More cleanup and testing

- A basic PWM spindle appears to work now.
- More testing of options and edge cases needed.

Grbl_Esp32/spindle_control.cpp

@@ -31,19 +31,20 @@ PWMSpindle my_spindle;
 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() {
     my_spindle.stop();
 }
 
+
 uint8_t spindle_get_state() {
     return my_spindle.get_state();
 }
 
 
 
+
 // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
 void spindle_set_state(uint8_t state, float rpm) {
     my_spindle.set_state(state, rpm);

Grbl_Esp32/tools/SpindleClass.cpp

@@ -81,8 +81,10 @@ float PWMSpindle::set_rpm(float rpm) {
             sys.spindle_speed = 0.0;
             pwm_value = _pwm_off_value;
         } else { // Set minimum PWM output
-            sys.spindle_speed = settings.rpm_min;
+            rpm = settings.rpm_min;
+            sys.spindle_speed = rpm;
             pwm_value = _pwm_min_value;
+            grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM less than min RPM:%5.2f %d", rpm, pwm_value);
         }
     } else {
         // Compute intermediate PWM value with linear spindle speed model.
@@ -92,6 +94,7 @@ float PWMSpindle::set_rpm(float rpm) {
         pwm_value = piecewise_linear_fit(rpm);
 #else
         pwm_value = floor((rpm - settings.rpm_min) * _pwm_gradient) + _pwm_min_value;
+        //pwm_value = map_float(rpm, settings.rpm_min, settings.rpm_max, _pwm_min_value, _pwm_max_value);
 #endif
     }
 
@@ -140,6 +143,7 @@ void PWMSpindle::stop() {
 // prints the startup message of the spindle config
 void PWMSpindle :: config_message() {
     grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM spindle on GPIO %d, freq %.2fHz, Res %d bits", SPINDLE_PWM_PIN, settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION);
+    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM Off:%d Min:%d Max:%d", _pwm_off_value, _pwm_min_value, _pwm_max_value); 
 }
 
 

Grbl_Esp32/tools/SpindleClass.h

@@ -41,6 +41,18 @@ class Spindle {
 
 };
 
+// This is a dummy spindle that has no I/O.
+// It is used to ignore spindle activity when no spinde is desired
+class NullSpindle : public Spindle {
+    void init();
+    float set_rpm(float rpm);
+    void set_pwm(uint32_t duty);
+    void set_state(uint8_t state, float rpm);
+    uint8_t get_state();
+    void stop();
+    void config_message();
+};
+
 class PWMSpindle : public Spindle {
   public:
     void init();