ManuelW/grbl-LPC-CoreXY
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Cleaned up variable spindle output (PWM). Code and config comments.

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- Variable spindle speed output as a configuration option. Thanks
@EliteEng! When enabled, the Z-limit (D11) and spindle enable(D12) pins
switch to allow access to the hardware PWM output on pin D11.
Otherwise, everything should work as it does.

- Removed option for inverting the spindle and coolant enable pins.
This is a safety hazard, especially for the spindle. When Grbl
initializes, all pins are momentarily low until it finishes booting. If
an invert is enabled, this means the spindles can be energized briefly
during this time. If users need signal inversion, it’s recommended to
just wire in an inversion circuit instead.

- Cleared out references to spindle variable output in terms of step
signal. This isn’t complete and requires more deliberation before
installing.

- Cleared up and cleaned up some code and config comments.
This commit is contained in:
Sonny Jeon
2014-01-04 12:12:44 -07:00
parent e7cd94e2bc
commit 8b5f306851
6 changed files with 183 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files

98
spindle_control.c
View File

@ -25,73 +25,71 @@
static uint8_t current_direction;
static uint16_t current_rpm;
static uint8_t current_pwm;
void spindle_init()
{
current_direction = 0;
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT);
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT);
#ifdef VARIABLE_SPINDLE
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT);
#endif
// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
#ifdef VARIABLE_SPINDLE
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT);
#ifndef CPU_MAP_ATMEGA328P
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
spindle_stop();
}
void spindle_stop()
{
#ifdef INVERT_SPINDLE
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#endif
#ifdef VARIABLE_SPINDLE
TCCRA_REGISTER &= ~(1<<COMB_BIT);
#endif
// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
#ifdef VARIABLE_SPINDLE
TCCRA_REGISTER &= ~(1<<COMB_BIT); // Disable PWM. Output voltage is zero.
#ifndef CPU_MAP_ATMEGA328P
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#endif
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#endif
}
void spindle_run(int8_t direction, uint16_t rpm) {
if ((direction != current_direction) || (rpm != current_rpm)) {
plan_synchronize();
if (direction) {
if (direction > 0) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#ifdef VARIABLE_SPINDLE
#ifdef SPINDLE_IS_PWM
void spindle_run(int8_t direction, uint16_t rpm)
{
if ((direction != current_direction) || (rpm != current_rpm)) {
plan_synchronize(); // Empty planner buffer to ensure spindle is updated as programmed.
if (direction) {
if (direction > 0) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
current_pwm = floor((((float) rpm / (float) SPINDLE_MAX_RPM ) * 255.0) + 0.5);
OCR_REGISTER = current_pwm;
#endif
#endif
#ifdef INVERT_SPINDLE
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
#ifdef VARIABLE_SPINDLE
TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
if (rpm > SPINDLE_MAX_RPM) { rpm = SPINDLE_MAX_RPM; } // Prevent overflow.
uint8_t current_pwm = floor((((float) rpm / (float) SPINDLE_MAX_RPM ) * 255.0) + 0.5);
OCR_REGISTER = current_pwm;
#ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared.
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#endif
} else {
spindle_stop();
}
current_direction = direction;
current_rpm = rpm;
spindle_stop();
}
current_direction = direction;
current_rpm = rpm;
}
}
uint8_t spindle_pwm()
{
return current_pwm;
}
void spindle_pwm_update(uint8_t pwm)
{
OCR_REGISTER = pwm;
}
#endif