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refactoring

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This commit is contained in:
bdring
2020-04-20 10:00:08 -05:00
parent 618b817c6f
commit e83ff8d7f1
17 changed files with 84 additions and 115 deletions
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59
Grbl_Esp32/Machines/add_esc_spindle.h
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@@ -1,59 +0,0 @@
/*
add_esc_spindle.h
Part of Grbl_ESP32
This is an additional configuration fragment that can be
included after a base configuration file. The base file
establishes most settings and the add-on changes a few things.
For example, in machines.h, you would write:
#include "Machines/3axis_v4.h" // Basic pin assignments
#include "Machines/add_esc_spindle.h" // Add-ons for ESC spindle
This uses a Brushless DC Hobby motor as a spindle motor. See:
https://github.com/bdring/Grbl_Esp32/wiki/BESC-Spindle-Feature
2019 - Bart Dring
2020 - Mitch Bradley
Grbl_ESP32 is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl_ESP32. If not, see <http://www.gnu.org/licenses/>.
*/
// MACHINE_EXTRA is appended to MACHINE_NAME for startup message display
#define MACHINE_EXTRA "_ESC_SPINDLE"
#define SHOW_EXTENDED_SETTINGS
/*
Important ESC Settings
$33=50 // Hz this is the typical good frequency for an ESC
#define DEFAULT_SPINDLE_FREQ 5000.0 // $33 Hz (extended set)
Determine the typical min and max pulse length of your ESC
min_pulse is typically 1ms (0.001 sec) or less
max_pulse is typically 2ms (0.002 sec) or more
determine PWM_period. It is (1/freq) if freq = 50...period = 0.02
determine pulse length for min_pulse and max_pulse in percent.
(pulse / PWM_period)
min_pulse = (0.001 / 0.02) = 0.05 = 5% so ... $34 and $35 = 5.0
max_pulse = (0.002 / .02) = 0.1 = 10% so ... $36=10
*/
#define DEFAULT_SPINDLE_FREQ 50.0
#define DEFAULT_SPINDLE_OFF_VALUE 5.0
#define DEFAULT_SPINDLE_MIN_VALUE 5.0
#define DEFAULT_SPINDLE_MAX_VALUE 10.0

2
Grbl_Esp32/Machines/lowrider_v1p2.h
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@@ -50,8 +50,10 @@
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_2
#else
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
#define SPINDLE_OUTPUT_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif

2
Grbl_Esp32/Machines/midtbot.h
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@@ -74,6 +74,8 @@
#define SERVO_PEN_PIN GPIO_NUM_27
#define SPINDLE_TYPE SPINDLE_TYPE_NONE
// defaults
#define DEFAULT_STEP_PULSE_MICROSECONDS 3
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 255 // stay on

2
Grbl_Esp32/Machines/mpcnc_v1p1.h
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@@ -50,8 +50,10 @@
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
#define SPINDLE_OUTPUT_PIN GPIO_NUM_17
#else
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif

2
Grbl_Esp32/Machines/mpcnc_v1p2.h
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@@ -51,8 +51,10 @@
//#define USE_SPINDLE_RELAY
#ifdef USE_SPINDLE_RELAY
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
#define SPINDLE_OUTPUT_PIN GPIO_NUM_2
#else
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#define SPINDLE_OUTPUT_PIN GPIO_NUM_16
#define SPINDLE_ENABLE_PIN GPIO_NUM_32
#endif

2
Grbl_Esp32/Machines/pen_laser.h
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@@ -68,6 +68,8 @@
#define SOLENOID_PEN_PIN GPIO_NUM_16
#endif
#define SPINDLE_TYPE SPINDLE_TYPE_NONE
// defaults
#define DEFAULT_STEP_PULSE_MICROSECONDS 3
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 250 // stay on

2
Grbl_Esp32/Machines/polar_coaster.h
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@@ -57,6 +57,8 @@
#define X_LIMIT_PIN GPIO_NUM_4
#define LIMIT_MASK B1
#define SPINDLE_TYPE SPINDLE_TYPE_NONE
#ifdef IGNORE_CONTROL_PINS // maybe set in config.h
#undef IGNORE_CONTROL_PINS
#endif

