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Code Issues Releases Wiki Activity

Handled some more motor settings

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Handled SPI
This commit is contained in:
Stefan de Bruijn
2021-02-16 17:08:04 +01:00
parent 4e71d9c5f9
commit ddab24bcf9
12 changed files with 116 additions and 66 deletions
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4
Grbl_Esp32/src/GCode.cpp
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@@ -475,7 +475,7 @@ Error gc_execute_line(char* line, uint8_t client) {
gc_block.modal.spindle = SpindleState::Cw; gc_block.modal.spindle = SpindleState::Cw;
break; break;
case 4: // Supported if SPINDLE_DIR_PIN is defined or laser mode is on. case 4: // Supported if SPINDLE_DIR_PIN is defined or laser mode is on.
if (spindle->is_reversable || laser_mode->get()) { if (spindle->is_reversable || MachineConfig::instance()->_laserMode) {
gc_block.modal.spindle = SpindleState::Ccw; gc_block.modal.spindle = SpindleState::Ccw;
} else { } else {
FAIL(Error::GcodeUnsupportedCommand); FAIL(Error::GcodeUnsupportedCommand);
@@ -1292,7 +1292,7 @@ Error gc_execute_line(char* line, uint8_t client) {
return status; return status;
} }
// If in laser mode, setup laser power based on current and past parser conditions. // If in laser mode, setup laser power based on current and past parser conditions.
if (laser_mode->get()) { if (MachineConfig::instance()->_laserMode) {
if (!((gc_block.modal.motion == Motion::Linear) || (gc_block.modal.motion == Motion::CwArc) || if (!((gc_block.modal.motion == Motion::Linear) || (gc_block.modal.motion == Motion::CwArc) ||
(gc_block.modal.motion == Motion::CcwArc))) { (gc_block.modal.motion == Motion::CcwArc))) {
gc_parser_flags |= GCParserLaserDisable; gc_parser_flags |= GCParserLaserDisable;

22
Grbl_Esp32/src/MachineConfig.cpp
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@@ -296,7 +296,7 @@ Axes::~Axes() {
} }
} }
void I2SO::validate() const { void I2SOBus::validate() const {
if (!_bck.undefined() || !_data.undefined() || !_ws.undefined()) { if (!_bck.undefined() || !_data.undefined() || !_ws.undefined()) {
Assert(!_bck.undefined(), "I2SO BCK pin should be configured once."); Assert(!_bck.undefined(), "I2SO BCK pin should be configured once.");
Assert(!_data.undefined(), "I2SO Data pin should be configured once."); Assert(!_data.undefined(), "I2SO Data pin should be configured once.");
@@ -304,19 +304,37 @@ void I2SO::validate() const {
} }
} }
void I2SO::handle(Configuration::HandlerBase& handler) { void I2SOBus::handle(Configuration::HandlerBase& handler) {
handler.handle("bck", _bck); handler.handle("bck", _bck);
handler.handle("data", _data); handler.handle("data", _data);
handler.handle("ws", _ws); handler.handle("ws", _ws);
} }
void SPIBus::validate() const {
if (!_ss.undefined() || !_miso.undefined() || !_mosi.undefined() || !_sck.undefined()) {
Assert(!_ss.undefined(), "SPI SS pin should be configured once.");
Assert(!_miso.undefined(), "SPI MISO pin should be configured once.");
Assert(!_mosi.undefined(), "SPI MOSI pin should be configured once.");
Assert(!_sck.undefined(), "SPI SCK pin should be configured once.");
}
}
void SPIBus::handle(Configuration::HandlerBase& handler) {
handler.handle("ss", _ss);
handler.handle("miso", _miso);
handler.handle("mosi", _mosi);
handler.handle("mosi", _sck);
}
void MachineConfig::validate() const {} void MachineConfig::validate() const {}
void MachineConfig::handle(Configuration::HandlerBase& handler) { void MachineConfig::handle(Configuration::HandlerBase& handler) {
handler.handle("axes", _axes); handler.handle("axes", _axes);
handler.handle("i2so", _i2so); handler.handle("i2so", _i2so);
handler.handle("spi", _spi);
handler.handle("coolant", _coolant); handler.handle("coolant", _coolant);
handler.handle("probe", _probe); handler.handle("probe", _probe);
handler.handle("laser_mode", _laserMode);
} }
bool MachineConfig::load(const char* filename) { bool MachineConfig::load(const char* filename) {

