Merge branch 'driveboard'

beaglebone_flash.py

@@ -0,0 +1,28 @@
+# Super Awesome LasaurGrbl python flash script.
+# 
+# Copyright (c) 2011 Nortd Labs
+# Open Source by the terms of the Gnu Public License (GPL3) or higher.
+
+import os, sys
+
+
+# Make sure you have avrdude installed on the beaglebone
+# opkg install libreadline5_5.2-r8.9_armv4.ipk
+# opkg install avrdude_5.10-r1.9_armv7a.ipk
+# get the packages from http://www.angstrom-distribution.org/repo/
+
+AVRDUDEAPP    = "avrdude"
+AVRDUDECONFIG = "/etc/avrdude.conf"
+SERIAL_PORT = "/dev/ttyO1"
+DEVICE = "atmega328p"
+PROGRAMMER = "arduino"    # use this for bootloader
+SERIAL_OPTION = '-P %(port)s' % {'port':SERIAL_PORT}
+BITRATE = "115200"
+BUILDNAME = "LasaurGrbl"
+
+# use beaglebone gpio2_7 to reset the atmege here
+
+os.system('%(dude)s -c %(programmer)s -b %(bps)s %(serial_option)s -p %(device)s -C %(dudeconf)s -Uflash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'serial_option':SERIAL_OPTION, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
+# os.system('%(dude)s -c %(programmer)s -b %(bps)s -P %(port)s -p %(device)s -C %(dudeconf)s -B 10 -F -U flash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'port':SERIAL_PORT, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
+
+

config.h

@@ -25,7 +25,9 @@
 
 // Version number
 // (must not contain capital letters)
-#define LASAURGRBL_VERSION "12.08f"
+#define LASAURGRBL_VERSION "13.02e"
+// build for new driveboard hardware
+#define DRIVEBOARD
 #define BAUD_RATE 57600
 // #define DEBUG_IGNORE_SENSORS  // set for debugging
 
@@ -36,25 +38,36 @@
 #define CONFIG_PULSE_MICROSECONDS 5
 #define CONFIG_FEEDRATE 15000.0 // in millimeters per minute
 #define CONFIG_SEEKRATE 5000.0
-#define CONFIG_ACCELERATION 2400000.0 // mm/min^2, typically 1000000-8000000, divide by (60*60) to get mm/sec^2
+#define CONFIG_ACCELERATION 1800000.0 // mm/min^2, typically 1000000-8000000, divide by (60*60) to get mm/sec^2
 #define CONFIG_JUNCTION_DEVIATION 0.01 // mm
 #define CONFIG_X_ORIGIN_OFFSET 5.0  // mm, x-offset of table origin from physical home
 #define CONFIG_Y_ORIGIN_OFFSET 5.0  // mm, y-offset of table origin from physical home
 #define CONFIG_Z_ORIGIN_OFFSET 0.0   // mm, z-offset of table origin from physical home
 #define CONFIG_INVERT_X_AXIS 1  // 0 is regular, 1 inverts the x direction
 #define CONFIG_INVERT_Y_AXIS 1  // 0 is regular, 1 inverts the y direction
+#define CONFIG_INVERT_Z_AXIS 1  // 0 is regular, 1 inverts the y direction
 
 
-#define LIMITS_OVERWRITE_DDR     DDRD
-#define LIMITS_OVERWRITE_PORT    PORTD
-#define LIMITS_OVERWRITE_BIT     7
-
 #define SENSE_DDR               DDRD
 #define SENSE_PORT              PORTD
 #define SENSE_PIN               PIND
-#define POWER_BIT               2
+#ifndef DRIVEBOARD
+  #define POWER_BIT             2
+#endif
 #define CHILLER_BIT             3
-#define DOOR_BIT                5
+#define DOOR_BIT                2
+
+#ifdef DRIVEBOARD
+  #define ASSIST_DDR            DDRD
+  #define ASSIST_PORT           PORTD
+  #define AIR_ASSIST_BIT        4
+  #define AUX1_ASSIST_BIT       7
+  #define AUX2_ASSIST_BIT       5
+#else
+  #define LIMITS_OVERWRITE_DDR  DDRD
+  #define LIMITS_OVERWRITE_PORT PORTD
+  #define LIMITS_OVERWRITE_BIT  7  
+#endif
 
