diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 00f89662c78..7d1547c0d02 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -2662,31 +2662,123 @@
#define SPINDLE_LASER_ACTIVE_HIGH false // Set to "true" if the on/off function is active HIGH
#define SPINDLE_LASER_PWM true // Set to "true" if your controller supports setting the speed/power
#define SPINDLE_LASER_PWM_INVERT true // Set to "true" if the speed/power goes up when you want it to go slower
- #define SPINDLE_LASER_POWERUP_DELAY 5000 // (ms) Delay to allow the spindle/laser to come up to speed/power
- #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop
+
+ #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)
+
+ /**
+ * Speed / Power can be set ('M3 S') and displayed in terms of:
+ * - PWM (S0 - S255)
+ * - PERCENT (S0 - S100)
+ * - RPM (S0 - S50000) Best for use with a spindle
+ */
+ #define CUTTER_POWER_DISPLAY PWM
+
+ /**
+ * Relative mode uses relative range (SPEED_POWER_MIN to SPEED_POWER_MAX) instead of normal range (0 to SPEED_POWER_MAX)
+ * Best use with SuperPID router controller where for example S0 = 5,000 RPM and S255 = 30,000 RPM
+ */
+ //#define CUTTER_POWER_RELATIVE // Set speed proportional to [SPEED_POWER_MIN...SPEED_POWER_MAX] instead of directly
#if ENABLED(SPINDLE_FEATURE)
//#define SPINDLE_CHANGE_DIR // Enable if your spindle controller can change spindle direction
#define SPINDLE_CHANGE_DIR_STOP // Enable if the spindle should stop before changing spin direction
#define SPINDLE_INVERT_DIR false // Set to "true" if the spin direction is reversed
+ #define SPINDLE_LASER_POWERUP_DELAY 5000 // (ms) Delay to allow the spindle/laser to come up to speed/power
+ #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop
+
/**
- * The M3 & M4 commands use the following equation to convert PWM duty cycle to speed/power
+ * M3/M4 uses the following equation to convert speed/power to PWM duty cycle
+ * Power = ((DC / 255 * 100) - SPEED_POWER_INTERCEPT)) * (1 / SPEED_POWER_SLOPE)
+ * where PWM DC varies from 0 to 255
*
- * SPEED/POWER = PWM duty cycle * SPEED_POWER_SLOPE + SPEED_POWER_INTERCEPT
- * where PWM duty cycle varies from 0 to 255
- *
- * set the following for your controller (ALL MUST BE SET)
+ * Set these required parameters for your controller
*/
- #define SPEED_POWER_SLOPE 118.4
- #define SPEED_POWER_INTERCEPT 0
- #define SPEED_POWER_MIN 5000
- #define SPEED_POWER_MAX 30000 // SuperPID router controller 0 - 30,000 RPM
+ #define SPEED_POWER_SLOPE 118.4 // SPEED_POWER_SLOPE = SPEED_POWER_MAX / 255
+ #define SPEED_POWER_INTERCEPT 0
+ #define SPEED_POWER_MIN 5000
+ #define SPEED_POWER_MAX 30000 // SuperPID router controller 0 - 30,000 RPM
+ #define SPEED_POWER_STARTUP 25000 // The default value for speed power when M3 is called without arguments
+
#else
- #define SPEED_POWER_SLOPE 0.3922
- #define SPEED_POWER_INTERCEPT 0
- #define SPEED_POWER_MIN 10
- #define SPEED_POWER_MAX 100 // 0-100%
+
+ #define SPEED_POWER_SLOPE 0.3922 // SPEED_POWER_SLOPE = SPEED_POWER_MAX / 255
+ #define SPEED_POWER_INTERCEPT 0
+ #define SPEED_POWER_MIN 0
+ #define SPEED_POWER_MAX 100 // 0-100%
+ #define SPEED_POWER_STARTUP 80 // The default value for speed power when M3 is called without arguments
+
+ /**
+ * 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).
+ *
+ * This allows the laser to keep in perfect sync with the planner and removes
+ * the powerup/down delay since lasers require negligible time.
