Fixed PWM spindle, improved indicators tab

diff --git a/src/avr/src/main.c b/src/avr/src/main.c
index a0504b991431e82d3d4d6a03af4f7cf65975d9f0..690bc54525563d7ffc736ba672ccecf841876b3a 100644 (file)
--- a/src/avr/src/main.c
+++ b/src/avr/src/main.c
@@ -29,6 +29,7 @@
 #include "stepper.h"
 #include "motor.h"
 #include "switch.h"
+#include "spindle.h"
 #include "usart.h"
 #include "drv8711.h"
 #include "vars.h"
@@ -63,6 +64,7 @@ int main() {
   stepper_init();                 // steppers
   motor_init();                   // motors
   switch_init();                  // switches
+  spindle_init();                 // spindles
   exec_init();                    // motion exec
   vars_init();                    // configuration variables
   estop_init();                   // emergency stop handler

diff --git a/src/avr/src/pwm_spindle.c b/src/avr/src/pwm_spindle.c
index 010aba97cfd3b46ffbab941a40c43cf46605a6c3..3174d747b459e38f5641b4552a476a1d8378afb3 100644 (file)
--- a/src/avr/src/pwm_spindle.c
+++ b/src/avr/src/pwm_spindle.c
@@ -36,12 +36,13 @@
 
 
 typedef struct {
-  uint16_t freq;    // base frequency for PWM driver, in Hz
+  uint16_t freq; // base frequency for PWM driver, in Hz
   float min_rpm;
   float max_rpm;
   float min_duty;
   float max_duty;
-  bool pwm_invert;
+  float duty;
+  float speed;
 } pwm_spindle_t;
 
 
@@ -58,8 +59,11 @@ static void _set_dir(bool clockwise) {
 }
 
 
-static void _set_pwm(float speed) {
-  if (speed < spindle.min_rpm || estop_triggered()) {
+static void _update_pwm() {
+  float speed = spindle.speed;
+
+  // Disable
+  if (speed <= spindle.min_rpm || estop_triggered()) {
     TIMER_PWM.CTRLA = 0;
     OUTCLR_PIN(SPIN_PWM_PIN);
     _set_enable(false);
@@ -67,10 +71,6 @@ static void _set_pwm(float speed) {
   }
   _set_enable(true);
 
-  // Invert PWM
-  if (spindle.pwm_invert) PINCTRL_PIN(SPIN_PWM_PIN) |= PORT_INVEN_bm;
-  else PINCTRL_PIN(SPIN_PWM_PIN) &= ~PORT_INVEN_bm;
-
   // 100% duty
   if (spindle.max_rpm <= speed && spindle.max_duty == 1) {
     TIMER_PWM.CTRLB = 0;
@@ -80,7 +80,6 @@ static void _set_pwm(float speed) {
 
   // Clamp speed
   if (spindle.max_rpm < speed) speed = spindle.max_rpm;
-  if (speed < spindle.min_rpm) speed = 0;
 
   // Set clock period and optimal prescaler value
   float prescale = (float)(F_CPU >> 16) / spindle.freq;
@@ -107,12 +106,13 @@ static void _set_pwm(float speed) {
   } else TIMER_PWM.CTRLA = 0;
 
   // Map RPM to duty cycle
-  float duty = (speed - spindle.min_rpm) / (spindle.max_rpm - spindle.min_rpm) *
+  spindle.duty =
+    (speed - spindle.min_rpm) / (spindle.max_rpm - spindle.min_rpm) *
     (spindle.max_duty - spindle.min_duty) + spindle.min_duty;
 
   // Configure clock
   TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
-  TIMER_PWM.CCA = TIMER_PWM.PER * duty;
+  TIMER_PWM.CCA = TIMER_PWM.PER * spindle.duty;
 }
 
 
@@ -121,13 +121,16 @@ void pwm_spindle_init() {
   _set_dir(true);
   _set_enable(false);
 
-  DIRSET_PIN(SPIN_PWM_PIN);    // Output
+  // PWM output
+  OUTCLR_PIN(SPIN_PWM_PIN);
+  DIRSET_PIN(SPIN_PWM_PIN);
 }
 
 
 void pwm_spindle_set(float speed) {
   if (speed) _set_dir(0 < speed);
-  _set_pwm(fabs(speed));
+  spindle.speed = fabs(speed);
+  _update_pwm();
 }
 
