Split SpindleClass into invididual class files.

Grbl_Esp32/spindle_control.cpp

@@ -24,4 +24,4 @@
 //  This saves me from touching the grbl_esp32 code as much right now.
 
 // define a spindle type
-DacSpindle my_spindle;
+NullSpindle my_spindle;

Grbl_Esp32/spindle_control.h

@@ -24,6 +24,6 @@
 #include "grbl.h"
 #include "tools/SpindleClass.h"
 
-extern DacSpindle my_spindle;
+extern NullSpindle my_spindle;
 
 #endif

Grbl_Esp32/tools/DacSpindle.cpp

@@ -0,0 +1,107 @@
+/*
+    DacSpindle.cpp
+
+    This uses the Analog DAC in the ESP32 to generate a voltage
+    proportional to the GCode S value desired. Some spindle uses
+    a 0-5V or 0-10V value to control the spindle. You would use 
+    an Op Amp type circuit to get from the 0.3.3V of the ESP32 to that voltage.
+
+    Part of Grbl_ESP32
+    2020 -	Bart Dring
+
+    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/>.
+    
+*/
+
+#include "grbl.h"
+#include "SpindleClass.h"
+
+// ======================================== DacSpindle ======================================
+void DacSpindle :: init() {
+    get_pin_numbers();
+    if (_output_pin == UNDEFINED_PIN)
+        return;
+    
+    _min_rpm = settings.rpm_min;
+    _max_rpm = settings.rpm_max;
+    _pwm_min_value = 0;     // not actually PWM...DAC counts
+    _pwm_max_value = 255;   // not actually PWM...DAC counts
+    _gpio_ok = true;
+
+    if (_output_pin != GPIO_NUM_25 && _output_pin != GPIO_NUM_26) { // DAC can only be used on these pins 
+        _gpio_ok = false;
+        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "DAC spindle pin invalid GPIO_NUM_%d", _output_pin);
+        return;
+    }    
+
+    if (_enable_pin != UNDEFINED_PIN)
+        pinMode(_enable_pin, OUTPUT);
+
+    if (_direction_pin != UNDEFINED_PIN)
+        pinMode(_direction_pin, OUTPUT);
+
+    config_message();
+}
+
+void DacSpindle :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "DAC spindle on GPIO %d", _output_pin);
+}
+
+float DacSpindle::set_rpm(float rpm) {
+    if (_output_pin == UNDEFINED_PIN)
+        return rpm;
+
+    uint32_t pwm_value;
+
+    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set RPM %5.1f", rpm);
+
+    // apply overrides and limits
+    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)) {
+        // No PWM range possible. Set simple on/off spindle control pin state.
+        sys.spindle_speed = _max_rpm;
+        pwm_value = 255;
+    } else if (rpm <= _min_rpm) {
+        if (rpm == 0.0) { // S0 disables spindle
+            sys.spindle_speed = 0.0;
+            pwm_value = 0;
+        } else { // Set minimum PWM output
+            rpm = _min_rpm;
+            sys.spindle_speed = rpm;
+            pwm_value = 0;
+            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;
+        
+        pwm_value = (uint32_t)map_float(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
+    }
+
+#ifdef  SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
+    set_enable_pin(rpm != 0);
+#endif
+
+    set_pwm(pwm_value);
+
+    return rpm;
+}
+
+void DacSpindle :: set_pwm(uint32_t duty) {
+    if (_gpio_ok) {
+         dacWrite(_output_pin, (uint8_t)duty);
+    }
+       
+}

Grbl_Esp32/tools/Laser.cpp

@@ -0,0 +1,42 @@
+/*
+    Laser.cpp
+
+    This is similar the the PWM Spindle except that it allows the 
+    M4 speed vs. power copensation.
+
+    Part of Grbl_ESP32
+    2020 -	Bart Dring
+
+    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/>.
+    
+*/
+
+#include "grbl.h"
+#include "SpindleClass.h"
+
+// ===================================== Laser ==============================================
+
+
+bool Laser :: isRateAdjusted() {
+    // must be in $32=1 (laser mode)
+    return (settings.flags & BITFLAG_LASER_MODE);
+}
+
+void Laser :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL,
+                   MSG_LEVEL_INFO,
+                   "Laser spindle on GPIO:%d, Freq:%.2fHz, Res:%dbits Laser mode:$32=%d",
+                   _output_pin,
+                   _pwm_freq,
+                   SPINDLE_PWM_BIT_PRECISION,
+                   isRateAdjusted());  // the current mode
+}

