New nonlinear spindle speed PWM output model and solution. Updated scripts.
[new] A nonlinear spindle speed/PWM output option via a piecewise linear fit model. Enabled through config.h and solved by a Python script in /doc/script [new] fit_nonlinear_spindle.py. A solver script that can be run on http://repl.it for free. No Python install necessary. All instructions are available in the script file comments. [new] stream.py has been updated to include status reports feedback at 1 second interval. [fix] stream.py bug fix with verbose mode disabled.
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6 changed files with 503 additions and 38 deletions
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@ -586,6 +586,31 @@
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// to ensure the laser doesn't inadvertently remain powered while at a stop and cause a fire.
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#define DISABLE_LASER_DURING_HOLD // Default enabled. Comment to disable.
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// Enables a piecewise linear model of the spindle PWM/speed output. Requires a solution by the
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// 'fit_nonlinear_spindle.py' script in the /doc/script folder of the repo. See file comments
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// on how to gather spindle data and run the script to generate a solution.
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// #define ENABLE_PIECEWISE_LINEAR_SPINDLE // Default disabled. Uncomment to enable.
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// N_PIECES, RPM_MAX, RPM_MIN, RPM_POINTxx, and RPM_LINE_XX constants are all set and given by
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// the 'fit_nonlinear_spindle.py' script solution. Used only when ENABLE_PIECEWISE_LINEAR_SPINDLE
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// is enabled. Make sure the constant values are exactly the same as the script solution.
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// NOTE: When N_PIECES < 4, unused RPM_LINE and RPM_POINT defines are not required and omitted.
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#define N_PIECES 4 // Integer (1-4). Number of piecewise lines used in script solution.
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#define RPM_MAX 11686.4 // Max RPM of model. $30 > RPM_MAX will be limited to RPM_MAX.
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#define RPM_MIN 202.5 // Min RPM of model. $31 < RPM_MIN will be limited to RPM_MIN.
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#define RPM_POINT12 6145.4 // Used N_PIECES >=2. Junction point between lines 1 and 2.
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#define RPM_POINT23 9627.8 // Used N_PIECES >=3. Junction point between lines 2 and 3.
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#define RPM_POINT34 10813.9 // Used N_PIECES = 4. Junction point between lines 3 and 4.
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#define RPM_LINE_A1 3.197101e-03 // Used N_PIECES >=1. A and B constants of line 1.
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#define RPM_LINE_B1 -3.526076e-1
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#define RPM_LINE_A2 1.722950e-2 // Used N_PIECES >=2. A and B constants of line 2.
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#define RPM_LINE_B2 8.588176e+01
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#define RPM_LINE_A3 5.901518e-02 // Used N_PIECES >=3. A and B constants of line 3.
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#define RPM_LINE_B3 4.881851e+02
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#define RPM_LINE_A4 1.203413e-01 // Used N_PIECES = 4. A and B constants of line 4.
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#define RPM_LINE_B4 1.151360e+03
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/* ---------------------------------------------------------------------------------------
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OEM Single File Configuration Option
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@ -23,7 +23,7 @@
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// Grbl versioning system
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#define GRBL_VERSION "1.1f"
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#define GRBL_VERSION_BUILD "20170324"
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#define GRBL_VERSION_BUILD "20170531"
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// Define standard libraries used by Grbl.
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#include <avr/io.h>
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@ -2,7 +2,7 @@
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spindle_control.c - spindle control methods
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Part of Grbl
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Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2012-2017 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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@ -137,32 +137,79 @@ void spindle_stop()
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}
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// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
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{
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uint8_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// Calculate PWM register value based on rpm max/min settings and programmed rpm.
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if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
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// No PWM range possible. Set simple on/off spindle control pin state.
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sys.spindle_speed = settings.rpm_max;
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pwm_value = SPINDLE_PWM_MAX_VALUE;
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} else if (rpm <= settings.rpm_min) {
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if (rpm == 0.0) { // S0 disables spindle
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sys.spindle_speed = 0.0;
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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} else { // Set minimum PWM output
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sys.spindle_speed = settings.rpm_min;
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pwm_value = SPINDLE_PWM_MIN_VALUE;
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#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
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// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
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{
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uint8_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// Calculate PWM register value based on rpm max/min settings and programmed rpm.
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if ((settings.rpm_min >= settings.rpm_max) || (rpm >= RPM_MAX)) {
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rpm = RPM_MAX;
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pwm_value = SPINDLE_PWM_MAX_VALUE;
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} else if (rpm <= RPM_MIN) {
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if (rpm == 0.0) { // S0 disables spindle
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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} else {
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rpm = RPM_MIN;
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pwm_value = SPINDLE_PWM_MIN_VALUE;
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}
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} else {
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// Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
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#if (N_PIECES > 3)
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if (rpm > RPM_POINT34) {
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pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
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} else
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#endif
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#if (N_PIECES > 2)
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if (rpm > RPM_POINT23) {
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pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
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} else
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#endif
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#if (N_PIECES > 1)
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if (rpm > RPM_POINT12) {
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pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
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} else
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#endif
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{
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pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
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}
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}
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} else {
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// Compute intermediate PWM value with linear spindle speed model.
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// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
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sys.spindle_speed = rpm;
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pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
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return(pwm_value);
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}
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return(pwm_value);
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}
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#else
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// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
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{
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uint8_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// Calculate PWM register value based on rpm max/min settings and programmed rpm.
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if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
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// No PWM range possible. Set simple on/off spindle control pin state.
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sys.spindle_speed = settings.rpm_max;
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pwm_value = SPINDLE_PWM_MAX_VALUE;
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} else if (rpm <= settings.rpm_min) {
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if (rpm == 0.0) { // S0 disables spindle
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sys.spindle_speed = 0.0;
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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} else { // Set minimum PWM output
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sys.spindle_speed = settings.rpm_min;
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pwm_value = SPINDLE_PWM_MIN_VALUE;
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}
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} else {
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// Compute intermediate PWM value with linear spindle speed model.
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// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
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sys.spindle_speed = rpm;
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pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
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}
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return(pwm_value);
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}
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#endif
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#endif
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