Small improvements; Updated docs

Signed-off-by: Patrick Felixberger <[email protected]>

Author: Schildkroet

.gitignore

@@ -1,5 +1,11 @@
 bin/*
 obj/*
+build/*
 *.depend
 *.layout
 grbl-master
+*.hex
+*.bin
+*.elf
+*.lst
+*.map

HAL/GPIO/GPIO.c

@@ -12,7 +12,7 @@
   * D12: Z_LIMIT_BIT: PA6
   * D13: SPINDLE_DIRECTION_BIT: PA5
   * D14: SPINDLE_ENABLE_BIT: PB7
-  * D15: SAFETY_DOOR_ENABLE_BIT: PB8
+  * D15: SAFETY_DOOR_ENABLE_BIT: PC2
   *
   * A0: CONTROL_RESET_BIT: PA0
   * A1: CONTROL_FEED_HOLD_BIT: PA1
@@ -195,6 +195,7 @@ static void GPIO_InitSystem(void)
 	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
 	GPIO_Init(GPIOA, &GPIO_InitStructure);
 
-	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
-	GPIO_Init(GPIOB, &GPIO_InitStructure);
+	// Safety door
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
+	GPIO_Init(GPIOC, &GPIO_InitStructure);
 }

HAL/GPIO/GPIO.h

@@ -67,8 +67,8 @@
 #define GPIO_SPINDLE_ENA_PIN	GPIO_Pin_7
 
 // Safety door
-#define GPIO_DOOR_PORT			GPIOB
-#define GPIO_DOOR_PIN			GPIO_Pin_8
+#define GPIO_DOOR_PORT			GPIOC
+#define GPIO_DOOR_PIN			GPIO_Pin_2
 
 // Control pins
 #define GPIO_CTRL_RST_PORT		GPIOA

HAL/STM32/stm32f4xx_it.c

@@ -281,7 +281,7 @@ void SysTick_Handler(void)
       MC_UpdateSyncMove();
     }
 
-	if(gMillis%25 == 0)
+	if(gMillis%32 == 0)
     {
         // 25ms Task (min 7 RPM)
         uint16_t cnt = (uint16_t)Encoder_GetValue();
@@ -299,7 +299,7 @@ void SysTick_Handler(void)
         }
 
         // Calculate RPM and smooth it
-        float rpm = ((cnt_diff * 40.0) / PULSES_PER_REV) * 60.0;
+        float rpm = ((cnt_diff * 31.25) / PULSES_PER_REV) * 60.0;
         rpm_arr[rpm_idx++] = (uint32_t)rpm;
         if(rpm_idx > (RPM_FILTER_NUM-1))
         {

Makefile

@@ -32,11 +32,22 @@ SOURCES		:=	./ ARM/cmsis/ grbl/ HAL/ HAL/EXTI HAL/FLASH HAL/GPIO HAL/I2C HAL/SPI
 
 INCLUDES    :=	$(SOURCES) ARM/SPL/inc
 
-LD_FILE		= stm32f411re_flash.ld
-DEFINES		= -DSTM32F411xE -DSTM32F411RE
-
-#LD_FILE		= stm32f446re_flash.ld
-#DEFINES		= -DSTM32F446xx -DSTM32F446RE
+# STM32 F446
+ifeq ($(target),F446)
+	LD_FILE		= stm32f446re_flash.ld
+	DEFINES		= -DSTM32F446xx -DSTM32F446RE
+	TARGET_STR	= "STM32 F446"
+# STM32 F411
+else ifeq ($(target),F411)
+	LD_FILE		= stm32f411re_flash.ld
+	DEFINES		= -DSTM32F411xE -DSTM32F411RE
+	TARGET_STR	= "STM32 F411"
+else
+# Default Target
+	LD_FILE		= stm32f446re_flash.ld
+	DEFINES		= -DSTM32F446xx -DSTM32F446RE
+	TARGET_STR	= "STM32 F446"
+endif
 
 #---------------------------------------------------------------------------------
 # options for code generation
@@ -110,8 +121,9 @@ export OUTPUT	:=	$(CURDIR)/$(TARGET)
 
 #---------------------------------------------------------------------------------
 all:
+	@echo "Building "$(TARGET_STR)"..."
 	@[ -d $(BUILD) ] || mkdir -p $(BUILD)
-	@make --no-print-directory -C $(BUILD) $(OUTPUT).elf $(OUTPUT).bin $(OUTPUT).hex $(OUTPUT).lst -f $(CURDIR)/Makefile -j3
+	@make --no-print-directory -C $(BUILD) $(OUTPUT).elf $(OUTPUT).bin $(OUTPUT).hex $(OUTPUT).lst -f $(CURDIR)/Makefile -j4
 	@$(SIZE) $(OUTPUT).elf
 
 #---------------------------------------------------------------------------------

README.md

@@ -98,7 +98,12 @@ sudo apt install build-essential stlink-tools
 * Clone repository and run following commands:
 ```
 make clean
-make all flash
+
+# Choose a target
+make target=F446
+make target=F411
+
+make flash
 ```
 
 ***

grbl/Config.h

@@ -28,7 +28,7 @@
 #define CONFIG_H
 
 
-#define GRBL_VERSION            "1.1i"
+#define GRBL_VERSION            "1.1j"
 #define GRBL_VERSION_BUILD      __DATE__
 
 

grbl/GCode.c

@@ -4,7 +4,7 @@
 
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c) 2018-2020 Patrick F.
+  Copyright (c) 2018-2024 Patrick F.
 
