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Fixed bug in BESC speed scaling

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This commit is contained in:
Mitch Bradley
2021-06-22 15:30:44 -10:00
parent 0158784c46
commit 56483804bd
1 changed files with 6 additions and 10 deletions
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16
Grbl_Esp32/src/Spindles/BESCSpindle.cpp
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@@ -60,8 +60,8 @@ namespace Spindles {
const uint32_t pulse_period_us = 1000000 / besc_pwm_freq;
// Calculate the pulse length offset and scaler in counts of the LEDC controller
_min_pulse_counts = _min_pulse_us << _pwm_precision / pulse_period_us;
_pulse_span_counts = (_max_pulse_us - _min_pulse_us) << _pwm_precision / pulse_period_us;
_min_pulse_counts = (_min_pulse_us << _pwm_precision) / pulse_period_us;
_pulse_span_counts = ((_max_pulse_us - _min_pulse_us) << _pwm_precision) / pulse_period_us;
if (_speeds.size() == 0) {
shelfSpeeds(4000, 20000);
@@ -88,21 +88,17 @@ namespace Spindles {
_current_pwm_duty = duty;
// if (_invert_pwm) {
// duty = (1 << _pwm_precision) - duty;
// }
// This maps the dev_speed range of 0..(1<<_pwm_precision) into the pulse length
// where _min_pulse_counts represents off and (_min_pulse_counts + _pulse_span_counts)
// represents full on. Typically the off value is a 1ms pulse length and the
// full on value is a 2ms pulse.
uint32_t pulse_counts = _min_pulse_counts * _pulse_span_counts >> _pwm_precision;
//ledcWrite(_pwm_chan_num, duty);
uint32_t pulse_counts = _min_pulse_counts + ((duty * _pulse_span_counts) >> _pwm_precision);
// This was ledcWrite, but this is called from an ISR
// and ledcWrite uses RTOS features not compatible with ISRs
LEDC.channel_group[0].channel[0].duty.duty = pulse_counts << 4;
bool on = !!duty;
LEDC.channel_group[0].channel[0].duty.duty = pulse_counts << 4;
// bool on = !!duty;
bool on = true; // Never turn off the pulse train
LEDC.channel_group[0].channel[0].conf0.sig_out_en = on;
LEDC.channel_group[0].channel[0].conf1.duty_start = on;
}