I can't compile to use 2 pwm laser spindles

[distebia]

Hi, I'm trying to compile for imxrt1062, t41u5xbb, so I can have two spindles in laser mode (CO2 and diode) and use one at a time. I'm attaching parts of the code used in

my_machine_map.h
// Define auxiliary output pins
#define AUXOUTPUT0_PIN (31U)
#define AUXOUTPUT1_PIN (32U)
#if SPINDLE_ENABLE & (1<<SPINDLE_PWM2|1<<SPINDLE_PWM2_NODIR)
#define AUXOUTPUT0_PWM_PIN (33U)
#else
#define AUXOUTPUT2_PIN (33U)
#endif
#define AUXOUTPUT3_PIN (12u) // Spindle enable
#define AUXOUTPUT4_PIN (11u) // Spindle direction
#define AUXOUTPUT5_PIN (13u) // Spindle PWM
#define AUXOUTPUT6_PIN (19u) // Coolant flood
#define AUXOUTPUT7_PIN (18u) // Coolant mist

// Define driver spindle pins
#if DRIVER_SPINDLE_ENABLE & SPINDLE_ENA
#define SPINDLE_ENABLE_PIN AUXOUTPUT3_PIN
#endif
#if DRIVER_SPINDLE_ENABLE & SPINDLE_PWM
#define SPINDLE_PWM_PIN AUXOUTPUT5_PIN
#endif
#if DRIVER_SPINDLE_ENABLE & SPINDLE_DIR
#define SPINDLE_DIRECTION_PIN AUXOUTPUT4_PIN
#endif

my_machine.h
// If none are specified the default PWM spindle is instantiated.
// Spindle definitions can be found in grbl/spindle_control.h.
// More here https://github.com/grblHAL/Plugins_spindle
//#define SPINDLE0_ENABLE SPINDLE_HUANYANG1
#define SPINDLE0_ENABLE SPINDLE_PWM0_NODIR
#define SPINDLE1_ENABLE SPINDLE_PWM2_NODIR
//#define SPINDLE1_ENABLE SPINDLE_PWM0
//#define SPINDLE2_ENABLE SPINDLE_PWM1
//#define SPINDLE2_ENABLE SPINDLE_NONE
#define SPINDLE_OFFSET 1 // Uncomment to enable settings for laser spindle XY-offset.
//#define SPINDLE0_ENABLE SPINDLE_PWM0
//#define SPINDLE1_ENABLE SPINDLE_PWM2

config.h
#if !defined N_SPINDLE || defined DOXYGEN
#define N_SPINDLE 2
#endif

/*! \def N_SYS_SPINDLE
\brief Defines number of simultaneously active spindles supported - minimum 1 (none), maximum 8.
*/
#if !defined N_SYS_SPINDLE || defined DOXYGEN
#define N_SYS_SPINDLE 1
#endif

$pins
[PIN:16,Feed hold]
[PIN:17,Cycle start]
[PIN:14,Emergency stop]
[PIN:15,Probe]
[PIN:20,X limit min]
[PIN:23,X limit max]
[PIN:21,Y limit min]
[PIN:28,Y limit max]
[PIN:22,Z limit min]
[PIN:36,Aux in 0,P0]
[PIN:30,Aux in 1,P1]
[PIN:34,Aux in 2,P2]
[PIN:35,Aux in 3,P3]
[PIN:41,Aux in 4,P4]
[PIN:28,Aux in 5,P5]
[PIN:29,Aux in 6,P6]
[PIN:2,X step]
[PIN:4,Y step]
[PIN:6,Z step]
[PIN:3,X dir]
[PIN:5,Y dir]
[PIN:7,Z dir]
[PIN:10,X enable]
[PIN:40,Y enable]
[PIN:39,Z enable]
[PIN:12,Spindle on]
[PIN:13,Spindle PWM]
[PIN:31,Spindle 2 PWM]
[PIN:18,Mist]
[PIN:19,Flood]
[PIN:32,Aux out 1,P0]
[PIN:11,Aux out 3,P1]
[PIN:33,Aux analog out 0,Spindle PWM]
[PIN:0,RX,UART1]
[PIN:1,TX,UART1]

but the $spindles command only lists the first spindle

[distebia]

@terjeio Thanks for the correction, updated the project and reloaded the firmware... I see the pwm2 output on the autoutput0 pin and I can send from iosender m3s100 and I get an output from the pin of 0.45v, perfect.. what I don't get is the m4 mode, I get error 20, basically m4s100 doesn't accept it

[distebia]

I changed my_machine.h like this and I can get m3/m4 on pwm0 but only m3 on pwm2

#define SPINDLE0_ENABLE SPINDLE_PWM0
#define SPINDLE1_ENABLE SPINDLE_PWM2_NODIR
//#define SPINDLE1_ENABLE SPINDLE_PWM2_NODIR
//#define SPINDLE2_ENABLE SPINDLE_NONE
#define SPINDLE_OFFSET 1 // Uncomment to enable settings for laser spindle XY-offset.

