From 0f664b1427fa574315894eec6b460716d1c55e95 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Tue, 16 Mar 2021 16:28:52 -0700
Subject: [PATCH 01/21] changing  to EXTENDED type from GRBL type to prevent
 sender issues when running 1585

---
 Grbl_Esp32/src/SettingsDefinitions.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Grbl_Esp32/src/SettingsDefinitions.cpp b/Grbl_Esp32/src/SettingsDefinitions.cpp
index 340ecf1a..cb83afcc 100644
--- a/Grbl_Esp32/src/SettingsDefinitions.cpp
+++ b/Grbl_Esp32/src/SettingsDefinitions.cpp
@@ -360,8 +360,8 @@ void make_settings() {
     spindle_enable_invert = new FlagSetting(GRBL, WG, NULL, "Spindle/Enable/Invert", DEFAULT_INVERT_SPINDLE_ENABLE_PIN, checkSpindleChange);
 
     // GRBL Non-numbered settings
-    startup_line_0 = new StringSetting(GRBL, WG, "N0", "GCode/Line0", "", checkStartupLine);
-    startup_line_1 = new StringSetting(GRBL, WG, "N1", "GCode/Line1", "", checkStartupLine);
+    startup_line_0 = new StringSetting(EXTENDED, WG, "N0", "GCode/Line0", "", checkStartupLine);
+    startup_line_1 = new StringSetting(EXTENDED, WG, "N1", "GCode/Line1", "", checkStartupLine);
 
     // GRBL Numbered Settings
     laser_mode       = new FlagSetting(GRBL, WG, "32", "GCode/LaserMode", DEFAULT_LASER_MODE);

From 28dcf0bd5176c952524a37cf759dff9fb9f5385a Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 06:02:17 -0700
Subject: [PATCH 02/21] need to override set_rpm

---
 .gitignore                           |   1 +
 Grbl_Esp32/src/Machine.h             |   2 +-
 Grbl_Esp32/src/Spindles/Spindle.cpp  |   5 +
 Grbl_Esp32/src/Spindles/Spindle.h    |   1 +
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 193 +++++++++++++++++++++++++++
 Grbl_Esp32/src/Spindles/TecoL510.h   |  45 +++++++
 platformio.ini                       |   7 +
 7 files changed, 253 insertions(+), 1 deletion(-)
 create mode 100644 Grbl_Esp32/src/Spindles/TecoL510.cpp
 create mode 100644 Grbl_Esp32/src/Spindles/TecoL510.h

diff --git a/.gitignore b/.gitignore
index 44cc0076..d11902c0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,3 +21,4 @@ __vm/
 *.suo
 Grbl_Esp32.ino.cpp
 /packages
+Grbl_Esp32/src/Machine.h
diff --git a/Grbl_Esp32/src/Machine.h b/Grbl_Esp32/src/Machine.h
index 11ab8406..a684b000 100644
--- a/Grbl_Esp32/src/Machine.h
+++ b/Grbl_Esp32/src/Machine.h
@@ -8,7 +8,7 @@
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#    include "Machines/test_drive.h"
+#    include "Machines/jesse_6pack.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
diff --git a/Grbl_Esp32/src/Spindles/Spindle.cpp b/Grbl_Esp32/src/Spindles/Spindle.cpp
index 7dfd8f6b..c783309b 100644
--- a/Grbl_Esp32/src/Spindles/Spindle.cpp
+++ b/Grbl_Esp32/src/Spindles/Spindle.cpp
@@ -39,6 +39,7 @@
 #include "BESCSpindle.h"
 #include "10vSpindle.h"
 #include "YL620Spindle.h"
+#include "TecoL510.h"
 
 namespace Spindles {
     // An instance of each type of spindle is created here.
@@ -53,6 +54,7 @@ namespace Spindles {
     BESC     besc;
     _10v     _10v;
     YL620   yl620;
+    L510 l510;
 
     void Spindle::select() {
         switch (static_cast<SpindleType>(spindle_type->get())) {
@@ -83,6 +85,9 @@ namespace Spindles {
             case SpindleType::YL620:
                 spindle = &yl620;
                 break;
+            case SpindleType::L510:
+                spindle = &l510;
+                break;
             case SpindleType::NONE:
             default:
                 spindle = &null;
diff --git a/Grbl_Esp32/src/Spindles/Spindle.h b/Grbl_Esp32/src/Spindles/Spindle.h
index 200e99cd..ff2ea5d4 100644
--- a/Grbl_Esp32/src/Spindles/Spindle.h
+++ b/Grbl_Esp32/src/Spindles/Spindle.h
@@ -39,6 +39,7 @@ enum class SpindleType : int8_t {
     _10V,
     H2A,
     YL620,
+    L510
 };
 