25
Grbl_Esp32/src/MachineConfig.h
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@@ -123,9 +123,9 @@ public:
~Axes(); ~Axes();
}; };
class I2SO : public Configuration::Configurable { class I2SOBus : public Configuration::Configurable {
public: public:
I2SO() = default; I2SOBus() = default;
Pin _bck; Pin _bck;
Pin _data; Pin _data;
@@ -134,16 +134,33 @@ public:
void validate() const override; void validate() const override;
void handle(Configuration::HandlerBase& handler) override; void handle(Configuration::HandlerBase& handler) override;
~I2SO() {} ~I2SOBus() = default;
};
class SPIBus : public Configuration::Configurable {
public:
SPIBus() = default;
Pin _ss;
Pin _miso;
Pin _mosi;
Pin _sck;
void validate() const override;
void handle(Configuration::HandlerBase& handler) override;
~SPIBus() = default;
}; };
class MachineConfig : public Configuration::Configurable { class MachineConfig : public Configuration::Configurable {
public: public:
MachineConfig() = default; MachineConfig() = default;
Axes* _axes = nullptr; Axes* _axes = nullptr;
I2SO* _i2so = nullptr; SPIBus* _spi = nullptr;
I2SOBus* _i2so = nullptr;
CoolantControl* _coolant = nullptr; CoolantControl* _coolant = nullptr;
Probe* _probe = nullptr; Probe* _probe = nullptr;
bool _laserMode = false;
static MachineConfig*& instance() { static MachineConfig*& instance() {
static MachineConfig* instance = nullptr; static MachineConfig* instance = nullptr;

10
Grbl_Esp32/src/Motors/Dynamixel2.cpp
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@@ -197,8 +197,10 @@ namespace Motors {
if (_has_errors) { if (_has_errors) {
return false; return false;
} }
auto axis = MachineConfig::instance()->_axes->_axis[_axis_index];
sys_position[_axis_index] = sys_position[_axis_index] =
axis_settings[_axis_index]->home_mpos->get() * axis_settings[_axis_index]->steps_per_mm->get(); // convert to steps axis->_homing->_mpos * axis->_stepsPerMm; // convert to steps
set_disable(false); set_disable(false);
set_location(); // force the PWM to update now set_location(); // force the PWM to update now
@@ -229,8 +231,10 @@ namespace Motors {
read_settings(); read_settings();
int32_t pos_min_steps = lround(limitsMinPosition(_axis_index) * axis_settings[_axis_index]->steps_per_mm->get()); auto axis = MachineConfig::instance()->_axes->_axis[_axis_index];
int32_t pos_max_steps = lround(limitsMaxPosition(_axis_index) * axis_settings[_axis_index]->steps_per_mm->get());
int32_t pos_min_steps = lround(limitsMinPosition(_axis_index) * axis->_stepsPerMm);
int32_t pos_max_steps = lround(limitsMaxPosition(_axis_index) * axis->_stepsPerMm);
int32_t temp = map(dxl_position, DXL_COUNT_MIN, DXL_COUNT_MAX, pos_min_steps, pos_max_steps); int32_t temp = map(dxl_position, DXL_COUNT_MIN, DXL_COUNT_MAX, pos_min_steps, pos_max_steps);

