Made PWM frequency changable by $33 setting

DOCKER_LICENSE

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2016 Ryan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

DOCKER_README.md

@@ -0,0 +1,14 @@
+# Arm Embedded Docker Environment
+Minimal docker environment for building arm-embedded projects
+
+## Usage
+Run interactively with ```docker run -it --rm -v `pwd`:/root ryankurte/docker-arm-embedded /bin/bash```.  
+This will create a temporal instance (changes will be dropped on exit) with a binding from the current directory to the root user home directory.  
+
+## Includes:
+ - build-essential (native)
+ - make, cmake
+ - gawk, genromfs, ccache
+ - arm-none-eabi from [launchpad.net](https://launchpad.net/~terry.guo/+archive/ubuntu/gcc-arm-embedded)
+ - [Yotta](http://yotta.mbed.com/)
+

Dockerfile

@@ -0,0 +1,62 @@
+FROM ubuntu:latest
+MAINTAINER Ryan Kurte <[email protected]>
+LABEL Description="Docker image for building arm-embedded projects"
+
+# General dependencies
+RUN apt-get update && apt-get install -y \
+  git \
+  subversion \
+  curl \
+  cmake \
+  make \
+  automake \
+  autoconf \
+  python-setuptools \
+  ninja-build \
+  python-dev \
+  libtool \
+  unzip \
+  libffi-dev \
+  libssl-dev \
+  libusb-1.0.0 \
+  libusb-1.0.0-dev \
+  software-properties-common \
+  python-software-properties \
+  gawk \
+  genromfs \
+  ccache \
+  clang \
+  build-essential \
+  python3 \
+  python3-dev \
+  python3-pip \
+  libprotobuf-dev \
+  protobuf-compiler \
+  libprotobuf-c-dev \
+  protobuf-c-compiler \
+  python-protobuf
+
+# arm-none-eabi custom ppa
+RUN add-apt-repository ppa:team-gcc-arm-embedded/ppa && \
+  apt-get update && \
+  apt-get install -y gcc-arm-embedded
+
+# Yotta
+RUN easy_install pip && \
+  pip install yotta && \
+  mkdir -p /usr/local/lib/yotta_modules \
+  chown $USER /usr/local/lib/yotta_modules \
+  chmod 755 /usr/local/lib/yotta_modules
+
+# Pyserial for serial programming
+RUN pip install pyserial
+
+# STLink util
+RUN git clone https://github.com/texane/stlink.git && \
+  cd stlink && mkdir build && cd build && \
+  cmake .. && make && make install
+
+# Cleanup
+RUN apt-get clean && \
+  rm -rf /var/lib/apt
+

README.md

@@ -29,9 +29,12 @@ New configuration settings
   * Your motors will likely stall if you don't set these!
 
 Build notes:
+* You should use virtual machines, if you use multiple toolchains on the same PC.
+* Install make if not already there (for Windows see http://gnuwin32.sourceforge.net/packages/make.htm)
+* Install the ARM embeded toolchain (see https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads)
 * Include ```make``` and the ```arm-none-eabi-*``` tools in your path.
 * Run ```git submodule init``` and ```git submodule update``` before building.
-* Make produces 2 files:
+* ```make``` produces 2 files:
   * ```build/firmware.bin```: this is compatible with the sdcard bootloader.
   * ```build/grbl.hex```: this is not compatible with the sdcard bootloader. It loads using Flash Magic 
     and is primarilly for developers who don't want to keep swapping sdcards. If you flash this,

