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Merge pull request #318 from EliteEng/dev

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PWM Spindle Control and Invert Spindle & Coolant Pins
This commit is contained in:
Sonny Jeon 2014-01-02 16:56:02 -08:00
commit e7cd94e2bc
6 changed files with 198 additions and 48 deletions
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25
coolant_control.c
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@ -39,10 +39,17 @@ void coolant_init()
void coolant_stop()
{
#ifdef INVERT_COOLANT
#ifdef ENABLE_M7
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#endif
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#endif
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#else
#ifdef ENABLE_M7
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#endif
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#endif
}
@ -51,11 +58,19 @@ void coolant_run(uint8_t mode)
if (mode != current_coolant_mode)
{
plan_synchronize(); // Ensure coolant turns on when specified in program.
if (mode == COOLANT_FLOOD_ENABLE) {
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
if (mode == COOLANT_FLOOD_ENABLE) {
#ifdef INVERT_COOLANT
COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
#else
COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
#endif
#ifdef ENABLE_M7
} else if (mode == COOLANT_MIST_ENABLE) {
#ifdef INVERT_COOLANT
COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
#else
COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
#endif
#endif
} else {
coolant_stop();

134
cpu_map.h
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@ -34,6 +34,9 @@
#define SERIAL_RX USART_RX_vect
#define SERIAL_UDRE USART_UDRE_vect
// Start of PWM & Stepper Enabled Spindle
// #define VARIABLE_SPINDLE // comment this out to disable PWM & Stepper on the spindle
// NOTE: All step bit and direction pins must be on the same port.
#define STEPPING_DDR DDRD
#define STEPPING_PORT PORTD
@ -54,6 +57,20 @@
#define STEPPERS_DISABLE_BIT 0 // Uno Digital Pin 8
#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
#ifdef VARIABLE_SPINDLE // Z LImit has been disabled to make room for the Spindle PWM
// NOTE: All limit bit pins must be on the same port
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
#define LIMIT_PORT PORTB
#define X_LIMIT_BIT 1 // Uno Digital Pin 9
#define Y_LIMIT_BIT 2 // Uno Digital Pin 9
#define Z_LIMIT_BIT 2 // Uno Digital Pin 11
#define LIMIT_INT PCIE0 // Pin change interrupt enable pin
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) // All limit bits
#else
// NOTE: All limit bit pins must be on the same port
#define LIMIT_DDR DDRB
#define LIMIT_PIN PINB
@ -65,6 +82,12 @@
#define LIMIT_INT_vect PCINT0_vect
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#endif
// WARNING if INVERT_SPINDLE is defined the pin will be LOW(Active) on reset of controller until spindle_init() is called.
// this should only be a very short period of time but will energise the spindle.
// #define INVERT_SPINDLE // This will INVERT the Spindle LOW=Active
// END WARNING
#define SPINDLE_ENABLE_DDR DDRB
#define SPINDLE_ENABLE_PORT PORTB
@ -74,6 +97,11 @@
#define SPINDLE_DIRECTION_PORT PORTB
#define SPINDLE_DIRECTION_BIT 5 // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
// WARNING if INVERT_COOLANT is defined the pin will be LOW(Active) on reset of controller until coolant_init() is called.
// this should only be a very short period of time but will energise the coolant pump.
// #define INVERT_COOLANT // This will INVERT the Coolant LOW=Active
// END WARNING
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 3 // Uno Analog Pin 3
@ -99,20 +127,46 @@
#define PINOUT_PCMSK PCMSK1 // Pin change interrupt register
#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
#endif
#ifdef VARIABLE_SPINDLE
#define SPINDLE_IS_PWM // Uncomment this if your Spindle uses PWM ie. DC Motor
#ifdef SPINDLE_IS_PWM
#define SPINDLE_MAX_RPM 255 // Max RPM of your spindle - This value is equal to 100% Duty Cycle on the PWM
#endif
// Advanced Configuration Below You should not need to touch these variables
//Set Timer up to use TIMER4 OCR4B which is attached to Digital Pin 7
#define TCCRA_REGISTER TCCR2A
#define TCCRB_REGISTER TCCR2B
#define OCR_REGISTER OCR2A
#define COMB_BIT COM2A1
