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- BESCSpindle changes
- Spindle PWM channel is fixed at 0 now.
- New channels start at 2
This commit is contained in:
bdring
2020-04-19 13:19:35 -05:00
parent 7c2f2ec859
commit c76cc25853
6 changed files with 115 additions and 32 deletions
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45
Grbl_Esp32/Machines/spindle_test.h Normal file
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@@ -0,0 +1,45 @@
/*
test_drive.h
Part of Grbl_ESP32
Pin assignments (or lack thereof) for testing Grbl_ESP32.
It creates a basic 3 axis machine without actually driving
I/O pins. Grbl will report that axes are moving, but no physical
motor motion will occur.
This can be uploaded to an unattached ESP32 or attached to
unknown hardware with no risk of pins trying to output signals
into a short, etc that could dmamge the ESP32
It can also be used to get the basic program running so OTA
(over the air) firmware loading can be done.
2018 - Bart Dring
2020 - Mitch Bradley
Grbl_ESP32 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_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
#define MACHINE_NAME "Spindle Class Testing"
#define SPINDLE_TYPE SPINDLE_TYPE_BESC
#define SPINDLE_PWM_PIN GPIO_NUM_27
#define LIMIT_MASK 0 // no limit pins
#ifdef USE_RMT_STEPS
#undef USE_RMT_STEPS // Suppress unused variable warning
#endif

2
Grbl_Esp32/machine.h
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@@ -8,7 +8,7 @@
// !!! For initial testing, start with test_drive.h which disables
// all I/O pins
#include "Machines/3axis_v4.h"
#include "Machines/spindle_test.h"
// !!! For actual use, change the line above to select a board
// from Machines/, for example:

11
Grbl_Esp32/system.cpp
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@@ -588,9 +588,16 @@ int8_t sys_get_next_RMT_chan_num() {
return -1;
}
}
/*
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.
*/
int8_t sys_get_next_PWM_chan_num() {
static uint8_t next_PWM_chan_num = 0; // channels 0-7 are valid
static uint8_t next_PWM_chan_num = 2; // start at 2 to avoid spindle
if (next_PWM_chan_num < 8) // 7 is the max PWM channel number
return next_PWM_chan_num++;
else {