Grbl_Esp32/tools/NullSpindle.cpp

@@ -0,0 +1,40 @@
+/*
+    NullSpindle.cpp
+
+    This is used when you don't want to use a spindle. No I/O will be used
+    and most methods don't do anything
+
+    Part of Grbl_ESP32
+    2020 -	Bart Dring
+
+    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/>.
+    
+*/
+#include "grbl.h"
+#include "SpindleClass.h"
+
+// ======================= NullSpindle ==============================
+// NullSpindle is just bunch of do nothing (ignore) methods to be used when you don't want a spindle
+void NullSpindle :: init() {
+    config_message();
+}
+float NullSpindle :: set_rpm(float rpm) {
+    return rpm;
+}
+void NullSpindle :: set_state(uint8_t state, float rpm) {}
+uint8_t NullSpindle :: get_state() {
+    return (SPINDLE_STATE_DISABLE);
+}
+void NullSpindle :: stop() {}
+void NullSpindle :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No spindle");
+}

Grbl_Esp32/tools/PWMSpindle.cpp

@@ -0,0 +1,215 @@
+/*
+    PWMSpindle.cpp
+
+    This is a full featured TTL PWM spindle. This does not include speed/power
+    compensation. Use the Laser class for that.
+
+    Part of Grbl_ESP32
+    2020 -	Bart Dring
+
+    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/>.
+    
+*/
+#include "grbl.h"
+#include "SpindleClass.h"
+
+// ======================= PWMSpindle ==============================
+void PWMSpindle::init() {
+
+    get_pin_numbers();
+
+    if (_output_pin == UNDEFINED_PIN) {
+        return; // We cannot continue without the output pin
+    }
+
+    _pwm_freq = settings.spindle_pwm_freq;
+    _pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
+
+    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");
+
+    if ((F_TIMERS / _pwm_freq) < _pwm_period)
+        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle PWM precision (%d bits) too high for frequency (%.2f Hz)", SPINDLE_PWM_BIT_PRECISION, _pwm_freq);
+
+    // pre-caculate some PWM count values
+    _pwm_off_value = (_pwm_period * settings.spindle_pwm_off_value / 100.0);
+    _pwm_min_value = (_pwm_period * settings.spindle_pwm_min_value / 100.0);
+    _pwm_max_value = (_pwm_period * settings.spindle_pwm_max_value / 100.0);
+
+#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
+    _min_rpm = RPM_MIN;
+    _max_rpm = RPM_MAX;
+#else
+    _min_rpm = settings.rpm_min;
+    _max_rpm = settings.rpm_max;
+#endif
+    // The pwm_gradient is the pwm duty cycle units per rpm
+    _pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
+
+    _spindle_pwm_chan_num = sys_get_next_PWM_chan_num();
+    ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
+    ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin    
+
+    if (_enable_pin != UNDEFINED_PIN)
+        pinMode(_enable_pin, OUTPUT);
+
+    if (_direction_pin != UNDEFINED_PIN)
+        pinMode(_direction_pin, OUTPUT);
+
+    config_message();
+}
+
+// Get the GPIO from the machine definition
+void PWMSpindle :: get_pin_numbers() {
+    // setup all the pins
+
+#ifdef SPINDLE_PWM_PIN
+    _output_pin = SPINDLE_PWM_PIN;
+#else
+    _output_pin = UNDEFINED_PIN;
+#endif
+
+#ifdef SPINDLE_ENABLE_PIN
+    _enable_pin = SPINDLE_ENABLE_PIN;
+#else
+    _enable_pin = UNDEFINED_PIN;
+#endif
+
+#ifdef SPINDLE_DIR_PIN
+    _direction_pin = SPINDLE_DIR_PIN;
+#else
+    _direction_pin = UNDEFINED_PIN;
+#endif
+
+    if (_output_pin == UNDEFINED_PIN)
+        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle output pin not defined");
+
+}
+
+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)
+
+    // Calculate PWM register value based on rpm max/min settings and programmed rpm.
+    if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
+        // No PWM range possible. Set simple on/off spindle control pin state.
+        sys.spindle_speed = _max_rpm;
+        pwm_value = _pwm_max_value;
+    } else if (rpm <= _min_rpm) {
