Implement stepping through Motors class (#636)

* Implement stepping through Motors class

WIP for discussion and review - not ready to merge yet

* Document Motor methods and variables

.. and remove some unused ones and move some
that are subclass-specific

* Move position_min/max to Limits.cpp

... and coalesced other uses thereof into a unified scheme.

* Call motor ->init() explicitly instead of implicitly

This makes it possible to inherit constructors without
spurious config messages.

* Fixed problems with I2S

* Changes in class method override syntax per atlaste

* Fixed oops

* More Motors simplification

a) Eliminated can_home() in favor of a return value from
set_homing_mode()
b) Eliminated axis_name() in favor of reportAxisNameMsg()

* Fixes to RcServo and Trinamic

- RC Servo was not handling disable ... probably old issue
- Display test after config

* More tweaks

* Define that variable!

* Move functions from Motors.cpp to subclasses

Created a Servo base class from which RcServo and
Dynamixel2 are derived.  This gets the servo update
task out of Motors.  It also eliminates the need for
type_id.  Now all of the functions that are specific
to particular kinds of motors are within their subclasses

* Adding Dynamixel to ABC axes.

* Removed second #ifndef SPINDLE_TYPE

* Fixed potential leak in Report.cpp

as reported by @atlaste

* Some servo cleanup. Has errors!

* min should be max

* Removed test rcservo machine definition.

* Removed obsolete #defines in machine defs for RcServo cal

Co-authored-by: bdring <barton.dring@gmail.com>

Author: MitchBradley

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20201004";
+const char* const GRBL_VERSION_BUILD = "20201015";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
@@ -87,9 +87,7 @@ const char* const GRBL_VERSION_BUILD = "20201004";
 #    endif
 #endif
 
-#ifdef USE_I2S_OUT
-#    include "I2SOut.h"
-#endif
+#include "I2SOut.h"
 
 void grbl_init();
 void run_once();

Grbl_Esp32/src/I2SOut.cpp

@@ -42,8 +42,6 @@
  */
 #include "Config.h"
 
-#ifdef USE_I2S_OUT
-
 #    include <FreeRTOS.h>
 #    include <driver/periph_ctrl.h>
 #    include <rom/lldesc.h>
@@ -566,12 +564,14 @@ uint8_t IRAM_ATTR i2s_out_read(uint8_t pin) {
     return (!!(port_data & bit(pin)));
 }
 
-uint32_t IRAM_ATTR i2s_out_push_sample(uint32_t num) {
+uint32_t IRAM_ATTR i2s_out_push_sample(uint32_t usec) {
+    uint32_t num = usec/I2S_OUT_USEC_PER_PULSE;
+
 #    ifdef USE_I2S_OUT_STREAM_IMPL
     if (num > SAMPLE_SAFE_COUNT) {
         return 0;
     }
-    // push at least one sample (even if num is zero)
+    // push at least one sample, even if num is zero)
     uint32_t port_data = atomic_load(&i2s_out_port_data);
     uint32_t n         = 0;
     do {
@@ -960,5 +960,3 @@ int IRAM_ATTR i2s_out_init() {
     };
     return i2s_out_init(default_param);
 }
-
-#endif

Grbl_Esp32/src/I2SOut.h

@@ -41,8 +41,6 @@
 // It should be included at the outset to know the machine configuration.
 #include "Config.h"
 
-#ifdef USE_I2S_OUT
-
 #    include <stdint.h>
 
 /* Assert */
@@ -126,12 +124,14 @@ void i2s_out_write(uint8_t pin, uint8_t val);
 /*
     Set current pin state to the I2S bitstream buffer
     (This call will generate a future I2S_OUT_USEC_PER_PULSE μs x N bitstream)
-    num: Number of samples to be generated
+    usec: The length of time that the pulse should be repeated.
+         That time will be converted to an integer number of pulses of
+         length I2S_OUT_USEC_PER_PULSE.
          The number of samples is limited to (20 / I2S_OUT_USEC_PER_PULSE).
-    return: number of puhsed samples
+    return: number of pushed samples
             0 .. no space for push
  */
-uint32_t i2s_out_push_sample(uint32_t num);
+uint32_t i2s_out_push_sample(uint32_t usec);
 
 /*
    Set pulser mode to passtrough
@@ -184,8 +184,6 @@ i2s_out_pulser_status_t IRAM_ATTR i2s_out_get_pulser_status();
  */
 int i2s_out_reset();
 
-#endif
-
 /*
    Reference: "ESP32 Technical Reference Manual" by Espressif Systems
      https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf

Grbl_Esp32/src/Jog.cpp

@@ -33,7 +33,7 @@ Error jog_execute(plan_line_data_t* pl_data, parser_block_t* gc_block) {
     pl_data->line_number = gc_block->values.n;
 #endif
     if (soft_limits->get()) {
-        if (system_check_travel_limits(gc_block->values.xyz)) {
+        if (limitsCheckTravel(gc_block->values.xyz)) {
             return Error::TravelExceeded;
         }
     }

Grbl_Esp32/src/Limits.cpp

@@ -79,18 +79,12 @@ void limits_go_home(uint8_t cycle_mask) {
         return;  // Block if system reset has been issued.
     }
     // Initialize plan data struct for homing motion. Spindle and coolant are disabled.
-    motors_set_homing_mode(cycle_mask, true);  // tell motors homing is about to start
 
