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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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8
Marlin/src/module/planner.cpp
View File

@ -129,7 +129,7 @@ uint8_t Planner::delay_before_delivering; // This counter delays delivery
planner_settings_t Planner::settings; // Initialized by settings.load()
#if ENABLED(LASER_POWER_INLINE)
laser_state_t Planner::laser; // Current state for blocks
laser_state_t Planner::laser_inline; // Current state for blocks
#endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2
@ -1693,7 +1693,7 @@ bool Planner::_buffer_steps(const xyze_long_t &target
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*
* Returns true is movement is acceptable, false otherwise
* Returns true if movement is acceptable, false otherwise
*/
bool Planner::_populate_block(block_t * const block, bool split_move,
const abce_long_t &target
@ -1803,8 +1803,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Update block laser power
#if ENABLED(LASER_POWER_INLINE)
block->laser.status = laser.status;
block->laser.power = laser.power;
block->laser.status = laser_inline.status;
block->laser.power = laser_inline.power;
#endif
// Number of steps for each axis

26
Marlin/src/module/planner.h
View File

@ -117,8 +117,15 @@ enum BlockFlag : char {
#if ENABLED(LASER_POWER_INLINE)
typedef struct {
uint8_t status, // See planner settings for meaning
power; // Ditto; When in trapezoid mode this is nominal power
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)
@ -234,18 +241,15 @@ typedef struct block_t {
#if ENABLED(LASER_POWER_INLINE)
typedef struct {
/**
* Laser status bitmask; most bits are unused;
* 0: Planner buffer enable
* 1: Laser enable
* 2: Reserved for direction
* Laser status flags
*/
uint8_t status;
power_status_t status;
/**
* Laser power: 0 or 255 in case of PWM-less laser,
* or the OCR value;
* or the OCR (oscillator count register) value;
*
* Using OCR instead of raw power,
* as it avoids floating points during move loop
* Using OCR instead of raw power, because it avoids
* floating point operations during the move loop.
*/
uint8_t power;
} laser_state_t;
@ -332,7 +336,7 @@ class Planner {
static planner_settings_t settings;
#if ENABLED(LASER_POWER_INLINE)
static laser_state_t laser;
static laser_state_t laser_inline;
#endif
static uint32_t max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2

