Merge branch 'master' of https://github.com/cprezzi/grbl-LPC

Author: cprezzi

README.md

@@ -1,7 +1,8 @@
 ![GitHub Logo](https://github.com/gnea/gnea-Media/blob/master/Grbl%20Logo/Grbl%20Logo%20250px.png?raw=true)
 
 ***
-_Click the `Release` tab to download pre-compiled `.bin` files or just [click here](https://github.com/cprezzi/grbl-LPC/releases)_
+Old releases are in the `Release` tab. See [cprezzi's branch](https://github.com/cprezzi/grbl-LPC) for more recent releases.
+Note: cprezzi's branch disables current control and has defaults more suitable for other boards.
 ***
 This is GRBL 1.1 ported to the LPC1769. It can run on Smoothieboard.
 
@@ -10,25 +11,22 @@ Usage notes:
   If it doesn't, try installing VCOM_lib/usbser.inf.
 * This doesn't pass the sdcard to the host. Once installed you need to use a micro sdcard adaptor to replace or change it.
 * Only tested with lasers with PWM. Non-PWM spindle control not ported.
-* This special version supports setting PWM frequency by $33. Default is 5000 Hz. Pin can only be changes in config.h.
-  * Pin 2.5
-  * 5 kHz
-  * PWM off value: 0%
-  * Mimimum PWM value: 0%
-  * Maximum PWM value: 100%
 * These are defaults for easy-to-change config values.
-  * Maximum S value: 1000.0 ($30)
+  * WPos enabled for LaserWeb compatability ($10=0)
+  * Laser mode: ON ($32)
   * Minimum S value: 0.0 ($31)
-  * Laser mode: 1 ($32)
-  * Laser PWM frequency: 5000 ($33)
+  * Maximum S value: 1.0 ($30)
 * Hard limits not yet ported
 * Control inputs not yet ported (e.g. Cycle Start and Safety Door switches)
 
 New configuration settings
 * $33 is PWM frequency in Hz
+* $34 is PWM off value in %
+* $35 is PWM min value in %
+* $36 is PWM max value in %
 * $140, $141, $142 are X, Y, Z current (amps)
-* Default to 0.0 A to avoid burning out your motors
-* Your motors will likely stall if you don't set these!
+  * Default to 0.0 A to avoid burning out your motors
+  * 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.

grbl/config.h

@@ -129,6 +129,9 @@
 // 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
@@ -359,11 +362,6 @@
 //      pwm = scaled value. settings.rpm_min scales to SPINDLE_PWM_MIN_VALUE. settings.rpm_max
 //            scales to SPINDLE_PWM_MAX_VALUE.
 
-//#define SPINDLE_PWM_PERIOD        (SystemCoreClock / 40000)         // SystemCoreClock / frequency
-#define SPINDLE_PWM_OFF_VALUE     0.0    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MIN_VALUE     (SPINDLE_PWM_PERIOD * 0.0)    // SPINDLE_PWM_PERIOD * fraction
-//#define SPINDLE_PWM_MAX_VALUE     (SPINDLE_PWM_PERIOD * 1.0)  // SPINDLE_PWM_PERIOD * fraction
-
 // Used by variable spindle output only. This forces the PWM output to a minimum duty cycle when enabled.
 // The PWM pin will still read 0V when the spindle is disabled. Most users will not need this option, but
 // it may be useful in certain scenarios. This minimum PWM settings coincides with the spindle rpm minimum
@@ -717,10 +715,10 @@
 #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_DDR       NotUsed // LPC_GPIO1->FIODIR
+#define PROBE_PIN       NotUsed // LPC_GPIO1->FIOPIN
+#define PROBE_PORT      NotUsed // LPC_GPIO1->FIOPIN
+#define PROBE_BIT       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.
@@ -744,18 +742,21 @@
 #define DEFAULT_Z_STEPS_PER_MM 160.0
 #define DEFAULT_X_MAX_RATE 24000 // mm/min
 #define DEFAULT_Y_MAX_RATE 24000 // mm/min
-#define DEFAULT_Z_MAX_RATE 24000 // mm/min
+#define DEFAULT_Z_MAX_RATE 500.0 // mm/min
 #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
 #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 5000*60*60 mm/min^2 = 5000 mm/sec^2
 #define DEFAULT_Z_ACCELERATION (2500.0*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_X_CURRENT 0.4 // amps
+#define DEFAULT_Y_CURRENT 0.6 // amps
 #define DEFAULT_Z_CURRENT 0.0 // amps
 #define DEFAULT_A_CURRENT 0.0  // amps
 #define DEFAULT_X_MAX_TRAVEL 300.0 // mm
 #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm
 #define DEFAULT_Z_MAX_TRAVEL 50.0 // mm
-#define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
+#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 1000.0 // rpm
 #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
 #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@@ -768,15 +769,15 @@
 #define DEFAULT_REPORT_INCHES 0 // false
 #define DEFAULT_INVERT_ST_ENABLE 0 // false
 #define DEFAULT_INVERT_LIMIT_PINS 1 // false
-#define DEFAULT_SOFT_LIMIT_ENABLE 0 // false
+#define DEFAULT_SOFT_LIMIT_ENABLE 1 // 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_ENABLE 1  // false
+#define DEFAULT_HOMING_DIR_MASK 1 // move positive dir
 #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
 #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
 #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-#define DEFAULT_HOMING_PULLOFF 1.0 // mm
+#define DEFAULT_HOMING_PULLOFF 2.0 // mm
 
