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();
if (direction == SPINDLE_DISABLE) {
spindle_stop();
} else {
#ifndef USE_SPINDLE_DIR_AS_ENABLE_PIN
if (direction == SPINDLE_ENABLE_CW) {
SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
} else {
SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
}
#endif
#ifdef VARIABLE_SPINDLE
// TODO: Install the optional capability for frequency-based output for servos.
#define SPINDLE_RPM_RANGE (SPINDLE_MAX_RPM-SPINDLE_MIN_RPM)
#define RC_SERVO_RANGE (RC_SERVO_LONG-RC_SERVO_SHORT)
#ifdef CPU_MAP_ATMEGA2560
TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x07 | (1<<WAVE2_REGISTER) | (1<<WAVE3_REGISTER); // set to 1/1024 Prescaler
OCR4A = 0xFFFF; // set the top 16bit value
uint16_t current_pwm;
#else
TCCRA_REGISTER = (1<<COMB_BIT) | (1<<WAVE1_REGISTER) | (1<<WAVE0_REGISTER);
TCCRB_REGISTER = (TCCRB_REGISTER & 0b11111000) | 0x07; // set to 1/1024 Prescaler
uint8_t current_pwm;
#endif
if ( rpm < SPINDLE_MIN_RPM ) { rpm = 0; }
else {
rpm -= SPINDLE_MIN_RPM;
if ( rpm > SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent integer overflow
}
#ifdef RC_SERVO_INVERT
current_pwm = floor( RC_SERVO_LONG - rpm*(RC_SERVO_RANGE/SPINDLE_RPM_RANGE));
OCR_REGISTER = current_pwm;
#else
current_pwm = floor( rpm*(RC_SERVO_RANGE/SPINDLE_RPM_RANGE) + RC_SERVO_SHORT);
OCR_REGISTER = current_pwm;
#endif
#ifdef MINIMUM_SPINDLE_PWM
if (current_pwm < MINIMUM_SPINDLE_PWM) { current_pwm = MINIMUM_SPINDLE_PWM; }
OCR_REGISTER = current_pwm;
#endif
#endif
}
}
// Block until all buffered steps are executed or in a cycle state. Works with feed hold
// during a synchronize call, if it should happen. Also, waits for clean cycle end.
void protocol_buffer_synchronize()
{
// If system is queued, ensure cycle resumes if the auto start flag is present.
protocol_auto_cycle_start();
do {
protocol_execute_realtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort
} while (plan_get_current_block() || (sys.state == STATE_CYCLE));
}
void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
#endif
#endif
{
// If enabled, check for soft limit violations. Placed here all line motions are picked up
// from everywhere in Grbl.
if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) { limits_soft_check(target); }
// If in check gcode mode, prevent motion by blocking planner. Soft limits still work.
if (sys.state == STATE_CHECK_MODE) { return; }
// NOTE: Backlash compensation may be installed here. It will need direction info to track when
// to insert a backlash line motion(s) before the intended line motion and will require its own
// plan_check_full_buffer() and check for system abort loop. Also for position reporting
// backlash steps will need to be also tracked, which will need to be kept at a system level.
// There are likely some other things that will need to be tracked as well. However, we feel
// that backlash compensation should NOT be handled by Grbl itself, because there are a myriad
// of ways to implement it and can be effective or ineffective for different CNC machines. This
// would be better handled by the interface as a post-processor task, where the original g-code
// is translated and inserts backlash motions that best suits the machine.
// NOTE: Perhaps as a middle-ground, all that needs to be sent is a flag or special command that
// indicates to Grbl what is a backlash compensation motion, so that Grbl executes the move but
// doesn't update the machine position values. Since the position values used by the g-code
// parser and planner are separate from the system machine positions, this is doable.
// If the buffer is full: good! That means we are well ahead of the robot.
// Remain in this loop until there is room in the buffer.
do {
protocol_execute_runtime(); // Check for any run-time commands
if (sys.abort) { return; } // Bail, if system abort.
if ( plan_check_full_buffer() ) { protocol_auto_cycle_start(); } // Auto-cycle start when buffer is full.
else { break; }
} while (1);
#ifdef USE_LINE_NUMBERS
plan_buffer_line(target, feed_rate, invert_feed_rate, line_number);
#else
#ifdef VARIABLE_SPINDLE
// NNW
plan_buffer_line(target, feed_rate, invert_feed_rate,rpm);
#else
plan_buffer_line(target, feed_rate, invert_feed_rate);
#endif
#endif
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
if (!sys.state) { sys.state = STATE_QUEUED; }
}
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
#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
}
}
/*
GRBL PRIMARY LOOP:
*/
void protocol_main_loop()
{
// ------------------------------------------------------------
// Complete initialization procedures upon a power-up or reset.
