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⚡️ Fix and improve Inline Laser Power (#22690)

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This commit is contained in:
Mike La Spina
2022-07-06 07:46:39 -05:00
committed by Scott Lahteine
parent 5b6c46db29
commit d965303a7a
18 changed files with 851 additions and 715 deletions
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104
Marlin/Configuration_adv.h
View File

@ -3668,8 +3668,11 @@
#endif
// Define the minimum and maximum test pulse time values for a laser test fire function
#define LASER_TEST_PULSE_MIN 1 // Used with Laser Control Menu
#define LASER_TEST_PULSE_MAX 999 // Caution: Menu may not show more than 3 characters
#define LASER_TEST_PULSE_MIN 1 // (ms) Used with Laser Control Menu
#define LASER_TEST_PULSE_MAX 999 // (ms) Caution: Menu may not show more than 3 characters
#define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power
#define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop
/**
* Laser Safety Timeout
@ -3682,79 +3685,38 @@
#define LASER_SAFETY_TIMEOUT_MS 1000 // (ms)
/**
* Enable inline laser power to be handled in the planner / stepper routines.
* Inline power is specified by the I (inline) flag in an M3 command (e.g., M3 S20 I)
* or by the 'S' parameter in G0/G1/G2/G3 moves (see LASER_MOVE_POWER).
* Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode.
*
* This allows the laser to keep in perfect sync with the planner and removes
* the powerup/down delay since lasers require negligible time.
* e.g., 'M3 I' enables continuous inline power which is processed by the planner.
* Power is stored in move blocks and applied when blocks are processed by the Stepper ISR.
*
* 'M4 I' sets dynamic mode which uses the current feedrate to calculate a laser power OCR value.
*
* Any move in dynamic mode will use the current feedrate to calculate the laser power.
* Feed rates are set by the F parameter of a move command e.g. G1 X0 Y10 F6000
* Laser power would be calculated by bit shifting off 8 LSB's. In binary this is div 256.
* The calculation gives us ocr values from 0 to 255, values over F65535 will be set as 255 .
* More refined power control such as compesation for accell/decell will be addressed in future releases.
*
* M5 I clears inline mode and set power to 0, M5 sets the power output to 0 but leaves inline mode on.
*/
//#define LASER_POWER_INLINE
#if ENABLED(LASER_POWER_INLINE)
/**
* Scale the laser's power in proportion to the movement rate.
*
* - Sets the entry power proportional to the entry speed over the nominal speed.
* - Ramps the power up every N steps to approximate the speed trapezoid.
* - Due to the limited power resolution this is only approximate.
*/
#define LASER_POWER_INLINE_TRAPEZOID
/**
* Enable M3 commands for laser mode inline power planner syncing.
* This feature enables any M3 S-value to be injected into the block buffers while in
* CUTTER_MODE_CONTINUOUS. The option allows M3 laser power to be commited without waiting
* for a planner syncronization
*/
//#define LASER_POWER_SYNC
/**
* Continuously calculate the current power (nominal_power * current_rate / nominal_rate).
* Required for accurate power with non-trapezoidal acceleration (e.g., S_CURVE_ACCELERATION).
* This is a costly calculation so this option is discouraged on 8-bit AVR boards.
*
* LASER_POWER_INLINE_TRAPEZOID_CONT_PER defines how many step cycles there are between power updates. If your
* board isn't able to generate steps fast enough (and you are using LASER_POWER_INLINE_TRAPEZOID_CONT), increase this.
* Note that when this is zero it means it occurs every cycle; 1 means a delay wait one cycle then run, etc.
*/
//#define LASER_POWER_INLINE_TRAPEZOID_CONT
/**
* Stepper iterations between power updates. Increase this value if the board
* can't keep up with the processing demands of LASER_POWER_INLINE_TRAPEZOID_CONT.
* Disable (or set to 0) to recalculate power on every stepper iteration.
*/
//#define LASER_POWER_INLINE_TRAPEZOID_CONT_PER 10
/**
* Include laser power in G0/G1/G2/G3/G5 commands with the 'S' parameter
*/
//#define LASER_MOVE_POWER
#if ENABLED(LASER_MOVE_POWER)
// Turn off the laser on G0 moves with no power parameter.
// If a power parameter is provided, use that instead.
//#define LASER_MOVE_G0_OFF
// Turn off the laser on G28 homing.
//#define LASER_MOVE_G28_OFF
#endif
/**
* Inline flag inverted
*
* WARNING: M5 will NOT turn off the laser unless another move
* is done (so G-code files must end with 'M5 I').
*/
//#define LASER_POWER_INLINE_INVERT
/**
* Continuously apply inline power. ('M3 S3' == 'G1 S3' == 'M3 S3 I')
*
* The laser might do some weird things, so only enable this
* feature if you understand the implications.
*/
//#define LASER_POWER_INLINE_CONTINUOUS
#else
#define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power
#define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop
#endif
/**
* Scale the laser's power in proportion to the movement rate.
*
* - Sets the entry power proportional to the entry speed over the nominal speed.
* - Ramps the power up every N steps to approximate the speed trapezoid.
* - Due to the limited power resolution this is only approximate.
*/
//#define LASER_POWER_TRAP
//
// Laser I2C Ammeter (High precision INA226 low/high side module)

90
Marlin/src/feature/spindle_laser.cpp
View File

@ -39,18 +39,26 @@
#endif
SpindleLaser cutter;
uint8_t SpindleLaser::power,
bool SpindleLaser::enable_state; // Virtual enable state, controls enable pin if present and or apply power if > 0
uint8_t SpindleLaser::power, // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
SpindleLaser::last_power_applied; // = 0 // Basic power state tracking
#if ENABLED(LASER_FEATURE)
cutter_test_pulse_t SpindleLaser::testPulse = 50; // Test fire Pulse time ms value.
#endif
bool SpindleLaser::isReady; // Ready to apply power setting from the UI to OCR
cutter_power_t SpindleLaser::menuPower, // Power set via LCD menu in PWM, PERCENT, or RPM
SpindleLaser::unitPower; // LCD status power in PWM, PERCENT, or RPM
#if ENABLED(MARLIN_DEV_MODE)
cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K
#if ENABLED(LASER_FEATURE)
cutter_test_pulse_t SpindleLaser::testPulse = 50; // (ms) Test fire pulse default duration
uint8_t SpindleLaser::last_block_power; // = 0 // Track power changes for dynamic inline power
feedRate_t SpindleLaser::feedrate_mm_m = 1500,
SpindleLaser::last_feedrate_mm_m; // = 0 // (mm/min) Track feedrate changes for dynamic power
#endif
bool SpindleLaser::isReadyForUI = false; // Ready to apply power setting from the UI to OCR
CutterMode SpindleLaser::cutter_mode = CUTTER_MODE_STANDARD; // Default is standard mode
constexpr cutter_cpower_t SpindleLaser::power_floor;
cutter_power_t SpindleLaser::menuPower = 0, // Power value via LCD menu in PWM, PERCENT, or RPM based on configured format set by CUTTER_POWER_UNIT.
SpindleLaser::unitPower = 0; // Unit power is in PWM, PERCENT, or RPM based on CUTTER_POWER_UNIT.
cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K
#define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0)
/**
@ -65,14 +73,14 @@ void SpindleLaser::init() {
#if ENABLED(SPINDLE_CHANGE_DIR)
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR); // Init rotation to clockwise (M3)
#endif
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
frequency = SPINDLE_LASER_FREQUENCY;
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
#endif
#if ENABLED(SPINDLE_LASER_USE_PWM)
SET_PWM(SPINDLE_LASER_PWM_PIN);
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
#endif
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY);
#endif
#if ENABLED(AIR_EVACUATION)
OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); // Init Vacuum/Blower OFF
#endif
@ -90,7 +98,7 @@ void SpindleLaser::init() {
*/
void SpindleLaser::_set_ocr(const uint8_t ocr) {
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
#endif
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
}
@ -107,35 +115,41 @@ void SpindleLaser::init() {
#endif // SPINDLE_LASER_USE_PWM
/**
* Apply power for laser/spindle
* Apply power for Laser or Spindle
*
* Apply cutter power value for PWM, Servo, and on/off pin.
*
* @param opwr Power value. Range 0 to MAX. When 0 disable spindle/laser.
* @param opwr Power value. Range 0 to MAX.
*/
void SpindleLaser::apply_power(const uint8_t opwr) {
if (opwr == last_power_applied) return;
last_power_applied = opwr;
power = opwr;
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) {
ocr_off();
isReady = false;
}
else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled()) {
set_ocr(power);
isReady = true;
}
else {
ocr_off();
isReady = false;
}
#elif ENABLED(SPINDLE_SERVO)
servo[SPINDLE_SERVO_NR].move(power);
#else
WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
isReady = true;
#endif
if (enabled() || opwr == 0) { // 0 check allows us to disable where no ENA pin exists
// Test and set the last power used to improve performance
if (opwr == last_power_applied) return;
last_power_applied = opwr;
// Handle PWM driven or just simple on/off
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (CUTTER_UNIT_IS(RPM) && unitPower == 0)
ocr_off();
else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled() || opwr == 0) {
set_ocr(opwr);
isReadyForUI = true;
}
else
ocr_off();
#elif ENABLED(SPINDLE_SERVO)
MOVE_SERVO(SPINDLE_SERVO_NR, power);
#else
WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
isReadyForUI = true;
#endif
}
else {
#if PIN_EXISTS(SPINDLE_LASER_ENA)
WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
#endif
isReadyForUI = false; // Only used for UI display updates.
TERN_(SPINDLE_LASER_USE_PWM, ocr_off());
}
}
#if ENABLED(SPINDLE_CHANGE_DIR)

