Updated variable spindle and new probing. Minor bug fixes.
- Minor bug fix for variable spindle PWM output. Values smaller than the minimum RPM for the spindle would overflow the PWM value. Thanks Rob! - Created an optional minimum spindle PWM low-mark value as a compile-time option. This is for special circumstances when the PWM has to be at a certain level to be read by the spindle controller. - Refactored the new probing commands (G38.3, G38.4, G38.5) code to work better with the rest of Grbl’s systems. - Refactored mc_probe() and mc_arc() to accept the mode of the command, i.e. clockwise vs counter, toward vs away, etc. This is to make these functions independent of gcode state variables. - Removed the pull off motion in the probing cycle. This is not an official operation and was added for user simplicity, but wrongly did so. So bye bye. - Created a configure probe invert mask function to handle the different probe pin setting and probing cycle modes with a single mask. - Minor bug fix with reporting motion modes via $G. G38.2 wasn’t showing up. It now does, along with the other new probing commands. - Refactored some of the new pin configurations for the future of Grbl. -
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@ -86,10 +86,16 @@ void spindle_run(uint8_t direction, float rpm)
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#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
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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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rpm -= SPINDLE_MIN_RPM;
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if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow
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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 uint8 overflow
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}
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uint8_t current_pwm = floor( rpm*(255.0/SPINDLE_RPM_RANGE) + 0.5);
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OCR_REGISTER = current_pwm;
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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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#ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared.
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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