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Important: switched to v1.5.0 of the SDK.
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Updated for spindle handling refactoring.
Added MQTT client API option and added wifi settings for country id and AP BSSID (MAC).
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@terjeio
terjeio committed Feb 13, 2023
1 parent 563c490 commit 845d7b4
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Showing 6 changed files with 685 additions and 252 deletions.
16 changes: 12 additions & 4 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 3.13)

option(ADD_HPGL "Add HPGL plugin" OFF)
option(ADD_WIFI "Add WiFi networking" OFF)
option(ADD_mDNS "Add mDNS service" OFF) # Set LWIP_DIR below to the root path of lwIP sources when ON!
# Set LWIP_DIR below to the root path of lwIP sources when the following is set ON!
option(ADD_mDNS "Add mDNS service" OFF)
option(ADD_MQTT "Add MQTT client API" OFF)

if(ADD_WIFI)
set(PICO_BOARD pico_w)
Expand All @@ -12,8 +14,8 @@ include(pico_sdk_import.cmake)
if(ADD_WIFI)
include(networking/CMakeLists.txt)
include(webui/CMakeLists.txt)
if(ADD_mDNS)
set(LWIP_DIR /home/pi/pico/pico-sdk/lib/lwip) # LWIP_DIR
if(ADD_mDNS OR ADD_MQTT)
set(LWIP_DIR /home/pi/pico/pico-sdk/lib/lwip) # LWIP_DIRzz
include(${LWIP_DIR}/src/Filelists.cmake)
endif()
endif()
Expand Down Expand Up @@ -63,7 +65,7 @@ target_compile_definitions(grblHAL PUBLIC LITTLEFS_ENABLE=1)

if(ADD_WIFI)
target_compile_definitions(grblHAL PUBLIC WIFI_ENABLE=1)
target_compile_definitions(grblHAL PUBLIC NDEBUG=0)
target_compile_definitions(grblHAL PUBLIC NDEBUG)
target_compile_definitions(grblHAL PUBLIC WEBUI_AUTO_REPORT_INTERVAL=0)
target_sources(grblHAL PRIVATE
wifi.c
Expand All @@ -84,6 +86,12 @@ target_sources(grblHAL PRIVATE
${lwipmdns_SRCS}
)
endif()
if(ADD_MQTT)
target_compile_definitions(grblHAL PUBLIC MQTT_ENABLE=1)
target_sources(grblHAL PRIVATE
${lwipmqtt_SRCS}
)
endif()
endif()

if(ADD_HPGL)
Expand Down
9 changes: 3 additions & 6 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,10 @@

A grblHAL driver for the Raspberry Pi Pico RP2040 processor on a [Pi Pico or Pi Pico W board](https://www.raspberrypi.org/products/raspberry-pi-pico/).

__Important__ download information can be found [here](https://github.com/grblHAL/core/wiki/Compiling-grblHAL).
__Important__ download information can be found [here](https://github.com/grblHAL/core/wiki/Compiling-grblHAL).
The project has been updated to/now uses [SDK version 1.5.0](https://github.com/raspberrypi/pico-sdk/releases).

The default build environment is Visual Studio Code, it is surprisingly easy to set up on Raspberry Pi - see the [Getting started](https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf) documentation for how to for this and other platforms.

__Note:__ Before enabling mDNS and/or SSDP protocols for Pico W buggy code in the SDK has to be removed.
The broken code is in [cyw43_lwip.c](https://github.com/georgerobotics/cyw43-driver/blob/195dfcc10bb6f379e3dea45147590db2203d3c7b/src/cyw43_lwip.c#L176-L184), either remove this part of the code or inactivate it by adding a `x` in front of `LWIP_MDNS_RESPONDER` in line 176.
There are two issues with this code: first is that it is for a newer version of lwIP than is supplied with the SDK, second is that mDNS is enabled with a default hostname - not the run-time configurable hostname in from grblHAL.

---
2022-10-28
2023-02-13
76 changes: 38 additions & 38 deletions driver.c
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Original file line number Diff line number Diff line change
Expand Up @@ -133,12 +133,13 @@ typedef union {
};
} pio_steps_t;

#if (!VFD_SPINDLE || N_SPINDLE > 1) && defined(SPINDLE_PORT)
#if DRIVER_SPINDLE_ENABLE && defined(SPINDLE_PORT)

#define DRIVER_SPINDLE

#if defined(SPINDLE_PWM_PIN)
static bool pwmEnabled = false;
static spindle_id_t spindle_id = -1;
static spindle_pwm_t spindle_pwm;
static void spindle_set_speed (uint_fast16_t pwm_value);
#endif
Expand Down Expand Up @@ -1161,45 +1162,41 @@ static void spindleSetStateVariable (spindle_state_t state, float rpm)
spindle_set_speed(state.on ? spindle_compute_pwm_value(&spindle_pwm, rpm, false) : spindle_pwm.off_value);
}

bool spindleConfig (void)
bool spindleConfig (spindle_ptrs_t *spindle)
{
static spindle_settings_t spindle = {0};
if(spindle == NULL)
return false;

if(hal.spindle.rpm_max > 0.0f && memcmp(&spindle, &settings.spindle, sizeof(spindle_settings_t))) {
uint32_t prescaler = settings.spindle.pwm_freq > 2000.0f ? 1 : (settings.spindle.pwm_freq > 200.0f ? 12 : 50);

uint32_t prescaler = settings.spindle.pwm_freq > 2000.0f ? 1 : (settings.spindle.pwm_freq > 200.0f ? 12 : 50);
if((spindle->cap.variable = !settings.spindle.flags.pwm_disable && spindle_precompute_pwm_values(spindle, &spindle_pwm, clock_get_hz(clk_sys) / prescaler))) {

