mirror of
https://github.com/bdring/Grbl_Esp32.git
synced 2025-08-18 12:21:39 +02:00
Added Spindle Invert and Major Spindle Cleanup
This commit is contained in:
bdring
@@ -59,95 +59,94 @@
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*/
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#define CPU_MAP_NAME "CPU_MAP_DEFAULT - Demo Only No I/O!"
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// the following items currently need to be defined, but no i/o needs to be mapped
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// fixing soon
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#define LIMIT_MASK 0 // no limit pins
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#endif
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#ifdef CPU_MAP_ESP32
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// This is the CPU Map for the ESP32 Development Controller
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// https://github.com/bdring/Grbl_ESP32_Development_Controller
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// https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
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// Select the version (uncomment one of them)
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#define CPU_MAP_V3p5 // version 3.5 and earlier
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//#define CPU_MAP_V4 // version 4 or higher (in developement)
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#define USE_RMT_STEPS
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// It is OK to comment out any step and direction pins. This
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// won't affect operation except that there will be no output
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// form the pins. Grbl will virtually move the axis. This could
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// be handy if you are using a servo, etc. for another axis.
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#if (defined CPU_MAP_V4)
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#define CPU_MAP_NAME "CPU_MAP_ESP32_V4"
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#define X_DIRECTION_PIN GPIO_NUM_14
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#define Y_STEP_PIN GPIO_NUM_26
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#define Y_DIRECTION_PIN GPIO_NUM_15
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#define COOLANT_FLOOD_PIN GPIO_NUM_25
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#define SPINDLE_PWM_PIN GPIO_NUM_2
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#define X_LIMIT_PIN GPIO_NUM_17
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#define Z_LIMIT_PIN GPIO_NUM_16
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#elif (defined CPU_MAP_V3p5)
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#define CPU_MAP_NAME "CPU_MAP_ESP32_V3.5"
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#define X_DIRECTION_PIN GPIO_NUM_26
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#define Y_STEP_PIN GPIO_NUM_14
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#define Y_DIRECTION_PIN GPIO_NUM_25
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#define COOLANT_FLOOD_PIN GPIO_NUM_16
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#define SPINDLE_PWM_PIN GPIO_NUM_17
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#define X_LIMIT_PIN GPIO_NUM_2
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#define Z_LIMIT_PIN GPIO_NUM_15
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#endif
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#define X_STEP_PIN GPIO_NUM_12
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#define X_RMT_CHANNEL 0
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// #define Y_STEP_PIN (see versions above)
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#define Y_RMT_CHANNEL 1
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#define Z_STEP_PIN GPIO_NUM_27
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#define Z_DIRECTION_PIN GPIO_NUM_33
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#define Z_RMT_CHANNEL 2
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// OK to comment out to use pin for other features
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#define STEPPERS_DISABLE_PIN GPIO_NUM_13
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#define COOLANT_MIST_PIN GPIO_NUM_21
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#define SPINDLE_PWM_CHANNEL 0
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// PWM Generator is based on 80,000,000 Hz counter
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// Therefor the freq determines the resolution
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// 80,000,000 / freq = max resolution
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// For 5000 that is 80,000,000 / 5000 = 16000
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// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
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#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
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#define SPINDLE_PWM_BIT_PRECISION 8
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
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#define SPINDLE_PWM_MAX_VALUE 255
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//#define INVERT_SPINDLE_PWM
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_ENABLE_PIN GPIO_NUM_22
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#endif
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// see versions for X and Z
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#define Y_LIMIT_PIN GPIO_NUM_4
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#define LIMIT_MASK B111
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#ifdef CPU_MAP_ESP32
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// This is the CPU Map for the ESP32 CNC Controller R2
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// It is OK to comment out any step and direction pins. This
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// won't affect operation except that there will be no output
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// form the pins. Grbl will virtually move the axis. This could
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// be handy if you are using a servo, etc. for another axis.
