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Various Laser / Spindle improvements (#15335)

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This commit is contained in:
Ben
2020-04-03 01:31:08 +01:00
committed by GitHub
parent e7e9304819
commit df8b7dfc40
24 changed files with 776 additions and 169 deletions
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54
Marlin/src/module/planner.cpp
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@ -815,11 +815,10 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
#if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE);
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE),
// And to offload calculations from the ISR, we also calculate the inverse of those times here
uint32_t acceleration_time_inverse = get_period_inverse(acceleration_time);
uint32_t deceleration_time_inverse = get_period_inverse(deceleration_time);
acceleration_time_inverse = get_period_inverse(acceleration_time),
deceleration_time_inverse = get_period_inverse(deceleration_time);
#endif
// Store new block parameters
@ -834,6 +833,47 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
block->cruise_rate = cruise_rate;
#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;
}
else {
block->laser.entry_per = 0;
block->laser.power_entry = block->laser.power;
}
// 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
}
/* PLANNER SPEED DEFINITION
@ -1813,6 +1853,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Set direction bits
block->direction_bits = dm;
// Update block laser power
#if ENABLED(LASER_POWER_INLINE)
block->laser.status = settings.laser.status;
block->laser.power = settings.laser.power;
#endif
// Number of steps for each axis
// See http://www.corexy.com/theory.html
#if CORE_IS_XY