+ */
+ #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
+
+ /**
+ * 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
+ #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
#endif
#endif
diff --git a/Marlin/src/HAL/AVR/HAL.h b/Marlin/src/HAL/AVR/HAL.h
index 02551698195..f715295d0ad 100644
--- a/Marlin/src/HAL/AVR/HAL.h
+++ b/Marlin/src/HAL/AVR/HAL.h
@@ -395,6 +395,8 @@ inline void HAL_adc_init() {
// AVR compatibility
#define strtof strtod
+#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
+
/**
* set_pwm_frequency
* Sets the frequency of the timer corresponding to the provided pin
diff --git a/Marlin/src/HAL/AVR/fast_pwm.cpp b/Marlin/src/HAL/AVR/fast_pwm.cpp
index 42e7cc3f107..e8550574864 100644
--- a/Marlin/src/HAL/AVR/fast_pwm.cpp
+++ b/Marlin/src/HAL/AVR/fast_pwm.cpp
@@ -23,7 +23,7 @@
#include "../../inc/MarlinConfigPre.h"
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_PWM
+#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
#include "HAL.h"
@@ -278,5 +278,5 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
}
}
-#endif // FAST_PWM_FAN || SPINDLE_LASER_PWM
+#endif // NEEDS_HARDWARE_PWM
#endif // __AVR__
diff --git a/Marlin/src/HAL/LPC1768/HAL.h b/Marlin/src/HAL/LPC1768/HAL.h
index f5ea629f169..70bb50e6920 100644
--- a/Marlin/src/HAL/LPC1768/HAL.h
+++ b/Marlin/src/HAL/LPC1768/HAL.h
@@ -197,6 +197,8 @@ void HAL_idletask();
#define PLATFORM_M997_SUPPORT
void flashFirmware(const int16_t);
+#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment
+
/**
* set_pwm_frequency
* Set the frequency of the timer corresponding to the provided pin
diff --git a/Marlin/src/HAL/LPC1768/fast_pwm.cpp b/Marlin/src/HAL/LPC1768/fast_pwm.cpp
index a1feb259032..4f2e30ee725 100644
--- a/Marlin/src/HAL/LPC1768/fast_pwm.cpp
+++ b/Marlin/src/HAL/LPC1768/fast_pwm.cpp
@@ -24,7 +24,7 @@
#include "../../inc/MarlinConfigPre.h"
-#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_PWM
+#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM
#include <pwm.h>
diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
index 3a6582bbb1e..5073c339cd1 100644
--- a/Marlin/src/MarlinCore.cpp
+++ b/Marlin/src/MarlinCore.cpp
@@ -420,7 +420,11 @@ void startOrResumeJob() {
#if DISABLED(SD_ABORT_NO_COOLDOWN)
thermalManager.disable_all_heaters();
#endif
- thermalManager.zero_fan_speeds();
+ #if !HAS_CUTTER
+ thermalManager.zero_fan_speeds();
+ #else
+ cutter.kill(); // Full cutter shutdown including ISR control
+ #endif
wait_for_heatup = false;
#if ENABLED(POWER_LOSS_RECOVERY)
recovery.purge();
@@ -741,6 +745,10 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) {
thermalManager.disable_all_heaters();
+ #if HAS_CUTTER
+ cutter.kill(); // Full cutter shutdown including ISR control
+ #endif
+
SERIAL_ERROR_MSG(STR_ERR_KILLED);
#if HAS_DISPLAY
@@ -770,6 +778,10 @@ void minkill(const bool steppers_off/*=false*/) {
// Reiterate heaters off
thermalManager.disable_all_heaters();
+ #if HAS_CUTTER
+ cutter.kill(); // Reiterate cutter shutdown
+ #endif
+
// Power off all steppers (for M112) or just the E steppers
steppers_off ? disable_all_steppers() : disable_e_steppers();
@@ -789,14 +801,14 @@ void minkill(const bool steppers_off/*=false*/) {
// Wait for kill to be pressed
while (READ(KILL_PIN)) watchdog_refresh();
- void (*resetFunc)() = 0; // Declare resetFunc() at address 0
+ void (*resetFunc)() = 0; // Declare resetFunc() at address 0
resetFunc(); // Jump to address 0
- #else // !HAS_KILL
+ #else
- for (;;) watchdog_refresh(); // Wait for reset
+ for (;;) watchdog_refresh(); // Wait for reset
- #endif // !HAS_KILL
+ #endif
}
/**
diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h
index 833899bdcbc..418a24ec925 100644
--- a/Marlin/src/core/drivers.h
+++ b/Marlin/src/core/drivers.h
@@ -174,15 +174,6 @@
// Defines that can't be evaluated now
#define HAS_TMC_SW_SERIAL ANY_AXIS_HAS(SW_SERIAL)
-//
-// Stretching 'drivers.h' to include LPC/SAMD51 SD options
-//
-#define _SDCARD_LCD 1
-#define _SDCARD_ONBOARD 2
-#define _SDCARD_CUSTOM_CABLE 3
-#define _SDCARD_ID(V) _CAT(_SDCARD_, V)
-#define SD_CONNECTION_IS(V) (_SDCARD_ID(SDCARD_CONNECTION) == _SDCARD_ID(V))
-
#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01)
#define HAS_L64XX 1
#endif
diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp
index 0567ba5d3e2..63c98911099 100644
--- a/Marlin/src/feature/spindle_laser.cpp
+++ b/Marlin/src/feature/spindle_laser.cpp
@@ -32,10 +32,17 @@
SpindleLaser cutter;
-cutter_power_t SpindleLaser::power; // = 0
-
+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
+#endif
#define SPINDLE_LASER_PWM_OFF ((SPINDLE_LASER_PWM_INVERT) ? 255 : 0)
+//
+// 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
#if ENABLED(SPINDLE_CHANGE_DIR)
@@ -45,41 +52,39 @@ void SpindleLaser::init() {
SET_PWM(SPINDLE_LASER_PWM_PIN);
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);
+ #if ENABLED(MARLIN_DEV_MODE)
+ frequency = SPINDLE_LASER_FREQUENCY;
+ #endif
+ #endif
}
#if ENABLED(SPINDLE_LASER_PWM)
/**
- * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
- *
- * it accepts inputs of 0-255
- */
+ * 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 (active low)
+ WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_HIGH); // turn spindle on
analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
}
#endif
+//
+// Set cutter ON 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;
#if ENABLED(SPINDLE_LASER_PWM)
- if (enabled()) {
- #define _scaled(F) ((F - (SPEED_POWER_INTERCEPT)) * inv_slope)
- constexpr float inv_slope = RECIPROCAL(SPEED_POWER_SLOPE),
- min_ocr = _scaled(SPEED_POWER_MIN),
- max_ocr = _scaled(SPEED_POWER_MAX);
- int16_t ocr_val;
- if (inpow <= SPEED_POWER_MIN) ocr_val = min_ocr; // Use minimum if set below
- else if (inpow >= SPEED_POWER_MAX) ocr_val = max_ocr; // Use maximum if set above
- else ocr_val = _scaled(inpow); // Use calculated OCR value
- set_ocr(ocr_val & 0xFF); // ...limited to Atmel PWM max
- }
+ if (enabled())
+ set_ocr(translate_power(inpow));
else {
- WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_HIGH); // Turn spindle off (active low)
- analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Only write low byte
+ 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
}
#else
WRITE(SPINDLE_LASER_ENA_PIN, (SPINDLE_LASER_ACTIVE_HIGH) ? enabled() : !enabled());
@@ -88,6 +93,10 @@ void SpindleLaser::apply_power(const cutter_power_t inpow) {
#if ENABLED(SPINDLE_CHANGE_DIR)
+ //
+ // Set the spindle direction and apply immediately
+ // Stop on direction change if SPINDLE_STOP_ON_DIR_CHANGE is enabled
+ //
void SpindleLaser::set_direction(const bool reverse) {
const bool dir_state = (reverse == SPINDLE_INVERT_DIR); // Forward (M3) HIGH when not inverted
#if ENABLED(SPINDLE_STOP_ON_DIR_CHANGE)
diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h
index ea035299be3..3d7ab6c360b 100644
--- a/Marlin/src/feature/spindle_laser.h
+++ b/Marlin/src/feature/spindle_laser.h
@@ -28,55 +28,98 @@
#include "../inc/MarlinConfig.h"
-#if ENABLED(SPINDLE_FEATURE)
- #define _MSG_CUTTER(M) MSG_SPINDLE_##M
-#else
- #define _MSG_CUTTER(M) MSG_LASER_##M
-#endif
-#define MSG_CUTTER(M) _MSG_CUTTER(M)
+#include "spindle_laser_types.h"
-#if SPEED_POWER_MAX > 255
- typedef uint16_t cutter_power_t;
- #define CUTTER_MENU_TYPE uint16_5
-#else
- typedef uint8_t cutter_power_t;
- #define CUTTER_MENU_TYPE uint8
+#if ENABLED(LASER_POWER_INLINE)
+ #include "../module/planner.h"
#endif
class SpindleLaser {
public:
+ static bool isOn; // state to determine when to apply setPower to power
static cutter_power_t power;
- static inline uint8_t powerPercent(const uint8_t pp) { return ui8_to_percent(pp); } // for display
+ static cutter_setPower_t setPower; // spindle/laser menu set power; in PWM, Percentage or RPM
+ #if ENABLED(MARLIN_DEV_MODE)
+ 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 void init();
- static inline bool enabled() { return !!power; }
-
- static inline void set_power(const cutter_power_t pwr) { power = pwr; }
-
- static inline void refresh() { apply_power(power); }
-
- static inline void set_enabled(const bool enable) {
- const bool was = enabled();
- set_power(enable ? 255 : 0);
- if (was != enable) power_delay();
- }
-
+ // 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);
- //static bool active() { return READ(SPINDLE_LASER_ENA_PIN) == SPINDLE_LASER_ACTIVE_HIGH; }
+ FORCE_INLINE static void refresh() { apply_power(power); }
+ FORCE_INLINE static void set_power(const cutter_power_t pwr) { power = pwr; refresh(); }
- static void update_output();
+ static inline void set_enabled(const bool enable) { set_power(enable ? (power ?: interpret_power(SPEED_POWER_STARTUP)) : 0); }
#if ENABLED(SPINDLE_LASER_PWM)
static void set_ocr(const uint8_t ocr);
- static inline void set_ocr_power(const cutter_power_t pwr) { power = pwr; set_ocr(pwr); }
+ 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
// Wait for spindle to spin up or spin down
- static inline void power_delay() {
- #if SPINDLE_LASER_POWERUP_DELAY || SPINDLE_LASER_POWERDOWN_DELAY
- safe_delay(enabled() ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
+ static inline void power_delay(const bool on) {
+ #if DISABLED(LASER_POWER_INLINE)
+ safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
#endif
}
@@ -86,10 +129,44 @@ public:
static inline void set_direction(const bool) {}
#endif
- static inline void disable() { set_enabled(false); }
- static inline void enable_forward() { set_direction(false); set_enabled(true); }
- static inline void enable_reverse() { set_direction(true); set_enabled(true); }
+ static inline void disable() { isOn = 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); }
+ #endif
+ #if ENABLED(LASER_POWER_INLINE)
+ // Force disengage planner power control
+ static inline void inline_disable() { planner.settings.laser.status = 0; planner.settings.laser.power = 0; isOn = false;}
+
+ // 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 void inline_power(const cutter_power_t pwr) {
+ #if ENABLED(SPINDLE_LASER_PWM)
+ inline_ocr_power(translate_power(pwr));
+ #else
+ planner.settings.laser.status = enabled(pwr) ? 0x03 : 0x01;
+ planner.settings.laser.power = pwr;
+ #endif
+ }
+
+ static inline void inline_direction(const bool reverse) { UNUSED(reverse); } // TODO is this ever going to be needed
+
+ #if ENABLED(SPINDLE_LASER_PWM)
+ static inline void inline_ocr_power(const uint8_t pwr) {
+ planner.settings.laser.status = pwr ? 0x03 : 0x01;
