Merge pull request #206 from Paciente8159/encoder-rebuild

modifications to encoder module

CHANGELOG.md

@@ -30,6 +30,8 @@
 - improved BESC spindle control with added default values for throttle down, neutral and full positions (#200)
 - improved BESC value range calculation (#202)
 - modified tool speed feedback. Each tool reports speed directly and can customize the way the speed is reported (#203)
+- simplified Encoder module. Can be enabled without extra modules
+- added BESC RPM counter based on Encoder module 
 
 ### Fixed
 

uCNC/cnc_hal_config.h

@@ -110,22 +110,31 @@ extern "C"
 
 #define LED DOUT31
 
-// these modules must be enabled to use encoders
-#if defined(ENABLE_IO_MODULES) && defined(ENABLE_INTERPOLATOR_MODULES) && defined(ENABLE_MAIN_LOOP_MODULES) && (defined(ENABLE_PROTOCOL_MODULES) || !defined(ENABLE_EXTRA_SYSTEM_CMDS))
 /*
 	Sets the number of encoders to be used (max of 8)
 */
 #define ENCODERS 0
-
 /**
  * To use the encoder counter 2 definitions are needed
  * ENCx_PULSE -> must be set to an input PIN with interrupt on change enabled capabilities
  * ENCx_DIR -> a regular input PIN that detects the direction of the encoding step
  * Defined encoders must match the number of encoders and numeral defined above.
  * For example if ENCODERS is set to 2 it expects to find the definitions for ENC0 and ENC1. Number skipping is not allowed (exemple Set ENC0 and ENC2 but not ENC1)
+ *
+ * It's also possible to assing an encoder to a stepper motor by defining the STEPx_ENCODER and the encoder index like this
+ * #define STEP0_ENCODER 0 //assigns encoder 0 to stepper 0
+ *
+ * The encoder can work as a simple counter (used in speed encoders) by setting the same HAL pin for both PULSE and DIR functions - Counter mode
+ *
+ * For encoders to work as STEP encoders ENABLE_INTERPOLATOR_MODULES and ENABLE_MAIN_LOOP_MODULES must be enabled
  * */
-// #define ENC0_PULSE DIN0
-// #define ENC0_DIR DIN8
+#if ENCODERS > 0
+// Counter mode
+#define ENC0_PULSE DIN0
+#define ENC0_DIR DIN0
+// Encoder mode
+//  #define ENC1_PULSE DIN1
+//  #define ENC1_DIR DIN8
 #endif
 
 // these modules must be enabled to use pid

uCNC/src/cnc.c

@@ -825,6 +825,10 @@ static void cnc_io_dotasks(void)
     mcu_limits_changed_cb();
 #endif
     mcu_controls_changed_cb();
+#if (DIN_ONCHANGE_MASK != 0 && ENCODERS < 1)
+    // extra call in case generic inputs are running with ISR disabled. Encoders need propper ISR to work.
+    mcu_inputs_changed_cb();
+#endif
 
     if (cnc_status_report_lock)
     {

uCNC/src/cnc_hal_config_helper.h

@@ -131,6 +131,17 @@ extern "C"
 #define ENCODERS 0
 #endif
 
+#if ENCODERS > 0
+#if (defined(STEP0_ENCODER) || defined(STEP1_ENCODER) || defined(STEP2_ENCODER) || defined(STEP3_ENCODER) || defined(STEP4_ENCODER) || defined(STEP5_ENCODER))
+#if (!defined(ENABLE_INTERPOLATOR_MODULES) || !defined(ENABLE_MAIN_LOOP_MODULES))
+#error "Stepper encoders require ENABLE_INTERPOLATOR_MODULES and ENABLE_MAIN_LOOP_MODULES to be enabled"
+#endif
+#endif
+#if defined(ENABLE_IO_MODULES)
+#warning "Encoder module is enable. Generic input change event will not be available"
+#endif
+#endif
+
 #ifndef PID_CONTROLLERS
 #define PID_CONTROLLERS 0
 #endif
@@ -1705,6 +1716,49 @@ extern "C"
 #define LIMITS_INV_MASK (LIMIT_X_INV_MASK | LIMIT_Y_INV_MASK | LIMIT_Z_INV_MASK | LIMIT_A_INV_MASK | LIMIT_B_INV_MASK | LIMIT_B_INV_MASK)
 #define LIMITS_DUAL_INV_MASK (LIMIT_X2_INV_MASK | LIMIT_Y2_INV_MASK | LIMIT_Z2_INV_MASK)
 