Basically, I'd also like full control of m3/m4 for pwm2.
I change spindles with m104p0 and m104p1, but I also see m104q0 and m104q1 in the documentation (is there a difference between p and q?)
Furthermore, I have the values $770 and $771 for laser spindle XY-offset...how do I manage them? Do I type m104p1 and set, for example, $770=-75? If so, it accepts it but has no effect.

[terjeio]

Oops - I forgot that the PWM2 spindle is not capable of handling laser mode, this since it sits on top of the ioports API which does not provide access to functionality required for laser mode. Only PWM0 and PWM1 can be used for laser mode and PWM1 is currently not supported by the iMXRT1062 driver. And support is not trivial to add.

Laser spindle offset only works when switching between the default spindle (set by $395) and a laser capable spindle.

[distebia]

so basically I can't have 2 lasers with $32=1 in the same system? but I compiled and I can get $spindles with pwm0 and pwm2, in addition to $511.. on the aux0 pin if I send m3s100 I get a voltage of 0.45 and it varies if I increase from s100... the pwm is managed, what's missing is $32=1?

[terjeio]

so basically I can't have 2 lasers with $32=1 in the same system?

You can, with controllers/boards that supports PWM0 and PWM1 spindles - very few does.

what's missing is $32=1?

Yes, laser mode requires the PWM value to be precalculated in the foreground process, it is later set by the stepper interrupt routine and this should not be bogged down by unneccesary calculations. The ioports API does not support precalulation of the PWM value nor outputting it directly from interrupt contexts - and I have no plans to change that.

So the iMXRT1062 driver has to be updated to allow the PWM1 spindle to be configured. I have it running on my bench now, but not yet in a version that is ready for release.

[distebia]

I seem to remember that MKS DLC32 has this feature, or maybe I'm wrong... even FluidNC works on MKS. It's a real shame not to have additional PWM spindles on the IMXRT1062, it's incredibly fast...

[distebia]

Thanks for the quick fix...can I set it this way? or do I have to specify PWM1??

//#define SPINDLE0_ENABLE SPINDLE_HUANYANG1
#define SPINDLE1_ENABLE SPINDLE_PWM0
#define SPINDLE2_ENABLE SPINDLE_PWM2
//#define SPINDLE2_ENABLE SPINDLE_NONE
#define SPINDLE_OFFSET 1 // Uncomment to enable settings for laser spindle XY-offset.

[terjeio]

or do I have to specify PWM1??

Yes.

[distebia]

[terjeio]

delete line 2075

[distebia]

I deleted line 2075 in driver.c and compiled it without problems. I loaded the firmware, but I don't have clear control over the second spindle, and to be honest, not even the first. I switch with m104p1 and launch m3s100, the meter reads 4.6v. If I launch m3s1000, it still reads 4.6v, with m5, it still reads 4.6v... I switch with m104p0 and I have no output, the meter reads 0v...
But the lines in my_machine.h should be like this:
#define SPINDLE1_ENABLE SPINDLE_PWM0
#define SPINDLE2_ENABLE SPINDLE_PWM1
or
#define SPINDLE0_ENABLE SPINDLE_PWM0
#define SPINDLE1_ENABLE SPINDLE_PWM1
or exactly how?

[terjeio]

But the lines in my_machine.h should be like this:
#define SPINDLE1_ENABLE SPINDLE_PWM0
#define SPINDLE2_ENABLE SPINDLE_PWM1
or
#define SPINDLE0_ENABLE SPINDLE_PWM0
#define SPINDLE1_ENABLE SPINDLE_PWM1
or exactly how?

Both should work, but the second is preferred.
There was a mixup of min/max RPM for the second PWM spindle settings that could cause it to malfunction - I have fixed this and also updated the code so that no reeboot is needed to enable laser mode for it.
FYI my T41U5XBB board is currently in use so I have used a Pro variant to test the code - this uses nearly identical pin mappings so I assume the T41U5XBB would work with the new code.

[distebia]

It seems we're there, I have the pwm2 output from aux2..is that correct? I send m104p0 from the console and I can turn on the PWM (CO2 laser, primary for me), I do the frame and everything is ok. I launch m104p1 from the console and I can turn on the PWM2 on aux2 with g1m3s100f1000 (diode, secondary for me) but it does nothing if I send g1m4s100f1000, it doesn't turn on at all...also I compensated the offsets with $770=-65.50 and $771=3.55...after launching m104p0 I block the primary laser, I draw a square and write it, everything is perfect..if I type m104p1 I should switch to the secondary laser, I redo the frame of the same square, the PWM2 turns on but does not move with the set offsets, so it is in another position...where am I going wrong?