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#define CPU_MAP_NAME "CPU_MAP_ESP32"
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#define X_STEP_PIN GPIO_NUM_12
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#define X_DIRECTION_PIN GPIO_NUM_26
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#define X_RMT_CHANNEL 0
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#define Y_STEP_PIN GPIO_NUM_14
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#define Y_DIRECTION_PIN GPIO_NUM_25
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#define Y_RMT_CHANNEL 1
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#define Z_STEP_PIN GPIO_NUM_27
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#define Z_DIRECTION_PIN GPIO_NUM_33
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#define Z_RMT_CHANNEL 2
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// OK to comment out to use pin for other features
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#define STEPPERS_DISABLE_PIN GPIO_NUM_13
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// *** the flood coolant feature code is activated by defining this pins
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// *** Comment it out to use the pin for other features
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#define COOLANT_FLOOD_PIN GPIO_NUM_16
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//#define COOLANT_MIST_PIN GPIO_NUM_21
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// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
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// use a virtual spindle. Do not comment out the other parameters for the spindle.
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#define SPINDLE_PWM_PIN GPIO_NUM_17
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#define SPINDLE_PWM_CHANNEL 0
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// PWM Generator is based on 80,000,000 Hz counter
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// Therefor the freq determines the resolution
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// 80,000,000 / freq = max resolution
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// For 5000 that is 80,000,000 / 5000 = 16000
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// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
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#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
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#define SPINDLE_PWM_BIT_PRECISION 8 // be sure to match this with SPINDLE_PWM_MAX_VALUE
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
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#ifndef SPINDLE_PWM_MIN_VALUE
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_ENABLE_PIN GPIO_NUM_22
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// if these spindle function pins are defined, they will be activated in the code
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// comment them out to use the pins for other functions
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//#define SPINDLE_ENABLE_PIN GPIO_NUM_16
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//#define SPINDLE_DIR_PIN GPIO_NUM_16
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#define X_LIMIT_PIN GPIO_NUM_2
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#define Y_LIMIT_PIN GPIO_NUM_4
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#define Z_LIMIT_PIN GPIO_NUM_15
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#define LIMIT_MASK B111
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#define PROBE_PIN GPIO_NUM_32
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#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
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#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
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#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
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#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
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#define PROBE_PIN GPIO_NUM_32
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#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
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#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
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#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
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#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
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#endif
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#ifdef CPU_MAP_ESPDUINO_32
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@@ -189,7 +188,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_DIR_PIN GPIO_NUM_18 // Uno D13
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@@ -260,8 +258,6 @@
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#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SPINDLE_ENABLE_PIN GPIO_NUM_22
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// if these spindle function pins are defined, they will be activated in the code
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@@ -336,8 +332,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define USING_SERVO // uncomment to use this feature
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//#define USING_SOLENOID // uncomment to use this feature
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@@ -486,8 +480,6 @@
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#endif
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#define DEFAULTS_MIDTBOT
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SERVO_PEN_PIN GPIO_NUM_27
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#ifdef DEFAULTS_GENERIC
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@@ -608,7 +600,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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//#define USE_PEN_SERVO
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//#define SERVO_PEN_PIN GPIO_NUM_16
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@@ -722,8 +713,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define SERVO_Y_PIN GPIO_NUM_14
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#define SERVO_Y_CHANNEL_NUM 6
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#define SERVO_Y_RANGE_MIN 0.0
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@@ -818,8 +807,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// define Y and Z as servos
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#define USE_SERVO_AXES
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#define SERVO_Y_PIN GPIO_NUM_27
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@@ -980,8 +967,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
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// Relay can be used for spindle or either coolant
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//#define COOLANT_FLOOD_PIN GPIO_NUM_2
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@@ -1084,8 +1069,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// Note: Only uncomment this if USE_SPINDLE_RELAY is commented out.