+        if (rpm == 0.0) { // S0 disables spindle
+            sys.spindle_speed = 0.0;
+            pwm_value = _pwm_off_value;
+        } else { // Set minimum PWM output
+            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;
+#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
+        pwm_value = piecewise_linear_fit(rpm);
+#else
+        pwm_value = floor((rpm - _min_rpm) * _pwm_gradient) + _pwm_min_value;
+#endif
+    }
+
+#ifdef  SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
+    set_enable_pin(rpm != 0);
+#endif
+
+    set_pwm(pwm_value);
+
+    return rpm;
+}
+
+void PWMSpindle::set_state(uint8_t state, float rpm) {
+
+    if (sys.abort)
+        return;   // Block during abort.
+
+    if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
+        sys.spindle_speed = 0.0;
+        stop();
+    } else {
+        set_spindle_dir_pin(state == SPINDLE_ENABLE_CW);
+        set_enable_pin(true);
+        set_rpm(rpm);
+    }
+    sys.report_ovr_counter = 0; // Set to report change immediately
+}
+
+uint8_t PWMSpindle::get_state() {
+
+
+    if (_current_pwm_duty == 0  || _output_pin == UNDEFINED_PIN)
+        return (SPINDLE_STATE_DISABLE);
+    else {
+        if (_direction_pin != UNDEFINED_PIN) {
+            if (digitalRead(_direction_pin))
+                return (SPINDLE_STATE_CW);
+            else
+                return (SPINDLE_STATE_CCW);
+        } else
+            return (SPINDLE_STATE_CW);
+    }
+}
+
+void PWMSpindle::stop() {
+    // inverts are delt with in methods
+    set_enable_pin(false);
+    set_pwm(0);
+}
+
+// prints the startup message of the spindle config
+void PWMSpindle :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM spindle on GPIO %d, freq %.2fHz, Res %d bits", _output_pin, _pwm_freq, SPINDLE_PWM_BIT_PRECISION);
+}
+
+
+void PWMSpindle::set_pwm(uint32_t duty) {
+    if (_output_pin == UNDEFINED_PIN)
+        return;
+
+    // to prevent excessive calls to ledcWrite, make sure duty hass changed
+    if (duty == _current_pwm_duty)
+        return;
+
+    _current_pwm_duty = duty;
+
+#ifdef INVERT_SPINDLE_PWM
+    duty = (1 << SPINDLE_PWM_BIT_PRECISION) - duty;
+#endif
+    ledcWrite(_spindle_pwm_chan_num, duty);
+}
+
+void PWMSpindle::set_enable_pin(bool enable) {
+    if (_enable_pin == UNDEFINED_PIN)
+        return;
+#ifndef INVERT_SPINDLE_ENABLE_PIN
+    digitalWrite(_enable_pin, enable);
+#else
+    digitalWrite(_enable_pin, !enable);
+#endif
+}
+
+void PWMSpindle::set_spindle_dir_pin(bool Clockwise) {
+    if (_direction_pin != UNDEFINED_PIN)
+        digitalWrite(_direction_pin, Clockwise);
+}

Grbl_Esp32/tools/RelaySpindle.cpp

@@ -0,0 +1,55 @@
+/*
+    RelaySpindle.cpp
+
+    This is used for a basic on/off spindle. All S Values about 1
+    will turn the spindle on.
+
+    Part of Grbl_ESP32
+    2020 -	Bart Dring
+
+    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/>.
+    
+*/
+#include "grbl.h"
+#include "SpindleClass.h"
+
+// ========================= RelaySpindle ==================================
+/*
+    This is the same as a PWM spindle, but is a digital rather than PWM output
+*/
+void RelaySpindle::init() {
+    get_pin_numbers();
+    if (_output_pin == UNDEFINED_PIN)
+        return;
+
+    pinMode(_output_pin, OUTPUT);
+
+    if (_enable_pin != UNDEFINED_PIN)
+        pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
+
+    if (_direction_pin != UNDEFINED_PIN)
+        pinMode(_direction_pin, OUTPUT);
+
+    config_message();
+}
+
+// prints the startup message of the spindle config
+void RelaySpindle :: config_message() {
+    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Relay spindle on GPIO %d", _output_pin);
+}
+
+void RelaySpindle::set_pwm(uint32_t duty) {
+#ifdef INVERT_SPINDLE_PWM
+    duty = (duty == 0); // flip duty
+#endif
+    digitalWrite(_output_pin, duty > 0); // anything greater
+}

