Updates after testing

- Spindle updates after changing $32 laser mode
- Fixed mistake where RPM could twice in stepper interrupt
- Added config_message to Laser
- Still needs more testing, but no known errors now.

Grbl_Esp32/config.h

@@ -451,7 +451,7 @@ Some features should not be changed. See notes below.
 // enable pin will output 5V for maximum RPM with 256 intermediate levels and 0V when disabled.
 // NOTE: IMPORTANT for Arduino Unos! When enabled, the Z-limit pin D11 and spindle enable pin D12 switch!
 // The hardware PWM output on pin D11 is required for variable spindle output voltages.
-#define VARIABLE_SPINDLE // Default enabled. Comment to disable.
+#define VARIABLE_SPINDLE // Don't edit this for Grbl_ESP32
 
 // Alters the behavior of the spindle enable pin. By default Grbl will not disable the enable pin if
 // spindle speed is zero and M3/4 is active, but still sets the PWM output to zero. This allows the users

Grbl_Esp32/settings.cpp

@@ -369,12 +369,11 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
         case 30: settings.rpm_max = std::max(value, 1.0f); spindle_init(); break; // Re-initialize spindle rpm calibration (min of 1)
         case 31: settings.rpm_min = value; spindle_init(); break; // Re-initialize spindle rpm calibration
         case 32:
-#ifdef VARIABLE_SPINDLE
+            if (int_value)
-            if (int_value)  settings.flags |= BITFLAG_LASER_MODE;
+                settings.flags |= BITFLAG_LASER_MODE;
-            else  settings.flags &= ~BITFLAG_LASER_MODE;
+            else
-#else
+                settings.flags &= ~BITFLAG_LASER_MODE;
-            return (STATUS_SETTING_DISABLED_LASER);
+            spindle_init(); // update the spindle class
-#endif
             break;
         case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
         case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration

Grbl_Esp32/spindle_control.cpp

@@ -28,7 +28,7 @@
 int8_t spindle_pwm_chan_num;
 
 // define a spindle type
-DacSpindle my_spindle;
+Laser my_spindle;
 //NullSpindle my_spindle;
 
 void spindle_init() {

Grbl_Esp32/spindle_control.h

@@ -33,7 +33,7 @@
 #define SPINDLE_STATE_CCW      bit(1)
 
 //extern uint32_t spindle_pwm_off_value;
-extern DacSpindle my_spindle;
+extern Laser my_spindle;
 
 void spindle_init();
 void spindle_stop();

Grbl_Esp32/stepper.cpp

@@ -143,7 +143,7 @@ typedef struct {
 
 
     float inv_rate;    // Used by PWM laser mode to speed up segment calculations.
-    uint16_t current_spindle_pwm;  // todo remove
+    //uint16_t current_spindle_pwm;  // todo remove
     float current_spindle_rpm;
 
 } st_prep_t;
@@ -283,7 +283,9 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
 
             // Set real-time spindle output as segment is loaded, just prior to the first step.
             //spindle_set_speed(st.exec_segment->spindle_rpm);
-            my_spindle.set_rpm(st.exec_segment->spindle_rpm);
+            //grbl_send(CLIENT_SERIAL, "A_");
+            my_spindle.set_rpm(prep.current_spindle_rpm);
+            
 
         } else {
             // Segment buffer empty. Shutdown.
@@ -293,6 +295,7 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
                 // Ensure pwm is set properly upon completion of rate-controlled motion.
                 if (st.exec_block->is_pwm_rate_adjusted) {
                     //spindle_set_speed(spindle_pwm_off_value);
+                    //grbl_send(CLIENT_SERIAL, "B_");
                     my_spindle.set_rpm(0.0);
                 }
             }
@@ -987,7 +990,14 @@ void st_prep_buffer() {
                 } else
                     prep.current_speed = sqrt(pl_block->entry_speed_sqr);
 
-                st_prep_block->is_pwm_rate_adjusted = my_spindle.isRateAdjusted();
+                //st_prep_block->is_pwm_rate_adjusted = my_spindle.isRateAdjusted();
+                if (my_spindle.isRateAdjusted() ){ //   settings.flags & BITFLAG_LASER_MODE) {
+                    if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
+                        // Pre-compute inverse programmed rate to speed up PWM updating per step segment.
+                        prep.inv_rate = 1.0 / pl_block->programmed_rate;
+                        st_prep_block->is_pwm_rate_adjusted = true;
+                    }
+                }
 