333
Marlin/src/feature/spindle_laser.h
View File

@ -34,85 +34,98 @@
#include "../libs/buzzer.h"
#endif
#if ENABLED(LASER_POWER_INLINE)
#include "../module/planner.h"
#endif
// Inline laser power
#include "../module/planner.h"
#define PCT_TO_PWM(X) ((X) * 255 / 100)
#define PCT_TO_SERVO(X) ((X) * 180 / 100)
// Laser/Cutter operation mode
enum CutterMode : int8_t {
CUTTER_MODE_ERROR = -1,
CUTTER_MODE_STANDARD, // M3 power is applied directly and waits for planner moves to sync.
CUTTER_MODE_CONTINUOUS, // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'.
CUTTER_MODE_DYNAMIC // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'.
};
class SpindleLaser {
public:
static const inline uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
static CutterMode cutter_mode;
static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
// cpower = configured values (e.g., SPEED_POWER_MAX)
// Convert configured power range to a percentage
static const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0),
power_range = SPEED_POWER_MAX - power_floor;
return cpwr ? round(100.0f * (cpwr - power_floor) / power_range) : 0;
static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0);
static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0;
}
// Convert a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower),
// which can be PWM, Percent, Servo angle, or RPM (rel/abs).
static const inline cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
const cutter_power_t upwr = (
// Convert config defines from RPM to %, angle or PWM when in Spindle mode
// and convert from PERCENT to PWM when in Laser mode
static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
return (
#if ENABLED(SPINDLE_FEATURE)
// Spindle configured values are in RPM
// Spindle configured define values are in RPM
#if CUTTER_UNIT_IS(RPM)
cpwr // to RPM
#elif CUTTER_UNIT_IS(PERCENT) // to PCT
cpwr_to_pct(cpwr)
#elif CUTTER_UNIT_IS(SERVO) // to SERVO angle
PCT_TO_SERVO(cpwr_to_pct(cpwr))
#else // to PWM
PCT_TO_PWM(cpwr_to_pct(cpwr))
cpwr // to same
#elif CUTTER_UNIT_IS(PERCENT)
cpwr_to_pct(cpwr) // to Percent
#elif CUTTER_UNIT_IS(SERVO)
PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle
#else
PCT_TO_PWM(cpwr_to_pct(cpwr)) // to PWM
#endif
#else
// Laser configured values are in PCT
// Laser configured define values are in Percent
#if CUTTER_UNIT_IS(PWM255)
PCT_TO_PWM(cpwr)
PCT_TO_PWM(cpwr) // to PWM
#else
cpwr // to RPM/PCT
cpwr // to same
#endif
#endif
);
return upwr;
}
static const cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
static const cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
#if ENABLED(LASER_FEATURE)
static cutter_test_pulse_t testPulse; // Test fire Pulse ms value
static cutter_test_pulse_t testPulse; // (ms) Test fire pulse duration
static uint8_t last_block_power; // Track power changes for dynamic power
static feedRate_t feedrate_mm_m, last_feedrate_mm_m; // (mm/min) Track feedrate changes for dynamic power
static bool laser_feedrate_changed() {
const bool changed = last_feedrate_mm_m != feedrate_mm_m;
if (changed) last_feedrate_mm_m = feedrate_mm_m;
return changed;
}
#endif
static bool isReady; // Ready to apply power setting from the UI to OCR
static bool isReadyForUI; // Ready to apply power setting from the UI to OCR
static bool enable_state;
static uint8_t power,
last_power_applied; // Basic power state tracking
#if ENABLED(MARLIN_DEV_MODE)
static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K
#endif
static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K
static cutter_power_t menuPower, // Power as set via LCD menu in PWM, Percentage or RPM
unitPower; // Power as displayed status in PWM, Percentage or RPM
static void init();
#if ENABLED(MARLIN_DEV_MODE)
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
#endif
// Modifying this function should update everywhere
static bool enabled(const cutter_power_t opwr) { return opwr > 0; }
static bool enabled() { return enabled(power); }
static bool enabled() { return enable_state; }
static void apply_power(const uint8_t inpow);
FORCE_INLINE static void refresh() { apply_power(power); }
FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); }
#if ENABLED(SPINDLE_LASER_USE_PWM)
@ -123,7 +136,6 @@ public:
public:
static void set_ocr(const uint8_t ocr);
static void ocr_set_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); }
static void ocr_off();
/**
@ -141,78 +153,76 @@ public:
);
}
/**
* Correct power to configured range
*/
static cutter_power_t power_to_range(const cutter_power_t pwr) {
return power_to_range(pwr, _CUTTER_POWER(CUTTER_POWER_UNIT));
}
static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) {
static constexpr float
min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
if (pwr <= 0) return 0;
cutter_power_t upwr;
switch (pwrUnit) {
case _CUTTER_POWER_PWM255:
upwr = cutter_power_t(
(pwr < pct_to_ocr(min_pct)) ? pct_to_ocr(min_pct) // Use minimum if set below
: (pwr > pct_to_ocr(max_pct)) ? pct_to_ocr(max_pct) // Use maximum if set above
: pwr
);
break;
case _CUTTER_POWER_PERCENT:
upwr = cutter_power_t(
(pwr < min_pct) ? min_pct // Use minimum if set below
: (pwr > max_pct) ? max_pct // Use maximum if set above
: pwr // PCT
);
break;
case _CUTTER_POWER_RPM:
upwr = cutter_power_t(
(pwr < SPEED_POWER_MIN) ? SPEED_POWER_MIN // Use minimum if set below
: (pwr > SPEED_POWER_MAX) ? SPEED_POWER_MAX // Use maximum if set above
: pwr // Calculate OCR value
);
break;
default: break;
}
return upwr;
}
#endif // SPINDLE_LASER_USE_PWM
/**
* Enable/Disable spindle/laser
* @param enable true = enable; false = disable
* Correct power to configured range
*/
static void set_enabled(const bool enable) {
uint8_t value = 0;
if (enable) {
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (power)
value = power;
else if (unitPower)
value = upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP));
#else
value = 255;
#endif
static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) {
static constexpr float
min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
if (pwr <= 0) return 0;
cutter_power_t upwr;
switch (pwrUnit) {
case _CUTTER_POWER_PWM255: { // PWM
const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct);
upwr = cutter_power_t(constrain(pwr, pmin, pmax));
} break;
case _CUTTER_POWER_PERCENT: // Percent
upwr = cutter_power_t(constrain(pwr, min_pct, max_pct));
break;
case _CUTTER_POWER_RPM: // Calculate OCR value
upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX));
break;
default: break;
}
set_power(value);
return upwr;
}
static void disable() { isReady = false; set_enabled(false); }
/**
* Wait for spindle to spin up or spin down
* Enable Laser or Spindle output.
* It's important to prevent changing the power output value during inline cutter operation.
* Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode.
*
* @param on true = state to on; false = state to off.
* This method accepts one of the following control states:
*
* - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply
* SPEED_POWER_STARTUP if no value is assigned.
*
* - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set.
*
* - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag.
*
* - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode.
* This mode allows a global power shutdown action to occur.
*/
static void power_delay(const bool on) {
#if DISABLED(LASER_POWER_INLINE)
safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
static void set_enabled(const bool enable) {
switch (cutter_mode) {
case CUTTER_MODE_STANDARD:
apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0);
break;
case CUTTER_MODE_CONTINUOUS:
TERN_(LASER_FEATURE, set_inline_enabled(enable));
break;
case CUTTER_MODE_DYNAMIC:
TERN_(LASER_FEATURE, set_inline_enabled(enable));
break;
case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
enable_state = false;
apply_power(0);
}
#if SPINDLE_LASER_ENA_PIN
WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
#endif
enable_state = enable;
}
static void disable() { isReadyForUI = false; set_enabled(false); }
// Wait for spindle/laser to startup or shutdown
static void power_delay(const bool on) {
safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
}
#if ENABLED(SPINDLE_CHANGE_DIR)
@ -224,47 +234,60 @@ public:
#endif
#if ENABLED(AIR_EVACUATION)
static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor
static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor
static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor
static bool air_evac_state() { // Get current state
static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor
static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor
static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor
static bool air_evac_state() { // Get current state
return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE);
}
#endif
#if ENABLED(AIR_ASSIST)
static void air_assist_enable(); // Turn on air assist
static void air_assist_disable(); // Turn off air assist
static void air_assist_toggle(); // Toggle air assist
static bool air_assist_state() { // Get current state
static void air_assist_enable(); // Turn on air assist
static void air_assist_disable(); // Turn off air assist
static void air_assist_toggle(); // Toggle air assist
static bool air_assist_state() { // Get current state
return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE);
}
#endif
#if HAS_MARLINUI_MENU
static void enable_with_dir(const bool reverse) {
isReady = true;
const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
if (menuPower)
power = ocr;
else
menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
unitPower = menuPower;
set_reverse(reverse);
set_enabled(true);
}
FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
#if ENABLED(SPINDLE_FEATURE)
static void enable_with_dir(const bool reverse) {
isReadyForUI = true;
const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
if (menuPower)
power = ocr;
else
menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
unitPower = menuPower;
set_reverse(reverse);
set_enabled(true);
}
FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
#endif // SPINDLE_FEATURE
#if ENABLED(SPINDLE_LASER_USE_PWM)
static void update_from_mpower() {
if (isReady) power = upower_to_ocr(menuPower);
if (isReadyForUI) power = upower_to_ocr(menuPower);
unitPower = menuPower;
}
#endif
#if ENABLED(LASER_FEATURE)
// Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
static void laser_menu_toggle(const bool state) {
set_enabled(state);
if (state) {
if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
power = upower_to_ocr(menuPower);
apply_power(power);
}
}
/**
* Test fire the laser using the testPulse ms duration
* Also fires with any PWM power that was previous set
@ -272,74 +295,36 @@ public:
*/
static void test_fire_pulse() {
TERN_(HAS_BEEPER, buzzer.tone(30, 3000));
enable_forward(); // Turn Laser on (Spindle speak but same funct)
cutter_mode = CUTTER_MODE_STANDARD;// Menu needs standard mode.
laser_menu_toggle(true); // Laser On
delay(testPulse); // Delay for time set by user in pulse ms menu screen.
disable(); // Turn laser off
laser_menu_toggle(false); // Laser Off
}
#endif
#endif // LASER_FEATURE
#endif // HAS_MARLINUI_MENU
#if ENABLED(LASER_POWER_INLINE)
/**
* Inline power adds extra fields to the planner block
* to handle laser power and scale to movement speed.
*/
#if ENABLED(LASER_FEATURE)
// Force disengage planner power control
static void inline_disable() {
isReady = false;
unitPower = 0;
planner.laser_inline.status.isPlanned = false;
planner.laser_inline.status.isEnabled = false;
planner.laser_inline.power = 0;
// Dynamic mode rate calculation
static uint8_t calc_dynamic_power() {
if (feedrate_mm_m > 65535) return 255; // Too fast, go always on
uint16_t rate = uint16_t(feedrate_mm_m); // 16 bits from the G-code parser float input
rate >>= 8; // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255
return uint8_t(rate);
}
// Inline modes of all other functions; all enable planner inline power control
static void set_inline_enabled(const bool enable) {
if (enable)
inline_power(255);
else {
isReady = false;
unitPower = menuPower = 0;
planner.laser_inline.status.isPlanned = false;
TERN(SPINDLE_LASER_USE_PWM, inline_ocr_power, inline_power)(0);
}
}
static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable;}
// Set the power for subsequent movement blocks
static void inline_power(const cutter_power_t upwr) {
unitPower = menuPower = upwr;
#if ENABLED(SPINDLE_LASER_USE_PWM)
#if ENABLED(SPEED_POWER_RELATIVE) && !CUTTER_UNIT_IS(RPM) // relative mode does not turn laser off at 0, except for RPM
planner.laser_inline.status.isEnabled = true;
planner.laser_inline.power = upower_to_ocr(upwr);
isReady = true;
#else
inline_ocr_power(upower_to_ocr(upwr));
#endif
#else
planner.laser_inline.status.isEnabled = enabled(upwr);
planner.laser_inline.power = upwr;
isReady = enabled(upwr);
#endif
static void inline_power(const cutter_power_t cpwr) {
TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0);
}
static void inline_direction(const bool) { /* never */ }
#endif // LASER_FEATURE
#if ENABLED(SPINDLE_LASER_USE_PWM)
static void inline_ocr_power(const uint8_t ocrpwr) {
isReady = ocrpwr > 0;
planner.laser_inline.status.isEnabled = ocrpwr > 0;
planner.laser_inline.power = ocrpwr;
}
#endif
#endif // LASER_POWER_INLINE
static void kill() {
TERN_(LASER_POWER_INLINE, inline_disable());
disable();
}
static void kill() { disable(); }
};
extern SpindleLaser cutter;

