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
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@ -67,6 +67,9 @@ typedef struct {
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uint32_t steps[N_AXIS];
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uint32_t step_event_count;
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uint8_t direction_bits;
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#ifdef ENABLE_DUAL_AXIS
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uint8_t direction_bits_dual;
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#endif
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#ifdef VARIABLE_SPINDLE
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uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
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#endif
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@ -106,6 +109,10 @@ typedef struct {
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uint8_t step_pulse_time; // Step pulse reset time after step rise
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uint8_t step_outbits; // The next stepping-bits to be output
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uint8_t dir_outbits;
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#ifdef ENABLE_DUAL_AXIS
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uint8_t step_outbits_dual;
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uint8_t dir_outbits_dual;
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#endif
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#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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uint32_t steps[N_AXIS];
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#endif
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@ -125,6 +132,10 @@ static uint8_t segment_next_head;
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// Step and direction port invert masks.
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static uint8_t step_port_invert_mask;
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static uint8_t dir_port_invert_mask;
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#ifdef ENABLE_DUAL_AXIS
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static uint8_t step_port_invert_mask_dual;
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static uint8_t dir_port_invert_mask_dual;
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#endif
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// Used to avoid ISR nesting of the "Stepper Driver Interrupt". Should never occur though.
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static volatile uint8_t busy;
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@ -311,12 +322,21 @@ ISR(TIMER1_COMPA_vect)
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// Set the direction pins a couple of nanoseconds before we step the steppers
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DIRECTION_PORT = (DIRECTION_PORT & ~DIRECTION_MASK) | (st.dir_outbits & DIRECTION_MASK);
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#ifdef ENABLE_DUAL_AXIS
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DIRECTION_PORT_DUAL = (DIRECTION_PORT_DUAL & ~DIRECTION_MASK_DUAL) | (st.dir_outbits_dual & DIRECTION_MASK_DUAL);
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#endif
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// Then pulse the stepping pins
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#ifdef STEP_PULSE_DELAY
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st.step_bits = (STEP_PORT & ~STEP_MASK) | st.step_outbits; // Store out_bits to prevent overwriting.
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#ifdef ENABLE_DUAL_AXIS
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st.step_bits_dual = (STEP_PORT_DUAL & ~STEP_MASK_DUAL) | st.step_outbits_dual;
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#endif
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#else // Normal operation
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STEP_PORT = (STEP_PORT & ~STEP_MASK) | st.step_outbits;
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#ifdef ENABLE_DUAL_AXIS
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STEP_PORT_DUAL = (STEP_PORT_DUAL & ~STEP_MASK_DUAL) | st.step_outbits_dual;
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#endif
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#endif
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// Enable step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
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@ -353,6 +373,9 @@ ISR(TIMER1_COMPA_vect)
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st.counter_x = st.counter_y = st.counter_z = (st.exec_block->step_event_count >> 1);
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}
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st.dir_outbits = st.exec_block->direction_bits ^ dir_port_invert_mask;
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#ifdef ENABLE_DUAL_AXIS
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st.dir_outbits_dual = st.exec_block->direction_bits_dual ^ dir_port_invert_mask_dual;
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#endif
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#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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// With AMASS enabled, adjust Bresenham axis increment counters according to AMASS level.
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@ -384,6 +407,9 @@ ISR(TIMER1_COMPA_vect)
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// Reset step out bits.
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st.step_outbits = 0;
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#ifdef ENABLE_DUAL_AXIS
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st.step_outbits_dual = 0;
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#endif
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// Execute step displacement profile by Bresenham line algorithm
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#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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@ -393,6 +419,9 @@ ISR(TIMER1_COMPA_vect)
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#endif
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if (st.counter_x > st.exec_block->step_event_count) {
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st.step_outbits |= (1<<X_STEP_BIT);
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#if defined(ENABLE_DUAL_AXIS) && (DUAL_AXIS_SELECT == X_AXIS)
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st.step_outbits_dual = (1<<DUAL_STEP_BIT);
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#endif
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st.counter_x -= st.exec_block->step_event_count;
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if (st.exec_block->direction_bits & (1<<X_DIRECTION_BIT)) { sys_position[X_AXIS]--; }
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else { sys_position[X_AXIS]++; }
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@ -404,6 +433,9 @@ ISR(TIMER1_COMPA_vect)
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#endif
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if (st.counter_y > st.exec_block->step_event_count) {
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st.step_outbits |= (1<<Y_STEP_BIT);
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#if defined(ENABLE_DUAL_AXIS) && (DUAL_AXIS_SELECT == Y_AXIS)
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st.step_outbits_dual = (1<<DUAL_STEP_BIT);
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#endif
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st.counter_y -= st.exec_block->step_event_count;
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if (st.exec_block->direction_bits & (1<<Y_DIRECTION_BIT)) { sys_position[Y_AXIS]--; }
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else { sys_position[Y_AXIS]++; }
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@ -421,7 +453,12 @@ ISR(TIMER1_COMPA_vect)
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}
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// During a homing cycle, lock out and prevent desired axes from moving.
