Support for WAVGAT boards

README.md

@@ -1,11 +1,23 @@
-# Horus 3D Scanner Firmware
-
-This firmware is written in C. Version 0.2.
+# Horus 3D Scanner Firmware for WAVGAT + ZUMSCAN boards
 
+This firmware is derived from Horus firmware v 2.0
 Derived from Grbl v0.9 by Jesús Arroyo (Mundo Reader S.L.)
-
 Grbl's lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl.
 
+Firmware adds extra initialization code to setup WAVGAT boards. 
+It also should be compatible with generic arduino boards.
+
+This firmware get back some grbl features stripped out by Horus/Ciclop:
+- multiple axis support (X,Y,Z)
+- limit switches and homing
+- G0, G4 G Codes support
+
+So you can use this firmware with your experimental hardware.
+
+To use second stepper on ZUMSCAN shield with this firmware it is needed to rewire two pins on the shield board: 
+- desolder or cut pins 6,7 on ZUMSCAN shield so they not connected to arduino
+- wire 6->9, 7->10
+
 
 ## Features
 
@@ -14,13 +26,16 @@ Grbl's lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved so
 *   Laser modules control
 *   Analog sensor read
 *   Configuration interface with $ commands
+*   Up to 3 steppers
+*   Use limit switches
 
 The default baudrate is 115200.
 
 
 ## Implemented G Codes
 
-*   G1   - Angular movement
+*   G0,G1- Angular movement
+*   G4   - Dwell (delay)
 *   G50  - Reset all positions to zero
 *   M0   - Program pause
 *   M2   - Program end and reset
@@ -34,7 +49,20 @@ The default baudrate is 115200.
 
 ### Arduino
 
-Open *horus-fw.ino*, select your board and upload.
+Open *horus-fw.ino*, select your board
+
+Adjust configuration for your hardware:
+
+  - axis resolution (defaults.h, section DEFAULTS_HORUS)
+    For Ciclop hardware with Nema-17 stepper and x16 microstepping driver
+    DEFAULT_X_STEPS_PER_DEG 16\*200/360 // step/deg
+
+  - limit switches
+    cpu_map.h, section CPU_MAP_ATMEGA328P_ZUMSCAN: adjust limit switches pins. More detailed info in cpu_map.h
+    config.h: homing probe order and params HOMING_INIT_LOCK, HOMING_CYCLE_\*, N_HOMING_LOCATE_CYCLE
+
+
+Build and upload.
 
 ### Make
 

config.h

@@ -51,7 +51,8 @@
 
 // Default cpu mappings. Grbl officially supports the Arduino Uno only. Other processor types
 // may exist from user-supplied templates or directly user-defined in cpu_map.h
-#define CPU_MAP_ATMEGA328P_HORUS // Arduino Uno CPU for Horus Project
+//#define CPU_MAP_ATMEGA328P_HORUS // Arduino Uno CPU for Horus Project
+#define CPU_MAP_ATMEGA328P_ZUMSCAN
 
 // Define runtime command special characters. These characters are 'picked-off' directly from the
 // serial read data stream and are not passed to the grbl line execution parser. Select characters
@@ -84,9 +85,10 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits 
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+//#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
+//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
+#define HOMING_CYCLE_0 (1<<Y_AXIS)                // HORUS: X is turntable, homing not required. Home Y axis
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or 