+#if (DIN0 < 0)
+#define DIN0_MASK 0
+#else
+#define DIN0_MASK 1
+#endif
+#if (DIN1 < 0)
+#define DIN1_MASK 0
+#else
+#define DIN1_MASK 2
+#endif
+#if (DIN2 < 0)
+#define DIN2_MASK 0
+#else
+#define DIN2_MASK 4
+#endif
+#if (DIN3 < 0)
+#define DIN3_MASK 0
+#else
+#define DIN3_MASK 8
+#endif
+#if (DIN4 < 0)
+#define DIN4_MASK 0
+#else
+#define DIN4_MASK 16
+#endif
+#if (DIN5 < 0)
+#define DIN5_MASK 0
+#else
+#define DIN5_MASK 32
+#endif
+#if (DIN6 < 0)
+#define DIN6_MASK 0
+#else
+#define DIN6_MASK 64
+#endif
+#if (DIN7 < 0)
+#define DIN7_MASK 0
+#else
+#define DIN7_MASK 128
+#endif
+
+#define DIN_ONCHANGE_MASK (DIN0_MASK | DIN1_MASK | DIN2_MASK | DIN3_MASK | DIN4_MASK | DIN5_MASK | DIN6_MASK | DIN7_MASK)
+
 #if (PROBE < 0 && !defined(DISABLE_PROBE))
 #define DISABLE_PROBE
 #endif

uCNC/src/core/io_control.c

@@ -152,7 +152,7 @@ void mcu_probe_changed_cb(void)
 void __attribute__((weak)) mcu_inputs_changed_cb(void)
 {
 #ifdef ENABLE_IO_MODULES
-    void mod_input_change_hook(void);
+    mod_input_change_hook(void);
 #endif
 }
 

uCNC/src/hal/boards/avr/boardmap_ramps14.h

@@ -167,6 +167,11 @@ extern "C"
 #define SERVO3_BIT 5
 #define SERVO3_PORT B
 
+	// SERVO3 pin supports ISR and can be used as an encoder/counter
+	//  #define DIN0_BIT 5
+	//  #define DIN0_PORT B
+	//  #define DIN0_ISR 0
+
 #ifdef __cplusplus
 }
 #endif

uCNC/src/hal/tools/tools/spindle_besc.c

@@ -37,6 +37,11 @@
 #define THROTTLE_FULL 255
 #define THROTTLE_RANGE (THROTTLE_FULL - THROTTLE_DOWN)
 
+// #define HAS_RPM_COUNTER
+#ifdef HAS_RPM_COUNTER
+#define RPM_ENCODER 0
+#endif
+
 static uint8_t spindle_speed;
 
 void spindle_besc_startup()
@@ -91,7 +96,42 @@ void spindle_besc_set_coolant(uint8_t value)
 