Grbl_Esp32/tools/SpindleClass.cpp

@@ -35,6 +35,11 @@
 */
 #include "grbl.h"
 #include "SpindleClass.h"
+#include "NullSpindle.cpp"
+#include "PWMSpindle.cpp"
+#include "DacSpindle.cpp"
+#include "RelaySpindle.cpp"
+#include "Laser.cpp"
 
 bool Spindle::isRateAdjusted() {
     return false; // default for basic spindles is false
@@ -47,345 +52,4 @@ void Spindle :: spindle_sync(uint8_t state, float rpm) {
     set_state(state, rpm);
 }
 
-// ======================= NullSpindle ==============================
-// NullSpindle is just bunch of do nothing (ignore) methods to be used when you don't want a spindle
-void NullSpindle :: init() {
-    config_message();
-}
-float NullSpindle :: set_rpm(float rpm) {
-    return rpm;
-}
-void NullSpindle :: set_state(uint8_t state, float rpm) {}
-uint8_t NullSpindle :: get_state() {
-    return (SPINDLE_STATE_DISABLE);
-}
-void NullSpindle :: stop() {}
-void NullSpindle :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "No spindle");
-}
 
-
-
-// ======================= PWMSpindle ==============================
-void PWMSpindle::init() {
-
-    get_pin_numbers();
-
-    if (_output_pin == UNDEFINED_PIN) {
-        return; // We cannot continue without the output pin
-    }
-
-    _pwm_freq = settings.spindle_pwm_freq;
-    _pwm_period = ((1 << SPINDLE_PWM_BIT_PRECISION) - 1);
-
-    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");
-
-    if ((F_TIMERS / _pwm_freq) < _pwm_period)
-        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning spindle PWM precision (%d bits) too high for frequency (%.2f Hz)", SPINDLE_PWM_BIT_PRECISION, _pwm_freq);
-
-    // pre-caculate some PWM count values
-    _pwm_off_value = (_pwm_period * settings.spindle_pwm_off_value / 100.0);
-    _pwm_min_value = (_pwm_period * settings.spindle_pwm_min_value / 100.0);
-    _pwm_max_value = (_pwm_period * settings.spindle_pwm_max_value / 100.0);
-
-#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
-    _min_rpm = RPM_MIN;
-    _max_rpm = RPM_MAX;
-#else
-    _min_rpm = settings.rpm_min;
-    _max_rpm = settings.rpm_max;
-#endif
-    // The pwm_gradient is the pwm duty cycle units per rpm
-    _pwm_gradient = (_pwm_max_value - _pwm_min_value) / (_max_rpm - _min_rpm);
-
-    _spindle_pwm_chan_num = sys_get_next_PWM_chan_num();
-    ledcSetup(_spindle_pwm_chan_num, (double)_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
-    ledcAttachPin(_output_pin, _spindle_pwm_chan_num); // attach the PWM to the pin    
-
-    if (_enable_pin != UNDEFINED_PIN)
-        pinMode(_enable_pin, OUTPUT);
-
-    if (_direction_pin != UNDEFINED_PIN)
-        pinMode(_direction_pin, OUTPUT);
-
-    config_message();
-}
-
-// Get the GPIO from the machine definition
-void PWMSpindle :: get_pin_numbers() {
-    // setup all the pins
-
-#ifdef SPINDLE_PWM_PIN
-    _output_pin = SPINDLE_PWM_PIN;
-#else
-    _output_pin = UNDEFINED_PIN;
-#endif
-
-#ifdef SPINDLE_ENABLE_PIN
-    _enable_pin = SPINDLE_ENABLE_PIN;
-#else
-    _enable_pin = UNDEFINED_PIN;
-#endif
-
-#ifdef SPINDLE_DIR_PIN
-    _direction_pin = SPINDLE_DIR_PIN;
-#else
-    _direction_pin = UNDEFINED_PIN;
-#endif
-
-    if (_output_pin == UNDEFINED_PIN)
-        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Warning: Spindle output pin not defined");
-
-}
-
-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)
-
-    // Calculate PWM register value based on rpm max/min settings and programmed rpm.
-    if ((_min_rpm >= _max_rpm) || (rpm >= _max_rpm)) {
-        // No PWM range possible. Set simple on/off spindle control pin state.
-        sys.spindle_speed = _max_rpm;
-        pwm_value = _pwm_max_value;
-    } else if (rpm <= _min_rpm) {
-        if (rpm == 0.0) { // S0 disables spindle
