Error corrected in config.h (missing ")" on LIMIT_MASK)

README.md

@@ -1,4 +1,5 @@
-![GitHub Logo](/doc/media/Grbl Logo 250px.png)
+![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/gnea/grbl-LPC/releases)_
 ***
@@ -9,21 +10,22 @@ 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.
-* These are fixed PWM config values. To change these you'll have to change ```SPINDLE_PWM_*``` in config.h and rebuild.
+* This special version supports setting PWM frequency by $33. Default is 5000 Hz. Pin can only be changes in config.h.
-  * Pin 2.4
+  * Pin 2.5
-  * 40 kHz
+  * 5 kHz
   * PWM off value: 0%
   * Mimimum PWM value: 0%
   * Maximum PWM value: 100%
 * These are defaults for easy-to-change config values.
-  * Laser mode: ON ($32)
+  * Maximum S value: 1000.0 ($30)
   * Minimum S value: 0.0 ($31)
-  * Maximum S value: 1.0 ($30)
+  * Laser mode: 1 ($32)
-* Homing not tested
+  * Laser PWM frequency: 5000 ($33)
 * 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
 * $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!
@@ -57,12 +59,12 @@ Grbl includes full acceleration management with look ahead. That means the contr
 ***
 
 ### Official Supporters of the Grbl CNC Project
-![Official Supporters](https://dl.dropboxusercontent.com/u/2221997/Contributors.png)
+![Official Supporters](https://github.com/gnea/gnea-Media/blob/master/Contributors.png?raw=true)
 
 
 ***
 
-##Update Summary for v1.1
+## Update Summary for v1.1
 - **IMPORTANT:** Your EEPROM will be wiped and restored with new settings. This is due to the addition of two new spindle speed '$' settings.
 
 - **Real-time Overrides** : Alters the machine running state immediately with feed, rapid, spindle speed, spindle stop, and coolant toggle controls. This awesome new feature is common only on industrial machines, often used to optimize speeds and feeds while a job is running. Most hobby CNC's try to mimic this behavior, but usually have large amounts of lag. Grbl executes overrides in realtime and within tens of milliseconds.

grbl/config.h

@@ -103,12 +103,12 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
+//#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
 
 // NOTE: The following are two examples to setup homing for 2-axis machines.
-// #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
+#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
 
 // #define HOMING_CYCLE_0 (1<<X_AXIS)  // COREXY COMPATIBLE: First home X
 // #define HOMING_CYCLE_1 (1<<Y_AXIS)  // COREXY COMPATIBLE: Then home Y
@@ -359,10 +359,10 @@
 //      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_PERIOD        (SystemCoreClock / 40000)         // SystemCoreClock / frequency
-#define SPINDLE_PWM_OFF_VALUE     (SPINDLE_PWM_PERIOD * 0.0)    // SPINDLE_PWM_PERIOD * fraction
+#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_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
+//#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
@@ -660,13 +660,13 @@
 
 // Define homing/hard limit switch input pins and limit interrupt vectors.
 // NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
-#define LIMIT_DDR         LPC_GPIO0->FIODIR
+#define LIMIT_DDR         LPC_GPIO1->FIODIR
-#define LIMIT_PIN         LPC_GPIO0->FIOPIN
+#define LIMIT_PIN         LPC_GPIO1->FIOPIN
-#define LIMIT_PORT        LPC_GPIO0->FIOPIN
+#define LIMIT_PORT        LPC_GPIO1->FIOPIN
-#define X_LIMIT_BIT       25  // X-MIN=24, X-MAX=25
+#define X_LIMIT_BIT       24  // X-MIN=24, X-MAX=25
 #define Y_LIMIT_BIT       27  // Y-MIN=26, Y-MAX=27
 #define Z_LIMIT_BIT	      29  // Z-MIN=28, Z-MAX=29
-#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
+#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)) //|(1<<Z_LIMIT_BIT)) // All limit bits
 // hard limits not ported    #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
 // hard limits not ported    #define LIMIT_INT_vect   PCINT0_vect
 // hard limits not ported    #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
@@ -728,53 +728,54 @@
 // PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
 // Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
 // Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
-#define SPINDLE_PWM_CHANNEL           PWM1_CH5
+#define SPINDLE_PWM_CHANNEL           PWM1_CH6
 #define SPINDLE_PWM_USE_PRIMARY_PIN   false
 #define SPINDLE_PWM_USE_SECONDARY_PIN true
 
 // Stepper current control
-#define CURRENT_I2C Driver_I2C1         // I2C driver for current control. Comment out to disable.
+//#define CURRENT_I2C Driver_I2C1         // I2C driver for current control. Comment out to disable.
 #define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
 #define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
 #define CURRENT_FACTOR 113.33           // Convert amps to digipot value
 
