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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
- #pragma once
-
- /**
- * feature/spindle_laser.h
- * Support for Laser Power or Spindle Power & Direction
- */
-
- #include "../inc/MarlinConfig.h"
-
- #include "spindle_laser_types.h"
-
- #if HAS_BEEPER
- #include "../libs/buzzer.h"
- #endif
-
- // Inline laser power
- #include "../module/planner.h"
-
- #define PCT_TO_PWM(X) ((X) * 255 / 100)
- #define PCT_TO_SERVO(X) ((X) * 180 / 100)
-
-
- // Laser/Cutter operation mode
- enum CutterMode : int8_t {
- CUTTER_MODE_ERROR = -1,
- CUTTER_MODE_STANDARD, // M3 power is applied directly and waits for planner moves to sync.
- CUTTER_MODE_CONTINUOUS, // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'.
- CUTTER_MODE_DYNAMIC // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'.
- };
-
- class SpindleLaser {
- public:
- static CutterMode cutter_mode;
-
- static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
-
- // cpower = configured values (e.g., SPEED_POWER_MAX)
- // Convert configured power range to a percentage
- static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0);
- static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
- return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0;
- }
-
- // Convert config defines from RPM to %, angle or PWM when in Spindle mode
- // and convert from PERCENT to PWM when in Laser mode
- static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
- return (
- #if ENABLED(SPINDLE_FEATURE)
- // Spindle configured define values are in RPM
- #if CUTTER_UNIT_IS(RPM)
- cpwr // to same
- #elif CUTTER_UNIT_IS(PERCENT)
- cpwr_to_pct(cpwr) // to Percent
- #elif CUTTER_UNIT_IS(SERVO)
- PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle
- #else
- PCT_TO_PWM(cpwr_to_pct(cpwr)) // to PWM
- #endif
- #else
- // Laser configured define values are in Percent
- #if CUTTER_UNIT_IS(PWM255)
- PCT_TO_PWM(cpwr) // to PWM
- #else
- cpwr // to same
- #endif
- #endif
- );
- }
-
- static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
- static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
-
- #if ENABLED(LASER_FEATURE)
- static cutter_test_pulse_t testPulse; // (ms) Test fire pulse duration
- static uint8_t last_block_power; // Track power changes for dynamic power
-
- static feedRate_t feedrate_mm_m, last_feedrate_mm_m; // (mm/min) Track feedrate changes for dynamic power
- static bool laser_feedrate_changed() {
- const bool changed = last_feedrate_mm_m != feedrate_mm_m;
- if (changed) last_feedrate_mm_m = feedrate_mm_m;
- return changed;
- }
- #endif
-
- static bool isReadyForUI; // Ready to apply power setting from the UI to OCR
- static bool enable_state;
- static uint8_t power,
- last_power_applied; // Basic power state tracking
-
- static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K
-
- static cutter_power_t menuPower, // Power as set via LCD menu in PWM, Percentage or RPM
- unitPower; // Power as displayed status in PWM, Percentage or RPM
-
- static void init();
-
- #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
- static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
- #endif
-
- // Modifying this function should update everywhere
- static bool enabled(const cutter_power_t opwr) { return opwr > 0; }
- static bool enabled() { return enable_state; }
-
- static void apply_power(const uint8_t inpow);
-
- FORCE_INLINE static void refresh() { apply_power(power); }
-
- #if ENABLED(SPINDLE_LASER_USE_PWM)
-
- private:
-
- static void _set_ocr(const uint8_t ocr);
-
- public:
-
- static void set_ocr(const uint8_t ocr);
- static void ocr_off();
-
- /**
- * Update output for power->OCR translation
- */
- static uint8_t upower_to_ocr(const cutter_power_t upwr) {
- return uint8_t(
- #if CUTTER_UNIT_IS(PWM255)
- upwr
- #elif CUTTER_UNIT_IS(PERCENT)
- pct_to_ocr(upwr)
- #else
- pct_to_ocr(cpwr_to_pct(upwr))
- #endif
- );
- }
-
- #endif // SPINDLE_LASER_USE_PWM
-
- /**
- * Correct power to configured range
- */
- static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) {
- static constexpr float
- min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
- max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
- if (pwr <= 0) return 0;
- cutter_power_t upwr;
- switch (pwrUnit) {
- case _CUTTER_POWER_PWM255: { // PWM
- const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct);
- upwr = cutter_power_t(constrain(pwr, pmin, pmax));
- } break;
- case _CUTTER_POWER_PERCENT: // Percent
- upwr = cutter_power_t(constrain(pwr, min_pct, max_pct));
- break;
- case _CUTTER_POWER_RPM: // Calculate OCR value
- upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX));
- break;
- default: break;
- }
- return upwr;
- }
-
- /**
- * Enable Laser or Spindle output.
