Improvements for Laser / Spindle (#17661)

Marlin/Configuration_adv.h

@@ -2777,7 +2777,7 @@
 #if EITHER(SPINDLE_FEATURE, LASER_FEATURE)
   #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_PWM_INVERT      false  // Set to "true" if the speed/power goes up when you want it to go slower
 
   #define SPINDLE_LASER_FREQUENCY       2500   // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC)
 
@@ -2787,13 +2787,17 @@
    *  - PERCENT (S0 - S100)
    *  - RPM     (S0 - S50000)  Best for use with a spindle
    */
-  #define CUTTER_POWER_DISPLAY PWM255
+  #define CUTTER_POWER_UNIT PWM255
 
   /**
-   * 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
+   * Relative Cutter Power
+   * Normally, 'M3 O<power>' sets
+   * OCR power is relative to the range SPEED_POWER_MIN...SPEED_POWER_MAX.
+   * so input powers of 0...255 correspond to SPEED_POWER_MIN...SPEED_POWER_MAX
+   * instead of normal range (0 to SPEED_POWER_MAX).
+   * Best used with (e.g.) SuperPID router controller: 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
+  //#define CUTTER_POWER_RELATIVE              // Set speed proportional to [SPEED_POWER_MIN...SPEED_POWER_MAX]
 
   #if ENABLED(SPINDLE_FEATURE)
     //#define SPINDLE_CHANGE_DIR               // Enable if your spindle controller can change spindle direction
@@ -2804,25 +2808,25 @@
     #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop
 
     /**
-     * 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
+     * M3/M4 Power Equation
      *
-     * Set these required parameters for your controller
+     * Each tool uses different value ranges for speed / power control.
+     * These parameters are used to convert between tool power units and PWM.
+     *
+     * Speed/Power = (PWMDC / 255 * 100 - SPEED_POWER_INTERCEPT) / SPEED_POWER_SLOPE
+     * PWMDC = (spdpwr - SPEED_POWER_MIN) / (SPEED_POWER_MAX - SPEED_POWER_MIN) / SPEED_POWER_SLOPE
      */
-    #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
+    #define SPEED_POWER_INTERCEPT         0    // (%) 0-100 i.e., Minimum power percentage
+    #define SPEED_POWER_MIN            5000    // (RPM)
+    #define SPEED_POWER_MAX           30000    // (RPM) SuperPID router controller 0 - 30,000 RPM
+    #define SPEED_POWER_STARTUP       25000    // (RPM) M3/M4 speed/power default (with no arguments)
 
   #else
 
-    #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
+    #define SPEED_POWER_INTERCEPT         0    // (%) 0-100 i.e., Minimum power percentage
+    #define SPEED_POWER_MIN               0    // (%) 0-100
+    #define SPEED_POWER_MAX             100    // (%) 0-100
+    #define SPEED_POWER_STARTUP          80    // (%) M3/M4 speed/power default (with no arguments)
 
     /**
      * Enable inline laser power to be handled in the planner / stepper routines.
@@ -2871,6 +2875,10 @@
         // 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
+
+        // Turn off the laser on G28 homing.
+        //#define LASER_MOVE_G28_OFF
+
       #endif
 