6
Marlin/src/feature/spindle_laser_types.h
View File

@ -74,12 +74,10 @@ typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t;
#endif
#endif
typedef uint16_t cutter_frequency_t;
#if ENABLED(LASER_FEATURE)
typedef uint16_t cutter_test_pulse_t;
#define CUTTER_MENU_PULSE_TYPE uint16_3
#endif
#if ENABLED(MARLIN_DEV_MODE)
typedef uint16_t cutter_frequency_t;
#define CUTTER_MENU_FREQUENCY_TYPE uint16_5
#endif

9
Marlin/src/gcode/calibrate/G28.cpp
View File

@ -59,7 +59,7 @@
#include "../../libs/L64XX/L64XX_Marlin.h"
#endif
#if ENABLED(LASER_MOVE_G28_OFF)
#if ENABLED(LASER_FEATURE)
#include "../../feature/spindle_laser.h"
#endif
@ -205,7 +205,12 @@ void GcodeSuite::G28() {
DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) log_machine_info();
TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false)); // turn off laser
/*
* Set the laser power to false to stop the planner from processing the current power setting.
*/
#if ENABLED(LASER_FEATURE)
planner.laser_inline.status.isPowered = false;
#endif
#if ENABLED(DUAL_X_CARRIAGE)
bool IDEX_saved_duplication_state = extruder_duplication_enabled;

136
Marlin/src/gcode/control/M3-M5.cpp
View File

@ -31,17 +31,27 @@
/**
* Laser:
* M3 - Laser ON/Power (Ramped power)
* M4 - Laser ON/Power (Continuous power)
* M4 - Laser ON/Power (Ramped power)
* M5 - Set power output to 0 (leaving inline mode unchanged).
*
* M3I - Enable continuous inline power to be processed by the planner, with power
* calculated and set in the planner blocks, processed inline during stepping.
* Within inline mode M3 S-Values will set the power for the next moves e.g. G1 X10 Y10 powers on with the last S-Value.
* M3I must be set before using planner-synced M3 inline S-Values (LASER_POWER_SYNC).
*
* M4I - Set dynamic mode which calculates laser power OCR based on the current feedrate.
*
* M5I - Clear inline mode and set power to 0.
*
* Spindle:
* M3 - Spindle ON (Clockwise)
* M4 - Spindle ON (Counter-clockwise)
* M5 - Spindle OFF
*
* Parameters:
* S<power> - Set power. S0 will turn the spindle/laser off, except in relative mode.
* O<ocr> - Set power and OCR (oscillator count register)
* S<power> - Set power. S0 will turn the spindle/laser off.
*
* If no PWM pin is defined then M3/M4 just turns it on.
* If no PWM pin is defined then M3/M4 just turns it on or off.
*
* At least 12.8kHz (50Hz * 256) is needed for Spindle PWM.
* Hardware PWM is required on AVR. ISRs are too slow.
@ -70,77 +80,77 @@ void GcodeSuite::M3_M4(const bool is_M4) {
reset_stepper_timeout(); // Reset timeout to allow subsequent G-code to power the laser (imm.)
#endif
#if EITHER(SPINDLE_LASER_USE_PWM, SPINDLE_SERVO)
auto get_s_power = [] {
if (parser.seenval('S')) {
const float spwr = parser.value_float();
#if ENABLED(SPINDLE_SERVO)
cutter.unitPower = spwr;
#else
cutter.unitPower = TERN(SPINDLE_LASER_USE_PWM,
cutter.power_to_range(cutter_power_t(round(spwr))),
spwr > 0 ? 255 : 0);
#endif
}
else
cutter.unitPower = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP);
return cutter.unitPower;
};
if (cutter.cutter_mode == CUTTER_MODE_STANDARD)
planner.synchronize(); // Wait for previous movement commands (G0/G1/G2/G3) to complete before changing power
#if ENABLED(LASER_FEATURE)
if (parser.seen_test('I')) {
cutter.cutter_mode = is_M4 ? CUTTER_MODE_DYNAMIC : CUTTER_MODE_CONTINUOUS;
cutter.inline_power(0);
cutter.set_enabled(true);
}
#endif
#if ENABLED(LASER_POWER_INLINE)
if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
// Laser power in inline mode
cutter.inline_direction(is_M4); // Should always be unused
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (parser.seenval('O')) {
cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
cutter.inline_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
}
else
cutter.inline_power(cutter.upower_to_ocr(get_s_power()));
auto get_s_power = [] {
float u;
if (parser.seenval('S')) {
const float v = parser.value_float();
u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v));
}
else if (cutter.cutter_mode == CUTTER_MODE_STANDARD)
u = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP);
cutter.menuPower = cutter.unitPower = u;
// PWM not implied, power converted to OCR from unit definition and on/off if not PWM.
cutter.power = TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0);
return u;
};
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) { // Laser power in inline mode
#if ENABLED(LASER_FEATURE)
planner.laser_inline.status.isPowered = true; // M3 or M4 is powered either way
get_s_power(); // Update cutter.power if seen
#if ENABLED(LASER_POWER_SYNC)
// With power sync we only set power so it does not effect queued inline power sets
planner.buffer_sync_block(BLOCK_BIT_LASER_PWR); // Send the flag, queueing inline power
#else
cutter.set_inline_enabled(true);
planner.synchronize();
cutter.inline_power(cutter.power);
#endif
return;
}
// Non-inline, standard case
cutter.inline_disable(); // Prevent future blocks re-setting the power
#endif
planner.synchronize(); // Wait for previous movement commands (G0/G0/G2/G3) to complete before changing power
cutter.set_reverse(is_M4);
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (parser.seenval('O')) {
cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
cutter.ocr_set_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
}
else
cutter.set_power(cutter.upower_to_ocr(get_s_power()));
#elif ENABLED(SPINDLE_SERVO)
cutter.set_power(get_s_power());
#else
#endif
}
else {
cutter.set_enabled(true);
#endif
cutter.menuPower = cutter.unitPower;
get_s_power();
cutter.apply_power(
#if ENABLED(SPINDLE_SERVO)
cutter.unitPower
#elif ENABLED(SPINDLE_LASER_USE_PWM)
cutter.upower_to_ocr(cutter.unitPower)
#else
cutter.unitPower > 0 ? 255 : 0
#endif
);
TERN_(SPINDLE_CHANGE_DIR, cutter.set_reverse(is_M4));
}
}
/**
* M5 - Cutter OFF (when moves are complete)
*/
void GcodeSuite::M5() {
#if ENABLED(LASER_POWER_INLINE)
if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
cutter.set_inline_enabled(false); // Laser power in inline mode
return;
}
// Non-inline, standard case
cutter.inline_disable(); // Prevent future blocks re-setting the power
#endif
planner.synchronize();
cutter.set_enabled(false);
cutter.menuPower = cutter.unitPower;
cutter.power = 0;
cutter.apply_power(0); // M5 just kills power, leaving inline mode unchanged
if (cutter.cutter_mode != CUTTER_MODE_STANDARD) {
if (parser.seen_test('I')) {
TERN_(LASER_FEATURE, cutter.inline_power(cutter.power));
cutter.set_enabled(false); // Needs to happen while we are in inline mode to clear inline power.
cutter.cutter_mode = CUTTER_MODE_STANDARD; // Switch from inline to standard mode.
}
}
cutter.set_enabled(false); // Disable enable output setting
}
#endif // HAS_CUTTER

