b237ad566a
- Re-organized source code files into a ‘grbl’ directory to lessen one step in compiling Grbl through the Arduino IDE. - Added an ‘examples’ directory with an upload .INO sketch to further simplify compiling and uploading Grbl via the Arduino IDE. - Updated the Makefile with regard to the source code no longer being in the root directory. All files generated by compiling is placed in a separate ‘build’ directory to keep things tidy. The makefile should operate in the same way as it did before.
117 lines
3.9 KiB
C
117 lines
3.9 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) 2012-2015 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 "grbl.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_set_state(uint8_t state, float rpm)
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{
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// Halt or set spindle direction and rpm.
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if (state == SPINDLE_DISABLE) {
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spindle_stop();
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} else {
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if (state == 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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#ifdef CPU_MAP_ATMEGA2560
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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 | (1<<WAVE2_REGISTER) | (1<<WAVE3_REGISTER); // set to 1/8 Prescaler
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OCR4A = 0xFFFF; // set the top 16bit value
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uint16_t current_pwm;
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#else
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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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uint8_t current_pwm;
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#endif
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#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
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if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; }
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else {
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rpm -= SPINDLE_MIN_RPM;
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if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
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}
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current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
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#ifdef MINIMUM_SPINDLE_PWM
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if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
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#endif
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OCR_REGISTER = current_pwm; // Set PWM pin output
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#ifdef CPU_MAP_ATMEGA2560 // 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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void spindle_run(uint8_t state, float rpm)
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{
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if (sys.state == STATE_CHECK_MODE) { return; }
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protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
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spindle_set_state(state, rpm);
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}
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