       /**

Marlin/src/HAL/AVR/fastio.cpp

@@ -234,5 +234,55 @@ uint8_t extDigitalRead(const int8_t pin) {
   }
 }
 
+#if 0
+/**
+ * Set Timer 5 PWM frequency in Hz, from 3.8Hz up to ~16MHz
+ * with a minimum resolution of 100 steps.
+ *
+ * DC values -1.0 to 1.0. Negative duty cycle inverts the pulse.
+ */
+uint16_t set_pwm_frequency_hz(const float &hz, const float dca, const float dcb, const float dcc) {
+  float count = 0;
+  if (hz > 0 && (dca || dcb || dcc)) {
+    count = float(F_CPU) / hz;            // 1x prescaler, TOP for 16MHz base freq.
+    uint16_t prescaler;                   // Range of 30.5Hz (65535) 64.5KHz (>31)
+
+         if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); }
+    else if (count >= 255. * 64.)  { prescaler = 256;  SET_CS(5,  PRESCALER_256); }
+    else if (count >= 255. * 8.)   { prescaler = 64;   SET_CS(5,   PRESCALER_64); }
+    else if (count >= 255.)        { prescaler = 8;    SET_CS(5,    PRESCALER_8); }
+    else                           { prescaler = 1;    SET_CS(5,    PRESCALER_1); }
+
+    count /= float(prescaler);
+    const float pwm_top = round(count);   // Get the rounded count
+
+    ICR5 = (uint16_t)pwm_top - 1;         // Subtract 1 for TOP
+    OCR5A = pwm_top * ABS(dca);          // Update and scale DCs
+    OCR5B = pwm_top * ABS(dcb);
+    OCR5C = pwm_top * ABS(dcc);
+    _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes
+    _SET_COM(5, B, dcb ? (dcb < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL);
+    _SET_COM(5, C, dcc ? (dcc < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL);
+
+    SET_WGM(5, FAST_PWM_ICRn);            // Fast PWM with ICR5 as TOP
+
+    //SERIAL_ECHOLNPGM("Timer 5 Settings:");
+    //SERIAL_ECHOLNPAIR("  Prescaler=", prescaler);
+    //SERIAL_ECHOLNPAIR("        TOP=", ICR5);
+    //SERIAL_ECHOLNPAIR("      OCR5A=", OCR5A);
+    //SERIAL_ECHOLNPAIR("      OCR5B=", OCR5B);
+    //SERIAL_ECHOLNPAIR("      OCR5C=", OCR5C);
+  }
+  else {
+    // Restore the default for Timer 5
+    SET_WGM(5, PWM_PC_8);                 // PWM 8-bit (Phase Correct)
+    SET_COMS(5, NORMAL, NORMAL, NORMAL);  // Do nothing
+    SET_CS(5, PRESCALER_64);              // 16MHz / 64 = 250KHz
+    OCR5A = OCR5B = OCR5C = 0;
+  }
+  return round(count);
+}
+#endif
+
 #endif // FASTIO_EXT_START
 #endif // __AVR__

Marlin/src/feature/spindle_laser.cpp

@@ -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

Marlin/src/feature/spindle_laser.h

@@ -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
-  #if ENABLED(MARLIN_DEV_MODE)
-    static cutter_frequency_t frequency;        //  set PWM frequency; range: 2K-50K
-  #endif
+  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 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
+  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;
   }
-  /**
-  * 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;
+  // 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
-        constexpr float spmin = SPEED_POWER_MIN / SPEED_POWER_MAX * 100; // convert to percentage
+        // Laser configured values are in PCT
+        #if CUTTER_UNIT_IS(PWM255)
+          PCT_TO_PWM(cpwr)
+        #else
+          cpwr                            // to RPM/PCT
+        #endif
       #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
+    );
+    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
+  #endif
+
+  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());

Marlin/src/feature/spindle_laser_types.h

@@ -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

Marlin/src/gcode/calibrate/G28.cpp

@@ -51,6 +51,10 @@
   #include "../../libs/L64XX/L64XX_Marlin.h"
 #endif
 
+#if ENABLED(LASER_MOVE_G28_OFF)
+  #include "../../feature/spindle_laser.h"
+#endif
+
 #define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
 #include "../../core/debug_out.h"
 
@@ -195,6 +199,11 @@
  *
  */
 void GcodeSuite::G28() {
+
+#if ENABLED(LASER_MOVE_G28_OFF)
+  cutter.set_inline_enabled(false);       // turn off laser
+#endif
+
   if (DEBUGGING(LEVELING)) {
     DEBUG_ECHOLNPGM(">>> G28");
     log_machine_info();