134
Marlin/src/module/stepper.cpp
View File

@ -244,8 +244,8 @@ 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_en = false,
Stepper::stepper_laser_t Stepper::laser_trap = {
.enabled = false,
.cur_power = 0,
.cruise_set = false,
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
@ -1843,28 +1843,28 @@ uint32_t Stepper::block_phase_isr() {
// Update laser - Accelerating
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser.trap_en) {
if (laser_trap.enabled) {
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
if (current_block->laser.entry_per) {
laser.acc_step_count -= step_events_completed - laser.last_step_count;
laser.last_step_count = step_events_completed;
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.acc_step_count < 0) {
while (laser.acc_step_count < 0) {
laser.acc_step_count += current_block->laser.entry_per;
if (laser.cur_power < current_block->laser.power) laser.cur_power++;
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.set_ocr_power(laser.cur_power);
cutter.set_ocr_power(laser_trap.cur_power);
}
}
#else
if (laser.till_update)
laser.till_update--;
if (laser_trap.till_update)
laser_trap.till_update--;
else {
laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
laser.cur_power = (current_block->laser.power * acc_step_rate) / current_block->nominal_rate;
cutter.set_ocr_power(laser.cur_power); // Cycle efficiency is irrelevant it the last line was many cycles
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.set_ocr_power(laser_trap.cur_power); // Cycle efficiency is irrelevant it the last line was many cycles
}
#endif
}
@ -1920,28 +1920,28 @@ uint32_t Stepper::block_phase_isr() {
// Update laser - Decelerating
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser.trap_en) {
if (laser_trap.enabled) {
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
if (current_block->laser.exit_per) {
laser.acc_step_count -= step_events_completed - laser.last_step_count;
laser.last_step_count = step_events_completed;
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.acc_step_count < 0) {
while (laser.acc_step_count < 0) {
laser.acc_step_count += current_block->laser.exit_per;
if (laser.cur_power > current_block->laser.power_exit) laser.cur_power--;
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.set_ocr_power(laser.cur_power);
cutter.set_ocr_power(laser_trap.cur_power);
}
}
#else
if (laser.till_update)
laser.till_update--;
if (laser_trap.till_update)
laser_trap.till_update--;
else {
laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
laser.cur_power = (current_block->laser.power * step_rate) / current_block->nominal_rate;
cutter.set_ocr_power(laser.cur_power); // Cycle efficiency isn't relevant when the last line was many cycles
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.set_ocr_power(laser_trap.cur_power); // Cycle efficiency isn't relevant when the last line was many cycles
}
#endif
}
@ -1966,16 +1966,16 @@ uint32_t Stepper::block_phase_isr() {
// Update laser - Cruising
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
if (laser.trap_en) {
if (!laser.cruise_set) {
laser.cur_power = current_block->laser.power;
cutter.set_ocr_power(laser.cur_power);
laser.cruise_set = true;
if (laser_trap.enabled) {
if (!laser_trap.cruise_set) {
laser_trap.cur_power = current_block->laser.power;
cutter.set_ocr_power(laser_trap.cur_power);
laser_trap.cruise_set = true;
}
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
#else
laser.last_step_count = step_events_completed;
laser_trap.last_step_count = step_events_completed;
#endif
}
#endif
@ -2000,7 +2000,10 @@ uint32_t Stepper::block_phase_isr() {
return interval; // No more queued movements!
}
TERN_(HAS_CUTTER, cutter.apply_power(current_block->cutter_power));
// For non-inline cutter, grossly apply power
#if ENABLED(LASER_FEATURE) && DISABLED(LASER_POWER_INLINE)
cutter.apply_power(current_block->cutter_power);
#endif
TERN_(POWER_LOSS_RECOVERY, recovery.info.sdpos = current_block->sdpos);
@ -2150,15 +2153,9 @@ uint32_t Stepper::block_phase_isr() {
else LA_isr_rate = LA_ADV_NEVER;
#endif
if (
#if HAS_L64XX
true // Always set direction for L64xx (This also enables the chips)
#else
current_block->direction_bits != last_direction_bits
#if DISABLED(MIXING_EXTRUDER)
|| stepper_extruder != last_moved_extruder
#endif
#endif
if ( ENABLED(HAS_L64XX) // Always set direction for L64xx (Also enables the chips)
|| current_block->direction_bits != last_direction_bits
|| TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder)
) {
last_direction_bits = current_block->direction_bits;
#if EXTRUDERS > 1
@ -2170,33 +2167,31 @@ uint32_t Stepper::block_phase_isr() {
}
#if ENABLED(LASER_POWER_INLINE)
const uint8_t stat = current_block->laser.status;
const power_status_t stat = current_block->laser.status;
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
laser.trap_en = (stat & 0x03) == 0x03;
laser.cur_power = current_block->laser.power_entry; // RESET STATE
laser.cruise_set = false;
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.last_step_count = 0;
laser.acc_step_count = current_block->laser.entry_per / 2;
laser_trap.last_step_count = 0;
laser_trap.acc_step_count = current_block->laser.entry_per / 2;
#else
laser.till_update = 0;
laser_trap.till_update = 0;
#endif
// Always have PWM in this case
if (TEST(stat, 0)) { // Planner controls the laser
if (TEST(stat, 1)) // Laser is on
cutter.set_ocr_power(laser.cur_power);
else
cutter.set_power(0);
if (stat.isPlanned) { // Planner controls the laser
cutter.set_ocr_power(
stat.isEnabled ? laser_trap.cur_power : 0 // ON with power or OFF
);
}
#else
if (TEST(stat, 0)) { // Planner controls the laser
if (stat.isPlanned) { // Planner controls the laser
#if ENABLED(SPINDLE_LASER_PWM)
if (TEST(stat, 1)) // Laser is on
cutter.set_ocr_power(current_block->laser.power);
else
cutter.set_power(0);
cutter.set_ocr_power(
stat.isEnabled ? current_block->laser.power : 0 // ON with power or OFF
);
#else
cutter.set_enabled(TEST(stat, 1));
cutter.set_enabled(stat.isEnabled);
#endif
}
#endif
@ -2237,15 +2232,14 @@ uint32_t Stepper::block_phase_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 uint8_t stat = planner.laser.status;
if (TEST(stat, 0)) { // Planner controls the laser
const power_status_t stat = planner.laser_inline.status;
if (stat.isPlanned) { // Planner controls the laser
#if ENABLED(SPINDLE_LASER_PWM)
if (TEST(stat, 1)) // Laser is on
cutter.set_ocr_power(planner.laser.power);
else
cutter.set_power(0);
cutter.set_ocr_power(
stat.isEnabled ? planner.laser_inline.power : 0 // ON with power or OFF
);
#else
cutter.set_enabled(TEST(stat, 1));
cutter.set_enabled(stat.isEnabled);
#endif
}
}