             }
             /* ---------------------------------------------------------------------------------
@@ -1188,11 +1198,15 @@ void st_prep_buffer() {
             if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
                 float rpm = pl_block->spindle_speed;
                 // NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
-                if (st_prep_block->is_pwm_rate_adjusted)
+                if (st_prep_block->is_pwm_rate_adjusted) {                    
                     rpm *= (prep.current_speed * prep.inv_rate);
+                    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "RPM %.2f", rpm);
+                    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Rates CV %.2f IV %.2f RPM %.2f", prep.current_speed, prep.inv_rate, rpm);
+                }
                 // If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
                 // but this would be instantaneous only and during a motion. May not matter at all.                
-                prep.current_spindle_rpm = my_spindle.set_rpm(rpm);
+                //prep.current_spindle_rpm = my_spindle.set_rpm(rpm);
+                prep.current_spindle_rpm = rpm;
             } else {
                 sys.spindle_speed = 0.0;
                 prep.current_spindle_rpm = 0.0;

Grbl_Esp32/tools/SpindleClass.cpp

@@ -2,11 +2,15 @@
     SpindleClass.cpp
 
     A Spindle Class
+        Spindle         - A base class. Do not use
+        PWMSpindel      - A spindle with a PWM output
+        RelaySpindle    - An on/off only spindle
+        Laser           - Output is PWM, but the M4 laser power mode can be used
+        DacSpindle      - Uses the DAC to output a 0-3.3V output
 
     Part of Grbl_ESP32
 
-    2020 -	Bart Dring This file was modified for use on the ESP32
+    2020 -	Bart Dring 
-                    CPU. Do not use this with Grbl for atMega328P
 
     Grbl is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -19,17 +23,6 @@
     You should have received a copy of the GNU General Public License
     along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 
-*/
-
-/*
-
-TODO
-
-
-Testing
-    Should $G show actual speed (Regular Grbl does not)
-    Speed overrides only take place during motion
-
 */
 #include "grbl.h"
 #include "SpindleClass.h"
@@ -190,7 +183,7 @@ void PWMSpindle::set_pwm(uint32_t duty) {
 #ifdef INVERT_SPINDLE_PWM
     duty = (1 << SPINDLE_PWM_BIT_PRECISION) - duty;
 #endif
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set PWM %d of %d", duty, (1 << SPINDLE_PWM_BIT_PRECISION) - 1);
+    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set PWM %d of %d", duty, (1 << SPINDLE_PWM_BIT_PRECISION) - 1);
     ledcWrite(_spindle_pwm_chan_num, duty);
 }
 
@@ -239,7 +232,7 @@ void RelaySpindle::set_pwm(uint32_t duty) {
 }
 
 
-// ====================== Laser =============================
+// ===================================== Laser ==============================================
 
 
 bool Laser :: isRateAdjusted() {
@@ -247,9 +240,20 @@ bool Laser :: isRateAdjusted() {
     return (settings.flags & BITFLAG_LASER_MODE);
 }
 
-// ======================= DacSpindle =======================
+void Laser :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL,
+                   MSG_LEVEL_INFO,
+                   "Laser spindle on GPIO:%d, Freq:%.2fHz, Res:%dbits Laser mode:$32=%d",
+                   SPINDLE_PWM_PIN,
+                   _pwm_freq,
+                   SPINDLE_PWM_BIT_PRECISION,
+                   isRateAdjusted());  // the current mode
+}
+
+// ======================================== DacSpindle ======================================
 void DacSpindle :: init() {
     _pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
+    _dac_channel_num = (dac_channel_t)0;
     _gpio_ok = true;
     switch (SPINDLE_PWM_PIN) {
     case GPIO_NUM_25:

Grbl_Esp32/tools/SpindleClass.h

@@ -67,7 +67,7 @@ class PWMSpindle : public Spindle {
 
   private:
     int8_t _spindle_pwm_chan_num;
-    float _pwm_freq;
+    
 
     int32_t _current_pwm_duty;
 
@@ -83,6 +83,7 @@ class PWMSpindle : public Spindle {
     void set_spindle_dir_pin(bool Clockwise);
 
   protected:
+    float _pwm_freq;
     uint32_t _pwm_period; // how many counts in 1 period
 };
 
@@ -100,6 +101,7 @@ class RelaySpindle : public PWMSpindle {
 class Laser : public PWMSpindle {
   public:
     bool isRateAdjusted();
+    void config_message();
 };
 
 // This uses one of the (2) DAC pins on ESP32 to output a voltage