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fra589 / grbl-Mega-5X

5/6 Axis version of Grbl, the open source, embedded, high performance g-code-parser and CNC milling controller written in optimized C that will run on an Arduino Mega2560
https://github.com/fra589/grbl-Mega-5X/wiki
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(Not an issue) I used the CPU_MAP to keep the Step/dir on the Same port #56

Closed rlwoodjr closed 5 years ago

rlwoodjr commented 5 years ago

I am not very good at programming but I did edit the CPU_MAP in hopes to increase the jitter-free pulse generation frequency. The pin changes seem t work, but sadly it did not seem to help.

Should any of the pins or ports be off limits? Or does it not help to have these on the same port?

Description  | D Pin  | Pin | Address X1 step | D24 | 24 | A2 Y step | D25 | 25 | A3 Z step | D26 | 26 | A4 X2 Step | D27 | 27 | A5 A Step | D28 | 28 | A6 B Step | D29 | 29 | A7 X1 direction | D30 | 30 | C7 Y direction | D31 | 31 | C6 Z direction | D32 | 32 | C5 X2 direction | D33 | 33 | C4 A Direction | D34 | 34 | C3 B direction | D35 | 35 | C2 X1 enable | D44 | 44 | L5 Y enable | D45 | 45 | L4 Z enable | D46 | 46 | L3 X2 enable | D47 | 47 | L2 A enable | D48 | 48 | L1 B enable | D49 | 49 | L0 Spindle enable | D4 | 4 | G5 Spindle direction | D5 | 5 | E3 Spindle PWM | D8 | 8 | H5 Coolant mist | D9 | 9 | H6 Coolant flood | D6 | 6 | B4 X1 Max | A0 | 54 | F0 X1 Min | A1 | 55 | F1 Y Max | A2 | 56 | F2 Y Min | A3 | 57 | F3 Z Max | A4 | 58 | F4 Z Min | A5 | 59 | F5 X2 Max | A6 | 60 | F6 X2 Min | A7 | 61 | F7 A Max | D10 | 10 | B4 A Min | D11 | 11 | B5 B Max | D12 | 12 | B6 B Min | D13 | 13 | B7 Probe | A15 | 69 | K7 Reset switch (soft reset) | A9 | 63 | K1 Feed hold | A10 | 64 | K2 Cycle start | A11 | 65 | K3 Safety door | A12 | 66 | K4

rlwoodjr commented 5 years ago

Here is my add to the CPU_MAP file.

`#ifdef CPU_MAP_2560_BOBSCNC // (Arduino Mega 2560) FOR KL7 SERIES BobsCNC

include "nuts_bolts.h"

// Serial port interrupt vectors

define SERIAL_RX USART0_RX_vect

define SERIAL_UDRE USART0_UDRE_vect

// Define ports and pins

define DDR(port) DDR##port

define _DDR(port) DDR(port)

define PORT(port) PORT##port

define _PORT(port) PORT(port)

define PIN(pin) PIN##pin

define _PIN(pin) PIN(pin)

// Define step pulse output pins.

define STEP_PORT_0 A

define STEP_PORT_1 A

define STEP_PORT_2 A

if N_AXIS > 3

define STEP_PORT_3 A // Axis number 4

endif

if N_AXIS > 4

define STEP_PORT_4 A // Axis number 5

endif

if N_AXIS > 5

define STEP_PORT_5 A // Axis number 6

endif

define STEP_BIT_0 2 // X Step - Pin D24

define STEP_BIT_1 3 // Y Step - Pin D25

define STEP_BIT_2 4 // Z Step - Pin D26

if N_AXIS > 3

define STEP_BIT_3 5 // Axis number 4 Step - Pin D27

endif

if N_AXIS > 4

define STEP_BIT_4 6 // Axis number 5 Step - Pin D28

endif

if N_AXIS > 5

define STEP_BIT_5 7 // Axis number 6 Step - Pin D29

endif

define _STEP_BIT(i) STEPBIT##i

define STEP_BIT(i) _STEP_BIT(i)

define STEP_DDR(i) _DDR(STEPPORT##i)

define _STEP_PORT(i) _PORT(STEPPORT##i)

define STEP_PORT(i) _STEP_PORT(i)

define STEP_PIN(i) _PIN(STEPPORT##i)

