103 lines
3.3 KiB
C
103 lines
3.3 KiB
C
/*
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spindle_control.c - spindle control methods
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Part of Grbl v0.9
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Copyright (c) 2012-2014 Sungeun K. Jeon
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This file is based on work from Grbl v0.8, distributed under the
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terms of the MIT-license. See COPYING for more details.
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2012 Sungeun K. Jeon
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*/
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#include "system.h"
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#include "spindle_control.h"
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#include "protocol.h"
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#include "gcode.h"
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void spindle_init()
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{
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// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
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#ifdef VARIABLE_SPINDLE
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SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
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#ifndef CPU_MAP_ATMEGA328P
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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#endif
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#else
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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#endif
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SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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spindle_stop();
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}
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void spindle_stop()
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{
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// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
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#ifdef VARIABLE_SPINDLE
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TCCRA_REGISTER &= ~(1<<COMB_BIT); // Disable PWM. Output voltage is zero.
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#ifndef CPU_MAP_ATMEGA328P
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SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
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#endif
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#else
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SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
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#endif
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}
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void spindle_run(uint8_t direction, float rpm)
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{
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if (sys.state == STATE_CHECK_MODE) { return; }
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// Empty planner buffer to ensure spindle is set when programmed.
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protocol_auto_cycle_start(); //temp fix for M3 lockup
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protocol_buffer_synchronize();
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// Halt or set spindle direction and rpm.
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if (direction == SPINDLE_DISABLE) {
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spindle_stop();
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} else {
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if (direction == SPINDLE_ENABLE_CW) {
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SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
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} else {
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SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
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}
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#ifdef VARIABLE_SPINDLE
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// TODO: Install the optional capability for frequency-based output for servos.
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#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
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TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
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TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
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rpm -= SPINDLE_MIN_RPM;
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if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow
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uint8_t current_pwm = floor( rpm*(255.0/SPINDLE_RPM_RANGE) + 0.5);
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OCR_REGISTER = current_pwm;
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#ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared.
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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#endif
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#else
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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#endif
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}
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}
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