Spindle speed overrides behavior tweak. New experimental laser dynamic power mode.

- 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.

doc/log/commit_log_v1.1.txt

@@ -1,3 +1,19 @@
+----------------
+Date: 2016-10-26
+Author: Sonny Jeon
+Subject: Add high-frequency spindle output option. Minor parking motion re-factoring.
+
+- Some laser controllers were reported to need a very high PWM
+frequency. Added a line to enable this in cpu_map.h, if needed.
+
+- Cleaned up some of the parking code. Mostly just editing the comments.
+
+- Moved the accessory state resetting after the initial parking
+retract. Should ensure the accessory state is properly handled upon an
+aborted parking restore. Not certain if this was a problem before
+though. Just to be sure.
+
+
 ----------------
 Date: 2016-10-25
 Author: chamnit

grbl/config.h

@@ -570,6 +570,11 @@
 #define PARKING_PULLOUT_INCREMENT 5.0 // Spindle pull-out and plunge distance in mm. Incremental distance.
                                       // Must be positive value or equal to zero.
         
+// Experimental feature that adjusts laser power (PWM output) based on current running speed of the
+// machine. When laser mode is enabled, Grbl will turn off the spindle PWM pin whenever it is not 
+// moving, which may be confusing to some users to why their laser is not on. This behavior may change
+// in future iterations of this feature, where it will turn on to the minimum rpm value when active.
+// #define LASER_CONSTANT_POWER_PER_RATE
 
 /* ---------------------------------------------------------------------------------------
    OEM Single File Configuration Option

grbl/grbl.h

@@ -23,7 +23,7 @@
 
 // Grbl versioning system
 #define GRBL_VERSION "1.1d"
-#define GRBL_VERSION_BUILD "20161026"
+#define GRBL_VERSION_BUILD "20161027"
 
 // Define standard libraries used by Grbl.
 #include <avr/io.h>

grbl/planner.c

@@ -258,12 +258,9 @@ uint8_t plan_check_full_buffer()
 // NOTE: All system motion commands, such as homing/parking, are not subject to overrides.
 float plan_compute_profile_nominal_speed(plan_block_t *block)
 {
-  float nominal_speed;
+  float nominal_speed = block->programmed_rate;
-  if (block->condition & PL_COND_FLAG_RAPID_MOTION) {
+  if (block->condition & PL_COND_FLAG_RAPID_MOTION) { nominal_speed *= (0.01*sys.r_override); }
-    nominal_speed = block->rapid_rate;
+  else {
-    nominal_speed *= (0.01*sys.r_override);
-  } else {
-    nominal_speed = block->programmed_rate;
     if (!(block->condition & PL_COND_FLAG_NO_FEED_OVERRIDE)) { nominal_speed *= (0.01*sys.f_override); }
     if (nominal_speed > block->rapid_rate) { nominal_speed = block->rapid_rate; }
   }
@@ -385,8 +382,11 @@ uint8_t plan_buffer_line(float *target, plan_line_data_t *pl_data)
   block->rapid_rate = limit_value_by_axis_maximum(settings.max_rate, unit_vec);
 
   // Store programmed rate.
-  block->programmed_rate = pl_data->feed_rate;
+  if (block->condition & PL_COND_FLAG_RAPID_MOTION) { block->programmed_rate = block->rapid_rate; }
-  if (block->condition & PL_COND_FLAG_INVERSE_TIME) { block->programmed_rate *= block->millimeters; }
+  else { 
+    block->programmed_rate = pl_data->feed_rate;
+    if (block->condition & PL_COND_FLAG_INVERSE_TIME) { block->programmed_rate *= block->millimeters; }
+  }
 
   // TODO: Need to check this method handling zero junction speeds when starting from rest.
   if ((block_buffer_head == block_buffer_tail) || (block->condition & PL_COND_FLAG_SYSTEM_MOTION)) {

grbl/planner.h

@@ -45,6 +45,7 @@
 #define PL_COND_FLAG_SPINDLE_CCW       bit(5)
 #define PL_COND_FLAG_COOLANT_FLOOD     bit(6)
 #define PL_COND_FLAG_COOLANT_MIST      bit(7)
+#define PL_COND_MOTION_MASK    (PL_COND_FLAG_RAPID_MOTION|PL_COND_FLAG_SYSTEM_MOTION|PL_COND_FLAG_NO_FEED_OVERRIDE)
 #define PL_COND_ACCESSORY_MASK (PL_COND_FLAG_SPINDLE_CW|PL_COND_FLAG_SPINDLE_CCW|PL_COND_FLAG_COOLANT_FLOOD|PL_COND_FLAG_COOLANT_MIST)
 