 #define LIMIT_DDR               DDRC
 #define LIMIT_PORT              PORTC
@@ -63,11 +76,15 @@
 #define X2_LIMIT_BIT            1
 #define Y1_LIMIT_BIT            2
 #define Y2_LIMIT_BIT            3
-
-#define AIRGAS_DDR              DDRC
-#define AIRGAS_PORT             PORTC
-#define AIR_BIT                 4
-#define GAS_BIT                 5
+#ifdef DRIVEBOARD
+  #define Z1_LIMIT_BIT          4
+  #define Z2_LIMIT_BIT          5
+#else
+  #define ASSIST_DDR            DDRC
+  #define ASSIST_PORT           PORTC
+  #define AIR_ASSIST_BIT        4
+  #define AUX1_ASSIST_BIT       5
+#endif
 
 #define STEPPING_DDR            DDRB
 #define STEPPING_PORT           PORTB
@@ -80,26 +97,39 @@
 
 
 
-
-#define SENSE_MASK ((1<<POWER_BIT)|(1<<CHILLER_BIT)|(1<<DOOR_BIT))
-#define LIMIT_MASK ((1<<X1_LIMIT_BIT)|(1<<X2_LIMIT_BIT)|(1<<Y1_LIMIT_BIT)|(1<<Y2_LIMIT_BIT))
+#ifdef DRIVEBOARD
+  #define SENSE_MASK ((1<<CHILLER_BIT)|(1<<DOOR_BIT))
+  #define LIMIT_MASK ((1<<X1_LIMIT_BIT)|(1<<X2_LIMIT_BIT)|(1<<Y1_LIMIT_BIT)|(1<<Y2_LIMIT_BIT)|(1<<Z1_LIMIT_BIT)|(1<<Z2_LIMIT_BIT))
+#else
+  #define SENSE_MASK ((1<<POWER_BIT)|(1<<CHILLER_BIT)|(1<<DOOR_BIT))
+  #define LIMIT_MASK ((1<<X1_LIMIT_BIT)|(1<<X2_LIMIT_BIT)|(1<<Y1_LIMIT_BIT)|(1<<Y2_LIMIT_BIT))
+#endif
 #define STEPPING_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT))
 #define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT))
 
 // figure out INVERT_MASK
-// careful! direction pins hardcoded here
-// (1<<X_DIRECTION_BIT) | (1<<Y_DIRECTION_BIT)
-#if CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Y_AXIS
+// careful! direction pins hardcoded here#if DRIVEBOARD
+// (1<<X_DIRECTION_BIT) | (1<<Y_DIRECTION_BIT) | (1<<Y_DIRECTION_BIT)
+#if CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Y_AXIS && CONFIG_INVERT_Z_AXIS
+  #define INVERT_MASK 56U
+#elif CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Y_AXIS
   #define INVERT_MASK 24U
+#elif CONFIG_INVERT_Y_AXIS && CONFIG_INVERT_Z_AXIS
+  #define INVERT_MASK 48U
+#elif CONFIG_INVERT_X_AXIS && CONFIG_INVERT_Z_AXIS
+  #define INVERT_MASK 40U
 #elif CONFIG_INVERT_X_AXIS
   #define INVERT_MASK 8U
 #elif CONFIG_INVERT_Y_AXIS
   #define INVERT_MASK 16U
+#elif CONFIG_INVERT_Z_AXIS
+  #define INVERT_MASK 32U
 #else
   #define INVERT_MASK 0U
 #endif
 
