Dual motor support for self-squaring gantry homing.
- New dual motor support feature for gantry CNC machines. An axis motor is efficiently mirrored to a dedicated set of step and direction pins (D12/D13 or A3/A4) with no detectable loss of performance. Primarily used to independently home both sides of a dual-motor gantry with a pair of limit switches (second shared with Z-axis limit pin). When the limit switches are setup correctly, Grbl will self-square the gantry (and stay square if $1=255 is programmed). Beware use at your own risk! Grbl is not responsible for any damage to any machines. - Dual axis motors is only supported on the X-axis or Y-axis. And deletes the spindle direction(D13) and optional coolant mist (A4) features to make room for the dual motor step and direction pins. - Dual axis homing will automatically abort homing if one limit switch triggers and travels more than 5% (default) of the non-dual axis max travel setting. For example, if the X-axis has dual motors and one X-axis triggers during homing, Grbl will abort 5% of the Y-axis max travel and the other X-axis limit fails to trigger. This will help keep any misconfigurations or failed limit switches from damaging the machine, but not completely eliminate this risk. Please take all precautions and test thouroughly before using this. - Dual axis motors supports two configurations: - Support for Arduino CNC shield clones. For these, step/dir on pins D12/D13, and spindle enable is moved to A3 (old coolant enable), while coolant enable is moved to A4 (SDA pin). Variable spindle/laser mode option is NOT supported for this shield. - Support for Protoneer CNC Shield v3.51. Step/dir on pins A3/A4, and coolant enable is moved to D13 (old spindle direction pin). Variable spindle/laser mode option IS supported for this shield. - Added Bob's CNC E3 and E4 CNC machine defaults.
This commit is contained in:
Sonny Jeon
parent
bb25d2f97e
commit
b75e5571ee
13 changed files with 578 additions and 104 deletions
204
grbl/cpu_map.h
204
grbl/cpu_map.h
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@ -67,39 +67,13 @@
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#else
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#define Z_LIMIT_BIT 3 // Uno Digital Pin 11
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#endif
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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#if !defined(ENABLE_DUAL_AXIS)
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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#endif
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#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
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#define LIMIT_INT_vect PCINT0_vect
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#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
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// Define spindle enable and spindle direction output pins.
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#define SPINDLE_ENABLE_DDR DDRB
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#define SPINDLE_ENABLE_PORT PORTB
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// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
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#ifdef VARIABLE_SPINDLE
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
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#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
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#else
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#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
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#endif
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#else
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#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
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#endif
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#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
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#define SPINDLE_DIRECTION_DDR DDRB
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#define SPINDLE_DIRECTION_PORT PORTB
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#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
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#endif
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// Define flood and mist coolant enable output pins.
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#define COOLANT_FLOOD_DDR DDRC
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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// Define user-control controls (cycle start, reset, feed hold) input pins.
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// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
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#define CONTROL_DDR DDRC
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@ -122,30 +96,156 @@
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#define PROBE_BIT 5 // Uno Analog Pin 5
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#define PROBE_MASK (1<<PROBE_BIT)
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// Variable spindle configuration below. Do not change unless you know what you are doing.
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// NOTE: Only used when variable spindle is enabled.
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#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#if !defined(ENABLE_DUAL_AXIS)
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// Define flood and mist coolant enable output pins.
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#define COOLANT_FLOOD_DDR DDRC
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 4 // Uno Analog Pin 4
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// Define spindle enable and spindle direction output pins.
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#define SPINDLE_ENABLE_DDR DDRB
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#define SPINDLE_ENABLE_PORT PORTB
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// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
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#ifdef VARIABLE_SPINDLE
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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// If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
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#define SPINDLE_ENABLE_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
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#else
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#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
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#endif
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#else
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#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
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#endif
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#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
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#define SPINDLE_DIRECTION_DDR DDRB
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#define SPINDLE_DIRECTION_PORT PORTB
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#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
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#endif
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// Variable spindle configuration below. Do not change unless you know what you are doing.
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// NOTE: Only used when variable spindle is enabled.
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#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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// Prescaled, 8-bit Fast PWM mode.
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#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
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// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
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#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
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// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
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#define SPINDLE_PWM_DDR DDRB
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#define SPINDLE_PWM_PORT PORTB
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#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
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#else
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// Dual axis feature requires an independent step pulse pin to operate. The independent direction pin is not
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// absolutely necessary but facilitates easy direction inverting with a Grbl $$ setting. These pins replace
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// the spindle direction and optional coolant mist pins.
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#ifdef DUAL_AXIS_CONFIG_PROTONEER_V3_51
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// NOTE: Step pulse and direction pins may be on any port and output pin.
