Added some settings to test dymanic switcing of spindles

Grbl_Esp32/Grbl_Esp32.ino

@@ -117,8 +117,7 @@ void loop() {
     // Reset Grbl primary systems.
     serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
     gc_init(); // Set g-code parser to default state
-   // my_spindle.init();
+    spindle_select(settings.spindle_type);
-    spindle_select(SPINDLE_TYPE_PWM);
     coolant_init();
     limits_init();
     probe_init();

Grbl_Esp32/Machines/3axis_v4.h

@@ -51,3 +51,5 @@
 #define CONTROL_RESET_PIN       GPIO_NUM_34  // labeled Reset, needs external pullup
 #define CONTROL_FEED_HOLD_PIN   GPIO_NUM_36  // labeled Hold,  needs external pullup
 #define CONTROL_CYCLE_START_PIN GPIO_NUM_39  // labeled Start, needs external pullup
+
+#define DEFAULT_SPINDLE_TYPE SPINDLE_TYPE_PWM

Grbl_Esp32/Machines/add_esc_spindle.h

@@ -35,7 +35,7 @@
 
 #define SHOW_EXTENDED_SETTINGS
 
-#define SPINDLE_PWM_BIT_PRECISION 16   // 16 bit recommended for ESC (don't change)
+#define DEFAULT_SPINDLE_PWM_BIT_PRECISION 16   // 16 bit recommended for ESC (don't change)
 
 /*
  Important ESC Settings

Grbl_Esp32/defaults.h

@@ -114,7 +114,18 @@
         #define DEFAULT_HOMING_PULLOFF 1.0 // $27 mm
     #endif
 
-    // ======== sPINDLE STUFF ====================
+    // ======== SPINDLE STUFF ====================
+    #ifndef  DEFAULT_SPINDLE_RPM_MIN // $31
+        #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+    #endif
+
+    #ifndef  DEFAULT_LASER_MODE // $32
+        #define DEFAULT_LASER_MODE 0 // false
+    #endif
+
+    #ifndef  DEFAULT_SPINDLE_RPM_MAX // $30
+        #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+    #endif
 
     #ifndef DEFAULT_SPINDLE_FREQ
         #define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
@@ -132,20 +143,15 @@
         #define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent (extended set)
     #endif
 
-    #ifndef  DEFAULT_SPINDLE_RPM_MAX
+    #ifndef DEFAULT_SPINDLE_PWM_BIT_PRECISION // $37
-        #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+         #define DEFAULT_SPINDLE_PWM_BIT_PRECISION 8
     #endif
 
-
+    #ifndef DEFAULT_SPINDLE_TYPE  // $38
-    #ifndef  DEFAULT_SPINDLE_RPM_MIN
+        #define DEFAULT_SPINDLE_TYPE SPINDLE_TYPE_PWM
-        #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
     #endif
 
-    #ifndef  DEFAULT_LASER_MODE
+    // ================  user settings =====================
-        #define DEFAULT_LASER_MODE 0 // false
-    #endif
-
-    // user settings
     #ifndef DEFAULT_USER_INT_80
         #define DEFAULT_USER_INT_80 0 // $80 User integer setting
     #endif

Grbl_Esp32/machine_common.h

@@ -1,11 +1,13 @@
 #ifndef _machine_common_h
 #define _machine_common_h
 
+/*
 #ifndef SPINDLE_PWM_BIT_PRECISION
     #define SPINDLE_PWM_BIT_PRECISION 8
 #endif
 
 #define SPINDLE_PWM_MAX_VALUE ((1<<SPINDLE_PWM_BIT_PRECISION) - 1)
+*/
 
 // Grbl setting that are common to all machines
 // It should not be necessary to change anything herein

Grbl_Esp32/report.cpp

@@ -318,6 +318,8 @@ void report_grbl_settings(uint8_t client, uint8_t show_extended) {
         sprintf(setting, "$34=%3.3f\r\n", settings.spindle_pwm_off_value);   strcat(rpt, setting);
         sprintf(setting, "$35=%3.3f\r\n", settings.spindle_pwm_min_value);   strcat(rpt, setting);
         sprintf(setting, "$36=%3.3f\r\n", settings.spindle_pwm_max_value);   strcat(rpt, setting);
+        sprintf(setting, "$37=%d\r\n", settings.spindle_pwm_precision_bits);   strcat(rpt, setting);
+        sprintf(setting, "$38=%d\r\n", settings.spindle_type);   strcat(rpt, setting);
         for (uint8_t index = 0; index < USER_SETTING_COUNT; index++) {
             sprintf(setting, "$%d=%d\r\n", 80 + index, settings.machine_int16[index]);   strcat(rpt, setting);
         }

