Machine-Fraiseuse_Cnc_CharlyRobot_CRA4/Grbl_Esp32-master/Grbl_Esp32/spindle_control.cpp

/*
  spindle_control.cpp - Header for system level commands and real-time processes
  Part of Grbl
  Copyright (c) 2014-2016 Sungeun K. Jeon for Gnea Research LLC
	
	2018 -	Bart Dring This file was modified for use on the ESP32
					CPU. Do not use this with Grbl for atMega328P
	
  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"

#ifdef SPINDLE_PWM_PIN
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
float spindle_pwm_period;
float spindle_pwm_off_value;
float spindle_pwm_min_value;
float spindle_pwm_max_value;
#endif

void spindle_init()
{
	
	#ifdef SPINDLE_PWM_PIN
	
		#ifdef INVERT_SPINDLE_PWM
			grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_PWM]\r\n");
		#endif
		
		#ifdef INVERT_SPINDLE_ENABLE_PIN
			grbl_send(CLIENT_SERIAL, "[MSG: INVERT_SPINDLE_ENABLE_PIN]\r\n");
		#endif
		
		spindle_pwm_period = SPINDLE_PULSE_RES_COUNT;
		
		
		spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100);
		spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100);
		spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
		
		//pwm_gradient = (settings.spindle_pwm_max_value - settings.spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
		pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);	
			
			
		if ( (F_TIMERS / (uint32_t)settings.spindle_pwm_freq) < spindle_pwm_max_value) {
			/*
			PWM Generator is based on 80,000,000 Hz counter
			Therefor the freq determines the resolution 80,000,000 / freq = max resolution
			For 5000 that is 80,000,000 / 5000 = 16000
			Round down to nearest bit count for SPINDLE_PWM_MAX_VALUE = 13bits (8192)
			*/		
			grbl_sendf(CLIENT_SERIAL, "[MSG: Warning! Spindle freq %5.0f too high for requested PWM max %5.2f%%  (%5.0f)]\r\n", settings.spindle_pwm_freq, settings.spindle_pwm_max_value, spindle_pwm_max_value);
		}
		
		// Use DIR and Enable if pins are defined
		#ifdef SPINDLE_ENABLE_PIN
			pinMode(SPINDLE_ENABLE_PIN, OUTPUT);
		#endif
		
		#ifdef SPINDLE_DIR_PIN
			pinMode(SPINDLE_DIR_PIN, OUTPUT);
		#endif		
		
		// use the LED control feature to setup PWM   https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/ledc.html
		ledcSetup(SPINDLE_PWM_CHANNEL, (double)settings.spindle_pwm_freq, SPINDLE_PWM_BIT_PRECISION); // setup the channel
		ledcAttachPin(SPINDLE_PWM_PIN, SPINDLE_PWM_CHANNEL); // attach the PWM to the pin		
		
		// Start with spindle off off
		 spindle_stop();
	#endif
}

void spindle_stop()
{		
	spindle_set_enable(false);	

	#ifdef SPINDLE_PWM_PIN
		#ifndef INVERT_SPINDLE_PWM
			grbl_analogWrite(SPINDLE_PWM_CHANNEL, spindle_pwm_off_value);
		#else
			grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION));  // TO DO...wrong for min_pwm
		#endif
	#endif
}

uint8_t spindle_get_state()  // returns SPINDLE_STATE_DISABLE, SPINDLE_STATE_CW or SPINDLE_STATE_CCW
{	  
  // TODO Update this when direction and enable pin are added
	#ifndef SPINDLE_PWM_PIN
		return(SPINDLE_STATE_DISABLE);
	#else
	
		if (ledcRead(SPINDLE_PWM_CHANNEL) == 0) // Check the PWM value		
			return(SPINDLE_STATE_DISABLE);
		else
		{
			#ifdef SPINDLE_DIR_PIN			
				if (digitalRead(SPINDLE_DIR_PIN))
					return (SPINDLE_STATE_CW);
				else
					return(SPINDLE_STATE_CCW);
			#else
				return(SPINDLE_STATE_CW);
			#endif		
		}
	#endif
}

void spindle_set_speed(uint32_t pwm_value)
{	
	#ifndef SPINDLE_PWM_PIN
		return;
	#else
		#ifndef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
			spindle_set_enable(true);
		#else
			spindle_set_enable(pwm_value != 0);
		#endif
		
