Swap Mutex for Semaphore to manage multithreading.

Grbl_Esp32/src/Config.h

@@ -56,7 +56,7 @@ Some features should not be changed. See notes below.
 // For example B1101 will invert the function of the Reset pin.
 #define INVERT_CONTROL_PIN_MASK B00001111
 
-// #define ENABLE_CONTROL_SW_DEBOUNCE     // Default disabled. Uncomment to enable.
+#define ENABLE_CONTROL_SW_DEBOUNCE     // Default disabled. Uncomment to enable.
 #define CONTROL_SW_DEBOUNCE_PERIOD 32  // in milliseconds default 32 microseconds
 
 #define USE_RMT_STEPS
@@ -93,8 +93,8 @@ const int MAX_N_AXIS = 6;
 #define BAUD_RATE 115200
 
 //Connect to your local AP with these credentials
-//#define CONNECT_TO_SSID  "your SSID"
-//#define SSID_PASSWORD  "your SSID password"
+#define CONNECT_TO_SSID  "your SSID"
+#define SSID_PASSWORD  "your SSID password"
 //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
 #define ENABLE_BLUETOOTH  // enable bluetooth
 
@@ -202,7 +202,7 @@ enum class Cmd : uint8_t {
 // If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces
 // the user to perform the homing cycle (or override the locks) before doing anything else. This is
 // mainly a safety feature to remind the user to home, since position is unknown to Grbl.
-#define HOMING_INIT_LOCK  // Comment to disable
+//#define HOMING_INIT_LOCK  // Comment to disable
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
@@ -264,7 +264,7 @@ static const uint8_t NHomingLocateCycle = 1;  // Integer (1-128)
 // will be applied to all of them. This is useful when a user has a mixed set of limit pins with both
 // normally-open(NO) and normally-closed(NC) switches installed on their machine.
 // NOTE: PLEASE DO NOT USE THIS, unless you have a situation that needs it.
-// #define INVERT_LIMIT_PIN_MASK (bit(X_AXIS)|bit(Y_AXIS)) // Default disabled. Uncomment to enable.
+#define INVERT_LIMIT_PIN_MASK (bit(X_AXIS)|bit(Y_AXIS)|bit(Z_AXIS)) // Default disabled. Uncomment to enable.
 
 // Inverts the selected coolant pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
@@ -486,7 +486,7 @@ const int DWELL_TIME_STEP = 50;  // Integer (1-255) (milliseconds)
 // A simple software debouncing feature for hard limit switches. When enabled, the limit
 // switch interrupt unblock a waiting task which will recheck the limit switch pins after
 // a short delay. Default disabled
-//#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
+#define ENABLE_SOFTWARE_DEBOUNCE // Default disabled. Uncomment to enable.
 const int DEBOUNCE_PERIOD = 32;  // in milliseconds default 32 microseconds
 
 // Configures the position after a probing cycle during Grbl's check mode. Disabled sets
@@ -523,7 +523,7 @@ const int DEBOUNCE_PERIOD = 32;  // in milliseconds default 32 microseconds
 // Some senders may not be able to parse anything different from the original set
 // You can still set these like $33=5000, but you cannot read them back.
 // Default is off to limit support issues...you can enable here or in your machine definition file
-// #define SHOW_EXTENDED_SETTINGS
+#define SHOW_EXTENDED_SETTINGS
 
 // Writing to non-volatile storage (NVS) can take a long time and interfere with timely instruction
 // execution, causing problems for the stepper ISRs and serial comm ISRs and subsequent loss of
@@ -590,19 +590,31 @@ const double PARKING_PULLOUT_INCREMENT = 5.0;    // Spindle pull-out and plunge
 // Enables a piecewise linear model of the spindle PWM/speed output. Requires a solution by the
 // 'fit_nonlinear_spindle.py' script in the /doc/script folder of the repo. See file comments
 // on how to gather spindle data and run the script to generate a solution.
-// #define ENABLE_PIECEWISE_LINEAR_SPINDLE  // Default disabled. Uncomment to enable.
+//#define ENABLE_PIECEWISE_LINEAR_SPINDLE  // Not implemented yet
 