// Define step direction output pins.

define DIRECTION_PORT_0 C

define DIRECTION_PORT_1 C

define DIRECTION_PORT_2 C

if N_AXIS > 3

define DIRECTION_PORT_3 C // Axis number 4

endif

if N_AXIS > 4

define DIRECTION_PORT_4 C // Axis number 5

endif

if N_AXIS > 5

define DIRECTION_PORT_5 C // Axis number 6

endif

define DIRECTION_BIT_0 7 // X Dir - Pin D30

define DIRECTION_BIT_1 6 // Y Dir - Pin D31

define DIRECTION_BIT_2 5 // Z Dir - Pin D32

if N_AXIS > 3

define DIRECTION_BIT_3 4 // Axis number 4 Step - Pin D33

endif

if N_AXIS > 4

define DIRECTION_BIT_4 3 // Axis number 5 Step - Pin D34

endif

if N_AXIS > 5

define DIRECTION_BIT_5 2 // Axis number 6 Step - Pin D35

endif

define _DIRECTION_BIT(i) DIRECTIONBIT##i

define DIRECTION_BIT(i) _DIRECTION_BIT(i)

define DIRECTION_DDR(i) _DDR(DIRECTIONPORT##i)

define _DIRECTION_PORT(i) _PORT(DIRECTIONPORT##i)

define DIRECTION_PORT(i) _DIRECTION_PORT(i)

define DIRECTION_PIN(i) _PIN(DIRECTIONPORT##i)

// Define stepper driver enable/disable output pin.

define STEPPER_DISABLE_PORT_0 L

define STEPPER_DISABLE_PORT_1 L

define STEPPER_DISABLE_PORT_2 L

if N_AXIS > 3

define STEPPER_DISABLE_PORT_3 L // Axis number 4

endif

if N_AXIS > 4

define STEPPER_DISABLE_PORT_4 L // Axis number 5

endif

if N_AXIS > 5

define STEPPER_DISABLE_PORT_5 L // Axis number 5

endif

define STEPPER_DISABLE_BIT_0 5 // X Enable - Pin D44

define STEPPER_DISABLE_BIT_1 4 // Y Enable - Pin D45

define STEPPER_DISABLE_BIT_2 3 // Z Enable - Pin D46

if N_AXIS > 3

define STEPPER_DISABLE_BIT_3 2 // Axis number 4 Step - Pin D47

endif

if N_AXIS > 4

define STEPPER_DISABLE_BIT_4 1 // Axis number 5 Step - Pin D48

endif

if N_AXIS > 5

define STEPPER_DISABLE_BIT_5 0 // Axis number 5 Step - Pin D49

endif

define STEPPER_DISABLE_BIT(i) STEPPER_DISABLEBIT##i

define STEPPER_DISABLE_DDR(i) _DDR(STEPPER_DISABLEPORT##i)

define STEPPER_DISABLE_PORT(i) _PORT(STEPPER_DISABLEPORT##i)

define STEPPER_DISABLE_PIN(i) _PIN(STEPPER_DISABLEPORT##i)

// Define homing/hard limit switch input pins and limit interrupt vectors.

