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Adjust stepping and CPU map to eschew rewiring. #1

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4 changes: 3 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@ this is my fork of usbcnc for STM32F103 specially for board in my chinnese machi

![Board](https://github.com/mirecta/grbl/blob/edge/doc/media/usbmach_pins.jpg?raw=true)

U must remove three capacitors and solder 3 wires, because this would recquire masive sw patches , so better is patch with three wires
NOTE: On my usbmach v2.0 the SWD pin order, left to right as pictured below, is actually VCC,GND,SWDIO,SWCLK Once I figured that out (with the STM32 chip pinout and a multimeter) it programmed just fine with an ST-LINK V2 and STM32CubeProgrammer

Ignore the wire patch lines, that is no longer necessary.

![patch](https://github.com/mirecta/grbl/blob/edge/doc/media/usbmach_patch.jpg?raw=true)

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22 changes: 16 additions & 6 deletions grbl/cpu_map.h
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Expand Up @@ -285,20 +285,30 @@

#ifdef CPU_MAP_STM32F103

// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
// Define step pulse output pins. NOTE: All step bit pins must be on the same port... Or must they?
// Attempt to split potential pins onto two ports without mucking about with the rest of the code for STM32...
// This could be tricky...
#define H_PORT_OFFSET 16
#define L_PORT_MASK 0xFFFF //Sorry, too tired to bother with deriving one from the other. You get what you pay for.
#define STEP_PORT GPIOB
#define RCC_STEP_PORT RCC_APB2Periph_GPIOB
#define X_STEP_BIT 7
#define Y_STEP_BIT 5
#define H_STEP_PORT GPIOA //We're going to stack the pins on the A controller to the
#define H_RCC_STEP_PORT RCC_APB2Periph_GPIOA //left of the pins on the B controller
#define X_STEP_BIT ( 5 + H_PORT_OFFSET )
#define Y_STEP_BIT ( 7 + H_PORT_OFFSET )
#define Z_STEP_BIT 1
#define A_STEP_BIT 11
#define B_STEP_BIT 14
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)|(1<<A_STEP_BIT)|(1<<B_STEP_BIT)) // All step bits

// Define step direction output pins. NOTE: All direction pins must be on the same port.
#define DIRECTION_PORT GPIOB
// Define direction pulse output pins. NOTE: All direction bit pins must be on the same port... Or must they?
// Attempt to split potential pins onto two ports without mucking about with the rest of the code for STM32...
// This could be tricky...
#define DIRECTION_PORT GPIOB
#define RCC_DIRECTION_PORT RCC_APB2Periph_GPIOB
#define X_DIRECTION_BIT 6
#define H_DIRECTION_PORT GPIOA
#define H_RCC_DIRECTION_PORT RCC_APB2Periph_GPIOA
#define X_DIRECTION_BIT ( 6 + H_PORT_OFFSET )
#define Y_DIRECTION_BIT 0
#define Z_DIRECTION_BIT 10
#define A_DIRECTION_BIT 12
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2 changes: 1 addition & 1 deletion grbl/grbl.h
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Expand Up @@ -76,7 +76,7 @@ void _delay_ms(uint32_t x);
void _delay_us(uint32_t x);
#define false 0
#define true 1
#define PORTPINDEF uint16_t
#define PORTPINDEF uint32_t
typedef int bool;
//#define NOEEPROMSUPPORT
#define printPgmString printString
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2 changes: 1 addition & 1 deletion grbl/planner.h
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Expand Up @@ -62,7 +62,7 @@ typedef struct {
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.

#ifdef STM32F103C8
uint16_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
uint32_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#else
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#endif
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32 changes: 22 additions & 10 deletions grbl/stepper.c
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Expand Up @@ -123,7 +123,7 @@ typedef struct {
uint32_t steps[N_AXIS];
uint32_t step_event_count;
#ifdef STM32F103C8
uint16_t direction_bits;
uint32_t direction_bits;
#else
unit8_t direction_bits;
#endif
Expand Down Expand Up @@ -174,7 +174,7 @@ typedef struct {

#ifdef STEP_PULSE_DELAY
#ifdef STM32F103C8
uint16_t step_bits;
uint32_t step_bits;
#else
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif
Expand Down Expand Up @@ -465,7 +465,8 @@ void Timer1Proc()
DIRECTION_PORT = (DIRECTION_PORT & ~DIRECTION_MASK) | (st.dir_outbits & DIRECTION_MASK);
#endif
#ifdef STM32F103C8
GPIO_Write(DIRECTION_PORT, (GPIO_ReadOutputData(DIRECTION_PORT) & ~DIRECTION_MASK) | (st.dir_outbits & DIRECTION_MASK));
GPIO_Write(DIRECTION_PORT, (GPIO_ReadOutputData(DIRECTION_PORT) & ~(DIRECTION_MASK & L_PORT_MASK) ) | ((st.dir_outbits & DIRECTION_MASK) & L_PORT_MASK) );
GPIO_Write(H_DIRECTION_PORT, (GPIO_ReadOutputData(H_DIRECTION_PORT) & ~(DIRECTION_MASK >> H_PORT_OFFSET) ) | ((st.dir_outbits & DIRECTION_MASK) >> H_PORT_OFFSET ));
TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
#endif

