src/modules/tools/spindle/AnalogSpindleControl.cpp

   1 /*
   2       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
   3       Smoothie 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.
   4       Smoothie 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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #include "libs/Module.h"
   9 #include "libs/Kernel.h"
  10 #include "libs/Pin.h"
  11 #include "AnalogSpindleControl.h"
  12 #include "Config.h"
  13 #include "checksumm.h"
  14 #include "ConfigValue.h"
  15 #include "StreamOutputPool.h"
  16 #include "PwmOut.h"
  17
  18 #define spindle_checksum                    CHECKSUM("spindle")
  19 #define spindle_max_rpm_checksum            CHECKSUM("max_rpm")
  20 #define spindle_min_rpm_checksum            CHECKSUM("min_rpm")
  21 #define spindle_pwm_pin_checksum            CHECKSUM("pwm_pin")
  22 #define spindle_pwm_period_checksum         CHECKSUM("pwm_period")
  23 #define spindle_switch_on_pin_checksum      CHECKSUM("switch_on_pin")
  24
  25 void AnalogSpindleControl::on_module_loaded()
  26 {
  27
  28     spindle_on = false;
  29     target_rpm = 0;
  30     min_rpm = THEKERNEL->config->value(spindle_checksum, spindle_min_rpm_checksum)->by_default(100)->as_int();
  31     max_rpm = THEKERNEL->config->value(spindle_checksum, spindle_max_rpm_checksum)->by_default(5000)->as_int();
  32
  33     // Get the pin for hardware pwm
  34     {
  35         Pin *smoothie_pin = new Pin();
  36         smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_pwm_pin_checksum)->by_default("nc")->as_string());
  37         pwm_pin = smoothie_pin->as_output()->hardware_pwm();
  38         output_inverted = smoothie_pin->is_inverting();
  39         delete smoothie_pin;
  40     }
  41     // If we got no hardware PWM pin, delete this module
  42     if (pwm_pin == NULL)
  43     {
  44         THEKERNEL->streams->printf("Error: Spindle PWM pin must be P2.0-2.5 or other PWM pin\n");
  45         delete this;
  46         return;
  47     }
  48
  49     // set pwm frequency
  50     int period = THEKERNEL->config->value(spindle_checksum, spindle_pwm_period_checksum)->by_default(1000)->as_int();
  51     pwm_pin->period_us(period);
  52     // invert pwm signal if necessary
  53     pwm_pin->write(output_inverted ? 1 : 0);
  54
  55     // Get digital out pin for switching the VFD on and off (wired to a digital input on the VFD via an optocoupler)
  56     std::string switch_on_pin = THEKERNEL->config->value(spindle_checksum, spindle_switch_on_pin_checksum)->by_default("nc")->as_string();
  57     switch_on = NULL;
  58     if(switch_on_pin.compare("nc") != 0) {
  59         switch_on = new Pin();
  60         switch_on->from_string(switch_on_pin)->as_output()->set(false);
  61     }
  62     // register for events
  63     register_for_event(ON_GCODE_RECEIVED);
  64 }
  65
  66 void AnalogSpindleControl::turn_on()
  67 {
  68     // set the output for switching the VFD on
  69     if(switch_on != NULL)
  70         switch_on->set(true);
  71     spindle_on = true;
  72
  73 }
  74
  75
  76 void AnalogSpindleControl::turn_off()
  77 {
  78     // clear the output for switching the VFD on
  79     if(switch_on != NULL)
  80         switch_on->set(false);
  81     spindle_on = false;
  82     // set the PWM value to 0 to make sure it stops
  83     update_pwm(0);
  84
  85 }
  86
  87
  88 void AnalogSpindleControl::set_speed(int rpm)
  89 {
  90     // limit the requested RPM value
  91     if(rpm < 0) {
  92         target_rpm = 0;
  93     } else if (rpm > max_rpm) {
  94         target_rpm = max_rpm;
  95     } else if (rpm > 0 && rpm < min_rpm){
  96         target_rpm = min_rpm;
  97     } else {
  98         target_rpm = rpm;
  99     }
 100     // calculate the duty cycle and update the PWM
 101     update_pwm(1.0f / max_rpm * target_rpm);
 102
 103 }
 104
 105
 106 void AnalogSpindleControl::report_speed()
 107 {
 108     // report the current RPM value, calculate the current PWM value and report it as well
 109     THEKERNEL->streams->printf("Current RPM: %d Analog value: %5.3f\n",
 110                                target_rpm, (1.0f / max_rpm * target_rpm));
 111
 112 }
 113
 114
 115 void AnalogSpindleControl::update_pwm(float value)
 116 {
 117     // set the requested PWM value, invert it if necessary
 118     if(output_inverted)
 119         pwm_pin->write(1.0f - value);
 120     else
 121         pwm_pin->write(value);
 122
 123 }
 124