 #endif

grbl/defaults.h

@@ -41,7 +41,6 @@
   #define DEFAULT_X_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
   #define DEFAULT_Z_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
   #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
   #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
   #define DEFAULT_STEP_PULSE_MICROSECONDS 10
@@ -66,49 +65,6 @@
   #define DEFAULT_HOMING_PULLOFF 1.0 // mm
 #endif
 
-#ifdef DEFAULTS_K40
-  // Description: K40 Lasercutter (typical chinese 40W CO2 laser cutter/engraver)
-  #define DEFAULT_X_STEPS_PER_MM 160.0
-  #define DEFAULT_Y_STEPS_PER_MM 160.0
-  #define DEFAULT_Z_STEPS_PER_MM 160.0
-  #define DEFAULT_X_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Y_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_Z_MAX_RATE 24000.0 // mm/min
-  #define DEFAULT_X_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Y_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 mm/sec^2
-  #define DEFAULT_Z_ACCELERATION (2500.0*60*60) // 10*60*60 mm/min^2 = 10 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 300.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Y_MAX_TRAVEL 200.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_Z_MAX_TRAVEL 50.0 // mm NOTE: Must be a positive value.
-  #define DEFAULT_SPINDLE_PWM_FREQ 5000 // Hz
-  #define DEFAULT_SPINDLE_RPM_MAX 1000.0 // rpm
-  #define DEFAULT_SPINDLE_RPM_MIN 0.0 // rpm
-  #define DEFAULT_STEP_PULSE_MICROSECONDS 10
-  #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 1 // 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 // false
-  #define DEFAULT_HOMING_ENABLE 0  // false
-  #define DEFAULT_HOMING_DIR_MASK 0 // move positive dir
-  #define DEFAULT_HOMING_FEED_RATE 50.0 // mm/min
-  #define DEFAULT_HOMING_SEEK_RATE 6000.0 // mm/min
-  #define DEFAULT_HOMING_DEBOUNCE_DELAY 250 // msec (0-65k)
-  #define DEFAULT_HOMING_PULLOFF 1.0 // mm
-#endif
-
 #ifdef DEFAULTS_SHERLINE_5400
   // Description: Sherline 5400 mill with three NEMA 23 Keling  KL23H256-21-8B 185 oz-in stepper motors,
   // driven by three Pololu A4988 stepper drivers with a 30V, 6A power supply at 1.5A per winding.

