Merge pull request #398 from bdring/Devt

Merging SpindleClass changes

Grbl_Esp32/Machines/spindle_class_test.h

@@ -0,0 +1,51 @@
+/*
+    3axis_v4.h
+    Part of Grbl_ESP32
+
+    Pin assignments for the ESP32 Development Controller, v4.1 and later.
+    https://github.com/bdring/Grbl_ESP32_Development_Controller
+    https://www.tindie.com/products/33366583/grbl_esp32-cnc-development-board-v35/
+
+    2018    - Bart Dring
+    2020    - Mitch Bradley
+
+    Grbl_ESP32 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_ESP32.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#define MACHINE_NAME            "Spindle class Test"
+
+#define X_STEP_PIN              GPIO_NUM_12
+#define X_DIRECTION_PIN         GPIO_NUM_14
+#define Y_STEP_PIN              GPIO_NUM_26
+#define Y_DIRECTION_PIN         GPIO_NUM_15
+#define Z_STEP_PIN              GPIO_NUM_27
+#define Z_DIRECTION_PIN         GPIO_NUM_33
+
+#define LIMIT_MASK              B111
+#define X_LIMIT_PIN             GPIO_NUM_17
+#define Y_LIMIT_PIN             GPIO_NUM_4
+#define Z_LIMIT_PIN             GPIO_NUM_16
+
+// OK to comment out to use pin for other features
+#define STEPPERS_DISABLE_PIN    GPIO_NUM_13
+
+
+#define SPINDLE_TYPE            SPINDLE_TYPE_RELAY
+#define SPINDLE_OUTPUT_PIN      GPIO_NUM_25   // labeled SpinPWM
+//#define SPINDLE_ENABLE_PIN      GPIO_NUM_25  // labeled SpinEnbl
+
+/*
+#define SPINDLE_TYPE            SPINDLE_TYPE_BESC
+#define SPINDLE_OUTPUT_PIN      GPIO_NUM_27   //
+*/

Grbl_Esp32/config.h

@@ -115,11 +115,11 @@ Some features should not be changed. See notes below.
 //#define CONNECT_TO_SSID  "your SSID"
 //#define SSID_PASSWORD  "your SSID password"
 //CONFIGURE_EYECATCH_BEGIN (DO NOT MODIFY THIS LINE)
-#define ENABLE_BLUETOOTH // enable bluetooth
+//#define ENABLE_BLUETOOTH // enable bluetooth
 
 #define ENABLE_SD_CARD // enable use of SD Card to run jobs
 
-#define ENABLE_WIFI //enable wifi
+//#define ENABLE_WIFI //enable wifi
 
 #define ENABLE_HTTP //enable HTTP and all related services
 #define ENABLE_OTA  //enable OTA
@@ -457,7 +457,7 @@ Some features should not be changed. See notes below.
 // NOTE: Only use this for debugging purposes!! When echoing, this takes up valuable resources and can effect
 // performance. If absolutely needed for normal operation, the serial write buffer should be greatly increased
 // to help minimize transmission waiting within the serial write protocol.
-// #define REPORT_ECHO_LINE_RECEIVED // Default disabled. Uncomment to enable.
+//#define REPORT_ECHO_LINE_RECEIVED // Default disabled. Uncomment to enable.
 
 // Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at
 // every buffer block junction, except for starting from rest and end of the buffer, which are always

Grbl_Esp32/defaults.h

@@ -121,15 +121,15 @@
     #endif
 
     #ifndef DEFAULT_SPINDLE_OFF_VALUE
-        #define DEFAULT_SPINDLE_OFF_VALUE 0.0 // $34 Percent (extended set)
+        #define DEFAULT_SPINDLE_OFF_VALUE 0.0 // $34 Percent of full period(extended set)
     #endif
 
     #ifndef DEFAULT_SPINDLE_MIN_VALUE
-        #define DEFAULT_SPINDLE_MIN_VALUE 0.0 // $35 Percent (extended set)
+        #define DEFAULT_SPINDLE_MIN_VALUE 0.0 // $35 Percent of full period (extended set)
     #endif
 
     #ifndef DEFAULT_SPINDLE_MAX_VALUE
-        #define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent (extended set)
+        #define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent of full period (extended set)
     #endif
 
     #ifndef  DEFAULT_SPINDLE_RPM_MAX

Grbl_Esp32/grbl_limits.cpp

@@ -379,6 +379,14 @@ uint8_t limits_get_state() {
 // NOTE: Used by jogging to limit travel within soft-limit volume.
 void limits_soft_check(float* target) {
     if (system_check_travel_limits(target)) {
+        // TODO for debugging only 3 axes right now
+        grbl_msg_sendf(CLIENT_SERIAL, 
+                        MSG_LEVEL_INFO, 
+                        "Soft limit error target WPOS X:%5.2f Y:%5.2f Z:%5.2f", 
+                        target[X_AXIS] - gc_state.coord_system[X_AXIS],
+                        target[Y_AXIS] - gc_state.coord_system[Y_AXIS], 
+                        target[Z_AXIS] - gc_state.coord_system[Z_AXIS]);
+
         sys.soft_limit = true;
         // Force feed hold if cycle is active. All buffered blocks are guaranteed to be within
         // workspace volume so just come to a controlled stop so position is not lost. When complete

Grbl_Esp32/machine.h

@@ -4,6 +4,14 @@
 #ifndef _machine_h
 #define _machine_h
 
+/*
+PWM
+    Tested on arc_arrow.nc
+    
+
+
+*/
+
 #ifndef MACHINE_FILENAME
 
 // !!! For initial testing, start with test_drive.h which disables

Grbl_Esp32/planner.h

@@ -90,7 +90,7 @@ typedef struct {
 // Planner data prototype. Must be used when passing new motions to the planner.
 typedef struct {
     float feed_rate;          // Desired feed rate for line motion. Value is ignored, if rapid motion.
-    float spindle_speed;      // Desired spindle speed through line motion.
+    uint32_t spindle_speed;      // Desired spindle speed through line motion.
     uint8_t condition;        // Bitflag variable to indicate planner conditions. See defines above.
 #ifdef USE_LINE_NUMBERS
     int32_t line_number;    // Desired line number to report when executing.

Grbl_Esp32/system.h

@@ -42,7 +42,7 @@ typedef struct {
     uint8_t override_ctrl;     // Tracks override control states.
 #endif
 
-    float spindle_speed;
+    uint32_t spindle_speed;
 
 } system_t;
 extern system_t sys;

Grbl_Esp32/tests/spindle/spindle_modal.nc

@@ -0,0 +1,23 @@
+G17
+G0Z12.700
+S500M3
+G0X0.000Y0.000
+G0X13.599Y24.932Z5.080
+G1Z-2.000F152400.0
+G1Y58.857
+X62.091
+Y24.932
+X13.599
+G0Z5.080
+S1000M03
+G4P3
+G0X15.472Y27.568Z5.080
+G1Z-2.000F152400.0
+G1Y57.424
+X59.341
+Y27.568
+X15.472
+G0Z5.080
+G53G0Z-2
+G0X0.000Y0.000
+M5