GRBL 0.9i with servo motor support.

Use the PIN D11 to driver the servo. Use the commands M03 Sxxx (xxx between 0 and 255) to rotate the servo between 0-180. The command M05 turn the servo to zero degrees. you can change the pulse duration in the file spindle_control.c: #define RC_SERVO_SHORT 15 // Timer ticks for 0.6ms pulse duration (9 for 0.6ms) #define RC_SERVO_LONG 32 // Timer ticks for 2.5 ms pulse duration (39 for 2.5ms) //#define RC_SERVO_INVERT 1 // Uncomment to invert servo direction If you want to have the servo working from 0 --> 180 degrees change RC_SERVO_SHORT and put 9, RC_SERVO_LONG and put 39 If ypu want invert the servo mouvement uncomment the line above. Signed-off-by: robottini <[email protected]>
CMCRobotics · Aug 12, 2015 · 62c79f4 · 62c79f4
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diff --git a/config.h b/config.h
diff --git a/coolant_control.c b/coolant_control.c
@@ -0,0 +1,64 @@
+/*
+  coolant_control.c - coolant control methods
+  Part of Grbl
+
+  Copyright (c) 2012-2015 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 <http://www.gnu.org/licenses/>.
+*/  
+
+#include "grbl.h"
+
+
+void coolant_init()
+{
+  COOLANT_FLOOD_DDR |= (1 << COOLANT_FLOOD_BIT);
+  #ifdef ENABLE_M7
+    COOLANT_MIST_DDR |= (1 << COOLANT_MIST_BIT);
+  #endif
+  coolant_stop();
+}
+
+
+void coolant_stop()
+{
+  COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
+  #ifdef ENABLE_M7
+    COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
+  #endif
+}
+
+
+void coolant_set_state(uint8_t mode)
+{
+  if (mode == COOLANT_FLOOD_ENABLE) {
+    COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
+
+  #ifdef ENABLE_M7  
+    } else if (mode == COOLANT_MIST_ENABLE) {
+      COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
+  #endif
+
+  } else {
+    coolant_stop();
+  }
+}
+
+
+void coolant_run(uint8_t mode)
+{
+  if (sys.state == STATE_CHECK_MODE) { return; }
+  protocol_buffer_synchronize(); // Ensure coolant turns on when specified in program.  
+  coolant_set_state(mode);
+}
diff --git a/coolant_control.h b/coolant_control.h
@@ -0,0 +1,30 @@
+/*
+  coolant_control.h - spindle control methods
+  Part of Grbl
+
+  Copyright (c) 2012-2015 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 <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef coolant_control_h
+#define coolant_control_h 
+
+
+void coolant_init();
+void coolant_stop();
+void coolant_set_state(uint8_t mode);
+void coolant_run(uint8_t mode);
+
+#endif
diff --git a/cpu_map.h b/cpu_map.h
@@ -0,0 +1,48 @@
+/*
+  cpu_map.h - CPU and pin mapping configuration file
+  Part of Grbl
+
+  Copyright (c) 2012-2015 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 <http://www.gnu.org/licenses/>.
+*/
+
+/* The cpu_map.h files serve as a central pin mapping selection file for different processor
+   types, i.e. AVR 328p or AVR Mega 2560. Each processor has its own pin mapping file.
+   (i.e. cpu_map_atmega328p.h)  Grbl officially supports the Arduino Uno, but the 
+   other supplied pin mappings are supplied by users, so your results may vary. */
+
+// NOTE: With new processors, only add the define name and filename to use.
+
+#ifndef cpu_map_h
+#define cpu_map_h
+
+
+#ifdef CPU_MAP_ATMEGA328P // (Arduino Uno) Officially supported by Grbl.
+  #include "cpu_map/cpu_map_atmega328p.h"
+#endif
+
+#ifdef CPU_MAP_ATMEGA2560 // (Arduino Mega 2560) Working @EliteEng
+  #include "cpu_map/cpu_map_atmega2560.h"
+#endif
+
+/* 
+#ifdef CPU_MAP_CUSTOM_PROC
+  // For a custom pin map or different processor, copy and edit one of the available cpu
+  // map files and modify it to your needs. Make sure the defined name is also changed in
+  // the config.h file.
+#endif
+*/
+
+#endif
diff --git a/cpu_map/cpu_map_atmega2560.h b/cpu_map/cpu_map_atmega2560.h
@@ -0,0 +1,137 @@
+/*
+  cpu_map_atmega2560.h - CPU and pin mapping configuration file
+  Part of Grbl
+
+  Copyright (c) 2012-2015 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 <http://www.gnu.org/licenses/>.
+*/
+
+/* This cpu_map file serves as a central pin mapping settings file for AVR Mega 2560 */
+
+
+#ifdef GRBL_PLATFORM
+#error "cpu_map already defined: GRBL_PLATFORM=" GRBL_PLATFORM
+#endif
+
+
+#define GRBL_PLATFORM "Atmega2560"
+
+// Serial port pins
+#define SERIAL_RX USART0_RX_vect
+#define SERIAL_UDRE USART0_UDRE_vect
+
+// Increase Buffers to make use of extra SRAM
+//#define RX_BUFFER_SIZE		256
+//#define TX_BUFFER_SIZE		128
+//#define BLOCK_BUFFER_SIZE	36
+//#define LINE_BUFFER_SIZE	100
+
+// Define step pulse output pins. NOTE: All step bit pins must be on the same port.
