Needs to be tested - target coordinates.

timkrins · Jun 6, 2011 · daa859c · daa859c
1 parent cbae2b2
commit daa859c
Show file tree

Hide file tree

Showing 8 changed files with 34 additions and 23 deletions.
diff --git a/Makefile b/Makefile
@@ -30,7 +30,7 @@
 DEVICE     = atmega644p
 CLOCK      = 20000000L
 PROGRAMMER = -cusbtiny -P usb
-OBJECTS    = main.o motion_control.o gcode.o wiring_serial.o serial_protocol.o stepper.o \
+OBJECTS    = main.o motion_control.o gcode.o wiring_serial.o serial_protocol.o spindle_control.o stepper.o \
              eeprom.o settings.o planner.o lcd.o
 
 

diff --git a/config.h b/config.h
@@ -72,9 +72,11 @@ The Z axis:
 #define ZPOS_LIMIT_BIT          4
 #define ZNEG_LIMIT_BIT          5
 
-#define SPINDLE_ENABLE_DDR 	DDRB
-#define SPINDLE_ENABLE_PORT 	PORTB
-#define SPINDLE_ENABLE_BIT 	4
+#define SPINDLE_ENABLE_DDR 	DDRD
+#define SPINDLE_ENABLE_PORT 	PORTD
+#define SPINDLE_ENABLE_BIT 	2
+#define SPINDLE_DIRECTION_PORT DDRD
+#define SPINDLE_DIRECTION_BIT 1
 
 #define LCD_DDR			DDRA
 #define LCD_PORT 		PORTA

diff --git a/gcode.c b/gcode.c
@@ -26,6 +26,7 @@
 #include <string.h>
 #include "nuts_bolts.h"
 #include <math.h>
+#include <stdio.h>
 #include "settings.h"
 #include "motion_control.h"
 #include "spindle_control.h"
@@ -251,7 +252,7 @@ uint8_t gc_execute_line(char *line) {
   } else {
     spindle_stop();
   }
-
+  char print1[50];
   // Perform any physical actions
   switch (next_action) {
     case NEXT_ACTION_GO_HOME: mc_go_home(); break;
@@ -261,10 +262,12 @@ uint8_t gc_execute_line(char *line) {
       case MOTION_MODE_CANCEL: break;
       case MOTION_MODE_SEEK:
       mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], gc.seek_rate, FALSE);
+      sprintf(print1, "SEK X%f.3, Y%f.3, Z%f.3",(double)target[X_AXIS],(double)target[Y_AXIS],(double)target[Z_AXIS]); 
       break;
       case MOTION_MODE_LINEAR:
       mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], 
         (gc.inverse_feed_rate_mode) ? inverse_feed_rate : gc.feed_rate, gc.inverse_feed_rate_mode);
+      sprintf(print1, "LNR X%f.3, Y%f.3, Z%f.3",(double)target[X_AXIS],(double)target[Y_AXIS],(double)target[Z_AXIS]); 
       break;
 #ifdef __AVR_ATmega328P__
       case MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:

diff --git a/lcd.c b/lcd.c
@@ -102,7 +102,7 @@ void lcd_write_line(char *s) {
   lcd_write(*s);                // write it to the LCD
   s++;                          // and go to the next character
   } else {
-  lcd_write(" ");
+  lcd_write(0x20);
   }
   }
 }

diff --git a/lcd.h b/lcd.h
@@ -9,18 +9,23 @@ Questions? Ask Tim K
 
 #include "config.h"
 
-#define LCD_DATAMASK (1<<LCD_DATA_BIT_1)|(1<<LCD_DATA_BIT_2)|(1<<LCD_DATA_BIT_3)|(1<<LCD_DATA_BIT_4)
+#define LCD_DATAMASK ((1<<LCD_DATA_BIT_1)|((1<<LCD_DATA_BIT_2)|((1<<LCD_DATA_BIT_3)|(1<<LCD_DATA_BIT_4))))
 #define LCD_CONTROLS ~LCD_DATAMASK
+#define RS0  (LCD_PORT &= ~(1<<LCD_RS_BIT))             // Register select line low, select the control register
+#define RS1  (LCD_PORT |=  (1<<LCD_RS_BIT))             // Register select line high, select the data register
+#define RW0  (LCD_PORT &= ~(1<<LCD_RW_BIT))             // Write mode
+#define RW1  (LCD_PORT |=  (1<<LCD_RW_BIT))             // Read mode
+#define E0   (LCD_PORT &= ~(1<<LCD_E_BIT))              // Stop data write
+#define E1   (LCD_PORT |=  (1<<LCD_E_BIT))              // Start data write
+#define LCD_NIBBLE ((LCD_PORT&LCD_CONTROLS)|(((NIBBLE&0b00000001)<<LCD_DATA_BIT_1)|(((NIBBLE&0b00000010)<<LCD_DATA_BIT_2)|(((NIBBLE&0b00000100)<<LCD_DATA_BIT_3)|((NIBBLE&0b00001000)<<LCD_DATA_BIT_4)))))
 