11
Grbl_Esp32/Machines/spi_daisy_4axis.h
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@@ -81,10 +81,15 @@
// Relay operation
// Install Jumper near relay
// For spindle Use max RPM of 1
// For PWM remove jumper and set MAX RPM to something higher ($30 setting)
// For PWM remove jumper to prevent relay damage
// Interlock jumper along top edge needs to be installed for both versions
#define DEFAULT_SPINDLE_RPM_MAX 1 // Should be 1 for relay operation
#define USE_RELAY // comment out to use PWM
#ifdef USE_RELAY
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
#else
#define SPINDLE_TYPE SPINDLE_TYPE_PWM
#endif
#define PROBE_PIN GPIO_NUM_22

6
Grbl_Esp32/Machines/tmc2130_pen.h
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@@ -65,11 +65,7 @@
#define SERVO_Z_HOME_POS SERVO_Z_RANGE_MAX // move to max during homing
#define SERVO_Z_MPOS false // will not use mpos, uses work coordinates
// Comment out servo pin and uncomment spindle pwm pin to use the servo PWM to control a spindle
/*
#define SPINDLE_OUTPUT_PIN GPIO_NUM_27
*/
#define SPINDLE_TYPE SPINDLE_TYPE_RELAY
// #define X_LIMIT_PIN See version section
#define Y_LIMIT_PIN GPIO_NUM_4

27
Grbl_Esp32/report.cpp
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@@ -314,7 +314,7 @@ void report_grbl_settings(uint8_t client, uint8_t show_extended) {
sprintf(setting, "$33=%5.3f\r\n", settings.spindle_pwm_freq); strcat(rpt, setting);
sprintf(setting, "$34=%3.3f\r\n", settings.spindle_pwm_off_value); strcat(rpt, setting);
sprintf(setting, "$35=%3.3f\r\n", settings.spindle_pwm_min_value); strcat(rpt, setting);
sprintf(setting, "$36=%3.3f\r\n", settings.spindle_pwm_max_value); strcat(rpt, setting);
sprintf(setting, "$36=%3.3f\r\n", settings.spindle_pwm_max_value); strcat(rpt, setting);
for (uint8_t index = 0; index < USER_SETTING_COUNT; index++) {
sprintf(setting, "$%d=%d\r\n", 80 + index, settings.machine_int16[index]); strcat(rpt, setting);
}
@@ -777,11 +777,11 @@ void report_gcode_comment(char* comment) {
/*
Print a message in hex formate
Print a message in hex format
Ex: report_hex_msg(msg, "Rx:", 6);
Would could print [MSG Rx: 0x01 0x03 0x01 0x08 0x31 0xbf]
Would would print something like ... [MSG Rx: 0x01 0x03 0x01 0x08 0x31 0xbf]
*/
void report_hex_msg(char* buf, const char *prefix, int len) {
void report_hex_msg(char* buf, const char* prefix, int len) {
char report[200];
char temp[20];
sprintf(report, "%s", prefix);
@@ -792,4 +792,23 @@ void report_hex_msg(char* buf, const char *prefix, int len) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "%s", report);
}
char report_get_axis_letter(uint8_t axis) {
switch (axis) {
case X_AXIS:
return 'X';
case Y_AXIS:
return 'Y';
case Z_AXIS:
return 'Z';
case A_AXIS:
return 'A';
case B_AXIS:
return 'B';
case C_AXIS:
return 'C';
default:
return '?';
}
}

2
Grbl_Esp32/report.h
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@@ -172,4 +172,6 @@ void report_gcode_comment(char* comment);
void report_hex_msg(char* buf, const char *prefix, int len);
char report_get_axis_letter(uint8_t axis);
#endif

4
Grbl_Esp32/tools/BESCSpindle.cpp
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@@ -54,7 +54,7 @@
void BESCSpindle :: init() {
get_pin_numbers();
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: BESC output pin not defined");
@@ -116,6 +116,6 @@ float BESCSpindle::set_rpm(float rpm) {
set_enable_pin(rpm != 0);
#endif
set_pwm(pwm_value);
set_output(pwm_value);
return rpm;
}

