Need help getting started with configs #105

cltsang · 2021-12-31T05:27:06Z

cltsang
Dec 31, 2021

Greetings.
Recently I discover this project, and want to switch over from FluidNC, mainly due to idf support and better code abstraction and organization.

I have been scratching my head for a few days, trying to tweak config.h and my_machine_map.h, but still have yet to successfully move the motors. So may I have some guidance please?

My machine has no limit switches on X and Y axis, and one limit switch on the negative side of Z axis.
Both Z and shared enable switches are pulled up in the circuit, with LOW to enable and HIGH to disable.
Homing is irrelevant not needed. There are no control pins.

My FluidNC config.yaml to drive it is

name: "MyCNC"
board: "MyCNC"

start:
  must_home: false

stepping:
  engine: RMT
  idle_ms: 254
  dir_delay_us: 1
  pulse_us: 3
  disable_delay_us: 0

axes:
  shared_stepper_disable_pin: gpio.19
  
  x:
    steps_per_mm: 34
    max_rate_mm_per_min: 2200
    acceleration_mm_per_sec2: 80
    max_travel_mm: 51
    
    motor0:
      standard_stepper:
        direction_pin: gpio.5
        step_pin: gpio.18
    motor1:
      null_motor:

  y:
    steps_per_mm: 34
    max_rate_mm_per_min: 2200
    acceleration_mm_per_sec2: 80
    max_travel_mm: 51

    motor0:
      standard_stepper:
        direction_pin: gpio.22
        step_pin: gpio.21
    motor1:
      null_motor:

  z:
    steps_per_mm: 50
    max_rate_mm_per_min: 700
    acceleration_mm_per_sec2: 100
    max_travel_mm: 15

    motor0:
      limit_neg: gpio.23
      hard_limits: false
      standard_stepper:
        direction_pin: gpio.4
        step_pin: gpio.16
        disable_pin: gpio.17
    motor1:
      null_motor:

My current incorrect settings for grblHAL is

my_machine_map.h

static const int UNDEFINED_PIN = 255;

#define STEP_TIMER_GROUP TIMER_GROUP_0
#define STEP_TIMER_INDEX TIMER_0

#define X_STEP_PIN GPIO_NUM_18
#define Y_STEP_PIN GPIO_NUM_21
#define Z_STEP_PIN GPIO_NUM_16

#define X_DIRECTION_PIN GPIO_NUM_5
#define Y_DIRECTION_PIN GPIO_NUM_22
#define Z_DIRECTION_PIN GPIO_NUM_4

#define STEPPERS_ENABLE_PIN GPIO_NUM_19

#define X_LIMIT_PIN UNDEFINED_PIN
#define Y_LIMIT_PIN UNDEFINED_PIN
#define Z_LIMIT_PIN GPIO_NUM_23

#define SPINDLE_ENABLE_PIN UNDEFINED_PIN
#define SPINDLEPWMPIN UNDEFINED_PIN

grbl/config.h

// only showing lines with my edits
#define INVERT_ST_ENABLE_MASK (X_AXIS_BIT|Y_AXIS_BIT)
#define INVERT_LIMIT_BIT_MASK (X_AXIS_BIT|Y_AXIS_BIT|Z_AXIS_BIT)

#define DEFAULT_X_STEPS_PER_MM 34.0f
#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
#define DEFAULT_Z_STEPS_PER_MM 50.0f
#define DEFAULT_X_MAX_RATE 2200.0f
#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
#define DEFAULT_Z_MAX_RATE 700.0f
#define DEFAULT_X_ACCELERATION 80
#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_Z_ACCELERATION 100
#define DEFAULT_X_MAX_TRAVEL 51.0f
#define DEFAULT_Y_MAX_TRAVEL DEFAULT_X_MAX_TRAVEL
#define DEFAULT_Z_MAX_TRAVEL 15.0f

#define DEFAULT_STEP_PULSE_MICROSECONDS 3.0f
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 254
#define DEFAULT_JUNCTION_DEVIATION 0.01f
#define DEFAULT_ARC_TOLERANCE 0.002f

Can you point out what I'm doing incorrectly here please?
Thank you.

Answered by terjeio

Dec 31, 2021

Replace driver.c with this version

driver.zip

and do not define unassigned pins as pin 255 - somehow this leaves pin 19 as an input later in the startup sequence.

my_machine_map.h:

#undef PROBE_ENABLE

#define STEP_TIMER_GROUP TIMER_GROUP_0
#define STEP_TIMER_INDEX TIMER_0

#define X_STEP_PIN GPIO_NUM_18
#define Y_STEP_PIN GPIO_NUM_21
#define Z_STEP_PIN GPIO_NUM_16

#define X_DIRECTION_PIN GPIO_NUM_5
#define Y_DIRECTION_PIN GPIO_NUM_22
#define Z_DIRECTION_PIN GPIO_NUM_4

#define STEPPERS_ENABLE_PIN GPIO_NUM_19

#define Z_LIMIT_PIN GPIO_NUM_23

View full answer

terjeio · 2021-12-31T06:01:28Z

terjeio
Dec 31, 2021
Maintainer

Most settings in grbl/config.h are defaults and can be changed at run time with $-settings - this means changing these and reflashing will not make them take effect until a $RST=* command is issued.

Check with the $pins command that your map file is in fact compiled in, and you may also add
#define BOARD_NAME "my board name"
to my_machine_map.h to get the board name in the $I output.

The board map to use is selected in CMakeLists.txt, have you done that?

