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8e638f0054
grbl-LPC-CoreXY/grbl/spindle_control.c
Will Winder 8e638f0054 Minor VARIABLE_SPINDLE feature toggle refactoring (#16) 
* Modify code CSV format.

- Wrap value in quotes to avoid issue with embedded commas. This occurs
  in one of the alarm codes.

- Change header row format to allow same parsing code as data rows.

* VARIABLE_SPINDLE feature flag experiment.

- Use a macro for 'spindle_set_speed' and 'spindle_sync' to reduce the
  number of required VARIABLE_SPINDLE checks.
2016-10-22 13:28:05 -06:00

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/*
spindle_control.c - spindle control methods
Part of Grbl
Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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 "grbl.h"
#ifdef SPINDLE_MINIMUM_PWM
#define SPINDLE_PWM_MIN_VALUE SPINDLE_MINIMUM_PWM
#else
#define SPINDLE_PWM_MIN_VALUE 0.0
#endif
#define SPINDLE_PWM_RANGE (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
#ifdef VARIABLE_SPINDLE
static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif
void spindle_init()
{
#ifdef VARIABLE_SPINDLE
// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
// combined unless configured otherwise.
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; // Configure PWM output compare timer
SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#else
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
#else
// Configure no variable spindle and only enable pin.
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
#endif
spindle_stop();
}
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()
{
#ifdef VARIABLE_SPINDLE
SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
#else
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
#endif
#endif
}
#ifdef VARIABLE_SPINDLE
// 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) {
spindle_stop();
} else {
SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
#if defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
#ifdef INVERT_SPINDLE_ENABLE_PIN
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#endif
}
}
// 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) {
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)));
}
}
#endif
// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// 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.
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);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#endif
#ifdef VARIABLE_SPINDLE
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
}
sys.report_ovr_counter = REPORT_OVR_REFRESH_BUSY_COUNT; // Set to report change immediately
}
// 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
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