Merge pull request #664 from bdring/Devt

Devt

.github/ISSUE_TEMPLATE/problem.yml

@@ -5,33 +5,27 @@ labels: ["triage"]
 body:
 - type: markdown
   attributes:
-    value: Please fill in the forms below.  The better the information you provide, the better we can help you. Information that you might think is irrelevant is often the key to solving the problem.
+    value: Please fill in the forms below.  The better the information you provide, the better we can help you. Information that you might think is irrelevant is often the key to solving the problem.  **If we have to keep asking for information that you should have provided at the outset, we will become annoyed fairly quickly.**  The amount of information that we ask for might seem excessive; it is not.  We handle several issues a day.  We cannot solve problems efficiently if we have to keep going back and forth for the basic information that we need.
 - type: textarea
   id: controller-board
   attributes:
     label: Controller Board
     description: |
-      Tell us which controller board you are using, for example 6-pack, MPCNC, MKS DLC32, XPro V5, etc.
+      Tell us which controller board you are using, for example 6-pack, MKS DLC32, XPro V5, etc.
       If it listed at https://github.com/bdring/FluidNC/wiki/Hardware-that-Runs-FluidNC , just give
-      the name.  If it is not, provide a photo and a link to documentation.  If it a custom board of
-      your own design, tell us all about it and, if possible, provide a photo and a link to schematics.
+      the name and version.  If it is not, **provide a photo** and documentation.  If it a custom
+      board of your own design, you need to give us **a lot** of information.  Do not expect us to
+      guess.
     value: 6-pack
   validations:
     required: true
-- type: checkboxes
-  id: vendor-help
-  attributes:
-    label: Help From Board Vendor
-    description: If the board is not one of Bart Dring's designs, have you asked the board vendor for help?
-    options:
-      - label: "Yes"
-      - label: "No"
-      - label: "Not Applicable"
 - type: textarea
   id: machine-description
   attributes:
     label: Machine Description
-    description: Tell us about your machine - is it a mill, router, laser engraver, or what?
+    description: |
+      Tell us about your machine and provide detailed photos, especially of parts of the machine
+      you are having trouble with.
     placeholder: Gantry router with external DM542 stepper drivers, dual Y motors, optical endstops on all axes.  Spindle is a DeWalt DW618M router.
   validations:
     required: true
@@ -41,10 +35,11 @@ body:
     label: Input Circuits
     description: |
       If your problem is in any way related to input pins, limits, or homing, please supply
-      schematics for the corresponding circuits.  You can supply a link to a schematic for
+      schematics and photos for the corresponding circuits.  You can supply a link to a schematic for
       a third party board, a hand-drawn schematic, or anything that will let us understand
       the circuits.  If you are using one of Bart's modular boards, also indicate which
-      input module you are using.
+      input module you are using.  We need to know what is on both ends of the circuit - the
+      switch end, the controller end, and everything in between.
     placeholder: <Input pin circuit>
     render: yaml
   validations:
@@ -65,7 +60,8 @@ body:
     description: |
       Paste the startup messages here.  You can see them by sending "$ss" from FluidTerm, WebUI Console, or any sender's console.
       Look through the messages for any MSG:ERR or MSG:WARN lines.  They indicate problems in your config file.  You might be able
-      to solve the problem yourself.
+      to solve the problem yourself.  **Do not excerpt just the messages you think are revelant.
+      We need to see everything.**
     placeholder: <Paste startup messages here>
     render: text
   validations:
@@ -74,13 +70,13 @@ body:
   id: user-interface
   attributes:
     label: User Interface Software
-    description: What user interface software are you using when the problem happens?  List all that you have tried.
+    description: What user interface software are you using when the problem happens?  List all that you have tried.  We will be able to help you better if you can reproduce the problem with FluidTerm.
     placeholder: E.g. WebUI, FluidTerm, UGS, Candle, ...
 - type: textarea
   id: what-happened
   attributes:
     label: What happened?
-    description: Tell use exactly what you did, what you expected to happen, and what happened instead.  The more detail, the better.
+    description: Tell use exactly what you did, what you expected to happen, and what happened instead.  The more detail, the better.  **Do not summarize by saying, for example, "I tried to jog".  Tell us step by step which commands you typed or which buttons you pushed**
     placeholder: I did something, expected this, and that happened
   validations:
     required: true

FluidNC/src/I2SOut.h

@@ -25,6 +25,10 @@
 /* 32-bit mode: 1000000 usec / ((160000000 Hz) /  5 / 2) x 32 bit/pulse x 2(stereo) = 4 usec/pulse */
 const uint32_t I2S_OUT_USEC_PER_PULSE = 4;
 