Marlin/src/gcode/control/M3-M5.cpp

@@ -28,28 +28,18 @@
 #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:
- *
  *  M3 - Laser ON/Power (Ramped power)
  *  M4 - Laser ON/Power (Continuous power)
  *
- *    S<power> - Set power. S0 will turn the laser off.
- *    O<ocr>   - Set power and OCR
- *
  * Spindle:
- *
  *  M3 - Spindle ON (Clockwise)
  *  M4 - Spindle ON (Counter-clockwise)
  *
- *    S<power> - Set power. S0 will turn the spindle off.
- *    O<ocr>   - Set power and OCR
+ * Parameters:
+ *  S<power> - Set power. S0 will turn the spindle/laser off, except in relative mode.
+ *  O<ocr>   - Set power and OCR (oscillator count register)
  *
  *  If no PWM pin is defined then M3/M4 just turns it on.
  *
@@ -76,17 +66,25 @@ inline cutter_power_t get_s_power() {
  *  PWM duty cycle goes from 0 (off) to 255 (always on).
  */
 void GcodeSuite::M3_M4(const bool is_M4) {
+  auto get_s_power = [] {
+    if (parser.seen('S'))
+      cutter.unitPower = cutter.power_to_range(cutter_power_t(round(parser.value_float())));
+    else
+      cutter.unitPower = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP);
+    return cutter.unitPower;
+  };
 
   #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)
+        if (parser.seen('O')) {
+          cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
+          cutter.inline_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
+        }
         else
-          cutter.inline_power(get_s_power());
+          cutter.inline_power(cutter.upower_to_ocr(get_s_power()));
       #else
         cutter.inline_enabled(true);
       #endif
@@ -97,17 +95,19 @@ void GcodeSuite::M3_M4(const bool is_M4) {
   #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)
+    if (parser.seenval('O')) {
+      cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0);
+      cutter.set_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t)
+    }
     else
-      cutter.set_power(get_s_power());
+      cutter.set_power(cutter.upower_to_ocr(get_s_power()));
   #else
     cutter.set_enabled(true);
   #endif
+  cutter.menuPower = cutter.unitPower;
 }
 
 /**
@@ -116,7 +116,7 @@ void GcodeSuite::M3_M4(const bool is_M4) {
 void GcodeSuite::M5() {
   #if ENABLED(LASER_POWER_INLINE)
     if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) {
-      cutter.inline_enabled(false); // Laser power in inline mode
+      cutter.set_inline_enabled(false); // Laser power in inline mode
       return;
     }
     // Non-inline, standard case
@@ -124,6 +124,7 @@ void GcodeSuite::M5() {
   #endif
   planner.synchronize();
   cutter.set_enabled(false);
+  cutter.menuPower = cutter.unitPower;
 }
 
 #endif // HAS_CUTTER

Marlin/src/gcode/gcode.cpp

@@ -180,13 +180,9 @@ void GcodeSuite::get_destination_from_command() {
   #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
-    }
+      cutter.inline_power(cutter.power_to_range(cutter_power_t(round(parser.value_float()))));
+    else if (ENABLED(LASER_MOVE_G0_OFF) && parser.codenum == 0) // G0
+      cutter.set_inline_enabled(false);
   #endif
 }
 

Marlin/src/inc/Conditionals_adv.h

@@ -142,11 +142,11 @@
 //
 #if EITHER(SPINDLE_FEATURE, LASER_FEATURE)
   #define HAS_CUTTER 1
-  #define _CUTTER_DISP_PWM255  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))
+  #define _CUTTER_POWER_PWM255  1
+  #define _CUTTER_POWER_PERCENT 2
+  #define _CUTTER_POWER_RPM     3
+  #define _CUTTER_POWER(V)      _CAT(_CUTTER_POWER_, V)
+  #define CUTTER_UNIT_IS(V)    (_CUTTER_POWER(CUTTER_POWER_UNIT)    == _CUTTER_POWER(V))
 #endif
 