37
Marlin/src/gcode/gcode.cpp
View File

@ -53,7 +53,7 @@ GcodeSuite gcode;
#include "../feature/cancel_object.h"
#endif
#if ENABLED(LASER_MOVE_POWER)
#if ENABLED(LASER_FEATURE)
#include "../feature/spindle_laser.h"
#endif
@ -210,8 +210,11 @@ void GcodeSuite::get_destination_from_command() {
recovery.save();
#endif
if (parser.floatval('F') > 0)
if (parser.floatval('F') > 0) {
feedrate_mm_s = parser.value_feedrate();
// Update the cutter feed rate for use by M4 I set inline moves.
TERN_(LASER_FEATURE, cutter.feedrate_mm_m = MMS_TO_MMM(feedrate_mm_s));
}
#if BOTH(PRINTCOUNTER, HAS_EXTRUDERS)
if (!DEBUGGING(DRYRUN) && !skip_move)
@ -223,15 +226,29 @@ void GcodeSuite::get_destination_from_command() {
M165();
#endif
#if ENABLED(LASER_MOVE_POWER)
// Set the laser power in the planner to configure this move
if (parser.seen('S')) {
const float spwr = parser.value_float();
cutter.inline_power(TERN(SPINDLE_LASER_USE_PWM, cutter.power_to_range(cutter_power_t(round(spwr))), spwr > 0 ? 255 : 0));
#if ENABLED(LASER_FEATURE)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) {
// Set the cutter power in the planner to configure this move
cutter.last_feedrate_mm_m = 0;
if (WITHIN(parser.codenum, 1, TERN(ARC_SUPPORT, 3, 1)) || TERN0(BEZIER_CURVE_SUPPORT, parser.codenum == 5)) {
planner.laser_inline.status.isPowered = true;
if (parser.seen('I')) cutter.set_enabled(true); // This is set for backward LightBurn compatibility.
if (parser.seen('S')) {
const float v = parser.value_float(),
u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v));
cutter.menuPower = cutter.unitPower = u;
cutter.inline_power(TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0));
}
}
else if (parser.codenum == 0) {
// For dynamic mode we need to flag isPowered off, dynamic power is calculated in the stepper based on feedrate.
if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC) planner.laser_inline.status.isPowered = false;
cutter.inline_power(0); // This is planner-based so only set power and do not disable inline control flags.
}
}
else if (ENABLED(LASER_MOVE_G0_OFF) && parser.codenum == 0) // G0
cutter.set_inline_enabled(false);
#endif
else if (parser.codenum == 0)
cutter.apply_power(0);
#endif // LASER_FEATURE
}
/**

45
Marlin/src/inc/SanityCheck.h
View File

@ -447,6 +447,16 @@
#error "SPINDLE_LASER_ACTIVE_HIGH is now SPINDLE_LASER_ACTIVE_STATE."
#elif defined(SPINDLE_LASER_ENABLE_INVERT)
#error "SPINDLE_LASER_ENABLE_INVERT is now SPINDLE_LASER_ACTIVE_STATE."
#elif defined(LASER_POWER_INLINE)
#error "LASER_POWER_INLINE is not required, inline mode is enabled with 'M3 I' and disabled with 'M5 I'."
#elif defined(LASER_POWER_INLINE_TRAPEZOID)
#error "LASER_POWER_INLINE_TRAPEZOID is now LASER_POWER_TRAP."
#elif defined(LASER_POWER_INLINE_TRAPEZOID_CONT)
#error "LASER_POWER_INLINE_TRAPEZOID_CONT is replaced with LASER_POWER_TRAP."
#elif defined(LASER_POWER_INLINE_TRAPEZOID_PER)
#error "LASER_POWER_INLINE_TRAPEZOID_CONT_PER replaced with LASER_POWER_TRAP."
#elif defined(LASER_POWER_INLINE_CONTINUOUS)
#error "LASER_POWER_INLINE_CONTINUOUS is not required, inline mode is enabled with 'M3 I' and disabled with 'M5 I'."
#elif defined(CUTTER_POWER_DISPLAY)
#error "CUTTER_POWER_DISPLAY is now CUTTER_POWER_UNIT."
#elif defined(CHAMBER_HEATER_PIN)
@ -595,6 +605,8 @@
#error "ARC_SUPPORT no longer uses ARC_SEGMENTS_PER_R."
#elif ENABLED(ARC_SUPPORT) && (!defined(MIN_ARC_SEGMENT_MM) || !defined(MAX_ARC_SEGMENT_MM))
#error "ARC_SUPPORT now requires MIN_ARC_SEGMENT_MM and MAX_ARC_SEGMENT_MM."
#elif defined(LASER_POWER_INLINE)
#error "LASER_POWER_INLINE is obsolete."
#elif defined(SPINDLE_LASER_PWM)
#error "SPINDLE_LASER_PWM (true) is now set with SPINDLE_LASER_USE_PWM (enabled)."
#elif ANY(IS_RAMPS_EEB, IS_RAMPS_EEF, IS_RAMPS_EFB, IS_RAMPS_EFF, IS_RAMPS_SF)
@ -3841,37 +3853,26 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#error "CUTTER_POWER_UNIT must be PWM255, PERCENT, RPM, or SERVO."
#endif
#if ENABLED(LASER_POWER_INLINE)
#if ENABLED(LASER_FEATURE)
#if ENABLED(SPINDLE_CHANGE_DIR)
#error "SPINDLE_CHANGE_DIR and LASER_POWER_INLINE are incompatible."
#elif ENABLED(LASER_MOVE_G0_OFF) && DISABLED(LASER_MOVE_POWER)
#error "LASER_MOVE_G0_OFF requires LASER_MOVE_POWER."
#error "SPINDLE_CHANGE_DIR and LASER_FEATURE are incompatible."
#elif ENABLED(LASER_MOVE_G0_OFF)
#error "LASER_MOVE_G0_OFF is no longer required, G0 and G28 cannot apply power."
#elif ENABLED(LASER_MOVE_G28_OFF)
#error "LASER_MOVE_G0_OFF is no longer required, G0 and G28 cannot apply power."
#elif ENABLED(LASER_MOVE_POWER)
#error "LASER_MOVE_POWER is no longer applicable."
#endif
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
#if ENABLED(LASER_POWER_TRAP)
#if DISABLED(SPINDLE_LASER_USE_PWM)
#error "LASER_POWER_INLINE_TRAPEZOID requires SPINDLE_LASER_USE_PWM to function."
#elif ENABLED(S_CURVE_ACCELERATION)
//#ifndef LASER_POWER_INLINE_S_CURVE_ACCELERATION_WARN
// #define LASER_POWER_INLINE_S_CURVE_ACCELERATION_WARN
// #warning "Combining LASER_POWER_INLINE_TRAPEZOID with S_CURVE_ACCELERATION may result in unintended behavior."
//#endif
#error "LASER_POWER_TRAP requires SPINDLE_LASER_USE_PWM to function."
#endif
#endif
#if ENABLED(LASER_POWER_INLINE_INVERT)
//#ifndef LASER_POWER_INLINE_INVERT_WARN
// #define LASER_POWER_INLINE_INVERT_WARN
// #warning "Enabling LASER_POWER_INLINE_INVERT means that `M5` won't kill the laser immediately; use `M5 I` instead."
//#endif
#endif
#else
#if SPINDLE_LASER_POWERUP_DELAY < 1
#error "SPINDLE_LASER_POWERUP_DELAY must be greater than 0."
#elif SPINDLE_LASER_POWERDOWN_DELAY < 1
#error "SPINDLE_LASER_POWERDOWN_DELAY must be greater than 0."
#elif ENABLED(LASER_MOVE_POWER)
#error "LASER_MOVE_POWER requires LASER_POWER_INLINE."
#elif ANY(LASER_POWER_INLINE_TRAPEZOID, LASER_POWER_INLINE_INVERT, LASER_MOVE_G0_OFF, LASER_MOVE_POWER)
#error "Enabled an inline laser feature without inline laser power being enabled."
#endif
#endif
@ -3889,7 +3890,7 @@ static_assert(_PLUS_TEST(4), "HOMING_FEEDRATE_MM_M values must be positive.");
#error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin."
#elif !defined(SPINDLE_LASER_PWM_INVERT)
#error "SPINDLE_LASER_PWM_INVERT is required for (SPINDLE|LASER)_FEATURE."
#elif !(defined(SPEED_POWER_INTERCEPT) && defined(SPEED_POWER_MIN) && defined(SPEED_POWER_MAX) && defined(SPEED_POWER_STARTUP))
#elif !(defined(SPEED_POWER_MIN) && defined(SPEED_POWER_MAX) && defined(SPEED_POWER_STARTUP))
#error "SPINDLE_LASER_USE_PWM equation constant(s) missing."
#elif _PIN_CONFLICT(X_MIN)
#error "SPINDLE_LASER_USE_PWM pin conflicts with X_MIN_PIN."