doc/markdown/settings.md

@@ -51,6 +51,7 @@ $27=1.000
 $30=1000.
 $31=0.
 $32=0
+$33=5000
 $100=250.000
 $101=250.000
 $102=250.000
@@ -63,6 +64,9 @@ $122=10.000
 $130=200.000
 $131=200.000
 $132=200.000
+$140=0.000
+$141=0.000
+$142=0.000
 ```
 
 #### $x=val - Save Grbl setting
@@ -227,6 +231,10 @@ When enabled, Grbl will move continuously through consecutive `G1`, `G2`, or `G3
 
 When disabled, Grbl will operate as it always has, stopping motion with every `S` spindle speed command. This is the default operation of a milling machine to allow a pause to let the spindle change speeds.
 
+#### $33 - Spindle/Laser PWM frequency
+
+This sets the PWM frequency.
+
 #### $100, $101 and $102 – [X,Y,Z] steps/mm
 
 Grbl needs to know how far each step will take the tool in reality. To calculate steps/mm for an axis of your machine you need to know:

grbl-lpc/current_control.cpp

@@ -55,7 +55,7 @@ void current_init()
     set_current(0, settings.current[0]);
     set_current(1, settings.current[1]);
     set_current(2, settings.current[2]);
-    set_current(3, DEFAULT_A_CURRENT);
+    set_current(3, settings.current[3]);
 #endif
 }
 

grbl/config.h

@@ -31,12 +31,20 @@
 #include "LPC17xx.h"
 
 
-// Define CPU pin map and default settings.
-// NOTE: OEMs can avoid the need to maintain/update the defaults.h and cpu_map.h files and use only
-// one configuration file by placing their specific defaults and pin map at the bottom of this file.
-// If doing so, simply comment out these two defines and see instructions below.
-// #define DEFAULTS_GENERIC
-// #define CPU_MAP_ATMEGA328P // Arduino Uno CPU
+// Define board type for pin map and default settings.
+#define CPU_MAP_SMOOTHIEBOARD   // Smoothieboard (NXP LPC1769 MCU)
+//#define CPU_MAP_C3D_REMIX       // Cohesion3D Remix (NXP LPC1769 MCU)
+//#define CPU_MAP_C3D_MINI        // Cohesion3D Mini (NXP LPC1769 MCU)
+//#define CPU_MAP_MKS_SBASE       // MKS SBASE Board (NXP LPC1768 MCU)
+//#define CPU_MAP_AZTEEG_X5       // Azteeg X5 Board (NXP LPC1769 MCU)
+
+// Force Spincle PWM Pin 2.4 (default is P2.5)
+//#define SPINDLE_PWM_PIN_2_4
+
+// Define machine type for machine specific defaults
+//#define DEFAULTS_GENERIC
+#define DEFAULTS_K40
+//#define DEFAULTS_FABKIT
 
 // Serial baud rate
 // #define BAUD_RATE 230400
@@ -103,15 +111,16 @@
 // on separate pin, but homed in one cycle. Also, it should be noted that the function of hard limits
 // will not be affected by pin sharing.
 // NOTE: Defaults are set for a traditional 3-axis CNC machine. Z-axis first to clear, followed by X & Y.
-#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
-#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
+//#define HOMING_CYCLE_0 (1<<Z_AXIS)                // REQUIRED: First move Z to clear workspace.
+//#define HOMING_CYCLE_1 ((1<<X_AXIS)|(1<<Y_AXIS))  // OPTIONAL: Then move X,Y at the same time.
 // #define HOMING_CYCLE_2                         // OPTIONAL: Uncomment and add axes mask to enable
 
 // NOTE: The following are two examples to setup homing for 2-axis machines.
-// #define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
+//#define HOMING_CYCLE_0 ((1<<X_AXIS)|(1<<Y_AXIS))  // NOT COMPATIBLE WITH COREXY: Homes both X-Y in one cycle. 
 
 // #define HOMING_CYCLE_0 (1<<X_AXIS)  // COREXY COMPATIBLE: First home X
 // #define HOMING_CYCLE_1 (1<<Y_AXIS)  // COREXY COMPATIBLE: Then home Y