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if (sys.state == STATE_HOMING) { st.step_outbits &= sys.homing_axis_lock; }
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if (sys.state == STATE_HOMING) {
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st.step_outbits &= sys.homing_axis_lock;
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#ifdef ENABLE_DUAL_AXIS
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st.step_outbits_dual &= sys.homing_axis_lock_dual;
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#endif
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}
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st.step_count--; // Decrement step events count
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if (st.step_count == 0) {
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@ -431,6 +468,9 @@ ISR(TIMER1_COMPA_vect)
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}
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st.step_outbits ^= step_port_invert_mask; // Apply step port invert mask
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#ifdef ENABLE_DUAL_AXIS
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st.step_outbits_dual ^= step_port_invert_mask_dual;
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#endif
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busy = false;
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}
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@ -450,6 +490,9 @@ ISR(TIMER0_OVF_vect)
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{
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// Reset stepping pins (leave the direction pins)
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STEP_PORT = (STEP_PORT & ~STEP_MASK) | (step_port_invert_mask & STEP_MASK);
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#ifdef ENABLE_DUAL_AXIS
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STEP_PORT_DUAL = (STEP_PORT_DUAL & ~STEP_MASK_DUAL) | (step_port_invert_mask_dual & STEP_MASK_DUAL);
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#endif
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TCCR0B = 0; // Disable Timer0 to prevent re-entering this interrupt when it's not needed.
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}
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#ifdef STEP_PULSE_DELAY
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@ -461,6 +504,9 @@ ISR(TIMER0_OVF_vect)
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ISR(TIMER0_COMPA_vect)
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{
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STEP_PORT = st.step_bits; // Begin step pulse.
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#ifdef ENABLE_DUAL_AXIS
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STEP_PORT_DUAL = st.step_bits_dual;
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#endif
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}
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#endif
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@ -475,6 +521,13 @@ void st_generate_step_dir_invert_masks()
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if (bit_istrue(settings.step_invert_mask,bit(idx))) { step_port_invert_mask |= get_step_pin_mask(idx); }
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if (bit_istrue(settings.dir_invert_mask,bit(idx))) { dir_port_invert_mask |= get_direction_pin_mask(idx); }
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}
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#ifdef ENABLE_DUAL_AXIS
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step_port_invert_mask_dual = 0;
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dir_port_invert_mask_dual = 0;
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// NOTE: Dual axis invert uses the N_AXIS bit to set step and direction invert pins.
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if (bit_istrue(settings.step_invert_mask,bit(N_AXIS))) { step_port_invert_mask_dual = (1<<DUAL_STEP_BIT); }
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if (bit_istrue(settings.dir_invert_mask,bit(N_AXIS))) { dir_port_invert_mask_dual = (1<<DUAL_DIRECTION_BIT); }
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#endif
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}
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@ -500,6 +553,12 @@ void st_reset()
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// Initialize step and direction port pins.
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STEP_PORT = (STEP_PORT & ~STEP_MASK) | step_port_invert_mask;
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DIRECTION_PORT = (DIRECTION_PORT & ~DIRECTION_MASK) | dir_port_invert_mask;
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#ifdef ENABLE_DUAL_AXIS
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st.dir_outbits_dual = dir_port_invert_mask_dual;
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STEP_PORT_DUAL = (STEP_PORT_DUAL & ~STEP_MASK_DUAL) | step_port_invert_mask_dual;
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DIRECTION_PORT_DUAL = (DIRECTION_PORT_DUAL & ~DIRECTION_MASK_DUAL) | dir_port_invert_mask_dual;
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#endif
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}
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@ -510,6 +569,11 @@ void stepper_init()
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STEP_DDR |= STEP_MASK;
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STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
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DIRECTION_DDR |= DIRECTION_MASK;
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#ifdef ENABLE_DUAL_AXIS
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STEP_DDR_DUAL |= STEP_MASK_DUAL;
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DIRECTION_DDR_DUAL |= DIRECTION_MASK_DUAL;
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#endif
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// Configure Timer 1: Stepper Driver Interrupt
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TCCR1B &= ~(1<<WGM13); // waveform generation = 0100 = CTC
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@ -636,6 +700,15 @@ void st_prep_buffer()
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// segment buffer finishes the prepped block, but the stepper ISR is still executing it.
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st_prep_block = &st_block_buffer[prep.st_block_index];
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st_prep_block->direction_bits = pl_block->direction_bits;
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#ifdef ENABLE_DUAL_AXIS
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#if (DUAL_AXIS_SELECT == X_AXIS)
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if (st_prep_block->direction_bits & (1<<X_DIRECTION_BIT)) {
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#elif (DUAL_AXIS_SELECT == Y_AXIS)
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if (st_prep_block->direction_bits & (1<<Y_DIRECTION_BIT)) {
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#endif
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st_prep_block->direction_bits_dual = (1<<DUAL_DIRECTION_BIT);
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} else { st_prep_block->direction_bits_dual = 0; }
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#endif
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uint8_t idx;
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#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
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for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = (pl_block->steps[idx] << 1); }
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