Grbl_Esp32/settings.cpp

@@ -64,12 +64,16 @@ void settings_restore(uint8_t restore_flag) {
         settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
         settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
         settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
+
+        settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
+        settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
         settings.spindle_pwm_freq = DEFAULT_SPINDLE_FREQ;      // $33 Hz (extended set)
         settings.spindle_pwm_off_value = DEFAULT_SPINDLE_OFF_VALUE; // $34 Percent (extended set)
         settings.spindle_pwm_min_value = DEFAULT_SPINDLE_MIN_VALUE; // $35 Percent (extended set)
         settings.spindle_pwm_max_value = DEFAULT_SPINDLE_MAX_VALUE; // $36 Percent (extended set)
-        settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
+        settings.spindle_pwm_precision_bits = MIN(8, DEFAULT_SPINDLE_PWM_BIT_PRECISION); // $37
-        settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
+        settings.spindle_type= DEFAULT_SPINDLE_TYPE; // $38
+        
         settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
         settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
         settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
@@ -375,10 +379,12 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
                 settings.flags &= ~BITFLAG_LASER_MODE;
             my_spindle->init(); // update the spindle class
             break;
-        case 33: settings.spindle_pwm_freq = value; my_spindle->init(); break; // Re-initialize spindle pwm calibration
+        case 33: settings.spindle_pwm_freq = value; spindle_select(settings.spindle_type); 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; spindle_select(settings.spindle_type); 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; spindle_select(settings.spindle_type); 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; spindle_select(settings.spindle_type); break; // Re-initialize spindle pwm calibration
+        case 37: settings.spindle_pwm_precision_bits = MIN(8, value);spindle_select(settings.spindle_type); break;
+        case 38: settings.spindle_type = value; spindle_select(settings.spindle_type); break;
         case 80:
         case 81:
         case 82:

Grbl_Esp32/settings.h

@@ -107,6 +107,8 @@ typedef struct {
     float spindle_pwm_off_value; // $34 Percent (extended set)
     float spindle_pwm_min_value; // $35 Percent (extended set)
     float spindle_pwm_max_value; // $36 Percent (extended set)
+    uint8_t spindle_pwm_precision_bits; // $37 PWM pwm precision in bits (extended set)
+    uint8_t spindle_type;        // $38 The spindle class to be used (extended set)
 
     float rpm_max;
     float rpm_min;

Grbl_Esp32/tools/Laser.cpp

@@ -37,6 +37,6 @@ void Laser :: config_message() {
                    "Laser spindle on GPIO:%d, Freq:%.2fHz, Res:%dbits Laser mode:$32=%d",
                    _output_pin,
                    _pwm_freq,
-                   SPINDLE_PWM_BIT_PRECISION,
+                   settings.spindle_pwm_precision_bits,
                    isRateAdjusted());  // the current mode
 }

Grbl_Esp32/tools/PWMSpindle.cpp

@@ -32,13 +32,13 @@ void PWMSpindle::init() {
     }
 
     _pwm_freq = settings.spindle_pwm_freq;
-    _pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
+    _pwm_period = ((1 << settings.spindle_pwm_precision_bits) - 1);
 
     if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value)
         grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle min pwm is greater than max. Check $35 and $36");
 
     if ((F_TIMERS / _pwm_freq) < _pwm_period)
-        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle PWM precision (%d bits) too high for frequency (%.2f Hz)", SPINDLE_PWM_BIT_PRECISION, _pwm_freq);
+        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle PWM precision (%d bits) too high for frequency (%.2f Hz)", settings.spindle_pwm_precision_bits, _pwm_freq);
 
     // pre-caculate some PWM count values
     _pwm_off_value = (_pwm_period * settings.spindle_pwm_off_value / 100.0);
@@ -56,7 +56,7 @@ void PWMSpindle::init() {
     _pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
 
