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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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52
Grbl_Esp32/cpu_map.h
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@@ -126,6 +126,8 @@
// For 5000 that is 80,000,000 / 5000 = 16000 // For 5000 that is 80,000,000 / 5000 = 16000
// round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192) // round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
#define SPINDLE_PWM_BASE_FREQ 5000 // Hz #define SPINDLE_PWM_BASE_FREQ 5000 // Hz
#define SPINDLE_PWM_BIT_PRECISION 8 #define SPINDLE_PWM_BIT_PRECISION 8
#define SPINDLE_PWM_OFF_VALUE 0 #define SPINDLE_PWM_OFF_VALUE 0
@@ -133,8 +135,9 @@
//#define INVERT_SPINDLE_PWM //#define INVERT_SPINDLE_PWM
#ifndef SPINDLE_PWM_MIN_VALUE #ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE 1 // Must be greater than zero. #undef SPINDLE_PWM_MIN_VALUE
#endif #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
@@ -209,20 +212,21 @@
#endif #endif
#ifdef CPU_MAP_ESP32_ESC_SPINDLE #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 USE_RMT_STEPS
#define X_STEP_PIN GPIO_NUM_12 #define X_STEP_PIN GPIO_NUM_12
#define X_DIRECTION_PIN GPIO_NUM_26 #define X_DIRECTION_PIN GPIO_NUM_14
#define X_RMT_CHANNEL 0 #define X_RMT_CHANNEL 0
#define Y_STEP_PIN GPIO_NUM_14 #define Y_STEP_PIN GPIO_NUM_26
#define Y_DIRECTION_PIN GPIO_NUM_25 #define Y_DIRECTION_PIN GPIO_NUM_15// #define Y_STEP_PIN (see versions above)
#define Y_RMT_CHANNEL 1 #define Y_RMT_CHANNEL 1
#define Z_STEP_PIN GPIO_NUM_27 #define Z_STEP_PIN GPIO_NUM_27
@@ -232,43 +236,32 @@
// OK to comment out to use pin for other features // OK to comment out to use pin for other features
#define STEPPERS_DISABLE_PIN GPIO_NUM_13 #define STEPPERS_DISABLE_PIN GPIO_NUM_13
// *** the flood coolant feature code is activated by defining this pins #define SPINDLE_PWM_PIN GPIO_NUM_2
// *** 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 #define SPINDLE_PWM_CHANNEL 0
// RC ESC Based Spindle // Begin RC ESC Based Spindle #defines ======================
// 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_BASE_FREQ 50 // Hz for ESC
#define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit required for ESC #define SPINDLE_PWM_BIT_PRECISION 16 // 16 bit required for ESC
#define SPINDLE_PULSE_RES_COUNT 65535 #define SPINDLE_PULSE_RES_COUNT 65535
#define ESC_MIN_PULSE_SEC 0.001 // min pulse in seconds (OK to tune this one) #define ESC_MIN_PULSE_SEC 0.0007 // 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_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 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_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 #define SPINDLE_PWM_MAX_VALUE (uint16_t)(ESC_MAX_PULSE_SEC / ESC_TIME_PER_BIT) // in timer counts
#ifndef SPINDLE_PWM_MIN_VALUE #ifndef SPINDLE_PWM_MIN_VALUE
#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero. #undef SPINDLE_PWM_MIN_VALUE
#endif #endif
#define SPINDLE_PWM_MIN_VALUE SPINDLE_PWM_OFF_VALUE // Must be greater than zero.
#define SPINDLE_ENABLE_PIN GPIO_NUM_22 #define SPINDLE_ENABLE_PIN GPIO_NUM_22
// End RC ESC Based Spindle #defines ===========================
// if these spindle function pins are defined, they will be activated in the code #define X_LIMIT_PIN GPIO_NUM_17
// 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 Y_LIMIT_PIN GPIO_NUM_4
#define Z_LIMIT_PIN GPIO_NUM_15 #define Z_LIMIT_PIN GPIO_NUM_16
#define LIMIT_MASK B111 #define LIMIT_MASK B111
#define PROBE_PIN GPIO_NUM_32 #define PROBE_PIN GPIO_NUM_32
@@ -277,7 +270,6 @@
#define CONTROL_RESET_PIN GPIO_NUM_34 // 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_FEED_HOLD_PIN GPIO_NUM_36 // needs external pullup
#define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup #define CONTROL_CYCLE_START_PIN GPIO_NUM_39 // needs external pullup
#endif #endif
#ifdef CPU_MAP_PEN_LASER // The Buildlog.net pen laser controller V1 & V2 #ifdef CPU_MAP_PEN_LASER // The Buildlog.net pen laser controller V1 & V2

4
Grbl_Esp32/stepper.cpp
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@@ -57,7 +57,7 @@ typedef struct {
uint8_t prescaler; // Without AMASS, a prescaler is required to adjust for slow timing. uint8_t prescaler; // Without AMASS, a prescaler is required to adjust for slow timing.
#endif #endif
#ifdef VARIABLE_SPINDLE #ifdef VARIABLE_SPINDLE
uint8_t spindle_pwm; uint16_t spindle_pwm;
#endif #endif
} segment_t; } segment_t;
static segment_t segment_buffer[SEGMENT_BUFFER_SIZE]; static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
@@ -147,7 +147,7 @@ typedef struct {
#ifdef VARIABLE_SPINDLE #ifdef VARIABLE_SPINDLE
float inv_rate; // Used by PWM laser mode to speed up segment calculations. float inv_rate; // Used by PWM laser mode to speed up segment calculations.
uint8_t current_spindle_pwm; uint16_t current_spindle_pwm;
#endif #endif
} st_prep_t; } st_prep_t;
static st_prep_t prep; static st_prep_t prep;