memcpy(&spindle, &settings.spindle, sizeof(spindle_settings_t));
spindle->set_state = spindleSetStateVariable;

if((hal.spindle.cap.variable = !settings.spindle.flags.pwm_disable && spindle_precompute_pwm_values(&spindle_pwm, clock_get_hz(clk_sys) / prescaler))) {
// Get the default config for
pwm_config config = pwm_get_default_config();

hal.spindle.set_state = spindleSetStateVariable;
// Set divider, not using the 4 fractional bit part of the clock divider, only the integer part
pwm_config_set_clkdiv_int(&config, prescaler);
// Set the top value of the PWM => the period
pwm_config_set_wrap(&config, spindle_pwm.period);
// Set the off value of the PWM => off duty cycle (either 0 or the off value)
pwm_set_gpio_level(SPINDLE_PWM_PIN, spindle_pwm.off_value);

// Get the default config for
pwm_config config = pwm_get_default_config();
// Set polarity of the channel
uint channel = pwm_gpio_to_channel(SPINDLE_PWM_PIN); // Get which is associated with the PWM pin
pwm_config_set_output_polarity(&config, (!channel & settings.spindle.invert.pwm), (channel & settings.spindle.invert.pwm)); // Set the polarity of the pin's channel

// Set divider, not using the 4 fractional bit part of the clock divider, only the integer part
pwm_config_set_clkdiv_int(&config, prescaler);
// Set the top value of the PWM => the period
pwm_config_set_wrap(&config, spindle_pwm.period);
// Set the off value of the PWM => off duty cycle (either 0 or the off value)
pwm_set_gpio_level(SPINDLE_PWM_PIN, spindle_pwm.off_value);

// Set polarity of the channel
uint channel = pwm_gpio_to_channel(SPINDLE_PWM_PIN); // Get which is associated with the PWM pin
pwm_config_set_output_polarity(&config, (!channel & settings.spindle.invert.pwm), (channel & settings.spindle.invert.pwm)); // Set the polarity of the pin's channel
// Load the configuration into our PWM slice, and set it running.
pwm_init(pwm_gpio_to_slice_num(SPINDLE_PWM_PIN), &config, true);

// Load the configuration into our PWM slice, and set it running.
pwm_init(pwm_gpio_to_slice_num(SPINDLE_PWM_PIN), &config, true);

} else {
if(pwmEnabled)
hal.spindle.set_state((spindle_state_t){0}, 0.0f);
hal.spindle.set_state = spindleSetState;
}
} else {
if(pwmEnabled)
spindle->set_state((spindle_state_t){0}, 0.0f);
spindle->set_state = spindleSetState;
}
spindle_update_caps(hal.spindle.cap.variable ? &spindle_pwm : NULL);

spindle_update_caps(spindle, spindle->cap.variable ? &spindle_pwm : NULL);

return true;
}
Expand Down Expand Up @@ -1412,7 +1409,7 @@ void pinEnableIRQ (const input_signal_t *input, pin_irq_mode_t irq_mode)
}

// Configures peripherals when settings are initialized or changed
void settings_changed (settings_t *settings)
void settings_changed (settings_t *settings, settings_changed_flags_t changed)
{
#if USE_STEPDIR_MAP
stepdirmap_init(settings);
Expand All @@ -1427,8 +1424,11 @@ void settings_changed (settings_t *settings)
#endif

#ifdef SPINDLE_PWM_PIN
if(hal.spindle.config == spindleConfig)
spindleConfig();
if(changed.spindle) {
spindleConfig(spindle_get_hal(spindle_id, SpindleHAL_Configured));
if(spindle_id == spindle_get_default())
spindle_select(spindle_id);
}
#endif

#if SD_SHIFT_REGISTER
Expand Down Expand Up @@ -1871,7 +1871,7 @@ static bool driver_setup (settings_t *settings)

IOInitDone = settings->version == 22;

hal.settings_changed(settings);
hal.settings_changed(settings, (settings_changed_flags_t){0});
stepperSetDirOutputs((axes_signals_t){0});

#if PPI_ENABLE
Expand Down Expand Up @@ -1938,7 +1938,7 @@ bool driver_init (void)
systick_hw->csr = M0PLUS_SYST_CSR_TICKINT_BITS|M0PLUS_SYST_CSR_ENABLE_BITS;

hal.info = "RP2040";
hal.driver_version = "230125";
hal.driver_version = "230205";
hal.driver_options = "SDK_" PICO_SDK_VERSION_STRING;
hal.driver_url = GRBL_URL "/RP2040";
#ifdef BOARD_NAME
Expand Down Expand Up @@ -2032,17 +2032,17 @@ bool driver_init (void)
#else
.type = SpindleType_Basic,
#endif
#ifdef SPINDLE_DIRECTION_PIN
#if defined(SPINDLE_DIRECTION_PIN) || SPINDLE_PORT == GPIO_SR16 || SPINDLE_PORT == GPIO_IOEXPAND
.cap.direction = On,
#endif
.set_state = spindleSetState,
.get_state = spindleGetState
};

#ifdef SPINDLE_PWM_PIN
spindle_register(&spindle, "PWM");
spindle_id = spindle_register(&spindle, "PWM");
#else
spindle_register(&spindle, "Basic");
spindle_id = spindle_register(&spindle, "Basic");
#endif

#endif // DRIVER_SPINDLE
Expand Down
1 change: 1 addition & 0 deletions lwipopts.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#define LWIP_ETHERNET 1
#define LWIP_ICMP 1
#define LWIP_RAW 1
#define LWIP_IGMP 1
#define TCP_WND (8 * TCP_MSS)
#define TCP_MSS 1460
#define TCP_SND_BUF (8 * TCP_MSS)
Expand Down
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