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Reverted MKS DLC32 SD card SPI pins assignment, ref. issue #88.
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Fixed I2S stepping issues, added dir > step delay with 4 microseconds minimum delay. Ref. issue #87.
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@terjeio
terjeio committed Dec 17, 2023
1 parent 01a1824 commit 6cbb787
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Showing 7 changed files with 134 additions and 119 deletions.
132 changes: 90 additions & 42 deletions main/driver.c
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Original file line number Diff line number Diff line change
Expand Up @@ -242,68 +242,95 @@ static input_signal_t inputpin[] = {
};

static output_signal_t outputpin[] = {
{ .id = Output_StepX, .pin = X_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepY, .pin = Y_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepX, .pin = X_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepY, .pin = Y_STEP_PIN, .group = PinGroup_StepperStep },
#ifdef Z_STEP_PIN
{ .id = Output_StepZ, .pin = Z_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepZ, .pin = Z_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef A_STEP_PIN
{ .id = Output_StepA, .pin = A_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepA, .pin = A_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef B_STEP_PIN
{ .id = Output_StepB, .pin = B_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepB, .pin = B_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef C_STEP_PIN
{ .id = Output_StepC, .pin = C_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepC, .pin = C_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef X2_STEP_PIN
{ .id = Output_StepX_2, .pin = X2_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepX_2, .pin = X2_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef Y2_STEP_PIN
{ .id = Output_StepY_2, .pin = Y2_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepY_2, .pin = Y2_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#ifdef Z2_STEP_PIN
{ .id = Output_StepZ_2, .pin = Z2_STEP_PIN, .group = PinGroup_StepperStep },
{ .id = Output_StepZ_2, .pin = Z2_STEP_PIN, .group = PinGroup_StepperStep },
#endif
#if defined(STEPPERS_ENABLE_PIN) && STEPPERS_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnable, .pin = STEPPERS_ENABLE_PIN, .group = PinGroup_StepperEnable },
{ .id = Output_StepperEnable, .pin = STEPPERS_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableX, .pin = X_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableY, .pin = Y_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableZ, .pin = Z_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(A_ENABLE_PIN) && A_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableA, .pin = A_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(B_ENABLE_PIN) && B_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableB, .pin = B_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(C_ENABLE_PIN) && C_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableC, .pin = C_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableX, .pin = X2_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(Y2_ENABLE_PIN) && Y2_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableY, .pin = Y2_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if defined(Z2_ENABLE_PIN) && Z2_ENABLE_PIN != IOEXPAND
{ .id = Output_StepperEnableZ, .pin = Z2_ENABLE_PIN, .group = PinGroup_StepperEnable },
#endif
#if DRIVER_SPINDLE_ENABLE
#if defined(SPINDLE_ENABLE_PIN) && SPINDLE_ENABLE_PIN != IOEXPAND
{ .id = Output_SpindleOn, .pin = SPINDLE_ENABLE_PIN, .group = PinGroup_SpindleControl },
{ .id = Output_SpindleOn, .pin = SPINDLE_ENABLE_PIN, .group = PinGroup_SpindleControl },
#endif
#if defined(SPINDLE_DIRECTION_PIN) && SPINDLE_DIRECTION_PIN != IOEXPAND
{ .id = Output_SpindleDir, .pin = SPINDLE_DIRECTION_PIN, .group = PinGroup_SpindleControl },