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// Relay can be used for Spindle or Coolant
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//#define COOLANT_FLOOD_PIN GPIO_NUM_17
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@@ -1189,8 +1172,6 @@
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#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
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#endif
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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#define X_LIMIT_PIN GPIO_NUM_2
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#define Y_LIMIT_PIN GPIO_NUM_4
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#define LIMIT_MASK B11
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@@ -1291,7 +1272,6 @@
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#define SPINDLE_PWM_OFF_VALUE 0
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#define SPINDLE_PWM_MAX_VALUE 255 // (2^SPINDLE_PWM_BIT_PRECISION)
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#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
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#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
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// defaults ... <Idle|MPos:-497.000,-3.000,0.000,-3.000,-497.000,0.000|FS:0,0>
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#ifdef DEFAULTS_GENERIC
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@@ -320,6 +320,9 @@ uint8_t gc_execute_line(char *line, uint8_t client)
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case 3:
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case 4:
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case 5:
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#ifndef SPINDLE_PWM_PIN
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grbl_send(CLIENT_SERIAL, "[MSG:No spindle pin defined]\r\n");
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#endif
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word_bit = MODAL_GROUP_M7;
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switch(int_value) {
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case 3:
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@@ -20,7 +20,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "1.1f"
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#define GRBL_VERSION_BUILD "20191008"
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#define GRBL_VERSION_BUILD "20191011"
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//#include <sdkconfig.h>
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#include <Arduino.h>
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@@ -24,32 +24,47 @@ static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversi
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void spindle_init()
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{
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pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
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// Use DIR and Enable if pins are defined
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#ifdef SPINDLE_ENABLE_PIN
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pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
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#endif
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#ifdef SPINDLE_DIR_PIN
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pinMode(SPINDLE_DIR_PIN, OUTPUT);
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#endif
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#ifdef SPINDLE_PWM_PIN
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// use the LED control feature to setup PWM https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
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ledcSetup(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_BASE_FREQ, SPINDLE_PWM_BIT_PRECISION); // setup the channel
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ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
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#endif
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// Start with spindle off off
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spindle_stop();
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#ifdef INVERT_SPINDLE_PWM
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grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_PWM]\r\n");
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#endif
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n");
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#endif
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pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
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// Use DIR and Enable if pins are defined
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#ifdef SPINDLE_ENABLE_PIN
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pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
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#endif
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#ifdef SPINDLE_DIR_PIN
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pinMode(SPINDLE_DIR_PIN, OUTPUT);
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#endif
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// use the LED control feature to setup PWM https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
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ledcSetup(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_BASE_FREQ, SPINDLE_PWM_BIT_PRECISION); // setup the channel
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ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
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// Start with spindle off off
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spindle_stop();
