Add Spindle Classes

Grbl_Esp32/Grbl_Esp32.ino

@@ -21,6 +21,8 @@
 #include "grbl.h"
 #include "WiFi.h"
 
+#include "Spindles/SpindleClass.cpp"
+
 // Declare system global variable structure
 system_t sys;
 int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.
@@ -34,6 +36,8 @@ volatile uint8_t sys_rt_exec_accessory_override; // Global realtime executor bit
     volatile uint8_t sys_rt_exec_debug;
 #endif
 
+Spindle *spindle;
+
 
 
 void setup() {
@@ -52,7 +56,7 @@ void setup() {
   #else
     #define MACHINE_STRING MACHINE_NAME
   #endif
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Using machine:%s", MACHINE_STRING);
+    report_machine_type(CLIENT_SERIAL);
 #endif
     settings_init(); // Load Grbl settings from EEPROM
     stepper_init();  // Configure stepper pins and interrupt timers
@@ -113,7 +117,7 @@ void loop() {
     // Reset Grbl primary systems.
     serial_reset_read_buffer(CLIENT_ALL); // Clear serial read buffer
     gc_init(); // Set g-code parser to default state
-    spindle_init();
+    spindle_select(SPINDLE_TYPE);
     coolant_init();
     limits_init();
     probe_init();

Grbl_Esp32/Machines/3axis_v3.h

@@ -41,7 +41,8 @@
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_13
 
 #define SPINDLE_TYPE            SPINDLE_TYPE_PWM
-#define SPINDLE_PWM_PIN         GPIO_NUM_17  // labeled SpinPWM
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_17  // labeled SpinPWM
+
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl
 
 #define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist

Grbl_Esp32/Machines/3axis_xyx.h

@@ -33,7 +33,7 @@
 #define Y2_DIRECTION_PIN        GPIO_NUM_33  /* labeled Z */
 
 #define SPINDLE_TYPE            SPINDLE_TYPE_PWM
-#define SPINDLE_PWM_PIN         GPIO_NUM_2
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_2
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_22
 
 #define LIMIT_MASK              B11

Grbl_Esp32/Machines/atari_1020.h

@@ -67,10 +67,6 @@
 #define REED_SW_PIN GPIO_NUM_17
 #define LIMIT_MASK 0
 
-#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
-    #undef IGNORE_CONTROL_PINS
-#endif
-
 #ifndef ENABLE_CONTROL_SW_DEBOUNCE
     #define ENABLE_CONTROL_SW_DEBOUNCE
 #endif

Grbl_Esp32/Machines/espduino.h

@@ -40,7 +40,8 @@
 #define STEPPERS_DISABLE_PIN    GPIO_NUM_12
 
 #define SPINDLE_TYPE SPINDLE_TYPE_PWM
-#define SPINDLE_PWM_PIN         GPIO_NUM_19
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_19
+
 #define SPINDLE_DIR_PIN         GPIO_NUM_18
 
 #define COOLANT_FLOOD_PIN       GPIO_NUM_34
@@ -53,7 +54,6 @@
 
 #define PROBE_PIN               GPIO_NUM_39
 
-// comment out #define IGNORE_CONTROL_PINS in config.h to use control pins
 #define CONTROL_RESET_PIN       GPIO_NUM_2
 #define CONTROL_FEED_HOLD_PIN   GPIO_NUM_4
 #define CONTROL_CYCLE_START_PIN GPIO_NUM_35 // ESP32 needs external pullup

Grbl_Esp32/Machines/lowrider_v1p2.h

@@ -50,9 +50,11 @@
 //#define USE_SPINDLE_RELAY
 
 #ifdef USE_SPINDLE_RELAY
-    #define SPINDLE_PWM_PIN GPIO_NUM_2
+    #define SPINDLE_TYPE SPINDLE_TYPE_PWM
+    #define SPINDLE_OUTPUT_PIN GPIO_NUM_2
 #else
-    #define SPINDLE_PWM_PIN         GPIO_NUM_16
+    #define SPINDLE_TYPE SPINDLE_TYPE_RELAY
+    #define SPINDLE_OUTPUT_PIN         GPIO_NUM_16
     #define SPINDLE_ENABLE_PIN      GPIO_NUM_32
 #endif
 
@@ -78,7 +80,6 @@
 
 #define INVERT_CONTROL_PIN_MASK   B1110
 
-// Note: check the #define IGNORE_CONTROL_PINS is the way you want in config.h
 #define CONTROL_RESET_PIN         GPIO_NUM_34  // needs external pullup
 #define CONTROL_FEED_HOLD_PIN     GPIO_NUM_36  // needs external pullup
 #define CONTROL_CYCLE_START_PIN   GPIO_NUM_39  // needs external pullup

Grbl_Esp32/Machines/midtbot.h

@@ -51,10 +51,6 @@
 #define SERVO_Z_HOME_POS        SERVO_Z_RANGE_MAX // move to max during homing
 #define SERVO_Z_MPOS            false   // will not use mpos, uses work coordinates
 
-#ifndef IGNORE_CONTROL_PINS // maybe set in config.h
-    #define IGNORE_CONTROL_PINS
-#endif
-
 // redefine some stuff from config.h
 #ifdef HOMING_CYCLE_0
     #undef HOMING_CYCLE_0
@@ -74,6 +70,8 @@
 
 #define SERVO_PEN_PIN           GPIO_NUM_27
 
+#define SPINDLE_TYPE SPINDLE_TYPE_NONE
+
 // defaults
 #define DEFAULT_STEP_PULSE_MICROSECONDS 3
 #define DEFAULT_STEPPER_IDLE_LOCK_TIME  255 // stay on

Grbl_Esp32/Machines/mpcnc_v1p1.h

@@ -51,10 +51,11 @@
 
 #ifdef USE_SPINDLE_RELAY
     #define SPINDLE_TYPE SPINDLE_TYPE_RELAY
-    #define SPINDLE_PWM_PIN GPIO_NUM_17
+    #define SPINDLE_OUTPUT_PIN GPIO_NUM_17
 #else
     #define SPINDLE_TYPE SPINDLE_TYPE_PWM
-    #define SPINDLE_PWM_PIN         GPIO_NUM_16
+    #define SPINDLE_OUTPUT_PIN         GPIO_NUM_16
+
     #define SPINDLE_ENABLE_PIN      GPIO_NUM_32
 #endif
 