 // N_PIECES, RPM_MAX, RPM_MIN, RPM_POINTxx, and RPM_LINE_XX constants are all set and given by
 // the 'fit_nonlinear_spindle.py' script solution. Used only when ENABLE_PIECEWISE_LINEAR_SPINDLE
 // is enabled. Make sure the constant values are exactly the same as the script solution.
 // NOTE: When N_PIECES < 4, unused RPM_LINE and RPM_POINT defines are not required and omitted.
+
+
 /*
-#define N_PIECES 4  // Integer (1-4). Number of piecewise lines used in script solution.
-#define RPM_MAX  11686.4  // Max RPM of model. $30 > RPM_MAX will be limited to RPM_MAX.
-#define RPM_MIN  202.5    // Min RPM of model. $31 < RPM_MIN will be limited to RPM_MIN.
+#define N_PIECES 4
+#define RPM_MAX 24162.9
+#define RPM_MIN 118.4
+#define RPM_POINT12 3177.2
+#define RPM_POINT23 13581.6
+#define RPM_POINT34 21467.2
+#define RPM_LINE_A1 5.878084e-01
+#define RPM_LINE_B1 6.759473e+01
+#define RPM_LINE_A2 9.803514e-01
+#define RPM_LINE_B2 1.314789e+03
+#define RPM_LINE_A3 1.014510e+00
+#define RPM_LINE_B3 1.778715e+03
+#define RPM_LINE_A4 1.483485e+00
+#define RPM_LINE_B4 1.184633e+04
 */
 
-const int N_PIECES = 3;
-
-const double RPM_MAX = 23935.2;
-const double RPM_MIN = 2412.2;
+//const int N_PIECES = 4;
+//const double RPM_MAX = 24513.2;
+//const double RPM_MIN = 125.2;

Grbl_Esp32/src/Defaults.h

@@ -39,7 +39,7 @@
 
 // Grbl generic default settings. Should work across different machines.
 #ifndef DEFAULT_STEP_PULSE_MICROSECONDS
-#    define DEFAULT_STEP_PULSE_MICROSECONDS 3  // $0
+#    define DEFAULT_STEP_PULSE_MICROSECONDS 5  // $0
 #endif
 
 #ifndef DEFAULT_STEP_ENABLE_DELAY
@@ -51,7 +51,7 @@
 #endif
 
 #ifndef DEFAULT_STEPPER_IDLE_LOCK_TIME
-#    define DEFAULT_STEPPER_IDLE_LOCK_TIME 250  // $1 msec (0-254, 255 keeps steppers enabled)
+#    define DEFAULT_STEPPER_IDLE_LOCK_TIME 255  // $1 msec (0-254, 255 keeps steppers enabled)
 #endif
 
 #ifndef DEFAULT_STEPPING_INVERT_MASK
@@ -71,7 +71,7 @@
 #endif
 
 #ifndef DEFAULT_INVERT_PROBE_PIN
-#    define DEFAULT_INVERT_PROBE_PIN 0  // $6 boolean
+#    define DEFAULT_INVERT_PROBE_PIN 1  // $6 boolean
 #endif
 
 #ifndef DEFAULT_STATUS_REPORT_MASK
@@ -99,11 +99,11 @@
 #endif
 
 #ifndef DEFAULT_HARD_LIMIT_ENABLE
-#    define DEFAULT_HARD_LIMIT_ENABLE 0  // $21 false
+#    define DEFAULT_HARD_LIMIT_ENABLE 1  // $21 false
 #endif
 
 #ifndef DEFAULT_HOMING_ENABLE
-#    define DEFAULT_HOMING_ENABLE 0  // $22 false
+#    define DEFAULT_HOMING_ENABLE 1  // $22 false
 #endif
 