+// Homing cycle pattern is defined in Machine defaults!!!
 
 // Number of homing cycles performed after when the machine initially jogs to limit switches.
 // This help in preventing overshoot and should improve repeatability. This value should be one or
@@ -129,6 +138,9 @@
 // define to force Grbl to always set the machine origin at the homed location despite switch orientation.
 // #define HOMING_FORCE_SET_ORIGIN // Uncomment to enable.
 
+// Uncomment this define to force Grbl to always set the machine origin at bottom left.
+#define HOMING_FORCE_POSITIVE_SPACE // Uncomment to enable.
+
 // Number of blocks Grbl executes upon startup. These blocks are stored in EEPROM, where the size
 // and addresses are defined in settings.h. With the current settings, up to 2 startup blocks may
 // be stored and executed in order. These startup blocks would typically be used to set the g-code
@@ -167,7 +179,7 @@
 // Enables a second coolant control pin via the mist coolant g-code command M7 on the Arduino Uno
 // analog pin 4. Only use this option if you require a second coolant control pin.
 // NOTE: The M8 flood coolant control pin on analog pin 3 will still be functional regardless.
-// #define ENABLE_M7 // Disabled by default. Uncomment to enable.
+//#define ENABLE_M7 // Disabled by default. Uncomment to enable.
 
 // This option causes the feed hold input to act as a safety door switch. A safety door, when triggered,
 // immediately forces a feed hold and then safely de-energizes the machine. Resuming is blocked until
@@ -187,7 +199,7 @@
 // defined at (http://corexy.com/theory.html). Motors are assumed to positioned and wired exactly as
 // described, if not, motions may move in strange directions. Grbl requires the CoreXY A and B motors
 // have the same steps per mm internally.
-// #define COREXY // Default disabled. Uncomment to enable.
+//#define COREXY // Default disabled. Uncomment to enable.
 
 // Inverts pin logic of the control command pins based on a mask. This essentially means you can use
 // normally-closed switches on the specified pins, rather than the default normally-open switches.
@@ -560,7 +572,7 @@
 
 // LPC176x flash blocks have a rating of 10,000 write cycles. To prevent excess wear, we don't
 // write G10, G28.1, and G30.1. Uncomment to enable these writes.
-// #define STORE_COORD_DATA // Default disabled. Uncomment to enable.
+#define STORE_COORD_DATA // Default disabled. Uncomment to enable.
 
 // In Grbl v0.9 and prior, there is an old outstanding bug where the `WPos:` work position reported
 // may not correlate to what is executing, because `WPos:` is based on the g-code parser state, which
@@ -624,157 +636,5 @@
    below.
 */
 
-// Paste CPU_MAP definitions here.
-// Define serial port pins and interrupt vectors.
-#define SERIAL_RX     USART_RX_vect
-#define SERIAL_UDRE   USART_UDRE_vect
-
-// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
-#define STEP_DDR        LPC_GPIO2->FIODIR
-#define STEP_PORT       LPC_GPIO2->FIOPIN
-#define X_STEP_BIT      0
-#define Y_STEP_BIT      1
-#define Z_STEP_BIT      2
-#define STEP_MASK       ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
-
-// Define step direction output pins. NOTE: All direction pins must be on the same port.
-#define DIRECTION_DDR     LPC_GPIO0->FIODIR
-#define DIRECTION_PORT    LPC_GPIO0->FIOPIN
