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Improvements for Laser / Spindle (#17661)

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This commit is contained in:
Luu Lac
2020-06-08 00:47:31 -05:00
committed by GitHub
parent 5ac66b0f95
commit eda2fd8dbe
16 changed files with 448 additions and 268 deletions
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57
Marlin/src/feature/spindle_laser.cpp
View File

@ -31,12 +31,13 @@
#include "spindle_laser.h"
SpindleLaser cutter;
uint8_t SpindleLaser::power;
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
cutter_power_t SpindleLaser::power;
bool SpindleLaser::isOn; // state to determine when to apply setPower to power
cutter_setPower_t SpindleLaser::setPower = interpret_power(SPEED_POWER_MIN); // spindle/laser speed/power control in PWM, Percentage or RPM
#if ENABLED(MARLIN_DEV_MODE)
cutter_frequency_t SpindleLaser::frequency; // setting PWM frequency; range: 2K - 50K
cutter_frequency_t SpindleLaser::frequency; // setting PWM frequency; range: 2K - 50K
#endif
#define SPINDLE_LASER_PWM_OFF ((SPINDLE_LASER_PWM_INVERT) ? 255 : 0)
@ -44,13 +45,13 @@ cutter_setPower_t SpindleLaser::setPower = interpret_power(SPEED_POWER_MIN); /
// Init the cutter to a safe OFF state
//
void SpindleLaser::init() {
OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_HIGH); // Init spindle to off
OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_HIGH); // Init spindle to off
#if ENABLED(SPINDLE_CHANGE_DIR)
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // Init rotation to clockwise (M3)
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // Init rotation to clockwise (M3)
#endif
#if ENABLED(SPINDLE_LASER_PWM)
SET_PWM(SPINDLE_LASER_PWM_PIN);
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // set to lowest speed
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // set to lowest speed
#endif
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && defined(SPINDLE_LASER_FREQUENCY)
set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
@ -59,38 +60,47 @@ void SpindleLaser::init() {
}
#if ENABLED(SPINDLE_LASER_PWM)
/**
* Set the cutter PWM directly to the given ocr value
**/
* Set the cutter PWM directly to the given ocr value
*/
void SpindleLaser::set_ocr(const uint8_t ocr) {
WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_HIGH); // turn spindle on
WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_HIGH); // turn spindle on
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
}
void SpindleLaser::ocr_off() {
WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_HIGH); // Turn spindle off
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Only write low byte
}
#endif
//
// Set cutter ON state (and PWM) to the given cutter power value
// Set cutter ON/OFF state (and PWM) to the given cutter power value
//
void SpindleLaser::apply_power(const cutter_power_t inpow) {
static cutter_power_t last_power_applied = 0;
if (inpow == last_power_applied) return;
last_power_applied = inpow;
void SpindleLaser::apply_power(const uint8_t opwr) {
static uint8_t last_power_applied = 0;
if (opwr == last_power_applied) return;
last_power_applied = opwr;
power = opwr;
#if ENABLED(SPINDLE_LASER_PWM)
if (enabled())
set_ocr(translate_power(inpow));
if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) {
ocr_off();
isReady = false;
}
else if (enabled() || ENABLED(CUTTER_POWER_RELATIVE)) {
set_ocr(power);
isReady = true;
}
else {
WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_HIGH); // Turn spindle off
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Only write low byte
ocr_off();
isReady = false;
}
#else
WRITE(SPINDLE_LASER_ENA_PIN, (SPINDLE_LASER_ACTIVE_HIGH) ? enabled() : !enabled());
WRITE(SPINDLE_LASER_ENA_PIN, enabled() == SPINDLE_LASER_ACTIVE_HIGH);
isReady = true;
#endif
}
#if ENABLED(SPINDLE_CHANGE_DIR)
//
// Set the spindle direction and apply immediately
// Stop on direction change if SPINDLE_STOP_ON_DIR_CHANGE is enabled
