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Test of dynamic assignment

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This commit is contained in:
bdring
2020-04-08 17:07:34 -05:00
parent 2af0a07347
commit 129e988562
9 changed files with 75 additions and 30 deletions
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6
Grbl_Esp32/Grbl_Esp32.ino
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@@ -36,7 +36,8 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
volatile uint8_t sys_rt_exec_debug; volatile uint8_t sys_rt_exec_debug;
#endif #endif
NullSpindle my_spindle; Spindle *my_spindle;
void setup() { void setup() {
@@ -116,7 +117,8 @@ void loop() {
// Reset Grbl primary systems. // Reset Grbl primary systems.
serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
gc_init(); // Set g-code parser to default state gc_init(); // Set g-code parser to default state
my_spindle.init(); // my_spindle.init();
spindle_select(SPINDLE_TYPE_PWM);
coolant_init(); coolant_init();
limits_init(); limits_init();
probe_init(); probe_init();

10
Grbl_Esp32/gcode.cpp
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@@ -1091,12 +1091,12 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
#ifdef VARIABLE_SPINDLE #ifdef VARIABLE_SPINDLE
if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_ISMOTION)) { if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_ISMOTION)) {
if (bit_istrue(gc_parser_flags, GC_PARSER_LASER_DISABLE)) if (bit_istrue(gc_parser_flags, GC_PARSER_LASER_DISABLE))
my_spindle.set_state(gc_state.modal.spindle, 0.0); my_spindle->set_state(gc_state.modal.spindle, 0.0);
else else
my_spindle.set_state(gc_state.modal.spindle, gc_block.values.s); my_spindle->set_state(gc_state.modal.spindle, gc_block.values.s);
} }
#else #else
my_spindle.set_state(gc_state.modal.spindle, 0.0); my_spindle->set_state(gc_state.modal.spindle, 0.0);
#endif #endif
} }
gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state. gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state.
@@ -1118,7 +1118,7 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
// Update spindle control and apply spindle speed when enabling it in this block. // Update spindle control and apply spindle speed when enabling it in this block.
// NOTE: All spindle state changes are synced, even in laser mode. Also, pl_data, // NOTE: All spindle state changes are synced, even in laser mode. Also, pl_data,
// rather than gc_state, is used to manage laser state for non-laser motions. // rather than gc_state, is used to manage laser state for non-laser motions.
my_spindle.set_state(gc_block.modal.spindle, pl_data->spindle_speed); my_spindle->set_state(gc_block.modal.spindle, pl_data->spindle_speed);
gc_state.modal.spindle = gc_block.modal.spindle; gc_state.modal.spindle = gc_block.modal.spindle;
} }
pl_data->condition |= gc_state.modal.spindle; // Set condition flag for planner use. pl_data->condition |= gc_state.modal.spindle; // Set condition flag for planner use.
@@ -1294,7 +1294,7 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
if (!(settings_read_coord_data(gc_state.modal.coord_select, gc_state.coord_system))) if (!(settings_read_coord_data(gc_state.modal.coord_select, gc_state.coord_system)))
FAIL(STATUS_SETTING_READ_FAIL); FAIL(STATUS_SETTING_READ_FAIL);
system_flag_wco_change(); // Set to refresh immediately just in case something altered. system_flag_wco_change(); // Set to refresh immediately just in case something altered.
my_spindle.set_state(SPINDLE_DISABLE, 0.0); my_spindle->set_state(SPINDLE_DISABLE, 0.0);
coolant_set_state(COOLANT_DISABLE); coolant_set_state(COOLANT_DISABLE);
} }
report_feedback_message(MESSAGE_PROGRAM_END); report_feedback_message(MESSAGE_PROGRAM_END);

2
Grbl_Esp32/motion_control.cpp
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@@ -424,7 +424,7 @@ void mc_reset() {
if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) { if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
system_set_exec_state_flag(EXEC_RESET); system_set_exec_state_flag(EXEC_RESET);
// Kill spindle and coolant. // Kill spindle and coolant.
my_spindle.stop(); my_spindle->stop();
coolant_stop(); coolant_stop();
// turn off all digital I/O // turn off all digital I/O
sys_io_control(0xFF, false); sys_io_control(0xFF, false);

