ed29d8a122
- Apparently inverse time motion were not working for quite some time. Goes to show how many people actually use it. The calculation was bad and is now fixed in this update. It should now work correctly. - `;` comment type is now supported. This is standard on LinuxCNC and common on 3d printers. It was previously not supported due to not existing in the NIST standard, which is out-dated. - New compile-option to ECHO the line received. This should help users experiencing very weird problems and help diagnose if there is something amiss in the communication to Grbl. - New compile-option to use the spindle direction pin D13 as a spindle enable pin with PWM spindle speed on D11. This feature has been requested often from the laser cutter community. Since spindle direction isn’t really of much use, it seemed like good good trade. Note that M4 spindle enable counter-clock-wise support is removed for obvious reasons, while M3 and M5 still work.
120 lines
4.1 KiB
C
120 lines
4.1 KiB
C
/*
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spindle_control.c - spindle control methods
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Part of Grbl
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Copyright (c) 2012-2015 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "grbl.h"
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void spindle_init()
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{
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// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
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// combined unless configured otherwise.
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#ifdef VARIABLE_SPINDLE
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SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
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#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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#endif
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// Configure no variable spindle and only enable pin.
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#else
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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#endif
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#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
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SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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#endif
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spindle_stop();
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}
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void spindle_stop()
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{
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// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
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#ifdef VARIABLE_SPINDLE
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TCCRA_REGISTER &= ~(1<<COMB_BIT); // Disable PWM. Output voltage is zero.
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#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
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SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
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#endif
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#else
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SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
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#endif
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}
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void spindle_set_state(uint8_t state, float rpm)
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{
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// Halt or set spindle direction and rpm.
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if (state == SPINDLE_DISABLE) {
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spindle_stop();
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} else {
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#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
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if (state == SPINDLE_ENABLE_CW) {
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SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
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} else {
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SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
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}
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#endif
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#ifdef VARIABLE_SPINDLE
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// TODO: Install the optional capability for frequency-based output for servos.
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#ifdef CPU_MAP_ATMEGA2560
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TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
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TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02 | (1<<WAVE2_REGISTER) | (1<<WAVE3_REGISTER); // set to 1/8 Prescaler
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OCR4A = 0xFFFF; // set the top 16bit value
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uint16_t current_pwm;
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#else
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TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
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TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
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uint8_t current_pwm;
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#endif
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#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
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if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; }
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else {
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rpm -= SPINDLE_MIN_RPM;
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if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
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}
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current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
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#ifdef MINIMUM_SPINDLE_PWM
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if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
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#endif
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OCR_REGISTER = current_pwm; // Set PWM pin output
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// On the Uno, spindle enable and PWM are shared, unless otherwise specified.
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#if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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#endif
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#else
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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#endif
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}
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}
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void spindle_run(uint8_t state, float rpm)
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{
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if (sys.state == STATE_CHECK_MODE) { return; }
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protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
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spindle_set_state(state, rpm);
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}
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