#define WAVE0_REGISTER WGM20
#define WAVE1_REGISTER WGM21
#define WAVE2_REGISTER WGM22
#define WAVE3_REGISTER WGM23
#define SPINDLE_PWM_DDR DDRB
#define SPINDLE_PWM_PORT PORTB
#define SPINDLE_PWM_BIT 3 // UNO Digital Pin 11
#endif // End of VARIABLE_SPINDLE
#endif
#ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
#ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
// Serial port pins
#define SERIAL_RX USART0_RX_vect
#define SERIAL_UDRE USART0_UDRE_vect
// Increase Buffers to make use of extra SRAM
#define RX_BUFFER_SIZE 256
#define TX_BUFFER_SIZE 128
#define BLOCK_BUFFER_SIZE 36
#define LINE_BUFFER_SIZE 100
//#define RX_BUFFER_SIZE 256
//#define TX_BUFFER_SIZE 128
//#define BLOCK_BUFFER_SIZE 36
//#define LINE_BUFFER_SIZE 100
// NOTE: All step pins must be on the same port.
#define STEPPING_DDR DDRA
@ -121,7 +175,7 @@
#define X_STEP_BIT 2 // MEGA2560 Digital Pin 24
#define Y_STEP_BIT 3 // MEGA2560 Digital Pin 25
#define Z_STEP_BIT 4 // MEGA2560 Digital Pin 26
#define STEPPING_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
// NOTE: All direction pins must be on the same port.
#define DIRECTION_DDR DDRA
@ -149,23 +203,33 @@
#define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define SPINDLE_ENABLE_DDR DDRC
#define SPINDLE_ENABLE_PORT PORTC
#define SPINDLE_ENABLE_BIT 2 // MEGA2560 Digital Pin 35
// WARNING if INVERT_SPINDLE is defined the pin will be LOW(Active) on reset of controller until spindle_init() is called.
// this should only be a very short period of time but will energise the spindle.
// #define INVERT_SPINDLE // This will INVERT the Spindle LOW=Active
// END WARNING
#define SPINDLE_DIRECTION_DDR DDRC
#define SPINDLE_DIRECTION_PORT PORTC
#define SPINDLE_DIRECTION_BIT 1 // MEGA2560 Digital Pin 36
#define SPINDLE_ENABLE_DDR DDRH
#define SPINDLE_ENABLE_PORT PORTH
#define SPINDLE_ENABLE_BIT 3 // MEGA2560 Digital Pin 6
#define COOLANT_FLOOD_DDR DDRC
#define COOLANT_FLOOD_PORT PORTC
#define COOLANT_FLOOD_BIT 0 // MEGA2560 Digital Pin 37
#define SPINDLE_DIRECTION_DDR DDRE
#define SPINDLE_DIRECTION_PORT PORTE
#define SPINDLE_DIRECTION_BIT 3 // MEGA2560 Digital Pin 5
// WARNING if INVERT_COOLANT is defined the pin will be LOW(Active) on reset of controller until coolant_init() is called.
// this should only be a very short period of time but will energise the coolant pump.
// #define INVERT_COOLANT // This will INVERT the Coolant LOW=Active
// END WARNING
#define COOLANT_FLOOD_DDR DDRH
#define COOLANT_FLOOD_PORT PORTH
#define COOLANT_FLOOD_BIT 5 // MEGA2560 Digital Pin 8
// #define ENABLE_M7 // Mist coolant disabled by default. Uncomment to enable.
#ifdef ENABLE_M7
#define COOLANT_MIST_DDR DDRC
#define COOLANT_MIST_PORT PORTC
#define COOLANT_MIST_BIT 3 // MEGA2560 Digital Pin 34
#define COOLANT_MIST_DDR DDRH
#define COOLANT_MIST_PORT PORTH
#define COOLANT_MIST_BIT 6 // MEGA2560 Digital Pin 9
#endif
// NOTE: All pinouts pins must be on the same port and cannot be on same port as limit pins.
@ -180,11 +244,41 @@
#define PINOUT_PCMSK PCMSK2 // Pin change interrupt register
#define PINOUT_MASK ((1<<PIN_RESET)|(1<<PIN_FEED_HOLD)|(1<<PIN_CYCLE_START))
#endif
// Start of PWM & Stepper Enabled Spindle
// #define VARIABLE_SPINDLE // comment this out to disable PWM & Stepper on the spindle
#ifdef VARIABLE_SPINDLE
//#define SPINDLE_IS_STEPPER // Uncomment this if your Spindle is a Stepper Motor
#define SPINDLE_IS_PWM // Uncomment this if your Spindle uses PWM ie. DC Motor
#ifdef SPINDLE_IS_PWM
#define SPINDLE_MAX_RPM 255 // Max RPM of your spindle
#endif
// Advanced Configuration Below You should not need to touch these variables
//Set Timer up to use TIMER4 OCR4B which is attached to Digital Pin 7
#define TCCRA_REGISTER TCCR2A
#define TCCRB_REGISTER TCCR2B
#define OCR_REGISTER OCR2B
#define COMB_BIT COM2B1
#define WAVE0_REGISTER WGM20
#define WAVE1_REGISTER WGM21
#define WAVE2_REGISTER WGM22
#define WAVE3_REGISTER WGM23
#define SPINDLE_PWM_DDR DDRH
#define SPINDLE_PWM_PORT PORTH
#define SPINDLE_PWM_BIT 6 // MEGA2560 Digital Pin 9
#endif // End of VARIABLE_SPINDLE
#endif
/*
#ifdef CPU_MAP_CUSTOM_PROC
// For a custom pin map or different processor, copy and paste one of the default cpu map
// settings above and modify it to your needs. Then, make sure the defined name is also
// changed in the config.h file.
#endif

