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Add initial mcu-cnc-pendant configuration
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---
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# Hardware: M5Stack M5Stamp S3 in the ESPendant case (github.com/positron96/ESP32_CNC_Pendant),
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# talks to Klipper over Moonraker HTTP API
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# Pinout:
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# GPIO0 Stamp button (boot) -> stamp_button (binary_sensor gpio) (inverted)
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# GPIO1 Handwheel A -> handwheel (sensor rotary_encoder pin_a)
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# GPIO2 Handwheel B -> handwheel (sensor rotary_encoder pin_b)
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# GPIO4 Axis encoder A -> axis_encoder (sensor rotary_encoder pin_a)
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# GPIO5 Axis encoder B -> axis_encoder (sensor rotary_encoder pin_b)
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# GPIO6 Axis encoder push -> axis_button (binary_sensor gpio) (inverted)
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# GPIO7 Step encoder A -> step_encoder (sensor rotary_encoder pin_a)
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# GPIO8 Step encoder B -> step_encoder (sensor rotary_encoder pin_b)
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# GPIO9 Step encoder push -> step_button (binary_sensor gpio) (inverted)
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# GPIO10 BT1 -> bt1 (binary_sensor gpio) (inverted)
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# GPIO11 BT2 -> bt2 (binary_sensor gpio) (inverted)
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# GPIO12 BT3 -> bt3 (binary_sensor gpio) (inverted)
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# GPIO13 LCD E (SCK) -> spi (spi clk_pin)
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# GPIO14 LCD R/W (MOSI) -> spi (spi mosi_pin)
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# GPIO15 LCD RS (CS) -> lcd (display st7920 cs_pin)
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# GPIO21 RGB LED -> status_rgb (light esp32_rmt_led_strip)
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# GPIO39-44 free (BT4-BT6 later)
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# LCD RST: RC to 3.3 V, PSB to GND (serial mode)
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substitutions:
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device: cnc-pendant
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name: CNC Pendant
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area: Workshop
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comment: Klipper CNC pendant
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moonraker: http://klipper.local:7125
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max_feed: "3000" # mm/min, handwheel jog feed cap
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esphome:
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name: mcu-${device}
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friendly_name: ${name}
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area: ${area}
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comment: ${comment}
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esp32:
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variant: esp32s3
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flash_size: 8MB
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toolchain: esp-idf
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framework:
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type: esp-idf
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packages:
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common: !include common/common.yaml
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# ipv6_only: !include common/ipv6_only.yaml
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status_led: !include
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file: common/status_led.yaml
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vars:
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light_id: status_rgb
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light:
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- platform: esp32_rmt_led_strip
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id: status_rgb
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name: LED
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pin: 21
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num_leds: 1
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chipset: ws2812
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rgb_order: GRB
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restore_mode: ALWAYS_OFF
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http_request:
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timeout: 1s
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globals:
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- id: axis
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type: int
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initial_value: "0" # 0 X, 1 Y, 2 Z
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- id: step
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type: int
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initial_value: "1" # index into steps[] in jog_interval
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- id: wheel_sent
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type: float
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initial_value: "0"
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- id: pos
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type: std::array<float, 3>
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- id: homed
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type: std::string
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- id: state
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type: std::string
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initial_value: '"offline"'
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script:
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- id: gcode
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mode: queued
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max_runs: 5
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parameters:
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cmd: string
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then:
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- http_request.post:
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url: ${moonraker}/printer/gcode/script
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json: 'root["script"] = cmd;'
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on_error:
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- logger.log:
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format: "gcode failed: %s"
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args: [cmd.c_str()]
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interval:
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# handwheel: send the counts since the last jog as one relative move
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- id: jog_interval
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interval: 100ms
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then:
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- lambda: |-
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static const float steps[] = {0.01f, 0.1f, 1.0f};
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float delta = id(handwheel).state - id(wheel_sent);
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if (delta == 0 || std::isnan(delta)) return;
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id(wheel_sent) = id(handwheel).state;
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float dist = delta * steps[id(step)];
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// feed so the move takes ~100 ms, i.e. about one interval
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// ponytail: capped feed lets fast spins queue moves that keep running after the wheel stops; drop excess counts if that bites
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float feed = std::min(std::max(std::fabs(dist) * 600.0f, 60.0f), ${max_feed}.0f);
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id(gcode)->execute(str_sprintf("G91\nG1 %c%.3f F%.0f\nG90", "XYZ"[id(axis)], dist, feed));
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# DRO
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- interval: 250ms
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then:
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- http_request.get:
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url: ${moonraker}/printer/objects/query?gcode_move=gcode_position&toolhead=homed_axes&print_stats=state
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capture_response: true
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on_response:
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- lambda: |-
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json::parse_json(body, [](JsonObject root) -> bool {
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JsonObject s = root["result"]["status"];
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JsonArray p = s["gcode_move"]["gcode_position"];
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for (int i = 0; i < 3; i++) id(pos)[i] = p[i];
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id(homed) = s["toolhead"]["homed_axes"].as<std::string>();
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id(state) = s["print_stats"]["state"].as<std::string>();
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return true;
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});