 
+
 // The temporal resolution of the acceleration management subsystem. Higher number give smoother
 // acceleration but may impact performance.
 // NOTE: Increasing this parameter will help any resolution related issues, especially with machines 

flash.py

@@ -65,8 +65,12 @@
 def build():
     DEVICE = "atmega328p"
     CLOCK = "16000000"
-    PROGRAMMER = "arduino"    # use this for bootloader
-    # PROGRAMMER = "usbtiny"    # use this for programmer
+    if SERIAL_PORT == "usbtiny":
+        PROGRAMMER = "usbtiny"    # use this for programmer
+        SERIAL_OPTION = ""
+    else:
+        PROGRAMMER = "arduino"    # use this for bootloader
+        SERIAL_OPTION = '-P %(port)s' % {'port':SERIAL_PORT}
     BITRATE = "115200"
 
     BUILDNAME = "LasaurGrbl"
@@ -87,7 +91,7 @@ def build():
 
     # os.system('%(objdump)s -t -j .bss main.elf' % {'objdump':AVROBJDUMPAPP})
 
-    os.system('%(dude)s -c %(programmer)s -b %(bps)s -P %(port)s -p %(device)s -C %(dudeconf)s -Uflash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'port':SERIAL_PORT, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
+    os.system('%(dude)s -c %(programmer)s -b %(bps)s %(serial_option)s -p %(device)s -C %(dudeconf)s -Uflash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'serial_option':SERIAL_OPTION, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
     # os.system('%(dude)s -c %(programmer)s -b %(bps)s -P %(port)s -p %(device)s -C %(dudeconf)s -B 10 -F -U flash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'port':SERIAL_PORT, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
 
 

gcode.c

@@ -40,10 +40,14 @@
 #define NEXT_ACTION_DWELL 3
 #define NEXT_ACTION_HOMING_CYCLE 4
 #define NEXT_ACTION_SET_COORDINATE_OFFSET 5
-#define NEXT_ACTION_AIRGAS_DISABLE 6
-#define NEXT_ACTION_AIR_ENABLE 7
-#define NEXT_ACTION_GAS_ENABLE 8
-
+#define NEXT_ACTION_AIR_ASSIST_ENABLE 6
+#define NEXT_ACTION_AIR_ASSIST_DISABLE 7
+#define NEXT_ACTION_AUX1_ASSIST_ENABLE 8
+#define NEXT_ACTION_AUX1_ASSIST_DISABLE 9
+#ifdef DRIVEBOARD
+  #define NEXT_ACTION_AUX2_ASSIST_ENABLE 10
+  #define NEXT_ACTION_AUX2_ASSIST_DISABLE 11
+#endif
 
 #define OFFSET_G54 0
 #define OFFSET_G55 1
@@ -239,10 +243,12 @@ void gcode_process_line() {
       if (SENSE_CHILLER_OFF) {
         printString("C");  // Warning: Chiller is off
       }
-      // power
-      if (SENSE_POWER_OFF) {
-        printString("P");  // Power Off
-      }    
+      #ifndef DRIVEBOARD
+        // power
+        if (SENSE_POWER_OFF) {
+          printString("P"); // Power Off
+        } 
+      #endif
       // limit
       if (SENSE_LIMITS) {
         if (SENSE_X1_LIMIT) {
@@ -316,9 +322,14 @@ uint8_t gcode_execute_line(char *line) {
         break;
       case 'M':
         switch(int_value) {
-          case 7: next_action = NEXT_ACTION_AIR_ENABLE;break;
-          case 8: next_action = NEXT_ACTION_GAS_ENABLE;break;
-          case 9: next_action = NEXT_ACTION_AIRGAS_DISABLE;break;
+          case 80: next_action = NEXT_ACTION_AIR_ASSIST_ENABLE;break;
+          case 81: next_action = NEXT_ACTION_AIR_ASSIST_DISABLE;break;
+          case 82: next_action = NEXT_ACTION_AUX1_ASSIST_ENABLE;break;
+          case 83: next_action = NEXT_ACTION_AUX1_ASSIST_DISABLE;break;
+          #ifdef DRIVEBOARD
+            case 84: next_action = NEXT_ACTION_AUX2_ASSIST_ENABLE;break;
+            case 85: next_action = NEXT_ACTION_AUX2_ASSIST_DISABLE;break;
+          #endif
           default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
         }            
         break;
@@ -451,15 +462,26 @@ uint8_t gcode_execute_line(char *line) {
         }
       }
       break;
-    case NEXT_ACTION_AIRGAS_DISABLE:
-      planner_control_airgas_disable();
+    case NEXT_ACTION_AIR_ASSIST_ENABLE:
+      planner_control_air_assist_enable();
+      break;
+    case NEXT_ACTION_AIR_ASSIST_DISABLE:
+      planner_control_air_assist_disable();
       break;
-    case NEXT_ACTION_AIR_ENABLE:
-      planner_control_air_enable();
+    case NEXT_ACTION_AUX1_ASSIST_ENABLE:
+      planner_control_aux1_assist_enable();
       break;
-    case NEXT_ACTION_GAS_ENABLE:
-      planner_control_gas_enable();
+    case NEXT_ACTION_AUX1_ASSIST_DISABLE:
+      planner_control_aux1_assist_disable();
       break;
+    #ifdef DRIVEBOARD
+      case NEXT_ACTION_AUX2_ASSIST_ENABLE:
+        planner_control_aux2_assist_enable();
+        break;
+      case NEXT_ACTION_AUX2_ASSIST_DISABLE:
+        planner_control_aux2_assist_disable();
+        break;
+    #endif
   }
 
