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Code Issues Releases Wiki Activity

Fixed Spindle Issues during homing

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Using the raw setting values (percentage) instead of calculated PWM (duty) off value
This commit is contained in:
bdring
2020-01-10 21:53:40 -06:00
parent faad68cb71
commit 46319a3616
9 changed files with 296 additions and 38 deletions
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1
.pio/build/project.checksum Normal file
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8a670918e9dc8280d88406fcbf3c7f8004d39238

214
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"ARDUINO_NodeMCU_32S",
"ESP32",
"ESP_PLATFORM",
"F_CPU=240000000L",
"HAVE_CONFIG_H",
"MBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\"",
"ARDUINO=10805",
"ARDUINO_ARCH_ESP32",
"ARDUINO_VARIANT=\"nodemcu-32s\"",
"ARDUINO_BOARD=\"NodeMCU-32S\"",
""
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7
.vscode/extensions.json vendored Normal file
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@@ -0,0 +1,7 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

32
.vscode/launch.json vendored Normal file
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@@ -0,0 +1,32 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
// PIO Unified Debugger
//
// Documentation: https://docs.platformio.org/page/plus/debugging.html
// Configuration: https://docs.platformio.org/page/projectconf/section_env_debug.html
{
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"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
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"toolchainBinDir": "C:/Users/barto/.platformio/packages/toolchain-xtensa32/bin",
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"task": "Pre-Debug"
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"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "c:/Users/barto/Dropbox/Arduino/ESP32/Grbl_Esp32/.pio/build/nodemcu-32s/firmware.elf",
"toolchainBinDir": "C:/Users/barto/.platformio/packages/toolchain-xtensa32/bin",
"internalConsoleOptions": "openOnSessionStart"
}
]
}

13
Grbl_Esp32/cpu_map.h
View File

@@ -177,6 +177,8 @@
// https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature // https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
#define CPU_MAP_NAME "CPU_MAP_ESP32_ESC_SPINDLE" #define CPU_MAP_NAME "CPU_MAP_ESP32_ESC_SPINDLE"
#define SHOW_EXTENDED_SETTINGS
#define USE_RMT_STEPS #define USE_RMT_STEPS
@@ -198,9 +200,12 @@
// Begin RC ESC Based Spindle Information ====================== // Begin RC ESC Based Spindle Information ======================
#define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit recommended for ESC (don't change) #define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit recommended for ESC (don't change)
/* /*
Important ESC Settings Important ESC Settings
$33=50 // Hz this is the typical good frequency for an ESC $33=50 // Hz this is the typical good frequency for an ESC
#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
Determine the typical min and max pulse length of your ESC Determine the typical min and max pulse length of your ESC
min_pulse is typically 1ms (0.001 sec) or less min_pulse is typically 1ms (0.001 sec) or less
@@ -212,10 +217,16 @@
(pulse / PWM_period) (pulse / PWM_period)
min_pulse = (0.001 / 0.02) = 0.035 = 3.5% so ... $33 and $34 = 3.5 min_pulse = (0.001 / 0.02) = 0.05 = 5% so ... $34 and $35 = 5.0
max_pulse = (0.002 / .02) = 0.1 = 10% so ... $36=10 max_pulse = (0.002 / .02) = 0.1 = 10% so ... $36=10
*/ */
#define DEFAULT_SPINDLE_FREQ 50.0
#define DEFAULT_SPINDLE_OFF_VALUE 5.0
#define DEFAULT_SPINDLE_MIN_VALUE 5.0
#define DEFAULT_SPINDLE_MAX_VALUE 10.0
// End RC ESC Based Spindle #defines =========================== // End RC ESC Based Spindle #defines ===========================

