kopia lustrzana https://github.com/grblHAL/drivers
Update ReadMe.md
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ReadMe.md
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ReadMe.md
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## Driver capabilities at a glance:
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| Processor -> |[iMXRT1062](../iMXRT1062)| STM32F4xx | STM32F3xx |STM32F1xx<sup>11</sup>| SAM3X8E | SAMD21 | ESP32 |MSP432 |LPC1768/1769 | TMC123 | TMC129x | MSP432E401Y | PSoC 5 |MSP430F5529 |
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|--------------------------------------|-----------------|-----------------|-----------------|----------------------|-----------------|-----------------|-----------------|-----------------|-------------------|---------------|---------------|---------------|-------------|--------------|
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| Board |Teensy 4.x |Blackpill / Nucleo-F411RE / Nucleo-F446RE| BlackPill | Bluepill| Due | MKRZERO | | LaunchPad | Re-Arm / Bigtreetech SKR 1.3 / BTT SKR 1.4|LaunchPad|LaunchPad|LaunchPad|CY8CKIT-059|LaunchPad |
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| MCU speed \(MHz\) | 600 | 84/100/180 | 72 | 72 | 84 | 48 | 2x240 | 48 | 100/120 | 80 | 120 | 120 | 80 | 25 \(16 bit\)|
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| Floating point unit | yes | yes | yes | no | no | no | yes | yes | no | yes | yes | yes | no | no |
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| Non-volatile storage |Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>| Flash<sup>1</sup> |Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>| Flash<sup>1</sup> | EEPROM | EEPROM | EEPROM | EEPROM |no<sup>1</sup>|
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| Number of axes | up to 5 | up to 6 | up to 6 | up to 6 | up to 6 | 3 | 3 | 3 | up to 5 | 3 | up to 6 | up to 6 |3<sup>2</sup>| 3 |
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| Variable spindle | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes |
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| Ramped spindle | no | no | no | no | no | no | yes | no | no | yes | yes | yes | no | no |
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| Inverted spindle PWM | no | no | no | yes | no | no | yes | yes | no | yes | yes | yes | no | yes |
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| RC Servo/ESC for spindle<sup>13</sup>| | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | no | yes |
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| ModBus spindle<sup>14</sup> | yes<sup>15</sup>| no | no | no | no | no | yes | yes<sup>15</sup>| no | no | no | no | no | no |
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| Spindle at speed | yes | no | no | no | no | no | no | yes<sup>3</sup> | no | no | no | no | no | no |
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| Spindle sync | no | no | no | no | no | no | no | no | no | no | no | no | no | no |
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| Closed loop spindle RPM | no | no | no | no | no | no | no | no | no | no | no | no | no | no |
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| Native USB streaming | yes | yes | yes | yes | yes | yes | no | no | yes | no | no | no | no | no |
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| Bluetooth streaming | no | no | no | no | no | no | yes | no | no | no | no | no | no | no |
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| Telnet streaming \(raw\) | ethernet | no | no | no | no | no | wifi | no | no | no | ethernet | ethernet | no | no |
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| Websocket streaming | ethernet | no | no | no | no | no | wifi | no | no | no | ethernet | ethernet | no | no |
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| SD Card streaming | yes | TBC | TBC | yes | no | yes | yes | no | yes | yes | no | no | no | no |
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| I2C Keypad | yes | no | yes | yes | no | yes | yes | yes | no | yes | no | no | yes | no |
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| I2C IO Expander | no | no | no | no | no | yes | yes | no | no | no | no | no | no | no |
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| MPG stream input | TBC | no | no | no | no | no | no | yes | no | yes | yes | yes | no | no |
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| Manual tool change<sup>5</sup> | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | no |
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| Automatic tool change<sup>6</sup> | no | no | no | no | no | no | no | planned | no | no | no | no | no | no |
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| Laser PPI mode<sup>7</sup> | yes | yes | no | no | no | no | no | no | no | yes | no | no | no | no |
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| Trinamic support<sup>8</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | no |TBC<sup>9</sup>|TBC<sup>9</sup>|TBC<sup>9</sup>| no | no |
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| Runs as FreeRTOS task | no | no | no | no | no | no | yes | no | no | no | no | option | no | no |
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| CNC BoosterPack support | yes<sup>10</sup>| no | yes<sup>10</sup>| yes<sup>10</sup> | no | yes<sup>10</sup>| yes<sup>10</sup>| 1 | no | 1 | 2 | 2 | no | 1 |
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| WebUI support | no | no | no | no | no | no | yes<sup>12</sup>| no | no | no | no | no | no | no |
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| Compiler/IDE | Arduino | STMCubeIDE | STMCubeIDE | STMCubeIDE | Arduino | Arduino | ESP IDF | CCS | MCUExpresso | CCS | CCS | CCS | PSOC Creator| CCS |
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| Processor -> |[iMXRT1062](https://github.com/grblHAL/iMXRT1062)|[STM32F4xx](https://github.com/grblHAL/STM32F4xx)|[STM32F3xx](https://github.com/grblHAL/STM32F3xx)|[RP 2040](https://github.com/grblHAL/RP2040)<sup>4</sup>|[STM32F1xx](https://github.com/grblHAL/STM32F1xx)<sup>11</sup>|[SAM3X8E](https://github.com/grblHAL/SAM3X8E)|[SAMD21](https://github.com/grblHAL/SAMD21)|[ESP32](https://github.com/grblHAL/ESP32)|[MSP432](https://github.com/grblHAL/MSP432P401R)|[LPC1768/1769](https://github.com/grblHAL/LPC176x)|[TMC123](https://github.com/grblHAL/TM4C123)|[TMC129x](https://github.com/grblHAL/TM4C1294)|[MSP432E401Y](https://github.com/grblHAL/MSP432E401Y)|[PSoC 5](https://github.com/grblHAL/PSoC5)|[MSP430F5529](https://github.com/grblHAL/MSP430F5529)|
