From 01e20dc42731421cc3c59e712e499cbb5f6ba815 Mon Sep 17 00:00:00 2001
From: Daniel Michalik <danielmichalik64@gmail.com>
Date: Sun, 22 Dec 2019 17:29:26 +0100
Subject: [PATCH 1/5] Prepare constants for spindle ESC support, set pwm off
 value in spindle_stop()

---
 grbl/config.h          |  4 ++++
 grbl/cpu_map.h         | 20 +++++++++++++++++---
 grbl/spindle_control.c |  6 +++++-
 3 files changed, 26 insertions(+), 4 deletions(-)

diff --git a/grbl/config.h b/grbl/config.h
index 6c2abecbd..a6aa77a84 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -210,6 +210,10 @@
   //#define INVERT_MAX_LIMIT_PIN_MASK ((1<<X_AXIS) | (1<<Y_AXIS) | (1<<Z_AXIS))  
 #endif
 
+// Enable spindle control using servo signal. Timer generate 50 Hz PWM signal, positive pulse width 1ms
+// for stopped spindle and 2 ms for full speed of servo. It's suitable for ESC using.
+#define ENABLE_SPINDLE_SERVO_SIGNAL
+
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
 // #define INVERT_SPINDLE_ENABLE_PIN // Default disabled. Uncomment to enable.
diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index 6cef4d9c3..9368859c0 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -108,11 +108,21 @@
 
   // 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 SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
+  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+    #define SPINDLE_PWM_MIN_VALUE     1000 // 1 ms
+    #define SPINDLE_PWM_MAX_VALUE     2000 // 2 ms
+  #else
+    #define SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
+  #endif
   #ifndef SPINDLE_PWM_MIN_VALUE
     #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
   #endif
-  #define SPINDLE_PWM_OFF_VALUE     0
+
+  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+    #define SPINDLE_PWM_OFF_VALUE     1000
+  #else
+    #define SPINDLE_PWM_OFF_VALUE     0
+  #endif
   #define SPINDLE_PWM_RANGE         (SPINDLE_PWM_MAX_VALUE-SPINDLE_PWM_MIN_VALUE)
   #define SPINDLE_TCCRA_REGISTER		TCCR4A
   #define SPINDLE_TCCRB_REGISTER		TCCR4B
@@ -123,7 +133,11 @@
   #define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))
   #define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41)) 
   #define SPINDLE_OCRA_REGISTER   OCR4A // 16-bit Fast PWM mode requires top reset value stored here.
-  #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
+  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+    #define SPINDLE_OCRA_TOP_VALUE  0x9C40 // PWM counter reset value for ESC. Should be the same as PWM_MAX_VALUE in hex.
+  #else
+    #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
+  #endif
 
   // Define spindle output pins.
   #define SPINDLE_PWM_DDR		DDRH
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index 8982dfa2e..991d73e51 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -59,7 +59,11 @@ uint8_t spindle_get_state()
 // Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
 void spindle_stop()
 {
-  SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+    SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE;
+  #else
+    SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
+  #endif
   #ifdef INVERT_SPINDLE_ENABLE_PIN
     SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
   #else

From 0a23b4cbb58851c78b2d0710839090c44da42ff5 Mon Sep 17 00:00:00 2001
From: Daniel Michalik <danielmichalik64@gmail.com>
Date: Sun, 22 Dec 2019 21:43:43 +0100
Subject: [PATCH 2/5] Fix constants, pwm running when set min RPM

---
 grbl/cpu_map.h         | 6 +++---
 grbl/spindle_control.c | 5 ++++-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index 9368859c0..c831fb6d8 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -109,8 +109,8 @@
   // Advanced Configuration Below You should not need to touch these variables
   // Set Timer up to use TIMER4B which is attached to Digital Pin 7
   #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
-    #define SPINDLE_PWM_MIN_VALUE     1000 // 1 ms
-    #define SPINDLE_PWM_MAX_VALUE     2000 // 2 ms
+    #define SPINDLE_PWM_MIN_VALUE     2000 // 1 ms
+    #define SPINDLE_PWM_MAX_VALUE     4000 // 2 ms
   #else
     #define SPINDLE_PWM_MAX_VALUE     1024.0 // Translates to about 1.9 kHz PWM frequency at 1/8 prescaler
   #endif
@@ -119,7 +119,7 @@
   #endif
 
