Laser Refactor

Marlin/src/feature/spindle_laser.cpp

@@ -39,16 +39,18 @@
 #endif
 
 SpindleLaser cutter;
-uint8_t SpindleLaser::power;
+uint8_t SpindleLaser::ocr_power = 0;                  // Startup disable
+SpindleDir SpindleLaser::spindle_dir = SpindleDirCW;  // Startup clockwise
+CutterState SpindleLaser::state = STAY_OFF;           // Startup OFF
 #if ENABLED(LASER_FEATURE)
-  cutter_test_pulse_t SpindleLaser::testPulse = 50;                   // Test fire Pulse time ms value.
+  cutter_test_pulse_t SpindleLaser::testPulse = 50;   // Test fire Pulse time ms value.
 #endif
-bool SpindleLaser::isReady;                                           // Ready to apply power setting from the UI to OCR
-cutter_power_t SpindleLaser::menuPower,                               // Power set via LCD menu in PWM, PERCENT, or RPM
-               SpindleLaser::unitPower;                               // LCD status power in PWM, PERCENT, or RPM
+bool SpindleLaser::isReady;                           // Ready to apply power setting from the UI to OCR
+cutter_power_t SpindleLaser::menuPower,               // Power set via LCD menu in PWM, PERCENT, or RPM
+               SpindleLaser::unitPower;               // LCD status power in PWM, PERCENT, or RPM
 
 #if ENABLED(MARLIN_DEV_MODE)
-  cutter_frequency_t SpindleLaser::frequency;                         // PWM frequency setting; range: 2K - 50K
+  cutter_frequency_t SpindleLaser::frequency;         // PWM frequency setting; range: 2K - 50K
 #endif
 #define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0)
 
@@ -62,7 +64,8 @@ void SpindleLaser::init() {
     OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);    // Init spindle to off
   #endif
   #if ENABLED(SPINDLE_CHANGE_DIR)
-    OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR);                   // Init rotation to clockwise (M3)
+    SET_OUTPUT(SPINDLE_DIR_PIN);
+    dir_pin_set();                                                    // Init rotation to clockwise (M3)
   #endif
   #if ENABLED(SPINDLE_LASER_USE_PWM)
     SET_PWM(SPINDLE_LASER_PWM_PIN);
@@ -87,66 +90,155 @@ void SpindleLaser::init() {
    *
    * @param ocr Power value
    */
-  void SpindleLaser::_set_ocr(const uint8_t ocr) {
+  void SpindleLaser::ocr_set(const uint8_t ocr) {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
       hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY));
     #endif
     hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
   }
 
-  void SpindleLaser::set_ocr(const uint8_t ocr) {
-    WRITE(SPINDLE_LASER_ENA_PIN,  SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
-    _set_ocr(ocr);
-  }
+#endif // SPINDLE_LASER_USE_PWM
+
+/**
+ * Set state for pin spindle/laser
+ * @param enable true = on; false = off
+ */
+void SpindleLaser::ena_pin_set(const bool enable) {
+  WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
+}
 
-  void SpindleLaser::ocr_off() {
-    WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
-    _set_ocr(0);
+#if ENABLED(SPINDLE_CHANGE_DIR)
+  /**
+   * Set direction pin for spindle
+   */
+  void SpindleLaser::dir_pin_set() {
+    // Forward (M3) HIGH when not inverted
+    const uint8_t dir_state = (spindle_dir == TERN(SPINDLE_INVERT_DIR, SpindleDirCCW, SpindleDirCW)) ? HIGH : LOW;
+    WRITE(SPINDLE_DIR_PIN, dir_state);
   }
-#endif // SPINDLE_LASER_USE_PWM
+#endif
 
 /**
- * Apply power for laser/spindle
- *
- * Apply cutter power value for PWM, Servo, and on/off pin.
+ * Get a change event based on current and new state
  *
- * @param opwr Power value. Range 0 to MAX. When 0 disable spindle/laser.
+ * @param opwr        New power value
+ * @param odir        New direction spindle
+ * @param oena_pin_on New ena_pin state
  */
-void SpindleLaser::apply_power(const uint8_t opwr) {
-  static uint8_t last_power_applied = 0;
-  if (opwr == last_power_applied) return;
-  last_power_applied = opwr;
-  power = opwr;
-  #if ENABLED(SPINDLE_LASER_USE_PWM)
-    if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) {
-      ocr_off();
-      isReady = false;
-    }
-    else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled()) {
-      set_ocr(power);
-      isReady = true;
-    }
-    else {
-      ocr_off();
-      isReady = false;
-    }
-  #elif ENABLED(SPINDLE_SERVO)
-    MOVE_SERVO(SPINDLE_SERVO_NR, power);
-  #else
-    WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
-    isReady = true;
+CutterState SpindleLaser::get_event(const uint8_t opwr, const SpindleDir odir, const bool oena_pin_on) {
+  // Setting PWM and ENA both off
+  if (opwr == 0 && !oena_pin_on)
+    return state == STAY_OFF ? STAY_OFF : TURN_OFF;
+
+  // Setting PWM or ENA while OFF
+  if (state == STAY_OFF)
+    return TURN_ON;
+
+  // Changing direction while already ON
+  if (odir != spindle_dir)
+    return STAY_ON_REV;
+
+  return state;
+}
+
+/**
+ * Change hardware state
+ */
+void SpindleLaser::_change_hw(const bool ena_pin_on) {
+  TERN_(SPINDLE_LASER_USE_PWM, ocr_set(ocr_power));
+
+  TERN(SPINDLE_SERVO, MOVE_SERVO(SPINDLE_SERVO_NR, ocr_power), ena_pin_set(ena_pin_on));
+
+  #if ENABLED(SPINDLE_LASER_USE_PWM) || DISABLED(SPINDLE_SERVO)
+    isReady = ena_pin_on; // This is a hack. isReady state and ena_pin_on are equivalent.
   #endif
 }
 