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|--------------------------------------|-----------------|-----------------|-----------------|-----------------|-----------------|-----------------|-----------------|-----------------|-----------------|-------------------|---------------|---------------|---------------|-------------|--------------|
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| Board |Teensy 4.x|Blackpill / Nucleo-F411RE / Nucleo-F446RE|BlackPill|Pi Pico |Bluepill | Due | MKRZERO | | LaunchPad | Re-Arm / Bigtreetech SKR 1.3 / BTT SKR 1.4|LaunchPad|LaunchPad|LaunchPad|CY8CKIT-059|LaunchPad |
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| MCU speed \(MHz\) | 600 | 84/100/180 | 72 | 133 | 72 | 84 | 48 | 2x240 | 48 | 100/120 | 80 | 120 | 120 | 80 | 25 \(16 bit\)|
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| Floating point unit | yes | yes | yes | no | no | no | no | yes | yes | no | yes | yes | yes | no | no |
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| Non-volatile storage |Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>|Flash<sup>1</sup>| Flash<sup>1</sup> | EEPROM | EEPROM | EEPROM | EEPROM |no<sup>1</sup>|
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| Number of axes | up to 5 | up to 6 | up to 6 | up to 6 | up to 6 | up to 6 | 3 | 3 | 3 | up to 5 | 3 | up to 6 | up to 6 |3<sup>2</sup>| 3 |
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| Variable spindle | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes |
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| Ramped spindle | no | no | no | no | no | no | no | yes | no | no | yes | yes | yes | no | no |
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| Inverted spindle PWM | no | no | no | yes | yes | no | no | yes | yes | no | yes | yes | yes | no | yes |
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| RC Servo/ESC for spindle<sup>13</sup>| | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | no | yes |
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| ModBus spindle<sup>14</sup> | yes<sup>15</sup>| no | no | yes | no | no | no | yes | yes<sup>15</sup>| no | no | no | no | no | no |
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| Spindle at speed | yes | no | no | no | no | no | no | no | yes<sup>3</sup> | no | no | no | no | no | no |
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| Spindle sync | no | no | no | no | no | no | no | no | no | no | no | no | no | no | no |
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| Closed loop spindle RPM | no | no | no | no | no | no | no | no | no | no | no | no | no | no | no |
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| Native USB streaming | yes | yes | yes | yes | yes | yes | yes | no | no | yes | no | no | no | no | no |
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| Bluetooth streaming | no | no | no | no | no | no | no | yes | no | no | no | no | no | no | no |
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| Telnet streaming \(raw\) | ethernet | no | no | no | no | no | no | wifi | no | no | no | ethernet | ethernet | no | no |
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| Websocket streaming | ethernet | no | no | no | no | no | no | wifi | no | no | no | ethernet | ethernet | no | no |
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| SD Card streaming | yes | TBC | TBC | yes | yes | no | yes | yes | no | yes | yes | no | no | no | no |
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| I2C Keypad | yes | no | yes | yes | yes | no | yes | yes | yes | no | yes | no | no | yes | no |
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| I2C IO Expander | no | no | no | yes | no | no | yes | yes | no | no | no | no | no | no | no |
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| MPG stream input | TBC | no | no | yes | no | no | no | no | yes | no | yes | yes | yes | no | no |
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| Manual tool change<sup>5</sup> | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | yes | no |
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| Automatic tool change<sup>6</sup> | no | no | no | no | no | no | no | no | planned | no | no | no | no | no | no |
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| Laser PPI mode<sup>7</sup> | yes | yes | no | no | no | no | no | no | no | no | yes | no | no | no | no |
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| Trinamic support<sup>8</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | TBC<sup>9</sup> | no |TBC<sup>9</sup>|TBC<sup>9</sup>|TBC<sup>9</sup>| no | no |
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| Runs as FreeRTOS task | no | no | no | no | no | no | no | yes | no | no | no | no | option | no | no |
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| CNC BoosterPack support | yes<sup>10</sup>| no | yes<sup>10</sup>| yes<sup>10</sup>| yes<sup>10</sup>| no | yes<sup>10</sup>| yes<sup>10</sup>| 1 | no | 1 | 2 | 2 | no | 1 |
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| WebUI support | no | no | no | no | no | no | no | yes<sup>12</sup>| no | no | no | no | no | no | no |
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| Compiler/IDE | Arduino | STMCubeIDE | STMCubeIDE | VS Code | STMCubeIDE | Arduino | Arduino | ESP IDF | CCS | MCUExpresso | CCS | CCS | CCS | PSOC Creator| CCS |
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<br><sup>1</sup> Plugin for I2C EEPROM or FRAM available. FRAM is faster and can sustain more write cycles than EEPROM.
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<br><sup>2</sup> Should be fairly easy to extend.
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@ -53,4 +53,4 @@ Please note that some of the capabilities should be fairly easy to port from one
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The fastest and most deterministic MCUs seems to be iMRXT1062, MSP432E401Y and TMC129x, ESP32 is not bad but it is a bit unstable - maybe due to outstanding [bugs](https://github.com/espressif/esp-idf/issues) in the [ESP-IDF](https://github.com/espressif/esp-idf) and the system architecture - program code is stored off chip in external serial flash.
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---
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2021-01-09
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2021-04-28
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