Merge pull request #980 from bdring/Devt

Devt
bdring · Jul 21, 2023 · fec80d9 · fec80d9
2 parents fdd10af + 10bd9a8
commit fec80d9
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Showing 16 changed files with 114 additions and 48 deletions.
diff --git a/FluidNC/src/Configuration/Generator.h b/FluidNC/src/Configuration/Generator.h
@@ -4,6 +4,7 @@
 #pragma once
 
 #include <vector>
+#include <sstream>
 
 #include "../Pin.h"
 #include "../Report.h"    // report_gcode_modes()
@@ -53,21 +54,18 @@ namespace Configuration {
         void item(const char* name, float& value, float minValue, float maxValue) override { send_item(name, std::to_string(value)); }
 
         void item(const char* name, std::vector<speedEntry>& value) {
-            std::string s;
             if (value.size() == 0) {
-                s += "None";
+                send_item(name, "None");
             } else {
+                std::ostringstream s;
+                s.precision(2);
                 const char* separator = "";
                 for (speedEntry n : value) {
-                    s += separator;
+                    s << separator << n.speed << "=" << std::fixed << n.percent << "%";
                     separator = " ";
-                    s += std::to_string(n.speed);
-                    s += '=';
-                    s += std::to_string(n.percent);
-                    s += '%';
                 }
+                send_item(name, s.str());
             }
-            send_item(name, s);
         }
 
         void item(const char* name, UartData& wordLength, UartParity& parity, UartStop& stopBits) override {

diff --git a/FluidNC/src/Configuration/Parser.cpp b/FluidNC/src/Configuration/Parser.cpp
@@ -121,6 +121,8 @@ namespace Configuration {
                 return {};
             }
             entry_str.remove_prefix(next_pct_delim + 1);
+
+            speed_entries.push_back(entry);
         }
 
         if (!speed_entries.size()) {

diff --git a/FluidNC/src/Configuration/RuntimeSetting.cpp b/FluidNC/src/Configuration/RuntimeSetting.cpp
@@ -167,9 +167,14 @@ namespace Configuration {
                 if (value.size() == 0) {
                     log_to(out_, "None");
                 } else {
+                    LogStream msg(out_, "");
+                    msg << setting_prefix();
+                    const char* separator = "";
                     for (speedEntry n : value) {
-                        log_to(out_, "", n.speed << "=" << n.percent << "%")
+                        msg << separator << n.speed << "=" << setprecision(2) << n.percent << "%";
+                        separator = " ";
                     }
+                    // The destructor sends the line when msg goes out of scope
                 }
             } else {
                 // It is distasteful to have this code that essentially duplicates

diff --git a/FluidNC/src/Control.cpp b/FluidNC/src/Control.cpp
@@ -16,6 +16,8 @@ Control::Control() {
     _pins.push_back(new ControlPin(&macro1Event, "macro1_pin", '1'));
     _pins.push_back(new ControlPin(&macro2Event, "macro2_pin", '2'));
     _pins.push_back(new ControlPin(&macro3Event, "macro3_pin", '3'));
+    _pins.push_back(new ControlPin(&faultPinEvent, "fault_pin", 'F'));
+    _pins.push_back(new ControlPin(&faultPinEvent, "estop_pin", 'E'));
 }
 
 void Control::init() {

diff --git a/FluidNC/src/Machine/Axes.h b/FluidNC/src/Machine/Axes.h
@@ -28,15 +28,15 @@ namespace Machine {
         static MotorMask limitMask;
         static MotorMask motorMask;
 
+        Pin _sharedStepperDisable;
+        Pin _sharedStepperReset;
+
         inline char axisName(int index) { return index < MAX_N_AXIS ? _names[index] : '?'; }  // returns axis letter
 
         static inline size_t    motor_bit(size_t axis, size_t motor) { return motor ? axis + 16 : axis; }
         static inline AxisMask  motors_to_axes(MotorMask motors) { return (motors & 0xffff) | (motors >> 16); }
         static inline MotorMask axes_to_motors(AxisMask axes) { return axes | (axes << 16); }
 
-        Pin _sharedStepperDisable;
-        Pin _sharedStepperReset;
-
         int   _numberAxis = 0;
         Axis* _axis[MAX_N_AXIS];
 

diff --git a/FluidNC/src/Motors/TMC2208Driver.cpp b/FluidNC/src/Motors/TMC2208Driver.cpp
@@ -26,8 +26,10 @@ namespace MotorDrivers {
     }
 
     void TMC2208Driver::config_motor() {
+        _cs_pin.synchronousWrite(true);
         tmc2208->begin();
         TrinamicBase::config_motor();
+        _cs_pin.synchronousWrite(false);
     }
 
     void TMC2208Driver::set_registers(bool isHoming) {
@@ -41,6 +43,9 @@ namespace MotorDrivers {
         // but the TMCStepper library expresses run current as (uint16_t) mA
         // and hold current as (float) fraction of run current.
         uint16_t run_i = (uint16_t)(_run_current * 1000.0);
+
+        _cs_pin.synchronousWrite(true);
+
         tmc2208->I_scale_analog(false);  // do not scale via pot
         tmc2208->rms_current(run_i, TrinamicBase::holdPercent());
 