16
Grbl_Esp32/protocol.cpp
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@@ -564,7 +564,7 @@ static void protocol_exec_rt_suspend() {
// Ensure any prior spindle stop override is disabled at start of safety door routine. // Ensure any prior spindle stop override is disabled at start of safety door routine.
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED;
#ifndef PARKING_ENABLE #ifndef PARKING_ENABLE
my_spindle.set_state(SPINDLE_DISABLE, 0.0); // De-energize my_spindle->set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize coolant_set_state(COOLANT_DISABLE); // De-energize
#else #else
// Get current position and store restore location and spindle retract waypoint. // Get current position and store restore location and spindle retract waypoint.
@@ -599,7 +599,7 @@ static void protocol_exec_rt_suspend() {
// NOTE: Clear accessory state after retract and after an aborted restore motion. // NOTE: Clear accessory state after retract and after an aborted restore motion.
pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE); pl_data->condition = (PL_COND_FLAG_SYSTEM_MOTION | PL_COND_FLAG_NO_FEED_OVERRIDE);
pl_data->spindle_speed = 0.0; pl_data->spindle_speed = 0.0;
my_spindle.set_state((SPINDLE_DISABLE, 0.0); // De-energize my_spindle->set_state((SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize coolant_set_state(COOLANT_DISABLE); // De-energize
// Execute fast parking retract motion to parking target location. // Execute fast parking retract motion to parking target location.
if (parking_target[PARKING_AXIS] < PARKING_TARGET) { if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
@@ -610,7 +610,7 @@ static void protocol_exec_rt_suspend() {
} else { } else {
// Parking motion not possible. Just disable the spindle and coolant. // Parking motion not possible. Just disable the spindle and coolant.
// NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately. // NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
my_spindle.set_state((SPINDLE_DISABLE, 0.0); // De-energize ->set_state((SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize coolant_set_state(COOLANT_DISABLE); // De-energize
} }
#endif #endif
@@ -620,7 +620,7 @@ static void protocol_exec_rt_suspend() {
if (sys.state == STATE_SLEEP) { if (sys.state == STATE_SLEEP) {
report_feedback_message(MESSAGE_SLEEP_MODE); report_feedback_message(MESSAGE_SLEEP_MODE);
// Spindle and coolant should already be stopped, but do it again just to be sure. // Spindle and coolant should already be stopped, but do it again just to be sure.
my_spindle.set_state(SPINDLE_DISABLE, 0.0); // De-energize my_spindle->set_state(SPINDLE_DISABLE, 0.0); // De-energize
coolant_set_state(COOLANT_DISABLE); // De-energize coolant_set_state(COOLANT_DISABLE); // De-energize
st_go_idle(); // Disable steppers st_go_idle(); // Disable steppers
while (!(sys.abort)) protocol_exec_rt_system(); // Do nothing until reset. while (!(sys.abort)) protocol_exec_rt_system(); // Do nothing until reset.
@@ -659,7 +659,7 @@ static void protocol_exec_rt_suspend() {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts. // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM); bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
} else { } else {
my_spindle.set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed); my_spindle->set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND); delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
} }
} }
@@ -705,7 +705,7 @@ static void protocol_exec_rt_suspend() {
// Handles beginning of spindle stop // Handles beginning of spindle stop
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) { if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
if (gc_state.modal.spindle != SPINDLE_DISABLE) { if (gc_state.modal.spindle != SPINDLE_DISABLE) {
my_spindle.set_state(SPINDLE_DISABLE, 0.0); // De-energize my_spindle->set_state(SPINDLE_DISABLE, 0.0); // De-energize
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized. sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
} else { } else {
sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
@@ -718,7 +718,7 @@ static void protocol_exec_rt_suspend() {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts. // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM); bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
} else } else
my_spindle.set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed); my_spindle->set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
} }
if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) { if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program. system_set_exec_state_flag(EXEC_CYCLE_START); // Set to resume program.
@@ -729,7 +729,7 @@ static void protocol_exec_rt_suspend() {
// Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state. // Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state.
// NOTE: STEP_CONTROL_UPDATE_SPINDLE_RPM is automatically reset upon resume in step generator. // NOTE: STEP_CONTROL_UPDATE_SPINDLE_RPM is automatically reset upon resume in step generator.
if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM)) { if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM)) {
my_spindle.set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed); my_spindle->set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM); bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
} }
} }