+// This value is empirically determined.  It might depend on I2S_OUT_USEC_PULSE but
+// the root cause of the limitation has not been analyzed so that is just a guess.
+const uint32_t I2S_STREAM_MAX_USEC_PER_PULSE = 20;
+
 constexpr uint32_t i2s_out_max_steps_per_sec = 1000000 / (2 * I2S_OUT_USEC_PER_PULSE);
 
 const int I2S_OUT_DMABUF_COUNT = 5;    /* number of DMA buffers to store data */

FluidNC/src/Machine/Homing.cpp

@@ -244,6 +244,15 @@ namespace Machine {
         _phaseAxes   = _cycleAxes;
         _phaseMotors = _cycleMotors;
 
+        // _phaseMotors can be 0 if set_homing_mode() either rejected all the
+        // motors or handled them independently.  In that case we do not have
+        // to run a conventional move-to-limit cycle.  Just skip to the end.
+        if (!_phaseMotors) {
+            _phase = static_cast<Phase>(static_cast<int>(Phase::CycleDone) - 1);
+            nextPhase();
+            return;
+        }
+
         if (_phase == Phase::PrePulloff) {
             if (!(limited() & _phaseMotors)) {
                 // No initial pulloff needed

FluidNC/src/Motors/RcServo.cpp

@@ -80,7 +80,7 @@ namespace MotorDrivers {
 
     // Homing justs sets the new system position and the servo will move there
     bool RcServo::set_homing_mode(bool isHoming) {
-        //log_info("Servo homing:" << isHoming);
+        log_debug("Servo homing:" << isHoming);
         if (_has_errors)
             return false;
 

FluidNC/src/Motors/StandardStepper.cpp

@@ -28,30 +28,35 @@ namespace MotorDrivers {
             next_RMT_chan_num = static_cast<rmt_channel_t>(static_cast<int>(next_RMT_chan_num) + 1);
         }
 
-        rmt_config_t rmtConfig;
-        rmtConfig.rmt_mode                       = RMT_MODE_TX;
-        rmtConfig.clk_div                        = 20;
-        rmtConfig.mem_block_num                  = 2;
-        rmtConfig.tx_config.loop_en              = false;
-        rmtConfig.tx_config.carrier_en           = false;
-        rmtConfig.tx_config.carrier_freq_hz      = 0;
-        rmtConfig.tx_config.carrier_duty_percent = 50;
-        rmtConfig.tx_config.carrier_level        = RMT_CARRIER_LEVEL_LOW;
-        rmtConfig.tx_config.idle_output_en       = true;
+        auto step_pin_gpio = step_pin.getNative(Pin::Capabilities::Output);
+
+        rmt_config_t rmtConfig = { .rmt_mode      = RMT_MODE_TX,
+                                   .channel       = rmt_chan_num,
+                                   .gpio_num      = gpio_num_t(step_pin_gpio),
+                                   .clk_div       = 20,
+                                   .mem_block_num = 2,
+                                   .flags         = 0,
+                                   .tx_config     = {
+                                       .carrier_freq_hz      = 0,
+                                       .carrier_level        = RMT_CARRIER_LEVEL_LOW,
+                                       .idle_level           = invert_step ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW,
+                                       .carrier_duty_percent = 50,
+#if SOC_RMT_SUPPORT_TX_LOOP_COUNT
+                                       .loop_count = DONT_KNOW_YET_SINCE_ESP32_DOES_NOT_HAVE_IT,
+#endif
+                                       .carrier_en     = false,
+                                       .loop_en        = false,
+                                       .idle_output_en = true,
+                                   } };
 
         rmt_item32_t rmtItem[2];
         rmtItem[0].duration0 = dir_delay_ms ? dir_delay_ms * 4 : 1;
         rmtItem[0].duration1 = 4 * pulse_us;
         rmtItem[1].duration0 = 0;
         rmtItem[1].duration1 = 0;
 