 #include "../Grbl.h"
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
new file mode 100644
index 00000000..3dd6de6e
--- /dev/null
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -0,0 +1,193 @@
+#include "TecoL510.h"
+
+/*
+    TecoL510.cpp
+
+    Part of Grbl_ESP32
+    2021 -  Jesse Schoch
+
+    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/>.
+
+                         WARNING!!!!
+    VFDs are very dangerous. They have high voltages and are very powerful
+    Remove power before changing bits.
+
+    See TecoL510.md for details
+*/
+
+namespace Spindles {
+    L510::L510() : VFD() {
+        _baudrate = 9600;
+        _parity   = Uart::Parity::None;
+        _max_rpm = 24000;
+        _max_freq = 40000;
+    }
+
+    void L510::direction_command(SpindleState mode, ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 6;
+
+        data.msg[1] = 0x06;  // WRITE
+        data.msg[2] = 0x25;  // Command ID 0x2501
+        data.msg[3] = 0x01;
+        data.msg[4] = 0x01;
+        if(mode == SpindleState::Ccw){
+            data.msg[5] = 1;
+        }else{
+            data.msg[5] = 0;
+        }
+        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state:  %d",mode;
+    }
+
+    void L510::start_command(ModbusCommand& data){
+        data.tx_length = 6;
+        data.rx_length = 6;
+        data.msg[1] = 0x06;
+        data.msg[2] = 0x25;
+        data.msg[3] = 0x01;
+        data.msg[4] = 0x00;
+        data.msg[5] = 0x01;
+
+    }
+
+    void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
+
+                // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 6;
+
+        // We have to know the max RPM before we can set the current RPM:
+        auto max_rpm = this->_max_rpm;
+        auto max_freq = this->_max_freq;
+
+        // Assuming max frequncy is 400Hz
+        // Speed is in [0..40,000] 
+        uint16_t speed = (uint16_t(rpm) * max_freq) / uint32_t(max_rpm);
+        if (speed < 0) {
+            speed = 0;
+        }
+        if (speed > 40000) {
+            speed = 40000;
+        }
+
+        data.msg[1] = 0x06;  // WRITE
+        data.msg[2] = 0x25;  // Command ID 0x2502
+        data.msg[3] = 0x02;
+        data.msg[4] = uint8_t(speed >> 8);  // RPM
+        data.msg[5] = uint8_t(speed & 0xFF);
+
+        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed);
+    }
+    uint16_t L510::rpm_to_frequency(uint32_t rpm){
+        auto max_rpm = this->_max_rpm;
+        uint16_t freq = (uint32_t(rpm) * 40000L) / uint32_t(max_rpm);
+        return freq;
+    }
+
+    uint32_t L510::freq_to_rpm(uint16_t freq){
+        auto max_rpm = this->_max_rpm;
+        auto max_freq = this->_max_freq;
+        uint32_t rpm = (freq/max_freq)/max_rpm;
+    }
+
+    VFD::response_parser L510::initialization_sequence(int index, ModbusCommand& data) {
+        if (index == -1) {
+            // NOTE: data length is excluding the CRC16 checksum.
+            data.tx_length = 6;
+            data.rx_length = 5;
+
+            
+            // Send: 
+            data.msg[1] = 0x03;  // READ
+            data.msg[2] = 0x02;  // 0x0203 = Get RPM
+            data.msg[3] = 0x03;
+            data.msg[4] = 0x00;  // Read 1 value
+            data.msg[5] = 0x01;
+            
+            /*
+           // Hack to see if a known working register can be read
+           data.msg[1] = 0x03;  // READ
+            data.msg[2] = 0x25;  // 0x2523 = Get RPM
+            data.msg[3] = 0x23;
+            data.msg[4] = 0x00;  // Read 1 value
+            data.msg[5] = 0x01;
+            */
+
+
+            //  Recv: ??
+
+            return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
+                //uint16_t rpm  = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
+                //TODO remove hardcoding
+                //vfd->_max_rpm = rpm;
+                vfd->_max_rpm = 24000;
+
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle hardcoded 24000 %d ", vfd->_max_rpm);
+
+                return true;
+            };
+        } else {
+            return nullptr;
+        }
+    }
+
+    VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 5;
+
+        // Send: 01 03 700C 0002
+        data.msg[1] = 0x03;  // READ
+        data.msg[2] = 0x25;  // 0x2523 = Get RPM
+        data.msg[3] = 0x23;
+        data.msg[4] = 0x00;  // Read 1 value
+        data.msg[5] = 0x01;
+
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
+            uint16_t freq = (response[3] << 8) | response[4];
+            grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"current frequency: %d",freq);
+
+            // Set current RPM value? Somewhere?
+            //vfd->_sync_rpm = vfd->freq_to_rpm(freq);
+
+            //TODO: how do get access to the object I was in before wandering into this lambda?
+            // undo hardcoded garbage
+            vfd->_sync_rpm = (freq/40000)*24000;
+            return true;
+        };
+    }
+
+    VFD::response_parser L510::get_current_direction(ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 6;
+
+        // Send: 01 03 30 00 00 01
+        data.msg[1] = 0x03;  // READ
+        data.msg[2] = 0x25;  // 0x2520
+        data.msg[3] = 0x20;
+        data.msg[4] = 0x00;  // Message ID
+        data.msg[5] = 0x01;
+
+        // Receive: 01 03 00 02 00 02
+        //                      ----- status
+
+        // TODO: this doesn't seem to do anything in H2A
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { 
+            uint16_t got = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
+            bool dir = bitRead(got,1);
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 dir %d", int(dir));
+            return true; 
+            };
+    }
+}
\ No newline at end of file
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
new file mode 100644
index 00000000..743139ea
--- /dev/null
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -0,0 +1,45 @@
+#pragma once
+
+#include "VFDSpindle.h"
+
+/*
+    TecoL510.h
+
+    Part of Grbl_ESP32
+    2021 -  Jesse Schoch
+
+    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/>.
+
+*/
+
+namespace Spindles {
+    class L510 : public VFD {
+    protected:
+        void direction_command(SpindleState mode, ModbusCommand& data) override;
+        void set_speed_command(uint32_t rpm, ModbusCommand& data) override;
+
+        response_parser initialization_sequence(int index, ModbusCommand& data) override;
+        response_parser get_current_rpm(ModbusCommand& data) override;
+        response_parser get_current_direction(ModbusCommand& data) override;
+        response_parser get_status_ok(ModbusCommand& data) override { return nullptr; }
+
+        // what is this, what should it do?
+        bool supports_actual_rpm() const override { return true; }
+        bool safety_polling() const override { return false; }
+        uint16_t rpm_to_frequency(uint32_t rpm);
+        uint32_t freq_to_rpm(uint16_t);
+
+    public:
+        L510();
+        uint16_t _max_freq;
+    };
+}
diff --git a/platformio.ini b/platformio.ini
index ddf3a854..a99cf2a3 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -70,3 +70,10 @@ build_type = debug
 lib_deps = 
     TMCStepper@>=0.7.0,<1.0.0
     ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0
+
+
+[env:ota]
+upload_protocol = espota
+upload_port = 192.168.1.61
+lib_deps =
+	TMCStepper@>=0.7.0,<1.0.0

From 6c029d8f980fa2efc3f9c8b7921977b152416776 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 06:29:07 -0700
Subject: [PATCH 03/21] trying set_rpm override

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 70 ++++++++++++++++++++++++++++
 Grbl_Esp32/src/Spindles/TecoL510.h   |  2 +
 2 files changed, 72 insertions(+)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 3dd6de6e..85191605 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -190,4 +190,74 @@ namespace Spindles {
             return true; 
             };
     }
+    void start_spindle(){
+        if(!spindle_started){
+            // send start to VFD
+           ModbusCommand start_cmd;
+           start_cmd[0] = VFD_RS485_ADDR;
+           start_command(start_cmd);
+           if (xQueueSend(vfd_cmd_queue, &start_cmd, 0) != pdTRUE) {
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
+           }
+
+        }
+    }
+
+    uint32_t LF510::set_rpm(uint32_t rpm){
+        if (!vfd_ok) {
+            return 0;
+        }
+        // Hack to start spindle running
+        SpindleState sstate = get_state();
+        if(sstate != SpindleState::Disabled){
+            start_spindle();
+        }
+        // apply override
+        rpm = rpm * sys.spindle_speed_ovr / 100;  // Scale by spindle speed override value (uint8_t percent)
+
+        if (rpm != 0 && (rpm < _min_rpm || rpm > _max_rpm)) {
+            // NOTE: Don't add a info message here; this method is called from the stepper_pulse_func ISR method, so
+            // emitting debug information could crash the ESP32.
+
+            rpm = constrain(rpm, _min_rpm, _max_rpm);
+        }
+
+        // apply limits
+        // if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
+        //     rpm = _max_rpm;
+        // } else if (rpm != 0 && rpm <= _min_rpm) {
+        //     rpm = _min_rpm;
+        // }
+
+        sys.spindle_speed = rpm;
+
+        if (rpm == _current_rpm) {  // prevent setting same RPM twice
+            return rpm;
+        }
+
+#ifdef VFD_DEBUG_MODE2
+        grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Setting spindle speed to %d rpm (%d, %d)", int(rpm), int(_min_rpm), int(_max_rpm));
+#endif
+
+        _current_rpm = rpm;
+
+        // TODO add the speed modifiers override, linearization, etc.
+
+        ModbusCommand rpm_cmd;
+        rpm_cmd.msg[0] = VFD_RS485_ADDR;
+
+        set_speed_command(rpm, rpm_cmd);
+
+        // Sometimes sync_rpm is retained between different set_speed_command's. We don't want that - we want 
+        // spindle sync to kick in after we set the speed. This forces that.
+        _sync_rpm = UINT32_MAX;
+
+        rpm_cmd.critical = (rpm == 0);
+
+        if (xQueueSend(vfd_cmd_queue, &rpm_cmd, 0) != pdTRUE) {
+            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
+        }
+
+        return rpm;
+    }
 }
\ No newline at end of file
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
index 743139ea..23287234 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.h
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -37,6 +37,8 @@ namespace Spindles {
         bool safety_polling() const override { return false; }
         uint16_t rpm_to_frequency(uint32_t rpm);
         uint32_t freq_to_rpm(uint16_t);
+        uint32_t set_rpm(uint32_t rpm) override;
+        void start_spindle();
 
     public:
         L510();