-            sys.spindle_speed = 0.0;
-            pwm_value = _pwm_off_value;
-        } else { // Set minimum PWM output
-            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;
-#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
-        pwm_value = piecewise_linear_fit(rpm);
-#else
-        pwm_value = floor((rpm - _min_rpm) * _pwm_gradient) + _pwm_min_value;
-#endif
-    }
-
-#ifdef  SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
-    set_enable_pin(rpm != 0);
-#endif
-
-    set_pwm(pwm_value);
-
-    return rpm;
-}
-
-void PWMSpindle::set_state(uint8_t state, float rpm) {
-
-    if (sys.abort)
-        return;   // Block during abort.
-
-    if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
-        sys.spindle_speed = 0.0;
-        stop();
-    } else {
-        set_spindle_dir_pin(state == SPINDLE_ENABLE_CW);
-        set_enable_pin(true);
-        set_rpm(rpm);
-    }
-    sys.report_ovr_counter = 0; // Set to report change immediately
-}
-
-uint8_t PWMSpindle::get_state() {
-
-
-    if (_current_pwm_duty == 0  || _output_pin == UNDEFINED_PIN)
-        return (SPINDLE_STATE_DISABLE);
-    else {
-        if (_direction_pin != UNDEFINED_PIN) {
-            if (digitalRead(_direction_pin))
-                return (SPINDLE_STATE_CW);
-            else
-                return (SPINDLE_STATE_CCW);
-        } else
-            return (SPINDLE_STATE_CW);
-    }
-}
-
-void PWMSpindle::stop() {
-    // inverts are delt with in methods
-    set_enable_pin(false);
-    set_pwm(0);
-}
-
-// prints the startup message of the spindle config
-void PWMSpindle :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "PWM spindle on GPIO %d, freq %.2fHz, Res %d bits", _output_pin, _pwm_freq, SPINDLE_PWM_BIT_PRECISION);
-}
-
-
-void PWMSpindle::set_pwm(uint32_t duty) {
-    if (_output_pin == UNDEFINED_PIN)
-        return;
-
-    // to prevent excessive calls to ledcWrite, make sure duty hass changed
-    if (duty == _current_pwm_duty)
-        return;
-
-    _current_pwm_duty = duty;
-
-#ifdef INVERT_SPINDLE_PWM
-    duty = (1 << SPINDLE_PWM_BIT_PRECISION) - duty;
-#endif
-    ledcWrite(_spindle_pwm_chan_num, duty);
-}
-
-void PWMSpindle::set_enable_pin(bool enable) {
-    if (_enable_pin == UNDEFINED_PIN)
-        return;
-#ifndef INVERT_SPINDLE_ENABLE_PIN
-    digitalWrite(_enable_pin, enable);
-#else
-    digitalWrite(_enable_pin, !enable);
-#endif
-}
-
-void PWMSpindle::set_spindle_dir_pin(bool Clockwise) {
-    if (_direction_pin != UNDEFINED_PIN)
-        digitalWrite(_direction_pin, Clockwise);
-}
-
-// ========================= RelaySpindle ==================================
-/*
-    This is the same as a PWM spindle, but is a digital rather than PWM output
-*/
-void RelaySpindle::init() {
-    get_pin_numbers();
-    if (_output_pin == UNDEFINED_PIN)
-        return;
-
-    pinMode(_output_pin, OUTPUT);
-
-    if (_enable_pin != UNDEFINED_PIN)
-        pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
-
-    if (_direction_pin != UNDEFINED_PIN)
-        pinMode(_direction_pin, OUTPUT);
-
-    config_message();
-}
-
-// prints the startup message of the spindle config
-void RelaySpindle :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Relay spindle on GPIO %d", _output_pin);
-}
-
-void RelaySpindle::set_pwm(uint32_t duty) {
-#ifdef INVERT_SPINDLE_PWM
-    duty = (duty == 0); // flip duty
-#endif
-    digitalWrite(_output_pin, duty > 0); // anything greater
-}
-
-
-// ===================================== Laser ==============================================
-
-
-bool Laser :: isRateAdjusted() {
-    // must be in $32=1 (laser mode)
-    return (settings.flags & BITFLAG_LASER_MODE);
-}
-