5
gcode.c
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@ -238,8 +238,7 @@ uint8_t gc_execute_line(char *line)
case 'R': gc.arc_radius = to_millimeters(value); break;
case 'S':
if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
// TBD: Spindle speed not supported due to PWM issues, but may come back once resolved.
// gc.spindle_speed = value;
gc.spindle_speed = value;
break;
case 'T':
if (value < 0) { FAIL(STATUS_INVALID_STATEMENT); } // Cannot be negative
@ -266,7 +265,7 @@ uint8_t gc_execute_line(char *line)
// ([M6]: Tool change should be executed here.)
// [M3,M4,M5]: Update spindle state
spindle_run(gc.spindle_direction);
spindle_run(gc.spindle_direction, gc.spindle_speed);
// [*M7,M8,M9]: Update coolant state
coolant_run(gc.coolant_mode);

2
gcode.h
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@ -75,7 +75,7 @@ typedef struct {
float feed_rate; // Millimeters/min
float position[N_AXIS]; // Where the interpreter considers the tool to be at this point in the code
uint8_t tool;
// uint16_t spindle_speed; // RPM/100
uint16_t spindle_speed; // RPM
uint8_t plane_axis_0,
plane_axis_1,
plane_axis_2; // The axes of the selected plane

76
spindle_control.c
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@ -24,34 +24,74 @@
#include "planner.h"
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);
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT);
#ifdef VARIABLE_SPINDLE
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT);
#endif
spindle_stop();
}
void spindle_stop()
{
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#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
}
void spindle_run(int8_t direction) //, uint16_t rpm)
{
if (direction != current_direction) {
plan_synchronize();
if (direction) {
if(direction > 0) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= 1<<SPINDLE_DIRECTION_BIT;
}
SPINDLE_ENABLE_PORT |= 1<<SPINDLE_ENABLE_BIT;
} else {
spindle_stop();
}
current_direction = direction;
}
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
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
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
} else {
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;
}

4
spindle_control.h
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@ -25,7 +25,9 @@
#include <avr/io.h>
void spindle_init();
void spindle_run(int8_t direction); //, uint16_t rpm);
void spindle_run(int8_t direction, uint16_t rpm);
void spindle_stop();
uint8_t spindle_pwm();
void spindle_pwm_update(uint8_t pwm);
#endif