Merge branch 'master' into printnc_config

grblHAL_Teensy4/src/driver.c

@@ -1164,7 +1164,7 @@ static void spindleSetState (spindle_state_t state, float rpm)
 static void spindle_set_speed (uint_fast16_t pwm_value)
 {
     if (pwm_value == spindle_pwm.off_value) {
-        if(settings.spindle.flags.pwm_action == SpindleAction_DisableWithZeroSPeed)
+        if(settings.spindle.flags.enable_rpm_controlled)
             spindle_off();
         pwmEnabled = false;
         if(spindle_pwm.always_on) {
@@ -1215,16 +1215,19 @@ static uint_fast16_t spindleGetPWM (float rpm)
 // Start or stop spindle.
 static void spindleSetStateVariable (spindle_state_t state, float rpm)
 {
-    if (!state.on || rpm == 0.0f) {
-        spindle_set_speed(spindle_pwm.off_value);
-        spindle_off();
-    } else {
 #ifdef SPINDLE_DIRECTION_PIN
+    if (state.on)
         spindle_dir(state.ccw);
 #endif
-        spindle_set_speed(spindle_compute_pwm_value(&spindle_pwm, rpm, false));
+    if(!settings.spindle.flags.enable_rpm_controlled) {
+        if (state.on)
+            spindle_on();
+        else
+            spindle_off();
     }
 
+    spindle_set_speed(state.on ? spindle_compute_pwm_value(&spindle_pwm, rpm, false) : spindle_pwm.off_value);
+
 #if SPINDLE_SYNC_ENABLE
     if(settings.spindle.at_speed_tolerance > 0.0f) {
         float tolerance = rpm * settings.spindle.at_speed_tolerance / 100.0f;
@@ -1278,7 +1281,7 @@ static void spindlePulseOn (uint_fast16_t pulse_length)
 
 bool spindleConfig (void)
 {
-    if((hal.spindle.cap.variable = spindle_precompute_pwm_values(&spindle_pwm, F_BUS_ACTUAL / 2))) {
+    if((hal.spindle.cap.variable = !settings.spindle.flags.pwm_disable && spindle_precompute_pwm_values(&spindle_pwm, F_BUS_ACTUAL / 2))) {
 #if SPINDLE_PWM_PIN == 12
         TMR1_COMP11 = spindle_pwm.period;
         TMR1_CMPLD11 = spindle_pwm.period;
@@ -1295,8 +1298,17 @@ bool spindleConfig (void)
             TMR2_SCTRL0 &= ~TMR_SCTRL_OPS;
 #endif
         hal.spindle.set_state = spindleSetStateVariable;
-    } else
+    } else {
+        if(pwmEnabled)
+            hal.spindle.set_state((spindle_state_t){0}, 0.0f);
         hal.spindle.set_state = spindleSetState;
+    }
+
+#if SPINDLE_SYNC_ENABLE
+    hal.spindle.cap.at_speed = hal.spindle.get_data == spindleGetData;
+#endif
+
+    spindle_update_caps(hal.spindle.cap.variable);
 
     return true;
 }
@@ -1478,8 +1490,6 @@ static void settings_changed (settings_t *settings)
 {
     if(IOInitDone) {
 
-        stepperEnable(settings->steppers.deenergize);
-
 #ifdef SQUARING_ENABLED
         hal.stepper.disable_motors((axes_signals_t){0}, SquaringMode_Both);
 #endif
@@ -1491,7 +1501,7 @@ static void settings_changed (settings_t *settings)
 
 #if SPINDLE_SYNC_ENABLE
 
-        if((hal.spindle.get_data = (hal.driver_cap.spindle_at_speed = settings->spindle.ppr > 0) ? spindleGetData : NULL) &&
+        if((hal.spindle.get_data = (hal.spindle.cap.at_speed = settings->spindle.ppr > 0) ? spindleGetData : NULL) &&
              (spindle_encoder.ppr != settings->spindle.ppr || pidf_config_changed(&spindle_tracker.pid, &settings->position.pid))) {
 
             hal.spindle.reset_data = spindleDataReset;
@@ -2233,7 +2243,7 @@ bool driver_init (void)
         options[strlen(options) - 1] = '\0';
 
     hal.info = "iMXRT1062";
-    hal.driver_version = "220325";
+    hal.driver_version = "220710";
 #ifdef BOARD_NAME
     hal.board = BOARD_NAME;
 #endif