Corrected release link in README.md

README.md

@@ -1,7 +1,7 @@
 ![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)_
+_Click the `Release` tab to download pre-compiled `.bin` files or just [click here](https://github.com/cprezzi/grbl-LPC/releases)_
 ***
 This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.
 
@@ -10,20 +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.
-  * Pin 2.4
-  * 40 kHz
+* 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.
-  * 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)
+  * 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!

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_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+//#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_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_OFF_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_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
@@ -663,10 +663,10 @@
 #define LIMIT_DDR         LPC_GPIO1->FIODIR
 #define LIMIT_PIN         LPC_GPIO1->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_Y_STEPS_PER_MM 158.0
-#define DEFAULT_Z_STEPS_PER_MM 158.0
-#define DEFAULT_X_MAX_RATE 30000 // mm/min
-#define DEFAULT_Y_MAX_RATE 30000 // mm/min
-#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
-#define DEFAULT_X_ACCELERATION (5000.0*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_Z_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
+#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 // mm/min
+#define DEFAULT_Y_MAX_RATE 24000 // mm/min
+#define DEFAULT_Z_MAX_RATE 24000 // 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_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_SPINDLE_RPM_MAX 1.0 // rpm
+#define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
+#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_SEEK_RATE 500.0 // mm/min
+#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
 

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;
-      if(pwm_value >= SPINDLE_PWM_MAX_VALUE)
-        pwm_value = SPINDLE_PWM_MAX_VALUE - 1;
+      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
     }
     return(pwm_value);
   }