+#define STEP_DDR      DDRA
+#define STEP_PORT     PORTA
+#define STEP_PIN      PINA
+#define X_STEP_BIT    2 // MEGA2560 Digital Pin 24
+#define Y_STEP_BIT    3 // MEGA2560 Digital Pin 25
+#define Z_STEP_BIT    4 // MEGA2560 Digital Pin 26
+#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
+
+// Define step direction output pins. NOTE: All direction pins must be on the same port.
+#define DIRECTION_DDR     DDRC
+#define DIRECTION_PORT    PORTC
+#define DIRECTION_PIN     PINC
+#define X_DIRECTION_BIT   7 // MEGA2560 Digital Pin 30
+#define Y_DIRECTION_BIT   6 // MEGA2560 Digital Pin 31
+#define Z_DIRECTION_BIT   5 // MEGA2560 Digital Pin 32
+#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
+
+// Define stepper driver enable/disable output pin.
+#define STEPPERS_DISABLE_DDR   DDRB
+#define STEPPERS_DISABLE_PORT  PORTB
+#define STEPPERS_DISABLE_BIT   7 // MEGA2560 Digital Pin 13
+#define STEPPERS_DISABLE_MASK (1<<STEPPERS_DISABLE_BIT)
+
+// Define homing/hard limit switch input pins and limit interrupt vectors. 
+// NOTE: All limit bit pins must be on the same port
+#define LIMIT_DDR       DDRB
+#define LIMIT_PORT      PORTB
+#define LIMIT_PIN       PINB
+#define X_LIMIT_BIT     4 // MEGA2560 Digital Pin 10
+#define Y_LIMIT_BIT     5 // MEGA2560 Digital Pin 11
+#define Z_LIMIT_BIT     6 // MEGA2560 Digital Pin 12
+#define LIMIT_INT       PCIE0  // Pin change interrupt enable pin
+#define LIMIT_INT_vect  PCINT0_vect 
+#define LIMIT_PCMSK     PCMSK0 // Pin change interrupt register
+#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
+
+// Define spindle enable and spindle direction output pins.
+#define SPINDLE_ENABLE_DDR      DDRH
+#define SPINDLE_ENABLE_PORT     PORTH
+#define SPINDLE_ENABLE_BIT      3 // MEGA2560 Digital Pin 6
+#define SPINDLE_DIRECTION_DDR   DDRE
+#define SPINDLE_DIRECTION_PORT  PORTE
+#define SPINDLE_DIRECTION_BIT   3 // MEGA2560 Digital Pin 5
+
+// Define flood and mist coolant enable output pins.
+// NOTE: Uno analog pins 4 and 5 are reserved for an i2c interface, and may be installed at
+// a later date if flash and memory space allows.
+#define COOLANT_FLOOD_DDR     DDRH
+#define COOLANT_FLOOD_PORT    PORTH
+#define COOLANT_FLOOD_BIT     5 // MEGA2560 Digital Pin 8
+#ifdef ENABLE_M7 // Mist coolant disabled by default. See config.h to enable/disable.
+#define COOLANT_MIST_DDR    DDRH
+#define COOLANT_MIST_PORT   PORTH
+#define COOLANT_MIST_BIT    6 // MEGA2560 Digital Pin 9
+#endif  
+
+// Define user-control CONTROLs (cycle start, reset, feed hold) input pins.
+// NOTE: All CONTROLs pins must be on the same port and not on a port with other input pins (limits).
+#define CONTROL_DDR       DDRK
+#define CONTROL_PIN       PINK
+#define CONTROL_PORT      PORTK
+#define RESET_BIT         0  // MEGA2560 Analog Pin 8
+#define FEED_HOLD_BIT     1  // MEGA2560 Analog Pin 9
+#define CYCLE_START_BIT   2  // MEGA2560 Analog Pin 10
+#define SAFETY_DOOR_BIT   3  // MEGA2560 Analog Pin 11
+#define CONTROL_INT       PCIE2  // Pin change interrupt enable pin
+#define CONTROL_INT_vect  PCINT2_vect
+#define CONTROL_PCMSK     PCMSK2 // Pin change interrupt register
+#define CONTROL_MASK ((1<<RESET_BIT)|(1<<FEED_HOLD_BIT)|(1<<CYCLE_START_BIT)|(1<<SAFETY_DOOR_BIT))
+
+// Define probe switch input pin.
+#define PROBE_DDR       DDRK
+#define PROBE_PIN       PINK
+#define PROBE_PORT      PORTK
+#define PROBE_BIT       7  // MEGA2560 Analog Pin 15
+#define PROBE_MASK      (1<<PROBE_BIT)
+
+// Start of PWM & Stepper Enabled Spindle
+#ifdef VARIABLE_SPINDLE
+  // Advanced Configuration Below You should not need to touch these variables
+  // Set Timer up to use TIMER4B which is attached to Digital Pin 7
+  #define PWM_MAX_VALUE       65535.0
+  #define TCCRA_REGISTER		TCCR4A
+  #define TCCRB_REGISTER		TCCR4B
+  #define OCR_REGISTER		OCR4B
+
+  #define COMB_BIT			COM4B1
+  #define WAVE0_REGISTER		WGM40
+  #define WAVE1_REGISTER		WGM41
+  #define WAVE2_REGISTER		WGM42
+  #define WAVE3_REGISTER		WGM43
+
+  #define SPINDLE_PWM_DDR		DDRH
+  #define SPINDLE_PWM_PORT    PORTH
+  #define SPINDLE_PWM_BIT		4 // MEGA2560 Digital Pin 97
+#endif // End of VARIABLE_SPINDLE