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Fixed status polling issue with Huanyang spindle.

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This commit is contained in:
bdring
2020-07-26 15:58:11 -05:00
committed by Mitch Bradley
parent 7919e46f55
commit 8f1b8f37f5
3 changed files with 70 additions and 37 deletions
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8
Grbl_Esp32/Machines/6_pack_stepstick_v1.h
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@@ -83,8 +83,8 @@
#define Y_LIMIT_PIN GPIO_NUM_32
#define Z_LIMIT_PIN GPIO_NUM_35
#define A_LIMIT_PIN GPIO_NUM_34
#define B_LIMIT_PIN GPIO_NUM_39
#define C_LIMIT_PIN GPIO_NUM_36
//#define B_LIMIT_PIN GPIO_NUM_39
//#define C_LIMIT_PIN GPIO_NUM_36
#define PROBE_PIN GPIO_NUM_25
@@ -117,13 +117,13 @@
#define COOLANT_FLOOD_PIN I2SO(27)
*/
/*
// RS485 In socket #3
#define SPINDLE_TYPE SPINDLE_TYPE_HUANYANG // only one spindle at a time
#define HUANYANG_TXD_PIN GPIO_NUM_26
#define HUANYANG_RTS_PIN GPIO_NUM_4
#define HUANYANG_RXD_PIN GPIO_NUM_16
*/
// === Default settings