@@ -78,15 +79,6 @@
 
 #define INVERT_CONTROL_PIN_MASK B1110
 
-// Note: default is #define IGNORE_CONTROL_PINS in config.h
-// uncomment to these lines to use them
-
-/*
-#ifdef IGNORE_CONTROL_PINS
-#undef IGNORE_CONTROL_PINS
-#endif
-*/
-
 #define CONTROL_RESET_PIN           GPIO_NUM_34  // needs external pullup
 #define CONTROL_FEED_HOLD_PIN       GPIO_NUM_36  // needs external pullup
 #define CONTROL_CYCLE_START_PIN     GPIO_NUM_39  // needs external pullup

Grbl_Esp32/Machines/mpcnc_v1p2.h

@@ -52,10 +52,11 @@
 
 #ifdef USE_SPINDLE_RELAY
     #define SPINDLE_TYPE SPINDLE_TYPE_RELAY
-    #define SPINDLE_PWM_PIN GPIO_NUM_2
+    #define SPINDLE_OUTPUT_PIN GPIO_NUM_2
 #else
     #define SPINDLE_TYPE SPINDLE_TYPE_PWM
-    #define SPINDLE_PWM_PIN         GPIO_NUM_16
+    #define SPINDLE_OUTPUT_PIN         GPIO_NUM_16
+
     #define SPINDLE_ENABLE_PIN      GPIO_NUM_32
 #endif
 
@@ -85,14 +86,6 @@
 
 #define INVERT_CONTROL_PIN_MASK B1110
 
-// Note: default is #define IGNORE_CONTROL_PINS in config.h
-// uncomment to these lines to use them
-
-/*
-#ifdef IGNORE_CONTROL_PINS
-#undef IGNORE_CONTROL_PINS
-#endif
-*/
 
 #define CONTROL_RESET_PIN           GPIO_NUM_34  // needs external pullup
 #define CONTROL_FEED_HOLD_PIN       GPIO_NUM_36  // needs external pullup

Grbl_Esp32/Machines/pen_laser.h

@@ -49,10 +49,6 @@
 #define Y_LIMIT_PIN             GPIO_NUM_4
 #define LIMIT_MASK              B11
 
-// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
-// use a virtual spindle. Do not comment out the other parameters for the spindle.
-//#define SPINDLE_PWM_PIN    GPIO_NUM_17 // Laser PWM
-
 #define USING_SERVO  // uncomment to use this feature
 //#define USING_SOLENOID // uncomment to use this feature
 
@@ -68,6 +64,8 @@
     #define SOLENOID_PEN_PIN GPIO_NUM_16
 #endif
 
+#define SPINDLE_TYPE SPINDLE_TYPE_NONE
+
 // defaults
 #define DEFAULT_STEP_PULSE_MICROSECONDS 3
 #define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // stay on

Grbl_Esp32/Machines/polar_coaster.h

@@ -57,9 +57,7 @@
 #define X_LIMIT_PIN             GPIO_NUM_4
 #define LIMIT_MASK              B1
 
-#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
+#define SPINDLE_TYPE SPINDLE_TYPE_NONE
-    #undef IGNORE_CONTROL_PINS
-#endif
 
 #ifndef ENABLE_CONTROL_SW_DEBOUNCE
     #define ENABLE_CONTROL_SW_DEBOUNCE

Grbl_Esp32/Machines/spi_daisy_4axis_xyyz.h

@@ -79,7 +79,7 @@
 #define COOLANT_MIST_PIN        GPIO_NUM_21
 
 #define SPINDLE_TYPE            SPINDLE_TYPE_PWM
-#define SPINDLE_PWM_PIN         GPIO_NUM_25
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_25
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_4
 
 // Relay operation

Grbl_Esp32/Machines/spi_daisy_4axis_xyz.h

@@ -64,7 +64,7 @@
 #define COOLANT_MIST_PIN        GPIO_NUM_21
 
 #define SPINDLE_TYPE            SPINDLE_TYPE_PWM
-#define SPINDLE_PWM_PIN         GPIO_NUM_25
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_25
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_4
 
 // Relay operation

Grbl_Esp32/Machines/spi_daisy_4axis_xyza.h

@@ -70,15 +70,20 @@
 // Turn on with M7 and off with M9
 #define COOLANT_MIST_PIN        GPIO_NUM_21
 
-#define SPINDLE_PWM_PIN         GPIO_NUM_25
+#define SPINDLE_OUTPUT_PIN         GPIO_NUM_25
 #define SPINDLE_ENABLE_PIN      GPIO_NUM_4
 
 // Relay operation
 // Install Jumper near relay
-// For spindle Use max RPM of 1
+// For PWM remove jumper to prevent relay damage
-// For PWM remove jumper and set MAX RPM to something higher ($30 setting)
 // Interlock jumper along top edge needs to be installed for both versions
-#define DEFAULT_SPINDLE_RPM_MAX     1 // Should be 1 for relay operation
+#define USE_RELAY  // comment out to use PWM
+
+#ifdef USE_RELAY
+    #define SPINDLE_TYPE SPINDLE_TYPE_RELAY
+#else
+    #define SPINDLE_TYPE SPINDLE_TYPE_PWM
+#endif
 
 #define PROBE_PIN               GPIO_NUM_22
 

Grbl_Esp32/Machines/template.h

@@ -102,7 +102,7 @@
 // machine does not support one of these features, you can leave
 // the corresponding pin undefined.
 
-// #define SPINDLE_PWM_PIN         GPIO_NUM_2   // labeled SpinPWM
+// #define SPINDLE_OUTPUT_PIN         GPIO_NUM_2   // labeled SpinPWM
 // #define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl
 // #define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist
 // #define COOLANT_FLOOD_PIN       GPIO_NUM_25  // labeled Flood
@@ -175,11 +175,6 @@
 
 // === Control Pins
 
-// The control pins with names that begin with CONTROL_ are
-// ignored by default, to avoid noise problems.  To make them
-// work, you must undefine IGNORE_CONTROL_PINS
-// #undef IGNORE_CONTROL_PINS
-
 // If some of the control pin switches are normally closed
 // (the default is normally open), you can invert some of them
 // with INVERT_CONTROL_PIN_MASK.  The bits in the mask are

Grbl_Esp32/Machines/tmc2130_pen.h

@@ -70,8 +70,9 @@
     #define SERVO_Z_HOME_POS                SERVO_Z_RANGE_MAX // move to max during homing
     #define SERVO_Z_MPOS                    false           // will not use mpos, uses work coordinates
 #else
+
     #define SPINDLE_TYPE        SPINDLE_TYPE_PWM
-    #define SPINDLE_PWM_PIN     GPIO_NUM_27
+    #define SPINDLE_OUTPUT_PIN     GPIO_NUM_27
 #endif
 