 uint16_t spindle_besc_get_speed(void)
 {
+
+  // this show how to use an encoder (in this case encoder 0) configured as a counter
+  // to take real RPM readings of the spindle
+  // the reading is updated every 5 seconds
+
+#if (defined(HAS_RPM_COUNTER) && (ENCODERS > RPM_ENCODER))
+  extern int32_t encoder_get_position(uint8_t i);
+  extern void encoder_reset_position(uint8_t i, int32_t position);
+  static uint32_t last_time = 0;
+  static uint16_t lastrpm = 0;
+  uint16_t rpm = lastrpm;
+
+  uint32_t elapsed = (mcu_millis() - last_time);
+  int32_t read = encoder_get_position(0);
+
+  // updates speed read every 5s
+  if (read > 0)
+  {
+    float timefact = 60000.f / (float)elapsed;
+    float newrpm = timefact * (float)read;
+    last_time = mcu_millis();
+    encoder_reset_position(0, 0);
+    rpm = (uint16_t)newrpm;
+    lastrpm = rpm;
+  }
+  else if (elapsed > 60000)
+  {
+    last_time = mcu_millis();
+    rpm = 0;
+    lastrpm = 0;
+  }
+
+  return rpm;
+#else
   return spindle_speed;
+#endif
 }
 
 const tool_t __rom__ spindle_besc = {

uCNC/src/module.c

@@ -128,7 +128,7 @@ WEAK_HOOK(send_pins_states)
 {
 	// for now only encoder module uses this hook and overrides it
 	// it actually overrides the mcu callback to be faster
-	DEFAULT_HANDLER(input_change);
+	DEFAULT_HANDLER(send_pins_states);
 }
 #endif
 
@@ -227,8 +227,16 @@ void mod_init(void)
 #endif
 
 #if ENCODERS > 0
+#ifdef ENABLE_INTERPOLATOR_MODULES
+	ADD_LISTENER(itp_reset_rt_position_delegate, encoders_itp_reset_rt_position, itp_reset_rt_position_event);
+#endif
+#ifdef ENABLE_MAIN_LOOP_MODULES
 	ADD_LISTENER(cnc_reset_delegate, encoders_reset_position, cnc_reset_event);
 #endif
+#ifdef ENABLE_PROTOCOL_MODULES
+	ADD_LISTENER(send_pins_states_delegate, encoder_print_values, send_pins_states_event);
+#endif
+#endif
 
 #ifdef ENABLE_TMC_DRIVERS
 	extern void tmcdrivers_init(void);

uCNC/src/modules/encoder.c

@@ -230,9 +230,13 @@ int32_t encoder_get_position(uint8_t i)
     {
         return encoders_pos[i];
     }
+
+    return 0;
 }
 
-void mod_send_pins_states_hook(void)
+#ifdef ENABLE_PROTOCOL_MODULES
+
+void encoder_print_values(void)
 {
     for (uint8_t i = 0; i < ENCODERS; i++)
     {
@@ -242,6 +246,10 @@ void mod_send_pins_states_hook(void)
     }
 }
 
+CREATE_LISTENER(send_pins_states_delegate, encoder_print_values);
+
+#endif
+
 void encoder_reset_position(uint8_t i, int32_t position)
 {
     __ATOMIC__
@@ -261,16 +269,13 @@ void encoders_reset_position(void)
     }
 }
 
-// overrides the default mod_cnc_reset_hook
-// may be modified in the future
-void mod_cnc_reset_hook(void)
-{
-    encoders_reset_position();
-}
+#ifdef ENABLE_MAIN_LOOP_MODULES
+CREATE_LISTENER(cnc_reset_delegate, encoders_reset_position);
+#endif
 
 // overrides the default mod_itp_reset_rt_position_hook
 // may be modified in the future
-void mod_itp_reset_rt_position_hook(float *origin)
+void encoders_itp_reset_rt_position(float *origin)
 {
 #if STEPPER_COUNT > 0
 #ifdef STEP0_ENCODER
@@ -304,4 +309,8 @@ void mod_itp_reset_rt_position_hook(float *origin)
 #endif
 }
 
+#ifdef ENABLE_INTERPOLATOR_MODULES
+CREATE_LISTENER(itp_reset_rt_position_delegate, encoders_itp_reset_rt_position);
+#endif
+
 #endif