53
Grbl_Esp32/spindle_control.cpp
View File

@@ -22,10 +22,10 @@
#ifdef SPINDLE_PWM_PIN #ifdef SPINDLE_PWM_PIN
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions. static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
float spindle_pwm_period; uint32_t spindle_pwm_period; // how many counts in 1 period
float spindle_pwm_off_value; uint32_t spindle_pwm_off_value;
float spindle_pwm_min_value; uint32_t spindle_pwm_min_value;
float spindle_pwm_max_value; uint32_t spindle_pwm_max_value;
#endif #endif
void spindle_init() void spindle_init()
@@ -41,27 +41,21 @@ void spindle_init()
grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n"); grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n");
#endif #endif
spindle_pwm_period = SPINDLE_PULSE_RES_COUNT; // determine how many PWM counts are in eqach PWM cycle
spindle_pwm_period = ((1<<SPINDLE_PWM_BIT_PRECISION) -1);
spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100); if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value) {
spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100); grbl_sendf(CLIENT_SERIAL, "[MSG: Warning spindle min pwm is greater than max. Check $35 and $36]\r\n", pwm_gradient);
spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
//pwm_gradient = (settings.spindle_pwm_max_value - settings.spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
if ( (F_TIMERS / (uint32_t)settings.spindle_pwm_freq) < spindle_pwm_max_value) {
/*
PWM Generator is based on 80,000,000 Hz counter
Therefor the freq determines the resolution 80,000,000 / freq = max resolution
For 5000 that is 80,000,000 / 5000 = 16000
Round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
*/
grbl_sendf(CLIENT_SERIAL, "[MSG: Warning! Spindle freq %5.0f too high for requested PWM max %5.2f%% (%5.0f)]\r\n", settings.spindle_pwm_freq, settings.spindle_pwm_max_value, spindle_pwm_max_value);
} }
// pre-caculate some PWM count values
spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100.0);
spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100.0);
spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100.0);
// The pwm_gradient is the pwm duty cycle units per rpm
pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
// Use DIR and Enable if pins are defined // Use DIR and Enable if pins are defined
#ifdef SPINDLE_ENABLE_PIN #ifdef SPINDLE_ENABLE_PIN
pinMode(SPINDLE_ENABLE_PIN, OUTPUT); pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
@@ -73,7 +67,7 @@ void spindle_init()
// use the LED control feature to setup PWM https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html // use the LED control feature to setup PWM https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
ledcSetup(SPINDLE_PWM_CHANNEL, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel ledcSetup(SPINDLE_PWM_CHANNEL, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin
// Start with spindle off off // Start with spindle off off
spindle_stop(); spindle_stop();
@@ -81,7 +75,7 @@ void spindle_init()
} }
void spindle_stop() void spindle_stop()
{ {
spindle_set_enable(false); spindle_set_enable(false);
#ifdef SPINDLE_PWM_PIN #ifdef SPINDLE_PWM_PIN
@@ -117,8 +111,9 @@ uint8_t spindle_get_state() // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW
} }
void spindle_set_speed(uint32_t pwm_value) void spindle_set_speed(uint32_t pwm_value)
{ {
#ifndef SPINDLE_PWM_PIN #ifndef SPINDLE_PWM_PIN
grbl_sendf(CLIENT_SERIAL, "[MSG: set speed...no pin defined]\r\n");
return; return;
#else #else
#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED #ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
@@ -160,7 +155,7 @@ uint32_t spindle_compute_pwm_value(float rpm){
#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE #ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
pwm_value = piecewise_linear_fit(rpm); pwm_value = piecewise_linear_fit(rpm);
#else #else
pwm_value = floor((rpm - settings.rpm_min)*pwm_gradient) + settings.spindle_pwm_min_value; pwm_value = floor((rpm - settings.rpm_min)*pwm_gradient) + spindle_pwm_min_value;
#endif #endif
} }
return(pwm_value); return(pwm_value);
@@ -211,9 +206,7 @@ void spindle_sync(uint8_t state, float rpm)
void grbl_analogWrite(uint8_t chan, uint32_t duty) void grbl_analogWrite(uint8_t chan, uint32_t duty)
{ {
if (ledcRead(chan) != duty) // reduce unnecessary calls to ledcWrite() if (ledcRead(chan) != duty) // reduce unnecessary calls to ledcWrite()
{ {
// Useful for debug, but too many messages in laser mode
// grbl_sendf(CLIENT_SERIAL, "[MSG: grbl_analogWrite %d]\r\n", duty);
ledcWrite(chan, duty); ledcWrite(chan, duty);
} }
} }