 // #define X_LIMIT_PIN          See version section at beginning of file

Grbl_Esp32/Spindles/BESCSpindle.cpp

@@ -32,8 +32,6 @@
 */
 #include "SpindleClass.h"
 
-#include "SpindleClass.h"
-
 // don't change these
 #define BESC_PWM_FREQ           50.0f // Hz
 #define BESC_PWM_BIT_PRECISION  16   // bits

Grbl_Esp32/config.h

@@ -76,11 +76,6 @@ Some features should not be changed. See notes below.
 // For example B1101 will invert the function of the Reset pin.
 #define INVERT_CONTROL_PIN_MASK   B1111
 
-// This allows control pins to be ignored.
-// Since these are typically used on the pins that don't have pullups, they will float and cause
-// problems if not externally pulled up. Ignoring will always return not activated when read.
-#define IGNORE_CONTROL_PINS
-
 #define ENABLE_CONTROL_SW_DEBOUNCE // Default disabled. Uncomment to enable.
 #define CONTROL_SW_DEBOUNCE_PERIOD 32 // in milliseconds default 32 microseconds
 
@@ -205,7 +200,7 @@ 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
@@ -437,12 +432,6 @@ Some features should not be changed. See notes below.
 // tool length offset value is subtracted from the current location.
 #define TOOL_LENGTH_OFFSET_AXIS Z_AXIS // Default z-axis. Valid values are X_AXIS, Y_AXIS, or Z_AXIS.
 
-// Enables variable spindle output voltage for different RPM values. On the Arduino Uno, the spindle
-// 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.
-
 // 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
 // to know if the spindle is active and use it as an additional control input.

Grbl_Esp32/defaults.h

@@ -114,7 +114,18 @@
         #define DEFAULT_HOMING_PULLOFF 1.0 // $27 mm
     #endif
 
-    // ======== sPINDLE STUFF ====================
+    // ======== SPINDLE STUFF ====================
+    #ifndef  DEFAULT_SPINDLE_RPM_MIN // $31
+        #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
+    #endif
+
+    #ifndef  DEFAULT_LASER_MODE // $32
+        #define DEFAULT_LASER_MODE 0 // false
+    #endif
+
+    #ifndef  DEFAULT_SPINDLE_RPM_MAX // $30
+        #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
+    #endif
 
     #ifndef DEFAULT_SPINDLE_FREQ
         #define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
@@ -132,20 +143,7 @@
         #define DEFAULT_SPINDLE_MAX_VALUE 100.0 // $36 Percent of full period (extended set)
     #endif
 
-    #ifndef  DEFAULT_SPINDLE_RPM_MAX
+    // ================  user settings =====================
-        #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-    #endif
-
-
-    #ifndef  DEFAULT_SPINDLE_RPM_MIN
-        #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
-    #endif
-
-    #ifndef  DEFAULT_LASER_MODE
-        #define DEFAULT_LASER_MODE 0 // false
-    #endif
-
-    // user settings
     #ifndef DEFAULT_USER_INT_80
         #define DEFAULT_USER_INT_80 0 // $80 User integer setting
     #endif

Grbl_Esp32/gcode.cpp

@@ -301,14 +301,10 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
                     gc_block.modal.spindle = SPINDLE_ENABLE_CW;
                     break;
                 case 4: // Supported if SPINDLE_DIR_PIN is defined or laser mode is on.
-#ifndef SPINDLE_DIR_PIN
+                    if (spindle->is_reversable || bit_istrue(settings.flags, BITFLAG_LASER_MODE))
-                    // if laser mode is not on then this is an unsupported command
+                        gc_block.modal.spindle = SPINDLE_ENABLE_CCW;
-                    if bit_isfalse(settings.flags, BITFLAG_LASER_MODE) {
+                    else
                         FAIL(STATUS_GCODE_UNSUPPORTED_COMMAND);
-                        break;
-                    }
-#endif
-                    gc_block.modal.spindle = SPINDLE_ENABLE_CCW;
                     break;
                 case 5:
                     gc_block.modal.spindle = SPINDLE_DISABLE;
@@ -1085,16 +1081,12 @@ uint8_t gc_execute_line(char* line, uint8_t client) {
     // [4. Set spindle speed ]:
     if ((gc_state.spindle_speed != gc_block.values.s) || bit_istrue(gc_parser_flags, GC_PARSER_LASER_FORCE_SYNC)) {
         if (gc_state.modal.spindle != SPINDLE_DISABLE) {
-#ifdef VARIABLE_SPINDLE
             if (bit_isfalse(gc_parser_flags, GC_PARSER_LASER_ISMOTION)) {
                 if (bit_istrue(gc_parser_flags, GC_PARSER_LASER_DISABLE))
                     spindle->spindle_sync(gc_state.modal.spindle, 0);
                 else
                     spindle->spindle_sync(gc_state.modal.spindle, (uint32_t)gc_block.values.s);
             }
-#else
-            spindle_sync(gc_state.modal.spindle, 0.0);
-#endif
         }
         gc_state.spindle_speed = gc_block.values.s; // Update spindle speed state.
     }

Grbl_Esp32/grbl.h

@@ -18,9 +18,11 @@
   along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 */
 
+#pragma once
 // Grbl versioning system
-#define GRBL_VERSION "1.1f"
+
-#define GRBL_VERSION_BUILD "20200504"
+#define GRBL_VERSION "1.2a"
+#define GRBL_VERSION_BUILD "20200428"
 
 //#include <sdkconfig.h>
 #include <Arduino.h>
@@ -28,6 +30,7 @@
 #include <driver/rmt.h>
 #include <esp_task_wdt.h>
 #include <freertos/task.h>
+#include <Preferences.h>
 
 #include "driver/timer.h"
 
@@ -51,7 +54,7 @@
 #include "protocol.h"
 #include "report.h"
 #include "serial.h"
-#include "spindle_control.h"
+#include "Spindles/SpindleClass.h"
 #include "stepper.h"
 #include "jog.h"
 #include "inputbuffer.h"

Grbl_Esp32/machine.h

@@ -16,18 +16,12 @@ PWM
 
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
-#include "Machines/test_drive.h"
+#include "Machines/3axis_v4.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
 // #include "Machines/3axis_v4.h"
 
