03e2ca7cd5
- ALPHA status. - Multitasking ability with run-time command executions for real-time control and feedback. - Decelerating feed hold and resume during operation. - System abort/reset, which immediately kills all movement and re-initializes grbl. - Re-structured grbl to easily allow for new features: Status reporting, jogging, backlash compensation. (To be completed in the following releases.) - Resized TX/RX serial buffers (32/128 bytes) - Increased planner buffer size to 20 blocks. - Updated documentation.
60 lines
1.5 KiB
C
60 lines
1.5 KiB
C
/*
|
|
spindle_control.c - spindle control methods
|
|
Part of Grbl
|
|
|
|
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
|
|
Grbl is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
Grbl is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "spindle_control.h"
|
|
#include "settings.h"
|
|
#include "motion_control.h"
|
|
#include "config.h"
|
|
#include "planner.h"
|
|
|
|
#include <avr/io.h>
|
|
|
|
// TODO: Deprecated. Need to update for new version.
|
|
|
|
static int current_direction;
|
|
|
|
void spindle_init()
|
|
{
|
|
spindle_run(0, 0);
|
|
}
|
|
|
|
void spindle_run(int direction, uint32_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_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
|
|
}
|
|
current_direction = direction;
|
|
}
|
|
}
|
|
|
|
void spindle_stop()
|
|
{
|
|
spindle_run(0, 0);
|
|
}
|