v1.1e: New laser features. G-code parser refactoring. CoreXY homing fix.
- Increment to v1.1e due to new laser features. - After several discussions with some prominent laser people, a few tweaks to the new laser mode has been installed. - LASER: M3 behaves in a constant power mode. - LASER: M4 behaves in a dynamic power mode, where the laser power is automatically adjusted based on how fast Grbl is moving relative to the programmed feed rate. This is the same as the CONSTANT_POWER_PER_RATE config.h option in the last version. NOTE: When not in motion in M4, Grbl automatically turns off the laser. Again, it only operates while moving! - LASER: Only G1, G2, and G3 motion modes will turn on the laser. So, this means that G0, G80 motion modes will always keep the laser disabled. No matter if M3/M4 are active! - LASER: A spindle stop override is automatically invoked when a laser is put in a feed hold. This behavior may be disabled by a config.h option. - Lots of little tweaks to the g-code parser to help streamline it a bit. It should no effect how it operates. Generally just added a parser flag to track and execute certain scenarios a little more clearly. - Jog motions now allow line numbers to be passed to it and will be displayed in the status reports. - Fixed a CoreXY homing bug. - Fixed an issue when $13 is changed, WCO isn’t sent immediately. - Altered how spindle PWM is set in the stepper ISR. Updated on a step segment basis now. May need to change this back if there are any oddities from doing this. - Updated some documentation. Clarified why M0 no longer showing up in $G and why a `1.` floating point values are shown with no decimals, like so `1`.
This commit is contained in:
Sonny Jeon
@ -62,11 +62,7 @@ typedef struct {
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uint32_t step_event_count;
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uint8_t direction_bits;
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#ifdef VARIABLE_SPINDLE
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
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#else
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uint8_t spindle_pwm;
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#endif
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uint8_t is_pwm_rate_adjusted; // Tracks motions that require constant laser power/rate
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#endif
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} st_block_t;
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static st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE-1];
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@ -84,8 +80,8 @@ typedef struct {
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#else
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uint8_t prescaler; // Without AMASS, a prescaler is required to adjust for slow timing.
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#endif
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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uint8_t rate_adjusted_pwm;
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#ifdef VARIABLE_SPINDLE
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uint8_t spindle_pwm;
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#endif
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} segment_t;
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static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
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@ -159,8 +155,9 @@ typedef struct {
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float accelerate_until; // Acceleration ramp end measured from end of block (mm)
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float decelerate_after; // Deceleration ramp start measured from end of block (mm)
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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#ifdef VARIABLE_SPINDLE
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float inv_rate; // Used by PWM laser mode to speed up segment calculations.
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uint8_t current_spindle_pwm;
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#endif
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} st_prep_t;
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static st_prep_t prep;
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@ -360,20 +357,14 @@ ISR(TIMER1_COMPA_vect)
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#ifdef VARIABLE_SPINDLE
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// Set real-time spindle output as segment is loaded, just prior to the first step.
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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spindle_set_speed(st.exec_segment->rate_adjusted_pwm);
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#else
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spindle_set_speed(st.exec_block->spindle_pwm);
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#endif
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spindle_set_speed(st.exec_segment->spindle_pwm);
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#endif
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} else {
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// Segment buffer empty. Shutdown.
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st_go_idle();
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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// Ensure pwm is set properly upon completion of rate-controlled motion.
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if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
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#endif
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// Ensure pwm is set properly upon completion of rate-controlled motion.
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if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
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system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
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return; // Nothing to do but exit.
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}
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@ -664,16 +655,16 @@ void st_prep_buffer()
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prep.current_speed = sqrt(pl_block->entry_speed_sqr);
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}
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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// Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
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// spindle off.
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st_prep_block->is_pwm_rate_adjusted = false;
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if (settings.flags & BITFLAG_LASER_MODE) {
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// Setup laser mode variables. PWM rate adjusted motions will always complete a motion with the
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// spindle off.
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st_prep_block->is_pwm_rate_adjusted = false;
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if (settings.flags & BITFLAG_LASER_MODE) {
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if (pl_block->condition & PL_COND_FLAG_SPINDLE_CCW) {
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// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
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prep.inv_rate = 1.0/pl_block->programmed_rate;
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if (!(pl_block->condition & PL_COND_MOTION_MASK)) { st_prep_block->is_pwm_rate_adjusted = true; }
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st_prep_block->is_pwm_rate_adjusted = true;
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}
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#endif
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}
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}
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/* ---------------------------------------------------------------------------------
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@ -881,32 +872,23 @@ void st_prep_buffer()
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/* -----------------------------------------------------------------------------------
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Compute spindle speed PWM output for step segment
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*/
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#ifdef LASER_CONSTANT_POWER_PER_RATE
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if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
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if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
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float rpm = pl_block->spindle_speed;
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// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
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if (st_prep_block->is_pwm_rate_adjusted) { rpm *= (prep.current_speed * prep.inv_rate); }
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// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
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// but this would be instantaneous only and during a motion. May not matter at all.
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prep_segment->rate_adjusted_pwm = spindle_compute_pwm_value(rpm);
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} else {
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sys.spindle_speed = 0.0;
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prep_segment->rate_adjusted_pwm = SPINDLE_PWM_OFF_VALUE;
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}
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bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
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if (st_prep_block->is_pwm_rate_adjusted || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
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if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
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float rpm = pl_block->spindle_speed;
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// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
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if (st_prep_block->is_pwm_rate_adjusted) { rpm *= (prep.current_speed * prep.inv_rate); }
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// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
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// but this would be instantaneous only and during a motion. May not matter at all.
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prep.current_spindle_pwm = spindle_compute_pwm_value(rpm);
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} else {
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sys.spindle_speed = 0.0;
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prep.current_spindle_pwm = SPINDLE_PWM_OFF_VALUE;
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}
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#else
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if (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM) {
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if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
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st_prep_block->spindle_pwm = spindle_compute_pwm_value(pl_block->spindle_speed);
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} else {
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sys.spindle_speed = 0.0;
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st_prep_block->spindle_pwm = SPINDLE_PWM_OFF_VALUE;
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}
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bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
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}
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#endif
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bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
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}
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prep_segment->spindle_pwm = prep.current_spindle_pwm; // Reload segment PWM value
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#endif
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/* -----------------------------------------------------------------------------------
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