| /* |
| spindle_control.c - spindle control methods |
| Part of Grbl |
| |
| Copyright (c) 2012-2017 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 |
| // 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 |
| #ifndef ENABLE_DUAL_AXIS |
| SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin. |
| #endif |
| #endif |
| pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min); |
| #else |
| SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin. |
| #ifndef ENABLE_DUAL_AXIS |
| SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin. |
| #endif |
| #endif |
| |
| spindle_stop(); |
| } |
| |
| |
| uint8_t spindle_get_state() |
| { |
| #ifdef VARIABLE_SPINDLE |
| #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN |
| // No spindle direction output pin. |
| #ifdef INVERT_SPINDLE_ENABLE_PIN |
| if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); } |
| #else |
| if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); } |
| #endif |
| #else |
| if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled. |
| #ifdef ENABLE_DUAL_AXIS |
| return(SPINDLE_STATE_CW); |
| #else |
| if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); } |
| else { return(SPINDLE_STATE_CW); } |
| #endif |
| } |
| #endif |
| #else |
| #ifdef INVERT_SPINDLE_ENABLE_PIN |
| if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { |
| #else |
| if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { |
| #endif |
| #ifdef ENABLE_DUAL_AXIS |
| return(SPINDLE_STATE_CW); |
| #else |
| if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); } |
| else { return(SPINDLE_STATE_CW); } |
| #endif |
| } |
| #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 |
| SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero. |
| #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN |
| #ifdef INVERT_SPINDLE_ENABLE_PIN |
| SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high |
| #else |
| SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low |
| #endif |
| #endif |
| #else |
| #ifdef INVERT_SPINDLE_ENABLE_PIN |
| SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); // Set pin to high |
| #else |
| SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low |
| #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(uint8_t pwm_value) |
| { |
| SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level. |
| #ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED |
| if (pwm_value == SPINDLE_PWM_OFF_VALUE) { |
| spindle_stop(); |
| } else { |
| SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled. |
| #ifdef INVERT_SPINDLE_ENABLE_PIN |
| SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); |
| #else |
| SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); |
| #endif |
| } |
| #else |
| if (pwm_value == SPINDLE_PWM_OFF_VALUE) { |
| SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero. |
| } else { |
| SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled. |
| } |
| #endif |
| } |
| |
| |
| #ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE |
| |
| // Called by spindle_set_state() and step segment generator. Keep routine small and efficient. |
| uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. |
| { |
| uint8_t pwm_value; |
| rpm *= (0.010*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 >= RPM_MAX)) { |
| rpm = RPM_MAX; |
| pwm_value = SPINDLE_PWM_MAX_VALUE; |
| } else if (rpm <= RPM_MIN) { |
| if (rpm == 0.0) { // S0 disables spindle |
| pwm_value = SPINDLE_PWM_OFF_VALUE; |
| } else { |
| rpm = RPM_MIN; |
| pwm_value = SPINDLE_PWM_MIN_VALUE; |
| } |
| } else { |
| // Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model. |
| #if (N_PIECES > 3) |
| if (rpm > RPM_POINT34) { |
| pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4); |
| } else |
| #endif |
| #if (N_PIECES > 2) |
| if (rpm > RPM_POINT23) { |
| pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3); |
| } else |
| #endif |
| #if (N_PIECES > 1) |
| if (rpm > RPM_POINT12) { |
| pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2); |
| } else |
| #endif |
| { |
| pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1); |
| } |
| } |
| sys.spindle_speed = rpm; |
| return(pwm_value); |
| } |
| |
| #else |
| |
| // Called by spindle_set_state() and step segment generator. Keep routine small and efficient. |
| uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit. |
| { |
| uint8_t pwm_value; |
| rpm *= (0.010*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 == 0.0) { // S0 disables spindle |
| sys.spindle_speed = 0.0; |
| 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 = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE; |
| } |
| return(pwm_value); |
| } |
| |
| #endif |
| #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 = 0.0; |
| #endif |
| spindle_stop(); |
| |
| } else { |
| |
| #if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS) |
| if (state == SPINDLE_ENABLE_CW) { |
| SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT); |
| } else { |
| SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT); |
| } |
| #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 = 0.0; } // 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 |
| SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); |
| #else |
| SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT); |
| #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 |