		#ifndef INVERT_SPINDLE_PWM
			grbl_analogWrite(SPINDLE_PWM_CHANNEL, pwm_value);		
		#else
			grbl_analogWrite(SPINDLE_PWM_CHANNEL, (1<<SPINDLE_PWM_BIT_PRECISION) - pwm_value);
		#endif
		
	#endif	
}

uint32_t spindle_compute_pwm_value(float rpm){
	#ifdef SPINDLE_PWM_PIN
		uint32_t pwm_value;
		rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
		// Calculate PWM register value based on rpm max/min settings and programmed rpm.
		if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
		// No PWM range possible. Set simple on/off spindle control pin state.
			sys.spindle_speed = settings.rpm_max;
			pwm_value = spindle_pwm_max_value;
		} else if (rpm <= settings.rpm_min) {
			if (rpm == 0.0) { // S0 disables spindle
				sys.spindle_speed = 0.0;
				pwm_value = spindle_pwm_off_value;
			} else { // Set minimum PWM output
				sys.spindle_speed = settings.rpm_min;
				pwm_value = spindle_pwm_min_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 - settings.rpm_min)*pwm_gradient) + settings.spindle_pwm_min_value;
			#endif
		}
		return(pwm_value);
	#else
		return(0); // no SPINDLE_PWM_PIN
	#endif
}


// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
void spindle_set_state(uint8_t state, float rpm)
{
	#ifdef SPINDLE_PWM_PIN
	  if (sys.abort) { return; } // Block during abort.
	  if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.    
		sys.spindle_speed = 0.0;    
		spindle_stop();  
	  } else {
	  
		// TODO ESP32 Enable and direction control
			#ifdef SPINDLE_DIR_PIN		
				digitalWrite(SPINDLE_DIR_PIN, state == SPINDLE_ENABLE_CW);    
			#endif  
		
		  // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
		  if (settings.flags & BITFLAG_LASER_MODE) { 
			if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
		  }
							
		  spindle_set_speed(spindle_compute_pwm_value(rpm));     
	  }  
	  sys.report_ovr_counter = 0; // Set to report change immediately
	#endif
}


void spindle_sync(uint8_t state, float rpm)
{
	if (sys.state == STATE_CHECK_MODE) { 
		return;
	}
	
	protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
	spindle_set_state(state,rpm);
}


void grbl_analogWrite(uint8_t chan, uint32_t duty)
{
	if (ledcRead(chan) != duty) // reduce unnecessary calls to ledcWrite()
	{
		// Useful for debug, but too many messages in laser mode
		// grbl_sendf(CLIENT_SERIAL, "[MSG: grbl_analogWrite %d]\r\n", duty);
		ledcWrite(chan, duty);
	}
}

void spindle_set_enable(bool enable)
{
	#ifdef SPINDLE_ENABLE_PIN	
		#ifndef INVERT_SPINDLE_ENABLE_PIN
				digitalWrite(SPINDLE_ENABLE_PIN, enable); // turn off (low) with zero speed
		#else
				digitalWrite(SPINDLE_ENABLE_PIN, !enable); // turn off (high) with zero speed
		#endif
	#endif
}

uint32_t piecewise_linear_fit(float rpm) {
	uint32_t pwm_value;
	
	#if (N_PIECES > 3)
		if (rpm > RPM_POINT34) {
			pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
		} else 
	#endif
	#if (N_PIECES > 2)
		if (rpm > RPM_POINT23) {
			pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
		} else 
	#endif
	#if (N_PIECES > 1)
		if (rpm > RPM_POINT12) {
			pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
		} else 
	#endif
	{
		pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
	}
	return pwm_value;
}