   Grbl-Advanced is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by

grbl/MotionControl.c

@@ -4,7 +4,7 @@
 
   Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
   Copyright (c) 2009-2011 Simen Svale Skogsrud
-  Copyright (c) 2017-2020 Patrick F.
+  Copyright (c) 2017-2024 Patrick F.
 
   Grbl-Advanced is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
@@ -48,15 +48,15 @@ static uint8_t dir_negative[N_AXIS] = {DIR_NEGATIV};
 static uint8_t backlash_enable = 0;
 
 // Sync move
-int32_t pos_z = 0;
+static int32_t pos_z = 0;
 static volatile uint8_t wait_spindle = 0;
 static uint8_t start_sync = 0;
 static uint16_t enc_cnt_prev = 0;
 static uint32_t EncValue = 0;
 static float sync_pitch = 0.0;
 
-float in = 0.0, out = 0.0, set = 0.0;
-PID_t pid;
+static float in = 0.0, out = 0.0, set = 0.0;
+static PID_t pid;
 
 
 void MC_Init(void)
@@ -78,7 +78,7 @@ void MC_Init(void)
     }
 
     PID_Create(&pid, &in, &out, &set, 1.8, 22, 0.08);
-    PID_Limits(&pid, -0.4, 0.4);
+    PID_Limits(&pid, -0.7, 0.7);
     PID_EnableAuto(&pid);
 
     pos_z = 0;
@@ -262,18 +262,7 @@ void MC_LineSync(float *target, Planner_LineData_t *pl_data, float pitch)
 
     sync_pitch = pitch;
 
-    if(pitch < 1.1)
-    {
-        PID_Tune(&pid, 1.8, 22, 0.08);
-    }
-    else if(pitch < 1.6)
-    {
-        PID_Tune(&pid, 1.6, 18, 0.06);
-    }
-    else
-    {
-        PID_Tune(&pid, 1.4, 15, 0.04);
-    }
+    PID_Tune(&pid, 20, 130.0, 0.0);
 
     // Disable feed override
     sys.f_override = DEFAULT_FEED_OVERRIDE;
@@ -395,9 +384,6 @@ void MC_UpdateSyncMove(void)
 
             // Apply
             Stepper_Ovr(out);
-
-            /*Printf("err %d\r\n", (int)(1000*in));
-            Printf_Flush();*/
         }
     }
 }

grbl/Stepper.c

@@ -56,12 +56,13 @@
 // Level 1 cutoff frequency and up to as fast as the CPU allows (over 30kHz in limited testing).
 // NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
 // NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
-// and timer accuracy.  Do not alter these settings unless you know what you are doing.
-#define MAX_AMASS_LEVEL         3
+// and timer accuracy. Do not alter these settings unless you know what you are doing.
+#define MAX_AMASS_LEVEL         4
 // AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
-#define AMASS_LEVEL1            (uint32_t)(F_TIMER_STEPPER/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
-#define AMASS_LEVEL2            (uint32_t)(F_TIMER_STEPPER/4000) // Over-drives ISR (x4)
-#define AMASS_LEVEL3            (uint32_t)(F_TIMER_STEPPER/2000) // Over-drives ISR (x8)
+#define AMASS_LEVEL1            (uint32_t)(F_TIMER_STEPPER / 8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
+#define AMASS_LEVEL2            (uint32_t)(F_TIMER_STEPPER / 4000) // Over-drives ISR (x4)
+#define AMASS_LEVEL3            (uint32_t)(F_TIMER_STEPPER / 2000) // Over-drives ISR (x8)
+#define AMASS_LEVEL4            (uint32_t)(F_TIMER_STEPPER / 1000) // Over-drives ISR (x16)
 
 #if MAX_AMASS_LEVEL <= 0
     error "AMASS must have 1 or more levels to operate correctly."
@@ -71,6 +72,7 @@
     #define STEP_TIMER_MIN          (uint16_t)(F_TIMER_STEPPER / MAX_STEP_RATE_HZ)
 #else
     #define STEP_TIMER_MIN          (uint16_t)((F_TIMER_STEPPER / 120000))
+    #pragma message("Max stepper rate: 120KHz")
 #endif
 
 #define G96_UPDATE_CNT      20
@@ -1363,10 +1365,14 @@ void Stepper_PrepareBuffer(void)
             {
                 prep_segment->amass_level = 2;
             }
-            else
+            else if (cycles < AMASS_LEVEL4)
             {
                 prep_segment->amass_level = 3;
             }
+            else
+            {
+                prep_segment->amass_level = 4;
+            }
 
             cycles >>= prep_segment->amass_level;
             prep_segment->n_step <<= prep_segment->amass_level;