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Code Issues Releases Wiki Activity

Fixed Spindle Bug

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- Bug when using 16 bit PWM for the spindle. Stepper.cpp copied the PWM into 8 bit variables and corrupted the value.
This commit is contained in:
bdring
2019-10-26 16:02:30 -05:00
parent 2181421491
commit e6ceb6ffbe
2 changed files with 64 additions and 72 deletions
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126
Grbl_Esp32/cpu_map.h
View File

@@ -126,6 +126,8 @@
// For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8
#define SPINDLE_PWM_OFF_VALUE 0
@@ -133,10 +135,11 @@
//#define INVERT_SPINDLE_PWM
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#undef SPINDLE_PWM_MIN_VALUE
#endif
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero.
#define SPINDLE_ENABLE_PIN GPIO_NUM_22
#define SPINDLE_ENABLE_PIN GPIO_NUM_22
// see versions for X and Z
#define Y_LIMIT_PIN GPIO_NUM_4
@@ -209,75 +212,64 @@
#endif
#ifdef CPU_MAP_ESP32_ESC_SPINDLE
// This is the CPU Map for the ESP32 CNC Controller R2
// This is an example of using a Brushless DC Hobby motor as
// a spindle motor
// See this wiki page for more info
// https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
// It is OK to comment out any step and direction pins. This
// won't affect operation except that there will be no output
// form the pins. Grbl will virtually move the axis. This could
// be handy if you are using a servo, etc. for another axis.
#define CPU_MAP_NAME "CPU_MAP_ESP32_ESC_SPINDLE"
#define CPU_MAP_NAME "CPU_MAP_ESP32_ESC_SPINDLE"
#define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_26
#define X_RMT_CHANNEL 0
#define USE_RMT_STEPS
#define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_14
#define X_RMT_CHANNEL 0
#define Y_STEP_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_15// #define Y_STEP_PIN (see versions above)
#define Y_RMT_CHANNEL 1
#define Z_STEP_PIN GPIO_NUM_27
#define Z_DIRECTION_PIN GPIO_NUM_33
#define Z_RMT_CHANNEL 2
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
#define Y_STEP_PIN GPIO_NUM_14
#define Y_DIRECTION_PIN GPIO_NUM_25
#define Y_RMT_CHANNEL 1
#define Z_STEP_PIN GPIO_NUM_27
#define Z_DIRECTION_PIN GPIO_NUM_33
#define Z_RMT_CHANNEL 2
// OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13
// *** the flood coolant feature code is activated by defining this pins
// *** Comment it out to use the pin for other features
#define COOLANT_FLOOD_PIN GPIO_NUM_16
//#define COOLANT_MIST_PIN GPIO_NUM_21
// If SPINDLE_PWM_PIN is commented out, this frees up the pin, but Grbl will still
// use a virtual spindle. Do not comment out the other parameters for the spindle.
#define SPINDLE_PWM_PIN GPIO_NUM_17
#define SPINDLE_PWM_CHANNEL 0
// RC ESC Based Spindle
// An ESC works like a hobby servo with 50Hz PWM 1ms to 2 ms pulse range
#define SPINDLE_PWM_BASE_FREQ 50 // Hz for ESC
#define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit required for ESC
#define SPINDLE_PULSE_RES_COUNT 65535
#define ESC_MIN_PULSE_SEC 0.001 // min pulse in seconds (OK to tune this one)
#define ESC_MAX_PULSE_SEC 0.002 // max pulse in seconds (OK to tune this one)
#define ESC_TIME_PER_BIT ((1.0 / (float)SPINDLE_PWM_BASE_FREQ) / ((float)SPINDLE_PULSE_RES_COUNT) ) // seconds
#define SPINDLE_PWM_PIN GPIO_NUM_2
#define SPINDLE_PWM_CHANNEL 0
// Begin RC ESC Based Spindle #defines ======================
#define SPINDLE_PWM_BASE_FREQ 50 // Hz for ESC
#define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit required for ESC
#define SPINDLE_PULSE_RES_COUNT 65535
#define ESC_MIN_PULSE_SEC 0.0007 // min pulse in seconds (OK to tune this one)
#define ESC_MAX_PULSE_SEC 0.0022 // max pulse in seconds (OK to tune this one)
#define ESC_TIME_PER_BIT ((1.0 / (float)SPINDLE_PWM_BASE_FREQ) / ((float)SPINDLE_PULSE_RES_COUNT) ) // seconds
#define SPINDLE_PWM_OFF_VALUE (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#define SPINDLE_PWM_MAX_VALUE (uint16_t)(ESC_MAX_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
#endif
#define SPINDLE_ENABLE_PIN GPIO_NUM_22
// if these spindle function pins are defined, they will be activated in the code
// comment them out to use the pins for other functions
//#define SPINDLE_ENABLE_PIN GPIO_NUM_16
//#define SPINDLE_DIR_PIN GPIO_NUM_16
#define X_LIMIT_PIN GPIO_NUM_2
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_15
#define LIMIT_MASK B111
#define PROBE_PIN GPIO_NUM_32
#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#define SPINDLE_PWM_OFF_VALUE (uint16_t)(ESC_MIN_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#define SPINDLE_PWM_MAX_VALUE (uint16_t)(ESC_MAX_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#ifndef SPINDLE_PWM_MIN_VALUE
#undef SPINDLE_PWM_MIN_VALUE
#endif
#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
#define SPINDLE_ENABLE_PIN GPIO_NUM_22
// End RC ESC Based Spindle #defines ===========================
#define X_LIMIT_PIN GPIO_NUM_17
#define Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_16
#define LIMIT_MASK B111
#define PROBE_PIN GPIO_NUM_32
#define CONTROL_SAFETY_DOOR_PIN GPIO_NUM_35 // needs external pullup
#define CONTROL_RESET_PIN GPIO_NUM_34 // needs external pullup
#define CONTROL_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif
#ifdef CPU_MAP_PEN_LASER // The Buildlog.net pen laser controller V1 & V2

10
Grbl_Esp32/stepper.cpp
View File

@@ -57,7 +57,7 @@ typedef struct {
uint8_t prescaler; // Without AMASS, a prescaler is required to adjust for slow timing.
#endif
#ifdef VARIABLE_SPINDLE
uint8_t spindle_pwm;
uint16_t spindle_pwm;
#endif
} segment_t;
static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
@@ -147,7 +147,7 @@ typedef struct {
#ifdef VARIABLE_SPINDLE
float inv_rate; // Used by PWM laser mode to speed up segment calculations.
uint8_t current_spindle_pwm;
uint16_t current_spindle_pwm;
#endif
} st_prep_t;
static st_prep_t prep;
@@ -293,8 +293,8 @@ void IRAM_ATTR onStepperDriverTimer(void *para) // ISR It is time to take a ste
#if ( (defined VARIABLE_SPINDLE) && (defined SPINDLE_PWM_PIN) )
if (!(sys.state & STATE_JOG)) { // added to prevent ... jog after probing crash
// Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) {
spindle_set_speed(SPINDLE_PWM_OFF_VALUE);
if (st.exec_block->is_pwm_rate_adjusted) {
spindle_set_speed(SPINDLE_PWM_OFF_VALUE);
}
}
@@ -1090,7 +1090,7 @@ void st_prep_buffer()
// Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
// spindle off.
st_prep_block->is_pwm_rate_adjusted = false;
if (settings.flags & BITFLAG_LASER_MODE) {
if (settings.flags & BITFLAG_LASER_MODE) {
if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0/pl_block->programmed_rate;