76
Grbl_Esp32/tools/BESCSpindle.cpp
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@@ -1,31 +1,56 @@
/*
Important ESC Settings
$33=50 // Hz this is the typical good frequency for an ESC
#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
BESCSpindle.cpp
Determine the typical min and max pulse length of your ESC
min_pulse is typically 1ms (0.001 sec) or less
max_pulse is typically 2ms (0.002 sec) or more
This a special type of PWM spindle for RC type Brushless DC Speed
controllers.
determine PWM_period. It is (1/freq) if freq = 50...period = 0.02
Part of Grbl_ESP32
2020 - Bart Dring
determine pulse length for min_pulse and max_pulse in percent.
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/>.
Important ESC Settings
$33=50 // Hz this is the typical good frequency for an ESC
#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
Determine the typical min and max pulse length of your ESC
min_pulse is typically 1ms (0.001 sec) or less
max_pulse is typically 2ms (0.002 sec) or more
determine PWM_period. It is (1/freq) if freq = 50...period = 0.02
determine pulse length for min_pulse and max_pulse in percent.
(pulse / PWM_period)
min_pulse = (0.001 / 0.02) = 0.05 = 5%
max_pulse = (0.002 / .02) = 0.1 = 10%
(pulse / PWM_period)
min_pulse = (0.001 / 0.02) = 0.05 = 5% so ... $34 and $35 = 5.0
max_pulse = (0.002 / .02) = 0.1 = 10% so ... $36=10
*/
#include "grbl.h"
#include "SpindleClass.h"
// don't change these
#define BESC_PWM_FREQ 50.0 // Hz
#define BESC_PWM_FREQ 50.0f // Hz
#define BESC_PWM_BIT_PRECISION 16 // bits
#define BESC_DEFAULT_MIN_PULSE 5.0 // percent
#define BESC_DEFAULT_MAX_PULSE 10.0 // percent
#define BESC_PULSE_PERIOD (1.0 / BESC_PWM_FREQ)
// ok to tweak
#define BESC_MIN_PULSE_SECS 0.001f
#define BESC_MAX_PULSE_SECS 0.002f
//don't change
#define BESC_MIN_PULSE_CNT (uint16_t)(BESC_MIN_PULSE_SECS / BESC_PULSE_PERIOD * 65535.0)
#define BESC_MAX_PULSE_CNT (uint16_t)(BESC_MAX_PULSE_SECS / BESC_PULSE_PERIOD * 65535.0)
void BESCSpindle :: init() {
@@ -40,10 +65,11 @@ void BESCSpindle :: init() {
_pwm_freq = BESC_PWM_FREQ;
_pwm_precision = 16;
// to do make these tweakable using existing setting as percentages on these defaults
_pwm_off_value = BESC_DEFAULT_MIN_PULSE;
_pwm_min_value = BESC_DEFAULT_MIN_PULSE;
_pwm_max_value = BESC_DEFAULT_MAX_PULSE;
// override these settings
// to do make these tweakable
_pwm_off_value = BESC_MIN_PULSE_CNT;
_pwm_min_value = BESC_MIN_PULSE_CNT;
_pwm_max_value = BESC_MAX_PULSE_CNT;
ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, _pwm_precision); // setup the channel
ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin
@@ -51,6 +77,8 @@ void BESCSpindle :: init() {
if (_enable_pin != UNDEFINED_PIN)
pinMode(_enable_pin, OUTPUT);
set_rpm(0);
config_message();
}
@@ -80,13 +108,9 @@ float BESCSpindle::set_rpm(float rpm) {
// determine the pwm value
if (rpm == 0.0) {
pwm_value = _pwm_off_value;
} else if (rpm == _min_rpm) {
pwm_value = _pwm_min_value;
} else if (rpm == _max_rpm) {
pwm_value = _pwm_max_value;
} else {
pwm_value = floor((rpm - _min_rpm) * _pwm_gradient) + _pwm_min_value;
}
pwm_value = (uint16_t)map_float(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
}
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
set_enable_pin(rpm != 0);

11
Grbl_Esp32/tools/PWMSpindle.cpp
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@@ -23,6 +23,10 @@
#include "SpindleClass.h"
// ======================= PWMSpindle ==============================
/*
This gets called at startup or whenever a spindle setting changes
If the spindle is running it will stop and need to be restarted with M3Snnnn
*/
void PWMSpindle::init() {
get_pin_numbers();
@@ -94,7 +98,7 @@ void PWMSpindle :: get_pin_numbers() {
// The pwm_gradient is the pwm duty cycle units per rpm
_pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
_spindle_pwm_chan_num = sys_get_next_PWM_chan_num();
_spindle_pwm_chan_num = 0; // Channel 0 is reserved for spindle use
}
@@ -180,7 +184,7 @@ uint8_t PWMSpindle::get_state() {
void PWMSpindle::stop() {
// inverts are delt with in methods
set_enable_pin(false);
set_pwm(0);
set_pwm(_pwm_off_value);
}
// prints the startup message of the spindle config
@@ -190,6 +194,9 @@ void PWMSpindle :: config_message() {
void PWMSpindle::set_pwm(uint32_t duty) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle set duty:%d", duty);
if (_output_pin == UNDEFINED_PIN)
return;

2
Grbl_Esp32/tools/RelaySpindle.cpp
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@@ -34,7 +34,7 @@ void RelaySpindle::init() {
pinMode(_output_pin, OUTPUT);
if (_enable_pin != UNDEFINED_PIN)
pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
pinMode(_enable_pin, OUTPUT);
if (_direction_pin != UNDEFINED_PIN)
pinMode(_direction_pin, OUTPUT);