228 lines
7.2 KiB
C
228 lines
7.2 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) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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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 "grbl.h"
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#include "pwm_driver.h"
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#ifdef VARIABLE_SPINDLE
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static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
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#endif
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void spindle_init()
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{
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#ifdef VARIABLE_SPINDLE
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pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
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pwm_enable(&SPINDLE_PWM_CHANNEL);
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/* not ported
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// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
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// combined unless configured otherwise.
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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#else
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SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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#endif
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*/
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pwm_gradient = (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)/(settings.rpm_max-settings.rpm_min);
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#else
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/* not ported
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// Configure no variable spindle and only enable pin.
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SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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*/
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#endif
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spindle_stop();
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}
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uint8_t spindle_get_state()
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{
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/* not ported
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#ifdef VARIABLE_SPINDLE
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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// No spindle direction output pin.
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
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#else
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if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
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#endif
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#else
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if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
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if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
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else { return(SPINDLE_STATE_CW); }
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}
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#endif
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#else
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
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#else
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if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
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#endif
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if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
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else { return(SPINDLE_STATE_CW); }
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}
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#endif
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*/
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return(SPINDLE_STATE_DISABLE);
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}
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// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
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// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
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// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
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void spindle_stop()
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{
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#ifdef VARIABLE_SPINDLE
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pwm_set_width(&SPINDLE_PWM_CHANNEL, 0);
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/* not ported
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#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
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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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#endif
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*/
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#else
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/* not ported
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high
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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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#endif
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}
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#ifdef VARIABLE_SPINDLE
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// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
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// and stepper ISR. Keep routine small and efficient.
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void spindle_set_speed(uint32_t pwm_value)
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{
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pwm_set_width(&SPINDLE_PWM_CHANNEL, pwm_value);
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}
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// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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uint32_t spindle_compute_pwm_value(float rpm)
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{
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uint32_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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if (rpm <= 0) {
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sys.spindle_speed = 0;
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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}
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else if (rpm <= settings.rpm_min) {
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sys.spindle_speed = settings.rpm_min;
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pwm_value = SPINDLE_PWM_MIN_VALUE;
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}
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else if (rpm >= settings.rpm_max) {
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sys.spindle_speed = settings.rpm_max;
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pwm_value = SPINDLE_PWM_MAX_VALUE - 1;
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}
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else {
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sys.spindle_speed = rpm;
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pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
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if(pwm_value >= SPINDLE_PWM_MAX_VALUE)
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pwm_value = SPINDLE_PWM_MAX_VALUE - 1;
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}
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return(pwm_value);
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}
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#endif
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// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
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// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
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// sleep, and spindle stop override.
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#ifdef VARIABLE_SPINDLE
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void spindle_set_state(uint8_t state, float rpm)
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#else
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void _spindle_set_state(uint8_t state)
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#endif
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{
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if (sys.abort) { return; } // Block during abort.
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if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
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#ifdef VARIABLE_SPINDLE
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sys.spindle_speed = 0.0;
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#endif
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spindle_stop();
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} else {
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#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
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/* not ported
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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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*/
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#endif
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#ifdef VARIABLE_SPINDLE
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// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
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if (settings.flags & BITFLAG_LASER_MODE) {
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if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
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}
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spindle_set_speed(spindle_compute_pwm_value(rpm));
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#else
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// NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
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// if the spindle speed value is zero, as its ignored anyhow.
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/* not ported
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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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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*/
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#endif
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}
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sys.report_ovr_counter = 0; // Set to report change immediately
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}
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// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails
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// if an abort or check-mode is active.
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#ifdef VARIABLE_SPINDLE
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void spindle_sync(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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#else
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void _spindle_sync(uint8_t state)
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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);
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}
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#endif
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