+ planner.settings.laser.power = pwr;
+ }
+ #endif
+ #endif
+
+ static inline void kill() {
+ #if ENABLED(LASER_POWER_INLINE)
+ inline_disable();
+ #endif
+ disable();
+ }
};
extern SpindleLaser cutter;
diff --git a/Marlin/src/feature/spindle_laser_types.h b/Marlin/src/feature/spindle_laser_types.h
new file mode 100644
index 00000000000..9e3f2bae48a
--- /dev/null
+++ b/Marlin/src/feature/spindle_laser_types.h
@@ -0,0 +1,50 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * feature/spindle_laser_types.h
+ * Support for Laser Power or Spindle Power & Direction
+ */
+
+#include "../inc/MarlinConfigPre.h"
+
+#if ENABLED(SPINDLE_FEATURE)
+ #define _MSG_CUTTER(M) MSG_SPINDLE_##M
+#else
+ #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
+#else
+ #define cutter_power_t uint8_t
+ #define cutter_setPower_t uint8_t
+ #define CUTTER_MENU_POWER_TYPE uint8
+#endif
+
+#if ENABLED(MARLIN_DEV_MODE)
+ #define cutter_frequency_t uint16_t
+ #define CUTTER_MENU_FREQUENCY_TYPE uint16_5
+#endif
diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp
index 56e1e0e4ec9..9c897abf01a 100644
--- a/Marlin/src/gcode/control/M3-M5.cpp
+++ b/Marlin/src/gcode/control/M3-M5.cpp
@@ -28,6 +28,12 @@
#include "../../feature/spindle_laser.h"
#include "../../module/stepper.h"
+inline cutter_power_t get_s_power() {
+ return cutter_power_t(
+ parser.intval('S', cutter.interpret_power(SPEED_POWER_STARTUP))
+ );
+}
+
/**
* Laser:
*
@@ -71,29 +77,52 @@
*/
void GcodeSuite::M3_M4(const bool is_M4) {
- #if ENABLED(SPINDLE_FEATURE)
- planner.synchronize(); // Wait for movement to complete before changing power
+ #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_PWM)
+ if (parser.seen('O'))
+ cutter.inline_ocr_power(parser.value_byte()); // The OCR is a value from 0 to 255 (uint8_t)
+ else
+ cutter.inline_power(get_s_power());
+ #else
+ cutter.inline_enabled(true);
+ #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_direction(is_M4);
#if ENABLED(SPINDLE_LASER_PWM)
if (parser.seenval('O'))
cutter.set_ocr_power(parser.value_byte()); // The OCR is a value from 0 to 255 (uint8_t)
else
- cutter.set_power(parser.intval('S', 255));
+ cutter.set_power(get_s_power());
#else
cutter.set_enabled(true);
#endif
}
/**
- * M5 - Cutter OFF
+ * M5 - Cutter OFF (when moves are complete)
*/
void GcodeSuite::M5() {
- #if ENABLED(SPINDLE_FEATURE)
- planner.synchronize();
+ #if ENABLED(LASER_POWER_INLINE)
+ if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
+ cutter.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);
}
diff --git a/Marlin/src/gcode/gcode.cpp b/Marlin/src/gcode/gcode.cpp
index 1f9d710bb4c..0937a86bd22 100644
--- a/Marlin/src/gcode/gcode.cpp
+++ b/Marlin/src/gcode/gcode.cpp
@@ -53,6 +53,10 @@ GcodeSuite gcode;
#include "../feature/cancel_object.h"
#endif
+#if ENABLED(LASER_MOVE_POWER)
+ #include "../feature/spindle_laser.h"
+#endif
+
#include "../MarlinCore.h" // for idle()
millis_t GcodeSuite::previous_move_ms;
@@ -172,6 +176,18 @@ void GcodeSuite::get_destination_from_command() {
#if BOTH(MIXING_EXTRUDER, DIRECT_MIXING_IN_G1)
M165();
#endif
+
+ #if ENABLED(LASER_MOVE_POWER)
+ // Set the laser power in the planner to configure this move
+ if (parser.seen('S'))
+ cutter.inline_power(parser.value_int());
+ else {
+ #if ENABLED(LASER_MOVE_G0_OFF)
+ if (parser.codenum == 0) // G0
+ cutter.inline_enabled(false);
+ #endif
+ }
+ #endif
}
/**
diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
index 069d76fdad9..df0825a512d 100644
--- a/Marlin/src/gcode/motion/G0_G1.cpp
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -69,7 +69,7 @@ void GcodeSuite::G0_G1(
#endif
#endif
- get_destination_from_command(); // Process X Y Z E F parameters
+ get_destination_from_command(); // Get X Y Z E F (and set cutter power)
#ifdef G0_FEEDRATE
if (fast_move) {
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
index b0fb299ab26..d6b18bdd951 100644
--- a/Marlin/src/gcode/motion/G2_G3.cpp
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -283,7 +283,7 @@ void GcodeSuite::G2_G3(const bool clockwise) {
relative_mode = true;
#endif
- get_destination_from_command();
+ get_destination_from_command(); // Get X Y Z E F (and set cutter power)
#if ENABLED(SF_ARC_FIX)
relative_mode = relative_mode_backup;
diff --git a/Marlin/src/inc/Conditionals_adv.h b/Marlin/src/inc/Conditionals_adv.h
index a52ae1af297..cda744d81b6 100644
--- a/Marlin/src/inc/Conditionals_adv.h
+++ b/Marlin/src/inc/Conditionals_adv.h
@@ -116,7 +116,23 @@
#define Z_STEPPER_ALIGN_AMP 1.0
#endif
-#define HAS_CUTTER EITHER(SPINDLE_FEATURE, LASER_FEATURE)
+//
+// Spindle/Laser power display types
+// Defined here so sanity checks can use them
+//
+#if EITHER(SPINDLE_FEATURE, LASER_FEATURE)
+ #define HAS_CUTTER 1
+ #define _CUTTER_DISP_PWM 1
+ #define _CUTTER_DISP_PERCENT 2
+ #define _CUTTER_DISP_RPM 3
+ #define _CUTTER_DISP(V) _CAT(_CUTTER_DISP_, V)
+ #define CUTTER_DISPLAY_IS(V) (_CUTTER_DISP(CUTTER_POWER_DISPLAY) == _CUTTER_DISP(V))
+#endif
+
+// Add features that need hardware PWM here
+#if ANY(FAST_PWM_FAN, SPINDLE_LASER_PWM)
+ #define NEEDS_HARDWARE_PWM 1
+#endif
#if !defined(__AVR__) || !defined(USBCON)
// Define constants and variables for buffering serial data.