@ -100,7 +110,6 @@ void SpindleLaser::apply_power(const cutter_power_t inpow) {
if (TERN0(SPINDLE_STOP_ON_DIR_CHANGE, enabled()) && READ(SPINDLE_DIR_PIN) != dir_state) disable();
WRITE(SPINDLE_DIR_PIN, dir_state);
}
#endif
#endif // HAS_CUTTER

260
Marlin/src/feature/spindle_laser.h
View File

@ -34,87 +34,146 @@
#include "../module/planner.h"
#endif
#define PCT_TO_PWM(X) ((X) * 255 / 100)
#ifndef SPEED_POWER_INTERCEPT
#define SPEED_POWER_INTERCEPT 0
#endif
#define SPEED_POWER_FLOOR TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0)
// #define _MAP(N,S1,S2,D1,D2) ((N)*_MAX((D2)-(D1),0)/_MAX((S2)-(S1),1)+(D1))
class SpindleLaser {
public:
static bool isOn; // state to determine when to apply setPower to power
static cutter_power_t power;
static cutter_setPower_t setPower; // spindle/laser menu set power; in PWM, Percentage or RPM
static constexpr float
min_pct = round(TERN(CUTTER_POWER_RELATIVE, 0, (100 * float(SPEED_POWER_MIN) / TERN(SPINDLE_FEATURE, float(SPEED_POWER_MAX), 100)))),
max_pct = round(TERN(SPINDLE_FEATURE, 100, float(SPEED_POWER_MAX)));
static const inline uint8_t pct_to_ocr(const float pct) { return uint8_t(PCT_TO_PWM(pct)); }
// cpower = configured values (ie SPEED_POWER_MAX)
static const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { // configured value to pct
return unitPower ? round(100 * (cpwr - SPEED_POWER_FLOOR) / (SPEED_POWER_MAX - SPEED_POWER_FLOOR)) : 0;
}
// Convert a configured value (cpower)(ie SPEED_POWER_STARTUP) to unit power (upwr, upower),
// which can be PWM, Percent, 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 = (
#if ENABLED(SPINDLE_FEATURE)
// Spindle configured values are in RPM
#if CUTTER_UNIT_IS(RPM)
cpwr // to RPM
#elif CUTTER_UNIT_IS(PERCENT) // to PCT
cpwr_to_pct(cpwr)
#else // to PWM
PCT_TO_PWM(cpwr_to_pct(cpwr))
#endif
#else
// Laser configured values are in PCT
#if CUTTER_UNIT_IS(PWM255)
PCT_TO_PWM(cpwr)
#else
cpwr // to RPM/PCT
#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 bool isReady; // Ready to apply power setting from the UI to OCR
static uint8_t power;
#if ENABLED(MARLIN_DEV_MODE)
static cutter_frequency_t frequency; // set PWM frequency; range: 2K-50K
static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K
#endif
static cutter_setPower_t interpret_power(const float pwr) { // convert speed/power to configured PWM, Percentage or RPM in relative or normal range
#if CUTTER_DISPLAY_IS(PERCENT)
return (pwr / SPEED_POWER_MAX) * 100; // to percent
#elif CUTTER_DISPLAY_IS(RPM) // to RPM is unaltered
return pwr;
#else // to PWM
#if ENABLED(CUTTER_POWER_RELATIVE)
return (pwr - SPEED_POWER_MIN) / (SPEED_POWER_MAX - SPEED_POWER_MIN) * 255; // using rpm range as relative percentage
#else
return (pwr / SPEED_POWER_MAX) * 255;
#endif
#endif
}
/**
* Translate speed/power --> percentage --> PWM value
**/
static cutter_power_t translate_power(const float pwr) {
float pwrpc;
#if CUTTER_DISPLAY_IS(PERCENT)
pwrpc = pwr;
#elif CUTTER_DISPLAY_IS(RPM) // RPM to percent
#if ENABLED(CUTTER_POWER_RELATIVE)
pwrpc = (pwr - SPEED_POWER_MIN) / (SPEED_POWER_MAX - SPEED_POWER_MIN) * 100;
#else
pwrpc = pwr / SPEED_POWER_MAX * 100;
#endif
#else
return pwr; // PWM
#endif
#if ENABLED(SPINDLE_FEATURE)
#if ENABLED(CUTTER_POWER_RELATIVE)
constexpr float spmin = 0;
#else
constexpr float spmin = SPEED_POWER_MIN / SPEED_POWER_MAX * 100; // convert to percentage
#endif
constexpr float spmax = 100;
#else
constexpr float spmin = SPEED_POWER_MIN;
constexpr float spmax = SPEED_POWER_MAX;
#endif
constexpr float inv_slope = RECIPROCAL(SPEED_POWER_SLOPE),
min_ocr = (spmin - (SPEED_POWER_INTERCEPT)) * inv_slope, // Minimum allowed
max_ocr = (spmax - (SPEED_POWER_INTERCEPT)) * inv_slope; // Maximum allowed
float ocr_val;
if (pwrpc < spmin) ocr_val = min_ocr; // Use minimum if set below
else if (pwrpc > spmax) ocr_val = max_ocr; // Use maximum if set above
else ocr_val = (pwrpc - (SPEED_POWER_INTERCEPT)) * inv_slope; // Use calculated OCR value
