312 lines
11 KiB
C
312 lines
11 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) 2012-2017 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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#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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//printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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#ifdef VARIABLE_SPINDLE
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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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//SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
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//SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; // Configure PWM output compare timer
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//SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
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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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// #ifndef ENABLE_DUAL_AXIS
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// SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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// #endif
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//#endif
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pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
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#else
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// SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
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// #ifndef ENABLE_DUAL_AXIS
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// SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
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// #endif
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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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printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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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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// #ifdef ENABLE_DUAL_AXIS
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// return(SPINDLE_STATE_CW);
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// #else
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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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// #endif
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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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// #ifdef ENABLE_DUAL_AXIS
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// return(SPINDLE_STATE_CW);
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// #else
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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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// #endif
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// }
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// #endif
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if(sys.spindle_speed > 0) {
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return(SPINDLE_STATE_CW);
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} else if(sys.spindle_speed < 0) {
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return(SPINDLE_STATE_CCW);
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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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//printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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//#ifdef VARIABLE_SPINDLE
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// SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
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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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//#else
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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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#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(uint8_t pwm_value)
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{
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// printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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// SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
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// #ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
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// if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
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// spindle_stop();
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// } else {
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// SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
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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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// #else
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// if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
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// SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
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// } else {
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// SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
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// }
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//
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}
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#endif
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//#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
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// // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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// uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
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// {
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// //printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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// sys.spindle_speed = rpm; // ecmc
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// return 0;
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//
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// uint8_t pwm_value;
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// rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// // Calculate PWM register value based on rpm max/min settings and programmed rpm.
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// if ((settings.rpm_min >= settings.rpm_max) || (rpm >= RPM_MAX)) {
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// rpm = RPM_MAX;
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// pwm_value = SPINDLE_PWM_MAX_VALUE;
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// } else if (rpm <= RPM_MIN) {
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// if (rpm == 0.0) { // S0 disables spindle
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// pwm_value = SPINDLE_PWM_OFF_VALUE;
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// } else {
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// rpm = RPM_MIN;
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// pwm_value = SPINDLE_PWM_MIN_VALUE;
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// }
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// } else {
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// // Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
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// #if (N_PIECES > 3)
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// if (rpm > RPM_POINT34) {
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// pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
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// } else
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// #endif
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// #if (N_PIECES > 2)
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// if (rpm > RPM_POINT23) {
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// pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
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// } else
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// #endif
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// #if (N_PIECES > 1)
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// if (rpm > RPM_POINT12) {
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// pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
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// } else
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// #endif
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// {
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// pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
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// }
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// }
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// sys.spindle_speed = rpm;
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// return(pwm_value);
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// }
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//
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// #else
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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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uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
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{
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uint8_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// Calculate PWM register value based on rpm max/min settings and programmed rpm.
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if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
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// No PWM range possible. Set simple on/off spindle control pin state.
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sys.spindle_speed = settings.rpm_max;
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pwm_value = SPINDLE_PWM_MAX_VALUE;
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} else if (rpm <= settings.rpm_min) {
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if (rpm == 0.0) { // S0 disables spindle
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sys.spindle_speed = 0.0;
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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} else { // Set minimum PWM output
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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 {
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// Compute intermediate PWM value with linear spindle speed model.
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// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
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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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}
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return(pwm_value);
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}
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//#endif
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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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//printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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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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//#if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS)
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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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//#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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#endif
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//#if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
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// !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
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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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// #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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//#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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//printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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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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printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
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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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