+/**
+ * Set cutter ocr_power value for PWM, Servo, and on/off pin.
+ *
+ * @param opwr       Power value. Range 0 to MAX. When 0 disable spindle/laser.
+ * @param odir       Direction spindle (default SpindleDirSame)
+ * @param ena_pin_on Enable/disable ENA_PIN. Work only in separate mode PWM.
+ *                   If separate mode is disable - ENA_PIN is managed through opwr value
+ *                   if true - enable pin; false - disable pin (default true)
+ */
+void SpindleLaser::ocr_set_power(const uint8_t opwr, const SpindleDir odir/*=SpindleDirSame*/, const bool ena_pin_on/*=true*/) {
+  const SpindleDir dir_value = TERN(SPINDLE_CHANGE_DIR, (odir == SpindleDirSame) ? spindle_dir : odir, SpindleDirCW);
+
+  const bool ena_pin_on_value = TERN(HAS_CUTTER_PWM_AND_ENA, ena_pin_on, opwr > 0);
+
+  switch (get_event(opwr, dir_value, ena_pin_on_value)) {
+    // Already ON and staying ON
+    case STAY_ON:
+      state = STAY_ON;                   // Probably already the current state
+      if (opwr != ocr_power) {
+        ocr_power = opwr;
+        _change_hw(ena_pin_on_value);
+      }
+      break;
+
+    case TURN_ON:
+      state = STAY_ON;
+      ocr_power = opwr;
+      spindle_dir = dir_value;
+      dir_pin_set();
+      _change_hw(ena_pin_on_value);
+      power_delay(true);
+      break;
+
+    case STAY_OFF:
+      state = STAY_OFF;                  // Probably already the current state
+      spindle_dir = dir_value;
+      break;
+
+    case TURN_OFF:
+      state = STAY_OFF;
+      ocr_power = opwr;
+      spindle_dir = dir_value;
+      dir_pin_set();
+      _change_hw(false);
+      power_delay(false);
+      break;
+
+    case STAY_ON_REV: {
+      state = STAY_ON;
+      ocr_power = opwr;
+      spindle_dir = dir_value;
+
+      #if ENABLED(SPINDLE_CHANGE_DIR_STOP)
+        // Stop Spindle and wait
+        const uint8_t curr_power = ocr_power;
+        ocr_power = 0;
+        _change_hw(false);
+        power_delay(false);
+        // Start spindle and wait
+        ocr_power = curr_power;
+        dir_pin_set();
+        _change_hw(ena_pin_on_value);
+        power_delay(true);
+      #else
+        dir_pin_set();
+      #endif
+    } break;
+  }
+
+  UNUSED(ena_pin_on);
+}
+
+/**
+ * Return value ocr_power
+ */
+uint8_t SpindleLaser::get_ocr_power(){ return ocr_power; }
+
 #if ENABLED(SPINDLE_CHANGE_DIR)
   /**
    * Set the spindle direction and apply immediately
-   * Stop on direction change if SPINDLE_STOP_ON_DIR_CHANGE is enabled
+   * ! deprecate and need delete
+   * @param reverse If True is SpindleDirCCW, false is SpindleDirCW
    */
   void SpindleLaser::set_reverse(const bool reverse) {
-    const bool dir_state = (reverse == SPINDLE_INVERT_DIR); // Forward (M3) HIGH when not inverted
-    if (TERN0(SPINDLE_STOP_ON_DIR_CHANGE, enabled()) && READ(SPINDLE_DIR_PIN) != dir_state) disable();
-    WRITE(SPINDLE_DIR_PIN, dir_state);
+    ocr_set_power(ocr_power, reverse ? SpindleDirCCW : SpindleDirCW);
   }
 #endif