     _spindle_pwm_chan_num = sys_get_next_PWM_chan_num();
-    ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
+    ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, settings.spindle_pwm_precision_bits); // setup the channel
     ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin    
 
     if (_enable_pin != UNDEFINED_PIN)
@@ -99,10 +99,13 @@ float PWMSpindle::set_rpm(float rpm) {
     if (_output_pin == UNDEFINED_PIN)
         return rpm;
 
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM:%5.2f Min:%5.2f Max:%5.2f", rpm, _min_rpm, _max_rpm);
+
     uint32_t pwm_value;
 
     // apply overrides and limits
     rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value (percent)
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM 1:%5.2f", rpm);
 
     // Calculate PWM register value based on rpm max/min settings and programmed rpm.
     if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
@@ -115,6 +118,7 @@ float PWMSpindle::set_rpm(float rpm) {
             pwm_value = _pwm_off_value;
         } else { // Set minimum PWM output
             rpm = _min_rpm;
+            grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM 2:%5.2f", rpm);
             sys.spindle_speed = rpm;
             pwm_value = _pwm_min_value;
             grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM less than min RPM:%5.2f %d", rpm, pwm_value);
@@ -123,6 +127,7 @@ float PWMSpindle::set_rpm(float rpm) {
         // 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;
+        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM 3:%5.2f", rpm);
 #ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
         pwm_value = piecewise_linear_fit(rpm);
 #else
@@ -134,6 +139,7 @@ float PWMSpindle::set_rpm(float rpm) {
     set_enable_pin(rpm != 0);
 #endif
 
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM Final:%5.2f", rpm);
     set_pwm(pwm_value);
 
     return rpm;
@@ -179,7 +185,7 @@ void PWMSpindle::stop() {
 
 // prints the startup message of the spindle config
 void PWMSpindle :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM spindle on GPIO %d, freq %.2fHz, Res %d bits", _output_pin, _pwm_freq, SPINDLE_PWM_BIT_PRECISION);
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM spindle on GPIO %d, freq %.2fHz, Res %d bits", _output_pin, _pwm_freq, settings.spindle_pwm_precision_bits);
 }
 
 
@@ -194,7 +200,7 @@ void PWMSpindle::set_pwm(uint32_t duty) {
     _current_pwm_duty = duty;
 
 #ifdef INVERT_SPINDLE_PWM
-    duty = (1 << SPINDLE_PWM_BIT_PRECISION) - duty;
+    duty = (1 << settings.spindle_pwm_precision_bits) - duty;
 #endif
     ledcWrite(_spindle_pwm_chan_num, duty);
 }

Grbl_Esp32/tools/RelaySpindle.cpp

@@ -17,7 +17,7 @@
     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/>.
-    
+
 */
 #include "grbl.h"
 #include "SpindleClass.h"
@@ -47,9 +47,27 @@ void RelaySpindle :: config_message() {
     grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Relay spindle on GPIO %d", _output_pin);
 }
 
+float RelaySpindle::set_rpm(float rpm) {
+    if (_output_pin == UNDEFINED_PIN)
+        return rpm;
+
+    sys.spindle_speed = rpm;
+
+    if (rpm == 0) {
+        sys.spindle_speed = 0.0;
+        set_pwm(0);
+    } else {
+        sys.spindle_speed = rpm;
+        set_pwm(1);
+    }
+
+    return rpm;
+}
+
 void RelaySpindle::set_pwm(uint32_t duty) {
 #ifdef INVERT_SPINDLE_PWM
     duty = (duty == 0); // flip duty
 #endif
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Relay output %d", duty > 0);
     digitalWrite(_output_pin, duty > 0); // anything greater
 }

Grbl_Esp32/tools/SpindleClass.cpp

@@ -26,8 +26,7 @@
     TODO
         Consider breaking into one file per class.
 
-    Get rid of dependance on machine definition #defines
+    Get rid of dependance on machine definition #defines       
-        SPINDLE_PWM_BIT_PRECISION
         SPINDLE_PWM_PIN
         SPINDLE_ENABLE_PIN
         SPINDLE_DIR_PIN

Grbl_Esp32/tools/SpindleClass.h

@@ -104,6 +104,8 @@ class RelaySpindle : public PWMSpindle {
   public:
     void init();
     void config_message();
+    float set_rpm(float rpm);
+  protected:
     void set_pwm(uint32_t duty);
 };