95
Grbl_Esp32/Spindles/HuanyangSpindle.cpp
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@@ -41,6 +41,9 @@
Reference: https://github.com/Smoothieware/Smoothieware/blob/edge/src/modules/tools/spindle/HuanyangSpindleControl.cpp
Refernece: https://gist.github.com/Bouni/803492ed0aab3f944066
VFD settings: https://www.hobbytronics.co.za/Content/external/1159/Spindle_Settings.pdf
Spindle Talker 2 https://github.com/GilchristT/SpindleTalker2/releases
Python https://github.com/RobertOlechowski/Huanyang_VFD
TODO
Returning errors to Grbl and handling them in Grbl.
@@ -56,6 +59,7 @@
#define HUANYANG_BUF_SIZE 127
#define RESPONSE_WAIT_TICKS 50 // how long to wait for a response
#define HUANYANG_MAX_MSG_SIZE 16 // more than enough for a modbus message
#define HUANYANG_POLL_RATE 200 // in milliseconds betwwen commands
// OK to change these
// #define them in your machine definition file if you want different values
@@ -75,12 +79,25 @@ typedef struct {
char msg[HUANYANG_MAX_MSG_SIZE];
} hy_command_t;
typedef enum : uint8_t {
READ_SET_FREQ = 0, // The set frequency
READ_OUTPUT_FREQ = 1, // The current operating frequency
READ_OUTPUT_AMPS = 2, //
READ_SET_RPM = 3, // This is the last requested freq even in off mode
READ_DC_VOLTAGE = 4, //
READ_AC_VOLTAGE = 5, //
READ_CONT = 6, // counting value???
READ_TEMP = 7, //
} read_register_t;
QueueHandle_t hy_cmd_queue;
static TaskHandle_t vfd_cmdTaskHandle = 0;
// The communications task
void vfd_cmd_task(void* pvParameters) {
static bool unresponsive = false; // to pop off a message once each time it becomes unresponsive
uint8_t reg_item = 0x00;
hy_command_t next_cmd;
uint8_t rx_message[HUANYANG_MAX_MSG_SIZE];
@@ -88,24 +105,39 @@ void vfd_cmd_task(void* pvParameters) {
if (xQueueReceive(hy_cmd_queue, &next_cmd, 0) == pdTRUE) {
uart_flush(HUANYANG_UART_PORT);
//report_hex_msg(next_cmd.msg, "Tx: ", next_cmd.tx_length);
uart_write_bytes(HUANYANG_UART_PORT, next_cmd.msg, next_cmd.tx_length);
uint16_t read_length = uart_read_bytes(HUANYANG_UART_PORT, rx_message, next_cmd.rx_length, RESPONSE_WAIT_TICKS);
if (read_length < next_cmd.rx_length) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RS485 Unresponsive");
if (next_cmd.critical)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Critical Spindle RS485 Unresponsive");
// TODO Do something with this error
system_set_exec_alarm(EXEC_ALARM_SPINDLE_CONTROL);
if (!unresponsive) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RS485 Unresponsive %d", read_length);
if (next_cmd.critical) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Critical Spindle RS485 Unresponsive");
system_set_exec_alarm(EXEC_ALARM_SPINDLE_CONTROL);
}
unresponsive = true;
}
} else {
// success
unresponsive = false;
//report_hex_msg(rx_message, "Rx: ", read_length);
uint32_t ret_value = ((uint32_t)rx_message[4] << 8) + rx_message[5];
//grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Item:%d value:%05d ", rx_message[3], ret_value);
}
} else {
// TODO: Should we ping the spindle here to make sure it does not go off line?
// But there is virtually no real documentation on how to do this.
HuanyangSpindle :: read_value(reg_item); // only this appears to work all the time. Other registers are flakey.
if (reg_item < 0x03)
reg_item++;
else
{
reg_item = 0x00;
}
}
vTaskDelay(100); // TODO: What is the best value here?
vTaskDelay(HUANYANG_POLL_RATE); // TODO: What is the best value here?
}
}
@@ -226,7 +258,7 @@ void HuanyangSpindle :: set_state(uint8_t state, uint32_t rpm) {
return; // Block during abort.
bool critical = (sys.state == STATE_CYCLE || state != SPINDLE_DISABLE);
if (_current_state != state) { // already at the desired state. This function gets called a lot.
set_mode(state, critical); // critical if we are in a job
set_rpm(rpm);
@@ -270,7 +302,7 @@ bool HuanyangSpindle :: set_mode(uint8_t mode, bool critical) {
add_ModRTU_CRC(mode_cmd.msg, mode_cmd.rx_length);
mode_cmd.critical = critical;
;
if (xQueueSend(hy_cmd_queue, &mode_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
@@ -305,7 +337,7 @@ uint32_t HuanyangSpindle :: set_rpm(uint32_t rpm) {
add_ModRTU_CRC(rpm_cmd.msg, rpm_cmd.tx_length);
rpm_cmd.critical = (sys.state == STATE_CYCLE);
rpm_cmd.critical = false;
if (xQueueSend(hy_cmd_queue, &rpm_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
@@ -313,41 +345,42 @@ uint32_t HuanyangSpindle :: set_rpm(uint32_t rpm) {
return rpm;
}
// 0x01 0x04 0x03 0x00 0x00 0x00 0xF0 0x4E Read Frequency
/*
0x01 0x04 0x00 Set Frequency
0x01 0x04 0x01 Ouput Frequency
0x01 0x04 0x02 Ouput Amps
0x01 0x04 0x03 0x00 0x00 0x00 0xF0 0x4E Read RPM
0x01 0x04 0x04 DC voltage
0x01 0x04 0x05 AC voltage
0x01 0x04 0x06 Cont
0x01 0x04 0x07 VFD Temp
*/
// This appears to read the control register and will return an RPM running or not.
uint16_t HuanyangSpindle :: read_rpm() {
void HuanyangSpindle :: read_value(uint8_t reg) {
uint16_t ret_value = 0;
hy_command_t read_cmd;
uint8_t rx_message[HUANYANG_MAX_MSG_SIZE];
read_cmd.tx_length = 8;
read_cmd.rx_length = 6;
read_cmd.rx_length = 8;
read_cmd.msg[0] = HUANYANG_ADDR;
read_cmd.msg[1] = 0x04;
read_cmd.msg[2] = 0x03;
read_cmd.msg[3] = 0x00;
read_cmd.msg[3] = reg;
read_cmd.msg[4] = 0x00;
read_cmd.msg[5] = 0x00;
read_cmd.critical = (sys.state == STATE_CYCLE); // only critical if running a job TBD
add_ModRTU_CRC(read_cmd.msg, read_cmd.tx_length);
uart_flush(HUANYANG_UART_PORT);
uart_write_bytes(HUANYANG_UART_PORT, read_cmd.msg, read_cmd.tx_length);
uint16_t read_length = uart_read_bytes(HUANYANG_UART_PORT, rx_message, read_cmd.rx_length, RESPONSE_WAIT_TICKS);
if (read_length < read_cmd.rx_length)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Read RPM Spindle RS485 Unresponsive");
else {
uint32_t hz = ((uint32_t)rx_message[4] << 8) + rx_message[5];
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "speed %d", (hz * 60) / 100);
report_hex_msg(rx_message, "Rx:", read_length);
}
return 0;
if (xQueueSend(hy_cmd_queue, &read_cmd, 0) != pdTRUE)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "VFD Queue Full");
}
void HuanyangSpindle ::stop() {

4
Grbl_Esp32/Spindles/SpindleClass.h
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@@ -173,8 +173,8 @@ class HuanyangSpindle : public Spindle {
uint8_t get_state();
uint32_t set_rpm(uint32_t rpm);
void stop();
static uint16_t read_rpm();
static void add_ModRTU_CRC(char* buf, int full_msg_len);
static void read_value(uint8_t reg);
static void add_ModRTU_CRC(char* buf, int full_msg_len);