21
Grbl_Esp32/src/Motors/RcServo.cpp
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@@ -29,6 +29,7 @@
*/ */
#include "RcServo.h" #include "RcServo.h"
#include "../MachineConfig.h"
namespace Motors { namespace Motors {
// RcServo::RcServo(Pin pwm_pin) : Servo(), _pwm_pin(pwm_pin) {} // RcServo::RcServo(Pin pwm_pin) : Servo(), _pwm_pin(pwm_pin) {}
@@ -36,15 +37,6 @@ namespace Motors {
void RcServo::init() { void RcServo::init() {
_axis_index = axis_index(); _axis_index = axis_index();
// TODO FIXME: This is leaking if init() is called multiple times.
char* setting_cal_min = (char*)malloc(20);
snprintf(setting_cal_min, 20, "%c/RcServo/Cal/Min", report_get_axis_letter(_axis_index));
rc_servo_cal_min = new FloatSetting(EXTENDED, WG, NULL, setting_cal_min, 1.0, 0.5, 2.0);
char* setting_cal_max = (char*)malloc(20);
snprintf(setting_cal_max, 20, "%c/RcServo/Cal/Max", report_get_axis_letter(_axis_index));
rc_servo_cal_max = new FloatSetting(EXTENDED, WG, NULL, setting_cal_max, 1.0, 0.5, 2.0);
auto pwmNative = _pwm_pin.getNative(Pin::Capabilities::PWM); auto pwmNative = _pwm_pin.getNative(Pin::Capabilities::PWM);
read_settings(); read_settings();
@@ -92,8 +84,8 @@ namespace Motors {
// Homing justs sets the new system position and the servo will move there // Homing justs sets the new system position and the servo will move there
bool RcServo::set_homing_mode(bool isHoming) { bool RcServo::set_homing_mode(bool isHoming) {
sys_position[_axis_index] = auto axis = MachineConfig::instance()->_axes->_axis[_axis_index];
axis_settings[_axis_index]->home_mpos->get() * axis_settings[_axis_index]->steps_per_mm->get(); // convert to steps sys_position[_axis_index] = axis->_homing->_mpos * axis->_stepsPerMm; // convert to steps
set_location(); // force the PWM to update now set_location(); // force the PWM to update now
vTaskDelay(750); // give time to move vTaskDelay(750); // give time to move
@@ -130,8 +122,8 @@ namespace Motors {
} }
void RcServo::read_settings() { void RcServo::read_settings() {
_pwm_pulse_min = SERVO_MIN_PULSE * rc_servo_cal_min->get(); _pwm_pulse_min = SERVO_MIN_PULSE * _cal_min;
_pwm_pulse_max = SERVO_MAX_PULSE * rc_servo_cal_max->get(); _pwm_pulse_max = SERVO_MAX_PULSE * _cal_max;
if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) { // normal direction if (bitnum_istrue(dir_invert_mask->get(), _axis_index)) { // normal direction
swap(_pwm_pulse_min, _pwm_pulse_max); swap(_pwm_pulse_min, _pwm_pulse_max);
@@ -139,8 +131,7 @@ namespace Motors {
} }
// Configuration registration // Configuration registration
namespace namespace {
{
MotorFactory::InstanceBuilder<RcServo> registration("rc_servo"); MotorFactory::InstanceBuilder<RcServo> registration("rc_servo");
} }
} }

6
Grbl_Esp32/src/Motors/RcServo.h
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@@ -42,8 +42,8 @@ namespace Motors {
bool _disabled; bool _disabled;
FloatSetting* rc_servo_cal_min; float _cal_min;
FloatSetting* rc_servo_cal_max; float _cal_max;
int _axis_index = -1; int _axis_index = -1;
@@ -66,6 +66,8 @@ namespace Motors {
void handle(Configuration::HandlerBase& handler) override { void handle(Configuration::HandlerBase& handler) override {
handler.handle("pwm", _pwm_pin); handler.handle("pwm", _pwm_pin);
handler.handle("cal_min", _cal_min);
handler.handle("cal_max", _cal_max);
} }
// Name of the configurable. Must match the name registered in the cpp file. // Name of the configurable. Must match the name registered in the cpp file.

