Tickle me laser

.gitignore

@@ -20,4 +20,4 @@ __vm/
 *.vcxproj.filters
 *.suo
 Grbl_Esp32.ino.cpp
-/packages
+/packages

Grbl_Esp32/Grbl_Esp32.ino

@@ -21,9 +21,9 @@
 #include "src/Grbl.h"
 
 void setup() {
-    grbl_init();
+  grbl_init();
 }
 
 void loop() {
-    run_once();
+  run_once();
 }

Grbl_Esp32/src/Eeprom.cpp

@@ -0,0 +1,81 @@
+/*
+  Eeprom.cpp - Coordinate data stored in EEPROM
+  Part of Grbl
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+
+	2018 -	Bart Dring This file was modifed for use on the ESP32
+					CPU. Do not use this with Grbl for atMega328P
+
+  Grbl 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.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Grbl.h"
+
+void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source, unsigned int size) {
+    unsigned char checksum = 0;
+    for (; size > 0; size--) {
+        unsigned char data = static_cast<unsigned char>(*source++);
+        // Note: This checksum calculation is broken as described below.
+        checksum = (checksum << 1) || (checksum >> 7);
+        checksum += data;
+        EEPROM.write(destination++, *(source++));
+    }
+    EEPROM.write(destination, checksum);
+    EEPROM.commit();
+}
+
+int memcpy_from_eeprom_with_old_checksum(char* destination, unsigned int source, unsigned int size) {
+    unsigned char data, checksum = 0;
+    for (; size > 0; size--) {
+        data     = EEPROM.read(source++);
+        // Note: This checksum calculation is broken - the || should be just | -
+        // thus making the checksum very weak.
+        // We leave it as-is so we can read old data after a firmware upgrade.
+        // The new storage format uses the tagged NVS mechanism, avoiding this bug.
+        checksum = (checksum << 1) || (checksum >> 7);
+        checksum += data;
+        *(destination++) = data;
+    }
+    return (checksum == EEPROM.read(source));
+}
+int memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, unsigned int size) {
+    unsigned char data, checksum = 0;
+    for (; size > 0; size--) {
+        data     = EEPROM.read(source++);
+        checksum = (checksum << 1) | (checksum >> 7);
+        checksum += data;
+        *(destination++) = data;
+    }
+    return (checksum == EEPROM.read(source));
+}
+
+// Read selected coordinate data from EEPROM. Updates pointed coord_data value.
+// This is now a compatibility routine that is used to propagate coordinate data
+// in the old EEPROM format to the new tagged NVS format.
+bool old_settings_read_coord_data(uint8_t coord_select, float* coord_data) {
+    uint32_t addr = coord_select * (sizeof(float) * N_AXIS + 1) + EEPROM_ADDR_PARAMETERS;
+    if (!(memcpy_from_eeprom_with_old_checksum((char*)coord_data, addr, sizeof(float) * N_AXIS)) &&
+        !(memcpy_from_eeprom_with_checksum((char*)coord_data, addr, sizeof(float) * MAX_N_AXIS))) {
+        // Reset with default zero vector
+        clear_vector_float(coord_data);
+        // The old code used to rewrite the zeroed data but now that is done
+        // elsewhere, in a different format.
+        return false;
+    }
+    return true;
+}
+
+// Allow iteration over CoordIndex values
+CoordIndex& operator ++ (CoordIndex& i) {
+    i = static_cast<CoordIndex>(static_cast<uint8_t>(i) + 1);
+    return i;
+}