-    // Remove any motor that cannot be homed from the mask
-    // Motors with non standard homing can do that during motors_set_homing_mode(...) above
-    auto n_axis = number_axis->get();
-    for (uint8_t idx = 0; idx < n_axis; idx++) {
-        if (bit_istrue(cycle_mask, bit(idx))) {
-            if (!motor_can_home(idx)) {
-                bit_false(cycle_mask, bit(idx));
-            }
-        }
-    }
+    // Put motors on axes listed in cycle_mask in homing mode and
+    // replace cycle_mask with the list of motors that are ready for homing.
+    // Motors with non standard homing can home during motors_set_homing_mode(...)
+    cycle_mask = motors_set_homing_mode(cycle_mask, true);  // tell motors homing is about to start
+
     // see if any motors are left
     if (cycle_mask == 0) {
         return;
@@ -111,6 +105,7 @@ void limits_go_home(uint8_t cycle_mask) {
     float   target[MAX_N_AXIS];
     float   max_travel = 0.0;
 
+    auto n_axis = number_axis->get();
     for (uint8_t idx = 0; idx < n_axis; idx++) {
         // Initialize step pin masks
         step_pin[idx] = bit(idx);
@@ -337,9 +332,8 @@ void limits_init() {
                 if (limit_sw_queue == NULL) {
                     grbl_msg_sendf(CLIENT_SERIAL,
                                    MsgLevel::Info,
-                                   "%c%s Axis limit switch on pin %s",
-                                   report_get_axis_letter(axis),
-                                   gang_index ? "2" : " ",
+                                   "%s limit switch on pin %s",
+                                   reportAxisNameMsg(axis, gang_index),
                                    pinName(pin).c_str());
                 }
             }
@@ -376,7 +370,7 @@ void limits_disable() {
 // number in bit position, i.e. Z_AXIS is bit(2), and Y_AXIS is bit(1).
 AxisMask limits_get_state() {
     AxisMask pinMask = 0;
-    auto    n_axis  = number_axis->get();
+    auto     n_axis  = number_axis->get();
     for (int axis = 0; axis < n_axis; axis++) {
         for (int gang_index = 0; gang_index < 2; gang_index++) {
             uint8_t pin = limit_pins[axis][gang_index];
@@ -399,7 +393,7 @@ AxisMask limits_get_state() {
 // the workspace volume is in all negative space, and the system is in normal operation.
 // NOTE: Used by jogging to limit travel within soft-limit volume.
 void limits_soft_check(float* target) {
-    if (system_check_travel_limits(target)) {
+    if (limitsCheckTravel(target)) {
         sys.soft_limit = true;
         // Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
         // workspace volume so just come to a controlled stop so position is not lost. When complete
@@ -435,3 +429,30 @@ void limitCheckTask(void* pvParameters) {
         }
     }
 }
+
+float limitsMaxPosition(uint8_t axis) {
+    float mpos   = axis_settings[axis]->home_mpos->get();
+
+    return bitnum_istrue(homing_dir_mask->get(), axis) ? mpos + axis_settings[axis]->max_travel->get() : mpos;
+}
+
+float limitsMinPosition(uint8_t axis) {
+    float mpos   = axis_settings[axis]->home_mpos->get();
+
+    return bitnum_istrue(homing_dir_mask->get(), axis) ? mpos : mpos - axis_settings[axis]->max_travel->get();
+}
+
+// Checks and reports if target array exceeds machine travel limits.
+// Return true if exceeding limits
+bool limitsCheckTravel(float* target) {
+    uint8_t idx;
+    auto    n_axis = number_axis->get();
+    for (idx = 0; idx < n_axis; idx++) {
+        float max_mpos, min_mpos;
+
+        if (target[idx] < limitsMinPosition(idx) || target[idx] > limitsMaxPosition(idx)) {
+            return true;
+        }
+    }
+    return false;
+}

Grbl_Esp32/src/Limits.h

@@ -48,3 +48,9 @@ void isr_limit_switches();
 
 // A task that runs after a limit switch interrupt.
 void limitCheckTask(void* pvParameters);
+
+float limitsMaxPosition(uint8_t axis);
+float limitsMinPosition(uint8_t axis);
+
+// Internal factor used by limits_soft_check
+bool limitsCheckTravel(float* target);

Grbl_Esp32/src/MachineCommon.h

@@ -1,9 +1,5 @@
 #pragma once
 
-#ifndef SPINDLE_TYPE
-#    define SPINDLE_TYPE SpindleType::PWM
-#endif
-
 // Grbl setting that are common to all machines
 // It should not be necessary to change anything herein
 

Grbl_Esp32/src/Machines/midtbot.h

@@ -45,9 +45,6 @@
 #define Y_LIMIT_PIN     GPIO_NUM_4
 
 #define Z_SERVO_PIN             GPIO_NUM_27
-#define Z_SERVO_CAL_MIN               1.0       // calibration factor for the minimum PWM duty
-#define Z_SERVO_CAL_MAX               1.0       // calibration factor for the maximum PWM duty
-
 
 // Set $Homing/Cycle0=Y and $Homing/Cycle1=X
 

Grbl_Esp32/src/Machines/pen_laser.h

@@ -55,8 +55,6 @@
 
 #ifdef USING_SERVO
     #define Z_SERVO_PIN             GPIO_NUM_27
-    #define Z_SERVO_CAL_MIN               1.0       // calibration factor for the minimum PWM duty
-    #define Z_SERVO_CAL_MAX               1.0       // calibration factor for the maximum PWM duty
 #endif
 
 #define SPINDLE_TYPE SpindleType::NONE

Grbl_Esp32/src/Machines/polar_coaster.h

@@ -49,8 +49,6 @@
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_17
 
 #define Z_SERVO_PIN             GPIO_NUM_16
-#define Z_SERVO_CAL_MIN               1.0       // calibration factor for the minimum PWM duty
-#define Z_SERVO_CAL_MAX               1.0       // calibration factor for the maximum PWM duty
 
 #define X_LIMIT_PIN             GPIO_NUM_4