Added optional HAL entry point for stepper motor enumeration, improved optional driver support files.

Author: terjeio

README.md

@@ -11,7 +11,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20210726, see the [changelog](changelog.md) for details.
+Latest build date is 20210803, see the [changelog](changelog.md) for details.
 
 ---
 

changelog.md

@@ -1,5 +1,17 @@
 ## grblHAL changelog
 
+Build 20210803:
+
+Core:
+* Added optional HAL entry point for stepper motor enumeration (axis vs. motor id). Used by motors plugin.
+* Improved optional driver support files.
+
+Drivers & plugins:
+* Added F103RC support and a board map for the BTT SKR MINI E3 V2.0 to the STMF1xx driver.
+* Added tentative plasma plugin support to the SAM3X8E \(Arduino Due\) driver.
+* Updated motors plugin to match updated [Trinamic library](https://github.com/terjeio/Trinamic-library), added support for TMC2209++.
+* Some minor bug fixes and improvements.
+
 Build 20210726:
 
 Core:

driver_opts.h

@@ -102,6 +102,11 @@
 #ifndef TRINAMIC_I2C
 #define TRINAMIC_I2C        0
 #endif
+#if TRINAMIC_ENABLE && TRINAMIC_I2C
+#define TRINAMIC_MOTOR_ENABLE 1
+#else
+#define TRINAMIC_MOTOR_ENABLE 0
+#endif
 #ifndef TRINAMIC_DEV
 #define TRINAMIC_DEV        0
 #endif

grbl.h

@@ -34,7 +34,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_VERSION_BUILD "20210715"
+#define GRBL_VERSION_BUILD "20210803"
 
 // The following symbols are set here if not already set by the compiler or in config.h
 // Do NOT change here!

hal.h

@@ -323,10 +323,35 @@ typedef struct {
     control_signals_callback_ptr interrupt_callback;    //!< Callback for informing about control switches events. _Set by the core at startup.
 } control_signals_ptrs_t;
 
+
 /**************
  *  Steppers  *
  **************/
 
+/*! \brief Motor vs. axis mapping
+__NOTE:__ id and axis values are equal for primary motors, unequal for secondary (ganged) motors.
+*/
+typedef union {
+    uint32_t value;
+    struct {
+        uint32_t id   : 8,
+                 axis : 8;
+    };
+} motor_map_t;
+
+/*! \brief Signature of the callback function to receive motor vs. axis mappings.
+\param motor a motor_map_t struct.
+*/
+typedef void (*motor_iterator_callback_ptr)(motor_map_t motor);
+
+
+/*! \brief Pointer to function for iterating over stepper motor vs. axis mappings.
+
+\param callback pointer to a #motor_iterator_callback_ptr function to be called for each motor.
+*/
+typedef void (*motor_iterator_ptr)(motor_iterator_callback_ptr callback);
+
+
 /*! \brief Pointer to function for enabling all stepper motors and the main stepper interrupt.
 
 The first interrupt should be generated after a short delay to allow the drivers time to apply power to the motors.
@@ -418,6 +443,7 @@ typedef struct {
     stepper_interrupt_callback_ptr interrupt_callback;  //!< Callback for informing about the next step pulse to output. _Set by the core at startup._
     stepper_get_auto_squared_ptr get_auto_squared;      //!< Optional handler getting which axes are configured for auto squaring.
     stepper_output_step_ptr output_step;                //!< Optional handler for outputting a single step pulse. _Experimental._
+    motor_iterator_ptr motor_iterator;                  //!< Optional handler iteration over motor vs. axis mappings. Required for the motors plugin (Trinamic drivers).
 } stepper_ptrs_t;
 
 

motor_pins.h

@@ -373,13 +373,13 @@
 #endif // Z_DOUBLED
 
 #ifdef X_DOUBLED
-#undef X_DOUBLED
+#define X2_MOTOR (N_AXIS + X_DOUBLED - 1)
 #endif
 #ifdef Y_DOUBLED
-#undef Y_DOUBLED
+#define Y2_MOTOR (N_AXIS + Y_DOUBLED - 1)
 #endif
 #ifdef Z_DOUBLED
-#undef Z_DOUBLED
+#define Z2_MOTOR (N_AXIS + Z_DOUBLED - 1)
 #endif
 