Grbl_Esp32/src/Eeprom.h

@@ -0,0 +1,61 @@
+#pragma once
+
+/*
+  Eeprom.h - Header for system level commands and real-time processes
+  Part of Grbl
+  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
+
+	2018 -	Bart Dring This file was modifed for use on the ESP32
+					CPU. Do not use this with Grbl for atMega328P
+
+  Grbl 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.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Grbl.h"
+
+// Define EEPROM memory address location values for saved coordinate data.
+const int EEPROM_SIZE            = 1024U;
+const int EEPROM_ADDR_PARAMETERS = 512U;
+
+//unsigned char eeprom_get_char(unsigned int addr);
+//void eeprom_put_char(unsigned int addr, unsigned char new_value);
+void memcpy_to_eeprom_with_checksum(unsigned int destination, const char* source, unsigned int size);
+int  memcpy_from_eeprom_with_checksum(char* destination, unsigned int source, unsigned int size);
+int  memcpy_from_eeprom_with_old_checksum(char* destination, unsigned int source, unsigned int size);
+
+// Reads selected coordinate data from EEPROM
+bool old_settings_read_coord_data(uint8_t coord_select, float* coord_data);
+
+// Various places in the code access saved coordinate system data
+// by a small integer index according to the values below.
+enum CoordIndex : uint8_t{
+    Begin = 0,
+    G54 = Begin,
+    G55,
+    G56,
+    G57,
+    G58,
+    G59,
+    // To support 9 work coordinate systems it would be necessary to define
+    // the following 3 and modify GCode.cpp to support G59.1, G59.2, G59.3
+    // G59_1,
+    // G59_2,
+    // G59_3,
+    NWCSystems,
+    G28 = NWCSystems,
+    G30,
+    // G92_2,
+    // G92_3,
+    End,
+};
+// Allow iteration over CoordIndex values
+CoordIndex& operator ++ (CoordIndex& i);

Grbl_Esp32/src/Machine.h

@@ -8,7 +8,7 @@
 // !!! 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/lmi.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:

Grbl_Esp32/src/Machines/3axis_rs485.h

@@ -0,0 +1,59 @@
+#pragma once
+// clang-format off
+
+/*
+	3axis_xyx.h
+	Part of Grbl_ESP32
+
+	This is a general XYZ-axis RS-485 CNC machine. The schematic is quite 
+	easy, you basically need a MAX485 wired through a logic level converter
+	for the VFD, and a few pins wired through an ULN2803A to the external 
+	stepper drivers. It's common to have a dual gantry for the Y axis.
+
+	Optional limit pins are slightly more difficult, as these require a 
+	Schmitt trigger and optocouplers.
+
+	2020    - Stefan de Bruijn
+
+	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            "ESP32_XYZ_RS485"
+#define X_STEP_PIN              GPIO_NUM_4   // labeled X
+#define X_DIRECTION_PIN         GPIO_NUM_16  // labeled X
+#define Y_STEP_PIN              GPIO_NUM_17  // labeled Y
+#define Y_DIRECTION_PIN         GPIO_NUM_18  // labeled Y
+#define Y2_STEP_PIN             GPIO_NUM_19  // labeled Y2
+#define Y2_DIRECTION_PIN        GPIO_NUM_21  // labeled Y2
+#define Z_STEP_PIN              GPIO_NUM_22  // labeled Z
+#define Z_DIRECTION_PIN         GPIO_NUM_23  // labeled Z
+
+#define SPINDLE_TYPE            SpindleType::H2A
+#define VFD_RS485_TXD_PIN       GPIO_NUM_13 // RS485 TX
+#define VFD_RS485_RTS_PIN       GPIO_NUM_15 // RS485 RTS
+#define VFD_RS485_RXD_PIN       GPIO_NUM_2  // RS485 RX
+
+#define X_LIMIT_PIN             GPIO_NUM_33
+#define Y_LIMIT_PIN             GPIO_NUM_32
+#define Y2_LIMIT_PIN            GPIO_NUM_35
+#define Z_LIMIT_PIN             GPIO_NUM_34
+
+// Set $Homing/Cycle0=X and $Homing/Cycle=XY
+
+#define PROBE_PIN               GPIO_NUM_14  // labeled Probe
+#define CONTROL_RESET_PIN       GPIO_NUM_27  // labeled Reset
+#define CONTROL_FEED_HOLD_PIN   GPIO_NUM_26  // labeled Hold
+#define CONTROL_CYCLE_START_PIN GPIO_NUM_25  // labeled Start
+
+// #define VFD_DEBUG_MODE

