Merge pull request #318 from bdring/Devt

Devt

FluidNC/src/Configuration/ParserHandler.h

@@ -52,7 +52,7 @@ namespace Configuration {
 #endif
                     if (_parser.token_.indent_ > thisIndent) {
                         log_error("Skipping key " << _parser.key().str() << " indent " << _parser.token_.indent_ << " thisIndent "
-                                                 << thisIndent);
+                                                  << thisIndent);
                     } else {
 #ifdef DEBUG_VERBOSE_YAML_PARSER
                         log_debug("Parsing key " << _parser.key().str());
@@ -102,6 +102,7 @@ namespace Configuration {
         void item(const char* name, int32_t& value, int32_t minValue, int32_t maxValue) override {
             if (_parser.is(name)) {
                 value = _parser.intValue();
+                constrain_with_message(value, minValue, maxValue);
             }
         }
 
@@ -120,6 +121,7 @@ namespace Configuration {
         void item(const char* name, float& value, float minValue, float maxValue) override {
             if (_parser.is(name)) {
                 value = _parser.floatValue();
+                constrain_with_message(value, minValue, maxValue);
             }
         }
 

FluidNC/src/Kinematics/CoreXY.cpp

@@ -154,7 +154,7 @@ namespace Kinematics {
         }
 
         if (cycle_mask != 0) {
-            if (bitnum_is_true(cycle_mask, X_AXIS) || bitnum_is_true(cycle_mask, X_AXIS)) {
+            if (bitnum_is_true(cycle_mask, X_AXIS) || bitnum_is_true(cycle_mask, Y_AXIS)) {
                 log_error("CoreXY cannot single axis home X or Y axes");
                 // TODO: Set some Kinematics error or alarm
                 return true;

FluidNC/src/Machine/Axes.cpp

@@ -29,6 +29,12 @@ namespace Machine {
             _sharedStepperDisable.report("Shared stepper disable");
         }
 
+        if (_sharedStepperReset.defined()) {
+            _sharedStepperReset.setAttr(Pin::Attr::Output | Pin::Attr::InitialOn);
+            _sharedStepperReset.on();
+            _sharedStepperReset.report("Shared stepper reset");
+        }
+
         unlock_all_motors();
 
         // certain motors need features to be turned on. Check them here
@@ -189,6 +195,7 @@ namespace Machine {
 
     void Axes::group(Configuration::HandlerBase& handler) {
         handler.item("shared_stepper_disable_pin", _sharedStepperDisable);
+        handler.item("shared_stepper_reset_pin", _sharedStepperReset);
 
         // Handle axis names xyzabc.  handler.section is inferred
         // from a template.

FluidNC/src/Machine/Axes.h

@@ -34,6 +34,7 @@ namespace Machine {
         inline char axisName(int index) { return index < MAX_N_AXIS ? _names[index] : '?'; }  // returns axis letter
 
         Pin _sharedStepperDisable;
+        Pin _sharedStepperReset;
 
         int   _numberAxis = 0;
         Axis* _axis[MAX_N_AXIS];

FluidNC/src/Main.cpp

@@ -122,8 +122,9 @@ void setup() {
         sys.state = State::ConfigAlarm;
     }
 
-    WebUI::wifi_config.begin();
-    WebUI::bt_config.begin();
+    if (!WebUI::wifi_config.begin()) {
+        WebUI::bt_config.begin();
+    }
     WebUI::inputBuffer.begin();
     allChannels.deregistration(&startupLog);
 }

FluidNC/src/Motors/RcServo.cpp

@@ -32,9 +32,6 @@ namespace MotorDrivers {
     // RcServo::RcServo(Pin pwm_pin) : Servo(), _pwm_pin(pwm_pin) {}
 
     void RcServo::init() {
-        constrain_with_message(_pwm_freq, SERVO_PWM_FREQ_MIN, SERVO_PWM_FREQ_MAX);
-        constrain_with_message(_min_pulse_us, SERVO_PULSE_US_MIN, SERVO_PULSE_US_MAX);
-        constrain_with_message(_max_pulse_us, SERVO_PULSE_US_MIN, SERVO_PULSE_US_MAX);
         if (_output_pin.undefined()) {
             log_warn("    RC Servo disabled: No output pin");
             _has_errors = true;