- * It's important to prevent changing the power output value during inline cutter operation.
- * Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode.
- *
- * This method accepts one of the following control states:
- *
- * - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply
- * SPEED_POWER_STARTUP if no value is assigned.
- *
- * - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set.
- *
- * - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag.
- *
- * - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode.
- * This mode allows a global power shutdown action to occur.
- */
- static void set_enabled(bool enable) {
- switch (cutter_mode) {
- case CUTTER_MODE_STANDARD:
- apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0);
- break;
- case CUTTER_MODE_CONTINUOUS:
- TERN_(LASER_FEATURE, set_inline_enabled(enable));
- break;
- case CUTTER_MODE_DYNAMIC:
- TERN_(LASER_FEATURE, set_inline_enabled(enable));
- break;
- case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
- enable = false;
- apply_power(0);
- }
- #if SPINDLE_LASER_ENA_PIN
- WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
- #endif
- enable_state = enable;
- }
-
- static void disable() { isReadyForUI = false; set_enabled(false); }
-
- // Wait for spindle/laser to startup or shutdown
- static void power_delay(const bool on) {
- safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
- }
-
- #if ENABLED(SPINDLE_CHANGE_DIR)
- static void set_reverse(const bool reverse);
- static bool is_reverse() { return READ(SPINDLE_DIR_PIN) == SPINDLE_INVERT_DIR; }
- #else
- static void set_reverse(const bool) {}
- static bool is_reverse() { return false; }
- #endif
-
- #if ENABLED(AIR_EVACUATION)
- static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor
- static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor
- static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor
- static bool air_evac_state() { // Get current state
- return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE);
- }
- #endif
-
- #if ENABLED(AIR_ASSIST)
- static void air_assist_enable(); // Turn on air assist
- static void air_assist_disable(); // Turn off air assist
- static void air_assist_toggle(); // Toggle air assist
- static bool air_assist_state() { // Get current state
- return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE);
- }
- #endif
-
- #if HAS_MARLINUI_MENU
-
- #if ENABLED(SPINDLE_FEATURE)
- static void enable_with_dir(const bool reverse) {
- isReadyForUI = true;
- const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
- if (menuPower)
- power = ocr;
- else
- menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
- unitPower = menuPower;
- set_reverse(reverse);
- set_enabled(true);
- }
- FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
- FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
- FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
- #endif // SPINDLE_FEATURE
-
- #if ENABLED(SPINDLE_LASER_USE_PWM)
- static void update_from_mpower() {
- if (isReadyForUI) power = upower_to_ocr(menuPower);
- unitPower = menuPower;
- }
- #endif
-
- #if ENABLED(LASER_FEATURE)
- // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
- static void menu_set_enabled(const bool state) {
- set_enabled(state);
- if (state) {
- if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
- power = upower_to_ocr(menuPower);
- apply_power(power);
- } else
- apply_power(0);
- }
-
- /**
- * Test fire the laser using the testPulse ms duration
- * Also fires with any PWM power that was previous set
- * If not set defaults to 80% power
- */
- static void test_fire_pulse() {
- BUZZ(30, 3000);
- cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode.
- menu_set_enabled(true); // Laser On
- delay(testPulse); // Delay for time set by user in pulse ms menu screen.
- menu_set_enabled(false); // Laser Off
- }
- #endif // LASER_FEATURE
-
- #endif // HAS_MARLINUI_MENU
-
- #if ENABLED(LASER_FEATURE)
-
- // Dynamic mode rate calculation
- static uint8_t calc_dynamic_power() {
- if (feedrate_mm_m > 65535) return 255; // Too fast, go always on
- uint16_t rate = uint16_t(feedrate_mm_m); // 16 bits from the G-code parser float input
- rate >>= 8; // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255
- return uint8_t(rate);
- }
-
- // Inline modes of all other functions; all enable planner inline power control
- static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; }
-
- // Set the power for subsequent movement blocks
- static void inline_power(const cutter_power_t cpwr) {
- TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0);
- }
-
- #endif // LASER_FEATURE
-
- static void kill() { disable(); }
- };
-
- extern SpindleLaser cutter;
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