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spindle_control.c
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spindle_control.c
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/*
spindle_control.c - spindle control methods
Part of Grbl v0.9
Copyright (c) 2012-2014 Sungeun K. Jeon
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/>.
*/
/*
This file is based on work from Grbl v0.8, distributed under the
terms of the MIT-license. See COPYING for more details.
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2012 Sungeun K. Jeon
*/
#include "system.h"
#include "spindle_control.h"
#include "protocol.h"
#include "gcode.h"
void spindle_init()
{
// On the Uno, spindle enable and PWM are shared. Other CPUs have seperate enable pin.
#ifdef VARIABLE_SPINDLE
SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
#ifndef CPU_MAP_ATMEGA328P
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#endif
#else
SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
#endif
SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
spindle_stop();
}
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.
#ifndef CPU_MAP_ATMEGA328P
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
#endif
#else
SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low.
#endif
}
void spindle_run(uint8_t direction, float rpm)
{
if (sys.state == STATE_CHECK_MODE) { return; }
// Empty planner buffer to ensure spindle is set when programmed.
protocol_auto_cycle_start(); //temp fix for M3 lockup
protocol_buffer_synchronize();
// Halt or set spindle direction and rpm.
if (direction == SPINDLE_DISABLE) {
spindle_stop();
} else {
if (direction == SPINDLE_ENABLE_CW) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#ifdef VARIABLE_SPINDLE
// TODO: Install the optional capability for frequency-based output for servos.
#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x02; // set to 1/8 Prescaler
rpm -= SPINDLE_MIN_RPM;
if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow
uint8_t current_pwm = floor( rpm*(255.0/SPINDLE_RPM_RANGE) + 0.5);
OCR_REGISTER = current_pwm;
#ifndef CPU_MAP_ATMEGA328P // On the Uno, spindle enable and PWM are shared.
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
#else
SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
#endif
}
}