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#define STEP_DDR_DUAL DDRC
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#define STEP_PORT_DUAL PORTC
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#define DUAL_STEP_BIT 4 // Uno Analog Pin 4
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#define STEP_MASK_DUAL ((1<<DUAL_STEP_BIT))
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#define DIRECTION_DDR_DUAL DDRC
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#define DIRECTION_PORT_DUAL PORTC
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#define DUAL_DIRECTION_BIT 3 // Uno Analog Pin 3
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#define DIRECTION_MASK_DUAL ((1<<DUAL_DIRECTION_BIT))
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// NOTE: Dual axis limit is shared with the z-axis limit pin by default. Pin used must be on the same port
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// as other limit pins.
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#define DUAL_LIMIT_BIT Z_LIMIT_BIT
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<DUAL_LIMIT_BIT))
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// Define coolant enable output pins.
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// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
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#define COOLANT_FLOOD_DDR DDRB
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#define COOLANT_FLOOD_PORT PORTB
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#define COOLANT_FLOOD_BIT 5 // Uno Digital Pin 13
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// Define spindle enable output pin.
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// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
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#define SPINDLE_ENABLE_DDR DDRB
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#define SPINDLE_ENABLE_PORT PORTB
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#ifdef VARIABLE_SPINDLE
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// NOTE: USE_SPINDLE_DIR_AS_ENABLE_PIN not supported with dual axis feature.
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#define SPINDLE_ENABLE_BIT 3 // Uno Digital Pin 11
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#else
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#define SPINDLE_ENABLE_BIT 4 // Uno Digital Pin 12
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#endif
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// Variable spindle configuration below. Do not change unless you know what you are doing.
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// NOTE: Only used when variable spindle is enabled.
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#define SPINDLE_PWM_MAX_VALUE 255 // Don't change. 328p fast PWM mode fixes top value as 255.
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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// Prescaled, 8-bit Fast PWM mode.
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#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
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// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
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#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
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// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
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#define SPINDLE_PWM_DDR DDRB
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#define SPINDLE_PWM_PORT PORTB
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#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
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#endif
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// NOTE: Variable spindle not supported with this shield.
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#ifdef DUAL_AXIS_CONFIG_CNC_SHIELD_CLONE
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// NOTE: Step pulse and direction pins may be on any port and output pin.
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#define STEP_DDR_DUAL DDRB
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#define STEP_PORT_DUAL PORTB
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#define DUAL_STEP_BIT 4 // Uno Digital Pin 12
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#define STEP_MASK_DUAL ((1<<DUAL_STEP_BIT))
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#define DIRECTION_DDR_DUAL DDRB
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#define DIRECTION_PORT_DUAL PORTB
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#define DUAL_DIRECTION_BIT 5 // Uno Digital Pin 13
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#define DIRECTION_MASK_DUAL ((1<<DUAL_DIRECTION_BIT))
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// NOTE: Dual axis limit is shared with the z-axis limit pin by default.
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#define DUAL_LIMIT_BIT Z_LIMIT_BIT
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)|(1<<DUAL_LIMIT_BIT))
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// Define coolant enable output pins.
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// NOTE: Coolant flood moved from A3 to A4. Coolant mist not supported with dual axis feature on Arduino Uno.
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#define COOLANT_FLOOD_DDR DDRC
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 4 // Uno Analog Pin 4
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// Define spindle enable output pin.
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// NOTE: Spindle enable moved from D12 to A3 (old coolant flood enable pin). Spindle direction pin is removed.
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#define SPINDLE_ENABLE_DDR DDRC
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#define SPINDLE_ENABLE_PORT PORTC
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#define SPINDLE_ENABLE_BIT 3 // Uno Analog Pin 3
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#endif
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#endif
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_TCCRA_REGISTER TCCR2A
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#define SPINDLE_TCCRB_REGISTER TCCR2B
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#define SPINDLE_OCR_REGISTER OCR2A
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#define SPINDLE_COMB_BIT COM2A1
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// Prescaled, 8-bit Fast PWM mode.
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#define SPINDLE_TCCRA_INIT_MASK ((1<<WGM20) | (1<<WGM21)) // Configures fast PWM mode.
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS20) // Disable prescaler -> 62.5kHz
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// #define SPINDLE_TCCRB_INIT_MASK (1<<CS21) // 1/8 prescaler -> 7.8kHz (Used in v0.9)
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// #define SPINDLE_TCCRB_INIT_MASK ((1<<CS21) | (1<<CS20)) // 1/32 prescaler -> 1.96kHz
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#define SPINDLE_TCCRB_INIT_MASK (1<<CS22) // 1/64 prescaler -> 0.98kHz (J-tech laser)
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// NOTE: On the 328p, these must be the same as the SPINDLE_ENABLE settings.
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#define SPINDLE_PWM_DDR DDRB
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#define SPINDLE_PWM_PORT PORTB
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#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
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#endif
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