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#endif
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}
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void spindle_stop()
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{
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spindle_set_enable(false);
|
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#ifdef SPINDLE_PWM_PIN
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grbl_analogWrite(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_OFF_VALUE);
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#ifndef INVERT_SPINDLE_PWM
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grbl_analogWrite(SPINDLE_PWM_CHANNEL, SPINDLE_PWM_OFF_VALUE);
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#else
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grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION) - 1);
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#endif
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#endif
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}
|
||||
|
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@@ -58,95 +73,118 @@ uint8_t spindle_get_state() // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW
|
||||
// TODO Update this when direction and enable pin are added
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||||
#ifndef SPINDLE_PWM_PIN
|
||||
return(SPINDLE_STATE_DISABLE);
|
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#endif
|
||||
#else
|
||||
|
||||
if (ledcRead(SPINDLE_PWM_CHANNEL) == 0) // Check the PWM value
|
||||
return(SPINDLE_STATE_DISABLE);
|
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else
|
||||
{
|
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#ifdef SPINDLE_DIR_PIN
|
||||
if (digitalRead(SPINDLE_DIR_PIN))
|
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return (SPINDLE_STATE_CW);
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else
|
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return(SPINDLE_STATE_CCW);
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#else
|
||||
return(SPINDLE_STATE_CW);
|
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#endif
|
||||
}
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||||
if (ledcRead(SPINDLE_PWM_CHANNEL) == 0) // Check the PWM value
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return(SPINDLE_STATE_DISABLE);
|
||||
else
|
||||
{
|
||||
#ifdef SPINDLE_DIR_PIN
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if (digitalRead(SPINDLE_DIR_PIN))
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return (SPINDLE_STATE_CW);
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else
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return(SPINDLE_STATE_CCW);
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#else
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return(SPINDLE_STATE_CW);
|
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#endif
|
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}
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||||
#endif
|
||||
}
|
||||
|
||||
void spindle_set_speed(uint32_t pwm_value)
|
||||
{
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||||
#ifndef SPINDLE_PWM_PIN
|
||||
return;
|
||||
#else
|
||||
#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
|
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spindle_set_enable(true);
|
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#else
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||||
spindle_set_enable(pwm_value != 0);
|
||||
#endif
|
||||
|
||||
#ifndef INVERT_SPINDLE_PWM
|
||||
grbl_analogWrite(SPINDLE_PWM_CHANNEL, pwm_value);
|
||||
#else
|
||||
if (pwm_value == 0) {
|
||||
grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION));
|
||||
}
|
||||
else {
|
||||
grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION) - pwm_value - 1);
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
|
||||
spindle_set_enable(true);
|
||||
#else
|
||||
spindle_set_enable(pwm_value != 0);
|
||||
#endif
|
||||
grbl_analogWrite(SPINDLE_PWM_CHANNEL, pwm_value);
|
||||
|
||||
}
|
||||
|
||||
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
|
||||
uint32_t spindle_compute_pwm_value(float rpm)
|
||||
{
|
||||
uint32_t pwm_value;
|
||||
rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
|
||||
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
|
||||
if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
|
||||
// No PWM range possible. Set simple on/off spindle control pin state.
|
||||
sys.spindle_speed = settings.rpm_max;
|
||||
pwm_value = SPINDLE_PWM_MAX_VALUE;
|
||||
} else if (rpm <= settings.rpm_min) {
|
||||
if (rpm == 0.0) { // S0 disables spindle
|
||||
sys.spindle_speed = 0.0;
|
||||
pwm_value = SPINDLE_PWM_OFF_VALUE;
|
||||
} else { // Set minimum PWM output
|
||||
sys.spindle_speed = settings.rpm_min;
|
||||
pwm_value = SPINDLE_PWM_MIN_VALUE;
|
||||
}
|
||||
} else {
|
||||
// Compute intermediate PWM value with linear spindle speed model.
|
||||
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
|
||||
sys.spindle_speed = rpm;
|
||||
pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
|
||||
}
|
||||
return(pwm_value);
|
||||
#ifdef SPINDLE_PWM_PIN
|
||||
uint32_t pwm_value;
|
||||
rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
|
||||
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
|
||||
if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
|
||||
// No PWM range possible. Set simple on/off spindle control pin state.
|
||||
sys.spindle_speed = settings.rpm_max;
|
||||
pwm_value = SPINDLE_PWM_MAX_VALUE;
|
||||
} else if (rpm <= settings.rpm_min) {
|
||||
if (rpm == 0.0) { // S0 disables spindle
|
||||
sys.spindle_speed = 0.0;
|
||||
pwm_value = SPINDLE_PWM_OFF_VALUE;
|
||||
} else { // Set minimum PWM output
|
||||
sys.spindle_speed = settings.rpm_min;
|
||||
pwm_value = SPINDLE_PWM_MIN_VALUE;
|
||||
}
|
||||
} else {
|
||||
// Compute intermediate PWM value with linear spindle speed model.