 
@@ -136,14 +139,34 @@ void pwm_spindle_stop() {pwm_spindle_set(0);}
 
 // TODO these need more effort and should work with the huanyang spindle too
 float get_max_spin() {return spindle.max_rpm;}
-void set_max_spin(float value) {spindle.max_rpm = value;}
+void set_max_spin(float value) {spindle.max_rpm = value; _update_pwm();}
 float get_min_spin() {return spindle.min_rpm;}
-void set_min_spin(float value) {spindle.min_rpm = value;}
-float get_spin_min_duty() {return spindle.min_duty * 100;}
-void set_spin_min_duty(float value) {spindle.min_duty = value / 100;}
-float get_spin_max_duty() {return spindle.max_duty * 100;}
-void set_spin_max_duty(float value) {spindle.max_duty = value / 100;}
-uint16_t get_spin_freq() {return spindle.freq;}
-void set_spin_freq(uint16_t value) {spindle.freq = value;}
-bool get_pwm_invert() {return spindle.pwm_invert;}
-void set_pwm_invert(bool value) {spindle.pwm_invert = value;}
+void set_min_spin(float value) {spindle.min_rpm = value; _update_pwm();}
+float get_pwm_min_duty() {return spindle.min_duty * 100;}
+
+
+void set_pwm_min_duty(float value) {
+  spindle.min_duty = value / 100;
+  _update_pwm();
+}
+
+
+float get_pwm_max_duty() {return spindle.max_duty * 100;}
+
+
+void set_pwm_max_duty(float value) {
+  spindle.max_duty = value / 100;
+  _update_pwm();
+}
+
+
+float get_pwm_duty() {return spindle.duty;}
+uint16_t get_pwm_freq() {return spindle.freq;}
+void set_pwm_freq(uint16_t value) {spindle.freq = value; _update_pwm();}
+bool get_pwm_invert() {return PINCTRL_PIN(SPIN_PWM_PIN) & PORT_INVEN_bm;}
+
+
+void set_pwm_invert(bool invert) {
+  if (invert) PINCTRL_PIN(SPIN_PWM_PIN) |= PORT_INVEN_bm;
+  else PINCTRL_PIN(SPIN_PWM_PIN) &= ~PORT_INVEN_bm;
+}

diff --git a/src/avr/src/spindle.c b/src/avr/src/spindle.c
index 46cd355d684bd7e0baa79643bbc80501c8afed2c..29c3e430c1cd97ad18d040bd13d0528bb52a0764 100644 (file)
--- a/src/avr/src/spindle.c
+++ b/src/avr/src/spindle.c
@@ -58,16 +58,16 @@ void spindle_init() {
 void spindle_set_speed(float speed) {
   spindle.speed = speed;
 
+  if (spindle.reversed) speed = -speed;
+
   switch (spindle.type) {
-  case SPINDLE_TYPE_PWM: pwm_spindle_set(spindle_get_speed()); break;
-  case SPINDLE_TYPE_HUANYANG: hy_set(spindle_get_speed()); break;
+  case SPINDLE_TYPE_PWM: pwm_spindle_set(speed); break;
+  case SPINDLE_TYPE_HUANYANG: hy_set(speed); break;
   }
 }
 
 
-float spindle_get_speed() {
-  return spindle.reversed ? -spindle.speed : spindle.speed;
-}
+float spindle_get_speed() {return spindle.speed;}
 
 
 void spindle_stop() {
@@ -99,7 +99,7 @@ bool get_spin_reversed() {return spindle.reversed;}
 void set_spin_reversed(bool reversed) {
   if (spindle.reversed != reversed) {
     spindle.reversed = reversed;
-    spindle_set_speed(-spindle.speed);
+    spindle_set_speed(spindle.speed);
   }
 }
 

diff --git a/src/avr/src/vars.def b/src/avr/src/vars.def
index 0b7291d61a50fcf2e7a076e9ccb2deb777b24ca8..15b79a55088c7c1b86917bb80791b3f937275f01 100644 (file)
--- a/src/avr/src/vars.def
+++ b/src/avr/src/vars.def
@@ -76,9 +76,10 @@ VAR(spindle_type,    st, u8,    0,      1, 1, "PWM=0 or HUANYANG=1")
 VAR(spin_reversed,   sr, bool,  0,      1, 1, "Reverse spin")
 VAR(max_spin,        sx, f32,   0,      1, 1, "Maximum spindle speed")
 VAR(min_spin,        sm, f32,   0,      1, 1, "Minimum spindle speed")
-VAR(spin_min_duty,   nd, f32,   0,      1, 1, "Minimum PWM duty cycle")
-VAR(spin_max_duty,   md, f32,   0,      1, 1, "Maximum PWM duty cycle")
-VAR(spin_freq,       sf, u16,   0,      1, 1, "Spindle PWM frequency")
+VAR(pwm_min_duty,    nd, f32,   0,      1, 1, "Minimum PWM duty cycle")
+VAR(pwm_max_duty,    md, f32,   0,      1, 1, "Maximum PWM duty cycle")
+VAR(pwm_duty,        pd, f32,   0,      0, 1, "Current PWM duty cycle")
+VAR(pwm_freq,        sf, u16,   0,      1, 1, "Spindle PWM frequency in Hz")
 