Grbl_Esp32/src/Machines/6_pack_stepstick_XYZ_v1.h

@@ -0,0 +1,126 @@
+#pragma once
+// clang-format off
+
+/*
+    6_pack_stepstick_XYZ_v1.h
+
+    Covers all V1 versions V1p0, V1p1, etc
+
+    Part of Grbl_ESP32
+    Pin assignments for the ESP32 I2S 6-axis board
+    2018    - Bart Dring
+    2020    - Mitch Bradley
+    2020    - Michiyasu Odaki
+    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            "6 Pack Controller StepStick XYZ"
+
+#define N_AXIS 3
+
+// === Special Features
+
+// I2S (steppers & other output-only pins)
+#define USE_I2S_OUT
+#define USE_I2S_STEPS
+//#define DEFAULT_STEPPER ST_I2S_STATIC
+// === Default settings
+#define DEFAULT_STEP_PULSE_MICROSECONDS I2S_OUT_USEC_PER_PULSE
+
+#define USE_STEPSTICK   // makes sure MS1,2,3 !reset and !sleep are set
+
+#define I2S_OUT_BCK             GPIO_NUM_22
+#define I2S_OUT_WS              GPIO_NUM_17
+#define I2S_OUT_DATA            GPIO_NUM_21
+
+
+// Motor Socket #1
+#define X_DISABLE_PIN           I2SO(0)
+#define X_DIRECTION_PIN         I2SO(1)
+#define X_STEP_PIN              I2SO(2)
+#define X_STEPPER_MS3           I2SO(3)
+
+// Motor Socket #2
+#define Y_DIRECTION_PIN         I2SO(4)
+#define Y_STEP_PIN              I2SO(5)
+#define Y_STEPPER_MS3           I2SO(6)
+#define Y_DISABLE_PIN           I2SO(7)
+
+// Motor Socket #3
+#define Z_DISABLE_PIN           I2SO(8)
+#define Z_DIRECTION_PIN         I2SO(9)
+#define Z_STEP_PIN              I2SO(10)
+#define Z_STEPPER_MS3           I2SO(11) 
+
+/*
+    Socket I/O reference
+    The list of modules is here...
+    https://github.com/bdring/6-Pack_CNC_Controller/wiki/CNC-I-O-Module-List
+    Click on each module to get example for using the modules in the sockets
+
+
+Socket #1
+#1 GPIO_NUM_33 
+#2 GPIO_NUM_32
+#3 GPIO_NUM_35 (input only)
+#4 GPIO_NUM_34 (input only)
+
+Socket #2
+#1 GPIO_NUM_2
+#2 GPIO_NUM_25
+#3 GPIO_NUM_39 (input only)
+#4 GPIO_NUM_36 (input only)
+
+Socket #3
+#1 GPIO_NUM_26
+#2 GPIO_NUM_4
+#3 GPIO_NUM_16
+#4 GPIO_NUM_27
+
+Socket #4
+#1 GPIO_NUM_14
+#2 GPIO_NUM_13
+#3 GPIO_NUM_15
+#4 GPIO_NUM_12
+
+Socket #5
+#1 I2SO(24)  (output only)
+#2 I2SO(25)  (output only)
+#3 I2SO26)  (output only)
+
+*/
+
+
+// 4x Input Module in Socket #1
+// https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+#define X_LIMIT_PIN                 GPIO_NUM_33
+#define Y_LIMIT_PIN                 GPIO_NUM_32
+#define Z_LIMIT_PIN                 GPIO_NUM_35
+
+
+// // 4x Input Module in Socket #2
+// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+// #define X_LIMIT_PIN                 GPIO_NUM_2
+// #define Y_LIMIT_PIN                 GPIO_NUM_25
+// #define Z_LIMIT_PIN                 GPIO_NUM_39
+
+// // 4x Input Module in Socket #3
+// // https://github.com/bdring/6-Pack_CNC_Controller/wiki/4x-Switch-Input-module
+// #define CONTROL_CYCLE_START_PIN      GPIO_NUM_26
+// #define CONTROL_FEED_HOLD_PIN        GPIO_NUM_4
+// #define CONTROL_RESET_PIN            GPIO_NUM_16
+// #define CONTROL_SAFETY_DOOR_PIN      GPIO_NUM_27
+// //#define INVERT_CONTROL_PIN_MASK      B0000
+
+// ================= Setting Defaults ==========================
+#define DEFAULT_X_STEPS_PER_MM      800
+#define DEFAULT_Y_STEPS_PER_MM      800
+#define DEFAULT_Z_STEPS_PER_MM      800