Laser mode (#692)

* Update Machine.h

* spindles now say if in laser mode

* name fix

* Updates

* Getting rid of crosstalk

* Update PWMSpindle.cpp

* Reset some values at spindle init()

* Update SettingsDefinitions.cpp

* Update Grbl.h

* Return to test_drive.h

Grbl_Esp32/src/GCode.cpp

@@ -473,7 +473,7 @@ Error gc_execute_line(char* line, uint8_t client) {
                                 gc_block.modal.spindle = SpindleState::Cw;
                                 break;
                             case 4:  // Supported if SPINDLE_DIR_PIN is defined or laser mode is on.
-                                if (spindle->is_reversable || laser_mode->get()) {
+                                if (spindle->is_reversable || spindle->inLaserMode()) {
                                     gc_block.modal.spindle = SpindleState::Ccw;
                                 } else {
                                     FAIL(Error::GcodeUnsupportedCommand);
@@ -1290,7 +1290,7 @@ Error gc_execute_line(char* line, uint8_t client) {
         return status;
     }
     // If in laser mode, setup laser power based on current and past parser conditions.
-    if (laser_mode->get()) {
+    if (spindle->inLaserMode()) {
         if (!((gc_block.modal.motion == Motion::Linear) || (gc_block.modal.motion == Motion::CwArc) ||
               (gc_block.modal.motion == Motion::CcwArc))) {
             gc_parser_flags |= GCParserLaserDisable;

Grbl_Esp32/src/Grbl.h

@@ -23,7 +23,7 @@
 // Grbl versioning system
 
 const char* const GRBL_VERSION       = "1.3a";
-const char* const GRBL_VERSION_BUILD = "20201128";
+const char* const GRBL_VERSION_BUILD = "20201204";
 
 //#include <sdkconfig.h>
 #include <Arduino.h>

Grbl_Esp32/src/Motors/TrinamicDriver.cpp

@@ -354,10 +354,6 @@ namespace Motors {
 
         xLastWakeTime = xTaskGetTickCount();  // Initialise the xLastWakeTime variable with the current time.
         while (true) {                        // don't ever return from this or the task dies          
-            if (motorSettingChanged) {
-                motors_read_settings();
-                motorSettingChanged = false;
-            }
             if (stallguard_debug_mask->get() != 0) {
                 if (sys.state == State::Cycle || sys.state == State::Homing || sys.state == State::Jog) {
                     for (TrinamicDriver* p = List; p; p = p->link) {

Grbl_Esp32/src/Protocol.cpp

@@ -96,7 +96,7 @@ bool can_park() {
 #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
         sys.override_ctrl == Override::ParkingMotion &&
 #endif
-        homing_enable->get() && !laser_mode->get();
+        homing_enable->get() && !spindle->inLaserMode();
 }
 
 /*
@@ -558,7 +558,7 @@ static void protocol_exec_rt_suspend() {
         restore_spindle_speed = block->spindle_speed;
     }
 #ifdef DISABLE_LASER_DURING_HOLD
-    if (laser_mode->get()) {
+    if (spindle->inLaserMode()) {
         sys_rt_exec_accessory_override.bit.spindleOvrStop = true;
     }
 #endif
@@ -661,7 +661,7 @@ static void protocol_exec_rt_suspend() {
                         if (gc_state.modal.spindle != SpindleState::Disable) {
                             // Block if safety door re-opened during prior restore actions.
                             if (!sys.suspend.bit.restartRetract) {
-                                if (laser_mode->get()) {
+                                if (spindle->inLaserMode()) {
                                     // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
                                     sys.step_control.updateSpindleRpm = true;
                                 } else {
@@ -717,7 +717,7 @@ static void protocol_exec_rt_suspend() {
                     } else if (sys.spindle_stop_ovr.bit.restore || sys.spindle_stop_ovr.bit.restoreCycle) {
                         if (gc_state.modal.spindle != SpindleState::Disable) {
                             report_feedback_message(Message::SpindleRestore);
-                            if (laser_mode->get()) {
+                            if (spindle->inLaserMode()) {
                                 // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
                                 sys.step_control.updateSpindleRpm = true;
                             } else {

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -1,7 +1,5 @@
 #include "Grbl.h"
 