-void Laser :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL,
-                   MSG_LEVEL_INFO,
-                   "Laser spindle on GPIO:%d, Freq:%.2fHz, Res:%dbits Laser mode:$32=%d",
-                   _output_pin,
-                   _pwm_freq,
-                   SPINDLE_PWM_BIT_PRECISION,
-                   isRateAdjusted());  // the current mode
-}
-
-// ======================================== DacSpindle ======================================
-void DacSpindle :: init() {
-    get_pin_numbers();
-    if (_output_pin == UNDEFINED_PIN)
-        return;
-    
-    _min_rpm = settings.rpm_min;
-    _max_rpm = settings.rpm_max;
-    _pwm_min_value = 0;     // not actually PWM...DAC counts
-    _pwm_max_value = 255;   // not actually PWM...DAC counts
-    _gpio_ok = true;
-
-    if (_output_pin != GPIO_NUM_25 && _output_pin != GPIO_NUM_26) { // DAC can only be used on these pins 
-        _gpio_ok = false;
-        grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "DAC spindle pin invalid GPIO_NUM_%d", _output_pin);
-        return;
-    }    
-
-    if (_enable_pin != UNDEFINED_PIN)
-        pinMode(_enable_pin, OUTPUT);
-
-    if (_direction_pin != UNDEFINED_PIN)
-        pinMode(_direction_pin, OUTPUT);
-
-    config_message();
-}
-
-void DacSpindle :: config_message() {
-    grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "DAC spindle on GPIO %d", _output_pin);
-}
-
-float DacSpindle::set_rpm(float rpm) {
-    if (_output_pin == UNDEFINED_PIN)
-        return rpm;
-
-    uint32_t pwm_value;
-
-    //grbl_msg_sendf(CLIENT_SERIAL, MSG_LEVEL_INFO, "Set RPM %5.1f", rpm);
-
-    // apply overrides and limits
-    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)) {
-        // No PWM range possible. Set simple on/off spindle control pin state.
-        sys.spindle_speed = _max_rpm;
-        pwm_value = 255;
-    } else if (rpm <= _min_rpm) {
-        if (rpm == 0.0) { // S0 disables spindle
-            sys.spindle_speed = 0.0;
-            pwm_value = 0;
-        } else { // Set minimum PWM output
-            rpm = _min_rpm;
-            sys.spindle_speed = rpm;
-            pwm_value = 0;
-            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;
-        
-        pwm_value = (uint32_t)map_float(rpm, _min_rpm, _max_rpm, _pwm_min_value, _pwm_max_value);
-    }
-
-#ifdef  SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
-    set_enable_pin(rpm != 0);
-#endif
-
-    set_pwm(pwm_value);
-
-    return rpm;
-}
-
-void DacSpindle :: set_pwm(uint32_t duty) {
-    if (_gpio_ok) {
-         dacWrite(_output_pin, (uint8_t)duty);
-    }
-       
-}

Grbl_Esp32/tools/SpindleClass.h

@@ -37,15 +37,12 @@ class Spindle {
   public:
     virtual void init(); // not in constructor because this also gets called when $$ settings change
     virtual float set_rpm(float rpm);
-    //virtual void set_pwm(uint32_t duty);
     virtual void set_state(uint8_t state, float rpm);
     virtual uint8_t get_state();
     virtual void stop();
     virtual void config_message();
     virtual bool isRateAdjusted();
     virtual void spindle_sync(uint8_t state, float rpm);
-
-
 };
 
 // This is a dummy spindle that has no I/O.
@@ -68,7 +65,7 @@ class PWMSpindle : public Spindle {
     void set_state(uint8_t state, float rpm);
     uint8_t get_state();
     void stop();
-    void config_message();    
+    void config_message();
 
   private:
     int8_t _spindle_pwm_chan_num;
@@ -113,7 +110,7 @@ class Laser : public PWMSpindle {
 class DacSpindle : public PWMSpindle {
   public:
     void init();
-    void config_message();    
+    void config_message();
     float set_rpm(float rpm);
   private:
     bool _gpio_ok; // DAC is on a valid pin