{ .id = Output_SpindleDir, .pin = SPINDLE_DIRECTION_PIN, .group = PinGroup_SpindleControl },
#endif
#endif // DRIVER_SPINDLE_ENABLE
#if defined(COOLANT_FLOOD_PIN) && COOLANT_FLOOD_PIN != IOEXPAND
{ .id = Output_CoolantFlood, .pin = COOLANT_FLOOD_PIN, .group = PinGroup_Coolant },
{ .id = Output_CoolantFlood, .pin = COOLANT_FLOOD_PIN, .group = PinGroup_Coolant },
#endif
#if defined(COOLANT_MIST_PIN) && COOLANT_MIST_PIN != IOEXPAND
{ .id = Output_CoolantMist, .pin = COOLANT_MIST_PIN, .group = PinGroup_Coolant },
{ .id = Output_CoolantMist, .pin = COOLANT_MIST_PIN, .group = PinGroup_Coolant },
#endif
{ .id = Output_DirX, .pin = X_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirY, .pin = Y_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirX, .pin = X_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirY, .pin = Y_DIRECTION_PIN, .group = PinGroup_StepperDir },
#ifdef Z_DIRECTION_PIN
{ .id = Output_DirZ, .pin = Z_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirZ, .pin = Z_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef A_AXIS
{ .id = Output_DirA, .pin = A_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirA, .pin = A_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef B_AXIS
{ .id = Output_DirB, .pin = B_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirB, .pin = B_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef C_AXIS
{ .id = Output_DirC, .pin = C_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirC, .pin = C_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef X2_DIRECTION_PIN
{ .id = Output_DirX_2, .pin = X2_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirX_2, .pin = X2_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef Y2_DIRECTION_PIN
{ .id = Output_DirY_2, .pin = Y2_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirY_2, .pin = Y2_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef Z2_DIRECTION_PIN
{ .id = Output_DirZ_2, .pin = Z2_DIRECTION_PIN, .group = PinGroup_StepperDir },
{ .id = Output_DirZ_2, .pin = Z2_DIRECTION_PIN, .group = PinGroup_StepperDir },
#endif
#ifdef MOTOR_CS_PIN
{ .id = Output_MotorChipSelect, .pin = MOTOR_CS_PIN, .group = PinGroup_MotorChipSelect },
Expand All @@ -330,31 +357,31 @@ static output_signal_t outputpin[] = {
{ .id = Output_SdCardCS, .pin = PIN_NUM_CS, .group = PinGroup_SdCard },
#endif
#ifdef MODBUS_DIRECTION_PIN
{ .id = Output_Aux0, .pin = MODBUS_DIRECTION_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux0, .pin = MODBUS_DIRECTION_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT0_PIN
{ .id = Output_Aux0, .pin = AUXOUTPUT0_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux0, .pin = AUXOUTPUT0_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT1_PIN
{ .id = Output_Aux1, .pin = AUXOUTPUT1_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux1, .pin = AUXOUTPUT1_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT2_PIN
{ .id = Output_Aux2, .pin = AUXOUTPUT2_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux2, .pin = AUXOUTPUT2_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT3_PIN
{ .id = Output_Aux3, .pin = AUXOUTPUT3_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux3, .pin = AUXOUTPUT3_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT4_PIN
{ .id = Output_Aux4, .pin = AUXOUTPUT4_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux4, .pin = AUXOUTPUT4_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT5_PIN
{ .id = Output_Aux5, .pin = AUXOUTPUT5_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux5, .pin = AUXOUTPUT5_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT6_PIN
{ .id = Output_Aux3, .pin = AUXOUTPUT6_PIN, .group = PinGroup_AuxOutput },
{ .id = Output_Aux3, .pin = AUXOUTPUT6_PIN, .group = PinGroup_AuxOutput },
#endif
#ifdef AUXOUTPUT7_PIN
{ .id = Output_Aux7, .pin = AUXOUTPUT7_PIN, .group = PinGroup_AuxOutput }
{ .id = Output_Aux7, .pin = AUXOUTPUT7_PIN, .group = PinGroup_AuxOutput }
#endif
};