2
Grbl_Esp32/spindle_control.h
View File

@@ -31,7 +31,7 @@
#define SPINDLE_STATE_CW bit(0) #define SPINDLE_STATE_CW bit(0)
#define SPINDLE_STATE_CCW bit(1) #define SPINDLE_STATE_CCW bit(1)
#define SPINDLE_PULSE_RES_COUNT ((1<<SPINDLE_PWM_BIT_PRECISION) -1) //(don't change) extern uint32_t spindle_pwm_off_value;
void spindle_init(); void spindle_init();
void spindle_stop(); void spindle_stop();

4
Grbl_Esp32/stepper.cpp
View File

@@ -294,7 +294,7 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
if (!(sys.state & STATE_JOG)) { // added to prevent ... jog after probing crash if (!(sys.state & STATE_JOG)) { // added to prevent ... jog after probing crash
// Ensure pwm is set properly upon completion of rate-controlled motion. // Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) { if (st.exec_block->is_pwm_rate_adjusted) {
spindle_set_speed(settings.spindle_pwm_off_value); spindle_set_speed(spindle_pwm_off_value);
} }
} }
@@ -1325,7 +1325,7 @@ void st_prep_buffer()
} else { } else {
sys.spindle_speed = 0.0; sys.spindle_speed = 0.0;
#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) ) #if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
prep.current_spindle_pwm = settings.spindle_pwm_off_value; prep.current_spindle_pwm = spindle_pwm_off_value ;
#endif #endif
} }

8
doc/csv/setting_codes_en_US.csv
View File

@@ -21,10 +21,10 @@
"30","Maximum spindle speed","RPM","Maximum spindle speed. Sets PWM to 100% duty cycle." "30","Maximum spindle speed","RPM","Maximum spindle speed. Sets PWM to 100% duty cycle."
"31","Minimum spindle speed","RPM","Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle." "31","Minimum spindle speed","RPM","Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle."
"32","Laser-mode enable","boolean","Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed." "32","Laser-mode enable","boolean","Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed."
"33","Spindle PWM Freq","16-bit","Spindle PWM Freq" "33","Spindle PWM Freq","16-bit","Spindle PWM Freq (reboot to take effect)"
"34","Spindle PWM Off Value","16-bit","Spindle PWM Off Value" "34","Spindle PWM Off Value","16-bit","Spindle PWM Off Value (reboot to take effect)"
"35","Spindle PWM Min Value","16-bit","Spindle PWM Min Value" "35","Spindle PWM Min Value","16-bit","Spindle PWM Min Value (reboot to take effect)"
"36","Spindle PWM Max Value","16-bit","Spindle PWM Max Value" "36","Spindle PWM Max Value","16-bit","Spindle PWM Max Value (reboot to take effect)"
"80-84","User integer Values","unsigned 16-bit","Reserved for custom machine use" "80-84","User integer Values","unsigned 16-bit","Reserved for custom machine use"
"90-94","User Floating point value","float","Reserved for custom machine use" "90-94","User Floating point value","float","Reserved for custom machine use"
"100","X-axis travel resolution","step/mm","X-axis travel resolution in steps per millimeter." "100","X-axis travel resolution","step/mm","X-axis travel resolution in steps per millimeter."
1 $-Code Setting Units Setting Description
21 30 Maximum spindle speed RPM Maximum spindle speed. Sets PWM to 100% duty cycle.
22 31 Minimum spindle speed RPM Minimum spindle speed. Sets PWM to 0.4% or lowest duty cycle.
23 32 Laser-mode enable boolean Enables laser mode. Consecutive G1/2/3 commands will not halt when spindle speed is changed.
24 33 Spindle PWM Freq 16-bit Spindle PWM Freq Spindle PWM Freq (reboot to take effect)
25 34 Spindle PWM Off Value 16-bit Spindle PWM Off Value Spindle PWM Off Value (reboot to take effect)
26 35 Spindle PWM Min Value 16-bit Spindle PWM Min Value Spindle PWM Min Value (reboot to take effect)
27 36 Spindle PWM Max Value 16-bit Spindle PWM Max Value Spindle PWM Max Value (reboot to take effect)
28 80-84 User integer Values unsigned 16-bit Reserved for custom machine use
29 90-94 User Floating point value float Reserved for custom machine use
30 100 X-axis travel resolution step/mm X-axis travel resolution in steps per millimeter.