|
||||
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
|
||||
sys.spindle_speed = rpm;
|
||||
pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
|
||||
}
|
||||
|
||||
return(pwm_value);
|
||||
#else
|
||||
return(0); // no SPINDLE_PWM_PIN
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void spindle_set_state(uint8_t state, float rpm)
|
||||
{
|
||||
if (sys.abort) { return; } // Block during abort.
|
||||
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
|
||||
sys.spindle_speed = 0.0;
|
||||
spindle_stop();
|
||||
} else {
|
||||
#ifdef SPINDLE_PWM_PIN
|
||||
if (sys.abort) { return; } // Block during abort.
|
||||
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
|
||||
sys.spindle_speed = 0.0;
|
||||
spindle_stop();
|
||||
} else {
|
||||
|
||||
// TODO ESP32 Enable and direction control
|
||||
#ifdef SPINDLE_DIR_PIN
|
||||
digitalWrite(SPINDLE_DIR_PIN, state == SPINDLE_ENABLE_CW);
|
||||
#endif
|
||||
// TODO ESP32 Enable and direction control
|
||||
#ifdef SPINDLE_DIR_PIN
|
||||
digitalWrite(SPINDLE_DIR_PIN, state == SPINDLE_ENABLE_CW);
|
||||
#endif
|
||||
|
||||
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
|
||||
if (settings.flags & BITFLAG_LASER_MODE) {
|
||||
if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
|
||||
}
|
||||
// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
|
||||
if (settings.flags & BITFLAG_LASER_MODE) {
|
||||
if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
|
||||
}
|
||||
|
||||
spindle_set_speed(spindle_compute_pwm_value(rpm));
|
||||
}
|
||||
sys.report_ovr_counter = 0; // Set to report change immediately
|
||||
spindle_set_speed(spindle_compute_pwm_value(rpm));
|
||||
}
|
||||
sys.report_ovr_counter = 0; // Set to report change immediately
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void spindle_sync(uint8_t state, float rpm)
|
||||
{
|
||||
if (sys.state == STATE_CHECK_MODE) { return; }
|
||||
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
|
||||
spindle_set_state(state,rpm);
|
||||
if (sys.state == STATE_CHECK_MODE) {
|
||||
return;
|
||||
}
|
||||
|
||||
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
|
||||
spindle_set_state(state,rpm);
|
||||
}
|
||||
|
||||
|
||||
@@ -154,7 +192,7 @@ void grbl_analogWrite(uint8_t chan, uint32_t duty)
|
||||
{
|
||||
if (ledcRead(chan) != duty) // reduce unnecessary calls to ledcWrite()
|
||||
{
|
||||
// grbl_sendf(CLIENT_SERIAL, "[MSG: Spindle duty: %d of %d]\r\n", duty, SPINDLE_PWM_MAX_VALUE); // debug statement
|
||||
|
||||
ledcWrite(chan, duty);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -23,6 +23,8 @@
|
||||
|
||||
#include "grbl.h"
|
||||
|
||||
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
|
||||
|
||||
#define SPINDLE_NO_SYNC false
|
||||
#define SPINDLE_FORCE_SYNC true
|
||||
|
||||
|
||||
@@ -282,7 +282,7 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
|
||||
} else {
|
||||
// Segment buffer empty. Shutdown.
|
||||
st_go_idle();
|
||||
#ifdef VARIABLE_SPINDLE
|
||||
#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
|
||||
if (!(sys.state & STATE_JOG)) { // added to prevent ... jog after probing crash
|
||||
// Ensure pwm is set properly upon completion of rate-controlled motion.
|
||||
if (st.exec_block->is_pwm_rate_adjusted) {
|
||||
@@ -1316,7 +1316,10 @@ void st_prep_buffer()
|
||||
prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
|
||||
} else {
|
||||
sys.spindle_speed = 0.0;
|
||||
prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
|
||||
#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
|
||||
prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
|
||||
#endif
|
||||
|
||||
}
|
||||
bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user