FluidNC/src/Motors/RcServo.h

@@ -45,9 +45,9 @@ namespace MotorDrivers {
         // Configuration handlers:
         void group(Configuration::HandlerBase& handler) override {
             handler.item("output_pin", _output_pin);
-            handler.item("pwm_hz", _pwm_freq);
-            handler.item("min_pulse_us", _min_pulse_us);
-            handler.item("max_pulse_us", _max_pulse_us);
+            handler.item("pwm_hz", _pwm_freq, SERVO_PWM_FREQ_MIN, SERVO_PWM_FREQ_MAX);
+            handler.item("min_pulse_us", _min_pulse_us, SERVO_PULSE_US_MIN, SERVO_PULSE_US_MAX);
+            handler.item("max_pulse_us", _max_pulse_us, SERVO_PULSE_US_MIN, SERVO_PULSE_US_MAX);
         }
 
         // Name of the configurable. Must match the name registered in the cpp file.

FluidNC/src/Motors/Solenoid.cpp

@@ -48,12 +48,6 @@
 namespace MotorDrivers {
 
     void Solenoid::init() {
-        constrain_with_message(_pwm_freq, (uint32_t)1000, (uint32_t)10000);
-        constrain_with_message(_off_percent, 0.0f, 100.0f);
-        constrain_with_message(_pull_percent, 0.0f, 100.0f);
-        constrain_with_message(_hold_percent, 0.0f, 100.0f);
-        constrain_with_message(_pull_ms, (uint32_t)0, (uint32_t)3000);
-
         if (_output_pin.undefined()) {
             log_warn("    Solenoid disabled: No output pin");
             _has_errors = true;

FluidNC/src/Motors/Solenoid.h

@@ -39,11 +39,11 @@ namespace MotorDrivers {
         // Configuration handlers:
         void group(Configuration::HandlerBase& handler) override {
             handler.item("output_pin", _output_pin);
-            handler.item("pwm_hz", _pwm_freq);
-            handler.item("off_percent", _off_percent);
-            handler.item("pull_percent", _pull_percent);
-            handler.item("hold_percent", _hold_percent);
-            handler.item("pull_ms", _pull_ms);
+            handler.item("pwm_hz", _pwm_freq, 1000, 100000);
+            handler.item("off_percent", _off_percent, 0.0f, 100.0f);
+            handler.item("pull_percent", _pull_percent, 0.0f, 100.0f);
+            handler.item("hold_percent", _hold_percent, 0.0f, 100.0f);
+            handler.item("pull_ms", _pull_ms, 0, 3000);
             handler.item("direction_invert", _dir_invert);
         }
 

FluidNC/src/Pins/I2SOPinDetail.cpp

@@ -60,7 +60,7 @@ namespace Pins {
         Assert(value.validateWith(this->_capabilities), "Requested attributes do not match the I2SO pin capabilities");
         Assert(!_attributes.conflictsWith(value), "Attributes on this pin have been set before, and there's a conflict.");
 
-        _attributes = value;
+        _attributes = _attributes | value;
 
         // I2S out pins cannot be configured, hence there
         // is nothing to do here for them. We basically