-        auto step_pin_gpio = step_pin.getNative(Pin::Capabilities::Output);
-        rmt_set_source_clk(rmt_chan_num, RMT_BASECLK_APB);
-        rmtConfig.channel              = rmt_chan_num;
-        rmtConfig.tx_config.idle_level = invert_step ? RMT_IDLE_LEVEL_HIGH : RMT_IDLE_LEVEL_LOW;
-        rmtConfig.gpio_num             = gpio_num_t(step_pin_gpio);
-        rmtItem[0].level0              = rmtConfig.tx_config.idle_level;
-        rmtItem[0].level1              = !rmtConfig.tx_config.idle_level;
+        rmtItem[0].level0 = rmtConfig.tx_config.idle_level;
+        rmtItem[0].level1 = !rmtConfig.tx_config.idle_level;
         rmt_config(&rmtConfig);
         rmt_fill_tx_items(rmtConfig.channel, &rmtItem[0], rmtConfig.mem_block_num, 0);
     }
@@ -88,6 +93,7 @@ namespace MotorDrivers {
     void IRAM_ATTR StandardStepper::step() {
         if (config->_stepping->_engine == Stepping::RMT && _rmt_chan_num != RMT_CHANNEL_MAX) {
             RMT.conf_ch[_rmt_chan_num].conf1.mem_rd_rst = 1;
+            RMT.conf_ch[_rmt_chan_num].conf1.mem_rd_rst = 0;
             RMT.conf_ch[_rmt_chan_num].conf1.tx_start   = 1;
         } else {
             _step_pin.on();

FluidNC/src/Stepping.cpp

@@ -136,7 +136,7 @@ namespace Machine {
     void Stepping::group(Configuration::HandlerBase& handler) {
         handler.item("engine", _engine, stepTypes);
         handler.item("idle_ms", _idleMsecs, 0, 10000000);  // full range
-        handler.item("pulse_us", _pulseUsecs, 0, 10);
+        handler.item("pulse_us", _pulseUsecs, 0, 30);
         handler.item("dir_delay_us", _directionDelayUsecs, 0, 10);
         handler.item("disable_delay_us", _disableDelayUsecs, 0, 10);
         handler.item("segments", _segments, 6, 20);
@@ -146,9 +146,13 @@ namespace Machine {
         if (_engine == I2S_STREAM || _engine == I2S_STATIC) {
             Assert(config->_i2so, "I2SO bus must be configured for this stepping type");
             if (_pulseUsecs < I2S_OUT_USEC_PER_PULSE) {
-                log_info("Increasing stepping/pulse_us to the IS2 minimum value " << I2S_OUT_USEC_PER_PULSE);
+                log_warn("Increasing stepping/pulse_us to the IS2 minimum value " << I2S_OUT_USEC_PER_PULSE);
                 _pulseUsecs = I2S_OUT_USEC_PER_PULSE;
             }
+            if (_engine == I2S_STREAM && _pulseUsecs > I2S_STREAM_MAX_USEC_PER_PULSE) {
+                log_warn("Decreasing stepping/pulse_us to " << I2S_STREAM_MAX_USEC_PER_PULSE << ", the maximum value for I2S_STREAM");
+                _pulseUsecs = I2S_STREAM_MAX_USEC_PER_PULSE;
+            }
         }
     }
 

FluidNC/src/Uart.cpp

@@ -9,6 +9,7 @@
 #include "Uart.h"
 
 #include <driver/uart.h>
+#include <esp_ipc.h>
 
 Uart::Uart(int uart_num, bool addCR) : Channel("uart", addCR) {
     // Auto-assign Uart harware engine numbers; the pins will be
@@ -43,6 +44,10 @@ void Uart::begin() {
     begin(static_cast<unsigned long>(baud));
 }
 
+static void uart_driver_n_install(void* arg) {
+    uart_driver_install((uart_port_t)arg, 256, 0, 0, NULL, ESP_INTR_FLAG_IRAM);
+}
+
 void Uart::begin(unsigned long baudrate, UartData dataBits, UartStop stopBits, UartParity parity) {
     //    uart_driver_delete(_uart_num);
     uart_config_t conf;
@@ -56,7 +61,10 @@ void Uart::begin(unsigned long baudrate, UartData dataBits, UartStop stopBits, U
         // TODO FIXME - should this throw an error?
         return;
     };
-    uart_driver_install(_uart_num, 256, 0, 0, NULL, 0);
+
+    // We init the UART on core 0 so the interrupt handler runs there,
+    // thus avoiding conflict with the StepTimer interrupt
+    esp_ipc_call_blocking(0, uart_driver_n_install, (void*)_uart_num);
 }
 
 int Uart::available() {
@@ -186,7 +194,6 @@ bool Uart::flushTxTimed(TickType_t ticks) {
 Uart Uart0(0, true);  // Primary serial channel with LF to CRLF conversion
 
 void uartInit() {
-    // Uart0.setPins(GPIO_NUM_1, GPIO_NUM_3);  // Tx 1, Rx 3 - standard hardware pins
     Uart0.begin(BAUD_RATE, UartData::Bits8, UartStop::Bits1, UartParity::None);
 }