.000 + pulloff_mm:1.000 tmc_2209: uart: txd_pin: gpio.22 @@ -37,48 +35,48 @@ axes: baud: 115200 mode: 8N1 addr: 0 - r_sense: 0.110 - run_current: 0.500 - hold_current: 0.500 + r_sense_ohms: 0.110 + run_amps: 0.500 + hold_amps: 0.500 microsteps: 32 stallguard: 0 - stallguardDebugMode: false + stallguard_debug: false toff_disable: 0 toff_stealthchop: 5 toff_coolstep: 3 run_mode: StealthChop homing_mode: StealthChop use_enable: false - step: gpio.26 - direction: gpio.27 - disable: NO_PIN + step_pin: gpio.26 + direction_pin: gpio.27 + disable_pin: NO_PIN motor1: null_motor: y: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.34 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.34 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.33 - direction: gpio.32 + step_pin: gpio.33 + direction_pin: gpio.32 microsteps: 16 addr: 1 @@ -87,27 +85,27 @@ axes: z: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.39 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.39 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.2 - direction: gpio.14 + step_pin: gpio.2 + direction_pin: gpio.14 addr: 2 motor1: @@ -116,40 +114,40 @@ axes: a: steps_per_mm: 800 - max_rate: 5000 - acceleration: 100 - max_travel: 300 + max_rate_mm_per_min: 5000 + acceleration_mm_per_sec2: 100 + max_travel_mm: 300 homing: cycle: 2 - mpos: 150 + mpos_mm: 150 positive_direction: false - feed_rate: 100.000 - seek_rate: 200.000 + feed_mm_per_min: 100.000 + seek_mm_per_min: 200.000 debounce_ms: 500 motor0: - limit_neg: NO_PIN - limit_pos: gpio.36 - limit_all: NO_PIN + limit_neg_pin: NO_PIN + limit_pos_pin: gpio.36 + limit_all_pin: NO_PIN hard_limits: false - pulloff: 1.00 + pulloff_mm:1.00 tmc_2209: - step: gpio.16 - direction: gpio.15 + step_pin: gpio.16 + direction_pin: gpio.15 addr: 3 motor1: null_motor: spi: - miso: gpio.19 - mosi: gpio.23 - sck: gpio.18 + miso_pin: gpio.19 + mosi_pin: gpio.23 + sck_pin: gpio.18 sdcard: - cs: gpio.5 - card_detect: NO_PIN + cs_pin: gpio.5 + card_detect_pin: NO_PIN probe: pin: NO_PIN