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Code Issues Releases Wiki Activity

need to override set_rpm

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This commit is contained in:
me
2021-04-21 06:02:17 -07:00
parent 6b32dce84d
commit 28dcf0bd51
7 changed files with 253 additions and 1 deletions
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1
.gitignore vendored
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@@ -21,3 +21,4 @@ __vm/
*.suo
Grbl_Esp32.ino.cpp
/packages
Grbl_Esp32/src/Machine.h

2
Grbl_Esp32/src/Machine.h
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@@ -8,7 +8,7 @@
// !!! For initial testing, start with test_drive.h which disables
// all I/O pins
// #include "Machines/atari_1020.h"
# include "Machines/test_drive.h"
# include "Machines/jesse_6pack.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

5
Grbl_Esp32/src/Spindles/Spindle.cpp
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@@ -39,6 +39,7 @@
#include "BESCSpindle.h"
#include "10vSpindle.h"
#include "YL620Spindle.h"
#include "TecoL510.h"
namespace Spindles {
// An instance of each type of spindle is created here.
@@ -53,6 +54,7 @@ namespace Spindles {
BESC besc;
_10v _10v;
YL620 yl620;
L510 l510;
void Spindle::select() {
switch (static_cast<SpindleType>(spindle_type->get())) {
@@ -83,6 +85,9 @@ namespace Spindles {
case SpindleType::YL620:
spindle = &yl620;
break;
case SpindleType::L510:
spindle = &l510;
break;
case SpindleType::NONE:
default:
spindle = &null;

1
Grbl_Esp32/src/Spindles/Spindle.h
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@@ -39,6 +39,7 @@ enum class SpindleType : int8_t {
_10V,
H2A,
YL620,
L510
};
#include "../Grbl.h"

193
Grbl_Esp32/src/Spindles/TecoL510.cpp Normal file
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@@ -0,0 +1,193 @@
#include "TecoL510.h"
/*
TecoL510.cpp
Part of Grbl_ESP32
2021 - Jesse Schoch
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
WARNING!!!!
VFDs are very dangerous. They have high voltages and are very powerful
Remove power before changing bits.
See TecoL510.md for details
*/
namespace Spindles {
L510::L510() : VFD() {
_baudrate = 9600;
_parity = Uart::Parity::None;
_max_rpm = 24000;
_max_freq = 40000;
}
void L510::direction_command(SpindleState mode, ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 6;
data.msg[1] = 0x06; // WRITE
data.msg[2] = 0x25; // Command ID 0x2501
data.msg[3] = 0x01;
data.msg[4] = 0x01;
if(mode == SpindleState::Ccw){
data.msg[5] = 1;
}else{
data.msg[5] = 0;
}
grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state: %d",mode;
}
void L510::start_command(ModbusCommand& data){
data.tx_length = 6;
data.rx_length = 6;
data.msg[1] = 0x06;
data.msg[2] = 0x25;
data.msg[3] = 0x01;
data.msg[4] = 0x00;
data.msg[5] = 0x01;
}
void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 6;
// We have to know the max RPM before we can set the current RPM:
auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq;
// Assuming max frequncy is 400Hz
// Speed is in [0..40,000]
uint16_t speed = (uint16_t(rpm) * max_freq) / uint32_t(max_rpm);
if (speed < 0) {
speed = 0;
}
if (speed > 40000) {
speed = 40000;
}
data.msg[1] = 0x06; // WRITE
data.msg[2] = 0x25; // Command ID 0x2502
data.msg[3] = 0x02;
data.msg[4] = uint8_t(speed >> 8); // RPM
data.msg[5] = uint8_t(speed & 0xFF);
grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed);
}
uint16_t L510::rpm_to_frequency(uint32_t rpm){
auto max_rpm = this->_max_rpm;
uint16_t freq = (uint32_t(rpm) * 40000L) / uint32_t(max_rpm);
return freq;
}
uint32_t L510::freq_to_rpm(uint16_t freq){
auto max_rpm = this->_max_rpm;
auto max_freq = this->_max_freq;
uint32_t rpm = (freq/max_freq)/max_rpm;
}
VFD::response_parser L510::initialization_sequence(int index, ModbusCommand& data) {
if (index == -1) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 5;
// Send:
data.msg[1] = 0x03; // READ
data.msg[2] = 0x02; // 0x0203 = Get RPM
data.msg[3] = 0x03;
data.msg[4] = 0x00; // Read 1 value
data.msg[5] = 0x01;
/*
// Hack to see if a known working register can be read
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2523 = Get RPM
data.msg[3] = 0x23;
data.msg[4] = 0x00; // Read 1 value
data.msg[5] = 0x01;
*/
// Recv: ??
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
//uint16_t rpm = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
//TODO remove hardcoding
//vfd->_max_rpm = rpm;
vfd->_max_rpm = 24000;
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle hardcoded 24000 %d ", vfd->_max_rpm);
return true;
};
} else {
return nullptr;
}
}
VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 5;
// Send: 01 03 700C 0002
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2523 = Get RPM
data.msg[3] = 0x23;
data.msg[4] = 0x00; // Read 1 value
data.msg[5] = 0x01;
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t freq = (response[3] << 8) | response[4];
grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"current frequency: %d",freq);
// Set current RPM value? Somewhere?
//vfd->_sync_rpm = vfd->freq_to_rpm(freq);
//TODO: how do get access to the object I was in before wandering into this lambda?
// undo hardcoded garbage
vfd->_sync_rpm = (freq/40000)*24000;
return true;
};
}
VFD::response_parser L510::get_current_direction(ModbusCommand& data) {
// NOTE: data length is excluding the CRC16 checksum.
data.tx_length = 6;
data.rx_length = 6;
// Send: 01 03 30 00 00 01
data.msg[1] = 0x03; // READ
data.msg[2] = 0x25; // 0x2520
data.msg[3] = 0x20;
data.msg[4] = 0x00; // Message ID
data.msg[5] = 0x01;
// Receive: 01 03 00 02 00 02
// ----- status
// TODO: this doesn't seem to do anything in H2A
return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
uint16_t got = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
bool dir = bitRead(got,1);
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 dir %d", int(dir));
return true;
};
}
}

45
Grbl_Esp32/src/Spindles/TecoL510.h Normal file
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@@ -0,0 +1,45 @@
#pragma once
#include "VFDSpindle.h"
/*
TecoL510.h
Part of Grbl_ESP32
2021 - Jesse Schoch
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
namespace Spindles {
class L510 : public VFD {
protected:
void direction_command(SpindleState mode, ModbusCommand& data) override;
void set_speed_command(uint32_t rpm, ModbusCommand& data) override;
response_parser initialization_sequence(int index, ModbusCommand& data) override;
response_parser get_current_rpm(ModbusCommand& data) override;
response_parser get_current_direction(ModbusCommand& data) override;
response_parser get_status_ok(ModbusCommand& data) override { return nullptr; }
// what is this, what should it do?
bool supports_actual_rpm() const override { return true; }
bool safety_polling() const override { return false; }
uint16_t rpm_to_frequency(uint32_t rpm);
uint32_t freq_to_rpm(uint16_t);
public:
L510();
uint16_t _max_freq;
};
}

7
platformio.ini
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@@ -70,3 +70,10 @@ build_type = debug
lib_deps =
TMCStepper@>=0.7.0,<1.0.0
ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0
[env:ota]
upload_protocol = espota
upload_port = 192.168.1.61
lib_deps =
TMCStepper@>=0.7.0,<1.0.0