grbl/limits.c

@@ -307,9 +307,17 @@ void limits_go_home(uint8_t cycle_mask)
         set_axis_position = 0;
       #else
         if ( bit_istrue(settings.homing_dir_mask,bit(idx)) ) {
-          set_axis_position = lround((settings.max_travel[idx]+settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = 0; //lround(settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround((settings.max_travel[idx]-settings.homing_pulloff)*settings.steps_per_mm[idx]);
+          #endif
         } else {
-          set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #ifdef HOMING_FORCE_POSITIVE_SPACE
+            set_axis_position = lround(-settings.max_travel[idx]*settings.steps_per_mm[idx]);
+          #else
+            set_axis_position = lround(-settings.homing_pulloff*settings.steps_per_mm[idx]);
+          #endif
         }
       #endif
 

grbl/report.c

@@ -71,7 +71,6 @@ static void report_util_setting_string(uint8_t n) {
     case 30: printPgmString(PSTR("rpm max")); break;
     case 31: printPgmString(PSTR("rpm min")); break;
     case 32: printPgmString(PSTR("laser")); break;
-    case 33: printPgmString(PSTR("spindle_pwm_freq")); break;
     default:
       n -= AXIS_SETTINGS_START_VAL;
       uint8_t idx = 0;
@@ -97,11 +96,6 @@ static void report_util_uint8_setting(uint8_t n, int val) {
   print_uint8_base10(val); 
   report_util_line_feed(); // report_util_setting_string(n); 
 }
-static void report_util_uint32_setting(uint8_t n, int val) { 
-  report_util_setting_prefix(n); 
-  print_uint32_base10(val); 
-  report_util_line_feed(); // report_util_setting_string(n); 
-}
 static void report_util_float_setting(uint8_t n, float val, uint8_t n_decimal) { 
   report_util_setting_prefix(n); 
   printFloat(val,n_decimal);
@@ -214,7 +208,10 @@ void report_grbl_settings() {
   #else
     report_util_uint8_setting(32,0);
   #endif
-  report_util_uint32_setting(33,settings.spindle_pwm_freq);
+  report_util_float_setting(33,settings.spindle_pwm_freq,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(34,settings.spindle_pwm_off_value,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(35,settings.spindle_pwm_min_value,N_DECIMAL_SETTINGVALUE);
+  report_util_float_setting(36,settings.spindle_pwm_max_value,N_DECIMAL_SETTINGVALUE);
   // Print axis settings
   uint8_t idx, set_idx;
   uint8_t val = AXIS_SETTINGS_START_VAL;

grbl/settings.c

@@ -87,6 +87,9 @@ void settings_restore(uint8_t restore_flag) {
     settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
 
     settings.spindle_pwm_freq = DEFAULT_SPINDLE_PWM_FREQ;
+    settings.spindle_pwm_off_value = DEFAULT_SPINDLE_PWM_OFF_VALUE;
+    settings.spindle_pwm_min_value = DEFAULT_SPINDLE_PWM_MIN_VALUE;
+    settings.spindle_pwm_max_value = DEFAULT_SPINDLE_PWM_MAX_VALUE;
     settings.rpm_max = DEFAULT_SPINDLE_RPM_MAX;
     settings.rpm_min = DEFAULT_SPINDLE_RPM_MIN;
 
@@ -319,6 +322,9 @@ uint8_t settings_store_global_setting(uint8_t parameter, float value) {
         #endif
         break;
       case 33: settings.spindle_pwm_freq = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 34: settings.spindle_pwm_off_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 35: settings.spindle_pwm_min_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
+      case 36: settings.spindle_pwm_max_value = value; spindle_init(); break; // Re-initialize spindle pwm calibration
       default:
         return(STATUS_INVALID_STATEMENT);
     }

grbl/settings.h

@@ -92,7 +92,10 @@ typedef struct {
   float junction_deviation;
   float arc_tolerance;
 
-  uint16_t spindle_pwm_freq;
+  float spindle_pwm_freq;      // Hz
+  float spindle_pwm_off_value; // Percent
+  float spindle_pwm_min_value; // Percent
+  float spindle_pwm_max_value; // Percent
   float rpm_max;
   float rpm_min;
 

grbl/spindle_control.c

@@ -25,23 +25,21 @@
 
 #ifdef VARIABLE_SPINDLE
   static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
-  static float spindle_pwm_period;
-  static float spindle_pwm_off_value;
-  static float spindle_pwm_min_value;
-  static float spindle_pwm_max_value;
+  float spindle_pwm_period;
+  float spindle_pwm_off_value;
+  float spindle_pwm_min_value;
+  float spindle_pwm_max_value;
 #endif
 