 #ifndef DEFAULT_HOMING_DIR_MASK
@@ -123,7 +123,7 @@
 #endif
 
 #ifndef DEFAULT_HOMING_PULLOFF
-#    define DEFAULT_HOMING_PULLOFF 1.0  // $27 mm
+#    define DEFAULT_HOMING_PULLOFF 3.0  // $27 mm
 #endif
 
 #ifndef DEFAULT_HOMING_SQUARED_AXES
@@ -156,11 +156,11 @@
 
 // ======== SPINDLE STUFF ====================
 #ifndef SPINDLE_TYPE
-#    define SPINDLE_TYPE SpindleType::NONE
+#    define SPINDLE_TYPE SpindleType::PWM
 #endif
 
 #ifndef DEFAULT_SPINDLE_RPM_MIN          // $31
-#    define DEFAULT_SPINDLE_RPM_MIN 0.0  // rpm
+#    define DEFAULT_SPINDLE_RPM_MIN 1.0  // rpm
 #endif
 
 #ifndef DEFAULT_LASER_MODE        // $32
@@ -172,11 +172,11 @@
 #endif
 
 #ifndef DEFAULT_SPINDLE_RPM_MAX             // $30
-#    define DEFAULT_SPINDLE_RPM_MAX 1000.0  // rpm
+#    define DEFAULT_SPINDLE_RPM_MAX 24000.0  // rpm
 #endif
 
 #ifndef DEFAULT_SPINDLE_FREQ
-#    define DEFAULT_SPINDLE_FREQ 5000.0  // $33 Hz (extended set)
+#    define DEFAULT_SPINDLE_FREQ 1000.0  // $33 Hz (extended set)
 #endif
 
 #ifndef DEFAULT_SPINDLE_OFF_VALUE
@@ -259,13 +259,13 @@
 // =========== 	AXIS RESOLUTION ======
 
 #ifndef DEFAULT_X_STEPS_PER_MM
-#    define DEFAULT_X_STEPS_PER_MM 100.0
+#    define DEFAULT_X_STEPS_PER_MM 60.0
 #endif
 #ifndef DEFAULT_Y_STEPS_PER_MM
-#    define DEFAULT_Y_STEPS_PER_MM 100.0
+#    define DEFAULT_Y_STEPS_PER_MM 60.0
 #endif
 #ifndef DEFAULT_Z_STEPS_PER_MM
-#    define DEFAULT_Z_STEPS_PER_MM 100.0
+#    define DEFAULT_Z_STEPS_PER_MM 400.0
 #endif
 #ifndef DEFAULT_A_STEPS_PER_MM
 #    define DEFAULT_A_STEPS_PER_MM 100.0
@@ -280,10 +280,10 @@
 // ============ AXIS MAX SPPED =========
 
 #ifndef DEFAULT_X_MAX_RATE
-#    define DEFAULT_X_MAX_RATE 1000.0  // mm/min
+#    define DEFAULT_X_MAX_RATE 2500.0  // mm/min
 #endif
 #ifndef DEFAULT_Y_MAX_RATE
-#    define DEFAULT_Y_MAX_RATE 1000.0  // mm/min
+#    define DEFAULT_Y_MAX_RATE 2500.0  // mm/min
 #endif
 #ifndef DEFAULT_Z_MAX_RATE
 #    define DEFAULT_Z_MAX_RATE 1000.0  // mm/min
@@ -302,13 +302,13 @@
 #define SEC_PER_MIN_SQ (60.0 * 60.0)  // Seconds Per Minute Squared, for acceleration conversion
 // Default accelerations are expressed in mm/sec^2
 #ifndef DEFAULT_X_ACCELERATION
-#    define DEFAULT_X_ACCELERATION 200.0
+#    define DEFAULT_X_ACCELERATION 80.0
 #endif
 #ifndef DEFAULT_Y_ACCELERATION
-#    define DEFAULT_Y_ACCELERATION 200.0
+#    define DEFAULT_Y_ACCELERATION 80.0
 #endif
 #ifndef DEFAULT_Z_ACCELERATION
-#    define DEFAULT_Z_ACCELERATION 200.0
+#    define DEFAULT_Z_ACCELERATION 50.0
 #endif
 #ifndef DEFAULT_A_ACCELERATION
 #    define DEFAULT_A_ACCELERATION 200.0
@@ -323,13 +323,13 @@
 // ========= AXIS MAX TRAVEL ============
 