   #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
-    #define SPINDLE_PWM_OFF_VALUE     1000
+    #define SPINDLE_PWM_OFF_VALUE     2000
   #else
     #define SPINDLE_PWM_OFF_VALUE     0
   #endif
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index 991d73e51..dcb76392d 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -60,7 +60,8 @@ uint8_t spindle_get_state()
 void spindle_stop()
 {
   #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
-    SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE;
+    SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE; // Set off value of PWM.
+    SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
     SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
   #endif
@@ -88,6 +89,8 @@ void spindle_set_speed(uint16_t pwm_value)
         SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
       #endif
     }
+  #elif defined(ENABLE_SPINDLE_SERVO_SIGNAL)
+    SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
     if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
       SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.

From f48a97e4c7bc14ae2d07acebb4fad894e6e66093 Mon Sep 17 00:00:00 2001
From: Daniel Michalik <danielmichalik64@gmail.com>
Date: Sun, 22 Dec 2019 23:33:33 +0100
Subject: [PATCH 3/5] Rename macro in config

---
 grbl/config.h          | 2 +-
 grbl/cpu_map.h         | 6 +++---
 grbl/spindle_control.c | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/grbl/config.h b/grbl/config.h
index a6aa77a84..e1e7dbf43 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -212,7 +212,7 @@
 
 // Enable spindle control using servo signal. Timer generate 50 Hz PWM signal, positive pulse width 1ms
 // for stopped spindle and 2 ms for full speed of servo. It's suitable for ESC using.
-#define ENABLE_SPINDLE_SERVO_SIGNAL
+#define ENABLE_SPINDLE_ESC
 
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index c831fb6d8..5737bfd9a 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -108,7 +108,7 @@
 
   // Advanced Configuration Below You should not need to touch these variables
   // Set Timer up to use TIMER4B which is attached to Digital Pin 7
-  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+  #ifdef ENABLE_SPINDLE_ESC
     #define SPINDLE_PWM_MIN_VALUE     2000 // 1 ms
     #define SPINDLE_PWM_MAX_VALUE     4000 // 2 ms
   #else
@@ -118,7 +118,7 @@
     #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
   #endif
 
-  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+  #ifdef ENABLE_SPINDLE_ESC
     #define SPINDLE_PWM_OFF_VALUE     2000
   #else
     #define SPINDLE_PWM_OFF_VALUE     0
@@ -133,7 +133,7 @@
   #define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))
   #define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41)) 
   #define SPINDLE_OCRA_REGISTER   OCR4A // 16-bit Fast PWM mode requires top reset value stored here.
-  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+  #ifdef ENABLE_SPINDLE_ESC
     #define SPINDLE_OCRA_TOP_VALUE  0x9C40 // PWM counter reset value for ESC. Should be the same as PWM_MAX_VALUE in hex.
   #else
     #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index dcb76392d..5fc6f66dc 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -59,7 +59,7 @@ uint8_t spindle_get_state()
 // Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
 void spindle_stop()
 {
-  #ifdef ENABLE_SPINDLE_SERVO_SIGNAL
+  #ifdef ENABLE_SPINDLE_ESC
     SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE; // Set off value of PWM.
     SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
@@ -89,7 +89,7 @@ void spindle_set_speed(uint16_t pwm_value)
         SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
       #endif
     }
-  #elif defined(ENABLE_SPINDLE_SERVO_SIGNAL)
+  #elif defined(ENABLE_SPINDLE_ESC)
     SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
     if (pwm_value == SPINDLE_PWM_OFF_VALUE) {

From 9f026a515b1b8a7d7098380ccae24cdb52bb9879 Mon Sep 17 00:00:00 2001
From: Daniel Michalik <danielmichalik64@gmail.com>
Date: Sun, 22 Dec 2019 23:34:39 +0100
Subject: [PATCH 4/5] Default disable ESC spindle

---
 grbl/config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/grbl/config.h b/grbl/config.h
index e1e7dbf43..dc1146d7a 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -212,7 +212,7 @@
 
 // Enable spindle control using servo signal. Timer generate 50 Hz PWM signal, positive pulse width 1ms
 // for stopped spindle and 2 ms for full speed of servo. It's suitable for ESC using.
-#define ENABLE_SPINDLE_ESC
+// #define ENABLE_SPINDLE_ESC // Default disabled. Uncomment to enable.
 
