VESC Spindle via UART #531

LukasGossmann · 2022-07-19T09:49:55Z

This PR adds support for connecting a VESC to FluidNC via UART and using it as a spindle.
It also checks for any faults occuring in the motor controller and stops gcode execution + sets an alarm.
VESC can be controlled with 3 modes:

Speed: Set the ERPM and VESC will keep it constant with its PID controller
Duty: Sets to motor duty cycle. Rough speed control. Speed drops under load.
Current: Sets the current through the motor. No speed control! Needs a constant load on the motor otherwise the motor will "run away". More or less constant torque.

https://vesc-project.com/node/1796
https://electric-skateboard.builders/t/vesc-faq-duty-cycle-vs-current-control-ppm-settings/1218

Can be configured as follows (speed mode):

VESC:
  uart:
    txd_pin: gpio.17
    rxd_pin: gpio.4
    rts_pin: gpio.16
    baud: 115200
    mode: 8N1
  tool_num: 0
  spinup_ms: 1000
  spindown_ms: 1000
  speed_map: 0=0% 0=20% 10000=20% 50000=100%
  control_type: Speed

Modes are called like this:

control_type: Speed
control_type: Duty
control_type: Current

LukasGossmann · 2022-07-19T09:51:52Z

FluidNC/src/xmodem.cpp

@@ -50,35 +51,6 @@ static void _outbytes(uint8_t* buf, size_t len) {
    serialPort->write(buf, len);
 }

-/* CRC16 implementation acording to CCITT standards */


In case anyone wonders why i decided to extract this to its own file:
I didn't want to add a redundant implementation for CRC16 if there is already a perfectly working copy available.

Instead of just calling it "crc.cpp", how about identifying the variant, i.e. "crc16_ccitt.cpp"

bdring · 2022-07-19T16:00:05Z

You will need to provide an update to the wiki page. You can attach a file(s) in a reply.
You need to provide author information per the pull request guidelines.

MitchBradley · 2022-07-19T16:39:50Z

FluidNC/src/xmodem.cpp

@@ -129,13 +101,13 @@ static void flushinput(void) {
 static bool    held = false;
 static uint8_t held_packet[1024];
 static void    flush_packet(size_t packet_len, size_t& total_len) {
-    if (held) {
-        // Remove trailing ctrl-z's on the final packet
+       if (held) {


Please undo the formatting breakage. Run clang-format on everything that you touch.

Should be fixed now. For some reason the autoformat did that... Had to disable it to be able to save the file without it changing that :)

Maybe your autoformat is not using clang-format? If it is using clang-format, then the .clang-format rules in the repo should, in principle, govern the styling.

I think that's what I'm using as visual studio code should pick up on that automatically as far as i can tell. All i did was open the project in visual studio code with platformio and some other add-ons installed. As far as i know i haven't done any other formatting configurations. Maybe one of the add-ons is interfering with that somehow... I need to check that next time.

Maybe this will help https://code.visualstudio.com/docs/cpp/cpp-ide . In principle, if you have the C++ extensions enabled, you get clang-format, but maybe you have some other extensions that use a different formatter, or there is some other setting override. Vscode is pretty much infinitely customizable, which means that no two people have a similar experience.

LukasGossmann · 2022-07-19T19:35:37Z

vesc_spindle.md
Here is the documentation for how to use the VESC spindle.
Btw. some of the links in the spindle wiki page to the sections down below aren't working properly.

bdring · 2022-07-19T20:54:00Z

Would it be better to add a poles parameter to the config file, so the firmware and speed_map can use real RPM?

LukasGossmann · 2022-07-19T21:13:58Z

That would certainly be a possibility however the vesc_tool only shows ERPM too so it would add a point of confusion there instead. Even though their use of ERPM and RPM is a bit inconsistent...
Would renaming the RPM mode to ERPM be an acceptable solution ?

bdring · 2022-07-19T21:18:01Z

Would M3S10000 be referring to ERPM in your case? That seems like a bad idea, especially for use with CAM software that uses real RPM.

LukasGossmann · 2022-07-19T21:21:22Z

Yes that would be ERPM. So i think you are right. Adding that parameter would be safer.
Ill add that tomorrow :)

bdring · 2022-07-19T21:23:21Z

Poles is similar to flutes on a bit. You tell the CAM software about the flutes and it then can work in RPM.

LukasGossmann · 2022-07-19T21:28:01Z

No not really as the number of flutes does not actually affect the rpms of the spindle for the same drive waveform of the motor whereas the number of poles of the brushless motor does.
What you are talking about is the relationship between the chipload, the number of flutes, rpm and feedrate.

bdring · 2022-07-19T21:31:04Z

OK, I guess the rough analogy is lost on you, but we agree on the required changes to the code.

LukasGossmann · 2022-07-19T21:52:37Z

Yes sorry about that :) The reason i don't agree with that analogy is that if I'd have a 2 flute endmill in the spindle and the motor has 7 pole pairs and then i do an M3 S1000 the spindle would spin at 1000RPM. If i were to swap out the endmill for a 4 flute one the spindle would still be spinning at 1000RPM for an M3 S1000. Now imagine i swapped out the motor for a different one with 14 pole pairs. That M3 S1000 would then result in only 500RPM instead of the expected 1000. Anyway long story short. I'll add that option and a description of how to determine the number of poles for a given motor to properly configure said option.

…

On July 19, 2022 9:31:14 PM UTC, bdring ***@***.***> wrote: OK, I guess the rough analogy is lost on you, but we agree on the required changes to the code. -- Reply to this email directly or view it on GitHub: #531 (comment) You are receiving this because you authored the thread. Message ID: ***@***.***>

LukasGossmann · 2022-07-20T07:43:08Z

Updated documentation:
vesc_spindle.md

LukasGossmann · 2022-07-25T11:24:23Z

Noticed some issues with the queue filling up due to repeated calls to setSpeedfromISR

LukasGossmann · 2022-07-25T12:00:44Z

Added a workaround similar to what is done in VFDSpindle.
Please have a look at this thread on discord as this workaround seems like its the wrong way to do it.
https://discord.com/channels/780079161460916227/1001091533333856357

…ted spindles

LukasGossmann added 2 commits July 19, 2022 11:29

Added support for VESC as a spindle

7fbb4ff

Added newlines at end of files

33b898a

LukasGossmann commented Jul 19, 2022

View reviewed changes

MitchBradley reviewed Jul 19, 2022

View reviewed changes

Added author information, fixed formatting and renamed crc files

6d6f1c7

LukasGossmann added 2 commits July 20, 2022 08:59

Added num_of_poles and removed some redundant code

f868e99

Added validation for number of pole pairs when mode=rpm

e69ac03

LukasGossmann marked this pull request as draft July 25, 2022 11:23

Added dodgy workaround for setSpeedfromISR getting called

984571d

Removed setSpeedfromISR since it shouldnt be used with non rate adjus…

3330c84

…ted spindles

LukasGossmann marked this pull request as ready for review July 30, 2022 09:04

MitchBradley changed the base branch from Devt to main March 21, 2024 17:25

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VESC Spindle via UART #531

VESC Spindle via UART #531

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VESC Spindle via UART #531

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VESC Spindle via UART #531

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