2
Grbl_Esp32/report.cpp
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@@ -744,7 +744,7 @@ void report_realtime_status(uint8_t client) {
} else sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT - 1); } else sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT - 1);
sprintf(temp, "|Ov:%d,%d,%d", sys.f_override, sys.r_override, sys.spindle_speed_ovr); sprintf(temp, "|Ov:%d,%d,%d", sys.f_override, sys.r_override, sys.spindle_speed_ovr);
strcat(status, temp); strcat(status, temp);
uint8_t sp_state = my_spindle.get_state(); uint8_t sp_state = my_spindle->get_state();
uint8_t cl_state = coolant_get_state(); uint8_t cl_state = coolant_get_state();
if (sp_state || cl_state) { if (sp_state || cl_state) {
strcat(status, "|A:"); strcat(status, "|A:");

14
Grbl_Esp32/settings.cpp
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@@ -366,19 +366,19 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
case 25: settings.homing_seek_rate = value; break; case 25: settings.homing_seek_rate = value; break;
case 26: settings.homing_debounce_delay = int_value; break; case 26: settings.homing_debounce_delay = int_value; break;
case 27: settings.homing_pulloff = value; break; case 27: settings.homing_pulloff = value; break;
case 30: settings.rpm_max = std::max(value, 1.0f); my_spindle.init(); break; // Re-initialize spindle rpm calibration (min of 1) case 30: settings.rpm_max = std::max(value, 1.0f); my_spindle->init(); break; // Re-initialize spindle rpm calibration (min of 1)
case 31: settings.rpm_min = value; my_spindle.init(); break; // Re-initialize spindle rpm calibration case 31: settings.rpm_min = value; my_spindle->init(); break; // Re-initialize spindle rpm calibration
case 32: case 32:
if (int_value) if (int_value)
settings.flags |= BITFLAG_LASER_MODE; settings.flags |= BITFLAG_LASER_MODE;
else else
settings.flags &= ~BITFLAG_LASER_MODE; settings.flags &= ~BITFLAG_LASER_MODE;
my_spindle.init(); // update the spindle class my_spindle->init(); // update the spindle class
break; break;
case 33: settings.spindle_pwm_freq = value; my_spindle.init(); break; // Re-initialize spindle pwm calibration case 33: settings.spindle_pwm_freq = value; my_spindle->init(); break; // Re-initialize spindle pwm calibration
case 34: settings.spindle_pwm_off_value = value; my_spindle.init(); break; // Re-initialize spindle pwm calibration case 34: settings.spindle_pwm_off_value = value; my_spindle->init(); break; // Re-initialize spindle pwm calibration
case 35: settings.spindle_pwm_min_value = value; my_spindle.init(); break; // Re-initialize spindle pwm calibration case 35: settings.spindle_pwm_min_value = value; my_spindle->init(); break; // Re-initialize spindle pwm calibration
case 36: settings.spindle_pwm_max_value = value; my_spindle.init(); break; // Re-initialize spindle pwm calibration case 36: settings.spindle_pwm_max_value = value; my_spindle->init(); break; // Re-initialize spindle pwm calibration
case 80: case 80:
case 81: case 81:
case 82: case 82:

10
Grbl_Esp32/stepper.cpp
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@@ -284,7 +284,7 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
// Set real-time spindle output as segment is loaded, just prior to the first step. // Set real-time spindle output as segment is loaded, just prior to the first step.
//spindle_set_speed(st.exec_segment->spindle_rpm); //spindle_set_speed(st.exec_segment->spindle_rpm);
//grbl_send(CLIENT_SERIAL, "A_"); //grbl_send(CLIENT_SERIAL, "A_");
my_spindle.set_rpm(prep.current_spindle_rpm); my_spindle->set_rpm(prep.current_spindle_rpm);
} else { } else {
@@ -296,7 +296,7 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
if (st.exec_block->is_pwm_rate_adjusted) { if (st.exec_block->is_pwm_rate_adjusted) {
//spindle_set_speed(spindle_pwm_off_value); //spindle_set_speed(spindle_pwm_off_value);
//grbl_send(CLIENT_SERIAL, "B_"); //grbl_send(CLIENT_SERIAL, "B_");
my_spindle.set_rpm(0.0); my_spindle->set_rpm(0.0);
} }
} }
@@ -990,8 +990,8 @@ void st_prep_buffer() {
} else } else
prep.current_speed = sqrt(pl_block->entry_speed_sqr); prep.current_speed = sqrt(pl_block->entry_speed_sqr);
//st_prep_block->is_pwm_rate_adjusted = my_spindle.isRateAdjusted();
if (my_spindle.isRateAdjusted() ){ // settings.flags & BITFLAG_LASER_MODE) { if (my_spindle->isRateAdjusted() ){ // settings.flags & BITFLAG_LASER_MODE) {
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) { if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
// Pre-compute inverse programmed rate to speed up PWM updating per step segment. // Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0 / pl_block->programmed_rate; prep.inv_rate = 1.0 / pl_block->programmed_rate;
@@ -1205,7 +1205,7 @@ void st_prep_buffer() {
} }
// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE) // If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
// but this would be instantaneous only and during a motion. May not matter at all. // but this would be instantaneous only and during a motion. May not matter at all.
//prep.current_spindle_rpm = my_spindle.set_rpm(rpm);
prep.current_spindle_rpm = rpm; prep.current_spindle_rpm = rpm;
} else { } else {
sys.spindle_speed = 0.0; sys.spindle_speed = 0.0;

29
Grbl_Esp32/tools/SpindleClass.cpp
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@@ -41,6 +41,35 @@
#include "RelaySpindle.cpp" #include "RelaySpindle.cpp"
#include "Laser.cpp" #include "Laser.cpp"
NullSpindle null_spindle;
PWMSpindle pwm_spindle;
RelaySpindle relay_spindle;
Laser laser;
DacSpindle dac_spindle;
void spindle_select(uint8_t spindle_type) {
switch (spindle_type) {
case SPINDLE_TYPE_PWM:
my_spindle = &pwm_spindle;
break;
case SPINDLE_TYPE_RELAY:
my_spindle = &relay_spindle;
break;
case SPINDLE_TYPE_LASER:
my_spindle = &laser;
break;
case SPINDLE_TYPE_DAC:
my_spindle = &dac_spindle;
break;
case SPINDLE_TYPE_NONE:
default:
my_spindle = &null_spindle;
break;
}
my_spindle->init();
}
bool Spindle::isRateAdjusted() { bool Spindle::isRateAdjusted() {
return false; // default for basic spindles is false return false; // default for basic spindles is false
} }

16
Grbl_Esp32/tools/SpindleClass.h
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@@ -26,6 +26,12 @@
#define SPINDLE_STATE_CW bit(0) #define SPINDLE_STATE_CW bit(0)
#define SPINDLE_STATE_CCW bit(1) #define SPINDLE_STATE_CCW bit(1)
#define SPINDLE_TYPE_NONE 0
#define SPINDLE_TYPE_PWM 1
#define SPINDLE_TYPE_RELAY 2
#define SPINDLE_TYPE_LASER 4
#define SPINDLE_TYPE_DAC 5
#ifndef SPINDLE_CLASS_H #ifndef SPINDLE_CLASS_H
#define SPINDLE_CLASS_H #define SPINDLE_CLASS_H
@@ -120,7 +126,15 @@ class DacSpindle : public PWMSpindle {
void set_pwm(uint32_t duty); // sets DAC instead of PWM void set_pwm(uint32_t duty); // sets DAC instead of PWM
}; };
extern NullSpindle my_spindle; extern Spindle *my_spindle;
extern NullSpindle null_spindle;
extern PWMSpindle pwm_spindle;
extern RelaySpindle relay_spindle;
extern Laser laser;
extern DacSpindle dac_spindle;
void spindle_select(uint8_t spindle_type);
#endif #endif