-// Some configurations use two files, the first establishing a base
-// configuration and the second providing additional customization,
-// for example:
-// #include "Machines/3axis_v4.h"
-// #include "Machines/add_esc_spindle.h"
-
 // === OEM Single File Configuration Option
 // OEMs that wish to publish source code that is configured for a
 // specific machine may put all of their configuration definitions
@@ -57,14 +51,6 @@ PWM
 
 #include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME)
 
-// You can choose two-file configurations by also defining MACHINE_FILENAME2,
-// for example:
-//   $env:PLATFORMIO_BUILD_FLAGS='-DMACHINE_FILENAME=3axis_v4.h -DMACHINE_FILENAME2=add_esc_spindle.h'; platformio run
-
-#ifdef MACHINE_FILENAME2
-#include MACHINE_PATHNAME_QUOTED(MACHINE_FILENAME2)
-#endif
-
 #endif // MACHINE_FILENAME
 
 #endif // _machine_h

Grbl_Esp32/machine_common.h

@@ -1,12 +1,10 @@
 #ifndef _machine_common_h
 #define _machine_common_h
 
-#ifndef SPINDLE_PWM_BIT_PRECISION
+#ifndef SPINDLE_TYPE 
-    #define SPINDLE_PWM_BIT_PRECISION 8
+    #define SPINDLE_TYPE SPINDLE_TYPE_PWM
 #endif
 
-#define SPINDLE_PWM_MAX_VALUE ((1<<SPINDLE_PWM_BIT_PRECISION) - 1)
-
 // Grbl setting that are common to all machines
 // It should not be necessary to change anything herein
 

Grbl_Esp32/motion_control.cpp

@@ -424,7 +424,7 @@ void mc_reset() {
     if (bit_isfalse(sys_rt_exec_state, EXEC_RESET)) {
         system_set_exec_state_flag(EXEC_RESET);
         // Kill spindle and coolant.
-        spindle_stop();
+        spindle->stop();
         coolant_stop();
         // turn off all digital I/O
         sys_io_control(0xFF, false);

Grbl_Esp32/planner.cpp

@@ -284,9 +284,8 @@ uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
     plan_block_t* block = &block_buffer[block_buffer_head];
     memset(block, 0, sizeof(plan_block_t)); // Zero all block values.
     block->condition = pl_data->condition;
-#ifdef VARIABLE_SPINDLE
     block->spindle_speed = pl_data->spindle_speed;
-#endif
+
 #ifdef USE_LINE_NUMBERS
     block->line_number = pl_data->line_number;
 #endif

Grbl_Esp32/planner.h

@@ -81,7 +81,7 @@ typedef struct {
     float rapid_rate;             // Axis-limit adjusted maximum rate for this block direction in (mm/min)
     float programmed_rate;        // Programmed rate of this block (mm/min).
 
-    //#ifdef VARIABLE_SPINDLE
+
     // Stored spindle speed data used by spindle overrides and resuming methods.
     float spindle_speed;    // Block spindle speed. Copied from pl_line_data.
     //#endif

Grbl_Esp32/protocol.cpp

@@ -464,7 +464,7 @@ void protocol_exec_rt_system() {
         last_s_override = MIN(last_s_override, MAX_SPINDLE_SPEED_OVERRIDE);
         last_s_override = MAX(last_s_override, MIN_SPINDLE_SPEED_OVERRIDE);
         if (last_s_override != sys.spindle_speed_ovr) {
-            bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+            bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
             sys.spindle_speed_ovr = last_s_override;
             sys.report_ovr_counter = 0; // Set to report change immediately
         }
@@ -535,7 +535,6 @@ static void protocol_exec_rt_suspend() {
 #endif
     plan_block_t* block = plan_get_current_block();
     uint8_t restore_condition;
-#ifdef VARIABLE_SPINDLE
     float restore_spindle_speed;
     if (block == NULL) {
         restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
@@ -548,10 +547,7 @@ static void protocol_exec_rt_suspend() {
     if (bit_istrue(settings.flags, BITFLAG_LASER_MODE))
         system_set_exec_accessory_override_flag(EXEC_SPINDLE_OVR_STOP);
 #endif
-#else
+
-    if (block == NULL)  restore_condition = (gc_state.modal.spindle | gc_state.modal.coolant);
-    else  restore_condition = block->condition;
-#endif
     while (sys.suspend) {
         if (sys.abort)  return;
         // Block until initial hold is complete and the machine has stopped motion.
@@ -603,16 +599,16 @@ static void protocol_exec_rt_suspend() {
                                               coolant_set_state(COOLANT_DISABLE); // De-energize
                                               // Execute fast parking retract motion to parking target location.
                         if (parking_target[PARKING_AXIS] < PARKING_TARGET) {
-                            parking_target[PARKING_AXIS] = PARKING_TARGET;
+                        parking_target[PARKING_AXIS] = PARKING_TARGET;
                             pl_data->feed_rate = PARKING_RATE;
                             mc_parking_motion(parking_target, pl_data);
                         }
                     } else {
                         // Parking motion not possible. Just disable the spindle and coolant.
                         // NOTE: Laser mode does not start a parking motion to ensure the laser stops immediately.
-                        spindle_set_state(SPINDLE_DISABLE, 0.0); // De-energize
+                        ->set_state((SPINDLE_DISABLE, 0.0); // De-energize
-                        coolant_set_state(COOLANT_DISABLE);     // De-energize
+                            coolant_set_state(COOLANT_DISABLE);     // De-energize
-                    }
+                        }
 #endif
                     sys.suspend &= ~(SUSPEND_RESTART_RETRACT);
                     sys.suspend |= SUSPEND_RETRACT_COMPLETE;
@@ -621,7 +617,6 @@ static void protocol_exec_rt_suspend() {
                         report_feedback_message(MESSAGE_SLEEP_MODE);
                         // Spindle and coolant should already be stopped, but do it again just to be sure.
                         spindle->set_state(SPINDLE_DISABLE, 0); // De-energize
-
                         coolant_set_state(COOLANT_DISABLE); // De-energize
                         st_go_idle(); // Disable steppers
                         while (!(sys.abort))  protocol_exec_rt_system();   // Do nothing until reset.
@@ -658,7 +653,7 @@ static void protocol_exec_rt_suspend() {
                             if (bit_isfalse(sys.suspend, SUSPEND_RESTART_RETRACT)) {
                                 if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
                                     // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
-                                    bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+                                    bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
                                 } else {
                                     spindle->set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), (uint32_t)restore_spindle_speed);
                                     delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
@@ -707,7 +702,6 @@ static void protocol_exec_rt_suspend() {
                     if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
                         if (gc_state.modal.spindle != SPINDLE_DISABLE) {
                             spindle->set_state(SPINDLE_DISABLE, 0); // De-energize
-
                             sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
                         } else {
                             sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
@@ -718,7 +712,7 @@ static void protocol_exec_rt_suspend() {
                             report_feedback_message(MESSAGE_SPINDLE_RESTORE);
                             if (bit_istrue(settings.flags, BITFLAG_LASER_MODE)) {
                                 // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
-                                bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+                                bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
                             } else
                                 spindle->set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), (uint32_t)restore_spindle_speed);
                         }