-bool motorSettingChanged = false;
-
 FlagSetting* verbose_errors;
 
 FakeSetting<int>* number_axis;
@@ -177,22 +175,27 @@ static bool checkStartupLine(char* value) {
 }
 
 static bool postTMC(char* value) {
-    if (!value) {  // No POST functionality
+    if (!value) {
-        motorSettingChanged = true;
+        motors_read_settings();
     }
     return true;
 }
 
 static bool checkSpindleChange(char* val) {
     if (!val) {
-        spindle->deinit();
+        // if not in disable (M5) ...
-        Spindles::Spindle::select();
+        if (gc_state.modal.spindle != SpindleState::Disable) {
+            gc_state.modal.spindle = SpindleState::Disable;
+            if (spindle->use_delays && spindle_delay_spindown->get() != 0) {  // old spindle
+                vTaskDelay(spindle_delay_spindown->get() * 1000);
+            }
+            grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle turned off with setting change");
+        }
+        gc_state.spindle_speed = 0; // Set S value to 0 
+        spindle->deinit(); // old spindle
+        Spindles::Spindle::select(); // get new spindle
         return true;
     }
-    if (gc_state.modal.spindle != SpindleState::Disable) {
-        grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "Spindle must be off to make this change");
-        return false;
-    }
     return true;
 }
 

Grbl_Esp32/src/SettingsDefinitions.h

@@ -1,7 +1,5 @@
 #pragma once
 
-extern bool motorSettingChanged;
-
 extern FlagSetting* verbose_errors;
 
 extern FakeSetting<int>* number_axis;

Grbl_Esp32/src/Spindles/10vSpindle.cpp

@@ -170,20 +170,25 @@ namespace Spindles {
 
     void _10v::deinit() {
 #ifdef SPINDLE_OUTPUT_PIN
+        gpio_reset_pin(SPINDLE_OUTPUT_PIN);
         pinMode(SPINDLE_OUTPUT_PIN, INPUT);
 #endif
 #ifdef SPINDLE_ENABLE_PIN
+        gpio_reset_pin(SPINDLE_ENABLE_PIN);
         pinMode(SPINDLE_ENABLE_PIN, INPUT);
 #endif
 
 #ifdef SPINDLE_DIR_PIN
+        gpio_reset_pin(SPINDLE_DIR_PIN);
         pinMode(SPINDLE_DIR_PIN, INPUT);
 #endif
 #ifdef SPINDLE_FORWARD_PIN
+        gpio_reset_pin(SPINDLE_FORWARD_PIN);
         pinMode(SPINDLE_FORWARD_PIN, INPUT);
 #endif
 
 #ifdef SPINDLE_REVERSE_PIN
+        gpio_reset_pin(SPINDLE_FORWARD_PIN);
         pinMode(SPINDLE_FORWARD_PIN, INPUT);
 #endif
     }

Grbl_Esp32/src/Spindles/Laser.cpp

@@ -24,8 +24,8 @@
 // ===================================== Laser ==============================================
 
 namespace Spindles {
-    bool Laser::isRateAdjusted() {
+    bool Laser::inLaserMode() {
-        return true;  // can use M4 (CCW) laser mode.
+        return laser_mode->get();  // can use M4 (CCW) laser mode.
     }
 
     void Laser::config_message() {
@@ -89,10 +89,12 @@ namespace Spindles {
     void Laser::deinit() {
         stop();
 #ifdef LASER_OUTPUT_PIN
+        gpio_reset_pin(LASER_OUTPUT_PIN);
         pinMode(LASER_OUTPUT_PIN, INPUT);
 #endif
 
 #ifdef LASER_ENABLE_PIN
+        gpio_reset_pin(LASER_ENABLE_PIN);
         pinMode(LASER_ENABLE_PIN, INPUT);
 #endif
     }

Grbl_Esp32/src/Spindles/Laser.h

@@ -34,7 +34,7 @@ namespace Spindles {
         Laser& operator=(const Laser&) = delete;
         Laser& operator=(Laser&&) = delete;
 
-        bool isRateAdjusted() override;
+        bool inLaserMode() override;
         void config_message() override;
         void get_pins_and_settings() override;
         void deinit() override;

