From c9c17b886375338d8812bb7c7b7a9b68ce883f09 Mon Sep 17 00:00:00 2001
From: Alexander Semion <spin7ion@gmail.com>
Date: Sun, 1 Nov 2020 01:42:05 +0300
Subject: [PATCH] Add SPINDLE_SERVO option (#19971)
---
Marlin/Configuration_adv.h | 7 +++++++
Marlin/src/feature/spindle_laser.cpp | 12 +++++++++++-
Marlin/src/feature/spindle_laser.h | 5 ++++-
Marlin/src/gcode/control/M3-M5.cpp | 8 +++++++-
Marlin/src/inc/Conditionals_adv.h | 6 +++++-
Marlin/src/inc/SanityCheck.h | 8 ++++----
6 files changed, 38 insertions(+), 8 deletions(-)
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 951aab7804a..b39e9e17226 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -2943,11 +2943,18 @@
#define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)
+ //#define SPINDLE_SERVO // A servo converting an angle to spindle power
+ #ifdef SPINDLE_SERVO
+ #define SPINDLE_SERVO_NR 0 // Index of servo used for spindle control
+ #define SPINDLE_SERVO_MIN 10 // Minimum angle for servo spindle
+ #endif
+
/**
* Speed / Power can be set ('M3 S') and displayed in terms of:
* - PWM255 (S0 - S255)
* - PERCENT (S0 - S100)
* - RPM (S0 - S50000) Best for use with a spindle
+ * - SERVO (S0 - S180)
*/
#define CUTTER_POWER_UNIT PWM255
diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp
index bc387a93348..3b28b61b494 100644
--- a/Marlin/src/feature/spindle_laser.cpp
+++ b/Marlin/src/feature/spindle_laser.cpp
@@ -30,6 +30,10 @@
#include "spindle_laser.h"
+#if ENABLED(SPINDLE_SERVO)
+ #include "../module/servo.h"
+#endif
+
SpindleLaser cutter;
uint8_t SpindleLaser::power;
bool SpindleLaser::isReady; // Ready to apply power setting from the UI to OCR
@@ -45,7 +49,11 @@ cutter_power_t SpindleLaser::menuPower, // Power s
// Init the cutter to a safe OFF state
//
void SpindleLaser::init() {
- OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off
+ #if ENABLED(SPINDLE_SERVO)
+ MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN);
+ #else
+ OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off
+ #endif
#if ENABLED(SPINDLE_CHANGE_DIR)
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // Init rotation to clockwise (M3)
#endif
@@ -97,6 +105,8 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
ocr_off();
isReady = false;
}
+ #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);
isReady = true;
diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h
index 50e92fe663a..74d06634a0b 100644
--- a/Marlin/src/feature/spindle_laser.h
+++ b/Marlin/src/feature/spindle_laser.h
@@ -35,6 +35,7 @@
#endif
#define PCT_TO_PWM(X) ((X) * 255 / 100)
+#define PCT_TO_SERVO(X) ((X) * 180 / 100)
#ifndef SPEED_POWER_INTERCEPT
#define SPEED_POWER_INTERCEPT 0
@@ -60,7 +61,7 @@ public:
}
// Convert a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower),
- // which can be PWM, Percent, or RPM (rel/abs).
+ // 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 = (
#if ENABLED(SPINDLE_FEATURE)
@@ -69,6 +70,8 @@ public:
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))
#endif
diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp
index 1326c30669a..6f2409f69f2 100644
--- a/Marlin/src/gcode/control/M3-M5.cpp
+++ b/Marlin/src/gcode/control/M3-M5.cpp
@@ -69,9 +69,13 @@ void GcodeSuite::M3_M4(const bool is_M4) {
auto get_s_power = [] {
if (parser.seenval('S')) {
const float spwr = parser.value_float();
- cutter.unitPower = TERN(SPINDLE_LASER_PWM,
+ #if ENABLED(SPINDLE_SERVO)
+ cutter.unitPower = spwr;
+ #else
+ cutter.unitPower = TERN(SPINDLE_LASER_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);
@@ -108,6 +112,8 @@ void GcodeSuite::M3_M4(const bool is_M4) {
}
else
cutter.set_power(cutter.upower_to_ocr(get_s_power()));
+ #elif ENABLED(SPINDLE_SERVO)
+ cutter.set_power(get_s_power());
#else
cutter.set_enabled(true);
#endif
diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
index 05935be5491..2a898d60843 100644
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@@ -33,7 +33,7 @@
// Determine NUM_SERVOS if none was supplied
#ifndef NUM_SERVOS
#define NUM_SERVOS 0
- #if ANY(CHAMBER_VENT, HAS_Z_SERVO_PROBE, SWITCHING_EXTRUDER, SWITCHING_NOZZLE)
+ #if ANY(HAS_Z_SERVO_PROBE, CHAMBER_VENT, SWITCHING_TOOLHEAD, SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SPINDLE_SERVO)
#if NUM_SERVOS <= Z_PROBE_SERVO_NR
#undef NUM_SERVOS
#define NUM_SERVOS (Z_PROBE_SERVO_NR + 1)
@@ -62,6 +62,10 @@
#undef NUM_SERVOS
#define NUM_SERVOS (SWITCHING_EXTRUDER_E23_SERVO_NR + 1)
#endif
+ #if NUM_SERVOS <= SPINDLE_SERVO_NR
+ #undef NUM_SERVOS
+ #define NUM_SERVOS (SPINDLE_SERVO_NR + 1)
+ #endif
#endif
#endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 657e055241c..cadf84abd1b 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -3007,8 +3007,8 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#if HAS_CUTTER
#ifndef CUTTER_POWER_UNIT
#error "CUTTER_POWER_UNIT is required with a spindle or laser. Please update your Configuration_adv.h."
- #elif !CUTTER_UNIT_IS(PWM255) && !CUTTER_UNIT_IS(PERCENT) && !CUTTER_UNIT_IS(RPM)
- #error "CUTTER_POWER_UNIT must be PWM255, PERCENT, or RPM. Please update your Configuration_adv.h."
+ #elif !CUTTER_UNIT_IS(PWM255) && !CUTTER_UNIT_IS(PERCENT) && !CUTTER_UNIT_IS(RPM) && !CUTTER_UNIT_IS(SERVO)
+ #error "CUTTER_POWER_UNIT must be PWM255, PERCENT, RPM, or SERVO. Please update your Configuration_adv.h."
#endif
#if ENABLED(LASER_POWER_INLINE)
@@ -3047,8 +3047,8 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#define _PIN_CONFLICT(P) (PIN_EXISTS(P) && P##_PIN == SPINDLE_LASER_PWM_PIN)
#if BOTH(SPINDLE_FEATURE, LASER_FEATURE)
#error "Enable only one of SPINDLE_FEATURE or LASER_FEATURE."
- #elif !PIN_EXISTS(SPINDLE_LASER_ENA)
- #error "(SPINDLE|LASER)_FEATURE requires SPINDLE_LASER_ENA_PIN."
+ #elif !PIN_EXISTS(SPINDLE_LASER_ENA) && DISABLED(SPINDLE_SERVO)
+ #error "(SPINDLE|LASER)_FEATURE requires SPINDLE_LASER_ENA_PIN or SPINDLE_SERVO to control the power."
#elif ENABLED(SPINDLE_CHANGE_DIR) && !PIN_EXISTS(SPINDLE_DIR)
#error "SPINDLE_DIR_PIN is required for SPINDLE_CHANGE_DIR."
#elif ENABLED(SPINDLE_LASER_PWM)