2
Marlin/src/lcd/dogm/status_screen_DOGM.cpp
View File

@ -670,7 +670,7 @@ void MarlinUI::draw_status_screen() {
// Laser / Spindle
#if DO_DRAW_CUTTER
if (cutter.isReady && PAGE_CONTAINS(STATUS_CUTTER_TEXT_Y - INFO_FONT_ASCENT, STATUS_CUTTER_TEXT_Y - 1)) {
if (cutter.isReadyForUI && PAGE_CONTAINS(STATUS_CUTTER_TEXT_Y - INFO_FONT_ASCENT, STATUS_CUTTER_TEXT_Y - 1)) {
#if CUTTER_UNIT_IS(PERCENT)
lcd_put_u8str(STATUS_CUTTER_TEXT_X, STATUS_CUTTER_TEXT_Y, cutter_power2str(cutter.unitPower));
#elif CUTTER_UNIT_IS(RPM)

5
Marlin/src/lcd/menu/menu_item.h
View File

@ -27,6 +27,10 @@
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
#include "../../module/planner.h"
#endif
void lcd_move_z();
////////////////////////////////////////////
@ -538,6 +542,7 @@ class MenuItem_bool : public MenuEditItemBase {
inline void on_fan_update() {
thermalManager.set_fan_speed(MenuItemBase::itemIndex, editable.uint8);
TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_FLAG_SYNC_FANS));
}
#if ENABLED(EXTRA_FAN_SPEED)

18
Marlin/src/lcd/menu/menu_spindle_laser.cpp
View File

@ -33,7 +33,7 @@
#include "../../feature/spindle_laser.h"
void menu_spindle_laser() {
bool is_enabled = cutter.enabled() && cutter.isReady;
bool is_enabled = cutter.enabled();
#if ENABLED(SPINDLE_CHANGE_DIR)
bool is_rev = cutter.is_reverse();
#endif
@ -49,7 +49,13 @@
#endif
editable.state = is_enabled;
EDIT_ITEM(bool, MSG_CUTTER(TOGGLE), &is_enabled, []{ if (editable.state) cutter.disable(); else cutter.enable_same_dir(); });
EDIT_ITEM(bool, MSG_CUTTER(TOGGLE), &is_enabled, []{
#if ENABLED(SPINDLE_FEATURE)
if (editable.state) cutter.disable(); else cutter.enable_same_dir();
#else
cutter.laser_menu_toggle(!editable.state);
#endif
});
#if ENABLED(AIR_EVACUATION)
bool evac_state = cutter.air_evac_state();
@ -72,12 +78,10 @@
// Setup and fire a test pulse using the current PWM power level for for a duration of test_pulse_min to test_pulse_max ms.
EDIT_ITEM_FAST(CUTTER_MENU_PULSE_TYPE, MSG_LASER_PULSE_MS, &cutter.testPulse, LASER_TEST_PULSE_MIN, LASER_TEST_PULSE_MAX);
ACTION_ITEM(MSG_LASER_FIRE_PULSE, cutter.test_fire_pulse);
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
EDIT_ITEM_FAST(CUTTER_MENU_FREQUENCY_TYPE, MSG_CUTTER_FREQUENCY, &cutter.frequency, 2000, 80000, cutter.refresh_frequency);
#endif
#endif
#if BOTH(MARLIN_DEV_MODE, HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
EDIT_ITEM_FAST(CUTTER_MENU_FREQUENCY_TYPE, MSG_CUTTER_FREQUENCY, &cutter.frequency, 2000, 80000, cutter.refresh_frequency);
#endif
END_MENU();
}