return ocr_val; // ...limited to Atmel PWM max
}
static cutter_power_t menuPower; // Power as set via LCD menu in PWM, Percentage or RPM
static cutter_power_t unitPower; // Power as displayed status in PWM, Percentage or RPM
static void init();
// Modifying this function should update everywhere
static inline bool enabled(const cutter_power_t pwr) { return pwr > 0; }
static inline bool enabled() { return enabled(power); }
#if ENABLED(MARLIN_DEV_MODE)
static inline void refresh_frequency() { set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
#endif
static void apply_power(const cutter_power_t inpow);
// Modifying this function should update everywhere
static inline bool enabled(const cutter_power_t opwr) { return opwr > 0; }
static inline bool enabled() { return enabled(power); }
static void apply_power(const uint8_t inpow);
FORCE_INLINE static void refresh() { apply_power(power); }
FORCE_INLINE static void set_power(const cutter_power_t pwr) { power = pwr; refresh(); }
FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); }
static inline void set_enabled(const bool enable) { set_power(enable ? (power ?: interpret_power(SPEED_POWER_STARTUP)) : 0); }
static inline void set_enabled(const bool enable) { set_power(enable ? (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)) : 0); }
#if ENABLED(SPINDLE_LASER_PWM)
static void set_ocr(const uint8_t ocr);
static inline void set_ocr_power(const uint8_t pwr) { power = pwr; set_ocr(pwr); }
// static uint8_t translate_power(const cutter_power_t pwr); // Used by update output for power->OCR translation
#endif
static inline void set_ocr_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); }
static void ocr_off();
// Used to update output for power->OCR translation
static inline uint8_t upower_to_ocr(const cutter_power_t upwr) {
return (
#if CUTTER_UNIT_IS(PWM255)
uint8_t(upwr)
#elif CUTTER_UNIT_IS(PERCENT)
pct_to_ocr(upwr)
#else
uint8_t(pct_to_ocr(cpwr_to_pct(upwr)))
#endif
);
}
// Correct power to configured range
static inline cutter_power_t power_to_range(const cutter_power_t pwr) {
return power_to_range(pwr, (
#if CUTTER_UNIT_IS(PWM255)
0
#elif CUTTER_UNIT_IS(PERCENT)
1
#elif CUTTER_UNIT_IS(RPM)
2
#else
#error "???"
#endif
));
}
static inline cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) {
if (pwr <= 0) return 0;
cutter_power_t upwr;
switch (pwrUnit) {
case 0: // PWM
upwr = (
(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 1: // PERCENT
upwr = (
(pwr < min_pct) ? min_pct // Use minimum if set below
: (pwr > max_pct) ? max_pct // Use maximum if set above
: pwr // PCT
);
break;
case 2: // RPM
upwr = (
(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_PWM
// Wait for spindle to spin up or spin down
static inline void power_delay(const bool on) {
@ -129,37 +188,82 @@ public:
static inline void set_direction(const bool) {}
#endif
static inline void disable() { isOn = false; set_enabled(false); }
static inline void disable() { isReady = false; set_enabled(false); }
#if HAS_LCD_MENU
static inline void enable_forward() { isOn = true; setPower ? (power = setPower) : (setPower = interpret_power(SPEED_POWER_STARTUP)); set_direction(false); set_enabled(true); }
static inline void enable_reverse() { isOn = true; setPower ? (power = setPower) : (setPower = interpret_power(SPEED_POWER_STARTUP)); set_direction(true); set_enabled(true); }
static inline void enable_with_dir(const bool reverse) {
isReady = true;
const uint8_t ocr = upower_to_ocr(menuPower);
if (menuPower)
power = ocr;
else
menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
unitPower = menuPower;
set_direction(reverse);
set_enabled(true);
}
FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
#if ENABLED(SPINDLE_LASER_PWM)
static inline void update_from_mpower() {
if (isReady) power = upower_to_ocr(menuPower);
unitPower = menuPower;
}
#endif
#endif
#if ENABLED(LASER_POWER_INLINE)
/**
* Inline power adds extra fields to the planner block
* to handle laser power and scale to movement speed.