36
Grbl_Esp32/src/Motors/TrinamicDriver.cpp
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@@ -90,10 +90,12 @@ namespace Motors {
config_message(); config_message();
auto ssPin = SPISSPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); auto spiConfig = MachineConfig::instance()->_spi;
auto mosiPin = SPIMOSIPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto sckPin = SPISCKPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); auto ssPin = spiConfig->_ss.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto misoPin = SPIMISOPin->get().getNative(Pin::Capabilities::Input | Pin::Capabilities::Native); auto mosiPin = spiConfig->_mosi.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto sckPin = spiConfig->_sck.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto misoPin = spiConfig->_miso.getNative(Pin::Capabilities::Input | Pin::Capabilities::Native);
SPI.begin(sckPin, misoPin, mosiPin, ssPin); // this will get called for each motor, but does not seem to hurt anything SPI.begin(sckPin, misoPin, mosiPin, ssPin); // this will get called for each motor, but does not seem to hurt anything
@@ -197,18 +199,18 @@ namespace Motors {
return; return;
} }
uint16_t run_i_ma = (uint16_t)(axis_settings[axis_index()]->run_current->get() * 1000.0); uint16_t run_i_ma = (uint16_t)(_run_current * 1000.0);
float hold_i_percent; float hold_i_percent;
if (axis_settings[axis_index()]->run_current->get() == 0) { if (_run_current == 0) {
hold_i_percent = 0; hold_i_percent = 0;
} else { } else {
hold_i_percent = axis_settings[axis_index()]->hold_current->get() / axis_settings[axis_index()]->run_current->get(); hold_i_percent = _hold_current / _run_current;
if (hold_i_percent > 1.0) if (hold_i_percent > 1.0)
hold_i_percent = 1.0; hold_i_percent = 1.0;
} }
tmcstepper->microsteps(axis_settings[axis_index()]->microsteps->get()); tmcstepper->microsteps(_microsteps);
tmcstepper->rms_current(run_i_ma, hold_i_percent); tmcstepper->rms_current(run_i_ma, hold_i_percent);
} }
@@ -250,14 +252,18 @@ namespace Motors {
break; break;
case TrinamicMode ::StallGuard: case TrinamicMode ::StallGuard:
//grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard"); //grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "Stallguard");
{
auto feedrate = MachineConfig::instance()->_axes->_axis[axis_index()]->_homing->_feedRate;
tmcstepper->en_pwm_mode(false); tmcstepper->en_pwm_mode(false);
tmcstepper->pwm_autoscale(false); tmcstepper->pwm_autoscale(false);
tmcstepper->TCOOLTHRS(calc_tstep(homing_feed_rate->get(), 150.0)); tmcstepper->TCOOLTHRS(calc_tstep(feedrate, 150.0));
tmcstepper->THIGH(calc_tstep(homing_feed_rate->get(), 60.0)); tmcstepper->THIGH(calc_tstep(feedrate, 60.0));
tmcstepper->sfilt(1); tmcstepper->sfilt(1);
tmcstepper->diag1_stall(true); // stallguard i/o is on diag1 tmcstepper->diag1_stall(true); // stallguard i/o is on diag1
tmcstepper->sgt(axis_settings[axis_index()]->stallguard->get()); tmcstepper->sgt(_stallguard);
break; break;
}
default: default:
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "TRINAMIC_MODE_UNDEFINED");
} }
@@ -284,7 +290,7 @@ namespace Motors {
tmcstepper->stallguard(), tmcstepper->stallguard(),
tmcstepper->sg_result(), tmcstepper->sg_result(),
feedrate, feedrate,
axis_settings[axis_index()]->stallguard->get()); _stallguard);
TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits. TMC2130_n ::DRV_STATUS_t status { 0 }; // a useful struct to access the bits.
status.sr = tmcstepper->DRV_STATUS(); status.sr = tmcstepper->DRV_STATUS();
@@ -308,8 +314,7 @@ namespace Motors {
// This is used to set the stallguard window from the homing speed. // This is used to set the stallguard window from the homing speed.
// The percent is the offset on the window // The percent is the offset on the window
uint32_t TrinamicDriver::calc_tstep(float speed, float percent) { uint32_t TrinamicDriver::calc_tstep(float speed, float percent) {
double tstep = double tstep = speed / 60.0 * MachineConfig::instance()->_axes->_axis[axis_index()]->_stepsPerMm * (256.0 / _microsteps);
speed / 60.0 * axis_settings[axis_index()]->steps_per_mm->get() * (256.0 / axis_settings[axis_index()]->microsteps->get());
tstep = TRINAMIC_FCLK / tstep * percent / 100.0; tstep = TRINAMIC_FCLK / tstep * percent / 100.0;
return static_cast<uint32_t>(tstep); return static_cast<uint32_t>(tstep);
@@ -431,8 +436,7 @@ namespace Motors {
} }
// Configuration registration // Configuration registration
namespace namespace {
{
MotorFactory::InstanceBuilder<TMC2130> registration_2130("tmc_2130"); MotorFactory::InstanceBuilder<TMC2130> registration_2130("tmc_2130");
MotorFactory::InstanceBuilder<TMC5160> registration_5160("tmc_5160"); MotorFactory::InstanceBuilder<TMC5160> registration_5160("tmc_5160");
} }

