ManuelW/grbl-LPC-CoreXY
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Current control

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This commit is contained in:
Todd Fleming 2017-01-07 18:31:12 -05:00
parent 34a4c93ccc
commit 4ec14b6ec6
6 changed files with 113 additions and 12 deletions
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5
Makefile
View File

@ -34,6 +34,7 @@ INCLUDES = \
# Hack: .c files are compiled as if they were c++.
SRC_DIRS = \
grbl \
smoother \
# Compile all .c files in these directories, except ones on the exclude list.
# These files get extra -Wno-* flags to reduce spam.
@ -145,7 +146,7 @@ build/src/%.o : %.cpp
default: build/$(PROJECT).hex build/$(PROJECT).bin
build/$(PROJECT).elf: $(SRC_OBJECTS) $(CMSIS_OBJECTS) $(LINKER_SCRIPT)
$(LD) -mcpu=cortex-m3 -mthumb -T$(filter %.ld, $^) -o $@ $(filter %.o, $^) $(LIBS)
$(LD) -mcpu=cortex-m3 -mthumb -specs=nosys.specs -T$(filter %.ld, $^) -o $@ $(filter %.o, $^) $(LIBS)
build/$(PROJECT).bin : build/$(PROJECT).elf
$(OBJCOPY) -O binary $^ $@
@ -161,4 +162,4 @@ flash: build/$(PROJECT).hex
clean:
$(call RM,build)
-include $(wildcard build/*.d build/cmsis/*.d)
-include $(wildcard build/src/*.d build/cmsis/*.d)

27
grbl/config.h
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@ -696,22 +696,31 @@
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // Uno Digital Pin 11
#define CURRENT_I2C Driver_I2C1 // I2C driver for current control. Comment out to disable.
#define CURRENT_MCP44XX_ADDR 0b0101100 // Address of MCP44XX
#define CURRENT_WIPERS {0, 1, 6, 7}; // Wiper registers (X, Y, Z, A)
#define CURRENT_FACTOR 113.33 // Convert amps to digipot value
// Paste default settings definitions here.
#define DEFAULT_X_STEPS_PER_MM 250.0
#define DEFAULT_Y_STEPS_PER_MM 250.0
#define DEFAULT_Z_STEPS_PER_MM 250.0
#define DEFAULT_X_MAX_RATE 500.0 // mm/min
#define DEFAULT_Y_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_STEPS_PER_MM 158.0
#define DEFAULT_Y_STEPS_PER_MM 158.0
#define DEFAULT_Z_STEPS_PER_MM 158.0
#define DEFAULT_X_MAX_RATE 30000 // mm/min
#define DEFAULT_Y_MAX_RATE 30000 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (10.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Z_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_X_CURRENT 0.4 // amps
#define DEFAULT_Y_CURRENT 1.5 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#define DEFAULT_STEP_PULSE_MICROSECONDS 1
#define DEFAULT_STEPPING_INVERT_MASK 0
#define DEFAULT_DIRECTION_INVERT_MASK 0
#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)

2
grbl/main.c
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@ -20,6 +20,7 @@
*/
#include "grbl.h"
#include "current_control.h"
/*Holding space for dummy registers*/
DummyReg DDRA;
@ -89,6 +90,7 @@ int main(void)
// Initialize system upon power-up.
serial_init(); // Setup serial baud rate and interrupts
settings_init(); // Load Grbl settings from EEPROM
current_init(); // Configure stepper driver current
stepper_init(); // Configure stepper pins and interrupt timers
system_init(); // Configure pinout pins and pin-change interrupt

2
lpc17xx/RTE_Device.h
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@ -249,7 +249,7 @@
// <e> I2C1 (Inter-integrated Circuit Interface 1) [Driver_I2C1]
// <i> Configuration settings for Driver_I2C1 in component ::Drivers:I2C
#define RTE_I2C1 0
#define RTE_I2C1 1
// <o> I2C1_SCL Pin <0=>P0_1 <1=>P0_20
#define RTE_I2C1_SCL_PORT_ID 0

63
smoother/current_control.cpp Normal file
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@ -0,0 +1,63 @@
// Current control
//
// Copyright 2017 Todd Fleming
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#include "current_control.h"
#include "grbl.h"
#include "Driver_I2C.h"
#ifdef CURRENT_I2C
extern ARM_DRIVER_I2C CURRENT_I2C;
static const uint8_t wiperRegs[] = CURRENT_WIPERS;
#endif
void current_init()
{
#ifdef CURRENT_I2C
CURRENT_I2C.Initialize(nullptr);
CURRENT_I2C.PowerControl(ARM_POWER_FULL);
CURRENT_I2C.Control(ARM_I2C_BUS_SPEED, ARM_I2C_BUS_SPEED_STANDARD);
CURRENT_I2C.Control(ARM_I2C_BUS_CLEAR, 0);
uint8_t init1[] = {0x40, 0xff};
uint8_t init2[] = {0xA0, 0xff};
CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, init1, 2, false);
CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, init2, 2, false);
set_current(0, DEFAULT_X_CURRENT);
set_current(1, DEFAULT_Y_CURRENT);
set_current(2, DEFAULT_Z_CURRENT);
set_current(3, DEFAULT_A_CURRENT);
#endif
}
void set_current(uint8_t motor, float amps)
{
#if defined(CURRENT_I2C) && defined(CURRENT_MCP44XX_ADDR)
uint8_t command[] = {
uint8_t(wiperRegs[motor] << 4),
uint8_t(std::round(amps * CURRENT_FACTOR)),
};
CURRENT_I2C.MasterTransmit(CURRENT_MCP44XX_ADDR, command, sizeof(command), false);
while (CURRENT_I2C.GetStatus().busy)
;
#endif
}

26
smoother/current_control.h Normal file
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@ -0,0 +1,26 @@
// Current control
//
// Copyright 2017 Todd Fleming
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#include <stdint.h>
void current_init();
void set_current(uint8_t motor, float amps);