FluidNC/src/ProcessSettings.cpp

@@ -358,33 +358,39 @@ static Error home_c(const char* value, WebUI::AuthenticationLevel auth_level, Ch
 static void write_limit_set(uint32_t mask, Channel& out) {
     const char* motor0AxisName = "xyzabc";
     for (int i = 0; i < MAX_N_AXIS; i++) {
-        out.write(bitnum_is_true(mask, i) ? char(motor0AxisName[i]) : ' ');
+        out << (bitnum_is_true(mask, i) ? char(motor0AxisName[i]) : ' ');
     }
     const char* motor1AxisName = "XYZABC";
     for (int i = 0; i < MAX_N_AXIS; i++) {
-        out.write(bitnum_is_true(mask, i + 16) ? char(motor1AxisName[i]) : ' ');
+        out << (bitnum_is_true(mask, i + 16) ? char(motor1AxisName[i]) : ' ');
     }
 }
 static Error show_limits(const char* value, WebUI::AuthenticationLevel auth_level, Channel& out) {
     out.print("Send ! to exit\n");
     out.print("Homing Axes: ");
     write_limit_set(Machine::Axes::homingMask, out);
-    out.write('\n');
-    out.print("Limit  Axes: ");
+    out << '\n';
+    out << "Limit  Axes: ";
     write_limit_set(Machine::Axes::limitMask, out);
-    out.write('\n');
-    out.print("  PosLimitPins NegLimitPins\n");
+    out << '\n';
+    out << "  PosLimitPins NegLimitPins\n";
+    const TickType_t interval = 500;
+    TickType_t       limit    = xTaskGetTickCount();
     do {
-        out.print(": ");  // Prevents WebUI from suppressing an empty line
-        write_limit_set(Machine::Axes::posLimitMask, out);
-        out.write(' ');
-        write_limit_set(Machine::Axes::negLimitMask, out);
-        out.print("\r\n");
-        vTaskDelay(500);  // Delay for a reasonable repeat rate
+        TickType_t thisTime = xTaskGetTickCount();
+        if (((long)(thisTime - limit)) > 0) {
+            out << ": ";  // Prevents WebUI from suppressing an empty line
+            write_limit_set(Machine::Axes::posLimitMask, out);
+            out << ' ';
+            write_limit_set(Machine::Axes::negLimitMask, out);
+            out << '\n';
+            limit = thisTime + interval;
+        }
+        vTaskDelay(1);
         pollChannels();
     } while (!rtFeedHold);
     rtFeedHold = false;
-    out.write('\n');
+    out << '\n';
     return Error::Ok;
 }
 static Error go_to_sleep(const char* value, WebUI::AuthenticationLevel auth_level, Channel& out) {

FluidNC/src/Protocol.cpp

@@ -101,6 +101,7 @@ bool can_park() {
 
 void protocol_reset() {
     probeState                = ProbeState::Off;
+    soft_limit                = false;
     rtStatusReport            = false;
     rtCycleStart              = false;
     rtFeedHold                = false;

FluidNC/src/SDCard.cpp

@@ -64,7 +64,7 @@ SDCard::State SDCard::test_or_open(bool refresh) {
 }
 
 SDCard::State SDCard::begin(SDCard::State newState) {
-    if (newState != SDCard::State::Idle && _state > SDCard::State::Idle) {
+    if (_state >= SDCard::State::Busy) {
         return _state;
     }
     SDCard::State oldState = test_or_open(true);

FluidNC/src/Spindles/Laser.h

@@ -35,8 +35,7 @@ namespace Spindles {
             // pwm_freq is the only item that the PWM class adds to OnOff
             // We cannot call PWM::group() because that would pick up
             // direction_pin, which we do not want in Laser
-            handler.item("pwm_hz", _pwm_freq);
-
+            handler.item("pwm_hz", _pwm_freq, 1000, 100000);
             OnOff::groupCommon(handler);
         }
 

FluidNC/src/Spindles/PWMSpindle.cpp

@@ -20,11 +20,6 @@
 
 namespace Spindles {
     void PWM::init() {
-        if (_pwm_freq == 0) {
-            log_error(name() << " PWM frequency is 0.");
-            return;
-        }
-
         get_pins_and_settings();
         setupSpeeds(_pwm_freq);
 
@@ -129,24 +124,27 @@ namespace Spindles {
         ledcSetDuty(_pwm_chan_num, duty);
     }
 
-    /*
-		Calculate the highest precision of a PWM based on the frequency in bits
-
-		80,000,000 / freq = period
-		determine the highest precision where (1 << precision) < period
-	*/
+    // Calculate the highest PWM precision in bits for the desired frequency
+    // 80,000,000 (APB Clock) = freq * maxCount
+    // maxCount is a power of two between 2^1 and 2^20
+    // frequency is at most 80,000,000 / 2^1 = 40,000,000, limited elsewhere
+    // to 20,000,000 to give a period of at least 2^2 = 4 levels of control.
     uint8_t PWM::calc_pwm_precision(uint32_t freq) {
-        uint8_t precision = 0;
         if (freq == 0) {
-            return precision;
+            freq = 1;  // Limited elsewhere but just to be safe...
         }
 