*/
// Force disengage planner power control
static inline void inline_disable() { planner.laser.status = 0; planner.laser.power = 0; isOn = false;}
static inline void inline_disable() {
isReady = false;
unitPower = 0;
planner.laser_inline.status = 0;
planner.laser_inline.power = 0;
}
// Inline modes of all other functions; all enable planner inline power control
static inline void inline_enabled(const bool enable) { enable ? inline_power(SPEED_POWER_STARTUP) : inline_ocr_power(0); }
static inline void set_inline_enabled(const bool enable) {
if (enable) { inline_power(cpwr_to_upwr(SPEED_POWER_STARTUP)); }
else { unitPower = 0; isReady = false; menuPower = 0; TERN(SPINDLE_LASER_PWM, inline_ocr_power, inline_power)(0);}
}
static void inline_power(const cutter_power_t pwr) {
// Set the power for subsequent movement blocks
static void inline_power(const cutter_power_t upwr) {
unitPower = upwr;
menuPower = unitPower;
#if ENABLED(SPINDLE_LASER_PWM)
inline_ocr_power(translate_power(pwr));
isReady = true;
#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 = 0x03;
planner.laser_inline.power = upower_to_ocr(upwr);
#else
if (upwr > 0)
inline_ocr_power(upower_to_ocr(upwr));
#endif
#else
planner.laser.status = enabled(pwr) ? 0x03 : 0x01;
planner.laser.power = pwr;
planner.laser_inline.status = enabled(pwr) ? 0x03 : 0x01;
planner.laser_inline.power = pwr;
isReady = enabled(upwr);
#endif
}
static inline void inline_direction(const bool reverse) { UNUSED(reverse); } // TODO is this ever going to be needed
static inline void inline_direction(const bool) { /* never */ }
#if ENABLED(SPINDLE_LASER_PWM)
static inline void inline_ocr_power(const uint8_t pwr) {
planner.laser.status = pwr ? 0x03 : 0x01;
planner.laser.power = pwr;
static inline void inline_ocr_power(const uint8_t ocrpwr) {
planner.laser_inline.status = ocrpwr ? 0x03 : 0x01;
planner.laser_inline.power = ocrpwr;
}
#endif
#endif
#endif // LASER_POWER_INLINE
static inline void kill() {
TERN_(LASER_POWER_INLINE, inline_disable());

23
Marlin/src/feature/spindle_laser_types.h
View File

@ -34,19 +34,20 @@
#define _MSG_CUTTER(M) MSG_LASER_##M
#endif
#define MSG_CUTTER(M) _MSG_CUTTER(M)
#if CUTTER_DISPLAY_IS(RPM) && SPEED_POWER_MAX > 255
#define cutter_power_t uint16_t
#define cutter_setPower_t uint16_t
#define CUTTER_MENU_POWER_TYPE uint16_5
#define cutter_power2str ui16tostr5rj
typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t;
#if CUTTER_UNIT_IS(RPM) && SPEED_POWER_MAX > 255
typedef uint16_t cutter_power_t;
#define CUTTER_MENU_POWER_TYPE uint16_5
#define cutter_power2str ui16tostr5rj
#else
#define cutter_power_t uint8_t
#define cutter_setPower_t uint8_t
#define CUTTER_MENU_POWER_TYPE uint8
#define cutter_power2str ui8tostr3rj
typedef uint8_t cutter_power_t;
#define CUTTER_MENU_POWER_TYPE uint8
#define cutter_power2str ui8tostr3rj
#endif
#if ENABLED(MARLIN_DEV_MODE)
#define cutter_frequency_t uint16_t
#define CUTTER_MENU_FREQUENCY_TYPE uint16_5
typedef uint16_t cutter_frequency_t;
#define CUTTER_MENU_FREQUENCY_TYPE uint16_5
#endif