Grbl_Esp32/report.cpp

@@ -308,11 +308,8 @@ void report_grbl_settings(uint8_t client, uint8_t show_extended) {
     sprintf(setting, "$27=%4.3f\r\n", settings.homing_pulloff);   strcat(rpt, setting);
     sprintf(setting, "$30=%4.3f\r\n", settings.rpm_max);   strcat(rpt, setting);
     sprintf(setting, "$31=%4.3f\r\n", settings.rpm_min);   strcat(rpt, setting);
-#ifdef VARIABLE_SPINDLE
     sprintf(setting, "$32=%d\r\n", bit_istrue(settings.flags, BITFLAG_LASER_MODE));  strcat(rpt, setting);
-#else
+
-    strcat(rpt, "$32=0\r\n");
-#endif
     if (show_extended) {
         sprintf(setting, "$33=%5.3f\r\n", settings.spindle_pwm_freq);   strcat(rpt, setting);
         sprintf(setting, "$34=%3.3f\r\n", settings.spindle_pwm_off_value);   strcat(rpt, setting);
@@ -471,10 +468,8 @@ void report_gcode_modes(uint8_t client) {
     else
         sprintf(temp, " F%.0f", gc_state.feed_rate);
     strcat(modes_rpt, temp);
-#ifdef VARIABLE_SPINDLE
     sprintf(temp, " S%4.3f", gc_state.spindle_speed);
     strcat(modes_rpt, temp);
-#endif
     strcat(modes_rpt, "]\r\n");
     grbl_send(client, modes_rpt);
 }
@@ -497,12 +492,8 @@ void report_build_info(char* line, uint8_t client) {
     strcpy(build_info, "[VER:" GRBL_VERSION "." GRBL_VERSION_BUILD ":");
     strcat(build_info, line);
     strcat(build_info, "]\r\n[OPT:");
-#ifdef VARIABLE_SPINDLE
+    strcat(build_info, "V"); // variable spindle..always on now
-    strcat(build_info, "V");
-#endif
-#ifdef USE_LINE_NUMBERS
     strcat(build_info, "N");
-#endif
 #ifdef COOLANT_MIST_PIN
     strcat(build_info, "M"); // TODO Need to deal with M8...it could be disabled
 #endif
@@ -558,6 +549,7 @@ void report_build_info(char* line, uint8_t client) {
     // These will likely have a comma delimiter to separate them.
     strcat(build_info, "]\r\n");
     grbl_send(client, build_info); // ok to send to all
+    report_machine_type(client);
 #if defined (ENABLE_WIFI)
     grbl_send(client, (char*)wifi_config.info());
 #endif
@@ -679,19 +671,11 @@ void report_realtime_status(uint8_t client) {
 #endif
     // Report realtime feed speed
 #ifdef REPORT_FIELD_CURRENT_FEED_SPEED
-#ifdef VARIABLE_SPINDLE
     if (bit_istrue(settings.flags, BITFLAG_REPORT_INCHES))
         sprintf(temp, "|FS:%.1f,%d", st_get_realtime_rate()/ MM_PER_INCH, sys.spindle_speed);
     else
         sprintf(temp, "|FS:%.0f,%d", st_get_realtime_rate(), sys.spindle_speed);
     strcat(status, temp);
-#else
-    if (bit_istrue(settings.flags, BITFLAG_REPORT_INCHES))
-        sprintf(temp, "|F:%.1f", st_get_realtime_rate() / MM_PER_INCH);
-    else
-        sprintf(temp, "|F:%.0f", st_get_realtime_rate());
-    strcat(status, temp);
-#endif
 #endif
 #ifdef REPORT_FIELD_PIN_STATE
     uint8_t lim_pin_state = limits_get_state();
@@ -744,7 +728,7 @@ void report_realtime_status(uint8_t client) {
         } else  sys.report_ovr_counter = (REPORT_OVR_REFRESH_IDLE_COUNT - 1);
         sprintf(temp, "|Ov:%d,%d,%d", sys.f_override, sys.r_override, sys.spindle_speed_ovr);
         strcat(status, temp);
-        uint8_t sp_state = spindle_get_state();
+        uint8_t sp_state =  spindle->get_state();
         uint8_t cl_state = coolant_get_state();
         if (sp_state || cl_state) {
             strcat(status, "|A:");

Grbl_Esp32/report.h

@@ -170,6 +170,8 @@ void report_gcode_comment(char* comment);
     void report_realtime_debug();
 #endif
 
+void report_machine_type(uint8_t client);
+
 void report_hex_msg(char* buf, const char *prefix, int len);
 
 char report_get_axis_letter(uint8_t axis);

Grbl_Esp32/settings.cpp

@@ -40,7 +40,7 @@ void settings_init() {
     if (!read_global_settings()) {
         report_status_message(STATUS_SETTING_READ_FAIL, CLIENT_SERIAL);
         settings_restore(SETTINGS_RESTORE_ALL); // Force restore all EEPROM data.
-        report_grbl_settings(CLIENT_SERIAL, false); // only the serial could be working at this point
+        report_grbl_settings(CLIENT_SERIAL, false);
     }
 }
 
