spindle_control.c

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/*
  spindle_control.c - spindle control methods
  Part of Grbl

  Copyright (c) 2012-2016 Sungeun K. Jeon for Gnea Research LLC
  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"


static float pwm_gradient; 


void spindle_init()
{    
// Configure variable spindle PWM and enable pin, if required.
  SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); 
  SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; 
  SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
  SPINDLE_OCRA_REGISTER = SPINDLE_OCRA_TOP_VALUE; 
  SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); 
  SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); 

  pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
  spindle_stop();
}


uint8_t spindle_get_state()
{
  #ifdef INVERT_SPINDLE_ENABLE_PIN
    if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT)) && (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT))) {
  #else
    if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT)) && (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT))) {
  #endif
    if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
    else { return(SPINDLE_STATE_CW); }
  }
    return(SPINDLE_STATE_DISABLE);
}

// 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()
{
  SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); 
  #ifdef INVERT_SPINDLE_ENABLE_PIN
    SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  
  #else
    SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); 
  #endif
}

// and stepper ISR. Keep routine small and efficient.
void spindle_set_speed(uint16_t pwm_value)
{
  SPINDLE_OCR_REGISTER = pwm_value; 
  if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
    SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); 
  } else {
    SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); 
  }
}

uint16_t spindle_compute_pwm_value(float rpm) 
{
  uint16_t pwm_value;
  rpm *= (0.010*sys.spindle_speed_ovr); 
// 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) { 
      sys.spindle_speed = 0.0;
      pwm_value = SPINDLE_PWM_OFF_VALUE;
    } else { 
      sys.spindle_speed = settings.rpm_min;
      pwm_value = SPINDLE_PWM_MIN_VALUE;
    }
  } else { 
// Compute intermediate PWM value with linear spindle speed model.
// 
    sys.spindle_speed = rpm;
    pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
  }
  return(pwm_value);
}
  
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
void spindle_set_state(uint8_t state, float rpm)
{
  if (sys.abort) { return; } 
  if (state == SPINDLE_DISABLE) { 
  
    sys.spindle_speed = 0.0;
    spindle_stop();
  
  } else {
  
    if (state == SPINDLE_ENABLE_CW) {
      SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
    } else {
      SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
    }

// 
    if (settings.flags & BITFLAG_LASER_MODE) { 
      if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; }  
    }
    spindle_set_speed(spindle_compute_pwm_value(rpm));

        #ifdef INVERT_SPINDLE_ENABLE_PIN
            SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
        #else
            SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
        #endif   
  
  }
  
  sys.report_ovr_counter = 0; 
}

// if an abort or check-mode is active.
void spindle_sync(uint8_t state, float rpm)
{
  if (sys.state == STATE_CHECK_MODE) { return; }
  protocol_buffer_synchronize(); 
  spindle_set_state(state,rpm);
}