define MIN_LIMIT_PORT_0 F

define MIN_LIMIT_PORT_1 F

define MIN_LIMIT_PORT_2 F

if N_AXIS > 3

define MIN_LIMIT_PORT_3 F

endif

if N_AXIS > 4

define MIN_LIMIT_PORT_4 B

endif

if N_AXIS > 5

define MIN_LIMIT_PORT_5 B

endif

define MIN_LIMIT_BIT_0 1 // X Limit Min - Pin A1

define MIN_LIMIT_BIT_1 3 // Y Limit Min - Pin A3

define MIN_LIMIT_BIT_2 5 // Z Limit Min - Pin A5

if N_AXIS > 3

define MIN_LIMIT_BIT_3 7 // Axis number 4 Limit Min : pin A7

endif

if N_AXIS > 4

define MIN_LIMIT_BIT_4 5 // Axis number 5 Limit Min: pin D11

endif

if N_AXIS > 5

define MIN_LIMIT_BIT_5 7 // Axis number 6 Limit Min: pin D13

endif

define _MIN_LIMIT_BIT(i) MIN_LIMITBIT##i

define MIN_LIMIT_BIT(i) _MIN_LIMIT_BIT(i)

define MIN_LIMIT_DDR(i) _DDR(MIN_LIMITPORT##i)

define MIN_LIMIT_PORT(i) _PORT(MIN_LIMITPORT##i)

define MIN_LIMIT_PIN(i) _PIN(MIN_LIMITPORT##i)

define MAX_LIMIT_PORT_0 F

define MAX_LIMIT_PORT_1 F

define MAX_LIMIT_PORT_2 F

if N_AXIS > 3

define MAX_LIMIT_PORT_3 F

endif

if N_AXIS > 4

define MAX_LIMIT_PORT_4 B

endif

if N_AXIS > 5

define MAX_LIMIT_PORT_5 B

endif

define MAX_LIMIT_BIT_0 0 // X Limit Max - Pin A0

define MAX_LIMIT_BIT_1 2 // Y Limit Max - Pin A2

define MAX_LIMIT_BIT_2 4 // Z Limit Max - Pin A4

if N_AXIS > 3

define MAX_LIMIT_BIT_3 6 // Axis number 4 Limit Max : pin A6

endif

if N_AXIS > 4

define MAX_LIMIT_BIT_4 4 // Axis number 5 Limit Max: pin D10

endif

if N_AXIS > 5

define MAX_LIMIT_BIT_5 6 // Axis number 6 Limit Max: pin D12

endif

define _MAX_LIMIT_BIT(i) MAX_LIMITBIT##i

define MAX_LIMIT_BIT(i) _MAX_LIMIT_BIT(i)

define MAX_LIMIT_DDR(i) _DDR(MAX_LIMITPORT##i)

define MAX_LIMIT_PORT(i) _PORT(MAX_LIMITPORT##i)

define MAX_LIMIT_PIN(i) _PIN(MAX_LIMITPORT##i)

// #define LIMIT_INT PCIE0 // Pin change interrupt enable pin // #define LIMIT_INT_vect PCINT0_vect // #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register // #define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits

define DISABLE_HW_LIMITS_INTERUPT

// Define spindle enable and spindle direction output pins.

define SPINDLE_ENABLE_DDR DDRG

define SPINDLE_ENABLE_PORT PORTG

define SPINDLE_ENABLE_BIT 5 // MEGA2560 Digital Pin D4

define SPINDLE_DIRECTION_DDR DDRE

define SPINDLE_DIRECTION_PORT PORTE

define SPINDLE_DIRECTION_BIT 3 // MEGA2560 Digital Pin D5

// Define flood and mist coolant enable output pins.

define COOLANT_FLOOD_DDR DDRH

define COOLANT_FLOOD_PORT PORTH

define COOLANT_FLOOD_BIT 3 // MEGA2560 Digital Pin D6 -12v output

define COOLANT_MIST_DDR DDRH

define COOLANT_MIST_PORT PORTH

define COOLANT_MIST_BIT 6 // MEGA2560 Digital Pin D9 -12v output

// Define user-control CONTROLs (cycle start, reset, feed hold) input pins. // NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).