 // Add features that need hardware PWM here

Marlin/src/inc/SanityCheck.h

@@ -421,6 +421,8 @@
   #error "SPINDLE_STOP_ON_DIR_CHANGE is now SPINDLE_CHANGE_DIR_STOP. Please update your Configuration_adv.h."
 #elif defined(SPINDLE_LASER_ENABLE_INVERT)
   #error "SPINDLE_LASER_ENABLE_INVERT is now SPINDLE_LASER_ACTIVE_HIGH. Please update your Configuration_adv.h."
+#elif defined(CUTTER_POWER_DISPLAY)
+  #error "CUTTER_POWER_DISPLAY is now CUTTER_POWER_UNIT. Please update your Configuration_adv.h."
 #elif defined(CHAMBER_HEATER_PIN)
   #error "CHAMBER_HEATER_PIN is now HEATER_CHAMBER_PIN. Please update your configuration and/or pins."
 #elif defined(TMC_Z_CALIBRATION)
@@ -2825,10 +2827,10 @@ 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(PWM255) && !CUTTER_DISPLAY_IS(PERCENT) && !CUTTER_DISPLAY_IS(RPM)
-    #error "CUTTER_POWER_DISPLAY must be PWM255, PERCENT, or RPM. Please update your Configuration_adv.h."
+  #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."
   #endif
 
   #if ENABLED(LASER_POWER_INLINE)
@@ -2878,7 +2880,7 @@ static_assert(   _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
       #error "SPINDLE_LASER_PWM_PIN not assigned to a PWM pin."
     #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) || !defined(SPEED_POWER_STARTUP)
+    #elif !(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."

Marlin/src/lcd/dogm/status_screen_DOGM.cpp

@@ -541,12 +541,15 @@ 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, cutter_power2str(cutter.power));
-        #if CUTTER_DISPLAY_IS(PERCENT)
+      if (cutter.isReady && PAGE_CONTAINS(STATUS_CUTTER_TEXT_Y - INFO_FONT_ASCENT, STATUS_CUTTER_TEXT_Y - 1)) {
+        #if CUTTER_UNIT_IS(PERCENT)
+          lcd_put_u8str(STATUS_CUTTER_TEXT_X, STATUS_CUTTER_TEXT_Y, cutter_power2str(cutter.unitPower));
           lcd_put_wchar('%');
-        #elif CUTTER_DISPLAY_IS(RPM)
+        #elif CUTTER_UNIT_IS(RPM)
+          lcd_put_u8str(STATUS_CUTTER_TEXT_X - 2, STATUS_CUTTER_TEXT_Y, ftostr51rj(float(cutter.unitPower) / 1000));
           lcd_put_wchar('K');
+        #else
+          lcd_put_u8str(STATUS_CUTTER_TEXT_X, STATUS_CUTTER_TEXT_Y, cutter_power2str(cutter.unitPower));
         #endif
       }
     #endif

Marlin/src/lcd/menu/menu_main.cpp

@@ -73,7 +73,6 @@ void menu_configuration();
 #endif
 
 #if HAS_CUTTER
-  #include "../../feature/spindle_laser.h"
   void menu_spindle_laser();
 #endif
 

Marlin/src/lcd/menu/menu_spindle_laser.cpp

@@ -34,19 +34,19 @@
 
   void menu_spindle_laser() {
 
-    const bool can_disable = cutter.enabled() && cutter.isOn;
+    const bool is_enabled = cutter.enabled() && cutter.isReady;
 
     START_MENU();
     BACK_ITEM(MSG_MAIN);
 
     #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; }
-      );
+      // Change the cutter's "current power" value without turning the cutter on or off
+      // Power is displayed and set in units and range according to CUTTER_POWER_UNIT
+      EDIT_ITEM_FAST(CUTTER_MENU_POWER_TYPE, MSG_CUTTER(POWER), &cutter.menuPower,
+        cutter.mpower_min(), cutter.mpower_max(), cutter.update_from_mpower);
     #endif
 
-    if (can_disable)
+    if (is_enabled)
       ACTION_ITEM(MSG_CUTTER(OFF), cutter.disable);
     else {
       ACTION_ITEM(MSG_CUTTER(ON), cutter.enable_forward);
@@ -57,7 +57,7 @@
 
     #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();});
+        EDIT_ITEM_FAST(CUTTER_MENU_FREQUENCY_TYPE, MSG_CUTTER_FREQUENCY, &cutter.frequency, 2000, 50000, cutter.refresh_frequency);
       #endif
     #endif
     END_MENU();

Marlin/src/module/planner.cpp

@@ -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

Marlin/src/module/planner.h

@@ -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

Marlin/src/module/stepper.cpp

@@ -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
         }
       }