need to override set_rpm

.gitignore

@@ -21,3 +21,4 @@ __vm/
 *.suo
 Grbl_Esp32.ino.cpp
 /packages
+Grbl_Esp32/src/Machine.h

Grbl_Esp32/src/Machine.h

@@ -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:

Grbl_Esp32/src/Spindles/Spindle.cpp

@@ -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;

Grbl_Esp32/src/Spindles/Spindle.h

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

Grbl_Esp32/src/Spindles/TecoL510.cpp

@@ -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; 
+            };
+    }
+}

Grbl_Esp32/src/Spindles/TecoL510.h

@@ -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;
+    };
+}

platformio.ini

@@ -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