ManuelW/grbl-LPC-CoreXY
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Merge branch 'master' of https://github.com/cprezzi/grbl-LPC

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This commit is contained in:
Claudio Prezzi
2017-06-21 09:04:30 +02:00
parent ba4e83723f 50c13a1868
commit b24e01d588
11 changed files with 77 additions and 103 deletions
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22
README.md
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@@ -1,7 +1,8 @@
![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)
***
_Click the `Release` tab to download pre-compiled `.bin` files or just [click here](https://github.com/cprezzi/grbl-LPC/releases)_
Old releases are in the `Release` tab. See [cprezzi's branch](https://github.com/cprezzi/grbl-LPC) for more recent releases.
Note: cprezzi's branch disables current control and has defaults more suitable for other boards.
***
This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.
@@ -10,25 +11,22 @@ Usage notes:
If it doesn't, try installing VCOM_lib/usbser.inf.
* This doesn't pass the sdcard to the host. Once installed you need to use a micro sdcard adaptor to replace or change it.
* Only tested with lasers with PWM. Non-PWM spindle control not ported.
* This special version supports setting PWM frequency by $33. Default is 5000 Hz. Pin can only be changes in config.h.
* Pin 2.5
* 5 kHz
* PWM off value: 0%
* Mimimum PWM value: 0%
* Maximum PWM value: 100%
* These are defaults for easy-to-change config values.
* Maximum S value: 1000.0 ($30)
* WPos enabled for LaserWeb compatability ($10=0)
* Laser mode: ON ($32)
* Minimum S value: 0.0 ($31)
* Laser mode: 1 ($32)
* Laser PWM frequency: 5000 ($33)
* Maximum S value: 1.0 ($30)
* Hard limits not yet ported
* Control inputs not yet ported (e.g. Cycle Start and Safety Door switches)
New configuration settings
* $33 is PWM frequency in Hz
* $34 is PWM off value in %
* $35 is PWM min value in %
* $36 is PWM max value in %
* $140, $141, $142 are X, Y, Z current (amps)
* Default to 0.0 A to avoid burning out your motors
* Your motors will likely stall if you don't set these!
* Default to 0.0 A to avoid burning out your motors
* Your motors will likely stall if you don't set these!
Build notes:
* You should use virtual machines, if you use multiple toolchains on the same PC.

35
grbl/config.h
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@@ -129,6 +129,9 @@
// define to force Grbl to always set the machine origin at the homed location despite switch orientation.
// #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
// Uncomment this define to force Grbl to always set the machine origin at bottom left.
#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
// Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
// and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
// be stored and executed in order. These startup blocks would typically be used to set the g-code
@@ -359,11 +362,6 @@
// pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max
// scales to SPINDLE_PWM_MAX_VALUE.
//#define SPINDLE_PWM_PERIOD (SystemCoreClock / 40000) // SystemCoreClock / frequency
#define SPINDLE_PWM_OFF_VALUE 0.0 // SPINDLE_PWM_PERIOD * fraction
//#define SPINDLE_PWM_MIN_VALUE (SPINDLE_PWM_PERIOD * 0.0) // SPINDLE_PWM_PERIOD * fraction
//#define SPINDLE_PWM_MAX_VALUE (SPINDLE_PWM_PERIOD * 1.0) // SPINDLE_PWM_PERIOD * fraction
// Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
// The PWM pin will still read 0V when the spindle is disabled. Most users will not need this option, but
// it may be useful in certain scenarios. This minimum PWM settings coincides with the spindle rpm minimum
@@ -717,10 +715,10 @@
#define CONTROL_INVERT_MASK CONTROL_MASK // May be re-defined to only invert certain control pins.
// Define probe switch input pin.
#define PROBE_DDR NotUsed
#define PROBE_PIN NotUsed
#define PROBE_PORT NotUsed
#define PROBE_BIT 5 // Uno Analog Pin 5
#define PROBE_DDR NotUsed // LPC_GPIO1->FIODIR
#define PROBE_PIN NotUsed // LPC_GPIO1->FIOPIN
#define PROBE_PORT NotUsed // LPC_GPIO1->FIOPIN
#define PROBE_BIT 5
#define PROBE_MASK (1<<PROBE_BIT)
// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
@@ -744,18 +742,21 @@
#define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000 // mm/min
#define DEFAULT_Y_MAX_RATE 24000 // mm/min
#define DEFAULT_Z_MAX_RATE 24000 // mm/min
#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
#define DEFAULT_X_CURRENT 0.0 // amps
#define DEFAULT_Y_CURRENT 0.0 // amps
#define DEFAULT_X_CURRENT 0.4 // amps
#define DEFAULT_Y_CURRENT 0.6 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_PWM_OFF_VALUE 0.0 // Percent
#define DEFAULT_SPINDLE_PWM_MIN_VALUE 0.0 // Percent
#define DEFAULT_SPINDLE_PWM_MAX_VALUE 100.0 // Percent
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@@ -768,15 +769,15 @@
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 1 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // true
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_ENABLE 1 // false
#define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#define DEFAULT_HOMING_PULLOFF 2.0 // mm
#endif