// ------------------------------------------------------------
// Print welcome message
report_init_message();
// Check for and report alarm state after a reset, error, or an initial power up.
if (sys.state == STATE_ALARM) {
report_feedback_message(MESSAGE_ALARM_LOCK);
} else {
// All systems go! But first check for safety door.
#ifndef DEFAULTS_TRINAMIC
if (system_check_safety_door_ajar()) {
bit_true(sys_rt_exec_state, EXEC_SAFETY_DOOR);
protocol_execute_realtime(); // Enter safety door mode. Should return as IDLE state.
} else {
sys.state = STATE_IDLE; // Set system to ready. Clear all state flags.
}
#endif
system_execute_startup(line); // Execute startup script.
}
// ---------------------------------------------------------------------------------
// Primary loop! Upon a system abort, this exits back to main() to reset the system.
// ---------------------------------------------------------------------------------
uint8_t comment = COMMENT_NONE;
uint8_t char_counter = 0;
uint8_t c;
for (;;) {
// Process one line of incoming serial data, as the data becomes available. Performs an
// initial filtering by removing spaces and comments and capitalizing all letters.
// NOTE: While comment, spaces, and block delete(if supported) handling should technically
// be done in the g-code parser, doing it here helps compress the incoming data into Grbl's
// line buffer, which is limited in size. The g-code standard actually states a line can't
// exceed 256 characters, but the Arduino Uno does not have the memory space for this.
// With a better processor, it would be very easy to pull this initial parsing out as a
// seperate task to be shared by the g-code parser and Grbl's system commands.
while((c = serial_read()) != SERIAL_NO_DATA) {
if ((c == '\n') || (c == '\r')) { // End of line reached
line[char_counter] = 0; // Set string termination character.
protocol_execute_line(line); // Line is complete. Execute it!
comment = COMMENT_NONE;
char_counter = 0;
} else {
if (comment != COMMENT_NONE) {
// Throw away all comment characters
if (c == ')') {
// End of comment. Resume line. But, not if semicolon type comment.
if (comment == COMMENT_TYPE_PARENTHESES) { comment = COMMENT_NONE; }
}
} else {
if (c <= ' ') {
// Throw away whitepace and control characters
} else if (c == '/') {
// Block delete NOT SUPPORTED. Ignore character.
// NOTE: If supported, would simply need to check the system if block delete is enabled.
} else if (c == '(') {
// Enable comments flag and ignore all characters until ')' or EOL.
// NOTE: This doesn't follow the NIST definition exactly, but is good enough for now.
// In the future, we could simply remove the items within the comments, but retain the
// comment control characters, so that the g-code parser can error-check it.
comment = COMMENT_TYPE_PARENTHESES;
} else if (c == ';') {
// NOTE: ';' comment to EOL is a LinuxCNC definition. Not NIST.
comment = COMMENT_TYPE_SEMICOLON;
// TODO: Install '%' feature
// } else if (c == '%') {
// Program start-end percent sign NOT SUPPORTED.
// NOTE: This maybe installed to tell Grbl when a program is running vs manual input,
// where, during a program, the system auto-cycle start will continue to execute
// everything until the next '%' sign. This will help fix resuming issues with certain
// functions that empty the planner buffer to execute its task on-time.
} else if (char_counter >= (LINE_BUFFER_SIZE-1)) {
// Detect line buffer overflow. Report error and reset line buffer.
report_status_message(STATUS_OVERFLOW);
comment = COMMENT_NONE;
char_counter = 0;
} else if (c >= 'a' && c <= 'z') { // Upcase lowercase
line[char_counter++] = c-'a'+'A';
} else {
line[char_counter++] = c;
}
}
}
}
// If there are no more characters in the serial read buffer to be processed and executed,
// this indicates that g-code streaming has either filled the planner buffer or has
// completed. In either case, auto-cycle start, if enabled, any queued moves.
protocol_auto_cycle_start();
protocol_execute_realtime(); // Runtime command check point.
if (sys.abort) { return; } // Bail to main() program loop to reset system.
}
return; /* Never reached */
}