cpu_map.h

@@ -77,6 +77,66 @@
 
 #endif
 
+#ifdef CPU_MAP_ATMEGA328P_ZUMSCAN // Arduino Uno + ZUM Scan board
+
+  // Define laser pulse output pins. NOTE: All laser pins must be on the same port.
+  #define LASER_DDR       DDRD
+  #define LASER_PORT      PORTD
+  #define LASER1_BIT      2  // Uno Digital Pin 2
+  #define LASER2_BIT      3  // Uno Digital Pin 3
+  #define LASER3_BIT      4  // Uno Digital Pin 4
+  #define LASER4_BIT      5  // Uno Digital Pin 5
+  #define LASER_MASK      ((1<<LASER1_BIT)|(1<<LASER2_BIT)|(1<<LASER3_BIT)|(1<<LASER4_BIT)) // All step bits
+
+  // Define serial port pins and interrupt vectors.
+  #define SERIAL_RX     USART_RX_vect
+  #define SERIAL_UDRE   USART_UDRE_vect
+
+  // Define step pulse output pins. NOTE: All step bit pins must be on the same port.
+  #define STEP_DDR        DDRB
+  #define STEP_PORT       PORTB
+  #define X_STEP_BIT      4  // Uno Digital Pin 12
+  #define Y_STEP_BIT      2  // Uno Digital Pin 10 rewired from 7
+  #define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)) // All step bits
+
+  // Define step direction output pins. NOTE: All direction pins must be on the same port.
+  #define DIRECTION_DDR     DDRB
+  #define DIRECTION_PORT    PORTB
+  #define X_DIRECTION_BIT   5  // Uno Digital Pin 13
+  #define Y_DIRECTION_BIT   0  // Uno Digital Pin 8
+  #define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)) // All direction bits
+
+  // Define stepper driver enable/disable output pin.
+  #define STEPPERS_DISABLE_DDR    DDRB
+  #define STEPPERS_DISABLE_PORT   PORTB
+  #define STEPPERS_DISABLE_BIT    1  // Uno Digital Pin 9 + rewired pin 6
+  #define STEPPERS_DISABLE_MASK   (1<<STEPPERS_DISABLE_BIT)
+
+  // Define homing/hard limit switch input pins and limit interrupt vectors. 
+  // NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (pinout).
+  // https://github.com/gnea/grbl/wiki/Wiring-Limit-Switches
+
+  #define LIMIT_DDR        DDRB
+  #define LIMIT_PIN        PINB
+  #define LIMIT_PORT       PORTB
+//  #define X_LIMIT_BIT      1  // Uno Digital Pin 9
+  #define Y_LIMIT_BIT      3  // Uno Digital Pin 11
+  #define LIMIT_MASK       (1<<Y_LIMIT_BIT) //((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // All limit bits
+  #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
+  #define LIMIT_INT_vect   PCINT0_vect // PCINT0_vect - D8 to D13 (Port B); PCINT1_vect - A0 to A5; PCINT2_vect - D0 to D7 (Port D)
+  #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
+
+  // Define probe switch input pin.
+  #define PROBE_DDR       DDRC
+  #define PROBE_PIN       PINC
+  #define PROBE_PORT      PORTC
+  #define PROBE_BIT       5  // Uno Analog Pin 5
+  #define PROBE_MASK      (1<<PROBE_BIT)
+
+#endif
+
+//----------------------------------------------------------------------------------------
+
 #ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
 
   // Define serial port pins and interrupt vectors.