Expand All @@ -477,7 +478,8 @@ void Timer1Proc()
STEP_PORT = (STEP_PORT & ~STEP_MASK) | st.step_outbits;
#endif
#ifdef STM32F103C8
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~STEP_MASK) | st.step_outbits);
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~(STEP_MASK & L_PORT_MASK) ) | (st.step_outbits) & L_PORT_MASK );
GPIO_Write(H_STEP_PORT, (GPIO_ReadOutputData(H_STEP_PORT) & ~(STEP_MASK >> H_PORT_OFFSET) ) | (st.step_outbits >> H_PORT_OFFSET) );
#endif
#endif

Expand Down Expand Up @@ -702,7 +704,8 @@ void Timer0Proc()
TIM3->SR &= ~(1<<0); // clear UIF flag
TIM3->CNT = 0;
NVIC_DisableIRQ(TIM3_IRQn);
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~STEP_MASK) | (step_port_invert_mask & STEP_MASK));
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~(STEP_MASK & L_PORT_MASK) ) | ((step_port_invert_mask & STEP_MASK) & L_PORT_MASK));
GPIO_Write(H_STEP_PORT, (GPIO_ReadOutputData(H_STEP_PORT) & ~(STEP_MASK >> H_PORT_OFFSET) ) | ((step_port_invert_mask & STEP_MASK) >> H_PORT_OFFSET));
}
#endif
#ifdef AVRTARGET
Expand Down Expand Up @@ -765,8 +768,11 @@ void st_reset()
DIRECTION_PORT = (DIRECTION_PORT & ~DIRECTION_MASK) | dir_port_invert_mask;
#endif
#ifdef STM32F103C8
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~STEP_MASK) | (step_port_invert_mask & STEP_MASK));
GPIO_Write(DIRECTION_PORT, (GPIO_ReadOutputData(DIRECTION_PORT) & ~DIRECTION_MASK) | (dir_port_invert_mask & DIRECTION_MASK));
GPIO_Write(STEP_PORT, (GPIO_ReadOutputData(STEP_PORT) & ~(STEP_MASK & L_PORT_MASK) ) | ((step_port_invert_mask & STEP_MASK) & L_PORT_MASK));
GPIO_Write(H_STEP_PORT, (GPIO_ReadOutputData(H_STEP_PORT) & ~(STEP_MASK >> H_PORT_OFFSET) ) | ((step_port_invert_mask & STEP_MASK) >> H_PORT_OFFSET));

GPIO_Write(DIRECTION_PORT, (GPIO_ReadOutputData(DIRECTION_PORT) & ~(DIRECTION_MASK & L_PORT_MASK) ) | ((dir_port_invert_mask & DIRECTION_MASK) & L_PORT_MASK));
GPIO_Write(H_DIRECTION_PORT, (GPIO_ReadOutputData(H_DIRECTION_PORT) & ~(DIRECTION_MASK >> H_PORT_OFFSET) ) | ((dir_port_invert_mask & DIRECTION_MASK) >> H_PORT_OFFSET));
#endif
}

Expand Down Expand Up @@ -813,7 +819,7 @@ void Timer0Thread(void *pVoid)
void stepper_init()
{
// Configure step and direction interface pins
#ifdef STM32F103C8
#ifdef STM32F103C8
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_STEPPERS_DISABLE_PORT, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
Expand All @@ -822,12 +828,18 @@ void stepper_init()
GPIO_Init(STEPPERS_DISABLE_PORT, &GPIO_InitStructure);

RCC_APB2PeriphClockCmd(RCC_STEP_PORT, ENABLE);
GPIO_InitStructure.GPIO_Pin = STEP_MASK;
RCC_APB2PeriphClockCmd(H_RCC_STEP_PORT, ENABLE);
GPIO_InitStructure.GPIO_Pin = STEP_MASK & L_PORT_MASK;
GPIO_Init(STEP_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = STEP_MASK >> H_PORT_OFFSET;
GPIO_Init(H_STEP_PORT, &GPIO_InitStructure);

RCC_APB2PeriphClockCmd(RCC_DIRECTION_PORT, ENABLE);
GPIO_InitStructure.GPIO_Pin = DIRECTION_MASK;
RCC_APB2PeriphClockCmd(H_RCC_DIRECTION_PORT, ENABLE);
GPIO_InitStructure.GPIO_Pin = DIRECTION_MASK & L_PORT_MASK;
GPIO_Init(DIRECTION_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = DIRECTION_MASK >> H_PORT_OFFSET;
GPIO_Init(H_DIRECTION_PORT, &GPIO_InitStructure);

RCC->APB1ENR |= RCC_APB1Periph_TIM2;
TIM_Configuration(TIM2, 1, 1, 1);
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