@@ -51,20 +56,26 @@ namespace MotorDrivers {
         // This driver does not support multiple modes
         tmc2208->en_spreadCycle(false);
         tmc2208->pwm_autoscale(true);
+
+        _cs_pin.synchronousWrite(false);
     }
 
     void TMC2208Driver::debug_message() {}
 
     void TMC2208Driver::set_disable(bool disable) {
+        _cs_pin.synchronousWrite(true);
         if (TrinamicUartDriver::startDisable(disable)) {
             if (_use_enable) {
                 tmc2208->toff(TrinamicUartDriver::toffValue());
             }
         }
+        _cs_pin.synchronousWrite(false);
     }
 
     bool TMC2208Driver::test() {
+        _cs_pin.synchronousWrite(true);
         if (!checkVersion(0x20, tmc2208->version())) {
+            _cs_pin.synchronousWrite(false);
             return false;
         }
         uint8_t ifcnt_before = tmc2208->IFCNT();
@@ -73,8 +84,10 @@ namespace MotorDrivers {
         bool    okay        = ((ifcnt_before + 1) & 0xff) == ifcnt_after;
         if (!okay) {
             TrinamicBase::reportCommsFailure();
+            _cs_pin.synchronousWrite(false);
             return false;
         }
+        _cs_pin.synchronousWrite(false);
         return true;
     }
 

diff --git a/FluidNC/src/Motors/TMC2209Driver.cpp b/FluidNC/src/Motors/TMC2209Driver.cpp
@@ -27,8 +27,10 @@ namespace MotorDrivers {
     }
 
     void TMC2209Driver::config_motor() {
+        _cs_pin.synchronousWrite(true);
         tmc2209->begin();
         TrinamicBase::config_motor();
+        _cs_pin.synchronousWrite(false);
     }
 
     void TMC2209Driver::set_registers(bool isHoming) {
@@ -42,6 +44,9 @@ namespace MotorDrivers {
         // but the TMCStepper library expresses run current as (uint16_t) mA
         // and hold current as (float) fraction of run current.
         uint16_t run_i = (uint16_t)(_run_current * 1000.0);
+
+        _cs_pin.synchronousWrite(true);
+
         tmc2209->I_scale_analog(false);  // do not scale via pot
         tmc2209->rms_current(run_i, TrinamicBase::holdPercent());
 
@@ -82,45 +87,59 @@ namespace MotorDrivers {
         log_debug("GCONF: 0x" << to_hex(tmc2209->GCONF()));
         log_debug("PWMCONF: 0x" << to_hex(tmc2209->PWMCONF()));
         log_debug("IHOLD_IRUN: 0x" << to_hex(tmc2209->IHOLD_IRUN()));
+
+        _cs_pin.synchronousWrite(false);
     }
 
     void TMC2209Driver::debug_message() {
         if (_has_errors) {
             return;
         }
 
+        _cs_pin.synchronousWrite(true);
+
         uint32_t tstep = tmc2209->TSTEP();
 
         if (tstep == 0xFFFFF || tstep < 1) {  // if axis is not moving return
+            _cs_pin.synchronousWrite(false);
             return;
         }
         float feedrate = Stepper::get_realtime_rate();  //* settings.microsteps[axis_index] / 60.0 ; // convert mm/min to Hz
 
         if (tmc2209) {
             log_info(axisName() << " SG_Val: " << tmc2209->SG_RESULT() << "   Rate: " << feedrate << " mm/min SG_Setting:" << _stallguard);
         }
+
+        _cs_pin.synchronousWrite(false);
     }
 
     void TMC2209Driver::set_disable(bool disable) {
+        _cs_pin.synchronousWrite(true);
         if (TrinamicUartDriver::startDisable(disable)) {
             if (_use_enable) {
                 tmc2209->toff(TrinamicUartDriver::toffValue());
             }
         }
+        _cs_pin.synchronousWrite(false);
     }
 
