/*
spindle_control.c - spindle control methods
Part of Grbl v0.9
Copyright (c) 2012-2014 Sungeun K. Jeon
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 .
*/
/*
This file is based on work from Grbl v0.8, distributed under the
terms of the MIT-license. See COPYING for more details.
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2012 Sungeun K. Jeon
*/
/* RC-Servo PWM modification: switch between 1ms and 2ms pulse-width at 61Hz
Prescaler 1024 = 15625Hz / 256Steps = 61Hz 64µs/step -> Values 15 / 32 for 1ms / 2ms
Reload value = 0x07
Replace this file in C:\Program Files (x86)\Arduino\libraries\GRBL
*/
#define RC_SERVO_SHORT 15 // Timer ticks for 1ms pulse duration
#define RC_SERVO_LONG 32 // Timer ticks for 2ms pulse duration
//#define RC_SERVO_INVERT 1 // Uncomment to invert servo direction
#include "system.h"
#include "spindle_control.h"
#include "protocol.h"
#include "gcode.h"
void spindle_init()
{
SPINDLE_PWM_DDR |= (1< SPINDLE_RPM_RANGE ) { rpm = SPINDLE_RPM_RANGE; } // Prevent uint8 overflow
#ifdef RC_SERVO_INVERT
uint8_t current_pwm = floor( RC_SERVO_LONG - rpm*(RC_SERVO_RANGE/SPINDLE_RPM_RANGE));
OCR_REGISTER = current_pwm;
#else
uint8_t current_pwm = floor( rpm*(RC_SERVO_RANGE/SPINDLE_RPM_RANGE) + RC_SERVO_SHORT);
OCR_REGISTER = current_pwm;
#endif
}
}