Added Changrong electric H100 spindle support

Grbl_Esp32/src/SettingsDefinitions.cpp

@@ -74,6 +74,7 @@ enum_opt_t spindleTypes = {
     { "10V", int8_t(SpindleType::_10V) },
     { "H2A", int8_t(SpindleType::H2A) },
     { "YL620", int8_t(SpindleType::YL620) },
+    { "H100", int8_t(SpindleType::H100) },
     // clang-format on
 };
 

Grbl_Esp32/src/Spindles/H100Spindle.cpp

@@ -0,0 +1,145 @@
+#include "H100Spindle.h"
+
+/*
+    H100Spindle.cpp
+
+    This is for a Changrong Electric H100 VFD based spindle to be controlled via RS485 Modbus RTU.
+
+    Part of Grbl_ESP32
+    2024 -  Jaka Kordez
+
+    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/>.
+
+                         WARNING!!!!
+    VFDs are very dangerous. They have high voltages and are very powerful
+    Remove power before changing bits.
+
+*/
+
+namespace Spindles {
+    H100::H100() : VFD() {}
+
+    void H100::direction_command(SpindleState mode, ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 6;
+
+        // data.msg[0] is omitted (modbus address is filled in later)
+        data.msg[1] = 0x06; // 06: write single holding register
+        data.msg[2] = 0x02; // 0x200: main control bit
+        data.msg[3] = 0x00;
+
+        switch (mode) {
+            case SpindleState::Cw:
+                data.msg[4] = 0x00;
+                data.msg[5] = 0x03;
+                break;
+            case SpindleState::Ccw:
+                data.msg[4] = 0x00;
+                data.msg[5] = 0x05;
+                break;
+            default:                 // SpindleState::Disable
+                data.msg[4] = 0x00;
+                data.msg[5] = 0x08;
+                break;
+        }
+    }
+
+    void H100::set_speed_command(uint32_t rpm, ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 6;
+
+        // We have to know the max RPM before we can set the current RPM:
+        auto max_rpm       = this->_max_rpm;
+        auto max_frequency = this->_maxFrequency;
+
+        uint16_t freqFromRPM = (uint16_t(rpm) * uint16_t(max_frequency)) / uint16_t(max_rpm);
+
+#ifdef VFD_DEBUG_MODE
+        grbl_msg_sendf(CLIENT_SERIAL, MsgLevel::Info, "For %d RPM the output frequency is set to %d Hz*10", int(rpm), int(freqFromRPM));
+#endif
+
+        data.msg[1] = 0x06; // 06: write single holding register
+        data.msg[2] = 0x02; // 0x0201: given frequency
+        data.msg[3] = 0x01;
+        data.msg[4] = uint8_t(freqFromRPM >> 8);
+        data.msg[5] = uint8_t(freqFromRPM & 0xFF);
+    }
+
+    VFD::response_parser H100::initialization_sequence(int index, ModbusCommand& data) {
+        this->_min_rpm = 0;
+        this->_max_rpm = 24000;
+
+        return nullptr;
+    }
+
+    VFD::response_parser H100::get_current_rpm(ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 5;
+
+        // Send: 01 04 0000 0001
+        data.msg[1] = 0x04; // 0x04: read input register
+        data.msg[2] = 0x00; // 0x0000: register address
+        data.msg[3] = 0x00;
+        data.msg[4] = 0x00; // 0x0001: read 1 byte
+        data.msg[5] = 0x01;
+
+        //  Recv: 01 04 02 xx xx
+        //                 ---- = 1500
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool {
+            uint16_t freq = (uint16_t(response[3]) << 8) | uint16_t(response[4]);
+
+            auto h100 = static_cast<H100*>(vfd);
+
+            uint16_t rpm = freq * uint16_t(vfd->_max_rpm) / uint16_t(h100->_maxFrequency);
+
+            // Set current RPM value? Somewhere?
+            vfd->_sync_rpm = rpm;
+            return true;
+        };
+    }
+
+    VFD::response_parser H100::get_current_direction(ModbusCommand& data) {
+        // NOTE: data length is excluding the CRC16 checksum.
+        data.tx_length = 6;
+        data.rx_length = 5;
+
+        // Send: 01 03 0210 0001
+        data.msg[1] = 0x03; // 0x03: read holding register
+        data.msg[2] = 0x02; // 0x0210: in forward/reverse rotation
+        data.msg[3] = 0x10;
+        data.msg[4] = 0x00; // 0x0001: read 1 byte
+        data.msg[5] = 0x01;
+
+        // TODO: What are we going to do with this? Update sys.spindle_speed? Update vfd state?
+        return [](const uint8_t* response, Spindles::VFD* vfd) -> bool { 
+            uint8_t status = response[4];
+
+            if (status & 0x9) {
+                // Operation: ON
+                if (status & 0x2) {
+                    // Direction: Reverse
+                }
+                else {
+                    // Direction: Forward
+                }
+            }
+            else {
+                // Operation: OFF
+            }
+
+            return true; 
+        };
+    }
+}

Grbl_Esp32/src/Spindles/H100Spindle.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include "VFDSpindle.h"
+
+/*
+    H100Spindle.h
+
+    Part of Grbl_ESP32
+    2024 -  Jaka Kordez
+
+    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/>.
+
+*/
+
+namespace Spindles {
+    class H100 : public VFD {
+    protected:
+        uint16_t _minFrequency = 0;     // frequency lower limit. Factor 10 of actual frequency
+        uint16_t _maxFrequency = 4000;  // max frequency the VFD will allow. Normally 400.0. Factor 10 of actual frequency
+
+        void direction_command(SpindleState mode, ModbusCommand& data) override;
+        void set_speed_command(uint32_t rpm, ModbusCommand& data) override;
+
+        response_parser initialization_sequence(int index, ModbusCommand& data) override;
+        response_parser get_current_rpm(ModbusCommand& data) override;
+        response_parser get_current_direction(ModbusCommand& data) override;
+        response_parser get_status_ok(ModbusCommand& data) override { return nullptr; }
+
+        bool supports_actual_rpm() const override { return true; }
+        bool safety_polling() const override { return false; }
+
+    public:
+        H100();
+    };
+}

Grbl_Esp32/src/Spindles/Spindle.cpp

@@ -39,6 +39,7 @@
 #include "BESCSpindle.h"
 #include "10vSpindle.h"
 #include "YL620Spindle.h"
+#include "H100Spindle.h"
 #include "TecoL510.h"
 
 namespace Spindles {
@@ -55,6 +56,7 @@ namespace Spindles {
     BESC     besc;
     _10v     _10v;
     YL620    yl620;
+    H100     h100;
     L510     l510;
 
     void Spindle::select() {
@@ -86,6 +88,9 @@ namespace Spindles {
             case SpindleType::YL620:
                 spindle = &yl620;
                 break;
+            case SpindleType::H100:
+                spindle = &h100;
+                break;
             case SpindleType::L510:
                 spindle = &l510;
                 break;

Grbl_Esp32/src/Spindles/Spindle.h

@@ -39,6 +39,7 @@ enum class SpindleType : int8_t {
     _10V,
     H2A,
     YL620,
+    H100,
     L510
 };