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on_error:
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- lambda: 'id(state) = "offline";'
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sensor:
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- platform: rotary_encoder
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id: handwheel
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pin_a:
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number: 1
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mode: INPUT_PULLUP
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pin_b:
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number: 2
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mode: INPUT_PULLUP
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resolution: 1 # calibration: counts per detent, flip pin_a/pin_b if direction is wrong
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- platform: rotary_encoder
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id: axis_encoder
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pin_a:
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number: 4
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mode: INPUT_PULLUP
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pin_b:
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number: 5
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mode: INPUT_PULLUP
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on_clockwise:
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- lambda: 'id(axis) = std::min(id(axis) + 1, 2);'
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on_anticlockwise:
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- lambda: 'id(axis) = std::max(id(axis) - 1, 0);'
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- platform: rotary_encoder
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id: step_encoder
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pin_a:
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number: 7
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mode: INPUT_PULLUP
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pin_b:
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number: 8
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mode: INPUT_PULLUP
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on_clockwise:
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- lambda: 'id(step) = std::min(id(step) + 1, 2);'
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on_anticlockwise:
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- lambda: 'id(step) = std::max(id(step) - 1, 0);'
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binary_sensor:
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- platform: gpio
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id: stamp_button
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name: Stamp Button
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pin:
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number: 0
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inverted: true
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# axis push: zero the selected axis in work coordinates
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- platform: gpio
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id: axis_button
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name: Axis Button
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pin:
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number: 6
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mode: INPUT_PULLUP
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inverted: true
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filters:
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- delayed_on_off: 20ms
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on_press:
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- lambda: 'id(gcode)->execute(str_sprintf("G92 %c0", "XYZ"[id(axis)]));'
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- platform: gpio
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id: step_button
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name: Step Button
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pin:
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number: 9
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mode: INPUT_PULLUP
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inverted: true
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filters:
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- delayed_on_off: 20ms
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# BT1: home all
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- platform: gpio
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id: bt1
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name: BT1
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pin:
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number: 10
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mode: INPUT_PULLUP
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inverted: true
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filters:
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- delayed_on_off: 20ms
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on_press:
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- script.execute:
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id: gcode
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cmd: G28
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# BT2: pause / resume
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- platform: gpio
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id: bt2
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name: BT2
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pin:
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number: 11
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mode: INPUT_PULLUP
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inverted: true
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filters:
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- delayed_on_off: 20ms
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on_press:
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- http_request.post:
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url: !lambda 'return std::string("${moonraker}/printer/print/") + (id(state) == "paused" ? "resume" : "pause");'
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# BT3: hold 1 s for emergency stop (Klipper needs FIRMWARE_RESTART afterwards)
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- platform: gpio
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id: bt3
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name: BT3
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pin:
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number: 12
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mode: INPUT_PULLUP
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inverted: true
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filters:
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- delayed_on_off: 20ms
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on_multi_click:
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- timing:
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- ON for at least 1s
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then:
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- http_request.post: ${moonraker}/printer/emergency_stop
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font:
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- file: "gfonts://Roboto Mono@700"
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id: font_big
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size: 14
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- file: "gfonts://Roboto Mono"
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id: font_small
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size: 10
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spi:
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clk_pin: 13
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mosi_pin: 14
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display:
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- platform: st7920
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id: lcd
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cs_pin: 15
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width: 128
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height: 64
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update_interval: 200ms
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lambda: |-
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static const char *steps[] = {"0.01", "0.1", "1"};
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it.printf(0, 0, id(font_small), "%s", id(state).c_str());
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it.printf(127, 0, id(font_small), TextAlign::TOP_RIGHT, "H:%s", id(homed).empty() ? "-" : id(homed).c_str());
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for (int i = 0; i < 3; i++) {
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int y = 12 + i * 15;
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Color c = COLOR_ON;
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if (i == id(axis)) {
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it.filled_rectangle(0, y, 128, 15);
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c = COLOR_OFF;
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}
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it.printf(2, y, id(font_big), c, "%c", "XYZ"[i]);
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it.printf(125, y, id(font_big), c, TextAlign::TOP_RIGHT, "%9.3f", id(pos)[i]);
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}
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it.printf(0, 54, id(font_small), "step %s mm", steps[id(step)]);
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