   // As far as the parser is concerned, the position is now == target. In reality the

planner.h

@@ -26,19 +26,26 @@
 
 // Command types the planner and stepper can schedule for execution 
 #define TYPE_LINE 0
-#define TYPE_AIRGAS_DISABLE 1
-#define TYPE_AIR_ENABLE 2
-#define TYPE_GAS_ENABLE 3
-
-#define planner_control_airgas_disable() planner_command(TYPE_AIRGAS_DISABLE)
-#define planner_control_air_enable() planner_command(TYPE_AIR_ENABLE)
-#define planner_control_gas_enable() planner_command(TYPE_GAS_ENABLE)
-
+#define TYPE_AIR_ASSIST_ENABLE 1
+#define TYPE_AIR_ASSIST_DISABLE 2
+#define TYPE_AUX1_ASSIST_ENABLE 3
+#define TYPE_AUX1_ASSIST_DISABLE 4
+#define TYPE_AUX2_ASSIST_ENABLE 5
+#define TYPE_AUX2_ASSIST_DISABLE 6
+
+#define planner_control_air_assist_enable() planner_command(TYPE_AIR_ASSIST_ENABLE)
+#define planner_control_air_assist_disable() planner_command(TYPE_AIR_ASSIST_DISABLE)
+#define planner_control_aux1_assist_enable() planner_command(TYPE_AUX1_ASSIST_ENABLE)
+#define planner_control_aux1_assist_disable() planner_command(TYPE_AUX1_ASSIST_DISABLE)
+#ifdef DRIVEBOARD
+  #define planner_control_aux2_assist_enable() planner_command(TYPE_AUX2_ASSIST_ENABLE)
+  #define planner_control_aux2_assist_disable() planner_command(TYPE_AUX2_ASSIST_DISABLE)
+#endif
 
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
 // the source g-code and may never actually be reached if acceleration management is active.
 typedef struct {
-  uint8_t type;                       // Type of command, eg: TYPE_LINE, TYPE_AIR_ENABLE
+  uint8_t type;                       // Type of command, eg: TYPE_LINE, TYPE_AIR_ASSIST_ENABLE
   // Fields used by the bresenham algorithm for tracing the line
   uint32_t steps_x, steps_y, steps_z; // Step count along each axis
   uint8_t  direction_bits;            // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
@@ -73,7 +80,7 @@ void planner_line(double x, double y, double z, double feed_rate, uint8_t nomina
 void planner_dwell(double seconds, uint8_t nominal_laser_intensity);
 
 // Add a non-motion command to the queue.
-// Typical types are: TYPE_AIRGAS_DISABLE, TYPE_AIR_ENABLE, TYPE_GAS_ENABLE
+// Typical types are: TYPE_AIR_ASSIST_ENABLE, TYPE_AIR_ASSIST_DISABLE, ...
 // This call is blocking when the block buffer is full.
 void planner_command(uint8_t type);