@@ -290,3 +306,17 @@
#define MAXIMUM_STEPPER_RATE 250000
#endif
#endif
+
+//
+// SD Card connection methods
+// Defined here so pins and sanity checks can use them
+//
+#if ENABLED(SDSUPPORT)
+ #define _SDCARD_LCD 1
+ #define _SDCARD_ONBOARD 2
+ #define _SDCARD_CUSTOM_CABLE 3
+ #define _SDCARD_ID(V) _CAT(_SDCARD_, V)
+ #define SD_CONNECTION_IS(V) (_SDCARD_ID(SDCARD_CONNECTION) == _SDCARD_ID(V))
+#else
+ #define SD_CONNECTION_IS(...) 0
+#endif
diff --git a/Marlin/src/inc/Conditionals_post.h b/Marlin/src/inc/Conditionals_post.h
index 20867b4fea0..b38aaa13320 100644
--- a/Marlin/src/inc/Conditionals_post.h
+++ b/Marlin/src/inc/Conditionals_post.h
@@ -324,17 +324,36 @@
/**
* Override the SD_DETECT_STATE set in Configuration_adv.h
+ * and enable sharing of onboard SD host drives (all platforms but AGCM4)
*/
#if ENABLED(SDSUPPORT)
- #if HAS_LCD_MENU && (SD_CONNECTION_IS(LCD) || !defined(SDCARD_CONNECTION))
- #undef SD_DETECT_STATE
- #if ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
- #define SD_DETECT_STATE HIGH
+
+ #if SD_CONNECTION_IS(ONBOARD) && DISABLED(NO_SD_HOST_DRIVE) && !defined(ARDUINO_GRAND_CENTRAL_M4)
+ //
+ // The external SD card is not used. Hardware SPI is used to access the card.
+ // When sharing the SD card with a PC we want the menu options to
+ // mount/unmount the card and refresh it. So we disable card detect.
+ //
+ #undef SD_DETECT_PIN
+ #define SHARED_SD_CARD
+ #endif
+
+ #if DISABLED(SHARED_SD_CARD)
+ #define INIT_SDCARD_ON_BOOT 1
+ #endif
+
+ #if PIN_EXISTS(SD_DETECT)
+ #if HAS_LCD_MENU && (SD_CONNECTION_IS(LCD) || !defined(SDCARD_CONNECTION))
+ #undef SD_DETECT_STATE
+ #if ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
+ #define SD_DETECT_STATE HIGH
+ #endif
+ #endif
+ #ifndef SD_DETECT_STATE
+ #define SD_DETECT_STATE LOW
#endif
#endif
- #ifndef SD_DETECT_STATE
- #define SD_DETECT_STATE LOW
- #endif
+
#endif
/**
@@ -2153,21 +2172,6 @@
#endif
#endif
-#if ENABLED(SDSUPPORT)
- #if SD_CONNECTION_IS(ONBOARD) && DISABLED(NO_SD_HOST_DRIVE) && !defined(ARDUINO_GRAND_CENTRAL_M4)
- //
- // The external SD card is not used. Hardware SPI is used to access the card.
- // When sharing the SD card with a PC we want the menu options to
- // mount/unmount the card and refresh it. So we disable card detect.
- //
- #undef SD_DETECT_PIN
- #define SHARED_SD_CARD
- #endif
- #if DISABLED(SHARED_SD_CARD)
- #define INIT_SDCARD_ON_BOOT 1
- #endif
-#endif
-
#if !NUM_SERIAL
#undef BAUD_RATE_GCODE
#endif
diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h
index 2fd61d4be10..088ad098db9 100644
--- a/Marlin/src/inc/SanityCheck.h
+++ b/Marlin/src/inc/SanityCheck.h
@@ -1451,7 +1451,7 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
* Deploying the Allen Key probe uses big moves in z direction. Too dangerous for an unhomed z-axis.
*/
#if ENABLED(Z_PROBE_ALLEN_KEY) && (Z_HOME_DIR < 0) && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
- #error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY"
+ #error "You can't home to a z min endstop with a Z_PROBE_ALLEN_KEY."
#endif
/**
@@ -2654,9 +2654,9 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#if ENABLED(BACKLASH_COMPENSATION)
#ifndef BACKLASH_DISTANCE_MM
- #error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM"
+ #error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
#elif !defined(BACKLASH_CORRECTION)
- #error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION"
+ #error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
#elif IS_CORE
constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
@@ -2736,6 +2736,45 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#endif
#if HAS_CUTTER
+ #ifndef CUTTER_POWER_DISPLAY
+ #error "CUTTER_POWER_DISPLAY is required with a spindle or laser. Please update your Configuration_adv.h."