9
Grbl_Esp32/src/Motors/TrinamicDriver.h
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@@ -82,6 +82,11 @@ namespace Motors {
bool _has_errors; bool _has_errors;
bool _disabled; bool _disabled;
float _run_current = 0.25;
float _hold_current = 0.25;
int _microsteps = 256;
int _stallguard = 0;
TrinamicMode _mode = TrinamicMode::None; TrinamicMode _mode = TrinamicMode::None;
bool test(); bool test();
void set_mode(bool isHoming); void set_mode(bool isHoming);
@@ -128,6 +133,10 @@ namespace Motors {
void handle(Configuration::HandlerBase& handler) override { void handle(Configuration::HandlerBase& handler) override {
handler.handle("cs", _cs_pin); handler.handle("cs", _cs_pin);
handler.handle("r_sense", _r_sense); handler.handle("r_sense", _r_sense);
handler.handle("run_current", _run_current);
handler.handle("hold_current", _hold_current);
handler.handle("microsteps", _microsteps);
handler.handle("stallguard", _stallguard);
StandardStepper::handle(handler); StandardStepper::handle(handler);
} }

8
Grbl_Esp32/src/Protocol.cpp
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@@ -98,7 +98,7 @@ bool can_park() {
#ifdef ENABLE_PARKING_OVERRIDE_CONTROL #ifdef ENABLE_PARKING_OVERRIDE_CONTROL
sys.override_ctrl == Override::ParkingMotion && sys.override_ctrl == Override::ParkingMotion &&
#endif #endif
homing_enable->get() && !laser_mode->get(); homing_enable->get() && !MachineConfig::instance()->_laserMode;
} }
/* /*
@@ -560,7 +560,7 @@ static void protocol_exec_rt_suspend() {
restore_spindle_speed = block->spindle_speed; restore_spindle_speed = block->spindle_speed;
} }
#ifdef DISABLE_LASER_DURING_HOLD #ifdef DISABLE_LASER_DURING_HOLD
if (laser_mode->get()) { if (MachineConfig::instance()->_laserMode) {
sys_rt_exec_accessory_override.bit.spindleOvrStop = true; sys_rt_exec_accessory_override.bit.spindleOvrStop = true;
} }
#endif #endif
@@ -663,7 +663,7 @@ static void protocol_exec_rt_suspend() {
if (gc_state.modal.spindle != SpindleState::Disable) { if (gc_state.modal.spindle != SpindleState::Disable) {
// Block if safety door re-opened during prior restore actions. // Block if safety door re-opened during prior restore actions.
if (!sys.suspend.bit.restartRetract) { if (!sys.suspend.bit.restartRetract) {
if (laser_mode->get()) { if (MachineConfig::instance()->_laserMode) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts. // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
sys.step_control.updateSpindleRpm = true; sys.step_control.updateSpindleRpm = true;
} else { } else {
@@ -719,7 +719,7 @@ static void protocol_exec_rt_suspend() {
} else if (sys.spindle_stop_ovr.bit.restore || sys.spindle_stop_ovr.bit.restoreCycle) { } else if (sys.spindle_stop_ovr.bit.restore || sys.spindle_stop_ovr.bit.restoreCycle) {
if (gc_state.modal.spindle != SpindleState::Disable) { if (gc_state.modal.spindle != SpindleState::Disable) {
report_feedback_message(Message::SpindleRestore); report_feedback_message(Message::SpindleRestore);
if (laser_mode->get()) { if (MachineConfig::instance()->_laserMode) {
// When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts. // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
sys.step_control.updateSpindleRpm = true; sys.step_control.updateSpindleRpm = true;
} else { } else {

