Description

This is firmware for my stm32 based controller, which executes realtime part of the code for CNC. It supports simplified G-Code commands, and expected to run in pair with control program (https://github.com/nort-cnc-control/NoRTCNCControl).

Getting sources and building

git clone git@github.com:nort-cnc-control/cnccontrol_rt.git
cd cnccontrol_rt
git submodule init
git submodule sync
git submodule update
cd kbuild-standalone
mkdir build
cd build
make -C ../ -f Makefile.sample O=`pwd`
cd kconfig
export PATH=$PATH:`pwd`
cd ../../../

Then select configuration by copying config from arc/defconfig_* to .config, then run

make menuconfig
make

Real hardware

and make flash if you compile for real hardware (not emulation). avrdude for arduino or ocd for stm32 is required for make flash.

Emulation

cd arch/emulation
./controller.elf

Supported features

Hardware

Board: stm32f103 'blue pill' and arduino mega2560 + ramps
Movements: 3-axis movements X, Y, Z.
Detectors: XYZ endstops, Probe
Communication: ethernet through enc28j60 (stm32), serial port (arduino)

RT Commands

Command format

RT: Nn Gg....

Line numbering (N) is mandatory.

N0 G0 X10 F100

Supported commands

Line movement

G0/G1 XxxYyyZzz Ffff Tttt Pppp Llll
X, Y, Z - relative coordinates, steps, default=0
F - feed, mm/sec, default=5/60
P - initial feed, mm/sec, default=0
L - finish feed, mm/sec, default=0
T - acceleration, mm/sec^2, default=50

Helix movement

G2/G3 XxxYyyRrrSssHhhDdd G17/G18/G19 Aaaa Baaa Ffff Tttt Pppp Llll
X, Y - end coordinates in system of center of helix, steps.
R, S - start coordinates in system of center of helix, steps.
H - height of helix, steps
D - length of helix, mm
A, B - axises of ellipse, steps
G17/G18/G19 - selected plane
F, T, P, L - same as for G0/G1

Attention: cnccontrol_rt assumes that XYZ are right-handed basis. If it is wrong, you need to exchange G2 and G3 in g-code commands

Get/set current state

M3 - start tool
M5 - stop tool
M114 - current coordinates
M119 - endstops and Z-probe status
M800 - unlock movements
M801 - lock movements, =True on start
M802 - disable fail on endstops touch
M803 - enable fail on endstop touch, =True on start
M995 - disable break on probe
M996 - enable break on probe
M997 - set current posiiton to 0, 0, 0

Reboot

M999 - reboot

Using tool

M3 - enable tool
M5 - disable tool

This section is for tools that required to start and stop while moving, for example lasers

Searching endstops and probing

Searching endstops (simplified)

RT: N0 G0 X-30000 F50 T40
RT: N1 M998
RT: N2 G0 Y-30000 F50 T40
RT: N3 M998
RT: N4 G0 Z-30000 F50 T40
RT: N5 M998
RT: N6 M997

Probing

Example sequence for probing. (Axis Z directed to bottom)

RT: N0 M996
RT: N1 G0 Z20000 F500 T40
RT: N2 M998
RT: N3 G0 Z-1000 F100 T40
RT: N4 G0 Z2000 F50 T40
RT: N5 M998
RT: N6 M995

Modbus commands

It is also supported modbus master for control spindel, light, cooling, etc.

MB:XXXX:YYYY:ZZZZ

where XXXX - devic number, YYYY - port number and ZZZZ - value

Default ports usage for stm32f103 blue pill

X-step - PC14
X-dir - PC15
Y-step - PA0
Y-dir - PA1
Z-step - PA2
Z-dir - PA3
X-endstop - PB7
Y-endstop- PB6
Z-endstop - PB5
Probe - Pb8
Tool - PB1

License

GPLv3, see LICENSE file for full text

yisea123/cnccontrol_rt