defaults.h

@@ -34,21 +34,21 @@
 
 #ifdef DEFAULTS_HORUS
   // Grbl generic default settings. Should work across different machines.
-  #define DEFAULT_X_STEPS_PER_DEG 16/1.8 // step/deg
-  #define DEFAULT_Y_STEPS_PER_DEG 16/1.8 // step/deg
-  #define DEFAULT_Z_STEPS_PER_DEG 16/1.8 // step/deg
+  #define DEFAULT_X_STEPS_PER_DEG 16*11 // step/deg
+  #define DEFAULT_Y_STEPS_PER_DEG 16*200/32 // step/deg
+  #define DEFAULT_Z_STEPS_PER_DEG 16*200/360 // step/deg
   #define DEFAULT_X_MAX_RATE (180.0*60) // 180*60 deg/min = 180 deg/sec
-  #define DEFAULT_Y_MAX_RATE (180.0*60) // 180*60 deg/min = 180 deg/sec
+  #define DEFAULT_Y_MAX_RATE (150.0*60) // 180*60 deg/min = 180 deg/sec
   #define DEFAULT_Z_MAX_RATE (180.0*60) // 180*60 deg/min = 180 deg/sec
   #define DEFAULT_X_ACCELERATION (180.0*60*60) // 180*60*60 deg/min^2 = 180 deg/sec^2
   #define DEFAULT_Y_ACCELERATION (180.0*60*60) // 180*60*60 deg/min^2 = 180 deg/sec^2
   #define DEFAULT_Z_ACCELERATION (180.0*60*60) // 180*60*60 deg/min^2 = 180 deg/sec^2
   #define DEFAULT_X_MAX_TRAVEL 1080.0 // deg
-  #define DEFAULT_Y_MAX_TRAVEL 1080.0 // deg
+  #define DEFAULT_Y_MAX_TRAVEL 2000.0 // deg
   #define DEFAULT_Z_MAX_TRAVEL 1080.0 // deg
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
   #define DEFAULT_STEPPING_INVERT_MASK 0
-  #define DEFAULT_DIRECTION_INVERT_MASK ((1<<Y_AXIS)|(1<<Z_AXIS))
+  #define DEFAULT_DIRECTION_INVERT_MASK 0 // ((1<<Y_AXIS)|(1<<Z_AXIS))
   #define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
   #define DEFAULT_STATUS_REPORT_MASK ((BITFLAG_RT_STATUS_MACHINE_POSITION)|(BITFLAG_RT_STATUS_WORK_POSITION))
   #define DEFAULT_JUNCTION_DEVIATION 0.02 // deg
@@ -57,11 +57,11 @@
   #define DEFAULT_AUTO_START 1 // true
   #define DEFAULT_INVERT_ST_ENABLE 0 // false
   #define DEFAULT_INVERT_LIMIT_PINS 0 // false
-  #define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-  #define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
+  #define DEFAULT_SOFT_LIMIT_ENABLE 1 // false
+  #define DEFAULT_HARD_LIMIT_ENABLE 1  // false
+  #define DEFAULT_HOMING_ENABLE 1  // false
   #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
+  #define DEFAULT_HOMING_FEED_RATE 60.0 // mm/min
   #define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
   #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm

gcode.c

@@ -151,16 +151,24 @@ uint8_t gc_execute_line(char *line)
       case 'G':
         // Determine 'G' command and its modal group
         switch(int_value) {
-          case 1:
+          case 0: case 1:
             if (axis_command) { FAIL(STATUS_GCODE_AXIS_COMMAND_CONFLICT); } // [Axis word/command conflict]
             axis_command = AXIS_COMMAND_MOTION_MODE; 
-            gc_block.modal.motion = MOTION_MODE_LINEAR;
+            gc_block.modal.motion = int_value; // MOTION_MODE_LINEAR;
             word_bit = MODAL_GROUP_G1; 
             break;
+
+          case 4: // G4 Dwell
+            word_bit = MODAL_GROUP_G0;
+            gc_block.non_modal_command = NON_MODAL_DWELL; 
+            break;
+
           case 50:
             gc_block.non_modal_command = NON_MODAL_RESET_POSITION;
             break;
-          default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
+
+          default: 
+            FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND); // [Unsupported G command]
         }  
         if (mantissa > 0) { FAIL(STATUS_GCODE_COMMAND_VALUE_NOT_INTEGER); } // [Unsupported or invalid Gxx.x command]
         // Check for more than one command per modal group violations in the current block
@@ -203,10 +211,16 @@ uint8_t gc_execute_line(char *line)
            words (I,J,K,L,P,R) have multiple connotations and/or depend on the issued commands. */
         switch(letter){
           case 'F': word_bit = WORD_F; gc_block.values.f = value; break;
+          case 'P': word_bit = WORD_P; gc_block.values.p = value; break;
+          case 'S': word_bit = WORD_S; gc_block.values.s = value; break;
           case 'T': word_bit = WORD_T; gc_block.values.t = int_value; break; // gc.values.t = int_value;
           case 'X': word_bit = WORD_X; gc_block.values.xyz[X_AXIS] = value; axis_words |= (1<<X_AXIS); break;
-          /*case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
-          case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;*/
+#ifdef Y_STEP_BIT
+          case 'Y': word_bit = WORD_Y; gc_block.values.xyz[Y_AXIS] = value; axis_words |= (1<<Y_AXIS); break;
+#endif
+#ifdef Z_STEP_BIT
+          case 'Z': word_bit = WORD_Z; gc_block.values.xyz[Z_AXIS] = value; axis_words |= (1<<Z_AXIS); break;
+#endif
           default: FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
         }