GRBL-Advanced/grbl/SpindleControl.c

/*
  SpindleControl.c - spindle control methods
  Part of Grbl-Advanced

  Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud
  Copyright (c) 2017-2020 Patrick F.

  Grbl-Advanced 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-Advanced 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-Advanced.  If not, see <http://www.gnu.org/licenses/>.
*/
#include "Protocol.h"
#include "Settings.h"
#include "System.h"
#include "GPIO.h"
#include "TIM.h"
#include "GCode.h"
#include "SpindleControl.h"
#include "Config.h"
#include "Encoder.h"


static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
static uint8_t spindle_enabled = 0;
static uint8_t spindle_dir_cw = 1;

extern uint32_t spindle_rpm;


void Spindle_Init(void)
{
    // Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
    // combined unless configured otherwise.
    GPIO_InitGPIO(GPIO_SPINDLE);

    TIM1_Init();
    //TIM3_Init();
#if defined(LATHE_MODE)
    Encoder_Init();
#endif

    pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
    spindle_dir_cw = 1;

    Spindle_Stop();
}


// 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(void)
{
    TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
    spindle_enabled = 0;

#ifdef INVERT_SPINDLE_ENABLE_PIN
    GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
    GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
}


uint8_t Spindle_GetState(void)
{
    // Check if PWM is enabled.
    if(spindle_enabled)
    {
        if(spindle_dir_cw == 0)
        {
            return SPINDLE_STATE_CCW;
        }
        else
        {
            return SPINDLE_STATE_CW;
        }
    }

    return SPINDLE_STATE_DISABLE;
}


// 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_SetSpeed(uint8_t pwm_value)
{
    TIM1->CCR1 = TIM1_INIT - pwm_value; // Set PWM output level.
#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
    if (pwm_value == SPINDLE_PWM_OFF_VALUE)
    {
        Spindle_Stop();
    }
    else
    {
        TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
#ifdef INVERT_SPINDLE_ENABLE_PIN
        GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
        GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif
        spindle_enabled = 1;
    }
#else
    if(pwm_value == SPINDLE_PWM_OFF_VALUE)
    {
        TIM1->CCR1 = TIM1_INIT;    // Disable PWM. Output voltage is zero.
        TIM_Cmd(TIM1, DISABLE); // Disable PWM. Output voltage is zero.
        spindle_enabled = 0;
    }
    else
    {
        TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
        spindle_enabled = 1;
    }
#endif
}


uint32_t Spindle_GetRPM(void)
{
    return spindle_rpm;
}


// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
uint8_t Spindle_ComputePwmValue(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;
}


// 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.
void Spindle_SetState(uint8_t state, float rpm)
{
    if(sys.abort)
    {
        // Block during abort.
        return;
    }

    if(state == SPINDLE_DISABLE)   // Halt or set spindle direction and rpm.
    {
        sys.spindle_speed = 0.0;
        Spindle_Stop();
    }
    else
    {
        if(state == SPINDLE_ENABLE_CW)
        {
            GPIO_ResetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
            spindle_dir_cw = 1;
        }
        else
        {
            GPIO_SetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
            spindle_dir_cw = 0;
        }

#ifdef INVERT_SPINDLE_ENABLE_PIN
        GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#else
        GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
#endif

        // 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)
            {
                // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
                rpm = 0.0;
            }
        }

        Spindle_SetSpeed(Spindle_ComputePwmValue(rpm));
    }

    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.
void Spindle_Sync(uint8_t state, float rpm)
{
    if(sys.state == STATE_CHECK_MODE)
    {
        return;
    }

    Protocol_BufferSynchronize(); // Empty planner buffer to ensure spindle is set when programmed.
    Spindle_SetState(state, rpm);
}


void Spindle_SetSurfaceSpeed(float x_pos)
{
    if(isEqual_f(x_pos, 0.0))
    {
        x_pos = 0.5;
    }
    float u = (fabs(x_pos) * 2) * M_PI;
    float rpm = gc_state.spindle_speed / (u / 1000);

    // Limit Max RPM
    if(gc_state.spindle_limit > 0)
    {
        rpm = min(rpm, gc_state.spindle_limit);
    }
    sys.spindle_speed = rpm;

    if(sys.state == STATE_CHECK_MODE)
    {
        return;
    }

    Spindle_SetSpeed(Spindle_ComputePwmValue(rpm));
}