6
Grbl_Esp32/tools/DacSpindle.cpp
View File

@@ -27,7 +27,7 @@
// ======================================== DacSpindle ======================================
void DacSpindle :: init() {
get_pin_numbers();
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN)
return;
@@ -97,12 +97,12 @@ float DacSpindle::set_rpm(float rpm) {
set_enable_pin(rpm != 0);
#endif
set_pwm(pwm_value);
set_output(pwm_value);
return rpm;
}
void DacSpindle :: set_pwm(uint32_t duty) {
void DacSpindle :: set_output(uint32_t duty) {
if (_gpio_ok) {
dacWrite(_output_pin, (uint8_t)duty);
}

4
Grbl_Esp32/tools/HuanyangSpindle.cpp
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@@ -58,7 +58,7 @@
void HuanyangSpindle :: init() {
// fail if numbers are not defined
if (!get_pin_numbers()) {
if (!get_pins_and_settings()) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Huanyang spindle errors");
return;
}
@@ -99,7 +99,7 @@ void HuanyangSpindle :: init() {
// Checks for all the required pin definitions
// It returns a message for each missing pin
// Returns true if all pins are defined.
bool HuanyangSpindle :: get_pin_numbers() {
bool HuanyangSpindle :: get_pins_and_settings() {
bool pins_ok = true;
#ifdef HUANYANG_TXD_PIN

48
Grbl_Esp32/tools/PWMSpindle.cpp
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@@ -29,14 +29,13 @@
*/
void PWMSpindle::init() {
get_pin_numbers();
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle output pin not defined");
return; // We cannot continue without the output pin
}
ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, _pwm_precision); // setup the channel
ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin
@@ -44,13 +43,13 @@ void PWMSpindle::init() {
pinMode(_enable_pin, OUTPUT);
if (_direction_pin != UNDEFINED_PIN)
pinMode(_direction_pin, OUTPUT);
pinMode(_direction_pin, OUTPUT);
config_message();
}
// Get the GPIO from the machine definition
void PWMSpindle :: get_pin_numbers() {
void PWMSpindle :: get_pins_and_settings() {
// setup all the pins
#ifdef SPINDLE_OUTPUT_PIN
@@ -66,7 +65,7 @@ void PWMSpindle :: get_pin_numbers() {
#endif
#ifdef SPINDLE_DIR_PIN
_direction_pin = SPINDLE_DIR_PIN;
_direction_pin = SPINDLE_DIR_PIN;
#else
_direction_pin = UNDEFINED_PIN;
#endif
@@ -77,7 +76,7 @@ void PWMSpindle :: get_pin_numbers() {
_pwm_period = (1 << _pwm_precision);
if (settings.spindle_pwm_min_value > settings.spindle_pwm_min_value)
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle min pwm is greater than max. Check $35 and $36");
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle min pwm is greater than max. Check $35 and $36");
// pre-caculate some PWM count values
_pwm_off_value = (_pwm_period * settings.spindle_pwm_off_value / 100.0);
@@ -95,18 +94,18 @@ void PWMSpindle :: get_pin_numbers() {
_pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
_spindle_pwm_chan_num = 0; // Channel 0 is reserved for spindle use
}
float PWMSpindle::set_rpm(float rpm) {
if (_output_pin == UNDEFINED_PIN)
return rpm;
uint32_t pwm_value;
// apply overrides and limits
rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value (percent)
if (_output_pin == UNDEFINED_PIN)
return rpm;
// apply override
rpm *= (0.010 * sys.spindle_speed_ovr); // Scale by spindle speed override value (percent)
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
@@ -118,17 +117,15 @@ float PWMSpindle::set_rpm(float rpm) {
sys.spindle_speed = 0.0;
pwm_value = _pwm_off_value;
} else { // Set minimum PWM output
rpm = _min_rpm;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM 2:%5.2f", rpm);
rpm = _min_rpm;
sys.spindle_speed = rpm;
pwm_value = _pwm_min_value;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM less than min RPM:%5.2f %d", rpm, pwm_value);
}
} else {
// Compute intermediate PWM value with linear spindle speed model.
// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
sys.spindle_speed = rpm;
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM 3:%5.2f", rpm);
#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
pwm_value = piecewise_linear_fit(rpm);
#else
@@ -139,9 +136,8 @@ float PWMSpindle::set_rpm(float rpm) {
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
set_enable_pin(rpm != 0);
#endif
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle RPM Final:%5.2f", rpm);
set_pwm(pwm_value);
set_output(pwm_value);
return rpm;
}
@@ -180,7 +176,7 @@ uint8_t PWMSpindle::get_state() {
void PWMSpindle::stop() {
// inverts are delt with in methods
set_enable_pin(false);
set_pwm(_pwm_off_value);
set_output(_pwm_off_value);
}
// prints the startup message of the spindle config
@@ -189,9 +185,7 @@ void PWMSpindle :: config_message() {
}
void PWMSpindle::set_pwm(uint32_t duty) {
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Spindle set duty:%d", duty);
void PWMSpindle::set_output(uint32_t duty) {
if (_output_pin == UNDEFINED_PIN)
return;
@@ -225,15 +219,15 @@ void PWMSpindle::set_spindle_dir_pin(bool Clockwise) {
/*
Calculate the best precision of a PWM base on the frequency in bits
Calculate the highest precision of a PWM based on the frequency in bits
80,000,000 / freq = period
determine the highest precision where (1 << precision) < period
determine the highest precision where (1 << precision) < period
*/
uint8_t PWMSpindle :: calc_pwm_precision(float freq) {
uint8_t precision = 0;
while ((1 << precision ) < (uint32_t)(80000000.0/ freq) && precision <= 16)
while ((1 << precision) < (uint32_t)(80000000.0 / freq) && precision <= 16)
precision++;
return precision - 1;

