Diff: grbl/spindle_control.c.bak
- Revision:
- 0:8f0d870509fe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/grbl/spindle_control.c.bak Mon Sep 04 12:04:13 2017 +0000
@@ -0,0 +1,330 @@
+/*
+ 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 VARIABLE_SPINDLE
+ static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
+#endif
+
+
+void spindle_init()
+{
+#ifdef VARIABLE_SPINDLE
+ pwm_gradient = SPINDLE_PWM_RANGE / (settings.rpm_max - settings.rpm_min);
+#endif
+
+#ifdef AVRTARGET
+ #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
+
+ #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
+#endif
+#if defined (STM32F103C8)
+ GPIO_InitTypeDef GPIO_InitStructure;
+ RCC_APB2PeriphClockCmd(RCC_SPINDLE_ENABLE_PORT, ENABLE);
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+#ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
+ GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_ENABLE_BIT;
+#else
+ GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_DIRECTION_BIT;
+#endif
+ GPIO_Init(SPINDLE_ENABLE_PORT, &GPIO_InitStructure);
+
+
+#ifdef VARIABLE_SPINDLE
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
+ TIM_TimeBaseInitTypeDef timerInitStructure;
+ TIM_OCInitTypeDef outputChannelInit = { 0 };
+ TIM_TimeBaseStructInit(&timerInitStructure);
+
+ timerInitStructure.TIM_Prescaler = F_CPU / 1000000 - 1; // 1000K
+ timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ timerInitStructure.TIM_Period = SPINDLE_PWM_MAX_VALUE - 1;
+ timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+ timerInitStructure.TIM_RepetitionCounter = 0;
+ TIM_TimeBaseInit(TIM1, &timerInitStructure);
+
+ outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;
+ outputChannelInit.TIM_Pulse = 0; // initi speed is 0
+ outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;
+ outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;
+
+ TIM_OC1Init(TIM1, &outputChannelInit);
+ TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
+ TIM_CtrlPWMOutputs(TIM1, DISABLE);
+ TIM_Cmd(TIM1, ENABLE);
+
+ RCC_APB2PeriphClockCmd(RCC_SPINDLE_PWM_PORT, ENABLE);
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ GPIO_InitStructure.GPIO_Pin = 1 << SPINDLE_PWM_BIT;
+ GPIO_Init(SPINDLE_PWM_PORT, &GPIO_InitStructure);
+
+
+#endif
+#endif
+
+ spindle_stop();
+}
+
+
+uint8_t spindle_get_state()
+{
+ uint8_t pin = 0;
+ #ifdef VARIABLE_SPINDLE
+ #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
+#ifdef AVRTARGET
+ pin = SPINDLE_ENABLE_PORT;
+#endif
+#if defined (STM32F103C8)
+ pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
+#endif
+ // No spindle direction output pin.
+ #ifdef INVERT_SPINDLE_ENABLE_PIN
+ if (bit_isfalse(pin,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
+ #else
+ if (bit_istrue(pin,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
+ #endif
+ #else
+#ifdef AVRTARGET
+ pin = SPINDLE_DIRECTION_PORT;
+ if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT))
+#endif
+#if defined (STM32F103C8)
+ pin = GPIO_ReadInputData(SPINDLE_DIRECTION_PORT);
+#endif
+ {
+ if (pin & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
+ else { return(SPINDLE_STATE_CW); }
+ }
+ #endif
+ #else
+#ifdef AVRTARGET
+ pin = SPINDLE_ENABLE_PORT;
+#endif
+#if defined (STM32F103C8)
+ pin = GPIO_ReadInputData(SPINDLE_ENABLE_PORT);
+#endif
+ #ifdef INVERT_SPINDLE_ENABLE_PIN
+ if (bit_isfalse(pin,(1<<SPINDLE_ENABLE_BIT))) {
+ #else
+ if (bit_istrue(pin,(1<<SPINDLE_ENABLE_BIT))) {
+ #endif
+ if (pin & (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
+#ifdef AVRTARGET
+ SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+#endif
+#if defined (STM32F103C8)
+ TIM_CtrlPWMOutputs(TIM1, DISABLE);
+#endif
+
+ #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
+ #ifdef INVERT_SPINDLE_ENABLE_PIN
+ SetSpindleEnablebit();
+ #else
+ ResetSpindleEnablebit();
+ #endif
+ #endif
+#else
+ #ifdef INVERT_SPINDLE_ENABLE_PIN
+ SetSpindleEnablebit();
+ #else
+ ResetSpindleEnablebit();
+ #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(SPINDLE_PWM_TYPE pwm_value)
+ {
+#ifdef AVRTARGET
+ SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
+#endif
+#if defined (STM32F103C8)
+ TIM1->CCR1 = pwm_value;
+#endif
+ #ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
+ if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
+ spindle_stop();
+ } else {
+ #ifdef AVRTARGET
+ SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
+ #endif
+ #if defined (STM32F103C8)
+ TIM_CtrlPWMOutputs(TIM1, ENABLE);
+ #endif
+ #ifdef INVERT_SPINDLE_ENABLE_PIN
+ ResetSpindleEnablebit();
+ #else
+ SetSpindleEnablebit();
+ #endif
+ }
+ #else
+ if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
+ #ifdef AVRTARGET
+ SPINDLE_TCCRA_REGISTER &= ~(1 << SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+ #endif
+ #if defined (STM32F103C8)
+ TIM_CtrlPWMOutputs(TIM1, DISABLE);
+ #endif
+ } else {
+ #ifdef AVRTARGET
+ SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
+ #endif
+ #if defined (STM32F103C8)
+ TIM_CtrlPWMOutputs(TIM1, ENABLE);
+ #endif
+ }
+ #endif
+ }
+
+
+ // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
+ SPINDLE_PWM_TYPE spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
+ {
+ SPINDLE_PWM_TYPE pwm_value;
+ rpm *= (0.010f*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;
+ pwm_value = SPINDLE_PWM_MAX_VALUE;
+ } else if (rpm <= settings.rpm_min) {
+ if (rpm == 0.0f) { // S0 disables spindle
+ sys.spindle_speed = 0.0f;
+ pwm_value = SPINDLE_PWM_OFF_VALUE;
+ } else { // Set minimum PWM output
+ sys.spindle_speed = settings.rpm_min;
+ pwm_value = SPINDLE_PWM_MIN_VALUE;
+ }
+ } else {
+ // Compute intermediate PWM value with linear spindle speed model.
+ // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
+ sys.spindle_speed = rpm;
+ pwm_value = (SPINDLE_PWM_TYPE)floorf((rpm - settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
+ }
+ return(pwm_value);
+ }
+#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 = 0.0f;
+ #endif
+ spindle_stop();
+
+ } else {
+ #ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
+ if (state == SPINDLE_ENABLE_CW) {
+ ResetSpindleDirectionBit();
+ }
+ else {
+ SetSpindleDirectionBit();
+ }
+ #endif
+
+ #ifdef VARIABLE_SPINDLE
+ // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
+ if (settings.flags & BITFLAG_LASER_MODE) {
+ if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0f; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
+ }
+ spindle_set_speed(spindle_compute_pwm_value(rpm));
+ #endif
+ #if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
+ !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
+ // 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
+ ResetSpindleEnablebit();
+ #else
+ SetSpindleEnablebit();
+ #endif
+ #endif
+ }
+
+ sys.report_ovr_counter = 0; // 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