 // PWM spindle
 VAR(pwm_invert,      pi, bool,  0,      1, 1, "Inverted spindle PWM")

diff --git a/src/jade/templates/indicators.jade b/src/jade/templates/indicators.jade
index e0e452043cc3628d8db9ce5539311f1f5e0b58a4..8d94da37e33c2b4093d2ed397acc8d758c89a41c 100644 (file)
--- a/src/jade/templates/indicators.jade
+++ b/src/jade/templates/indicators.jade
@@ -1,56 +1,84 @@
 script#indicators-template(type="text/x-template")
   .indicators
-    table
+    table.inputs
       tr
-        th(colspan=4) Switch Inputs
+        th(colspan=6) Switch Inputs
+      tr
+        th
+        th Pin
+        th Name
+        th
+        th Pin
+        th Name
 
       each motor in '01234'
         tr(v-if="is_motor_enabled(#{motor})")
           td
             .fa(:class="get_class('#{motor}lw')")
+          th {{get_min_pin(#{motor})}}
           th #{motor} Min
 
           td
             .fa(:class="get_class('#{motor}xw')")
+          th {{get_max_pin(#{motor})}}
           th #{motor} Max
 
       tr
         td
           .fa(:class="get_class('ew')")
-        th Estop
+        th 23
+        th EStop
 
         td
           .fa(:class="get_class('pw')")
+        th 22
         th Probe
 
-    table
+    table.outputs
+      tr
+        th(colspan=6) Outputs
+
       tr
-        th(colspan=4) Outputs
+        th
+        th Pin
+        th Name
+        th
+        th Pin
+        th Name
 
       tr
         td
           .fa(:class="get_class('eos')")
+        th 15
         th Tool Enable
 
         td
-          .fa(:class="get_class('dos')")
-        th Tool Direction
+          .fa(:class="get_class('1os')")
+        th 2
+        th Load 1
 
       tr
         td
-          .fa(:class="get_class('1os')")
-        th Load 1
+          .fa(:class="get_class('dos')")
+        th 16
+        th Tool Direction
 
         td
           .fa(:class="get_class('2os')")
+        th 1
         th Load 2
 
       tr
+        td {{state['pd'] | percent 0}}
+        th 17
+        th Tool PWM
+
         td
           .fa(:class="get_class('fos')")
-        th(colspan=3) Fault
+        th 21
+        th Fault
 
-    table
+    table.measurements
       tr
         th(colspan=4) Measurements
 
@@ -75,7 +103,7 @@ script#indicators-template(type="text/x-template")
         td {{state['load2'] | fixed 2}} A
         th Load 2
 
-    table
+    table.rs485
       tr
         th(colspan=4) RS485 Spindle
 
@@ -96,7 +124,7 @@ script#indicators-template(type="text/x-template")
         td {{state['ht']}} ℃
         th Temp
 
-    table
+    table.legend
       tr
         th(colspan=10) Legend
 
@@ -105,10 +133,15 @@ script#indicators-template(type="text/x-template")
          .fa.fa-circle.logic-hi
         th Logic Hi
 
+      tr
         td
          .fa.fa-circle.logic-lo
         th Logic Lo
 
+      tr
         td
          .fa.fa-circle-o.logic-tri
         th Tristated / Disabled
+
+    h2 DB25-M2 breakout
+    center: img(width=400, src="/images/DB25-M2_breakout.png")

diff --git a/src/js/indicators.js b/src/js/indicators.js
index 467f16f04e0afef3fcc29318da4214bfe8fbc306..1576d9cac30f7929c5508a7b54a98197691ebad6 100644 (file)
--- a/src/js/indicators.js
+++ b/src/js/indicators.js
@@ -13,6 +13,26 @@ module.exports = {
     },
 
 
+    get_min_pin: function (motor) {
+      switch (motor) {
+      case 0: return 3;
+      case 1: return 5;
+      case 2: return 9;
+      case 3: return 11;
+      }
+    },
+
+
+    get_max_pin: function (motor) {
+      switch (motor) {
+      case 0: return 4;
+      case 1: return 8;
+      case 2: return 10;
+      case 3: return 12;
+      }
+    },
+
+
     get_class: function (code) {
       if (typeof this.state[code] != 'undefined') {
         var state = this.state[code];

diff --git a/src/resources/images/DB25-M2_breakout.png b/src/resources/images/DB25-M2_breakout.png
new file mode 100644 (file)
index 0000000..3de7079
Binary files /dev/null and b/src/resources/images/DB25-M2_breakout.png differ

diff --git a/src/stylus/style.styl b/src/stylus/style.styl
index c729d3f2f61dbed0195fbe2cc0467cf98f4d6b67..6a983af672dc8117bf1abe9e3e1485542cac4581 100644 (file)
--- a/src/stylus/style.styl
+++ b/src/stylus/style.styl
@@ -391,6 +391,25 @@ body
       td, th
         padding 4px
 
+      tr:nth-child(odd)
+        background #f7f7f7
+
+      td:nth-child(1), td:nth-child(3)
+        text-align center
+
+      th:nth-child(2), th:nth-child(4)
+        text-align left
+
+      &.inputs, &.outputs
+        td:nth-child(1), td:nth-child(4)
+          text-align center
+
+        th:nth-child(2), th:nth-child(5)
+          text-align right
+
+        th:nth-child(3), th:nth-child(6)
+          text-align left
+
     .logic-lo
       color black