Is the voltage level on the STEPPERS_ENABLE_PIN correct when trying to run motors?

0 replies

cltsang · 2021-12-31T06:25:28Z

cltsang
Dec 31, 2021
Author

Thanks for the quick response 🙂
So in CMakeLists.txt I have

OPTION(BOARD_BDRING_V4 "Compile for bdring v4 3-axis board" OFF)
OPTION(BOARD_MY_MACHINE "Compile for my_machine_map.h" ON)

and my $pins output is

[PIN:255,X limit min]
[PIN:255,Y limit min]
[PIN:23,Z limit min]
[PIN:18,X step]
[PIN:21,Y step]
[PIN:16,Z step]
[PIN:19,Steppers enable]
[PIN:255,Spindle on]
[PIN:5,X dir]
[PIN:22,Y dir]
[PIN:4,Z dir]
[PIN:34,RX,Primary UART]
[PIN:35,TX,Primary UART]
[PIN:255,Spindle PWM]

and $$ yields

$0=3.0
$1=254
$2=0
$3=0
$4=7
$5=7
$7=0
$10=511
$11=0.010
$12=0.002
$13=0
$14=0
$15=0
$16=0
$17=0
$18=0
$20=0
$21=0
$22=0
$23=0
$24=25.0
$25=500.0
$26=250
$27=1.000
$28=0.100
$29=0.0
$30=1000.000
$31=0.000
$32=0
$33=5000.0
$34=0.0
$35=0.0
$36=100.0
$37=0
$39=1
$40=0
$43=1
$44=4
$45=3
$46=0
$62=0
$63=2
$64=0
$100=34.000
$101=34.000
$102=50.000
$110=2200.000
$111=2200.000
$112=700.000
$120=0.022
$121=0.022
$122=0.028
$130=51.000
$131=51.000
$132=15.000
$341=0
$342=30.0
$343=25.0
$344=200.0
$345=100.0
$384=0

I don't have the meters with me so can't probe the pins directly at the moment, but I've tried editing $4 and $5, to combinations of 0 and 7 to no avail.

0 replies

cltsang · 2021-12-31T06:28:17Z

cltsang
Dec 31, 2021
Author

If it helps, I just tried out Grbl_Esp32. Here's my equivalent settings to successfully drive the machine:

#pragma once

#define MACHINE_NAME "MyCNC"

#define X_STEP_PIN GPIO_NUM_18
#define Y_STEP_PIN GPIO_NUM_21
#define Z_STEP_PIN GPIO_NUM_16

#define X_DIRECTION_PIN GPIO_NUM_5
#define Y_DIRECTION_PIN GPIO_NUM_22
#define Z_DIRECTION_PIN GPIO_NUM_4

#define Z_LIMIT_PIN GPIO_NUM_23

#define STEPPERS_DISABLE_PIN GPIO_NUM_19
#define Z_DISABLE_PIN GPIO_NUM_17

#define DEFAULT_STEP_PULSE_MICROSECONDS 3
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 254

#define DEFAULT_JUNCTION_DEVIATION  0.01
#define DEFAULT_ARC_TOLERANCE 0.002

#define DEFAULT_HOMING_ENABLE 0

#define DEFAULT_X_STEPS_PER_MM 34
#define DEFAULT_Y_STEPS_PER_MM DEFAULT_X_STEPS_PER_MM
#define DEFAULT_Z_STEPS_PER_MM 50.0

#define DEFAULT_X_MAX_RATE 2200.0
#define DEFAULT_Y_MAX_RATE DEFAULT_X_MAX_RATE
#define DEFAULT_Z_MAX_RATE 700.0

#define DEFAULT_X_ACCELERATION 80.0
#define DEFAULT_Y_ACCELERATION DEFAULT_X_ACCELERATION
#define DEFAULT_Z_ACCELERATION 100.0

#define DEFAULT_X_MAX_TRAVEL 51.0f
#define DEFAULT_Y_MAX_TRAVEL 51.0f
#define DEFAULT_Z_MAX_TRAVEL 15.0f

#undef ENABLE_BLUETOOTH
#undef ENABLE_TELNET
#undef ENABLE_AUTHENTICATION
#undef ENABLE_SD_CARD

0 replies

terjeio · 2021-12-31T07:32:53Z

terjeio
Dec 31, 2021
Maintainer

Replace driver.c with this version

driver.zip

and do not define unassigned pins as pin 255 - somehow this leaves pin 19 as an input later in the startup sequence.

my_machine_map.h:

#undef PROBE_ENABLE

#define STEP_TIMER_GROUP TIMER_GROUP_0
#define STEP_TIMER_INDEX TIMER_0

#define X_STEP_PIN GPIO_NUM_18
#define Y_STEP_PIN GPIO_NUM_21
#define Z_STEP_PIN GPIO_NUM_16

#define X_DIRECTION_PIN GPIO_NUM_5
#define Y_DIRECTION_PIN GPIO_NUM_22
#define Z_DIRECTION_PIN GPIO_NUM_4

#define STEPPERS_ENABLE_PIN GPIO_NUM_19

#define Z_LIMIT_PIN GPIO_NUM_23

2 replies

terjeio Dec 31, 2021
Maintainer

I made a small copy/paste error while preparing the fix. Line 935 should of course be #ifdef Z_LIMIT_PIN.

cltsang Jan 3, 2022
Author

Thanks so much!
I can now move X and Y axis.
Will check why I'm not able to move Z now

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