+ #elif !CUTTER_DISPLAY_IS(PWM) && !CUTTER_DISPLAY_IS(PERCENT) && !CUTTER_DISPLAY_IS(RPM)
+ #error "CUTTER_POWER_DISPLAY must be PWM, PERCENT, or RPM. Please update your Configuration_adv.h."
+ #endif
+
+ #if ENABLED(LASER_POWER_INLINE)
+ #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. Please update your Configuration_adv.h."
+ #endif
+ #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
+ #if DISABLED(SPINDLE_LASER_PWM)
+ #error "LASER_POWER_INLINE_TRAPEZOID requires SPINDLE_LASER_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
+ #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
#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."
@@ -2748,13 +2787,9 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
#error "SPINDLE_LASER_PWM_PIN is required for SPINDLE_LASER_PWM."
#elif !PWM_PIN(SPINDLE_LASER_PWM_PIN)
#error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin."
- #elif 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 !defined(SPINDLE_LASER_PWM_INVERT)
#error "SPINDLE_LASER_PWM_INVERT is required for (SPINDLE|LASER)_FEATURE."
- #elif !defined(SPEED_POWER_SLOPE) || !defined(SPEED_POWER_INTERCEPT) || !defined(SPEED_POWER_MIN) || !defined(SPEED_POWER_MAX)
+ #elif !defined(SPEED_POWER_SLOPE) || !defined(SPEED_POWER_INTERCEPT) || !defined(SPEED_POWER_MIN) || !defined(SPEED_POWER_MAX) || !defined(SPEED_POWER_STARTUP)
#error "SPINDLE_LASER_PWM equation constant(s) missing."
#elif _PIN_CONFLICT(X_MIN)
#error "SPINDLE_LASER_PWM pin conflicts with X_MIN_PIN."
diff --git a/Marlin/src/lcd/dogm/status_screen_DOGM.cpp b/Marlin/src/lcd/dogm/status_screen_DOGM.cpp
index be414ab3037..b4bba3782ce 100644
--- a/Marlin/src/lcd/dogm/status_screen_DOGM.cpp
+++ b/Marlin/src/lcd/dogm/status_screen_DOGM.cpp
@@ -570,8 +570,12 @@ void MarlinUI::draw_status_screen() {
// Laser / Spindle
#if DO_DRAW_CUTTER
if (cutter.power && PAGE_CONTAINS(STATUS_CUTTER_TEXT_Y - INFO_FONT_ASCENT, STATUS_CUTTER_TEXT_Y - 1)) {
- lcd_put_u8str(STATUS_CUTTER_TEXT_X, STATUS_CUTTER_TEXT_Y, i16tostr3rj(cutter.powerPercent(cutter.power)));
- lcd_put_wchar('%');
+ lcd_put_u8str(STATUS_CUTTER_TEXT_X, STATUS_CUTTER_TEXT_Y, i16tostr3rj(cutter.power));
+ #if CUTTER_DISPLAY_IS(PERCENT)
+ lcd_put_wchar('%');
+ #elif CUTTER_DISPLAY_IS(RPM)
+ lcd_put_wchar('K');
+ #endif
}
#endif
diff --git a/Marlin/src/lcd/language/language_en.h b/Marlin/src/lcd/language/language_en.h
index 79a6f814b2e..0aea571caab 100644
--- a/Marlin/src/lcd/language/language_en.h
+++ b/Marlin/src/lcd/language/language_en.h
@@ -90,6 +90,7 @@ namespace Language_en {
PROGMEM Language_Str MSG_PREHEAT_2_SETTINGS = _UxGT("Preheat ") PREHEAT_2_LABEL _UxGT(" Conf");
PROGMEM Language_Str MSG_PREHEAT_CUSTOM = _UxGT("Preheat Custom");
PROGMEM Language_Str MSG_COOLDOWN = _UxGT("Cooldown");
+ PROGMEM Language_Str MSG_CUTTER_FREQUENCY = _UxGT("Frequency");
PROGMEM Language_Str MSG_LASER_MENU = _UxGT("Laser Control");
PROGMEM Language_Str MSG_LASER_OFF = _UxGT("Laser Off");
PROGMEM Language_Str MSG_LASER_ON = _UxGT("Laser On");
@@ -603,7 +604,7 @@ namespace Language_en {
PROGMEM Language_Str MSG_BACKLASH_C = LCD_STR_C;
PROGMEM Language_Str MSG_BACKLASH_CORRECTION = _UxGT("Correction");
PROGMEM Language_Str MSG_BACKLASH_SMOOTHING = _UxGT("Smoothing");
-
+
PROGMEM Language_Str MSG_LEVEL_X_AXIS = _UxGT("Level X Axis");
PROGMEM Language_Str MSG_AUTO_CALIBRATE = _UxGT("Auto Calibrate");
PROGMEM Language_Str MSG_HEATER_TIMEOUT = _UxGT("Heater Timeout");
diff --git a/Marlin/src/lcd/menu/menu_spindle_laser.cpp b/Marlin/src/lcd/menu/menu_spindle_laser.cpp
index fd42522839e..d8e680ec3c3 100644
--- a/Marlin/src/lcd/menu/menu_spindle_laser.cpp
+++ b/Marlin/src/lcd/menu/menu_spindle_laser.cpp
@@ -36,18 +36,29 @@
START_MENU();
BACK_ITEM(MSG_MAIN);
- if (cutter.enabled()) {
- #if ENABLED(SPINDLE_LASER_PWM)
- EDIT_ITEM(CUTTER_MENU_TYPE, MSG_CUTTER(POWER), &cutter.power, SPEED_POWER_MIN, SPEED_POWER_MAX);
- #endif
+ #if ENABLED(SPINDLE_LASER_PWM)
+ EDIT_ITEM_FAST(CUTTER_MENU_POWER_TYPE, MSG_CUTTER(POWER), &cutter.setPower, cutter.interpret_power(SPEED_POWER_MIN), cutter.interpret_power(SPEED_POWER_MAX),
+ []{
+ if (cutter.isOn) {
+ cutter.power = cutter.setPower;
+ }
+ });
+ #endif
+
+ if (cutter.enabled() && cutter.isOn)
ACTION_ITEM(MSG_CUTTER(OFF), cutter.disable);