define CONTROL_DDR DDRK

define CONTROL_PIN PINK

define CONTROL_PORT PORTK

define CONTROL_RESET_BIT 1 // Pin A9 - RAMPS Aux 2 Port

define CONTROL_FEED_HOLD_BIT 2 // Pin A10 - RAMPS Aux 2 Port

define CONTROL_CYCLE_START_BIT 3 // Pin A11 - RAMPS Aux 2 Port

define CONTROL_SAFETY_DOOR_BIT 4 // Pin A12 - RAMPS Aux 2 Port

define CONTROL_INT PCIE2 // Pin change interrupt enable pin

define CONTROL_INT_vect PCINT2_vect

define CONTROL_PCMSK PCMSK2 // Pin change interrupt register

define CONTROL_MASK ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))

// Define probe switch input pin.

define PROBE_DDR DDRK

define PROBE_PIN PINK

define PROBE_PORT PORTK

define PROBE_BIT 7 // MEGA2560 Analog Pin 15

define PROBE_MASK (1<<PROBE_BIT)

// Advanced Configuration Below You should not need to touch these variables // Set Timer up to use TIMER4B which is attached to Digital Pin 8 - Ramps 1.4 12v output with heat sink

define SPINDLE_PWM_MAX_VALUE 1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler

ifndef SPINDLE_PWM_MIN_VALUE

define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.

endif

define SPINDLE_PWM_OFF_VALUE 0

define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)

//Control Digital Pin 6 which is Servo 2 signal pin on Ramps 1.4 board

define SPINDLE_TCCRA_REGISTER TCCR4A

define SPINDLE_TCCRB_REGISTER TCCR4B

define SPINDLE_OCR_REGISTER OCR4C

define SPINDLE_COMB_BIT COM4C1

// 1/8 Prescaler, 16-bit Fast PWM mode

define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))

define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41))

define SPINDLE_OCRA_REGISTER OCR4A // 16-bit Fast PWM mode requires top reset value stored here.

define SPINDLE_OCRA_TOP_VALUE 0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.

// Define spindle output pins.

define SPINDLE_PWM_DDR DDRH

define SPINDLE_PWM_PORT PORTH

define SPINDLE_PWM_BIT 5 // MEGA2560 Digital Pin D8

endif`

RaphaelDives commented 5 years ago

Hey @rlwoodjr, I don't really understand what you're up to, but I don't think that changing the port makes any difference, unless you change the code itself… Cheers Raphael

Please use the "Insert code" button ("<>") for inserting code. 😎

rlwoodjr commented 5 years ago

Hello @RaphaelDives, thanks for the reply.

My thought is if all the step pins were on the same port, then it would save a clock cycle or two. each step signal. In the CPU_MAP.h it states:

// Define step pulse output pins. NOTE: All step bit pins must be on the same port.

fra589 commented 5 years ago

Hi @rlwoodjr,

// Define step pulse output pins. NOTE: All step bit pins must be on the same port.

The comment you talk about is for non RAMP mapping. This constraint was from original grbl-Mega before the RAMP version. The RAMP version add new pin definition method wich freed this constraint. It just affect the pin definition, the step pulse are sended by the same interrupt handler routine, independently of the pin definition. You can found more info about the max step frequency of GRBL here : (https://github.com/grbl/grbl/issues/41)

@++;
Gauthier.

rlwoodjr commented 5 years ago

Hello @fra589

It might be interesting to note that the grbl1.1e on the Uno will run 36kHz max step frequency. I can run the Mega code at 23 kHz max step frequency. Not sure if it is the added axes or if it is something I am doing wrong, but 750 inches per minute (23kHz) is top speed.

Here is a video link of the CNC moving 1200 inches per minute. https://www.youtube.com/watch?v=0lUSA1DxqGQ

fra589 commented 5 years ago

Hi @rlwoodjr, See also in the stepper.c file, the max step frequency ans speed limitation are explained in comments... Sure, the added axis also add computing cycles CPU, but I can't explain myself the big difference you have. Perhaps you can search in the stepper.c file where to optimize the pulse frequency? @++; Gauthier.

rlwoodjr commented 5 years ago

Hi @fra589 Thanks for the information.