Grbl_Esp32/src/Spindles/PWMSpindle.cpp

@@ -42,14 +42,15 @@ namespace Spindles {
             return;
         }
 
+        _current_state    = SpindleState::Disable;
+        _current_pwm_duty = 0;
+        use_delays        = true;
+
         ledcSetup(_pwm_chan_num, (double)_pwm_freq, _pwm_precision);  // setup the channel
         ledcAttachPin(_output_pin, _pwm_chan_num);                    // attach the PWM to the pin
-
         pinMode(_enable_pin, OUTPUT);
         pinMode(_direction_pin, OUTPUT);
 
-        use_delays = true;
-
         config_message();
     }
 
@@ -146,7 +147,7 @@ namespace Spindles {
             }
         }
 
-        set_enable_pin(_current_state != SpindleState::Disable);
+        set_enable_pin(gc_state.modal.spindle != SpindleState::Disable);
         set_output(pwm_value);
 
         return 0;
@@ -225,6 +226,14 @@ namespace Spindles {
     }
 
     void PWM::set_enable_pin(bool enable) {
+        // static bool prev_enable = false;
+
+        // if (prev_enable == enable) {
+        //     return;
+        // }
+
+        // prev_enable = enable;
+
         if (_enable_pin == UNDEFINED_PIN) {
             return;
         }
@@ -262,13 +271,16 @@ namespace Spindles {
     void PWM::deinit() {
         stop();
 #ifdef SPINDLE_OUTPUT_PIN
+        gpio_reset_pin(SPINDLE_OUTPUT_PIN);
         pinMode(SPINDLE_OUTPUT_PIN, INPUT);
 #endif
 #ifdef SPINDLE_ENABLE_PIN
+        gpio_reset_pin(SPINDLE_ENABLE_PIN);
         pinMode(SPINDLE_ENABLE_PIN, INPUT);
 #endif
 
 #ifdef SPINDLE_DIR_PIN
+        gpio_reset_pin(SPINDLE_DIR_PIN);
         pinMode(SPINDLE_DIR_PIN, INPUT);
 #endif
     }

Grbl_Esp32/src/Spindles/Spindle.cpp

@@ -89,7 +89,7 @@ namespace Spindles {
 
     // ========================= Spindle ==================================
 
-    bool Spindle::isRateAdjusted() {
+    bool Spindle::inLaserMode() {
         return false;  // default for basic spindle is false
     }
 

Grbl_Esp32/src/Spindles/Spindle.h

@@ -64,7 +64,7 @@ namespace Spindles {
         virtual SpindleState get_state()                                 = 0;
         virtual void         stop()                                      = 0;
         virtual void         config_message()                            = 0;
-        virtual bool         isRateAdjusted();
+        virtual bool         inLaserMode();
         virtual void         sync(SpindleState state, uint32_t rpm);
         virtual void         deinit();
 

Grbl_Esp32/src/Spindles/VFDSpindle.cpp

@@ -273,7 +273,7 @@ namespace Spindles {
         }
 
         // Initialization is complete, so now it's okay to run the queue task:
-        task_active   = true;        
+        task_active = true;
         if (vfd_cmd_queue != nullptr) {
             vfd_cmd_queue = xQueueCreate(VFD_RS485_QUEUE_SIZE, sizeof(ModbusCommand));
         }
@@ -323,6 +323,7 @@ namespace Spindles {
         pins_settings_ok = false;
 #endif
 
+        // TODO Test no longer required.
         if (laser_mode->get()) {
             grbl_msg_sendf(CLIENT_ALL, MsgLevel::Info, "VFD spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart");
             pins_settings_ok = false;

Grbl_Esp32/src/Stepper.cpp

@@ -551,7 +551,7 @@ void st_prep_buffer() {
                     prep.current_speed = sqrt(pl_block->entry_speed_sqr);
                 }
 
-                if (spindle->isRateAdjusted()) {  //   laser_mode->get() {
+                if (spindle->inLaserMode()) {  //
                     if (pl_block->spindle == SpindleState::Ccw) {
                         // Pre-compute inverse programmed rate to speed up PWM updating per step segment.
                         prep.inv_rate                       = 1.0 / pl_block->programmed_rate;