286
Marlin/src/module/planner.cpp
View File

@ -128,8 +128,13 @@ uint8_t Planner::delay_before_delivering; // This counter delays delivery
planner_settings_t Planner::settings; // Initialized by settings.load()
#if ENABLED(LASER_POWER_INLINE)
/**
* Set up inline block variables
* Set laser_power_floor based on SPEED_POWER_MIN to pevent a zero power output state with LASER_POWER_TRAP
*/
#if ENABLED(LASER_FEATURE)
laser_state_t Planner::laser_inline; // Current state for blocks
const uint8_t laser_power_floor = cutter.pct_to_ocr(SPEED_POWER_MIN);
#endif
uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
@ -799,6 +804,7 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
if (plateau_steps < 0) {
const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count);
decelerate_steps = block->step_event_count - accelerate_steps;
plateau_steps = 0;
#if ENABLED(S_CURVE_ACCELERATION)
@ -822,7 +828,7 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
// Store new block parameters
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->decelerate_after = block->step_event_count - decelerate_steps;
block->initial_rate = initial_rate;
#if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
@ -833,46 +839,52 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
#endif
block->final_rate = final_rate;
/**
* Laser trapezoid calculations
*
* Approximate the trapezoid with the laser, incrementing the power every `entry_per` while accelerating
* and decrementing it every `exit_power_per` while decelerating, thus ensuring power is related to feedrate.
*
* LASER_POWER_INLINE_TRAPEZOID_CONT doesn't need this as it continuously approximates
*
* Note this may behave unreliably when running with S_CURVE_ACCELERATION
*/
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (block->laser.power > 0) { // No need to care if power == 0
const uint8_t entry_power = block->laser.power * entry_factor; // Power on block entry
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
// Speedup power
const uint8_t entry_power_diff = block->laser.power - entry_power;
if (entry_power_diff) {
block->laser.entry_per = accelerate_steps / entry_power_diff;
block->laser.power_entry = entry_power;
#if ENABLED(LASER_POWER_TRAP)
/**
* Laser Trapezoid Calculations
*
* Approximate the trapezoid with the laser, incrementing the power every `trap_ramp_entry_incr` steps while accelerating,
* and decrementing the power every `trap_ramp_exit_decr` while decelerating, to keep power proportional to feedrate.
* Laser power trap will reduce the initial power to no less than the laser_power_floor value. Based on the number
* of calculated accel/decel steps the power is distributed over the trapezoid entry- and exit-ramp steps.
*
* trap_ramp_active_pwr - The active power is initially set at a reduced level factor of initial power / accel steps and
* will be additively incremented using a trap_ramp_entry_incr value for each accel step processed later in the stepper code.
* The trap_ramp_exit_decr value is calculated as power / decel steps and is also adjusted to no less than the power floor.
*
* If the power == 0 the inline mode variables need to be set to zero to prevent stepper processing. The method allows
* for simpler non-powered moves like G0 or G28.
*
* Laser Trap Power works for all Jerk and Curve modes; however Arc-based moves will have issues since the segments are
* usually too small.
*/
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (block->laser.power > 0) {
NOLESS(block->laser.power, laser_power_floor);
block->laser.trap_ramp_active_pwr = (block->laser.power - laser_power_floor) * (initial_rate / float(block->nominal_rate)) + laser_power_floor;
block->laser.trap_ramp_entry_incr = (block->laser.power - block->laser.trap_ramp_active_pwr) / accelerate_steps;
float laser_pwr = block->laser.power * (final_rate / float(block->nominal_rate));
NOLESS(laser_pwr, laser_power_floor);
block->laser.trap_ramp_exit_decr = (block->laser.power - laser_pwr) / decelerate_steps;
#if ENABLED(DEBUG_LASER_TRAP)
SERIAL_ECHO_MSG("lp:",block->laser.power);
SERIAL_ECHO_MSG("as:",accelerate_steps);
SERIAL_ECHO_MSG("ds:",decelerate_steps);
SERIAL_ECHO_MSG("p.trap:",block->laser.trap_ramp_active_pwr);
SERIAL_ECHO_MSG("p.incr:",block->laser.trap_ramp_entry_incr);
SERIAL_ECHO_MSG("p.decr:",block->laser.trap_ramp_exit_decr);
#endif
}
else {
block->laser.entry_per = 0;
block->laser.power_entry = block->laser.power;
block->laser.trap_ramp_active_pwr = 0;
block->laser.trap_ramp_entry_incr = 0;
block->laser.trap_ramp_exit_decr = 0;
}
// Slowdown power
const uint8_t exit_power = block->laser.power * exit_factor, // Power on block entry
exit_power_diff = block->laser.power - exit_power;
if (exit_power_diff) {
block->laser.exit_per = (block->step_event_count - block->decelerate_after) / exit_power_diff;
block->laser.power_exit = exit_power;
}
else {
block->laser.exit_per = 0;
block->laser.power_exit = block->laser.power;
}
#else
block->laser.power_entry = entry_power;
#endif
}
}
#endif
#endif // LASER_POWER_TRAP
}
/* PLANNER SPEED DEFINITION
@ -1130,10 +1142,9 @@ void Planner::recalculate_trapezoids() {
// The tail may be changed by the ISR so get a local copy.
uint8_t block_index = block_buffer_tail,
head_block_index = block_buffer_head;
// Since there could be non-move blocks in the head of the queue, and the
// Since there could be a sync block in the head of the queue, and the
// next loop must not recalculate the head block (as it needs to be
// specially handled), scan backwards to the first move block.
// specially handled), scan backwards to the first non-SYNC block.
while (head_block_index != block_index) {
// Go back (head always point to the first free block)
@ -1203,7 +1214,7 @@ void Planner::recalculate_trapezoids() {
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
if (next) {
// Mark the last block as RECALCULATE, to prevent the Stepper ISR running it.
// Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it.
// As the last block is always recalculated here, there is a chance the block isn't
// marked as RECALCULATE yet. That's the reason for the following line.
block->flag.recalculate = true;
@ -1295,7 +1306,7 @@ void Planner::recalculate() {
#endif // HAS_FAN
/**
* Maintain fans, paste extruder pressure,
* Maintain fans, paste extruder pressure, spindle/laser power
*/
void Planner::check_axes_activity() {
@ -1359,7 +1370,7 @@ void Planner::check_axes_activity() {
}
else {
TERN_(HAS_CUTTER, cutter.refresh());
TERN_(HAS_CUTTER, if (cutter.cutter_mode == CUTTER_MODE_STANDARD) cutter.refresh());
#if HAS_TAIL_FAN_SPEED
FANS_LOOP(i) {
@ -1459,7 +1470,7 @@ void Planner::check_axes_activity() {
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
const block_t * const block = &block_buffer[b];
if (NUM_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k, || block->steps.u, || block->steps.v, || block->steps.w)) {
const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec
const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
NOLESS(high, se);
}
}
@ -1781,7 +1792,7 @@ void Planner::synchronize() { while (busy()) idle(); }
bool Planner::_buffer_steps(const xyze_long_t &target
OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float)
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters/*=0.0*/
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters
) {
// Wait for the next available block
@ -1863,8 +1874,36 @@ bool Planner::_populate_block(
);
/* <-- add a slash to enable
#define _ALINE(A) " " STR_##A ":", target[_AXIS(A)], " (", int32_t(target[_AXIS(A)] - position[_AXIS(A)]), " steps)"
SERIAL_ECHOLNPGM(" _populate_block FR:", fr_mm_s, LOGICAL_AXIS_MAP(_ALINE));
SERIAL_ECHOLNPGM(
" _populate_block FR:", fr_mm_s,
" A:", target.a, " (", da, " steps)"
#if HAS_Y_AXIS
" B:", target.b, " (", db, " steps)"
#endif
#if HAS_Z_AXIS
" C:", target.c, " (", dc, " steps)"
#endif
#if HAS_I_AXIS
" " STR_I ":", target.i, " (", di, " steps)"
#endif
#if HAS_J_AXIS
" " STR_J ":", target.j, " (", dj, " steps)"
#endif
#if HAS_K_AXIS
" " STR_K ":", target.k, " (", dk, " steps)"
#endif
#if HAS_U_AXIS
" " STR_U ":", target.u, " (", du, " steps)"
#endif
#if HAS_V_AXIS
" " STR_V ":", target.v, " (", dv, " steps)"
#endif
#if HAS_W_AXIS
" " STR_W ":", target.w, " (", dw, " steps)"
#if HAS_EXTRUDERS
" E:", target.e, " (", de, " steps)"
#endif
);
//*/
#if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
@ -1962,11 +2001,34 @@ bool Planner::_populate_block(
// Set direction bits
block->direction_bits = dm;
// Update block laser power
#if ENABLED(LASER_POWER_INLINE)
laser_inline.status.isPlanned = true;
block->laser.status = laser_inline.status;
block->laser.power = laser_inline.power;
/**
* Update block laser power
* For standard mode get the cutter.power value for processing, since it's
* only set by apply_power().
*/
#if HAS_CUTTER
switch (cutter.cutter_mode) {
default: break;
case CUTTER_MODE_STANDARD: block->cutter_power = cutter.power; break;
#if ENABLED(LASER_FEATURE)
/**
* For inline mode get the laser_inline variables, including power and status.
* Dynamic mode only needs to update if the feedrate has changed, since it's
* calculated from the current feedrate and power level.
*/
case CUTTER_MODE_CONTINUOUS:
block->laser.power = laser_inline.power;
block->laser.status = laser_inline.status;
break;
case CUTTER_MODE_DYNAMIC:
if (cutter.laser_feedrate_changed()) // Only process changes in rate
block->laser.power = laser_inline.power = cutter.calc_dynamic_power();
break;
#endif
}
#endif
// Number of steps for each axis
@ -2028,9 +2090,9 @@ bool Planner::_populate_block(
#endif
#elif ENABLED(MARKFORGED_XY)
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS];
#elif ENABLED(MARKFORGED_YX)
steps_dist_mm.a = da * mm_per_step[A_AXIS];
steps_dist_mm.a = da * mm_per_step[A_AXIS];
steps_dist_mm.b = (db - da) * mm_per_step[B_AXIS];
#else
XYZ_CODE(
@ -2076,21 +2138,12 @@ bool Planner::_populate_block(
block->millimeters = millimeters;
else {
/**
* Distance for interpretation of feedrate in accordance with LinuxCNC (the successor of
* NIST RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
*
* Assume:
* - X, Y, Z are the primary linear axes;
* - U, V, W are secondary linear axes;
* - A, B, C are rotational axes.
*
* Then:
* - dX, dY, dZ are the displacements of the primary linear axes;
* - dU, dV, dW are the displacements of linear axes;
* - dA, dB, dC are the displacements of rotational axes.
*
* The time it takes to execute move command with feedrate F is t = D/F,
* where D is the total distance, calculated as follows:
* Distance for interpretation of feedrate in accordance with LinuxCNC (the successor of NIST
* RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
* Assume that X, Y, Z are the primary linear axes and U, V, W are secondary linear axes and A, B, C are
* rotational axes. Then dX, dY, dZ are the displacements of the primary linear axes and dU, dV, dW are the displacements of linear axes and
* dA, dB, dC are the displacements of rotational axes.
* The time it takes to execute move command with feedrate F is t = D/F, where D is the total distance, calculated as follows:
* D^2 = dX^2 + dY^2 + dZ^2
* if D^2 == 0 (none of XYZ move but any secondary linear axes move, whether other axes are moved or not):
* D^2 = dU^2 + dV^2 + dW^2
@ -2099,9 +2152,8 @@ bool Planner::_populate_block(
*/
float distance_sqr = (
#if ENABLED(ARTICULATED_ROBOT_ARM)
// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround,
// assume that motors sit on a mutually-orthogonal axes and we can think of distance as magnitude of an n-vector
// in an n-dimensional Euclidian space.
// For articulated robots, interpreting feedrate like LinuxCNC would require inverse kinematics. As a workaround, pretend that motors sit on n mutually orthogonal
// axes and assume that we could think of distance as magnitude of an n-vector in an n-dimensional Euclidian space.
NUM_AXIS_GANG(
sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z),
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k),
@ -2121,7 +2173,7 @@ bool Planner::_populate_block(
#elif CORE_IS_YZ
XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.head.z))
#else
XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z))
XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z))
#endif
);
@ -2154,9 +2206,9 @@ bool Planner::_populate_block(
/**
* At this point at least one of the axes has more steps than
* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped
* as zero-length. It's important to not apply corrections to blocks
* that would get dropped!
* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped as
* zero-length. It's important to not apply corrections
* to blocks that would get dropped!
*
* A correction function is permitted to add steps to an axis, it
* should *never* remove steps!
@ -2177,7 +2229,6 @@ bool Planner::_populate_block(
TERN_(MIXING_EXTRUDER, mixer.populate_block(block->b_color));
TERN_(HAS_CUTTER, block->cutter_power = cutter.power);
#if HAS_FAN
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
@ -2192,9 +2243,15 @@ bool Planner::_populate_block(
#if ENABLED(AUTO_POWER_CONTROL)
if (NUM_AXIS_GANG(
block->steps.x, || block->steps.y, || block->steps.z,
|| block->steps.i, || block->steps.j, || block->steps.k,
|| block->steps.u, || block->steps.v, || block->steps.w
block->steps.x,
|| block->steps.y,
|| block->steps.z,
|| block->steps.i,
|| block->steps.j,
|| block->steps.k,
|| block->steps.u,
|| block->steps.v,
|| block->steps.w
)) powerManager.power_on();
#endif
@ -2428,7 +2485,7 @@ bool Planner::_populate_block(
if (speed_factor < 1.0f) {
current_speed *= speed_factor;
block->nominal_rate *= speed_factor;
block->nominal_speed_sqr *= sq(speed_factor);
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
}
// Compute and limit the acceleration rate for the trapezoid generator.
@ -2630,15 +2687,14 @@ bool Planner::_populate_block(
vmax_junction_sqr = sq(float(MINIMUM_PLANNER_SPEED));
}
else {
NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero.
// Convert delta vector to unit vector
xyze_float_t junction_unit_vec = unit_vec - prev_unit_vec;
normalize_junction_vector(junction_unit_vec);
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec);
NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero.
const float sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive.
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive.
vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2);
@ -2889,21 +2945,19 @@ bool Planner::_populate_block(
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position,
* or in case of LASER_SYNCHRONOUS_M106_M107 the fan PWM
* Add a block to the buffer that just updates the position
* @param sync_flag BLOCK_FLAG_SYNC_FANS & BLOCK_FLAG_LASER_PWR
* Supports LASER_SYNCHRONOUS_M106_M107 and LASER_POWER_SYNC power sync block buffer queueing.
*/
void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit sync_flag/*=BLOCK_BIT_SYNC_POSITION*/)) {
#if DISABLED(LASER_SYNCHRONOUS_M106_M107)
constexpr BlockFlagBit sync_flag = BLOCK_BIT_SYNC_POSITION;
#endif
void Planner::buffer_sync_block(const BlockFlagBit sync_flag/*=BLOCK_BIT_SYNC_POSITION*/) {
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
// Clear block
block->reset();
memset(block, 0, sizeof(block_t));
block->flag.apply(sync_flag);
block->position = position;
@ -2915,6 +2969,12 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFl
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
#endif
/**
* M3-based power setting can be processed inline with a laser power sync block.
* During active moves cutter.power is processed immediately, otherwise on the next move.
*/
TERN_(LASER_POWER_SYNC, block->laser.power = cutter.power);
// If this is the first added movement, reload the delay, otherwise, cancel it.
if (block_buffer_head == block_buffer_tail) {
// If it was the first queued block, restart the 1st block delivery delay, to
@ -3052,8 +3112,8 @@ bool Planner::buffer_segment(const abce_pos_t &abce
if (!_buffer_steps(target
OPTARG(HAS_POSITION_FLOAT, target_float)
OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
, fr_mm_s, extruder, millimeters
)) return false;
, fr_mm_s, extruder, millimeters)
) return false;
stepper.wake_up();
return true;
@ -3099,7 +3159,7 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons
inverse_kinematics(machine);
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// For SCARA scale the feedrate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
const float duration_recip = inv_duration ?: fr_mm_s / mm;
const xyz_pos_t diff = delta - position_float;
@ -3120,14 +3180,6 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons
#if ENABLED(DIRECT_STEPPING)
/**
* @brief Add a direct stepping page block to the buffer
* and wake up the Stepper ISR to process it.
*
* @param page_idx Page index provided by G6 I<index>
* @param extruder The extruder to use in the move
* @param num_steps Number of steps to process in the ISR
*/
void Planner::buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps) {
if (!last_page_step_rate) {
kill(GET_TEXT_F(MSG_BAD_PAGE_SPEED));
@ -3212,7 +3264,7 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
if (has_blocks_queued()) {
//previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest.
//previous_speed.reset();
buffer_sync_block();
buffer_sync_block(BLOCK_BIT_SYNC_POSITION);
}
else {
#if ENABLED(BACKLASH_COMPENSATION)
@ -3225,12 +3277,6 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
}
}
/**
* @brief Set the Planner position in mm
* @details Set the Planner position from a native machine position in mm
*
* @param xyze A native (Cartesian) machine position
*/
void Planner::set_position_mm(const xyze_pos_t &xyze) {
xyze_pos_t machine = xyze;
TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true));
@ -3259,20 +3305,14 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) {
TERN_(IS_KINEMATIC, TERN_(HAS_EXTRUDERS, position_cart.e = e));
if (has_blocks_queued())
buffer_sync_block();
buffer_sync_block(BLOCK_BIT_SYNC_POSITION);
else
stepper.set_axis_position(E_AXIS, position.e);
}
#endif
/**
* @brief Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
* @details Update planner movement factors after a change to certain settings:
* - max_acceleration_steps_per_s2 from settings max_acceleration_mm_per_s2 * axis_steps_per_mm (M201, M92)
* - acceleration_long_cutoff based on the largest max_acceleration_steps_per_s2 (M201)
* - max_e_jerk for all extruders based on junction_deviation_mm (M205 J)
*/
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::refresh_acceleration_rates() {
uint32_t highest_rate = 1;
LOOP_DISTINCT_AXES(i) {
@ -3285,8 +3325,8 @@ void Planner::refresh_acceleration_rates() {
}
/**
* @brief Recalculate 'position' and 'mm_per_step'.
* @details Required whenever settings.axis_steps_per_mm changes!
* Recalculate 'position' and 'mm_per_step'.
* Must be called whenever settings.axis_steps_per_mm changes!
*/
void Planner::refresh_positioning() {
LOOP_DISTINCT_AXES(i) mm_per_step[i] = 1.0f / settings.axis_steps_per_mm[i];