 #endif // N_GANGED
@@ -609,9 +609,21 @@
 #endif
 
 #ifndef STEPPERS_ENABLE_MASK
+
 #ifdef STEPPERS_ENABLE_BIT
 #define STEPPERS_ENABLE_MASK STEPPERS_ENABLE_BIT
 #else
+
+#if N_AXIS >=4 && !defined(A_ENABLE_BIT)
+#define A_ENABLE_BIT 0
+#endif
+#if N_AXIS >=5 && !defined(B_ENABLE_BIT)
+#define B_ENABLE_BIT 0
+#endif
+#if N_AXIS >= 6 && !defined(C_ENABLE_BIT)
+#define C_ENABLE_BIT 0
+#endif
+
 #if N_AXIS == 3
 #define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT)
 #elif N_AXIS == 4
@@ -626,9 +638,33 @@
 #define STEPPERS_ENABLE_MASK (X_ENABLE_BIT|Y_ENABLE_BIT|Z_ENABLE_BIT|A_ENABLE_BIT|B_ENABLE_BIT|C_ENABLE_BIT|U_ENABLE_BIT|V_ENABLE_BIT)
 #endif
 #endif
-#endif
+
+#endif //  STEPPERS_ENABLE_MASK
 
 #ifndef LIMIT_MASK
+
+#if N_AXIS >=4 && !defined(A_LIMIT_BIT)
+#ifdef A_LIMIT_PIN
+#define A_LIMIT_BIT (1<<A_LIMIT_PIN)
+#else
+#define A_LIMIT_BIT 0
+#endif
+#endif
+#if N_AXIS >=5 && !defined(B_LIMIT_BIT)
+#ifdef B_LIMIT_PIN
+#define B_LIMIT_BIT (1<<B_LIMIT_PIN)
+#else
+#define B_LIMIT_BIT 0
+#endif
+#endif
+#if N_AXIS >= 6 && !defined(C_LIMIT_BIT)
+#ifdef A_LIMIT_PIN
+#define C_LIMIT_BIT (1<<A_LIMIT_PIN)
+#else
+#define C_LIMIT_BIT 0
+#endif
+#endif
+
 #if N_AXIS == 3
 #define LIMIT_MASK (X_LIMIT_BIT|Y_LIMIT_BIT|Z_LIMIT_BIT)
 #elif N_AXIS == 4
@@ -642,6 +678,40 @@
 #else
 #define LIMIT_MASK (X_LIMIT_BIT|Y_LIMIT_BIT|Z_LIMIT_BIT|A_LIMIT_BIT|B_LIMIT_BIT|C_LIMIT_BIT|U_LIMIT_BIT|V_LIMIT_BIT)
 #endif
+
+#endif // LIMIT_MASK
+
+#ifndef N_GANGED
+#define N_GANGED 0
+#endif
+
+static void motor_iterator (motor_iterator_callback_ptr callback)
+{
+    motor_map_t motor;
+
+    for(motor.id = 0; motor.id < N_AXIS + N_GANGED; motor.id++)
+    {
+        if(motor.id < N_AXIS)
+            motor.axis = motor.id;
+        else switch (motor.id) {
+#ifdef X2_MOTOR
+            case X2_MOTOR:
+                motor.axis = X_AXIS;
+                break;
+#endif
+#ifdef Y2_MOTOR
+            case Y2_MOTOR:
+                motor.axis = Y_AXIS;
+                break;
+#endif
+#ifdef Z2_MOTOR
+            case Z2_MOTOR:
+                motor.axis = Z_AXIS;
+                break;
 #endif
+        }
+        callback(motor);
+    }
+}
 
 /*EOF*/

nvs_buffer.c

@@ -194,7 +194,8 @@ bool nvs_buffer_alloc (void)
 {
     assert(NVS_SIZE >= GRBL_NVS_SIZE);
 
-    nvsbuffer = malloc(NVS_SIZE);
+    if((nvsbuffer = malloc(NVS_SIZE)))
+        memset(nvsbuffer, 0, NVS_SIZE);
 
     return nvsbuffer != NULL;
 }

platform.h

@@ -21,7 +21,7 @@
 
 #pragma once
 
-#if defined(STM32F103xB) || defined(STM32F401xC) ||  defined(STM32F407xx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F756xx)
+#if defined(STM32F103xB) || defined(STM32F103xE) || defined(STM32F401xC) ||  defined(STM32F407xx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F756xx)
 #define STM32_PLATFORM
 #endif
 

plugins_init.h

@@ -23,11 +23,6 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#if PLASMA_ENABLE
-    extern void plasma_init (void);
-    plasma_init();
-#endif
-
 #if TRINAMIC_ENABLE
     extern bool trinamic_init (void);
     trinamic_init();

stream.c

@@ -41,7 +41,7 @@ int16_t stream_get_null (void)
     return SERIAL_NO_DATA;
 }
 
-static bool await_toolchange_ack (char c)
+ISR_CODE static bool await_toolchange_ack (char c)
 {
     if(c == CMD_TOOL_ACK && !stream.rxbuffer->backup) {
         memcpy(&rxbackup, stream.rxbuffer, sizeof(stream_rx_buffer_t));