44
grbl/defaults.h
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@@ -41,7 +41,6 @@
#define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
@@ -66,49 +65,6 @@
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
#ifdef DEFAULTS_K40
// Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
#define DEFAULT_X_STEPS_PER_MM 160.0
#define DEFAULT_Y_STEPS_PER_MM 160.0
#define DEFAULT_Z_STEPS_PER_MM 160.0
#define DEFAULT_X_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
#define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
#define DEFAULT_X_CURRENT 0.0 // amps
#define DEFAULT_Y_CURRENT 0.0 // amps
#define DEFAULT_Z_CURRENT 0.0 // amps
#define DEFAULT_A_CURRENT 0.0 // amps
#define DEFAULT_X_MAX_TRAVEL 300.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
#define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
#define DEFAULT_STEP_PULSE_MICROSECONDS 10
#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)
#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
#define DEFAULT_ARC_TOLERANCE 0.002 // mm
#define DEFAULT_REPORT_INCHES 0 // false
#define DEFAULT_INVERT_ST_ENABLE 0 // false
#define DEFAULT_INVERT_LIMIT_PINS 1 // false
#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
#define DEFAULT_HARD_LIMIT_ENABLE 0 // false
#define DEFAULT_INVERT_PROBE_PIN 0 // false
#define DEFAULT_LASER_MODE 1 // false
#define DEFAULT_HOMING_ENABLE 0 // false
#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
#define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
#define DEFAULT_HOMING_PULLOFF 1.0 // mm
#endif
#ifdef DEFAULTS_SHERLINE_5400
// Description: Sherline 5400 mill with three NEMA 23 Keling KL23H256-21-8B 185 oz-in stepper motors,
// driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.

12
grbl/limits.c
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@@ -307,9 +307,17 @@ void limits_go_home(uint8_t cycle_mask)
set_axis_position = 0;
#else
if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
#ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
#else
set_axis_position = lround((settings.max_travel[idx]-settings.homing_pulloff)*settings.steps_per_mm[idx]);
#endif
} else {
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
#ifdef HOMING_FORCE_POSITIVE_SPACE
set_axis_position = lround(-settings.max_travel[idx]*settings.steps_per_mm[idx]);
#else
set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
#endif
}
#endif

11
grbl/report.c
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@@ -71,7 +71,6 @@ static void report_util_setting_string(uint8_t n) {
case 30: printPgmString(PSTR("rpm max")); break;
case 31: printPgmString(PSTR("rpm min")); break;
case 32: printPgmString(PSTR("laser")); break;
case 33: printPgmString(PSTR("spindle_pwm_freq")); break;
default:
n -= AXIS_SETTINGS_START_VAL;
uint8_t idx = 0;
@@ -97,11 +96,6 @@ static void report_util_uint8_setting(uint8_t n, int val) {
print_uint8_base10(val);
report_util_line_feed(); // report_util_setting_string(n);
}
static void report_util_uint32_setting(uint8_t n, int val) {
report_util_setting_prefix(n);
print_uint32_base10(val);
report_util_line_feed(); // report_util_setting_string(n);
}
static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) {
report_util_setting_prefix(n);
printFloat(val,n_decimal);
@@ -214,7 +208,10 @@ void report_grbl_settings() {
#else
report_util_uint8_setting(32,0);
#endif
report_util_uint32_setting(33,settings.spindle_pwm_freq);
report_util_float_setting(33,settings.spindle_pwm_freq,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(34,settings.spindle_pwm_off_value,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(35,settings.spindle_pwm_min_value,N_DECIMAL_SETTINGVALUE);
report_util_float_setting(36,settings.spindle_pwm_max_value,N_DECIMAL_SETTINGVALUE);
// Print axis settings
uint8_t idx, set_idx;
uint8_t val = AXIS_SETTINGS_START_VAL;

6
grbl/settings.c
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@@ -87,6 +87,9 @@ void settings_restore(uint8_t restore_flag) {
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.spindle_pwm_freq = DEFAULT_SPINDLE_PWM_FREQ;
settings.spindle_pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE;
settings.spindle_pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE;
settings.spindle_pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE;
settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
@@ -319,6 +322,9 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
#endif
break;
case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
case 35: settings.spindle_pwm_min_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
case 36: settings.spindle_pwm_max_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
default:
return(STATUS_INVALID_STATEMENT);
}

