98 lines
2.4 KiB
C
98 lines
2.4 KiB
C
/*
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spindle_control.c - spindle control methods
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Part of Grbl
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Copyright (c) 2012-2014 Sungeun K. Jeon
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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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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#include "settings.h"
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#include "spindle_control.h"
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#include "planner.h"
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static uint8_t current_direction;
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static uint16_t current_rpm;
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static uint8_t current_pwm;
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void spindle_init()
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{
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current_direction = 0;
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT);
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SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT);
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#ifdef VARIABLE_SPINDLE
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SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT);
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#endif
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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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#ifdef INVERT_SPINDLE
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
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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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#ifdef VARIABLE_SPINDLE
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TCCRA_REGISTER &= ~(1<<COMB_BIT);
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#endif
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}
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void spindle_run(int8_t direction, uint16_t rpm) {
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if ((direction != current_direction) || (rpm != current_rpm)) {
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plan_synchronize();
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if (direction) {
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if (direction > 0) {
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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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#ifdef SPINDLE_IS_PWM
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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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current_pwm = floor((((float) rpm / (float) SPINDLE_MAX_RPM ) * 255.0) + 0.5);
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OCR_REGISTER = current_pwm;
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#endif
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#endif
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#ifdef INVERT_SPINDLE
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SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
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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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} else {
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spindle_stop();
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}
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current_direction = direction;
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current_rpm = rpm;
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}
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}
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uint8_t spindle_pwm()
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{
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return current_pwm;
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}
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void spindle_pwm_update(uint8_t pwm)
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{
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OCR_REGISTER = pwm;
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}
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