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.

From 39ca1b4e43311b0322018c1174245a40dcfe07ad Mon Sep 17 00:00:00 2001
From: Daniel Michalik <danielmichalik64@gmail.com>
Date: Sun, 22 Dec 2019 23:56:56 +0100
Subject: [PATCH 5/5] Fix macro name

---
 grbl/config.h          | 2 +-
 grbl/cpu_map.h         | 6 +++---
 grbl/spindle_control.c | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/grbl/config.h b/grbl/config.h
index dc1146d7a..46a0b1d9a 100644
--- a/grbl/config.h
+++ b/grbl/config.h
@@ -212,7 +212,7 @@
 
 // Enable spindle control using servo signal. Timer generate 50 Hz PWM signal, positive pulse width 1ms
 // for stopped spindle and 2 ms for full speed of servo. It's suitable for ESC using.
-// #define ENABLE_SPINDLE_ESC // Default disabled. Uncomment to enable.
+// #define ENABLE_ESC_SPINDLE // Default disabled. Uncomment to enable.
 
 // Inverts the spindle enable pin from low-disabled/high-enabled to low-enabled/high-disabled. Useful
 // for some pre-built electronic boards.
diff --git a/grbl/cpu_map.h b/grbl/cpu_map.h
index 5737bfd9a..b114749f3 100644
--- a/grbl/cpu_map.h
+++ b/grbl/cpu_map.h
@@ -108,7 +108,7 @@
 
   // Advanced Configuration Below You should not need to touch these variables
   // Set Timer up to use TIMER4B which is attached to Digital Pin 7
-  #ifdef ENABLE_SPINDLE_ESC
+  #ifdef ENABLE_ESC_SPINDLE
     #define SPINDLE_PWM_MIN_VALUE     2000 // 1 ms
     #define SPINDLE_PWM_MAX_VALUE     4000 // 2 ms
   #else
@@ -118,7 +118,7 @@
     #define SPINDLE_PWM_MIN_VALUE   1   // Must be greater than zero.
   #endif
 
-  #ifdef ENABLE_SPINDLE_ESC
+  #ifdef ENABLE_ESC_SPINDLE
     #define SPINDLE_PWM_OFF_VALUE     2000
   #else
     #define SPINDLE_PWM_OFF_VALUE     0
@@ -133,7 +133,7 @@
   #define SPINDLE_TCCRA_INIT_MASK ((1<<WGM40) | (1<<WGM41))
   #define SPINDLE_TCCRB_INIT_MASK ((1<<WGM42) | (1<<WGM43) | (1<<CS41)) 
   #define SPINDLE_OCRA_REGISTER   OCR4A // 16-bit Fast PWM mode requires top reset value stored here.
-  #ifdef ENABLE_SPINDLE_ESC
+  #ifdef ENABLE_ESC_SPINDLE
     #define SPINDLE_OCRA_TOP_VALUE  0x9C40 // PWM counter reset value for ESC. Should be the same as PWM_MAX_VALUE in hex.
   #else
     #define SPINDLE_OCRA_TOP_VALUE  0x0400 // PWM counter reset value. Should be the same as PWM_MAX_VALUE in hex.
diff --git a/grbl/spindle_control.c b/grbl/spindle_control.c
index 5fc6f66dc..9c46e02cb 100644
--- a/grbl/spindle_control.c
+++ b/grbl/spindle_control.c
@@ -59,7 +59,7 @@ uint8_t spindle_get_state()
 // Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
 void spindle_stop()
 {
-  #ifdef ENABLE_SPINDLE_ESC
+  #ifdef ENABLE_ESC_SPINDLE
     SPINDLE_OCR_REGISTER = SPINDLE_PWM_OFF_VALUE; // Set off value of PWM.
     SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
@@ -89,7 +89,7 @@ void spindle_set_speed(uint16_t pwm_value)
         SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
       #endif
     }
-  #elif defined(ENABLE_SPINDLE_ESC)
+  #elif defined(ENABLE_ESC_SPINDLE)
     SPINDLE_TCCRA_REGISTER |= (1 << SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
   #else
     if (pwm_value == SPINDLE_PWM_OFF_VALUE) {