     bool TMC2209Driver::test() {
+        _cs_pin.synchronousWrite(true);
         if (!checkVersion(0x21, tmc2209->version())) {
+            _cs_pin.synchronousWrite(false);
             return false;
         }
+
         uint8_t ifcnt_before = tmc2209->IFCNT();
         tmc2209->GSTAT(0);  // clear GSTAT to increase ifcnt
         uint8_t ifcnt_after = tmc2209->IFCNT();
         bool    okay        = ((ifcnt_before + 1) & 0xff) == ifcnt_after;
         if (!okay) {
             TrinamicBase::reportCommsFailure();
+            _cs_pin.synchronousWrite(false);
             return false;
         }
+        _cs_pin.synchronousWrite(false);
         return true;
     }
 

diff --git a/FluidNC/src/Motors/TrinamicUartDriver.cpp b/FluidNC/src/Motors/TrinamicUartDriver.cpp
@@ -22,17 +22,21 @@ namespace MotorDrivers {
     void TrinamicUartDriver::init() {
         _uart = config->_uarts[_uart_num];
         if (!_uart) {
-            log_error("TMC2208: Missing uart" << _uart_num << "section");
+            log_error("TMC Driver missing uart" << _uart_num << " section");
             return;
         }
+
+        _cs_pin.setAttr(Pin::Attr::Output);
     }
 
     /*
         This is the startup message showing the basic definition. 
+
+        log_info(" UART CS:" << );
     */
     void TrinamicUartDriver::config_message() {  //TODO: The RX/TX pin could be added to the msg.
-        log_info("    " << name() << " UART" << _uart_num << " Addr:" << _addr << " Step:" << _step_pin.name() << " Dir:" << _dir_pin.name()
-                        << " Disable:" << _disable_pin.name() << " R:" << _r_sense);
+        log_info("    " << name() << " UART" << _uart_num << " Addr:" << _addr << " CS:" << _cs_pin.name() << " Step:" << _step_pin.name()
+                        << " Dir:" << _dir_pin.name() << " Disable:" << _disable_pin.name() << " R:" << _r_sense);
     }
 
     uint8_t TrinamicUartDriver::toffValue() {

diff --git a/FluidNC/src/Motors/TrinamicUartDriver.h b/FluidNC/src/Motors/TrinamicUartDriver.h
@@ -17,13 +17,6 @@ namespace MotorDrivers {
         TrinamicUartDriver() = default;
 
         void init() override;
-        //void read_settings() override;
-        //bool set_homing_mode(bool is_homing) override;
-        void set_disable(bool disable) override;
-
-        void debug_message();
-
-        bool hw_serial_init();
 
         uint8_t _addr;
 
@@ -37,13 +30,17 @@ namespace MotorDrivers {
 
         void group(Configuration::HandlerBase& handler) override {
             handler.item("addr", _addr);
+            handler.item("cs_pin", _cs_pin);
             handler.item("uart_num", _uart_num);
+
             TrinamicBase::group(handler);
         }
 
     protected:
         Uart* _uart = nullptr;
 
+        Pin _cs_pin;
+
         int _uart_num = -1;
 
         static bool _uart_started;
@@ -52,8 +49,7 @@ namespace MotorDrivers {
         uint8_t toffValue();  // TO DO move to Base?
 
     private:
-        bool test();
-        void set_mode(bool isHoming);
+
     };
 
 }
diff --git a/FluidNC/src/ProcessSettings.cpp b/FluidNC/src/ProcessSettings.cpp
@@ -47,7 +47,7 @@ static bool auth_failed(Word* w, const char* value, WebUI::AuthenticationLevel a
             if (!value) {                              // User can read anything
                 return false;                          // No read is a User auth fail
             }
-            return permissions == WA;                  // User cannot write WA
+            return permissions == WA;  // User cannot write WA
         default:
             return true;
     }
@@ -136,7 +136,7 @@ void settings_restore(uint8_t restore_flag) {
         for (Setting* s : Setting::List) {
             if (!s->getDescription()) {
                 const char* name = s->getName();
-                if (restore_startup) {                                                      // all settings get restored
+                if (restore_startup) {  // all settings get restored
                     s->setDefault();
                 } else if ((strcmp(name, "Line0") != 0) && (strcmp(name, "Line1") != 0)) {  // non startup settings get restored
                     s->setDefault();
@@ -493,11 +493,6 @@ static Error doJog(const char* value, WebUI::AuthenticationLevel auth_level, Cha
     return gc_execute_line(jogLine);
 }
 
-static const char* alarmString(ExecAlarm alarmNumber) {
-    auto it = AlarmNames.find(alarmNumber);
-    return it == AlarmNames.end() ? NULL : it->second;
-}
-
 static Error listAlarms(const char* value, WebUI::AuthenticationLevel auth_level, Channel& out) {
     if (sys.state == State::ConfigAlarm) {
         log_to(out, "Configuration alarm is active. Check the boot messages for 'ERR'.");