 #ifndef DEFAULT_X_MAX_TRAVEL
-#    define DEFAULT_X_MAX_TRAVEL 300.0  // $130 mm NOTE: Must be a positive value.
+#    define DEFAULT_X_MAX_TRAVEL 550.0  // $130 mm NOTE: Must be a positive value.
 #endif
 #ifndef DEFAULT_Y_MAX_TRAVEL
-#    define DEFAULT_Y_MAX_TRAVEL 300.0  // mm NOTE: Must be a positive value.
+#    define DEFAULT_Y_MAX_TRAVEL 570.0  // mm NOTE: Must be a positive value.
 #endif
 #ifndef DEFAULT_Z_MAX_TRAVEL
-#    define DEFAULT_Z_MAX_TRAVEL 300.0  // mm NOTE: Must be a positive value.
+#    define DEFAULT_Z_MAX_TRAVEL 100.0  // mm NOTE: Must be a positive value.
 #endif
 #ifndef DEFAULT_A_MAX_TRAVEL
 #    define DEFAULT_A_MAX_TRAVEL 300.0  // mm NOTE: Must be a positive value.
@@ -386,43 +386,43 @@
 
 // ========== Motor current (SPI Drivers ) =============
 #ifndef DEFAULT_X_CURRENT
-#    define DEFAULT_X_CURRENT 0.8  // $140 current in amps (extended set)
+#    define DEFAULT_X_CURRENT 0.25  // $140 current in amps (extended set)
 #endif
 #ifndef DEFAULT_Y_CURRENT
-#    define DEFAULT_Y_CURRENT 0.8  // $141 current in amps (extended set)
+#    define DEFAULT_Y_CURRENT 0.25  // $141 current in amps (extended set)
 #endif
 #ifndef DEFAULT_Z_CURRENT
-#    define DEFAULT_Z_CURRENT 0.8  // $142 current in amps (extended set)
+#    define DEFAULT_Z_CURRENT 0.25  // $142 current in amps (extended set)
 #endif
 #ifndef DEFAULT_A_CURRENT
-#    define DEFAULT_A_CURRENT 0.8  // $143 current in amps (extended set)
+#    define DEFAULT_A_CURRENT 0.25  // $143 current in amps (extended set)
 #endif
 #ifndef DEFAULT_B_CURRENT
-#    define DEFAULT_B_CURRENT 0.8  // $144 current in amps (extended set)
+#    define DEFAULT_B_CURRENT 0.25  // $144 current in amps (extended set)
 #endif
 #ifndef DEFAULT_C_CURRENT
-#    define DEFAULT_C_CURRENT 0.8  // $145 current in amps (extended set)
+#    define DEFAULT_C_CURRENT 0.25  // $145 current in amps (extended set)
 #endif
 
 // ========== Motor hold current (SPI Drivers ) =============
 
 #ifndef DEFAULT_X_HOLD_CURRENT
-#    define DEFAULT_X_HOLD_CURRENT 0.4  // $150 current in amps (extended set)
+#    define DEFAULT_X_HOLD_CURRENT 0.125  // $150 current in amps (extended set)
 #endif
 #ifndef DEFAULT_Y_HOLD_CURRENT
-#    define DEFAULT_Y_HOLD_CURRENT 0.4  // $151 current in amps (extended set)
+#    define DEFAULT_Y_HOLD_CURRENT 0.125  // $151 current in amps (extended set)
 #endif
 #ifndef DEFAULT_Z_HOLD_CURRENT
-#    define DEFAULT_Z_HOLD_CURRENT 0.4  // $152 current in amps (extended set)
+#    define DEFAULT_Z_HOLD_CURRENT 0.125  // $152 current in amps (extended set)
 #endif
 #ifndef DEFAULT_A_HOLD_CURRENT
-#    define DEFAULT_A_HOLD_CURRENT 0.4  // $153 current in amps (extended set)
+#    define DEFAULT_A_HOLD_CURRENT 0.125  // $153 current in amps (extended set)
 #endif
 #ifndef DEFAULT_B_HOLD_CURRENT
-#    define DEFAULT_B_HOLD_CURRENT 0.4  // $154 current in amps (extended set)
+#    define DEFAULT_B_HOLD_CURRENT 0.125  // $154 current in amps (extended set)
 #endif
 #ifndef DEFAULT_C_HOLD_CURRENT
-#    define DEFAULT_C_HOLD_CURRENT 0.4  // $154 current in amps (extended set)
+#    define DEFAULT_C_HOLD_CURRENT 0.125  // $154 current in amps (extended set)
 #endif
 
