Demo entry 6353175

Spindle control rewrite

   

Submitted by anonymous on Mar 31, 2017 at 01:41
Language: C. Code size: 5.9 kB.

/*
 spindle_control.c - spindle control methods
 Part of Grbl
 Copyright (c) 2012-2015 Sungeun K. Jeon
 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"

#define RC_SERVO_SHORT  15  // Timer ticks for 0.6ms pulse duration (9 for 0.6ms)
#define RC_SERVO_LONG  32  // Timer ticks for 2.5 ms pulse duration (39 for 2.5ms) 
// This is to determine the short and long pulse length. 

void spindle_init()
{ 
 // Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
 // combined unless configured otherwise.
 #ifdef VARIABLE_SPINDLE
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
/*

 #if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN)
  SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#endif  
*/

// The AtMega2560 is not use in the project, it can be deleted
 // Configure no variable spindle and only enable pin.
 #else 
 SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
 #endif
 
 #ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
 SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
 #endif
 spindle_stop();
}

// This part is used to define the pin function of arduino, it did not need to be changed a lot.

void spindle_stop()
{
/*
 // On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
 #ifdef VARIABLE_SPINDLE
 TCCRA_REGISTER &= ~(1<<COMB_BIT); // Disable PWM. Output voltage is zero.
 #if defined(CPU_MAP_ATMEGA2560) || defined(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 
*/

OCR_REGISTER = RC_SERVO_SHORT;
}

// All the original program is useless since the function now is to move to one position.


//void spindle_set_state(uint8_t state, float rpm)
void spindle_run(uint8_t direction, float rpm)
{
 // Halt or set spindle direction and rpm. 
 if (state == SPINDLE_DISABLE) {

 spindle_stop();

 } else {

 #ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
  if (state == SPINDLE_ENABLE_CW) {
  SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
  } else {
  SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
  }
 #endif

 #ifdef VARIABLE_SPINDLE
  // TODO: Install the optional capability for frequency-based output for servos.
  #define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
  #define RC_SERVO_RANGE (RC_SERVO_LONG-RC_SERVO_SHORT)
/*
  #ifdef CPU_MAP_ATMEGA2560
  	TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
  TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02 | (1<<WAVE2_REGISTER) | (1<<WAVE3_REGISTER); // set to 1/8 Prescaler
  OCR4A = 0xFFFF; // set the top 16bit value
  uint16_t current_pwm;
  #else
*/

  TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
  TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
  uint8_t current_pwm;
//  #endif
// The AtMega2560 is not use in the project, it can be deleted


  if (rpm <= 0.0) { spindle_stop(); } // RPM should never be negative, but check anyway.
  else {
  #define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
  if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; } 
  else { 
   rpm -= SPINDLE_MIN_RPM; 
   if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
  }
/*
  current_pwm = floor( rpm*(PWM_MAX_VALUE/SPINDLE_RPM_RANGE) + 0.5);
  #ifdef MINIMUM_SPINDLE_PWM
   if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
  #endif
*/

// Not for servo motor
current_pwm=floor(rpm*(RC_SERVO_RANGE/SPINDLE_RPM_RANGE)+RC_SERVO_SHORT);
  OCR_REGISTER = current_pwm; // Set PWM pin output
   

 
  // On the Uno, spindle enable and PWM are shared, unless otherwise specified.
/*
  #if defined(CPU_MAP_ATMEGA2560) || defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) 
   #ifdef INVERT_SPINDLE_ENABLE_PIN
   SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
   #else
   SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
   #endif
  #endif
*/

// The AtMega2560 is not use in the project, it can be deleted

  }
  
/*
 #else
  // 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);
*/

	 #ifdef MINIMUM_SPINDLE_PWM
  if (current_pwm < MINIMUM_SPINDLE_PWM)
 { current_pwm = MINIMUM_SPINDLE_PWM; }
	  OCR_REGISTER = current_pwm;
  #endif
 #endif

 }
}
/*
void spindle_run(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);
}
*/

spindle_set_state(uint8_t state, float rpm)
{
}

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