ManuelW/grbl-LPC-CoreXY
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Spindle speed overrides behavior tweak. New experimental laser dynamic power mode.

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- Spindle speed overrides now update immediately if they are changed
while in a HOLD state. Previously, they would update after exiting the
HOLD, which isn’t correct.

- New experimental dynamic laser power mode that adjusts laser power
based on current machine speed. Enabled by uncommenting
LASER_CONSTANT_POWER_PER_RATE in config.h

  - It assumes the programmed rate is the intended power/rate for the
motion.
  - Feed rate overrides (FRO) do not effect the power/rate. Meaning
that spindle PWM will automatically lower with lower FRO and increase
with higher FRO to keep it the same.
  - Spindle speed overrides (SSO) will directly increase and decrease
the power/rate. So 150% SSO will increase the PWM output by 150% for
the same speed.
  - The combination of FRO and SSO behaviors should allow for subtle
and highly flexible tuning of how the laser cutter is operating in
real-time and during the job.

- Re-factored planner block rapid rate handling for the dynamic laser
power feature. Should have had no effect on how Grbl operates.
This commit is contained in:
Sonny Jeon
2016-10-27 09:11:59 -06:00
parent cb916a996a
commit e8b717604b
8 changed files with 108 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

57
grbl/stepper.c
View File

@ -151,6 +151,10 @@ typedef struct {
float exit_speed; // Exit speed of executing block (mm/min)
float accelerate_until; // Acceleration ramp end measured from end of block (mm)
float decelerate_after; // Deceleration ramp start measured from end of block (mm)
#ifdef LASER_CONSTANT_POWER_PER_RATE
float inv_rate; // Used by PWM laser mode
#endif
} st_prep_t;
static st_prep_t prep;
@ -644,6 +648,11 @@ void st_prep_buffer()
} else {
prep.current_speed = sqrt(pl_block->entry_speed_sqr);
}
#ifdef LASER_CONSTANT_POWER_PER_RATE
// Pre-compute inverse programmed rate to speed up PWM updating per step segment.
prep.inv_rate = 1.0/pl_block->programmed_rate;
#endif
}
/* ---------------------------------------------------------------------------------
@ -742,19 +751,6 @@ void st_prep_buffer()
#endif
}
#ifdef VARIABLE_SPINDLE
if (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM) {
// Configure correct spindle PWM state for block. Updates with planner changes and spindle speed overrides.
if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
st_prep_block->spindle_pwm = spindle_compute_pwm_value(pl_block->spindle_speed);
} else {
sys.spindle_speed = 0.0;
st_prep_block->spindle_pwm = SPINDLE_PWM_OFF_VALUE;
}
bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
#endif
// Initialize new segment
segment_t *prep_segment = &segment_buffer[segment_buffer_head];
@ -860,7 +856,36 @@ void st_prep_buffer()
}
} while (mm_remaining > prep.mm_complete); // **Complete** Exit loop. Profile complete.
/* -----------------------------------------------------------------------------------
Compute spindle speed PWM output for step segment
*/
#ifdef VARIABLE_SPINDLE
#ifdef LASER_CONSTANT_POWER_PER_RATE
if ((settings.flags & BITFLAG_LASER_MODE) || (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
#else
if (sys.step_control & STEP_CONTROL_UPDATE_SPINDLE_PWM) {
#endif
if (pl_block->condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)) {
float rpm = pl_block->spindle_speed;
#ifdef LASER_CONSTANT_POWER_PER_RATE
// NOTE: Feed and rapid overrides are independent of PWM value and do not alter laser power/rate.
if (settings.flags & BITFLAG_LASER_MODE) {
// If current_speed is zero, then may need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE)
// but this would be instantaneous only and during a motion. May not matter at all.
rpm *= (prep.current_speed * prep.inv_rate);
}
#endif
st_prep_block->spindle_pwm = spindle_compute_pwm_value(rpm);
} else {
sys.spindle_speed = 0.0;
st_prep_block->spindle_pwm = SPINDLE_PWM_OFF_VALUE;
}
bit_false(sys.step_control,STEP_CONTROL_UPDATE_SPINDLE_PWM);
}
#endif
/* -----------------------------------------------------------------------------------
Compute segment step rate, steps to execute, and apply necessary rate corrections.
NOTE: Steps are computed by direct scalar conversion of the millimeter distance
@ -976,8 +1001,8 @@ void st_prep_buffer()
// divided by the ACCELERATION TICKS PER SECOND in seconds.
float st_get_realtime_rate()
{
if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)){
return prep.current_speed;
}
if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)){
return prep.current_speed;
}
return 0.0f;
}