 // Paste default settings definitions here.
-#define DEFAULT_X_STEPS_PER_MM 158.0
+#define DEFAULT_X_STEPS_PER_MM 160.0
-#define DEFAULT_Y_STEPS_PER_MM 158.0
+#define DEFAULT_Y_STEPS_PER_MM 160.0
-#define DEFAULT_Z_STEPS_PER_MM 158.0
+#define DEFAULT_Z_STEPS_PER_MM 160.0
-#define DEFAULT_X_MAX_RATE 30000 // mm/min
+#define DEFAULT_X_MAX_RATE 24000 // mm/min
-#define DEFAULT_Y_MAX_RATE 30000 // mm/min
+#define DEFAULT_Y_MAX_RATE 24000 // mm/min
-#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
+#define DEFAULT_Z_MAX_RATE 24000 // mm/min
-#define DEFAULT_X_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
+#define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_Y_ACCELERATION (5000.0*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 (5000.0*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_Z_CURRENT 0.0 // amps
 #define DEFAULT_A_CURRENT 0.0  // amps
-#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
+#define DEFAULT_X_MAX_TRAVEL 300.0 // mm
 #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
+#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
-#define DEFAULT_SPINDLE_RPM_MAX 1.0 // rpm
+#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 1
+#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 1 // MPos 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 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 // true
 #define DEFAULT_HOMING_ENABLE 0  // false
 #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
+#define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-#define DEFAULT_HOMING_SEEK_RATE 500.0 // 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
 

grbl/defaults.h

@@ -41,6 +41,7 @@
   #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
@@ -65,6 +66,49 @@
   #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.

grbl/report.c

@@ -71,6 +71,7 @@ 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;
@@ -96,6 +97,11 @@ 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);
@@ -208,6 +214,7 @@ void report_grbl_settings() {
   #else
     report_util_uint8_setting(32,0);
   #endif
+  report_util_uint32_setting(33,settings.spindle_pwm_freq);
   // Print axis settings
   uint8_t idx, set_idx;
   uint8_t val = AXIS_SETTINGS_START_VAL;

grbl/settings.c

@@ -86,6 +86,7 @@ void settings_restore(uint8_t restore_flag) {
     settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
     settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
 
+    settings.spindle_pwm_freq = DEFAULT_SPINDLE_PWM_FREQ;
     settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
     settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
 
@@ -317,6 +318,7 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
           return(STATUS_SETTING_DISABLED);
         #endif
         break;
+      case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
       default:
         return(STATUS_INVALID_STATEMENT);
     }

grbl/settings.h

@@ -92,6 +92,7 @@ typedef struct {
   float junction_deviation;
   float arc_tolerance;
 
+  uint16_t spindle_pwm_freq;
   float rpm_max;
   float rpm_min;
 

grbl/spindle_control.c

@@ -25,13 +25,23 @@
 
 #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;
 #endif
 
 
 void spindle_init()
 {
   #ifdef VARIABLE_SPINDLE
-    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
+    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
     pwm_enable(&SPINDLE_PWM_CHANNEL);
 
     /* not ported
@@ -44,7 +54,8 @@ 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);
+    pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
 
   #else
     /* not ported
@@ -134,21 +145,21 @@ 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;
+      pwm_value = spindle_pwm_off_value;    //SPINDLE_PWM_OFF_VALUE
     }
     else if (rpm <= settings.rpm_min) {
       sys.spindle_speed = settings.rpm_min;
-      pwm_value = SPINDLE_PWM_MIN_VALUE;
+      pwm_value = spindle_pwm_min_value;    //SPINDLE_PWM_MIN_VALUE
     }
     else if (rpm >= settings.rpm_max) {
       sys.spindle_speed = settings.rpm_max;
-      pwm_value = SPINDLE_PWM_MAX_VALUE - 1;
+      pwm_value = spindle_pwm_max_value - 1;    //SPINDLE_PWM_MAX_VALUE
     }
     else {
       sys.spindle_speed = rpm;
-      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
+      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;   //SPINDLE_PWM_MIN_VALUE
-      if(pwm_value >= SPINDLE_PWM_MAX_VALUE)
+      if(pwm_value >= spindle_pwm_max_value)    //SPINDLE_PWM_MAX_VALUE
-        pwm_value = SPINDLE_PWM_MAX_VALUE - 1;
+        pwm_value = spindle_pwm_max_value - 1;  //SPINDLE_PWM_MAX_VALUE
     }
     return(pwm_value);
   }