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Fixed BESC spindle speed handling

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This commit is contained in:
Mitch Bradley
2021-06-22 08:53:48 -10:00
parent 1846923fbd
commit 221900d201
3 changed files with 53 additions and 15 deletions
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2
Grbl_Esp32/data/spindles.yaml
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@@ -99,7 +99,7 @@ PWM:
BESC:
min_pulse_us: 950
max_pulse_us: 2050
speeds: 0=0% 30000=100%
# speeds: 0=0% 0=20% 2000=20% 5000=40% 10000=100%
output_pin: gpio.4
enable_pin: gpio.10
tool: 40

56
Grbl_Esp32/src/Spindles/BESCSpindle.cpp
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@@ -31,6 +31,7 @@
*/
#include "BESCSpindle.h"
#include "soc/ledc_struct.h"
namespace Spindles {
void BESC::init() {
@@ -53,30 +54,59 @@ namespace Spindles {
_enable_pin.setAttr(Pin::Attr::Output);
// BESC PWM typically represents 0 speed as a 1ms pulse and max speed as a 2ms pulse
// 1000000 is us/sec
const uint32_t besc_pulse_period_us = 1000000 / besc_pwm_freq;
const uint32_t pulse_period_us = 1000000 / besc_pwm_freq;
float _min_pulse_percent = 100.0 * _min_pulse_us / besc_pulse_period_us;
float _max_pulse_percent = 100.0 * _max_pulse_us / besc_pulse_period_us;
// Calculate the pulse length offset and scaler in counts of the LEDC controller
_min_pulse_counts = _min_pulse_us << _pwm_precision / pulse_period_us;
_pulse_span_counts = (_max_pulse_us - _min_pulse_us) << _pwm_precision / pulse_period_us;
uint32_t max_speed = 20000; // Default value if none given in speeds:
if (_speeds.size() != 0) {
log_info("Overriding PWM speed map for BESC");
// Extract the maximum speed from the provide speed map
max_speed = maxSpeed();
if (_speeds.size() == 0) {
shelfSpeeds(4000, 20000);
}
// BESC PWM typically represents 0 speed as a 1ms pulse and max speed as a 2ms pulse
_speeds.clear();
_speeds.push_back({ 0, _min_pulse_percent });
_speeds.push_back({ max_speed, _max_pulse_percent });
// We set the dev_speed scale in the speed map to the full PWM period (64K)
// Then, in set_output, we map the dev_speed range of 0..64K to the pulse
// length range of ~1ms .. 2ms
setupSpeeds(_pwm_period);
stop();
config_message();
}
void IRAM_ATTR BESC::set_output(uint32_t duty) {
if (_output_pin.undefined()) {
return;
}
// to prevent excessive calls to ledcWrite, make sure duty has changed
if (duty == _current_pwm_duty) {
return;
}
_current_pwm_duty = duty;
// if (_invert_pwm) {
// duty = (1 << _pwm_precision) - duty;
// }
// This maps the dev_speed range of 0..(1<<_pwm_precision) into the pulse length
// where _min_pulse_counts represents off and (_min_pulse_counts + _pulse_span_counts)
// represents full on. Typically the off value is a 1ms pulse length and the
// full on value is a 2ms pulse.
uint32_t pulse_counts = _min_pulse_counts * _pulse_span_counts >> _pwm_precision;
//ledcWrite(_pwm_chan_num, duty);
// This was ledcWrite, but this is called from an ISR
// and ledcWrite uses RTOS features not compatible with ISRs
LEDC.channel_group[0].channel[0].duty.duty = pulse_counts << 4;
bool on = !!duty;
LEDC.channel_group[0].channel[0].conf0.sig_out_en = on;
LEDC.channel_group[0].channel[0].conf1.duty_start = on;
}
// prints the startup message of the spindle config
void BESC::config_message() {
info_all("BESC spindle on Pin:%s Min:%dus Max:%dus Freq:%dHz Res:%dbits",

10
Grbl_Esp32/src/Spindles/BESCSpindle.h
View File

@@ -37,9 +37,15 @@
namespace Spindles {
class BESC : public PWM {
protected:
private:
// Fixed
const uint32_t besc_pwm_freq = 50; // 50 Hz
// Calculated
uint16_t _pulse_span_counts; // In counts of a 16-bit counter
uint16_t _min_pulse_counts; // In counts of a 16-bit counter
protected:
// Configurable
uint32_t _min_pulse_us = 900; // microseconds
uint32_t _max_pulse_us = 2200; // microseconds
@@ -55,6 +61,8 @@ namespace Spindles {
void init() override;
void config_message() override;
virtual void set_output(uint32_t duty) override;
// Configuration handlers:
void validate() const override { PWM::validate(); }