From ed459bd68ba0c95cfcd3ec8d7311d00e20cd4a9b Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 07:17:04 -0700
Subject: [PATCH 04/21] it turns on!

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 55 ++++++++++++++++------------
 Grbl_Esp32/src/Spindles/TecoL510.h   |  2 +-
 2 files changed, 32 insertions(+), 25 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 85191605..b5581459 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -33,6 +33,11 @@ namespace Spindles {
     }
 
     void L510::direction_command(SpindleState mode, ModbusCommand& data) {
+        //  Note: The direction command is always called on M3,M4, and M5
+        //      This is where the spindle start/stop should be sent 
+
+
+
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
         data.rx_length = 6;
@@ -40,15 +45,23 @@ namespace Spindles {
         data.msg[1] = 0x06;  // WRITE
         data.msg[2] = 0x25;  // Command ID 0x2501
         data.msg[3] = 0x01;
-        data.msg[4] = 0x01;
-        if(mode == SpindleState::Ccw){
-            data.msg[5] = 1;
-        }else{
-            data.msg[5] = 0;
+        data.msg[4] = 0x00;
+        switch(mode){
+            case SpindleState::Disable:
+                //data.msg[4] = 0x00;
+                data.msg[5] = 0x00;
+                break;
+            case SpindleState::Cw:
+                data.msg[5] = 0x01;
+                break;
+            case SpindleState::Ccw:
+                data.msg[5] = 0x03;
+                break;
         }
-        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state:  %d",mode;
+        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state:  %d",mode);
     }
 
+    /*
     void L510::start_command(ModbusCommand& data){
         data.tx_length = 6;
         data.rx_length = 6;
@@ -59,6 +72,7 @@ namespace Spindles {
         data.msg[5] = 0x01;
 
     }
+    */
 
     void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
 
@@ -97,7 +111,7 @@ namespace Spindles {
     uint32_t L510::freq_to_rpm(uint16_t freq){
         auto max_rpm = this->_max_rpm;
         auto max_freq = this->_max_freq;
-        uint32_t rpm = (freq/max_freq)/max_rpm;
+        uint32_t rpm = (freq*max_rpm)/max_freq;
     }
 
     VFD::response_parser L510::initialization_sequence(int index, ModbusCommand& data) {
@@ -109,28 +123,20 @@ namespace Spindles {
             
             // Send: 
             data.msg[1] = 0x03;  // READ
-            data.msg[2] = 0x02;  // 0x0203 = Get RPM
+            data.msg[2] = 0x02;  // 0x0203 = Get  max rpm
             data.msg[3] = 0x03;
             data.msg[4] = 0x00;  // Read 1 value
             data.msg[5] = 0x01;
             
-            /*
-           // Hack to see if a known working register can be read
-           data.msg[1] = 0x03;  // READ
-            data.msg[2] = 0x25;  // 0x2523 = Get RPM
-            data.msg[3] = 0x23;
-            data.msg[4] = 0x00;  // Read 1 value
-            data.msg[5] = 0x01;
-            */
 
 
             //  Recv: ??
 
             return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
-                //uint16_t rpm  = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
+                uint32_t rpm  = (response[3] << 8) | response[4];
                 //TODO remove hardcoding
-                //vfd->_max_rpm = rpm;
-                vfd->_max_rpm = 24000;
+                vfd->_max_rpm = rpm;
+                //vfd->_max_rpm = 24000;
 
                 grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle hardcoded 24000 %d ", vfd->_max_rpm);
 
@@ -157,12 +163,9 @@ namespace Spindles {
             uint16_t freq = (response[3] << 8) | response[4];
             grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"current frequency: %d",freq);
 
-            // Set current RPM value? Somewhere?
-            //vfd->_sync_rpm = vfd->freq_to_rpm(freq);
+            auto l510 = static_cast<L510*>(vfd);
 
-            //TODO: how do get access to the object I was in before wandering into this lambda?
-            // undo hardcoded garbage
-            vfd->_sync_rpm = (freq/40000)*24000;
+            vfd->_sync_rpm = l510->freq_to_rpm(freq);
             return true;
         };
     }
@@ -190,6 +193,7 @@ namespace Spindles {
             return true; 
             };
     }
+    /*
     void start_spindle(){
         if(!spindle_started){
             // send start to VFD
@@ -202,7 +206,9 @@ namespace Spindles {
 
         }
     }
+    */
 
+    /*
     uint32_t LF510::set_rpm(uint32_t rpm){
         if (!vfd_ok) {
             return 0;
@@ -260,4 +266,5 @@ namespace Spindles {
 
         return rpm;
     }
+    */
 }
\ No newline at end of file
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
index 23287234..8a17832b 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.h
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -37,7 +37,7 @@ namespace Spindles {
         bool safety_polling() const override { return false; }
         uint16_t rpm_to_frequency(uint32_t rpm);
         uint32_t freq_to_rpm(uint16_t);
-        uint32_t set_rpm(uint32_t rpm) override;
+        //uint32_t set_rpm(uint32_t rpm) override;
         void start_spindle();
 
     public:

From 104eddedf5e62a7a8a9a45424b61817dc793f62b Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 08:31:12 -0700
Subject: [PATCH 05/21] start/stop and set speed all working

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 91 +++-------------------------
 1 file changed, 9 insertions(+), 82 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index b5581459..3feb951b 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -78,7 +78,7 @@ namespace Spindles {
 
                 // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
-        data.rx_length = 6;
+        data.rx_length = 5;
 
         // We have to know the max RPM before we can set the current RPM:
         auto max_rpm = this->_max_rpm;
@@ -112,6 +112,7 @@ namespace Spindles {
         auto max_rpm = this->_max_rpm;
         auto max_freq = this->_max_freq;
         uint32_t rpm = (freq*max_rpm)/max_freq;
+        return rpm;
     }
 
     VFD::response_parser L510::initialization_sequence(int index, ModbusCommand& data) {
@@ -134,11 +135,10 @@ namespace Spindles {
 
             return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
                 uint32_t rpm  = (response[3] << 8) | response[4];
-                //TODO remove hardcoding
+                //TODO also get max_frequency
                 vfd->_max_rpm = rpm;
-                //vfd->_max_rpm = 24000;
 
