kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
Small improvements; Updated docs
Signed-off-by: Patrick Felixberger <robomaniac8@googlemail.com>software
Patrick Felixberger
rodzic
c6916ceb0b
commit
48b6766dde
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@ -1,5 +1,11 @@
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bin/*
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obj/*
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build/*
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*.depend
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*.layout
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grbl-master
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*.hex
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*.bin
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*.elf
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*.lst
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*.map
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@ -12,7 +12,7 @@
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* D12: Z_LIMIT_BIT: PA6
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* D13: SPINDLE_DIRECTION_BIT: PA5
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* D14: SPINDLE_ENABLE_BIT: PB7
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* D15: SAFETY_DOOR_ENABLE_BIT: PB8
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* D15: SAFETY_DOOR_ENABLE_BIT: PC2
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*
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* A0: CONTROL_RESET_BIT: PA0
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* A1: CONTROL_FEED_HOLD_BIT: PA1
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@ -195,6 +195,7 @@ static void GPIO_InitSystem(void)
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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// Safety door
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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}
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@ -67,8 +67,8 @@
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#define GPIO_SPINDLE_ENA_PIN GPIO_Pin_7
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// Safety door
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#define GPIO_DOOR_PORT GPIOB
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#define GPIO_DOOR_PIN GPIO_Pin_8
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#define GPIO_DOOR_PORT GPIOC
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#define GPIO_DOOR_PIN GPIO_Pin_2
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// Control pins
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#define GPIO_CTRL_RST_PORT GPIOA
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@ -281,7 +281,7 @@ void SysTick_Handler(void)
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MC_UpdateSyncMove();
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}
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if(gMillis%25 == 0)
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if(gMillis%32 == 0)
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{
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// 25ms Task (min 7 RPM)
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uint16_t cnt = (uint16_t)Encoder_GetValue();
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@ -299,7 +299,7 @@ void SysTick_Handler(void)
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}
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// Calculate RPM and smooth it
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float rpm = ((cnt_diff * 40.0) / PULSES_PER_REV) * 60.0;
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float rpm = ((cnt_diff * 31.25) / PULSES_PER_REV) * 60.0;
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rpm_arr[rpm_idx++] = (uint32_t)rpm;
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if(rpm_idx > (RPM_FILTER_NUM-1))
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{
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24
Makefile
24
Makefile
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@ -32,11 +32,22 @@ SOURCES := ./ ARM/cmsis/ grbl/ HAL/ HAL/EXTI HAL/FLASH HAL/GPIO HAL/I2C HAL/SPI
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INCLUDES := $(SOURCES) ARM/SPL/inc
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LD_FILE = stm32f411re_flash.ld
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DEFINES = -DSTM32F411xE -DSTM32F411RE
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#LD_FILE = stm32f446re_flash.ld
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#DEFINES = -DSTM32F446xx -DSTM32F446RE
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# STM32 F446
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ifeq ($(target),F446)
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LD_FILE = stm32f446re_flash.ld
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DEFINES = -DSTM32F446xx -DSTM32F446RE
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TARGET_STR = "STM32 F446"
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# STM32 F411
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else ifeq ($(target),F411)
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LD_FILE = stm32f411re_flash.ld
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DEFINES = -DSTM32F411xE -DSTM32F411RE
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TARGET_STR = "STM32 F411"
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else
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# Default Target
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LD_FILE = stm32f446re_flash.ld
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DEFINES = -DSTM32F446xx -DSTM32F446RE
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TARGET_STR = "STM32 F446"
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endif
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#---------------------------------------------------------------------------------
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# options for code generation
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@ -110,8 +121,9 @@ export OUTPUT := $(CURDIR)/$(TARGET)
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#---------------------------------------------------------------------------------
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all:
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@echo "Building "$(TARGET_STR)"..."
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@[ -d $(BUILD) ] || mkdir -p $(BUILD)
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@make --no-print-directory -C $(BUILD) $(OUTPUT).elf $(OUTPUT).bin $(OUTPUT).hex $(OUTPUT).lst -f $(CURDIR)/Makefile -j3
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@make --no-print-directory -C $(BUILD) $(OUTPUT).elf $(OUTPUT).bin $(OUTPUT).hex $(OUTPUT).lst -f $(CURDIR)/Makefile -j4
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@$(SIZE) $(OUTPUT).elf
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#---------------------------------------------------------------------------------
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@ -98,7 +98,12 @@ sudo apt install build-essential stlink-tools
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* Clone repository and run following commands:
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```
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make clean
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make all flash
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# Choose a target
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make target=F446
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make target=F411
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make flash
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```
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***
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@ -28,7 +28,7 @@
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#define CONFIG_H
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#define GRBL_VERSION "1.1i"
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#define GRBL_VERSION "1.1j"
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#define GRBL_VERSION_BUILD __DATE__
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@ -4,7 +4,7 @@
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2018-2020 Patrick F.