10
Grbl_Esp32/tools/RelaySpindle.cpp
View File

@@ -27,7 +27,8 @@
This is the same as a PWM spindle, but is a digital rather than PWM output
*/
void RelaySpindle::init() {
get_pin_numbers();
get_pins_and_settings();
if (_output_pin == UNDEFINED_PIN)
return;
@@ -57,19 +58,18 @@ float RelaySpindle::set_rpm(float rpm) {
if (rpm == 0) {
sys.spindle_speed = 0.0;
set_pwm(0);
set_output(0);
} else {
sys.spindle_speed = rpm;
set_pwm(1);
set_output(1);
}
return rpm;
}
void RelaySpindle::set_pwm(uint32_t duty) {
void RelaySpindle::set_output(uint32_t duty) {
#ifdef INVERT_SPINDLE_PWM
duty = (duty == 0); // flip duty
#endif
grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Relay output %d", duty > 0);
digitalWrite(_output_pin, duty > 0); // anything greater
}

10
Grbl_Esp32/tools/SpindleClass.h
View File

@@ -101,9 +101,9 @@ class PWMSpindle : public Spindle {
uint8_t _pwm_precision;
float _pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
virtual void set_pwm(uint32_t duty);
virtual void set_output(uint32_t duty);
void set_enable_pin(bool enable_pin);
void get_pin_numbers();
void get_pins_and_settings();
uint8_t calc_pwm_precision(float freq);
};
@@ -114,7 +114,7 @@ class RelaySpindle : public PWMSpindle {
void config_message();
float set_rpm(float rpm);
protected:
void set_pwm(uint32_t duty);
void set_output(uint32_t duty);
};
// this is the same as a PWM spindle, but the M4 compensation is supported.
@@ -133,7 +133,7 @@ class DacSpindle : public PWMSpindle {
private:
bool _gpio_ok; // DAC is on a valid pin
protected:
void set_pwm(uint32_t duty); // sets DAC instead of PWM
void set_output(uint32_t duty); // sets DAC instead of PWM
};
class HuanyangSpindle : public Spindle {
@@ -150,7 +150,7 @@ class HuanyangSpindle : public Spindle {
uint16_t ModRTU_CRC(char* buf, int len);
void add_ModRTU_CRC(char* buf, int full_msg_len);
bool set_mode(uint8_t mode);
bool get_pin_numbers();
bool get_pins_and_settings();
uint8_t _txd_pin;
uint8_t _rxd_pin;