-        // increase the precision (bits) until it exceeds allow by frequency the max or is 16
-        while ((1u << precision) < uint32_t(80000000 / freq) && precision <= 16) {
-            precision++;
+        // Increase the precision (bits) until it exceeds the frequency
+        // The hardware maximum precision is 20 bits
+        const uint8_t  ledcMaxBits = 20;
+        const uint32_t apbFreq     = 80000000;
+        const uint32_t maxCount    = apbFreq / freq;
+        for (uint8_t bits = 2; bits <= ledcMaxBits; ++bits) {
+            if ((1u << bits) > maxCount) {
+                return bits - 1;
+            }
         }
-
-        return precision - 1;
+        return ledcMaxBits;
     }
 
     void PWM::deinit() {

FluidNC/src/Spindles/PWMSpindle.h

@@ -35,7 +35,19 @@ namespace Spindles {
         void validate() const override { Spindle::validate(); }
 
         void group(Configuration::HandlerBase& handler) override {
-            handler.item("pwm_hz", _pwm_freq);
+            // The APB clock frequency is 80MHz and the maximum divisor
+            // is 2^10.  The maximum precision is 2^20. 80MHz/2^(20+10)
+            // is 0.075 Hz, or one cycle in 13.4 seconds.  We cannot
+            // represent that in an integer so we set the minimum
+            // frequency to 1 Hz.  Frequencies of 76 Hz or less use
+            // the full 20 bit resolution, 77 to 152 Hz uses 19 bits,
+            // 153 to 305 uses 18 bits, ...
+            // At the other end, the minimum useful precision is 2^2
+            // or 4 levels of control, so the max is 80MHz/2^2 = 20MHz.
+            // Those might not be practical for many CNC applications,
+            // but the ESP32 hardware can handle them, so we let the
+            // user choose.
+            handler.item("pwm_hz", _pwm_freq, 1, 20000000);
 
             OnOff::group(handler);
         }

fluidterm/README-FluidTerm.md

@@ -30,3 +30,8 @@ Changes
 You can restart the ESP32 to see the boot messages with the FluidNC **$bye** command or you can toggle the DTR function to restart most ESP32 modules by doing Ctrl+T Ctrl+D twice. 
 
 <img src="https://github.com/bdring/fluidterm/blob/main/images/screenshot_01.png" width="800" >
+
+### Source Code
+
+The source code for fluidterm.py (the Python version) is in this directory.  The source code for
+fluidterm.exe (the Windows native version) is at https://github.com/MitchBradley/FluidTerm2 .

install_scripts/win64/HOWTO-INSTALL.txt

@@ -20,6 +20,20 @@ name as below).
 To install the WiFi version:            install-wifi.bat
 To install the Bluetooth version:       install-bt.bat
 To replace the ESP32 local filesystem:  install-fs.bat
+To erase everything on the ESP32:       erase.bat
+To just run FluidTerm:                  fluidterm.bat
+
+### Erasing the ESP32
+
+If your ESP32 already has other software on it, installing FluidNC
+on top of that other software might not work right.  You can get
+rid of that other software with:
+
+    erase.bat
+
+Then you can install FluidNC with install-* commands mentioned above.
+
+### Local Filesystem Considerations
 
 Replacing the local filesystem is only useful for the wifi
 version, since its default contents are only needed for
@@ -35,3 +49,28 @@ it via WebUI from wifi/index.html.gz herein.
 
 A good approach is to use install-fs only on your first
 FluidNC installation, or to start from a clean slate.
+
+### Running FluidTerm
+
+FluidTerm is a simple serial terminal emulator program with a few
+features specific to FluidNC - it can upload files and reset the ESP32.
+
+The FluidNC install scripts run FluidTerm automatically at the end,
+but if you want to run it separately, you can type
+
+  fluidterm.bat
+
+### Alternatives to FluidTerm
+
+Most GCode sender programs have some way to send commands directly to
+FluidNC, but it can sometimes be helpful to bypass the complexity of
+a sender and use a more direct path.  FluidTerm is one such direct
+path, but there are others, typically called "serial terminals".
+
+For Windows, there are many such programs, such as "PuTTY" and
+"TeraTerm Pro".  None are preinstalled by default, but you can
+download one from the internet.  Setting one up requires that
+you know which COM port is for the ESP32, the baud rate (115200),
+and some other settings - no hardware or software flow control,
+accept linefeed as end-of-line on input, etc.  FluidTerm tried
+to make it easy for you by using all the correct defaults.