kopia lustrzana https://github.com/Schildkroet/GRBL-Advanced
209 wiersze
5.9 KiB
C
209 wiersze
5.9 KiB
C
/*
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SpindleControl.c - spindle control methods
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Part of Grbl-Advanced
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Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2017 Patrick F.
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Grbl-Advanced is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl-Advanced is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl-Advanced. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Protocol.h"
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#include "Settings.h"
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#include "System.h"
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#include "GPIO.h"
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#include "TIM.h"
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#include "GCode.h"
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#include "SpindleControl.h"
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#include "Config.h"
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static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
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static uint8_t spindle_enabled = 0;
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void Spindle_Init(void)
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{
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// Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
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// combined unless configured otherwise.
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GPIO_InitGPIO(GPIO_SPINDLE);
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TIM1_Init();
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pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
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Spindle_Stop();
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}
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// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
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// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
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// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
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void Spindle_Stop(void)
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{
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TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
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spindle_enabled = 0;
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#else
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GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#endif
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}
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uint8_t Spindle_GetState(void)
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{
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// Check if PWM is enabled.
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if(spindle_enabled)
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{
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/*if(SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) {
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return SPINDLE_STATE_CCW;
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}
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else {
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return SPINDLE_STATE_CW;
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}*/
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return SPINDLE_STATE_CW;
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}
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return SPINDLE_STATE_DISABLE;
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}
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// Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
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// and stepper ISR. Keep routine small and efficient.
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void Spindle_SetSpeed(uint8_t pwm_value)
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{
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TIM1->CCR1 = TIM1_INIT - pwm_value; // Set PWM output level.
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#ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
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if (pwm_value == SPINDLE_PWM_OFF_VALUE)
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{
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Spindle_Stop();
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}
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else
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{
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TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#else
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GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#endif
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spindle_enabled = 1;
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}
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#else
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if(pwm_value == SPINDLE_PWM_OFF_VALUE)
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{
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TIM1->CCR1 = TIM1_INIT; // Disable PWM. Output voltage is zero.
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TIM_Cmd(TIM1, DISABLE); // Disable PWM. Output voltage is zero.
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spindle_enabled = 0;
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}
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else
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{
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TIM_Cmd(TIM1, ENABLE); // Ensure PWM output is enabled.
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spindle_enabled = 1;
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}
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#endif
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}
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// Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
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uint8_t Spindle_ComputePwmValue(float rpm) // 328p PWM register is 8-bit.
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{
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uint8_t pwm_value;
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rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
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// Calculate PWM register value based on rpm max/min settings and programmed rpm.
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if((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
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// No PWM range possible. Set simple on/off spindle control pin state.
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sys.spindle_speed = settings.rpm_max;
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pwm_value = SPINDLE_PWM_MAX_VALUE;
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}
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else if(rpm <= settings.rpm_min) {
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if(rpm == 0.0) { // S0 disables spindle
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sys.spindle_speed = 0.0;
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pwm_value = SPINDLE_PWM_OFF_VALUE;
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}
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else { // Set minimum PWM output
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sys.spindle_speed = settings.rpm_min;
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pwm_value = SPINDLE_PWM_MIN_VALUE;
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}
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}
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else {
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// Compute intermediate PWM value with linear spindle speed model.
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// NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
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sys.spindle_speed = rpm;
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pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
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}
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return pwm_value;
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}
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// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
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// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
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// sleep, and spindle stop override.
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void Spindle_SetState(uint8_t state, float rpm)
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{
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if(sys.abort) {
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// Block during abort.
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return;
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}
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if(state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
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sys.spindle_speed = 0.0;
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Spindle_Stop();
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}
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else {
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if(state == SPINDLE_ENABLE_CW) {
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GPIO_ResetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
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}
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else {
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GPIO_SetBits(GPIO_SPINDLE_DIR_PORT, GPIO_SPINDLE_DIR_PIN);
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}
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#ifdef INVERT_SPINDLE_ENABLE_PIN
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GPIO_ResetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#else
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GPIO_SetBits(GPIO_SPINDLE_ENA_PORT, GPIO_SPINDLE_ENA_PIN);
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#endif
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// NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
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if(settings.flags & BITFLAG_LASER_MODE) {
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if(state == SPINDLE_ENABLE_CCW) {
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// TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
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rpm = 0.0;
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}
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}
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Spindle_SetSpeed(Spindle_ComputePwmValue(rpm));
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}
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sys.report_ovr_counter = 0; // Set to report change immediately
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}
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// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails
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// if an abort or check-mode is active.
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void Spindle_Sync(uint8_t state, float rpm)
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{
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if(sys.state == STATE_CHECK_MODE) {
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return;
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}
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Protocol_BufferSynchronize(); // Empty planner buffer to ensure spindle is set when programmed.
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Spindle_SetState(state, rpm);
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}
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