-                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle hardcoded 24000 %d ", vfd->_max_rpm);
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle max_rpm %d ", vfd->_max_rpm);
 
                 return true;
             };
@@ -154,10 +154,11 @@ namespace Spindles {
 
         // Send: 01 03 700C 0002
         data.msg[1] = 0x03;  // READ
-        data.msg[2] = 0x25;  // 0x2523 = Get RPM
-        data.msg[3] = 0x23;
+        data.msg[2] = 0x25;  // 0x2524 = Get output frequency
+        data.msg[3] = 0x24;
         data.msg[4] = 0x00;  // Read 1 value
         data.msg[5] = 0x01;
+        //grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"get_rpm");
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
             uint16_t freq = (response[3] << 8) | response[4];
@@ -173,7 +174,7 @@ namespace Spindles {
     VFD::response_parser L510::get_current_direction(ModbusCommand& data) {
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
-        data.rx_length = 6;
+        data.rx_length = 5;
 
         // Send: 01 03 30 00 00 01
         data.msg[1] = 0x03;  // READ
@@ -187,84 +188,10 @@ namespace Spindles {
 
         // TODO: this doesn't seem to do anything in H2A
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { 
-            uint16_t got = (uint16_t(response[4]) << 8) | uint16_t(response[5]);
+            uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
             bool dir = bitRead(got,1);
             grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 dir %d", int(dir));
             return true; 
             };
     }
-    /*
-    void start_spindle(){
-        if(!spindle_started){
-            // send start to VFD
-           ModbusCommand start_cmd;
-           start_cmd[0] = VFD_RS485_ADDR;
-           start_command(start_cmd);
-           if (xQueueSend(vfd_cmd_queue, &start_cmd, 0) != pdTRUE) {
-            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
-           }
-
-        }
-    }
-    */
-
-    /*
-    uint32_t LF510::set_rpm(uint32_t rpm){
-        if (!vfd_ok) {
-            return 0;
-        }
-        // Hack to start spindle running
-        SpindleState sstate = get_state();
-        if(sstate != SpindleState::Disabled){
-            start_spindle();
-        }
-        // apply override
-        rpm = rpm * sys.spindle_speed_ovr / 100;  // Scale by spindle speed override value (uint8_t percent)
-
-        if (rpm != 0 && (rpm < _min_rpm || rpm > _max_rpm)) {
-            // NOTE: Don't add a info message here; this method is called from the stepper_pulse_func ISR method, so
-            // emitting debug information could crash the ESP32.
-
-            rpm = constrain(rpm, _min_rpm, _max_rpm);
-        }
-
-        // apply limits
-        // if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
-        //     rpm = _max_rpm;
-        // } else if (rpm != 0 && rpm <= _min_rpm) {
-        //     rpm = _min_rpm;
-        // }
-
-        sys.spindle_speed = rpm;
-
-        if (rpm == _current_rpm) {  // prevent setting same RPM twice
-            return rpm;
-        }
-
-#ifdef VFD_DEBUG_MODE2
-        grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Setting spindle speed to %d rpm (%d, %d)", int(rpm), int(_min_rpm), int(_max_rpm));
-#endif
-
-        _current_rpm = rpm;
-
-        // TODO add the speed modifiers override, linearization, etc.
-
-        ModbusCommand rpm_cmd;
-        rpm_cmd.msg[0] = VFD_RS485_ADDR;
-
-        set_speed_command(rpm, rpm_cmd);
-
-        // Sometimes sync_rpm is retained between different set_speed_command's. We don't want that - we want 
-        // spindle sync to kick in after we set the speed. This forces that.
-        _sync_rpm = UINT32_MAX;
-
-        rpm_cmd.critical = (rpm == 0);
-
-        if (xQueueSend(vfd_cmd_queue, &rpm_cmd, 0) != pdTRUE) {
-            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD Queue Full");
-        }
-
-        return rpm;
-    }
-    */
 }
\ No newline at end of file

From 9d16064c38535b7024808a04e6de07eb47adcfee Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 08:59:20 -0700
Subject: [PATCH 06/21] cleanup

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp       | 46 +++++++++++++---------
 Grbl_Esp32/src/Spindles/TecoL510.h         |  4 +-
 Grbl_Esp32/src/Spindles/TecoL510_README.md | 19 +++++++++
 3 files changed, 49 insertions(+), 20 deletions(-)
 create mode 100644 Grbl_Esp32/src/Spindles/TecoL510_README.md

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 3feb951b..b0ca7ff4 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -61,19 +61,6 @@ namespace Spindles {
         grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state:  %d",mode);
     }
 
-    /*
-    void L510::start_command(ModbusCommand& data){
-        data.tx_length = 6;
-        data.rx_length = 6;
-        data.msg[1] = 0x06;
-        data.msg[2] = 0x25;
-        data.msg[3] = 0x01;
-        data.msg[4] = 0x00;
-        data.msg[5] = 0x01;
-
-    }
-    */
-
     void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
 
                 // NOTE: data length is excluding the CRC16 checksum.
@@ -100,7 +87,9 @@ namespace Spindles {
         data.msg[4] = uint8_t(speed >> 8);  // RPM
         data.msg[5] = uint8_t(speed & 0xFF);
 
+#ifdef VFD_DEBUG_MODE2
         grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed);
+#endif
     }
     uint16_t L510::rpm_to_frequency(uint32_t rpm){
         auto max_rpm = this->_max_rpm;
@@ -138,7 +127,7 @@ namespace Spindles {
                 //TODO also get max_frequency
                 vfd->_max_rpm = rpm;
 
-                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 spindle max_rpm %d ", vfd->_max_rpm);
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d ", vfd->_max_rpm);
 
                 return true;
             };
@@ -146,6 +135,30 @@ namespace Spindles {
             return nullptr;
         }
     }
+    VFD::response_parser L510::get_status_ok(ModbusCommand& data){
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 5;
+
+        
+        // Send: 
+        data.msg[1] = 0x03;  // READ
+        data.msg[2] = 0x25;  // 0x2520 = Get state
+        data.msg[3] = 0x20;
+        data.msg[4] = 0x00;  // Read 1 value
+        data.msg[5] = 0x01;
+
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
+                uint32_t vfd_state  = (response[3] << 8) | response[4];
+                //TODO also get max_frequency
+
+                if(bitRead(vfd_state,3)){
+                    grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"L510 Fault detected");                    
+                    return false;
+                }
+                return true;
+            };
+    }
 
     VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
         // NOTE: data length is excluding the CRC16 checksum.
@@ -158,11 +171,9 @@ namespace Spindles {
         data.msg[3] = 0x24;
         data.msg[4] = 0x00;  // Read 1 value
         data.msg[5] = 0x01;
-        //grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"get_rpm");
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
             uint16_t freq = (response[3] << 8) | response[4];
-            grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"current frequency: %d",freq);
 
             auto l510 = static_cast<L510*>(vfd);
 