-#define X_DIRECTION_BIT   5
-#define Y_DIRECTION_BIT   11
-#define Z_DIRECTION_BIT   20
-#define DIRECTION_MASK    ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
-
-// Define stepper driver enable/disable output pin.
-#define STEPPERS_DISABLE_DDR    LPC_GPIO0->FIODIR
-#define STEPPERS_DISABLE_PORT   LPC_GPIO0->FIOPIN
-#define X_DISABLE_BIT           4
-#define Y_DISABLE_BIT           10
-#define Z_DISABLE_BIT           19
-#define STEPPERS_DISABLE_MASK   ((1<<X_DISABLE_BIT)|(1<<Y_DISABLE_BIT)|(1<<Z_DISABLE_BIT))
-
-// Define homing/hard limit switch input pins and limit interrupt vectors.
-// NOTE: All limit bit pins must be on the same port, but not on a port with other input pins (CONTROL).
-#define LIMIT_DDR         LPC_GPIO1->FIODIR
-#define LIMIT_PIN         LPC_GPIO1->FIOPIN
-#define LIMIT_PORT        LPC_GPIO1->FIOPIN
-#define X_LIMIT_BIT       25  // X-MIN=24, X-MAX=25
-#define Y_LIMIT_BIT       27  // Y-MIN=26, Y-MAX=27
-#define Z_LIMIT_BIT	      29  // Z-MIN=28, Z-MAX=29
-#define LIMIT_MASK       ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
-// hard limits not ported    #define LIMIT_INT        PCIE0  // Pin change interrupt enable pin
-// hard limits not ported    #define LIMIT_INT_vect   PCINT0_vect
-// hard limits not ported    #define LIMIT_PCMSK      PCMSK0 // Pin change interrupt register
-
-// Define spindle enable and spindle direction output pins.
-/* not ported
-#define SPINDLE_ENABLE_DDR    DDRB
-#define SPINDLE_ENABLE_PORT   PORTB
-// Z Limit pin and spindle PWM/enable pin swapped to access hardware PWM on Pin 11.
-#ifdef VARIABLE_SPINDLE
-  #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
-    // If enabled, spindle direction pin now used as spindle enable, while PWM remains on D11.
-    #define SPINDLE_ENABLE_BIT    5  // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
-  #else
-    #define SPINDLE_ENABLE_BIT    3  // Uno Digital Pin 11
-  #endif
-#else
-  #define SPINDLE_ENABLE_BIT    4  // Uno Digital Pin 12
-#endif
-#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
-  #define SPINDLE_DIRECTION_DDR   DDRB
-  #define SPINDLE_DIRECTION_PORT  PORTB
-  #define SPINDLE_DIRECTION_BIT   5  // Uno Digital Pin 13 (NOTE: D13 can't be pulled-high input due to LED.)
-#endif
-*/
-
-// Define flood and mist coolant enable output pins.
-#define COOLANT_FLOOD_DDR   NotUsed
-#define COOLANT_FLOOD_PORT  NotUsed
-#define COOLANT_FLOOD_BIT   3  // Uno Analog Pin 3
-#define COOLANT_MIST_DDR   NotUsed
-#define COOLANT_MIST_PORT  NotUsed
-#define COOLANT_MIST_BIT   4  // Uno Analog Pin 3
-
-// Define user-control controls (cycle start, reset, feed hold) input pins.
-// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
-#define CONTROL_DDR       NotUsed
-#define CONTROL_PIN       NotUsed
-#define CONTROL_PORT      NotUsed
-#define CONTROL_RESET_BIT         0  // Uno Analog Pin 0
-#define CONTROL_FEED_HOLD_BIT     1  // Uno Analog Pin 1
-#define CONTROL_CYCLE_START_BIT   2  // Uno Analog Pin 2
-#define CONTROL_SAFETY_DOOR_BIT   1  // Uno Analog Pin 1 NOTE: Safety door is shared with feed hold. Enabled by config define.
-#define CONTROL_INT       PCIE1  // Pin change interrupt enable pin
-#define CONTROL_INT_vect  PCINT1_vect
-#define CONTROL_PCMSK     NotUsed // Pin change interrupt register