Expand All @@ -372,7 +399,7 @@ static axes_signals_t motors_1 = {AXES_BITMASK}, motors_2 = {AXES_BITMASK};

#if USE_I2S_OUT
static bool goIdlePending = false;
static uint32_t i2s_step_length = I2S_OUT_USEC_PER_PULSE, i2s_step_samples = 1;
static uint32_t i2s_step_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_length = I2S_OUT_USEC_PER_PULSE, i2s_delay_samples = 1, i2s_step_samples = 1;
static bool laser_mode = false;
#if DRIVER_SPINDLE_ENABLE
static on_spindle_selected_ptr on_spindle_selected;
Expand Down Expand Up @@ -760,14 +787,16 @@ inline IRAM_ATTR static void set_dir_outputs (axes_signals_t dir_outbits)

IRAM_ATTR static void I2S_stepperCyclesPerTick (uint32_t cycles_per_tick)
{
i2s_out_set_pulse_period(cycles_per_tick < (1UL << 18) ? cycles_per_tick : (1UL << 18) - 1UL);
i2s_out_set_pulse_period((cycles_per_tick < (1UL << 18) ? cycles_per_tick : (1UL << 18) - 1UL) / (hal.f_step_timer / 1000000));
}

// Sets stepper direction and pulse pins and starts a step pulse
IRAM_ATTR static void I2S_stepperPulseStart (stepper_t *stepper)
{
if(stepper->dir_change)
if(stepper->dir_change) {
set_dir_outputs(stepper->dir_outbits);
i2s_out_push_sample(i2s_delay_samples);
}

if(stepper->step_outbits.value) {
i2s_set_step_outputs(stepper->step_outbits);
Expand Down Expand Up @@ -1217,14 +1246,21 @@ static axes_signals_t getGangedAxes (bool auto_squared)
// Sets stepper direction and pulse pins and starts a step pulse
IRAM_ATTR static void stepperPulseStart (stepper_t *stepper)
{
if(stepper->dir_change)
if(stepper->dir_change) {
set_dir_outputs(stepper->dir_outbits);
#if USE_I2S_OUT
uint64_t start_time = esp_timer_get_time();
while (esp_timer_get_time() - start_time < i2s_delay_length) {
__asm__ __volatile__ ("nop"); // spin here until time to output step
}
#endif
}

if(stepper->step_outbits.value) {
#if USE_I2S_OUT
uint64_t step_pulse_start_time = esp_timer_get_time();
uint64_t start_time = esp_timer_get_time();
i2s_set_step_outputs(stepper->step_outbits);
while (esp_timer_get_time() - step_pulse_start_time < i2s_step_length) {
while (esp_timer_get_time() - start_time < i2s_step_length) {
__asm__ __volatile__ ("nop"); // spin here until time to turn off step
}
i2s_set_step_outputs((axes_signals_t){0});
Expand Down Expand Up @@ -1300,7 +1336,7 @@ static void i2s_set_streaming_mode (bool stream)
hal.stepper.pulse_start = I2S_stepperPulseStart;
i2s_out_set_pulse_callback(hal.stepper.interrupt_callback);
}
} else if(hal.stepper.wake_up != stepperWakeUp ){
} else if(hal.stepper.wake_up != stepperWakeUp) {
hal.stepper.wake_up = stepperWakeUp;
hal.stepper.go_idle = stepperGoIdle;
hal.stepper.cycles_per_tick = stepperCyclesPerTick;
Expand Down Expand Up @@ -1897,9 +1933,20 @@ static void settings_changed (settings_t *settings, settings_changed_flags_t cha
*********************/

#if USE_I2S_OUT
i2s_step_length = (uint32_t)(settings->steppers.pulse_microseconds);
i2s_delay_length = (uint32_t)settings->steppers.pulse_delay_microseconds;
i2s_step_length = (uint32_t)settings->steppers.pulse_microseconds;

if(i2s_delay_length < I2S_OUT_USEC_PER_PULSE)
i2s_delay_length = I2S_OUT_USEC_PER_PULSE;
else if(i2s_delay_length > 10)
i2s_delay_length = 10;

if(i2s_step_length < I2S_OUT_USEC_PER_PULSE)
i2s_step_length = I2S_OUT_USEC_PER_PULSE;
else if(i2s_step_length > 20)
i2s_step_length = 20;

i2s_delay_samples = i2s_delay_length / I2S_OUT_USEC_PER_PULSE; // round up?
i2s_step_samples = i2s_step_length / I2S_OUT_USEC_PER_PULSE; // round up?
#else
initRMT(settings);
Expand Down Expand Up @@ -2083,7 +2130,8 @@ static void enumeratePins (bool low_level, pin_info_ptr pin_info, void *data)
pin.mode.output = On;

for(i = 0; i < sizeof(outputpin) / sizeof(output_signal_t); i++) {
pin.pin = outputpin[i].pin;
pin.pin = outputpin[i].pin - (outputpin[i].pin < I2S_OUT_PIN_BASE ? 0 : I2S_OUT_PIN_BASE);
pin.port = low_level || outputpin[i].pin < I2S_OUT_PIN_BASE ? NULL : "I2S";
pin.function = outputpin[i].id;
pin.group = outputpin[i].group;
pin.description = outputpin[i].description;
Expand Down Expand Up @@ -2459,7 +2507,7 @@ bool driver_init (void)
#else
hal.info = "ESP32";
#endif
hal.driver_version = "231208";
hal.driver_version = "231217";
hal.driver_url = GRBL_URL "/ESP32";
#ifdef BOARD_NAME
hal.board = BOARD_NAME;
Expand Down
7 changes: 6 additions & 1 deletion main/driver.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,12 @@
#error "Cannot use static IP for station when soft AP is enabled!"
#endif

static const DRAM_ATTR float FZERO = 0.0f;
#ifndef GRBLHAL_TASK_PRIORITY
#define GRBLHAL_TASK_PRIORITY 5
#endif
#ifndef GRBLHAL_TASK_CORE
#define GRBLHAL_TASK_CORE 1
#endif

#define PROBE_ISR 0 // Catch probe state change by interrupt TODO: needs verification!

Expand Down
32 changes: 0 additions & 32 deletions main/i2s.h
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