@@ -172,6 +183,7 @@ namespace Spindles {
     }
 
     VFD::response_parser L510::get_current_direction(ModbusCommand& data) {
+        // does this run ever??
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
         data.rx_length = 5;
@@ -186,11 +198,9 @@ namespace Spindles {
         // Receive: 01 03 00 02 00 02
         //                      ----- status
 
-        // TODO: this doesn't seem to do anything in H2A
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { 
             uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
             bool dir = bitRead(got,1);
-            grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 dir %d", int(dir));
             return true; 
             };
     }
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
index 8a17832b..219812b7 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.h
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -30,11 +30,11 @@ namespace Spindles {
         response_parser initialization_sequence(int index, ModbusCommand& data) override;
         response_parser get_current_rpm(ModbusCommand& data) override;
         response_parser get_current_direction(ModbusCommand& data) override;
-        response_parser get_status_ok(ModbusCommand& data) override { return nullptr; }
 
         // what is this, what should it do?
         bool supports_actual_rpm() const override { return true; }
-        bool safety_polling() const override { return false; }
+        bool safety_polling() const override { return true; }
+        response_parser get_status_ok(ModbusCommand& data) override;
         uint16_t rpm_to_frequency(uint32_t rpm);
         uint32_t freq_to_rpm(uint16_t);
         //uint32_t set_rpm(uint32_t rpm) override;
diff --git a/Grbl_Esp32/src/Spindles/TecoL510_README.md b/Grbl_Esp32/src/Spindles/TecoL510_README.md
new file mode 100644
index 00000000..b6cd5fe4
--- /dev/null
+++ b/Grbl_Esp32/src/Spindles/TecoL510_README.md
@@ -0,0 +1,19 @@
+# VFD setup
+
+Change these values:
+1) 00-02, Main Run Command Source Selection,   Default = 0  Change to 2
+2) 00-05, Main Freq Command Source Selection,  Default = 0  Change to 5
+
+Check that these are set to the default factory values:
+3) 00-07, Main and Alternative Freq Cmnd Source Selection,  Default = 0  
+4) 09-00, Assigned Communication Number,      Default = 1  this is defined as  VFD_RS485_ADDR
+5) 09-01, RTU/ASCII Code Selection,           Default = 0  Should be 0 (We are using hex "RTU" commands, not ASCII commands) 
+6) 09-02, Baud Rate Setting,                  Default = 1  Should be 1 (9600  baud) but can be changed in the TecoL510.cpp
+7) 09-03, Stop Bit Selection,                 Default = 0  Should be 0 (1 stop bit) 
+8) 09-04, Parity Selection,                   Default = 0  Should be 0 (Without parity) 
+9) 09-05, Data Format Selection,              Default = 0  Should be 0 (8 data bits) 
+
+# Implementation details
+
+not sure how to detect and parse error messages
+max frequency is currenly hardcode
\ No newline at end of file

From 3e6c5caedca73b694cbc3b8660a2e034bdb0e437 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 10:14:47 -0700
Subject: [PATCH 07/21] fixing machine.h

---
 Grbl_Esp32/src/Machine.h             |  2 +-
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 24 +++++++++++++++++-------
 2 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/Grbl_Esp32/src/Machine.h b/Grbl_Esp32/src/Machine.h
index a684b000..11ab8406 100644
--- a/Grbl_Esp32/src/Machine.h
+++ b/Grbl_Esp32/src/Machine.h
@@ -8,7 +8,7 @@
 // !!! For initial testing, start with test_drive.h which disables
 // all I/O pins
 // #include "Machines/atari_1020.h"
-#    include "Machines/jesse_6pack.h"
+#    include "Machines/test_drive.h"
 
 // !!! For actual use, change the line above to select a board
 // from Machines/, for example:
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index b0ca7ff4..75d67f0b 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -28,8 +28,11 @@ namespace Spindles {
     L510::L510() : VFD() {
         _baudrate = 9600;
         _parity   = Uart::Parity::None;
+        // TODO:  should defaults be set here?  What happens if the motor settings in the VFD are wrong or default?
+        /*
         _max_rpm = 24000;
         _max_freq = 40000;
+        */
     }
 
     void L510::direction_command(SpindleState mode, ModbusCommand& data) {
@@ -108,15 +111,17 @@ namespace Spindles {
         if (index == -1) {
             // NOTE: data length is excluding the CRC16 checksum.
             data.tx_length = 6;
-            data.rx_length = 5;
+            data.rx_length = 11;
 
+
+            // read parameters 02-03..02-06
             
             // Send: 
             data.msg[1] = 0x03;  // READ
             data.msg[2] = 0x02;  // 0x0203 = Get  max rpm
             data.msg[3] = 0x03;
-            data.msg[4] = 0x00;  // Read 1 value
-            data.msg[5] = 0x01;
+            data.msg[4] = 0x00;  // Read 4 values
+            data.msg[5] = 0x04;
             
 
 
@@ -124,10 +129,16 @@ namespace Spindles {
 
             return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
                 uint32_t rpm  = (response[3] << 8) | response[4];
-                //TODO also get max_frequency
-                vfd->_max_rpm = rpm;
 
-                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d ", vfd->_max_rpm);
+                // NOTE:  the frequency is stored xxx.x but the input command is frequency * 100;
+                uint16_t freq = (response[9] << 8) | response[10];
+                freq = freq * 10;
+                auto l510 = static_cast<L510*>(vfd);
+
+                l510->_max_rpm = rpm;
+                l510->_max_freq = freq;
+
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d max_freq %d", vfd->_max_rpm,l510->_max_freq);
 
                 return true;
             };
@@ -150,7 +161,6 @@ namespace Spindles {
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
                 uint32_t vfd_state  = (response[3] << 8) | response[4];
-                //TODO also get max_frequency
 
                 if(bitRead(vfd_state,3)){
                     grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"L510 Fault detected");                    

From 2d4af675e6d9f3b357dd72c3bf1d2784af372e6d Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 10:17:43 -0700
Subject: [PATCH 08/21] fix .gitignore *&vi .gitignore  didn't work anyway

---
 .gitignore | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index d11902c0..44cc0076 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,4 +21,3 @@ __vm/
 *.suo
 Grbl_Esp32.ino.cpp
 /packages
-Grbl_Esp32/src/Machine.h

From 91b3b9d037896ed99d19f7906a7b0696ab754c28 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 10:20:19 -0700
Subject: [PATCH 09/21] forgot to get rid of hard coded max_freq, fixed now

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 75d67f0b..0a8799d3 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -80,8 +80,8 @@ namespace Spindles {
         if (speed < 0) {
             speed = 0;
         }
-        if (speed > 40000) {
-            speed = 40000;
+        if (speed > max_freq) {
+            speed = max_freq;
         }
 
         data.msg[1] = 0x06;  // WRITE
@@ -96,7 +96,8 @@ namespace Spindles {
     }
     uint16_t L510::rpm_to_frequency(uint32_t rpm){
         auto max_rpm = this->_max_rpm;
-        uint16_t freq = (uint32_t(rpm) * 40000L) / uint32_t(max_rpm);
+        auto max_freq = this->_max_freq;
+        uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
         return freq;
     }
 