@@ -64,12 +64,14 @@ void settings_restore(uint8_t restore_flag) {
         settings.status_report_mask = DEFAULT_STATUS_REPORT_MASK;
         settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
         settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
+
+        settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
+        settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
         settings.spindle_pwm_freq = DEFAULT_SPINDLE_FREQ;      // $33 Hz (extended set)
         settings.spindle_pwm_off_value = DEFAULT_SPINDLE_OFF_VALUE; // $34 Percent (extended set)
         settings.spindle_pwm_min_value = DEFAULT_SPINDLE_MIN_VALUE; // $35 Percent (extended set)
         settings.spindle_pwm_max_value = DEFAULT_SPINDLE_MAX_VALUE; // $36 Percent (extended set)
-        settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
+        
-        settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
         settings.homing_dir_mask = DEFAULT_HOMING_DIR_MASK;
         settings.homing_feed_rate = DEFAULT_HOMING_FEED_RATE;
         settings.homing_seek_rate = DEFAULT_HOMING_SEEK_RATE;
@@ -366,20 +368,19 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
         case 25: settings.homing_seek_rate = value; break;
         case 26: settings.homing_debounce_delay = int_value; break;
         case 27: settings.homing_pulloff = value; break;
-        case 30: settings.rpm_max = value; spindle_init(); break; // Re-initialize spindle rpm calibration
+        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 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 33: settings.spindle_pwm_freq = value; spindle_select(SPINDLE_TYPE); break; // Re-initialize spindle pwm calibration
-        case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+        case 34: settings.spindle_pwm_off_value = value; spindle_select(SPINDLE_TYPE); break; // Re-initialize spindle pwm calibration
-        case 35: settings.spindle_pwm_min_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+        case 35: settings.spindle_pwm_min_value = value; spindle_select(SPINDLE_TYPE); break; // Re-initialize spindle pwm calibration
-        case 36: settings.spindle_pwm_max_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+        case 36: settings.spindle_pwm_max_value = value; spindle_select(SPINDLE_TYPE); break; // Re-initialize spindle pwm calibration        
         case 80:
         case 81:
         case 82:

Grbl_Esp32/spindle_control.cpp

@@ -1,226 +0,0 @@
-/*
-  spindle_control.cpp - Header for system level commands and real-time processes
-  Part of Grbl
-  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
-
-	2018 -	Bart Dring This file was modified for use on the ESP32
-					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
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "grbl.h"
-
-int8_t spindle_pwm_chan_num;
-
-#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() {
-#ifdef SPINDLE_PWM_PIN
-#ifdef INVERT_SPINDLE_PWM
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "INVERT_SPINDLE_PWM");
-#endif
-#ifdef INVERT_SPINDLE_ENABLE_PIN
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "INVERT_SPINDLE_ENABLE_PIN");
-#endif
-    // determine how many PWM counts are in eqach PWM cycle
-    spindle_pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
-    if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value)
-        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle min pwm is greater than max. Check $35 and $36");
-    // 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
-#ifdef SPINDLE_ENABLE_PIN
-    pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
-#endif
-#ifdef SPINDLE_DIR_PIN
-    pinMode(SPINDLE_DIR_PIN, OUTPUT);
-#endif
-    // use the LED control feature to setup PWM   https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
-    spindle_pwm_chan_num = 0; // spindle always uses channel 0
-    ledcSetup(spindle_pwm_chan_num, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
-    ledcAttachPin(SPINDLE_PWM_PIN, spindle_pwm_chan_num); // attach the PWM to the pin
-    // Start with spindle off off
-    spindle_stop();
-#endif
-}
-
-void spindle_stop() {
-    spindle_set_enable(false);
-#ifdef SPINDLE_PWM_PIN
-#ifndef INVERT_SPINDLE_PWM
-    grbl_analogWrite(spindle_pwm_chan_num, spindle_pwm_off_value);
-#else
-    grbl_analogWrite(spindle_pwm_chan_num, (1 << SPINDLE_PWM_BIT_PRECISION)); // TO DO...wrong for min_pwm
-#endif
-#endif
-}
-
-uint8_t spindle_get_state() { // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW or SPINDLE_STATE_CCW
-    // TODO Update this when direction and enable pin are added
-#ifndef SPINDLE_PWM_PIN
-    return (SPINDLE_STATE_DISABLE);
-#else
-    if (ledcRead(spindle_pwm_chan_num) == 0) // Check the PWM value
-        return (SPINDLE_STATE_DISABLE);
-    else {
-#ifdef SPINDLE_DIR_PIN
-        if (digitalRead(SPINDLE_DIR_PIN))
-            return (SPINDLE_STATE_CW);
-        else
-            return (SPINDLE_STATE_CCW);
-#else
-        return (SPINDLE_STATE_CW);
-#endif
-    }
-#endif
-}
-
-void spindle_set_speed(uint32_t pwm_value) {
-#ifndef SPINDLE_PWM_PIN
-    //grbl_sendf(CLIENT_SERIAL, "[MSG: set speed...no pin defined]\r\n");
-    return;
-#else
-#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
-    spindle_set_enable(true);
-#else
-    spindle_set_enable(pwm_value != 0);
-#endif
-#ifndef INVERT_SPINDLE_PWM
-    grbl_analogWrite(spindle_pwm_chan_num, pwm_value);
-#else
-    grbl_analogWrite(spindle_pwm_chan_num, (1 << SPINDLE_PWM_BIT_PRECISION) - pwm_value);
-#endif
-#endif
-}
-
-uint32_t spindle_compute_pwm_value(float rpm) {
-#ifdef SPINDLE_PWM_PIN
-    uint32_t pwm_value;
-    rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value.
-    // Calculate PWM register value based on rpm max/min settings and programmed rpm.
-    if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
-        // No PWM range possible. Set simple on/off spindle control pin state.
-        sys.spindle_speed = settings.rpm_max;
-        pwm_value = spindle_pwm_max_value;
-    } else if (rpm <= settings.rpm_min) {
-        if (rpm == 0.0) { // S0 disables spindle
-            sys.spindle_speed = 0.0;
-            pwm_value = spindle_pwm_off_value;
-        } else { // Set minimum PWM output
-            sys.spindle_speed = settings.rpm_min;
-            pwm_value = spindle_pwm_min_value;
-        }
-    } else {
-        // Compute intermediate PWM value with linear spindle speed model.
-        // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
-        sys.spindle_speed = rpm;
-#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
-        pwm_value = piecewise_linear_fit(rpm);
-#else
-        pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;
-#endif
-    }
-    return (pwm_value);
-#else
-    return (0); // no SPINDLE_PWM_PIN
-#endif
-}
-
-
-// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
-void spindle_set_state(uint8_t state, float rpm) {
-#ifdef SPINDLE_PWM_PIN
-    if (sys.abort)  return;   // Block during abort.
-    if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
-        sys.spindle_speed = 0.0;
-        spindle_stop();
-    } else {
-        // TODO ESP32 Enable and direction control
-#ifdef SPINDLE_DIR_PIN
-        digitalWrite(SPINDLE_DIR_PIN, state == SPINDLE_ENABLE_CW);
-#endif
-        // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
-        if (settings.flags & BITFLAG_LASER_MODE) {
-            if (state == SPINDLE_ENABLE_CCW)  rpm = 0.0;   // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
-        }
-        spindle_set_speed(spindle_compute_pwm_value(rpm));
-    }
-    sys.report_ovr_counter = 0; // Set to report change immediately
-#endif
-}
-
-
-void spindle_sync(uint8_t state, float rpm) {
-    if (sys.state == STATE_CHECK_MODE)
-        return;
-    protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
-    spindle_set_state(state, rpm);
-}
-
-
-void grbl_analogWrite(uint8_t chan, uint32_t duty) {
-    // Remember the old duty cycle in memory instead of reading
-    // it from the I/O peripheral because I/O reads are quite
-    // a bit slower than memory reads.
-    static uint32_t old_duty = 0;
-    if (old_duty != duty) { // reduce unnecessary calls to ledcWrite()
-        old_duty = duty;
-        ledcWrite(chan, duty);
-    }
-}
-
-void spindle_set_enable(bool enable) {
-#ifdef SPINDLE_ENABLE_PIN
-#ifndef INVERT_SPINDLE_ENABLE_PIN
-    digitalWrite(SPINDLE_ENABLE_PIN, enable); // turn off (low) with zero speed
-#else
-    digitalWrite(SPINDLE_ENABLE_PIN, !enable); // turn off (high) with zero speed
-#endif
-#endif
-}
-
-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