92
Marlin/src/module/planner.h
View File

@ -89,30 +89,6 @@
#define HAS_DIST_MM_ARG 1
#endif
#if ENABLED(LASER_POWER_INLINE)
typedef struct {
bool isPlanned:1;
bool isEnabled:1;
bool dir:1;
bool Reserved:6;
} power_status_t;
typedef struct {
power_status_t status; // See planner settings for meaning
uint8_t power; // Ditto; When in trapezoid mode this is nominal power
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
uint8_t power_entry; // Entry power for the laser
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
uint8_t power_exit; // Exit power for the laser
uint32_t entry_per, // Steps per power increment (to avoid floats in stepper calcs)
exit_per; // Steps per power decrement
#endif
#endif
} block_laser_t;
#endif
/**
* Planner block flags as boolean bit fields
*/
@ -132,14 +108,14 @@ enum BlockFlagBit {
BLOCK_BIT_SYNC_POSITION
// Direct stepping page
#if ENABLED(DIRECT_STEPPING)
, BLOCK_BIT_PAGE
#endif
OPTARG(DIRECT_STEPPING, BLOCK_BIT_PAGE)
// Sync the fan speeds from the block
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
, BLOCK_BIT_SYNC_FANS
#endif
OPTARG(LASER_SYNCHRONOUS_M106_M107, BLOCK_BIT_SYNC_FANS)
// Sync laser power from a queued block
OPTARG(LASER_POWER_SYNC, BLOCK_BIT_LASER_PWR)
};
/**
@ -165,6 +141,10 @@ typedef struct {
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
bool sync_fans:1;
#endif
#if ENABLED(LASER_POWER_SYNC)
bool sync_laser_pwr:1;
#endif
};
};
@ -176,9 +156,34 @@ typedef struct {
} block_flags_t;
#if ENABLED(LASER_FEATURE)
typedef struct {
bool isEnabled:1; // Set to engage the inline laser power output.
bool dir:1;
bool isPowered:1; // Set on any parsed G1, G2, G3, or G5 powered move, cleared on G0 and G28.
bool isSyncPower:1; // Set on a M3 sync based set laser power, used to determine active trap power
bool Reserved:4;
} power_status_t;
typedef struct {
power_status_t status; // See planner settings for meaning
uint8_t power; // Ditto; When in trapezoid mode this is nominal power
#if ENABLED(LASER_POWER_TRAP)
float trap_ramp_active_pwr; // Laser power level during active trapezoid smoothing
float trap_ramp_entry_incr; // Acceleration per step laser power increment (trap entry)
float trap_ramp_exit_decr; // Deceleration per step laser power decrement (trap exit)
#endif
} block_laser_t;
#endif
/**
* A single entry in the planner buffer, used to set up and
* track a coordinated linear motion for one or more axes.
* struct block_t
*
* A single entry in the planner buffer.
* Tracks linear movement over multiple axes.
*
* The "nominal" values are as-specified by G-code, and
* may never actually be reached due to acceleration limits.
@ -188,7 +193,8 @@ typedef struct block_t {
volatile block_flags_t flag; // Block flags
volatile bool is_fan_sync() { return TERN0(LASER_SYNCHRONOUS_M106_M107, flag.sync_fans); }
volatile bool is_sync() { return flag.sync_position || is_fan_sync(); }
volatile bool is_pwr_sync() { return TERN0(LASER_POWER_SYNC, flag.sync_laser_pwr); }
volatile bool is_sync() { return flag.sync_position || is_fan_sync() || is_pwr_sync(); }
volatile bool is_page() { return TERN0(DIRECT_STEPPING, flag.page); }
volatile bool is_move() { return !(is_sync() || is_page()); }
@ -270,12 +276,10 @@ typedef struct block_t {
xyze_pos_t start_position;
#endif
#if ENABLED(LASER_POWER_INLINE)
#if ENABLED(LASER_FEATURE)
block_laser_t laser;
#endif
void reset() { memset((char*)this, 0, sizeof(*this)); }
} block_t;
#if ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL, POWER_LOSS_RECOVERY)
@ -284,7 +288,7 @@ typedef struct block_t {
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
#if ENABLED(LASER_POWER_INLINE)
#if ENABLED(LASER_FEATURE)
typedef struct {
/**
* Laser status flags
@ -293,11 +297,10 @@ typedef struct block_t {
/**
* Laser power: 0 or 255 in case of PWM-less laser,
* or the OCR (oscillator count register) value;
*
* Using OCR instead of raw power, because it avoids
* floating point operations during the move loop.
*/
uint8_t power;
volatile uint8_t power;
} laser_state_t;
#endif
@ -399,7 +402,7 @@ class Planner {
static planner_settings_t settings;
#if ENABLED(LASER_POWER_INLINE)
#if ENABLED(LASER_FEATURE)
static laser_state_t laser_inline;
#endif
@ -784,12 +787,11 @@ class Planner {
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position or in
* case of LASER_SYNCHRONOUS_M106_M107 the fan pwm
* Add a block to the buffer that just updates the position
* @param sync_flag sets a condition bit to process additional items
* such as sync fan pwm or sync M3/M4 laser power into a queued block
*/
static void buffer_sync_block(
TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit flag=BLOCK_BIT_SYNC_POSITION)
);
static void buffer_sync_block(const BlockFlagBit flag=BLOCK_BIT_SYNC_POSITION);
#if IS_KINEMATIC
private:

238
Marlin/src/module/stepper.cpp
View File

@ -253,20 +253,6 @@ xyz_long_t Stepper::endstops_trigsteps;
xyze_long_t Stepper::count_position{0};
xyze_int8_t Stepper::count_direction{0};
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
Stepper::stepper_laser_t Stepper::laser_trap = {
.enabled = false,
.cur_power = 0,
.cruise_set = false,
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
.last_step_count = 0,
.acc_step_count = 0
#else
.till_update = 0
#endif
};
#endif
#define MINDIR(A) (count_direction[_AXIS(A)] < 0)
#define MAXDIR(A) (count_direction[_AXIS(A)] > 0)
@ -1964,7 +1950,6 @@ uint32_t Stepper::block_phase_isr() {
// If there is a current block
if (current_block) {
// If current block is finished, reset pointer and finalize state
if (step_events_completed >= step_event_count) {
#if ENABLED(DIRECT_STEPPING)
@ -2017,32 +2002,28 @@ uint32_t Stepper::block_phase_isr() {
else if (LA_steps) nextAdvanceISR = 0;
#endif
// Update laser - Accelerating
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser_trap.enabled) {
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
if (current_block->laser.entry_per) {
laser_trap.acc_step_count -= step_events_completed - laser_trap.last_step_count;
laser_trap.last_step_count = step_events_completed;
/*
* Adjust Laser Power - Accelerating
* isPowered - True when a move is powered.
* isEnabled - laser power is active.
* Laser power variables are calulated and stored in this block by the planner code.
*
* trap_ramp_active_pwr - the active power in this block across accel or decel trap steps.
* trap_ramp_entry_incr - holds the precalculated value to increase the current power per accel step.
*
* Apply the starting active power and then increase power per step by the trap_ramp_entry_incr value if positive.
*/
// Should be faster than a divide, since this should trip just once
if (laser_trap.acc_step_count < 0) {
while (laser_trap.acc_step_count < 0) {
laser_trap.acc_step_count += current_block->laser.entry_per;
if (laser_trap.cur_power < current_block->laser.power) laser_trap.cur_power++;
}
cutter.ocr_set_power(laser_trap.cur_power);
}
#if ENABLED(LASER_POWER_TRAP)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (current_block->laser.trap_ramp_entry_incr > 0) {
cutter.apply_power(current_block->laser.trap_ramp_active_pwr);
current_block->laser.trap_ramp_active_pwr += current_block->laser.trap_ramp_entry_incr;
}
#else
if (laser_trap.till_update)
laser_trap.till_update--;
else {
laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
laser_trap.cur_power = (current_block->laser.power * acc_step_rate) / current_block->nominal_rate;
cutter.ocr_set_power(laser_trap.cur_power); // Cycle efficiency is irrelevant it the last line was many cycles
}
#endif
}
// Not a powered move.
else cutter.apply_power(0);
}
#endif
}
@ -2066,7 +2047,6 @@ uint32_t Stepper::block_phase_isr() {
: current_block->final_rate;
}
#else
// Using the old trapezoidal control
step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
@ -2094,37 +2074,25 @@ uint32_t Stepper::block_phase_isr() {
else if (LA_steps) nextAdvanceISR = 0;
#endif // LIN_ADVANCE
// Update laser - Decelerating
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser_trap.enabled) {
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
if (current_block->laser.exit_per) {
laser_trap.acc_step_count -= step_events_completed - laser_trap.last_step_count;
laser_trap.last_step_count = step_events_completed;
// Should be faster than a divide, since this should trip just once
if (laser_trap.acc_step_count < 0) {
while (laser_trap.acc_step_count < 0) {
laser_trap.acc_step_count += current_block->laser.exit_per;
if (laser_trap.cur_power > current_block->laser.power_exit) laser_trap.cur_power--;
}
cutter.ocr_set_power(laser_trap.cur_power);
}
/*
* Adjust Laser Power - Decelerating
* trap_ramp_entry_decr - holds the precalculated value to decrease the current power per decel step.
*/
#if ENABLED(LASER_POWER_TRAP)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (current_block->laser.trap_ramp_exit_decr > 0) {
current_block->laser.trap_ramp_active_pwr -= current_block->laser.trap_ramp_exit_decr;
cutter.apply_power(current_block->laser.trap_ramp_active_pwr);
}
#else
if (laser_trap.till_update)
laser_trap.till_update--;
else {
laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
laser_trap.cur_power = (current_block->laser.power * step_rate) / current_block->nominal_rate;
cutter.ocr_set_power(laser_trap.cur_power); // Cycle efficiency isn't relevant when the last line was many cycles
}
#endif
// Not a powered move.
else cutter.apply_power(0);
}
}
#endif
}
// Must be in cruise phase otherwise
else {
else { // Must be in cruise phase otherwise
#if ENABLED(LIN_ADVANCE)
// If there are any esteps, fire the next advance_isr "now"
@ -2139,24 +2107,50 @@ uint32_t Stepper::block_phase_isr() {
// The timer interval is just the nominal value for the nominal speed
interval = ticks_nominal;
// Update laser - Cruising
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser_trap.enabled) {
if (!laser_trap.cruise_set) {
laser_trap.cur_power = current_block->laser.power;
cutter.ocr_set_power(laser_trap.cur_power);
laser_trap.cruise_set = true;
}
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
#else
laser_trap.last_step_count = step_events_completed;
#endif
}
#endif
}
/* Adjust Laser Power - Cruise
* power - direct or floor adjusted active laser power.
*/
#if ENABLED(LASER_POWER_TRAP)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (step_events_completed + 1 == accelerate_until) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (current_block->laser.trap_ramp_entry_incr > 0) {
current_block->laser.trap_ramp_active_pwr = current_block->laser.power;
cutter.apply_power(current_block->laser.power);
}
}
// Not a powered move.
else cutter.apply_power(0);
}
}
#endif
}
#if ENABLED(LASER_FEATURE)
/*
* CUTTER_MODE_DYNAMIC is experimental and developing.
* Super-fast method to dynamically adjust the laser power OCR value based on the input feedrate in mm-per-minute.
* TODO: Set up Min/Max OCR offsets to allow tuning and scaling of various lasers.
* TODO: Integrate accel/decel +-rate into the dynamic laser power calc.
*/
if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC
&& planner.laser_inline.status.isPowered // isPowered flag set on any parsed G1, G2, G3, or G5 move; cleared on any others.
&& cutter.last_block_power != current_block->laser.power // Prevent constant update without change
) {
cutter.apply_power(current_block->laser.power);
cutter.last_block_power = current_block->laser.power;
}
#endif
}
else { // !current_block
#if ENABLED(LASER_FEATURE)
if (cutter.cutter_mode == CUTTER_MODE_DYNAMIC) {
cutter.apply_power(0); // No movement in dynamic mode so turn Laser off
}
#endif
}
// If there is no current block at this point, attempt to pop one from the buffer
@ -2169,11 +2163,18 @@ uint32_t Stepper::block_phase_isr() {
// Sync block? Sync the stepper counts or fan speeds and return
while (current_block->is_sync()) {
if (current_block->is_fan_sync()) {
TERN_(LASER_SYNCHRONOUS_M106_M107, planner.sync_fan_speeds(current_block->fan_speed));
}
else
_set_position(current_block->position);
#if ENABLED(LASER_POWER_SYNC)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (current_block->is_pwr_sync()) {
planner.laser_inline.status.isSyncPower = true;
cutter.apply_power(current_block->laser.power);
}
}
#endif
TERN_(LASER_SYNCHRONOUS_M106_M107, if (current_block->is_fan_sync()) planner.sync_fan_speeds(current_block->fan_speed));
if (!(current_block->is_fan_sync() || current_block->is_pwr_sync())) _set_position(current_block->position);
discard_current_block();
@ -2183,8 +2184,10 @@ uint32_t Stepper::block_phase_isr() {
}
// For non-inline cutter, grossly apply power
#if ENABLED(LASER_FEATURE) && DISABLED(LASER_POWER_INLINE)
cutter.apply_power(current_block->cutter_power);
#if HAS_CUTTER
if (cutter.cutter_mode == CUTTER_MODE_STANDARD) {
cutter.apply_power(current_block->cutter_power);
}
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
@ -2357,36 +2360,22 @@ uint32_t Stepper::block_phase_isr() {
set_directions(current_block->direction_bits);
}
#if ENABLED(LASER_POWER_INLINE)
const power_status_t stat = current_block->laser.status;
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
laser_trap.enabled = stat.isPlanned && stat.isEnabled;
laser_trap.cur_power = current_block->laser.power_entry; // RESET STATE
laser_trap.cruise_set = false;
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
laser_trap.last_step_count = 0;
laser_trap.acc_step_count = current_block->laser.entry_per / 2;
#else
laser_trap.till_update = 0;
#endif
// Always have PWM in this case
if (stat.isPlanned) { // Planner controls the laser
cutter.ocr_set_power(
stat.isEnabled ? laser_trap.cur_power : 0 // ON with power or OFF
);
}
#else
if (stat.isPlanned) { // Planner controls the laser
#if ENABLED(SPINDLE_LASER_USE_PWM)
cutter.ocr_set_power(
stat.isEnabled ? current_block->laser.power : 0 // ON with power or OFF
);
#if ENABLED(LASER_FEATURE)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) { // Planner controls the laser
if (planner.laser_inline.status.isSyncPower)
// If the previous block was a M3 sync power then skip the trap power init otherwise it will 0 the sync power.
planner.laser_inline.status.isSyncPower = false; // Clear the flag to process subsequent trap calc's.
else if (current_block->laser.status.isEnabled) {
#if ENABLED(LASER_POWER_TRAP)
TERN_(DEBUG_LASER_TRAP, SERIAL_ECHO_MSG("InitTrapPwr:",current_block->laser.trap_ramp_active_pwr));
cutter.apply_power(current_block->laser.status.isPowered ? current_block->laser.trap_ramp_active_pwr : 0);
#else
cutter.set_enabled(stat.isEnabled);
TERN_(DEBUG_CUTTER_POWER, SERIAL_ECHO_MSG("InlinePwr:",current_block->laser.power));
cutter.apply_power(current_block->laser.status.isPowered ? current_block->laser.power : 0);
#endif
}
#endif
#endif // LASER_POWER_INLINE
}
#endif // LASER_FEATURE
// If the endstop is already pressed, endstop interrupts won't invoke
// endstop_triggered and the move will grind. So check here for a
@ -2416,21 +2405,6 @@ uint32_t Stepper::block_phase_isr() {
// Calculate the initial timer interval
interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr);
}
#if ENABLED(LASER_POWER_INLINE_CONTINUOUS)
else { // No new block found; so apply inline laser parameters
// This should mean ending file with 'M5 I' will stop the laser; thus the inline flag isn't needed
const power_status_t stat = planner.laser_inline.status;
if (stat.isPlanned) { // Planner controls the laser
#if ENABLED(SPINDLE_LASER_USE_PWM)
cutter.ocr_set_power(
stat.isEnabled ? planner.laser_inline.power : 0 // ON with power or OFF
);
#else
cutter.set_enabled(stat.isEnabled);
#endif
}
}
#endif
}
// Return the interval to wait

19
Marlin/src/module/stepper.h
View File

@ -444,25 +444,6 @@ class Stepper {
// Current stepper motor directions (+1 or -1)
static xyze_int8_t count_direction;
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
typedef struct {
bool enabled; // Trapezoid needed flag (i.e., laser on, planner in control)
uint8_t cur_power; // Current laser power
bool cruise_set; // Power set up for cruising?
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
uint16_t till_update; // Countdown to the next update
#else
uint32_t last_step_count, // Step count from the last update
acc_step_count; // Bresenham counter for laser accel/decel
#endif
} stepper_laser_t;
static stepper_laser_t laser_trap;
#endif
public:
// Initialize stepper hardware
static void init();

5
Marlin/src/module/temperature.cpp
View File

@ -1904,9 +1904,10 @@ void Temperature::task() {
#if ENABLED(LASER_COOLANT_FLOW_METER)
cooler.flowmeter_task(ms);
#if ENABLED(FLOWMETER_SAFETY)
if (cutter.enabled() && cooler.check_flow_too_low()) {
if (cooler.check_flow_too_low()) {
TERN_(HAS_DISPLAY, if (cutter.enabled()) ui.flow_fault());
cutter.disable();
TERN_(HAS_DISPLAY, ui.flow_fault());
cutter.cutter_mode = CUTTER_MODE_ERROR; // Immediately kill stepper inline power output
}
#endif
#endif