-#define RS0  LCD_PORT &= ~(1<<LCD_RS_BIT)             // Register select line low, select the control register
-#define RS1  LCD_PORT |=  (1<<LCD_RS_BIT)             // Register select line high, select the data register
-#define RW0  LCD_PORT &= ~(1<<LCD_RW_BIT)             // Write mode
-#define RW1  LCD_PORT |=  (1<<LCD_RW_BIT)             // Read mode
-#define E0   LCD_PORT &= ~(1<<LCD_E_BIT)              // Stop data write
-#define E1   LCD_PORT |=  (1<<LCD_E_BIT)              // Start data write
+#define LCD_CONTROLS_NIB2 ((LCD_PORT&LCD_CONTROLS)|(((NIB2&0b00000001)<<LCD_DATA_BIT_1)|(((NIB2&0b00000010)<<LCD_DATA_BIT_2)|(((NIB2&0b00000100)<<LCD_DATA_BIT_3)|((NIB2&0b00001000)<<LCD_DATA_BIT_4)))))
 
-#define LCD_NIBBLE ((LCD_PORT&LCD_CONTROLS)|(((((NIBBLE&0b00000001)<<LCD_DATA_BIT_1)|((NIBBLE&0b00000010)<<LCD_DATA_BIT_2))|(((NIBBLE&0b00000100)<<LCD_DATA_BIT_3)|((NIBBLE&0b00001000)<<LCD_DATA_BIT_4)))))
 
-#define LCD_CONTROLS_NIB2 ((LCD_PORT&LCD_CONTROLS)|(((NIB2&0b00000001)<<LCD_DATA_BIT_1)|((NIB2&0b00000010)<<LCD_DATA_BIT_2)|((NIB2&0b00000100)<<LCD_DATA_BIT_3)|((NIB2&0b00001000)<<LCD_DATA_BIT_4)))
+void lcd_write_line(char *s);
 
-#endif
+void lcd_cnc_init(void);
+
+void lcd_set_line(char x);
+
+#endif
diff --git a/main.c b/main.c
@@ -23,15 +23,15 @@
 #include <util/delay.h>
 #include "planner.h"
 #include "stepper.h"
-//#include "spindle_control.h"
+#include "spindle_control.h"
 #include "motion_control.h"
 #include "gcode.h"
 #include "serial_protocol.h"
 #include "nuts_bolts.h"
 #include "settings.h"
 #include "wiring_serial.h"
 #include "config.h"
-#include "lcd.c"
+#include "lcd.h"
 #include <math.h>
 #include <avr/pgmspace.h>
 
@@ -46,7 +46,7 @@ char print1[50];
   settings_init();  
   plan_init();
   st_init(); 
-  //spindle_init();   
+  spindle_init();   
   lcd_cnc_init();
   gc_init();  
 
@@ -55,7 +55,7 @@ char print1[50];
     sp_process(); // ... process the serial protocol
 
     /* Not sure if this will work, but trying anyway */
-    sprintf(print1, "X%f.3, Y%f.3, Z%f.3",(double)position[X_AXIS],(double)position[Y_AXIS],(double)position[Z_AXIS]); 
+    //sprintf(print1, "X%f.3, Y%f.3, Z%f.3",(double)target[X_AXIS],(double)target[Y_AXIS],(double)target[Z_AXIS]); 
     lcd_set_line(2);                        // sets the screen position, line 3
     lcd_write_line(print1);
   }

diff --git a/planner.c b/planner.c
@@ -69,6 +69,10 @@
 #else
 #define BLOCK_BUFFER_SIZE 5
 #endif
+
+// The current position of the tool in absolute steps
+static int32_t position[3];   
+
 static block_t block_buffer[BLOCK_BUFFER_SIZE];  // A ring buffer for motion instructions
 static volatile int block_buffer_head;           // Index of the next block to be pushed
 static volatile int block_buffer_tail;           // Index of the block to process now

diff --git a/planner.h b/planner.h
@@ -51,10 +51,7 @@ typedef struct {
   uint32_t decelerate_after;          // The index of the step event on which to start decelerating
 
 } block_t;
-
 
-// The current position of the tool in absolute steps
-static int32_t position[3];   
 
 // Initialize the motion plan subsystem      
 void plan_init();