From bc1d70f36d05a0e91f7ac7e57e8145125883b0d1 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 10:38:27 -0700
Subject: [PATCH 10/21] changed 'speed' to 'freq'

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 0a8799d3..720f7c65 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -76,19 +76,19 @@ namespace Spindles {
 
         // Assuming max frequncy is 400Hz
         // Speed is in [0..40,000] 
-        uint16_t speed = (uint16_t(rpm) * max_freq) / uint32_t(max_rpm);
-        if (speed < 0) {
-            speed = 0;
+        uint16_t freq = (uint16_t(rpm) * max_freq) / uint32_t(max_rpm);
+        if (freq < 0) {
+            freq = 0;
         }
-        if (speed > max_freq) {
-            speed = max_freq;
+        if (freq > max_freq) {
+            freq = max_freq;
         }
 
         data.msg[1] = 0x06;  // WRITE
         data.msg[2] = 0x25;  // Command ID 0x2502
         data.msg[3] = 0x02;
-        data.msg[4] = uint8_t(speed >> 8);  // RPM
-        data.msg[5] = uint8_t(speed & 0xFF);
+        data.msg[4] = uint8_t(freq >> 8);  // RPM
+        data.msg[5] = uint8_t(freq & 0xFF);
 
 #ifdef VFD_DEBUG_MODE2
         grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed);

From d4547168ef8a69cd68c423969d607dd96253d603 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Wed, 21 Apr 2021 12:03:00 -0700
Subject: [PATCH 11/21] reverting platformio.ini

---
 platformio.ini | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/platformio.ini b/platformio.ini
index a99cf2a3..37ffa908 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -69,11 +69,4 @@ lib_deps =
 build_type = debug
 lib_deps = 
     TMCStepper@>=0.7.0,<1.0.0
-    ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0
-
-
-[env:ota]
-upload_protocol = espota
-upload_port = 192.168.1.61
-lib_deps =
-	TMCStepper@>=0.7.0,<1.0.0
+    ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0
\ No newline at end of file

From 6d4388081a2ee1fe2fc449c97c5fc46f1e1f8334 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Thu, 22 Apr 2021 10:55:49 -0700
Subject: [PATCH 12/21] minor readme update

---
 Grbl_Esp32/src/Spindles/TecoL510_README.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510_README.md b/Grbl_Esp32/src/Spindles/TecoL510_README.md
index b6cd5fe4..87becce9 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510_README.md
+++ b/Grbl_Esp32/src/Spindles/TecoL510_README.md
@@ -15,5 +15,14 @@ Check that these are set to the default factory values:
 
 # Implementation details
 
+this was tested with pin 16 RX and 26 TX mapped in the machine config file.  Pin 4 was used for RTS but it is not used on the rs485 module I tested with.
+
+```
+#define VFD_RS485_TXD_PIN        GPIO_NUM_26
+#define VFD_RS485_RTS_PIN        GPIO_NUM_4
+#define VFD_RS485_RXD_PIN        GPIO_NUM_16
+
+```
+
 not sure how to detect and parse error messages
 max frequency is currenly hardcode
\ No newline at end of file

From f1b56a7a00520ba51384fbb5228f5c399b879f27 Mon Sep 17 00:00:00 2001
From: me <me_xeon_wsl_ubuntu18@brng.us>
Date: Thu, 22 Apr 2021 14:00:57 -0700
Subject: [PATCH 13/21] removed debug msg

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 720f7c65..e1f9deaf 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -61,7 +61,6 @@ namespace Spindles {
                 data.msg[5] = 0x03;
                 break;
         }
-        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"sending dir: state:  %d",mode);
     }
 
     void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {

From b2d4ad2c65a6e44c1e2b42629dc6a2628b43169e Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Sat, 31 Jul 2021 15:13:37 -0700
Subject: [PATCH 14/21] fixes for RPM

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index e1f9deaf..a8030e94 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -29,10 +29,9 @@ namespace Spindles {
         _baudrate = 9600;
         _parity   = Uart::Parity::None;
         // TODO:  should defaults be set here?  What happens if the motor settings in the VFD are wrong or default?
-        /*
         _max_rpm = 24000;
+        _min_rpm = 6000;
         _max_freq = 40000;
-        */
     }
 
     void L510::direction_command(SpindleState mode, ModbusCommand& data) {
@@ -104,6 +103,10 @@ namespace Spindles {
         auto max_rpm = this->_max_rpm;
         auto max_freq = this->_max_freq;
         uint32_t rpm = (freq*max_rpm)/max_freq;
+        if(rpm < 0){
+            // sometimes it returns -1 which causes an alarm
+            rpm = 0;
+        }
         return rpm;
     }
 

From a36f1bea448b407c40c52a32a054c8255a30d4b3 Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Sat, 31 Jul 2021 15:15:47 -0700
Subject: [PATCH 15/21] note

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index a8030e94..31238484 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -29,6 +29,7 @@ namespace Spindles {
         _baudrate = 9600;
         _parity   = Uart::Parity::None;
         // TODO:  should defaults be set here?  What happens if the motor settings in the VFD are wrong or default?
+        // I think they are overloaded with DEFAULT_SPINDLE_RPM_MAX and DEFAULT_SPINDLE_RPM_MIN
         _max_rpm = 24000;
         _min_rpm = 6000;
         _max_freq = 40000;

From 07fd65b57a0e592fcb2eafd7e2862df11a3fee13 Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Thu, 5 Aug 2021 10:49:48 -0700
Subject: [PATCH 16/21] fixed rx length

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 31238484..156fcb3d 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -67,7 +67,7 @@ namespace Spindles {
 
                 // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
-        data.rx_length = 5;
+        data.rx_length = 6;
 
         // We have to know the max RPM before we can set the current RPM:
         auto max_rpm = this->_max_rpm;

From 68f934d71497103c4899934b8120ff47ece52747 Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Thu, 5 Aug 2021 11:42:10 -0700
Subject: [PATCH 17/21] fix smell and update readme

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp       | 20 +++++++-------------
 Grbl_Esp32/src/Spindles/TecoL510_README.md |  4 +++-
 2 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 156fcb3d..1c3e65b6 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -69,19 +69,7 @@ namespace Spindles {
         data.tx_length = 6;
         data.rx_length = 6;
 