- }
else {
ACTION_ITEM(MSG_CUTTER(ON), cutter.enable_forward);
#if ENABLED(SPINDLE_CHANGE_DIR)
ACTION_ITEM(MSG_SPINDLE_REVERSE, cutter.enable_reverse);
#endif
}
+
+ #if ENABLED(MARLIN_DEV_MODE)
+ #if ENABLED(HAL_CAN_SET_PWM_FREQ) && defined(SPINDLE_LASER_FREQUENCY)
+ EDIT_ITEM_FAST(CUTTER_MENU_FREQUENCY_TYPE, MSG_CUTTER_FREQUENCY, &cutter.frequency, 2000, 50000,[]{ cutter.refresh_frequency();});
+ #endif
+ #endif
END_MENU();
}
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index e1a050a4592..2de46373b26 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -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
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 24c02c01c5c..a42c84c1faf 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -52,7 +52,7 @@
#endif
#if HAS_CUTTER
- #include "../feature/spindle_laser.h"
+ #include "../feature/spindle_laser_types.h"
#endif
// Feedrate for manual moves
@@ -88,6 +88,23 @@ enum BlockFlag : char {
BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
};
+#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
+ #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
+
/**
* struct block_t
*
@@ -174,12 +191,36 @@ typedef struct block_t {
uint32_t sdpos;
#endif
+ #if ENABLED(LASER_POWER_INLINE)
+ block_laser_t laser;
+ #endif
+
} block_t;
#define HAS_POSITION_FLOAT ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL)
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
+#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
+ */
+ uint8_t status;
+ /**
+ * Laser power: 0 or 255 in case of PWM-less laser,
+ * or the OCR value;
+ *
+ * Using OCR instead of raw power,
+ * as it avoids floating points during move loop
+ */
+ uint8_t power;
+ } settings_laser_t;
+#endif
+
typedef struct {
uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
min_segment_time_us; // (µs) M205 B
@@ -190,6 +231,9 @@ typedef struct {
travel_acceleration; // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
feedRate_t min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
+ #if ENABLED(LASER_POWER_INLINE)
+ settings_laser_t laser;
+ #endif
} planner_settings_t;
#if DISABLED(SKEW_CORRECTION)
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index ed48b83d5a6..f77a596b08c 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -133,6 +133,10 @@ Stepper stepper; // Singleton
#include "../feature/powerloss.h"
#endif
+#if HAS_CUTTER
+ #include "../feature/spindle_laser.h"
+#endif
+
// public:
#if HAS_EXTRA_ENDSTOPS || ENABLED(Z_STEPPER_AUTO_ALIGN)
@@ -236,6 +240,20 @@ 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_en = 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 DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (separate_multi_axis) { \
if (A##_HOME_DIR < 0) { \
@@ -1674,10 +1692,9 @@ uint32_t Stepper::block_phase_isr() {
#if ENABLED(S_CURVE_ACCELERATION)
// Get the next speed to use (Jerk limited!)
- uint32_t acc_step_rate =
- acceleration_time < current_block->acceleration_time
- ? _eval_bezier_curve(acceleration_time)
- : current_block->cruise_rate;
+ uint32_t acc_step_rate = acceleration_time < current_block->acceleration_time
+ ? _eval_bezier_curve(acceleration_time)
+ : current_block->cruise_rate;
#else
acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate;
NOMORE(acc_step_rate, current_block->nominal_rate);
@@ -1690,9 +1707,40 @@ uint32_t Stepper::block_phase_isr() {
acceleration_time += interval;
#if ENABLED(LIN_ADVANCE)
- // Fire ISR if final adv_rate is reached
- if (LA_steps && (!LA_use_advance_lead || LA_isr_rate != current_block->advance_speed))
- initiateLA();
+ if (LA_use_advance_lead) {
+ // Fire ISR if final adv_rate is reached
+ if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0;
+ }
+ else if (LA_steps) nextAdvanceISR = 0;
+ #endif
+
+ // Update laser - Accelerating
+ #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
+ if (laser.trap_en) {
+ #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;
+
+ // 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++;
+ }
+ cutter.set_ocr_power(laser.cur_power);
+ }
+ }
+ #else
+ if (laser.till_update)
+ laser.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
+ }
+ #endif
+ }
#endif
}
// Are we in Deceleration phase ?