@@ -1,47 +0,0 @@
-/*
-  spindle.h - Header for system level commands and real-time processes
-  Part of Grbl
-  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
-
-	2018 -	Bart Dring This file was modified for use on the ESP32
-					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
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef spindle_control_h
-#define spindle_control_h
-
-#include "grbl.h"
-
-
-#define SPINDLE_NO_SYNC false
-#define SPINDLE_FORCE_SYNC true
-
-#define SPINDLE_STATE_DISABLE  0  // Must be zero.
-#define SPINDLE_STATE_CW       bit(0)
-#define SPINDLE_STATE_CCW      bit(1)
-
-extern uint32_t spindle_pwm_off_value;
-
-void spindle_init();
-void spindle_stop();
-uint8_t spindle_get_state();
-void spindle_set_speed(uint32_t pwm_value);
-uint32_t spindle_compute_pwm_value(float rpm);
-void spindle_set_state(uint8_t state, float rpm);
-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);
-
-#endif

Grbl_Esp32/stepper.cpp

@@ -1,5 +1,3 @@
-#include "grbl.h"
-
 /*
   stepper.c - stepper motor driver: executes motion plans using stepper motors
   Part of Grbl
@@ -37,9 +35,7 @@ typedef struct {
     uint32_t steps[N_AXIS];
     uint32_t step_event_count;
     uint8_t direction_bits;
-#ifdef VARIABLE_SPINDLE
     uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
-#endif
 } st_block_t;
 static st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE - 1];
 
@@ -56,9 +52,7 @@ typedef struct {
 #else
     uint8_t prescaler;      // Without AMASS, a prescaler is required to adjust for slow timing.
 #endif
-#ifdef VARIABLE_SPINDLE
+    uint16_t spindle_rpm;  // TODO get rid of this.
-    uint16_t spindle_pwm;
-#endif
 } segment_t;
 static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
 
@@ -145,10 +139,11 @@ typedef struct {
     float accelerate_until; // Acceleration ramp end measured from end of block (mm)
     float decelerate_after; // Deceleration ramp start measured from end of block (mm)
 
-#ifdef VARIABLE_SPINDLE
+
     float inv_rate;    // Used by PWM laser mode to speed up segment calculations.
-    uint16_t current_spindle_pwm;
+    //uint16_t current_spindle_pwm;  // todo remove
-#endif
+    float current_spindle_rpm;
+
 } st_prep_t;
 static st_prep_t prep;
 
@@ -294,7 +289,7 @@ void IRAM_ATTR onStepperDriverTimer(void* para) { // ISR It is time to take a st
                     spindle->set_rpm(0);
                 }
             }
-#endif
+
             system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
             return; // Nothing to do but exit.
         }
@@ -686,37 +681,37 @@ void set_direction_pins_on(uint8_t onMask) {
 #ifdef X_DIRECTION_PIN
     digitalWrite(X_DIRECTION_PIN, (onMask & (1 << X_AXIS)));
 #endif
-#ifdef X2_DIRECTION_PIN // optional ganged axis 
+#ifdef X2_DIRECTION_PIN // optional ganged axis
     digitalWrite(X2_DIRECTION_PIN, (onMask & (1 << X_AXIS)));
 #endif
 #ifdef Y_DIRECTION_PIN
     digitalWrite(Y_DIRECTION_PIN, (onMask & (1 << Y_AXIS)));
 #endif
-#ifdef Y2_DIRECTION_PIN // optional ganged axis 
+#ifdef Y2_DIRECTION_PIN // optional ganged axis
     digitalWrite(Y2_DIRECTION_PIN, (onMask & (1 << Y_AXIS)));
 #endif
 #ifdef Z_DIRECTION_PIN
     digitalWrite(Z_DIRECTION_PIN, (onMask & (1 << Z_AXIS)));
 #endif
-#ifdef Z2_DIRECTION_PIN // optional ganged axis 
+#ifdef Z2_DIRECTION_PIN // optional ganged axis
     digitalWrite(Z2_DIRECTION_PIN, (onMask & (1 << Z_AXIS)));
 #endif
 #ifdef A_DIRECTION_PIN
     digitalWrite(A_DIRECTION_PIN, (onMask & (1 << A_AXIS)));
 #endif
-#ifdef A2_DIRECTION_PIN // optional ganged axis 
+#ifdef A2_DIRECTION_PIN // optional ganged axis
     digitalWrite(A2_DIRECTION_PIN, (onMask & (1 << A_AXIS)));
 #endif
 #ifdef B_DIRECTION_PIN
     digitalWrite(B_DIRECTION_PIN, (onMask & (1 << B_AXIS)));
 #endif
-#ifdef B2_DIRECTION_PIN // optional ganged axis 
+#ifdef B2_DIRECTION_PIN // optional ganged axis
     digitalWrite(B2_DIRECTION_PIN, (onMask & (1 << B_AXIS)));
 #endif
 #ifdef C_DIRECTION_PIN
     digitalWrite(C_DIRECTION_PIN, (onMask & (1 << C_AXIS)));
 #endif
-#ifdef C2_DIRECTION_PIN // optional ganged axis 
+#ifdef C2_DIRECTION_PIN // optional ganged axis
     digitalWrite(C2_DIRECTION_PIN, (onMask & (1 << C_AXIS)));
 #endif
 }
@@ -1008,18 +1003,16 @@ void st_prep_buffer() {
                     prep.recalculate_flag &= ~(PREP_FLAG_DECEL_OVERRIDE);
                 } else
                     prep.current_speed = sqrt(pl_block->entry_speed_sqr);
-#ifdef VARIABLE_SPINDLE
+
-                // Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
+
-                // spindle off.
+                if (spindle->isRateAdjusted() ){ //   settings.flags & BITFLAG_LASER_MODE) {
-                st_prep_block->is_pwm_rate_adjusted = false;
-                if (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;
                     }
                 }
-#endif
+
             }
             /* ---------------------------------------------------------------------------------
              Compute the velocity profile of a new planner block based on its entry and exit
@@ -1105,9 +1098,9 @@ void st_prep_buffer() {
                     prep.maximum_speed = prep.exit_speed;
                 }
             }
-#ifdef VARIABLE_SPINDLE
+
-            bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM); // Force update whenever updating block.
+            bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM); // Force update whenever updating block.
-#endif
+
         }
         // Initialize new segment
         segment_t* prep_segment = &segment_buffer[segment_buffer_head];
@@ -1211,29 +1204,32 @@ void st_prep_buffer() {
                 }
             }
         } while (mm_remaining > prep.mm_complete); // **Complete** Exit loop. Profile complete.
-#ifdef VARIABLE_SPINDLE
+
         /* -----------------------------------------------------------------------------------
           Compute spindle speed PWM output for step segment
         */
-        if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
+        if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_RPM)) {
             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_pwm = spindle_compute_pwm_value(rpm);
+
+                prep.current_spindle_rpm = rpm;
             } else {
                 sys.spindle_speed = 0.0;
-#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
+                prep.current_spindle_rpm = 0.0;
-                prep.current_spindle_pwm = spindle_pwm_off_value ;
+
-#endif
             }
-            bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+            bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_RPM);
         }
-        prep_segment->spindle_pwm = prep.current_spindle_pwm; // Reload segment PWM value
+        prep_segment->spindle_rpm = prep.current_spindle_rpm; // Reload segment PWM value
-#endif
+
         /* -----------------------------------------------------------------------------------
            Compute segment step rate, steps to execute, and apply necessary rate corrections.
            NOTE: Steps are computed by direct scalar conversion of the millimeter distance
@@ -1402,4 +1398,4 @@ bool get_stepper_disable() { // returns true if steppers are disabled
         disabled = !disabled; // Apply pin invert.
     }
     return disabled;
-}
+}