5
grbl/settings.h
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@@ -92,7 +92,10 @@ typedef struct {
float junction_deviation;
float arc_tolerance;
uint16_t spindle_pwm_freq;
float spindle_pwm_freq; // Hz
float spindle_pwm_off_value; // Percent
float spindle_pwm_min_value; // Percent
float spindle_pwm_max_value; // Percent
float rpm_max;
float rpm_min;

31
grbl/spindle_control.c
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@@ -25,10 +25,10 @@
#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
static float spindle_pwm_period;
static float spindle_pwm_off_value;
static float spindle_pwm_min_value;
static float spindle_pwm_max_value;
float spindle_pwm_period;
float spindle_pwm_off_value;
float spindle_pwm_min_value;
float spindle_pwm_max_value;
#endif
@@ -36,12 +36,10 @@ void spindle_init()
{
#ifdef VARIABLE_SPINDLE
spindle_pwm_period = (SystemCoreClock / settings.spindle_pwm_freq);
spindle_pwm_off_value = (spindle_pwm_period * 0.0); // SPINDLE_PWM_PERIOD * fraction
spindle_pwm_min_value = (spindle_pwm_period * 0.0); // SPINDLE_PWM_PERIOD * fraction
spindle_pwm_max_value = (spindle_pwm_period * 1.0); // SPINDLE_PWM_PERIOD * fraction
//pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0); //SPINDLE_PWM_PERIOD
spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100);
spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100);
spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0);
pwm_enable(&SPINDLE_PWM_CHANNEL);
/* not ported
@@ -54,7 +52,6 @@ void spindle_init()
#endif
*/
//pwm_gradient = (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)/(settings.rpm_max-settings.rpm_min);
pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
#else
@@ -145,21 +142,21 @@ void spindle_stop()
rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
if (rpm <= 0) {
sys.spindle_speed = 0;
pwm_value = spindle_pwm_off_value; //SPINDLE_PWM_OFF_VALUE
pwm_value = spindle_pwm_off_value;
}
else if (rpm <= settings.rpm_min) {
sys.spindle_speed = settings.rpm_min;
pwm_value = spindle_pwm_min_value; //SPINDLE_PWM_MIN_VALUE
pwm_value = spindle_pwm_min_value;
}
else if (rpm >= settings.rpm_max) {
sys.spindle_speed = settings.rpm_max;
pwm_value = spindle_pwm_max_value - 1; //SPINDLE_PWM_MAX_VALUE
pwm_value = spindle_pwm_max_value - 1;
}
else {
sys.spindle_speed = rpm;
pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value; //SPINDLE_PWM_MIN_VALUE
if(pwm_value >= spindle_pwm_max_value) //SPINDLE_PWM_MAX_VALUE
pwm_value = spindle_pwm_max_value - 1; //SPINDLE_PWM_MAX_VALUE
pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;
if(pwm_value >= spindle_pwm_max_value)
pwm_value = spindle_pwm_max_value - 1;
}
return(pwm_value);
}

4
grbl/spindle_control.h
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@@ -40,6 +40,10 @@ uint8_t spindle_get_state();
// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// Called by spindle_sync() after sync and parking motion/spindle stop override during restore.
#ifdef VARIABLE_SPINDLE
extern float spindle_pwm_period;
extern float spindle_pwm_off_value;
extern float spindle_pwm_min_value;
extern float spindle_pwm_max_value;
// Called by g-code parser when setting spindle state and requires a buffer sync.
void spindle_sync(uint8_t state, float rpm);

4
grbl/stepper.c
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@@ -385,7 +385,7 @@ extern "C" void TIMER1_IRQHandler()
st_go_idle();
#ifdef VARIABLE_SPINDLE
// Ensure pwm is set properly upon completion of rate-controlled motion.
if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(spindle_pwm_off_value); }
#endif
system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
return; // Nothing to do but exit.
@@ -907,7 +907,7 @@ void st_prep_buffer()
prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
} else {
sys.spindle_speed = 0.0;
prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
prep.current_spindle_pwm = spindle_pwm_off_value;
}
bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
}

6
grbl/system.c
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@@ -342,7 +342,11 @@ uint8_t system_check_travel_limits(float *target)
}
#else
// NOTE: max_travel is stored as negative
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#ifdef HOMING_FORCE_POSITIVE_SPACE
if (target[idx] < 0 || target[idx] > -settings.max_travel[idx]) { return(true); }
#else
if (target[idx] > 0 || target[idx] < settings.max_travel[idx]) { return(true); }
#endif
#endif
}
return(false);