14
Grbl_Esp32/src/SDCard.cpp
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@@ -19,6 +19,7 @@
*/ */
#include "SDCard.h" #include "SDCard.h"
#include "MachineConfig.h"
File myFile; File myFile;
bool SD_ready_next = false; // Grbl has processed a line and is waiting for another bool SD_ready_next = false; // Grbl has processed a line and is waiting for another
@@ -130,11 +131,14 @@ uint8_t sd_state = SDCARD_IDLE;
uint8_t get_sd_state(bool refresh) { uint8_t get_sd_state(bool refresh) {
// Before we use the SD library, we *must* make sure SPI is properly initialized. Re-initialization // Before we use the SD library, we *must* make sure SPI is properly initialized. Re-initialization
// fortunately doesn't change any of the settings. // fortunately doesn't change any of the settings.
auto ssPin = SPISSPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); auto spiConfig = MachineConfig::instance()->_spi;
auto mosiPin = SPIMOSIPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto sckPin = SPISCKPin->get().getNative(Pin::Capabilities::Output | Pin::Capabilities::Native); auto ssPin = spiConfig->_ss.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto misoPin = SPIMISOPin->get().getNative(Pin::Capabilities::Input | Pin::Capabilities::Native); auto mosiPin = spiConfig->_mosi.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
SPI.begin(sckPin, misoPin, mosiPin, ssPin); auto sckPin = spiConfig->_sck.getNative(Pin::Capabilities::Output | Pin::Capabilities::Native);
auto misoPin = spiConfig->_miso.getNative(Pin::Capabilities::Input | Pin::Capabilities::Native);
SPI.begin(sckPin, misoPin, mosiPin, ssPin); // this will get called for each motor, but does not seem to hurt anything
//no need to go further if SD detect is not correct //no need to go further if SD detect is not correct
if (SDCardDetPin->get() != Pin::UNDEFINED) { if (SDCardDetPin->get() != Pin::UNDEFINED) {

3
Grbl_Esp32/src/Spindles/VFDSpindle.cpp
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@@ -33,6 +33,7 @@
*/ */
#include "VFDSpindle.h" #include "VFDSpindle.h"
#include "../MachineConfig.h"
const uart_port_t VFD_RS485_UART_PORT = UART_NUM_2; // hard coded for this port right now const uart_port_t VFD_RS485_UART_PORT = UART_NUM_2; // hard coded for this port right now
const int VFD_RS485_BUF_SIZE = 127; const int VFD_RS485_BUF_SIZE = 127;
@@ -318,7 +319,7 @@ namespace Spindles {
pins_settings_ok = false; pins_settings_ok = false;
} }
if (laser_mode->get()) { if (MachineConfig::instance()->_laserMode) {
grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart"); grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "VFD spindle disabled in laser mode. Set $GCode/LaserMode=Off and restart");
pins_settings_ok = false; pins_settings_ok = false;
} }

2
Grbl_Esp32/src/Stepper.cpp
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@@ -554,7 +554,7 @@ void st_prep_buffer() {
prep.current_speed = sqrt(pl_block->entry_speed_sqr); prep.current_speed = sqrt(pl_block->entry_speed_sqr);
} }
if (spindle->isRateAdjusted()) { // laser_mode->get() { if (spindle->isRateAdjusted()) { // MachineConfig::instance()->_laserMode {
if (pl_block->spindle == SpindleState::Ccw) { if (pl_block->spindle == SpindleState::Ccw) {
// Pre-compute inverse programmed rate to speed up PWM updating per step segment. // Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0 / pl_block->programmed_rate; prep.inv_rate = 1.0 / pl_block->programmed_rate;