Grbl_Esp32/system.cpp

@@ -26,7 +26,7 @@ bool debouncing = false;  // debouncing in process
 
 void system_ini() { // Renamed from system_init() due to conflict with esp32 files
     // setup control inputs
-#ifndef IGNORE_CONTROL_PINS
+
 #ifdef CONTROL_SAFETY_DOOR_PIN
     pinMode(CONTROL_SAFETY_DOOR_PIN, INPUT_PULLUP);
     attachInterrupt(digitalPinToInterrupt(CONTROL_SAFETY_DOOR_PIN), isr_control_inputs, CHANGE);
@@ -73,7 +73,7 @@ void system_ini() { // Renamed from system_init() due to conflict with esp32 fil
                 5, // priority
                 NULL);
 #endif
-#endif
+
     //customize pin definition if needed
 #if (GRBL_SPI_SS != -1) || (GRBL_SPI_MISO != -1) || (GRBL_SPI_MOSI != -1) || (GRBL_SPI_SCK != -1)
     SPI.begin(GRBL_SPI_SCK, GRBL_SPI_MISO, GRBL_SPI_MOSI, GRBL_SPI_SS);
@@ -453,10 +453,8 @@ uint8_t system_check_travel_limits(float* target) {
 // defined by the CONTROL_PIN_INDEX in the header file.
 uint8_t system_control_get_state() {
     uint8_t defined_pin_mask = 0; // a mask of defined pins
-#ifdef IGNORE_CONTROL_PINS
-    return 0;
-#endif
     uint8_t control_state = 0;
+    
 #ifdef CONTROL_SAFETY_DOOR_PIN
     defined_pin_mask |= CONTROL_PIN_INDEX_SAFETY_DOOR;
     if (digitalRead(CONTROL_SAFETY_DOOR_PIN))  control_state |= CONTROL_PIN_INDEX_SAFETY_DOOR;
@@ -589,11 +587,13 @@ int8_t sys_get_next_RMT_chan_num() {
     }
 }
 
+
 /*
     This returns an unused pwm channel.
     The 8 channels share 4 timers, so pairs 0,1 & 2,3 , etc
     have to be the same frequency. The spindle always uses channel 0
     so we start counting from 2.
+
     There are still possible issues if requested channels use different frequencies
     TODO: Make this more robust.
 */

Grbl_Esp32/system.h

@@ -74,6 +74,7 @@ extern system_t sys;
 #define EXEC_ALARM_HOMING_FAIL_DOOR     7
 #define EXEC_ALARM_HOMING_FAIL_PULLOFF  8
 #define EXEC_ALARM_HOMING_FAIL_APPROACH 9
+#define EXEC_ALARM_SPINDLE_CONTROL      10
 
 // Override bit maps. Realtime bitflags to control feed, rapid, spindle, and coolant overrides.
 // Spindle/coolant and feed/rapids are separated into two controlling flag variables.
@@ -125,7 +126,7 @@ extern system_t sys;
 #define STEP_CONTROL_END_MOTION           bit(0)
 #define STEP_CONTROL_EXECUTE_HOLD         bit(1)
 #define STEP_CONTROL_EXECUTE_SYS_MOTION   bit(2)
-#define STEP_CONTROL_UPDATE_SPINDLE_PWM   bit(3)
+#define STEP_CONTROL_UPDATE_SPINDLE_RPM   bit(3)
 
 // Define control pin index for Grbl internal use. Pin maps may change, but these values don't.
 //#ifdef ENABLE_SAFETY_DOOR_INPUT_PIN
@@ -152,8 +153,7 @@ extern system_t sys;
 #define SPINDLE_STOP_OVR_RESTORE        bit(2)
 #define SPINDLE_STOP_OVR_RESTORE_CYCLE  bit(3)
 
-
+#define UNDEFINED_PIN 255  // Can be used to show a pin has no i/O assigned
-
 
 // NOTE: These position variables may need to be declared as volatiles, if problems arise.
 extern int32_t sys_position[N_AXIS];      // Real-time machine (aka home) position vector in steps.