-#define CONTROL_MASK      ((1<<CONTROL_RESET_BIT)|(1<<CONTROL_FEED_HOLD_BIT)|(1<<CONTROL_CYCLE_START_BIT)|(1<<CONTROL_SAFETY_DOOR_BIT))
-#define CONTROL_INVERT_MASK   CONTROL_MASK // May be re-defined to only invert certain control pins.
-
-// Define probe switch input pin.
-#define PROBE_DDR       NotUsed
-#define PROBE_PIN       NotUsed
-#define PROBE_PORT      NotUsed
-#define PROBE_BIT       5  // Uno Analog Pin 5
-#define PROBE_MASK      (1<<PROBE_BIT)
-
-// The LPC17xx has 6 PWM channels. Each channel has 2 pins. It can drive both pins simultaneously to the same value.
-//
-// PWM Channel      PWM1_CH1  PWM1_CH2  PWM1_CH3  PWM1_CH4  PWM1_CH5  PWM1_CH6
-// Primary pin      P1.18     P1.20     P1.21     P1.23     P1.24     P1.26
-// Secondary pin    P2.0      P2.1      P2.2      P2.3      P2.4      P2.5
-#define SPINDLE_PWM_CHANNEL           PWM1_CH5
-#define SPINDLE_PWM_USE_PRIMARY_PIN   false
-#define SPINDLE_PWM_USE_SECONDARY_PIN true
-
-// Stepper current control
-#define CURRENT_I2C Driver_I2C1         // I2C driver for current control. Comment out to disable.
-#define CURRENT_MCP44XX_ADDR 0b0101100  // Address of MCP44XX
-#define CURRENT_WIPERS {0, 1, 6, 7};    // Wiper registers (X, Y, Z, A)
-#define CURRENT_FACTOR 113.33           // Convert amps to digipot value
-
-// Paste default settings definitions here.
-#define DEFAULT_X_STEPS_PER_MM 158.0
-#define DEFAULT_Y_STEPS_PER_MM 158.0
-#define DEFAULT_Z_STEPS_PER_MM 158.0
-#define DEFAULT_X_MAX_RATE 30000 // mm/min
-#define DEFAULT_Y_MAX_RATE 30000 // mm/min
-#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
-#define DEFAULT_X_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_Y_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_Z_ACCELERATION (5000.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
-#define DEFAULT_X_CURRENT 0.0 // amps
-#define DEFAULT_Y_CURRENT 0.0 // amps
-#define DEFAULT_Z_CURRENT 0.0 // amps
-#define DEFAULT_A_CURRENT 0.0  // amps
-#define DEFAULT_X_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_Z_MAX_TRAVEL 200.0 // mm
-#define DEFAULT_SPINDLE_PWM_FREQ          5000        // Hz
-#define DEFAULT_SPINDLE_PWM_OFF_VALUE     0.0         // Percent
-#define DEFAULT_SPINDLE_PWM_MIN_VALUE     0.0         // Percent
-#define DEFAULT_SPINDLE_PWM_MAX_VALUE     100.0       // Percent
-#define DEFAULT_SPINDLE_RPM_MAX 1.0 // rpm
-#define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
-#define DEFAULT_STEP_PULSE_MICROSECONDS 1
-#define DEFAULT_STEPPING_INVERT_MASK 0
-#define DEFAULT_DIRECTION_INVERT_MASK 0
-#define DEFAULT_STEPPER_IDLE_LOCK_TIME 25 // msec (0-254, 255 keeps steppers enabled)
-#define DEFAULT_STATUS_REPORT_MASK 0 // WPos enabled
-#define DEFAULT_JUNCTION_DEVIATION 0.01 // mm
-#define DEFAULT_ARC_TOLERANCE 0.002 // mm
-#define DEFAULT_REPORT_INCHES 0 // false
-#define DEFAULT_INVERT_ST_ENABLE 0 // false
-#define DEFAULT_INVERT_LIMIT_PINS 0 // false
-#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
-#define DEFAULT_HARD_LIMIT_ENABLE 0  // false
-#define DEFAULT_INVERT_PROBE_PIN 0 // false
-#define DEFAULT_LASER_MODE 1 // true
-#define DEFAULT_HOMING_ENABLE 0  // false
-#define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-#define DEFAULT_HOMING_FEED_RATE 25.0 // mm/min
-#define DEFAULT_HOMING_SEEK_RATE 500.0 // mm/min
-#define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-#define DEFAULT_HOMING_PULLOFF 1.0 // mm
 
 #endif