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Copyright (c) 2018-2024 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -4,7 +4,7 @@
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2017-2020 Patrick F.
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Copyright (c) 2017-2024 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -48,15 +48,15 @@ static uint8_t dir_negative[N_AXIS] = {DIR_NEGATIV};
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static uint8_t backlash_enable = 0;
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// Sync move
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int32_t pos_z = 0;
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static int32_t pos_z = 0;
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static volatile uint8_t wait_spindle = 0;
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static uint8_t start_sync = 0;
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static uint16_t enc_cnt_prev = 0;
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static uint32_t EncValue = 0;
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static float sync_pitch = 0.0;
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float in = 0.0, out = 0.0, set = 0.0;
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PID_t pid;
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static float in = 0.0, out = 0.0, set = 0.0;
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static PID_t pid;
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void MC_Init(void)
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@ -78,7 +78,7 @@ void MC_Init(void)
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}
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PID_Create(&pid, &in, &out, &set, 1.8, 22, 0.08);
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PID_Limits(&pid, -0.4, 0.4);
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PID_Limits(&pid, -0.7, 0.7);
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PID_EnableAuto(&pid);
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pos_z = 0;
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@ -262,18 +262,7 @@ void MC_LineSync(float *target, Planner_LineData_t *pl_data, float pitch)
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sync_pitch = pitch;
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if(pitch < 1.1)
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{
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PID_Tune(&pid, 1.8, 22, 0.08);
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}
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else if(pitch < 1.6)
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{
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PID_Tune(&pid, 1.6, 18, 0.06);
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}
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else
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{
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PID_Tune(&pid, 1.4, 15, 0.04);
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}
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PID_Tune(&pid, 20, 130.0, 0.0);
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// Disable feed override
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sys.f_override = DEFAULT_FEED_OVERRIDE;
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@ -395,9 +384,6 @@ void MC_UpdateSyncMove(void)
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// Apply
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Stepper_Ovr(out);
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/*Printf("err %d\r\n", (int)(1000*in));
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Printf_Flush();*/
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}
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}
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}
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@ -56,12 +56,13 @@
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// Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
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// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
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// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
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// and timer accuracy. Do not alter these settings unless you know what you are doing.
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#define MAX_AMASS_LEVEL 3
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// and timer accuracy. Do not alter these settings unless you know what you are doing.
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#define MAX_AMASS_LEVEL 4
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// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
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#define AMASS_LEVEL1 (uint32_t)(F_TIMER_STEPPER/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
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#define AMASS_LEVEL2 (uint32_t)(F_TIMER_STEPPER/4000) // Over-drives ISR (x4)
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#define AMASS_LEVEL3 (uint32_t)(F_TIMER_STEPPER/2000) // Over-drives ISR (x8)
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#define AMASS_LEVEL1 (uint32_t)(F_TIMER_STEPPER / 8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
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#define AMASS_LEVEL2 (uint32_t)(F_TIMER_STEPPER / 4000) // Over-drives ISR (x4)
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#define AMASS_LEVEL3 (uint32_t)(F_TIMER_STEPPER / 2000) // Over-drives ISR (x8)
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#define AMASS_LEVEL4 (uint32_t)(F_TIMER_STEPPER / 1000) // Over-drives ISR (x16)
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#if MAX_AMASS_LEVEL <= 0
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error "AMASS must have 1 or more levels to operate correctly."
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@ -71,6 +72,7 @@
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#define STEP_TIMER_MIN (uint16_t)(F_TIMER_STEPPER / MAX_STEP_RATE_HZ)
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#else
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#define STEP_TIMER_MIN (uint16_t)((F_TIMER_STEPPER / 120000))
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#pragma message("Max stepper rate: 120KHz")
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#endif
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#define G96_UPDATE_CNT 20
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@ -1363,10 +1365,14 @@ void Stepper_PrepareBuffer(void)
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{
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prep_segment->amass_level = 2;
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}
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else
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else if (cycles < AMASS_LEVEL4)
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{
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prep_segment->amass_level = 3;
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}
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else
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{
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prep_segment->amass_level = 4;
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}
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cycles >>= prep_segment->amass_level;
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prep_segment->n_step <<= prep_segment->amass_level;
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2
main.c
2
main.c
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@ -4,7 +4,7 @@
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Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2018-2020 Patrick F.
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Copyright (c) 2018-2024 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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