-        // We have to know the max RPM before we can set the current RPM:
-        auto max_rpm = this->_max_rpm;
-        auto max_freq = this->_max_freq;
-
-        // Assuming max frequncy is 400Hz
-        // Speed is in [0..40,000] 
-        uint16_t freq = (uint16_t(rpm) * max_freq) / uint32_t(max_rpm);
-        if (freq < 0) {
-            freq = 0;
-        }
-        if (freq > max_freq) {
-            freq = max_freq;
-        }
+        uint16_t freq = rpm_to_frequency(rpm);
 
         data.msg[1] = 0x06;  // WRITE
         data.msg[2] = 0x25;  // Command ID 0x2502
@@ -97,6 +85,12 @@ namespace Spindles {
         auto max_rpm = this->_max_rpm;
         auto max_freq = this->_max_freq;
         uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
+        if (freq < 0) {
+            freq = 0;
+        }
+        if (freq > max_freq) {
+            freq = max_freq;
+        }
         return freq;
     }
 
diff --git a/Grbl_Esp32/src/Spindles/TecoL510_README.md b/Grbl_Esp32/src/Spindles/TecoL510_README.md
index 87becce9..1fdafb87 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510_README.md
+++ b/Grbl_Esp32/src/Spindles/TecoL510_README.md
@@ -21,7 +21,9 @@ this was tested with pin 16 RX and 26 TX mapped in the machine config file.  Pin
 #define VFD_RS485_TXD_PIN        GPIO_NUM_26
 #define VFD_RS485_RTS_PIN        GPIO_NUM_4
 #define VFD_RS485_RXD_PIN        GPIO_NUM_16
-
+// Not sure why this isn't a setting
+#define DEFAULT_SPINDLE_RPM_MAX 24000.0 // rpm
+#define DEFAULT_SPINDLE_RPM_MIN 6000.0 // rpm
 ```
 
 not sure how to detect and parse error messages

From a26d86f607310fe786ccbc294ac6855908079763 Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Thu, 5 Aug 2021 12:55:33 -0700
Subject: [PATCH 18/21] clang format

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 78 +++++++++++++---------------
 Grbl_Esp32/src/Spindles/TecoL510.h   |  8 +--
 2 files changed, 40 insertions(+), 46 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 1c3e65b6..0e730c82 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -30,16 +30,14 @@ namespace Spindles {
         _parity   = Uart::Parity::None;
         // TODO:  should defaults be set here?  What happens if the motor settings in the VFD are wrong or default?
         // I think they are overloaded with DEFAULT_SPINDLE_RPM_MAX and DEFAULT_SPINDLE_RPM_MIN
-        _max_rpm = 24000;
-        _min_rpm = 6000;
+        _max_rpm  = 24000;
+        _min_rpm  = 6000;
         _max_freq = 40000;
     }
 
     void L510::direction_command(SpindleState mode, ModbusCommand& data) {
         //  Note: The direction command is always called on M3,M4, and M5
-        //      This is where the spindle start/stop should be sent 
-
-
+        //      This is where the spindle start/stop should be sent
 
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
@@ -49,7 +47,7 @@ namespace Spindles {
         data.msg[2] = 0x25;  // Command ID 0x2501
         data.msg[3] = 0x01;
         data.msg[4] = 0x00;
-        switch(mode){
+        switch (mode) {
             case SpindleState::Disable:
                 //data.msg[4] = 0x00;
                 data.msg[5] = 0x00;
@@ -64,8 +62,7 @@ namespace Spindles {
     }
 
     void L510::set_speed_command(uint32_t rpm, ModbusCommand& data) {
-
-                // NOTE: data length is excluding the CRC16 checksum.
+        // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
         data.rx_length = 6;
 
@@ -78,13 +75,13 @@ namespace Spindles {
         data.msg[5] = uint8_t(freq & 0xFF);
 
 #ifdef VFD_DEBUG_MODE2
-        grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"setting speed to: %d",speed);
+        grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "setting speed to: %d", speed);
 #endif
     }
-    uint16_t L510::rpm_to_frequency(uint32_t rpm){
-        auto max_rpm = this->_max_rpm;
-        auto max_freq = this->_max_freq;
-        uint16_t freq = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
+    uint16_t L510::rpm_to_frequency(uint32_t rpm) {
+        auto     max_rpm  = this->_max_rpm;
+        auto     max_freq = this->_max_freq;
+        uint16_t freq     = (uint32_t(rpm) * max_freq) / uint32_t(max_rpm);
         if (freq < 0) {
             freq = 0;
         }
@@ -94,11 +91,11 @@ namespace Spindles {
         return freq;
     }
 
-    uint32_t L510::freq_to_rpm(uint16_t freq){
-        auto max_rpm = this->_max_rpm;
-        auto max_freq = this->_max_freq;
-        uint32_t rpm = (freq*max_rpm)/max_freq;
-        if(rpm < 0){
+    uint32_t L510::freq_to_rpm(uint16_t freq) {
+        auto     max_rpm  = this->_max_rpm;
+        auto     max_freq = this->_max_freq;
+        uint32_t rpm      = (freq * max_rpm) / max_freq;
+        if (rpm < 0) {
             // sometimes it returns -1 which causes an alarm
             rpm = 0;
         }
@@ -111,32 +108,30 @@ namespace Spindles {
             data.tx_length = 6;
             data.rx_length = 11;
 
-
             // read parameters 02-03..02-06
-            
-            // Send: 
+
+            // Send:
             data.msg[1] = 0x03;  // READ
             data.msg[2] = 0x02;  // 0x0203 = Get  max rpm
             data.msg[3] = 0x03;
             data.msg[4] = 0x00;  // Read 4 values
             data.msg[5] = 0x04;
-            
-
 
             //  Recv: ??
 
             return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
-                uint32_t rpm  = (response[3] << 8) | response[4];
+                uint32_t rpm = (response[3] << 8) | response[4];
 
                 // NOTE:  the frequency is stored xxx.x but the input command is frequency * 100;
                 uint16_t freq = (response[9] << 8) | response[10];
-                freq = freq * 10;
-                auto l510 = static_cast<L510*>(vfd);
+                freq          = freq * 10;
+                auto l510     = static_cast<L510*>(vfd);
 
-                l510->_max_rpm = rpm;
+                l510->_max_rpm  = rpm;
                 l510->_max_freq = freq;
 
-                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d max_freq %d", vfd->_max_rpm,l510->_max_freq);
+                grbl_msg_sendf(
+                    CLIENT_SERIAL, MsgLevel::Info, "L510 initialized: spindle max_rpm %d max_freq %d", vfd->_max_rpm, l510->_max_freq);
 
                 return true;
             };
@@ -144,13 +139,12 @@ namespace Spindles {
             return nullptr;
         }
     }
-    VFD::response_parser L510::get_status_ok(ModbusCommand& data){
+    VFD::response_parser L510::get_status_ok(ModbusCommand& data) {
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
         data.rx_length = 5;
 
-        
-        // Send: 
+        // Send:
         data.msg[1] = 0x03;  // READ
         data.msg[2] = 0x25;  // 0x2520 = Get state
         data.msg[3] = 0x20;
@@ -158,14 +152,14 @@ namespace Spindles {
         data.msg[5] = 0x01;
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
-                uint32_t vfd_state  = (response[3] << 8) | response[4];
+            uint32_t vfd_state = (response[3] << 8) | response[4];
 
-                if(bitRead(vfd_state,3)){
-                    grbl_msg_sendf(CLIENT_SERIAL,MsgLevel::Info,"L510 Fault detected");                    
-                    return false;
-                }
-                return true;
-            };
+            if (bitRead(vfd_state, 3)) {
+                grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 Fault detected");
+                return false;
+            }
+            return true;
+        };
     }
 
     VFD::response_parser L510::get_current_rpm(ModbusCommand& data) {
@@ -206,10 +200,10 @@ namespace Spindles {
         // Receive: 01 03 00 02 00 02
         //                      ----- status
 
-        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { 
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
             uint16_t got = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
-            bool dir = bitRead(got,1);
-            return true; 
-            };
+            bool     dir = bitRead(got, 1);
+            return true;
+        };
     }
 }
\ No newline at end of file
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
index 219812b7..99eabe77 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.h
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -32,11 +32,11 @@ namespace Spindles {
         response_parser get_current_direction(ModbusCommand& data) override;
 
         // what is this, what should it do?
-        bool supports_actual_rpm() const override { return true; }
-        bool safety_polling() const override { return true; }
+        bool            supports_actual_rpm() const override { return true; }
+        bool            safety_polling() const override { return true; }
         response_parser get_status_ok(ModbusCommand& data) override;
-        uint16_t rpm_to_frequency(uint32_t rpm);
-        uint32_t freq_to_rpm(uint16_t);
+        uint16_t        rpm_to_frequency(uint32_t rpm);
+        uint32_t        freq_to_rpm(uint16_t);
         //uint32_t set_rpm(uint32_t rpm) override;
         void start_spindle();
 

From b7d65bbaaca74a48ba36cbb8bccfc09b390503dd Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Thu, 5 Aug 2021 15:53:47 -0700
Subject: [PATCH 19/21] trying to fix newlines

---
 Grbl_Esp32/src/Spindles/Spindle.cpp        | 7 ++++---
 Grbl_Esp32/src/Spindles/TecoL510.cpp       | 3 ++-
 Grbl_Esp32/src/Spindles/TecoL510.h         | 1 +
 Grbl_Esp32/src/Spindles/TecoL510_README.md | 3 ++-
 4 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/Spindle.cpp b/Grbl_Esp32/src/Spindles/Spindle.cpp
index c783309b..bc15ab96 100644
--- a/Grbl_Esp32/src/Spindles/Spindle.cpp
+++ b/Grbl_Esp32/src/Spindles/Spindle.cpp
@@ -44,6 +44,7 @@
 namespace Spindles {
     // An instance of each type of spindle is created here.
     // This allows the spindle to be dynamicly switched
+
     Null     null;
     PWM      pwm;
     Relay    relay;
@@ -53,8 +54,8 @@ namespace Spindles {
     H2A      h2a;
     BESC     besc;
     _10v     _10v;
-    YL620   yl620;
-    L510 l510;
+    YL620    yl620;
+    L510     l510;
 
     void Spindle::select() {
         switch (static_cast<SpindleType>(spindle_type->get())) {
@@ -114,4 +115,4 @@ namespace Spindles {
     void Spindle::deinit() { stop(); }
 }
 
- Spindles::Spindle* spindle;
+Spindles::Spindle* spindle;
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 0e730c82..90516908 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -38,6 +38,7 @@ namespace Spindles {
     void L510::direction_command(SpindleState mode, ModbusCommand& data) {
         //  Note: The direction command is always called on M3,M4, and M5
         //      This is where the spindle start/stop should be sent
+        
 
         // NOTE: data length is excluding the CRC16 checksum.
         data.tx_length = 6;
@@ -206,4 +207,4 @@ namespace Spindles {
             return true;
         };
     }
-}
\ No newline at end of file
+}
diff --git a/Grbl_Esp32/src/Spindles/TecoL510.h b/Grbl_Esp32/src/Spindles/TecoL510.h
index 99eabe77..f89de262 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.h
+++ b/Grbl_Esp32/src/Spindles/TecoL510.h
@@ -19,6 +19,7 @@
     You should have received a copy of the GNU General Public License
     along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
 
+
 */
 
 namespace Spindles {
diff --git a/Grbl_Esp32/src/Spindles/TecoL510_README.md b/Grbl_Esp32/src/Spindles/TecoL510_README.md
index 1fdafb87..9cdfd6e9 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510_README.md
+++ b/Grbl_Esp32/src/Spindles/TecoL510_README.md
@@ -22,9 +22,10 @@ this was tested with pin 16 RX and 26 TX mapped in the machine config file.  Pin
 #define VFD_RS485_RTS_PIN        GPIO_NUM_4
 #define VFD_RS485_RXD_PIN        GPIO_NUM_16
 // Not sure why this isn't a setting
+
 #define DEFAULT_SPINDLE_RPM_MAX 24000.0 // rpm
 #define DEFAULT_SPINDLE_RPM_MIN 6000.0 // rpm
 ```
 