 

grbl/protocol.c

@@ -698,32 +698,39 @@ static void protocol_exec_rt_suspend()
 
         // Feed hold manager. Controls spindle stop override states.
         // NOTE: Hold ensured as completed by condition check at the beginning of suspend routine.
-        if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) { // Handles beginning of spindle stop
+        if (sys.spindle_stop_ovr) {
-
+          // Handles beginning of spindle stop
-          if (gc_state.modal.spindle != SPINDLE_DISABLE) {
+          if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_INITIATE) {
-            spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
+            if (gc_state.modal.spindle != SPINDLE_DISABLE) {
-            sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
+              spindle_set_state(SPINDLE_DISABLE,0.0); // De-energize
-          } else {
+              sys.spindle_stop_ovr = SPINDLE_STOP_OVR_ENABLED; // Set stop override state to enabled, if de-energized.
+            } else {
+              sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
+            }
+          // Handles restoring of spindle state
+          } else if (sys.spindle_stop_ovr & (SPINDLE_STOP_OVR_RESTORE | SPINDLE_STOP_OVR_RESTORE_CYCLE)) {
+            if (gc_state.modal.spindle != SPINDLE_DISABLE) {
+              report_feedback_message(MESSAGE_SPINDLE_RESTORE);
+              if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
+                // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
+                bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
+              } else {
+                spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
+                delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
+              }
+            }
+            if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
+              system_set_exec_state_flag(EXEC_CYCLE_START);  // Set to resume program.
+            }
             sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
           }
-
+        } else {
-        } else if (sys.spindle_stop_ovr & (SPINDLE_STOP_OVR_RESTORE | SPINDLE_STOP_OVR_RESTORE_CYCLE)) { // Handles restoring of spindle state
+          // Handles spindle state during hold. NOTE: Spindle speed overrides may be altered during hold state.
-
+          // NOTE: STEP_CONTROL_UPDATE_SPINDLE_PWM is automatically reset upon resume in step generator.
-          if (gc_state.modal.spindle != SPINDLE_DISABLE) {
+          if (bit_istrue(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM)) {
-            report_feedback_message(MESSAGE_SPINDLE_RESTORE);
+            spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
-            if (bit_istrue(settings.flags,BITFLAG_LASER_MODE)) {
+            bit_false(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
-              // When in laser mode, ignore spindle spin-up delay. Set to turn on laser when cycle starts.
-              bit_true(sys.step_control, STEP_CONTROL_UPDATE_SPINDLE_PWM);
-            } else {
-              spindle_set_state((restore_condition & (PL_COND_FLAG_SPINDLE_CW | PL_COND_FLAG_SPINDLE_CCW)), restore_spindle_speed);
-              delay_sec(SAFETY_DOOR_SPINDLE_DELAY, DELAY_MODE_SYS_SUSPEND);
-            }
           }
-          if (sys.spindle_stop_ovr & SPINDLE_STOP_OVR_RESTORE_CYCLE) {
-            system_set_exec_state_flag(EXEC_CYCLE_START);  // Set to resume program.
-          }
-          sys.spindle_stop_ovr = SPINDLE_STOP_OVR_DISABLED; // Clear stop override state
-
         }
 
       }

grbl/spindle_control.c

@@ -154,7 +154,7 @@ void spindle_stop()
       // Compute intermediate PWM value with linear spindle speed model.
       // NOTE: A nonlinear model could be installed here, if required, but keep it light-weight.
       sys.spindle_speed = rpm;
-      pwm_value = floor( (rpm-settings.rpm_min)*pwm_gradient + (SPINDLE_PWM_MIN_VALUE+0.5));
+      pwm_value = floor( (rpm-settings.rpm_min)*pwm_gradient + (SPINDLE_PWM_MIN_VALUE+0.5) );
     }
     return(pwm_value);
   }
@@ -189,6 +189,10 @@ void spindle_stop()
     #endif
   
     #ifdef VARIABLE_SPINDLE
+      #ifdef LASER_CONSTANT_POWER_PER_RATE
+        // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
+        if (settings.flags & BITFLAG_LASER_MODE) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
+      #endif
       spindle_set_speed(spindle_compute_pwm_value(rpm));
     #else
       // NOTE: Without variable spindle, the enable bit should just turn on or off, regardless

grbl/stepper.c

@@ -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];
 
@@ -860,6 +856,35 @@ 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.
@@ -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)){
+  if (sys.state & (STATE_CYCLE | STATE_HOMING | STATE_HOLD | STATE_JOG | STATE_SAFETY_DOOR)){
-     return prep.current_speed;
+    return prep.current_speed;
-   }
+  }
   return 0.0f;
 }