ManuelW/grbl-LPC-CoreXY
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v1.1d: Tweaked interface a bit. Added realtime spindle speed and build option data. Minor bug fixes.

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- Increment to v1.1d due to interface tweaks.

- Based on GUI dev feedback, the toggle overrides report was removed
and replace with showing “accessory state”. This shows a character if a
particular accessory is enabled, like the spindle or flood coolant.
These can be directly altered by the toggle overrides, so when they
execute, a GUI will be able to observe the state altering as feedback.

- Altered the real-time feed rate to show real-time spindle speed as
well. It was an over-sight on my part. It’s needed because it’s hard to
know what the current spindle speed is when overrides are altering it.
Especially during something like a laser cutting job when its important
to know how spindle speed overrides are effecting things.

- Real-time spindle speed is not shown if VARIABLE_SPINDLE is disabled.
The old real-time feed rate data field will show instead.

- Compile-time option data is now included in another message
immediately following the build info version string, starting with
`[OPT:`. A character code follows the data type name with each
indicating a particular option enabled or disabled. This will help
immensely with debugging Grbl as well as help GUIs know exactly how
Grbl was compiled.

- These interface changes are detailed in the updated documentation.

- Reduced the default planner buffer size from 17 to 16. Needed to free
up some memory…

- For increasing the serial TX buffer size from 90 to 104 bytes. The
addition of real-time spindle speeds and accessory enable data required
a bigger buffer. This is to ensure Grbl is performing at optimal levels.

- Refactored parts of the spindle and coolant control code to make it
more consistent to each other and how it was called. It was a little
messy. The changes made it easier to track what each function call was
doing based on what was calling it.

- Created a couple of new get_state functions for the spindle and
coolant. These are called by the accessory state report to look
directly at the pin state, rather than track how it was set. This
guarantees that the state is reported correctly.

- Updated the g-code parser, parking motion, sleep mode, and spindle
stop calls to refactored spindle and coolant code.

- Added a compile-time option to enable homing individual axes, rather
than having only the main homing cycle. The actual use case for this is
pretty rare. It’s not recommended you enable this, unless you have a
specific application for it. Otherwise, just alter the homing cycle
itself.

- Refactored the printFloat() function to not show a decimal point if
there are no trailing values after it. For example, `1.` now shows `1`.

- Fixed an issue regarding spindle speed overrides no being applied to
blocks without motions.

- Removed the toggle_ovr_mask system variable and replaced with
spindle_stop_ovr system variable. Coolant toggles don’t need to be
tracked.

- Updated README
This commit is contained in:
Sonny Jeon
2016-10-17 23:48:25 -06:00
parent c8ac98d6e0
commit ed790c9fa2
26 changed files with 567 additions and 251 deletions
Download Patch File Download Diff File Expand all files Collapse all files

117
grbl/spindle_control.c
View File

@ -63,11 +63,41 @@ void spindle_init()
}
// Stop and start spindle routines. Called by all spindle routines and various interrupts.
// Keep routine small, fast, and efficient.
uint8_t spindle_get_state()
{
#ifdef VARIABLE_SPINDLE
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
// No spindle direction output pin.
#ifdef INVERT_SPINDLE_ENABLE_PIN
if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#else
if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
#endif
#else
if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
else { return(SPINDLE_STATE_CW); }
}
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#else
if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
#endif
if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
else { return(SPINDLE_STATE_CW); }
}
#endif
return(SPINDLE_STATE_DISABLE);
}
// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
void spindle_stop()
{
// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
#ifdef VARIABLE_SPINDLE
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
@ -88,7 +118,8 @@ void spindle_stop()
#ifdef VARIABLE_SPINDLE
// Called by spindle state functions and stepper ISR. Keep routine small, fast, and efficient.
// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(uint8_t pwm_value)
{
if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
@ -108,17 +139,25 @@ void spindle_stop()
}
// Called by spindle state functions and step segment generator.
// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
{
rpm *= (0.01*sys.spindle_speed_ovr); // Scale by spindle speed override value.
// Calculate PWM register value based on rpm max/min settings and programmed rpm.
if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
// No PWM range possible. Set simple on/off spindle control pin state.
sys.spindle_speed = settings.rpm_max;
return(SPINDLE_PWM_MAX_VALUE);
} else if (rpm < settings.rpm_min) {
if (rpm == 0.0) { return(SPINDLE_PWM_OFF_VALUE); }
else { return(SPINDLE_PWM_MIN_VALUE); }
if (rpm == 0.0) {
sys.spindle_speed = 0.0;
return(SPINDLE_PWM_OFF_VALUE); }
else {
sys.spindle_speed = settings.rpm_min;
return(SPINDLE_PWM_MIN_VALUE);
}
} else {
sys.spindle_speed = rpm;
return(floor( (rpm-settings.rpm_min)*pwm_gradient + (SPINDLE_PWM_MIN_VALUE+0.5)));
}
}
@ -126,18 +165,24 @@ void spindle_stop()
// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// Called by spindle_run() after sync and parking motion/spindle stop override during restore.
void spindle_set_state(uint8_t state, uint8_t pwm_value)
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
#ifdef VARIABLE_SPINDLE
void spindle_set_state(uint8_t state, float rpm)
#else
void spindle_set_state(uint8_t state)
#endif
{
if (sys.abort) { return; } // Block during abort.
// Halt or set spindle direction and rpm.
if (state == SPINDLE_DISABLE) {
if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
#ifdef VARIABLE_SPINDLE
sys.spindle_speed = 0.0;
#endif
spindle_stop();
} else {
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
if (state == SPINDLE_ENABLE_CW) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
@ -145,35 +190,39 @@ void spindle_set_state(uint8_t state, uint8_t pwm_value)
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#endif
#ifdef VARIABLE_SPINDLE
spindle_set_speed(pwm_value);
spindle_set_speed(spindle_compute_pwm_value(rpm));
#else
// NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
// if the spindle speed value is zero, as its ignored anyhow.
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#endif
#endif
}
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
}
// Called by g-code parser when setting spindle state and requires a buffer sync.
void spindle_run(uint8_t state, float rpm)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
#ifdef VARIABLE_SPINDLE
spindle_set_state(state, spindle_compute_pwm_value(rpm));
#else
spindle_set_state(state,0); // Send null pwm value. Not used.
#endif
}
// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails
// if an abort or check-mode is active.
#ifdef VARIABLE_SPINDLE
void spindle_sync(uint8_t state, float rpm)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
spindle_set_state(state,rpm);
}
#else
void spindle_sync(uint8_t state)
{
if (sys.state == STATE_CHECK_MODE) { return; }
protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
spindle_set_state(state);
}
#endif