 
 void spindle_init()
 {
   #ifdef VARIABLE_SPINDLE
     spindle_pwm_period = (SystemCoreClock / settings.spindle_pwm_freq);
-    spindle_pwm_off_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_min_value = (spindle_pwm_period * 0.0);    // SPINDLE_PWM_PERIOD * fraction
-    spindle_pwm_max_value = (spindle_pwm_period * 1.0);    // SPINDLE_PWM_PERIOD * fraction
-
-    //pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, SPINDLE_PWM_PERIOD, 0);
-    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0); //SPINDLE_PWM_PERIOD
+    spindle_pwm_off_value = (spindle_pwm_period * settings.spindle_pwm_off_value / 100);
+    spindle_pwm_min_value = (spindle_pwm_period * settings.spindle_pwm_min_value / 100);
+    spindle_pwm_max_value = (spindle_pwm_period * settings.spindle_pwm_max_value / 100);
+    pwm_init(&SPINDLE_PWM_CHANNEL, SPINDLE_PWM_USE_PRIMARY_PIN, SPINDLE_PWM_USE_SECONDARY_PIN, spindle_pwm_period, 0);
     pwm_enable(&SPINDLE_PWM_CHANNEL);
 
     /* not ported
@@ -54,7 +52,6 @@ void spindle_init()
     #endif
     */
 
-    //pwm_gradient = (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)/(settings.rpm_max-settings.rpm_min);
     pwm_gradient = (spindle_pwm_max_value-spindle_pwm_min_value)/(settings.rpm_max-settings.rpm_min);
 
   #else
@@ -145,21 +142,21 @@ void spindle_stop()
     rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
     if (rpm <= 0) {
       sys.spindle_speed = 0;
-      pwm_value = spindle_pwm_off_value;    //SPINDLE_PWM_OFF_VALUE
+      pwm_value = spindle_pwm_off_value;
     }
     else if (rpm <= settings.rpm_min) {
       sys.spindle_speed = settings.rpm_min;
-      pwm_value = spindle_pwm_min_value;    //SPINDLE_PWM_MIN_VALUE
+      pwm_value = spindle_pwm_min_value;
     }
     else if (rpm >= settings.rpm_max) {
       sys.spindle_speed = settings.rpm_max;
-      pwm_value = spindle_pwm_max_value - 1;    //SPINDLE_PWM_MAX_VALUE
+      pwm_value = spindle_pwm_max_value - 1;
     }
     else {
       sys.spindle_speed = rpm;
-      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;   //SPINDLE_PWM_MIN_VALUE
-      if(pwm_value >= spindle_pwm_max_value)    //SPINDLE_PWM_MAX_VALUE
-        pwm_value = spindle_pwm_max_value - 1;  //SPINDLE_PWM_MAX_VALUE
+      pwm_value = floor((rpm - settings.rpm_min) * pwm_gradient) + spindle_pwm_min_value;
+      if(pwm_value >= spindle_pwm_max_value)
+        pwm_value = spindle_pwm_max_value - 1;
     }
     return(pwm_value);
   }

grbl/spindle_control.h

@@ -40,6 +40,10 @@ uint8_t spindle_get_state();
 // Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
 // Called by spindle_sync() after sync and parking motion/spindle stop override during restore.
 #ifdef VARIABLE_SPINDLE
+  extern float spindle_pwm_period;
+  extern float spindle_pwm_off_value;
+  extern float spindle_pwm_min_value;
+  extern float spindle_pwm_max_value;
 
   // Called by g-code parser when setting spindle state and requires a buffer sync.
   void spindle_sync(uint8_t state, float rpm);

grbl/stepper.c

@@ -385,7 +385,7 @@ extern "C" void TIMER1_IRQHandler()
       st_go_idle();
       #ifdef VARIABLE_SPINDLE
         // Ensure pwm is set properly upon completion of rate-controlled motion.
-        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
+        if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(spindle_pwm_off_value); }
       #endif
       system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
       return; // Nothing to do but exit.
@@ -907,7 +907,7 @@ void st_prep_buffer()
           prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
         } else { 
           sys.spindle_speed = 0.0;
-          prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
+          prep.current_spindle_pwm = spindle_pwm_off_value;
         }
         bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
       }