 not sure how to detect and parse error messages
-max frequency is currenly hardcode
\ No newline at end of file
+max frequency is currenly hardcode

From 2e91c5674839ec881132138b0094db274c5cc254 Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Thu, 5 Aug 2021 15:58:44 -0700
Subject: [PATCH 20/21] trying to fix newlines part 2

---
 platformio.ini | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/platformio.ini b/platformio.ini
index 37ffa908..ddf3a854 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -69,4 +69,4 @@ lib_deps =
 build_type = debug
 lib_deps = 
     TMCStepper@>=0.7.0,<1.0.0
-    ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0
\ No newline at end of file
+    ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.2.0

From 38d1c88bc2f1334026cf42aae07dd002aef3f47c Mon Sep 17 00:00:00 2001
From: Jesse Schoch <schoch@gmail.com>
Date: Fri, 6 Aug 2021 09:16:14 -0700
Subject: [PATCH 21/21] fix cast issue

---
 Grbl_Esp32/src/Spindles/TecoL510.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Grbl_Esp32/src/Spindles/TecoL510.cpp b/Grbl_Esp32/src/Spindles/TecoL510.cpp
index 90516908..aa6c3d36 100644
--- a/Grbl_Esp32/src/Spindles/TecoL510.cpp
+++ b/Grbl_Esp32/src/Spindles/TecoL510.cpp
@@ -124,7 +124,7 @@ namespace Spindles {
                 uint32_t rpm = (response[3] << 8) | response[4];
 
                 // NOTE:  the frequency is stored xxx.x but the input command is frequency * 100;
-                uint16_t freq = (response[9] << 8) | response[10];
+                uint16_t freq = ((uint16_t)response[9] << 8) | (uint16_t)response[10];
                 freq          = freq * 10;
                 auto l510     = static_cast<L510*>(vfd);
 
@@ -153,7 +153,7 @@ namespace Spindles {
         data.msg[5] = 0x01;
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
-            uint32_t vfd_state = (response[3] << 8) | response[4];
+            uint16_t vfd_state = ((uint16_t)response[3] << 8) | (uint16_t)response[4];
 
             if (bitRead(vfd_state, 3)) {
                 grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "L510 Fault detected");
@@ -176,7 +176,7 @@ namespace Spindles {
         data.msg[5] = 0x01;
 
         return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
-            uint16_t freq = (response[3] << 8) | response[4];
+            uint16_t freq = ((uint16_t)response[3] << 8) | (uint16_t)response[4];
 
             auto l510 = static_cast<L510*>(vfd);