marlin/Marlin/src/feature/spindle_laser.h

/**
 * 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;