Merge pull request #584 from Paciente8159/esp32-i2s-dma

ESP32 I2S using buffered motion over DMA
Paciente8159 · Feb 3, 2024 · ded7efc · ded7efc
2 parents 815431d + 6d28cbf
commit ded7efc
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Showing 12 changed files with 783 additions and 2,278 deletions.
diff --git a/docs/mcumap_gen.xlsx b/docs/mcumap_gen.xlsx
diff --git a/sdkconfig.defaults b/sdkconfig.defaults
diff --git a/uCNC/src/core/interpolator.c b/uCNC/src/core/interpolator.c
@@ -1368,3 +1368,10 @@ void itp_start(bool is_synched)
 		}
 	}
 }
+
+itp_segment_t *itp_get_rt_segment()
+{
+	return (itp_sgm_is_empty()) ? NULL : &itp_sgm_data[itp_sgm_data_read];
+}
+
+uint8_t __attribute__((weak)) itp_set_step_mode(uint8_t mode) {return 0;}
diff --git a/uCNC/src/core/interpolator.h b/uCNC/src/core/interpolator.h
@@ -40,6 +40,11 @@ extern "C"
 #define ITP_SYNC 32
 #define ITP_BACKLASH 64
 
+#define ITP_STEP_MODE_STARTUP 0
+#define ITP_STEP_MODE_DEFAULT 1
+#define ITP_STEP_MODE_REALTIME 2
+#define ITP_STEP_MODE_SYNC 4
+
 	// contains data of the block being executed by the pulse routine
 	// this block has the necessary data to execute the Bresenham line algorithm
 	typedef struct itp_blk_
@@ -90,6 +95,8 @@ extern "C"
 	float itp_get_rt_feed(void);
 	bool itp_is_empty(void);
 	uint8_t itp_sync(void);
+	itp_segment_t* itp_get_rt_segment();
+	uint8_t itp_set_step_mode(uint8_t mode);
 
 	void itp_sync_spindle(void);
 	void itp_start(bool is_synched);

diff --git a/uCNC/src/core/motion_control.c b/uCNC/src/core/motion_control.c
@@ -119,6 +119,11 @@ bool mc_toogle_checkmode(void)
 	return mc_checkmode;
 }
 
+static void FORCEINLINE mc_restore_step_mode(uint8_t *mode)
+{
+	itp_set_step_mode(*mode);
+}
+
 static uint8_t mc_line_segment(int32_t *step_new_pos, motion_data_t *block_data)
 {
 // resets accumulator vars of the block
@@ -728,6 +733,8 @@ uint8_t mc_home_axis(uint8_t axis_mask, uint8_t axis_limit)
 	float target[AXIS_COUNT];
 	motion_data_t block_data = {0};
 	uint8_t limits_flags;
+	uint8_t restore_step_mode __attribute__((__cleanup__(mc_restore_step_mode))) = itp_set_step_mode(ITP_STEP_MODE_REALTIME);
+
 #ifdef ENABLE_MOTION_CONTROL_MODULES
 	homing_status_t homing_status __attribute__((__cleanup__(mc_home_axis_finalize))) = {axis_mask, axis_limit, STATUS_OK};
 #endif
@@ -885,6 +892,7 @@ uint8_t mc_home_axis(uint8_t axis_mask, uint8_t axis_limit)
 uint8_t mc_probe(float *target, uint8_t flags, motion_data_t *block_data)
 {
 #if ASSERT_PIN(PROBE)
+	uint8_t restore_step_mode __attribute__((__cleanup__(mc_restore_step_mode))) = itp_set_step_mode(ITP_STEP_MODE_REALTIME);
 #ifdef ENABLE_G39_H_MAPPING
 	// disable hmap for probing motion
 	block_data->motion_mode &= ~MOTIONCONTROL_MODE_APPLY_HMAP;

diff --git a/uCNC/src/core/motion_control.h b/uCNC/src/core/motion_control.h
@@ -84,7 +84,8 @@ extern "C"
 	} motion_data_t;
 
 #ifdef ENABLE_MOTION_CONTROL_MODULES
-	typedef struct homing_status_ {
+	typedef struct homing_status_
+	{
 		uint8_t axis;
 		uint8_t axis_limit;
 		uint8_t status;

diff --git a/uCNC/src/hal/boards/esp32/esp32.ini b/uCNC/src/hal/boards/esp32/esp32.ini
@@ -14,6 +14,7 @@ board_build.partitions = min_spiffs.csv
 monitor_filters=esp32_exception_decoder
 upload_speed = 921600
 lib_deps = SPI, Wire, Wifi, WebServer, HTTPUpdatedServer, BluetoothSerial
+debug_tool=esp-prog
 
 ##################
 # Arduino builds #