@@ -1740,10 +1788,39 @@ uint32_t Stepper::block_phase_isr() {
LA_isr_rate = current_block->advance_speed;
}
}
- else if (LA_steps) initiateLA();
+ else if (LA_steps) nextAdvanceISR = 0;
+ #endif // LIN_ADVANCE
+
+ // Update laser - Decelerating
+ #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
+ if (laser.trap_en) {
+ #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;
+
+ // 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--;
+ }
+ cutter.set_ocr_power(laser.cur_power);
+ }
+ }
+ #else
+ if (laser.till_update)
+ laser.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
+ }
+ #endif
+ }
#endif
}
- // We must be in cruise phase otherwise
+ // Must be in cruise phase otherwise
else {
#if ENABLED(LIN_ADVANCE)
@@ -1759,6 +1836,22 @@ 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_en) {
+ if (!laser.cruise_set) {
+ laser.cur_power = current_block->laser.power;
+ cutter.set_ocr_power(laser.cur_power);
+ laser.cruise_set = true;
+ }
+ #if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
+ laser.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER;
+ #else
+ laser.last_step_count = step_events_completed;
+ #endif
+ }
+ #endif
}
}
}
@@ -1805,11 +1898,11 @@ uint32_t Stepper::block_phase_isr() {
* If DeltaA == DeltaB, the movement is only in the 1st axis (X)
*/
#if EITHER(COREXY, COREXZ)
- #define X_CMP ==
+ #define X_CMP(A,B) ((A)==(B))
#else
- #define X_CMP !=
+ #define X_CMP(A,B) ((A)!=(B))
#endif
- #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) X_CMP D_(2)) )
+ #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) )
#else
#define X_MOVE_TEST !!current_block->steps.a
#endif
@@ -1823,11 +1916,11 @@ uint32_t Stepper::block_phase_isr() {
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z)
*/
#if EITHER(COREYX, COREYZ)
- #define Y_CMP ==
+ #define Y_CMP(A,B) ((A)==(B))
#else
- #define Y_CMP !=
+ #define Y_CMP(A,B) ((A)!=(B))
#endif
- #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Y_CMP D_(2)) )
+ #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) )
#else
#define Y_MOVE_TEST !!current_block->steps.b
#endif
@@ -1841,11 +1934,11 @@ uint32_t Stepper::block_phase_isr() {
* If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z)
*/
#if EITHER(COREZX, COREZY)
- #define Z_CMP ==
+ #define Z_CMP(A,B) ((A)==(B))
#else
- #define Z_CMP !=
+ #define Z_CMP(A,B) ((A)!=(B))
#endif
- #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && D_(1) Z_CMP D_(2)) )
+ #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Z_CMP(D_(1),D_(2))) )
#else
#define Z_MOVE_TEST !!current_block->steps.c
#endif
@@ -1938,6 +2031,39 @@ uint32_t Stepper::block_phase_isr() {
set_directions();
}
+ #if ENABLED(LASER_POWER_INLINE)
+ const uint8_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;
+ #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
+ laser.last_step_count = 0;
+ laser.acc_step_count = current_block->laser.entry_per / 2;
+ #else
+ laser.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);
+ }
+ #else
+ if (TEST(stat, 0)) { // 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);
+ #else
+ cutter.set_enabled(TEST(stat, 1));
+ #endif
+ }
+ #endif
+ #endif // LASER_POWER_INLINE
+
// At this point, we must ensure the movement about to execute isn't
// trying to force the head against a limit switch. If using interrupt-
// driven change detection, and already against a limit then no call to
@@ -1957,21 +2083,35 @@ uint32_t Stepper::block_phase_isr() {
// Mark the time_nominal as not calculated yet
ticks_nominal = -1;
- #if DISABLED(S_CURVE_ACCELERATION)
- // Set as deceleration point the initial rate of the block
- acc_step_rate = current_block->initial_rate;
- #endif
-
#if ENABLED(S_CURVE_ACCELERATION)
// Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);
// We haven't started the 2nd half of the trapezoid
bezier_2nd_half = false;
+ #else
+ // Set as deceleration point the initial rate of the block
+ acc_step_rate = current_block->initial_rate;
#endif
// 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 uint8_t stat = planner.settings.laser.status;
+ if (TEST(stat, 0)) { // Planner controls the laser
+ #if ENABLED(SPINDLE_LASER_PWM)
+ if (TEST(stat, 1)) // Laser is on
+ cutter.set_ocr_power(planner.settings.laser.power);
+ else
+ cutter.set_power(0);
+ #else
+ cutter.set_enabled(TEST(stat, 1));
+ #endif
+ }
+ }
+ #endif
}
// Return the interval to wait
diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h
index 46c6c1c16a7..3876980ad06 100644
--- a/Marlin/src/module/stepper.h
+++ b/Marlin/src/module/stepper.h
@@ -339,23 +339,35 @@ class Stepper {
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
- //
// Exact steps at which an endstop was triggered
- //
static xyz_long_t endstops_trigsteps;
- //
// Positions of stepper motors, in step units
- //
static xyze_long_t count_position;
- //
- // Current direction of stepper motors (+1 or -1)
- //
+ // Current stepper motor directions (+1 or -1)
static xyze_int8_t count_direction;
- public:
+ #if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
+ typedef struct {
+ bool trap_en; // 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 DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
+ uint32_t last_step_count, // Step count from the last update
+ acc_step_count; // Bresenham counter for laser accel/decel
+ #else
+ uint16_t till_update; // Countdown to the next update
+ #endif
+ } stepper_laser_t;
+
+ static stepper_laser_t laser;
+
+ #endif
+
+ public:
// Initialize stepper hardware
static void init();