 // ========== Microsteps (SPI Drivers ) ================

Grbl_Esp32/src/Machine.h

@@ -8,11 +8,12 @@
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#    include "Machines/test_drive.h"
+//#    include "Machines/test_drive.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
-// #include "Machines/3axis_v4.h"
+ #include "Machines/makerfr_v2_XYZA.h"
+
 
 // === OEM Single File Configuration Option
 // OEMs that wish to publish source code that is configured for a

Grbl_Esp32/src/Machines/makerfr_v2_XYYZ.h

@@ -0,0 +1,68 @@
+#pragma once
+// clang-format off
+
+/*
+    makerfr_v2_XYYZ.h
+    Part of Grbl_ESP32
+
+    Pin assignments for the RS-CNC32 board (4 axis with external drivers)
+    https://github.com/bdring/4_Axis_SPI_CNC
+
+    2018    - Bart Dring
+    2020    - Mitch Bradley
+
+    Grbl_ESP32 is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    Grbl is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with Grbl_ESP32.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#define MACHINE_NAME            "MakerFr GRBL 32 bits Board V2 XYYZ"
+
+#ifdef N_AXIS
+        #undef N_AXIS
+#endif
+#define N_AXIS 4
+
+#define X_STEP_PIN               GPIO_NUM_33
+#define X_DIRECTION_PIN          GPIO_NUM_25
+#define Y_STEP_PIN               GPIO_NUM_26
+#define Y_DIRECTION_PIN          GPIO_NUM_27
+#define Z_STEP_PIN               GPIO_NUM_14
+#define Z_DIRECTION_PIN          GPIO_NUM_12
+#define Y2_STEP_PIN              GPIO_NUM_13  // ganged motor
+#define Y2_DIRECTION_PIN         GPIO_NUM_32  // ganged motor
+#define STEPPERS_DISABLE_PIN     GPIO_NUM_15
+
+#define USE_GANGED_AXES
+#define Y_AXIS_SQUARING
+
+#define SPINDLE_OUTPUT_PIN      GPIO_NUM_2   // labeled SpinPWM
+#define SPINDLE_ENABLE_PIN      GPIO_NUM_17  // labeled SpinEnbl
+#define LASER_OUTPUT_PIN        GPIO_NUM_21
+
+#define X_LIMIT_PIN             GPIO_NUM_36
+#define Y_LIMIT_PIN             GPIO_NUM_39
+#define Z_LIMIT_PIN             GPIO_NUM_34
+//#define A_LIMIT_PIN             GPIO_NUM_35
+
+#define PROBE_PIN               GPIO_NUM_16
+#define COOLANT_MIST_PIN        GPIO_NUM_22
+
+#ifdef INVERT_CONTROL_PIN_MASK
+    #undef INVERT_CONTROL_PIN_MASK
+#endif
+
+#define INVERT_CONTROL_PIN_MASK B1110
+
+#define CONTROL_RESET_PIN       GPIO_NUM_4   //4 labeled Reset
+#define CONTROL_FEED_HOLD_PIN   GPIO_NUM_21  //21 labeled Hold
+#define CONTROL_CYCLE_START_PIN  GPIO_NUM_0  //0 labeled Start