Minimally functional

Starting to work. Need to develop some tests

Grbl_Esp32/config.h

@@ -205,7 +205,7 @@ Some features should not be changed. See notes below.
 #define CMD_RAPID_OVR_LOW 0x97
 // #define CMD_RAPID_OVR_EXTRA_LOW 0x98 // *NOT SUPPORTED*
 #define CMD_SPINDLE_OVR_RESET 0x99      // Restores spindle override value to 100%.
-#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A
+#define CMD_SPINDLE_OVR_COARSE_PLUS 0x9A // 154
 #define CMD_SPINDLE_OVR_COARSE_MINUS 0x9B
 #define CMD_SPINDLE_OVR_FINE_PLUS 0x9C
 #define CMD_SPINDLE_OVR_FINE_MINUS 0x9D

Grbl_Esp32/spindle_control.cpp

@@ -26,19 +26,12 @@ int8_t spindle_pwm_chan_num;
 
 // define a spindle type
 //RelaySpindle my_spindle;
-Laser my_spindle;
+PWMSpindle my_spindle;
-
-#ifdef SPINDLE_PWM_PIN
-    static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
-    uint32_t spindle_pwm_period; // how many counts in 1 period
-    uint32_t spindle_pwm_off_value;
-    uint32_t spindle_pwm_min_value;
-    uint32_t spindle_pwm_max_value;
-#endif
 
 void spindle_init() {
     my_spindle.init();
     my_spindle.config_message();
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle is rate adjustable %d", my_spindle.isRateAdjusted());
 }
 
 void spindle_stop() {
@@ -49,13 +42,6 @@ uint8_t spindle_get_state() {
     return my_spindle.get_state();
 }
 
-void spindle_set_speed(uint32_t pwm_value) {
-    my_spindle.set_pwm(pwm_value);
-}
-
-uint32_t spindle_compute_pwm_value(float rpm) {
-    return 0;
-}
 
 
 // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
@@ -72,36 +58,3 @@ void spindle_sync(uint8_t state, float rpm) {
 }
 
 
-void grbl_analogWrite(uint8_t chan, uint32_t duty) {
-    
-}
-
-void spindle_set_enable(bool enable) {
-
-}
-
-uint32_t piecewise_linear_fit(float rpm) {
-    uint32_t pwm_value;
-#if (N_PIECES > 3)
-    if (rpm > RPM_POINT34)
-        pwm_value = floor(RPM_LINE_A4 * rpm - RPM_LINE_B4);
-    else
-#endif
-#if (N_PIECES > 2)
-        if (rpm > RPM_POINT23)
-            pwm_value = floor(RPM_LINE_A3 * rpm - RPM_LINE_B3);
-        else
-#endif
-#if (N_PIECES > 1)
-            if (rpm > RPM_POINT12)
-                pwm_value = floor(RPM_LINE_A2 * rpm - RPM_LINE_B2);
-            else
-#endif
-            {
-                pwm_value = floor(RPM_LINE_A1 * rpm - RPM_LINE_B1);
-            }
-    return pwm_value;
-}
-
-
-

Grbl_Esp32/spindle_control.h

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

Grbl_Esp32/stepper.cpp

@@ -282,7 +282,8 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
 #endif
 
             // Set real-time spindle output as segment is loaded, just prior to the first step.
-            spindle_set_speed(st.exec_segment->spindle_rpm);
+            //spindle_set_speed(st.exec_segment->spindle_rpm);
+            my_spindle.set_rpm(st.exec_segment->spindle_rpm);
 
         } else {
             // Segment buffer empty. Shutdown.
@@ -290,8 +291,10 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
 
             if (!(sys.state & STATE_JOG)) {  // added to prevent ... jog after probing crash
                 // 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(spindle_pwm_off_value);
+                    //spindle_set_speed(spindle_pwm_off_value);
+                    my_spindle.set_rpm(0.0);
+                }
             }
 
             system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end

Grbl_Esp32/tools/SpindleClass.cpp

@@ -1,3 +1,9 @@
+/*
+
+
+Testing
+    Should $G show actual speed 
+*/
 #include "grbl.h"
 #include "SpindleClass.h"
 
@@ -32,6 +38,8 @@ void PWMSpindle::init() {
 float PWMSpindle::set_rpm(float rpm) {
     uint32_t pwm_value;
 
+    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set RPM %5.1f", rpm);
+
     // apply overrides and limits
     rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value (percent)
 
@@ -117,7 +125,7 @@ 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);
     ledcWrite(_spindle_pwm_chan_num, duty);
 }