Merge pull request #44 from bdring/Devt

Devt
bdring · Oct 7, 2021 · 936305d · 936305d
2 parents ca68365 + 57e540a
commit 936305d
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Showing 52 changed files with 1,385 additions and 1,037 deletions.
diff --git a/.gitignore b/.gitignore
@@ -23,3 +23,4 @@ packages/
 pio_machine.h
 project.checksum
 version.cpp
+esptool*.zip
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -39,6 +39,8 @@ namespace Machine {
                 a->init();
             }
         }
+
+        config_motors();
     }
 
     void IRAM_ATTR Axes::set_disable(int axis, bool disable) {
@@ -146,6 +148,12 @@ namespace Machine {
         config->_stepping->finishPulse();
     }
 
+    void Axes::config_motors() {
+        for (int axis = 0; axis < _numberAxis; ++axis) {
+            _axis[axis]->config_motors();
+        }
+    }
+
     // Some small helpers to find the axis index and axis motor index for a given motor. This
     // is helpful for some motors that need this info, as well as debug information.
     size_t Axes::findAxisIndex(const MotorDrivers::MotorDriver* const driver) const {
@@ -180,7 +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/Axes.h b/FluidNC/src/Machine/Axes.h
@@ -80,6 +80,7 @@ namespace Machine {
         void set_disable(bool disable);
         void step(uint8_t step_mask, uint8_t dir_mask);
         void unstep();
+        void config_motors();
 
         // Configuration helpers:
         void group(Configuration::HandlerBase& handler) override;

diff --git 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);
 
@@ -51,6 +51,14 @@ namespace Machine {
         }
     }
 
+    void Axis::config_motors() {
+        for (int motor = 0; motor < Axis::MAX_MOTORS_PER_AXIS; ++motor) {
+            auto mot = _motors[motor];
+            if (mot)
+                mot->config_motor();
+        }
+    }
+
     // Checks if a motor matches this axis:
     bool Axis::hasMotor(const MotorDrivers::MotorDriver* const driver) const {
         for (size_t i = 0; i < MAX_MOTORS_PER_AXIS; i++) {
@@ -79,7 +87,7 @@ namespace Machine {
 
     // returns the offset between the pulloffs
     // value is positive when motor1 has a larger pulloff
-    float Axis::pulloffOffset() { return hasDualMotor()? _motors[1]->_pulloff - _motors[0]->_pulloff : 0.0f; }
+    float Axis::pulloffOffset() { return hasDualMotor() ? _motors[1]->_pulloff - _motors[0]->_pulloff : 0.0f; }
 
     Axis::~Axis() {
         for (size_t i = 0; i < MAX_MOTORS_PER_AXIS; i++) {

diff --git a/FluidNC/src/Machine/Axis.h b/FluidNC/src/Machine/Axis.h
@@ -46,6 +46,7 @@ namespace Machine {
         float pulloffOffset();
 
         void init();
+        void config_motors();
 
         ~Axis();
     };

diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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);
     }
 
@@ -39,6 +39,12 @@ namespace Machine {
         _allLimitPin->init();
     }
 
+    void Motor::config_motor() {
+        if (_driver != nullptr) {
+            _driver->config_motor();
+        }
+    }
+
     // tru if there is at least one switch for this motor
     bool Motor::hasSwitches() { return (_negPin.defined() || _posPin.defined() || _allPin.defined()); }
 

diff --git a/FluidNC/src/Machine/Motor.h b/FluidNC/src/Machine/Motor.h
@@ -41,6 +41,7 @@ namespace Machine {
         bool hasSwitches();
         void makeDualSwitches();
         void init();
+        void config_motor();
         ~Motor();
     };
 }
diff --git 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