Allow PWM output up to 320kHz and no slower than 8Hz, Major improvements for LASER...

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6b7bb2fb8c023e796f92c6570e5f397db870afc1..9ba1168b62ff0b2b6ef787b90a3ffcec84605324 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,7 +9,7 @@ Buildbotics CNC Controller Firmware Changelog
  - Much improved camera support.
  - Camera hotpluging.
  - Move camera video to header.
- - Click to switch through three video sizes.
+ - Click to switch video size.
  - Automount/unmount USB drives.
  - Automatically install ``buildbotics.gc`` when no other GCode exists.
  - Preplan GCode and check for errors.
@@ -21,8 +21,11 @@ Buildbotics CNC Controller Firmware Changelog
  - Show machine working envelope in path plan viewer.
  - Don't reload browser view on reconnect unless controller has reloaded.
  - Increased max switch backoff search distance.
- - Improvements for LASER raster GCodes.
+ - Major improvements for LASER raster GCodes.
  - Fixed major bug in command queuing.
+ - Ignore Program Number O-Codes.
+ - Improved planning of colinear line segments.
+ - Allow PWM output up to 320kHz and no slower than 8Hz.
 
 ## v0.3.28
  - Show step rate on motor configuration page.

diff --git a/src/avr/src/exec.c b/src/avr/src/exec.c
index 120985a6a8e7d450e03a579ed476547af131ec17..37366324d54f1a61e81d0ecf117419b47dac4e96 100644 (file)
--- a/src/avr/src/exec.c
+++ b/src/avr/src/exec.c
@@ -134,7 +134,6 @@ stat_t _segment_exec() {
                           ex.seg.max_accel, ex.seg.max_jerk);
     v = ex.velocity + SEGMENT_TIME * a;
     t *= ex.seg.vel / v;
-    if (v <= 0) t = v = 0;
 
     if (v < MIN_VELOCITY) {
       t = v = 0;

diff --git a/src/avr/src/line.c b/src/avr/src/line.c
index be5b708c5749b4dd24f0c95a211306df9b14957e..8ced03685743a790765eba564669ccbeed9c5ee9 100644 (file)
--- a/src/avr/src/line.c
+++ b/src/avr/src/line.c
@@ -121,6 +121,26 @@ static bool _section_next() {
 }
 
 
+static void _set_sync_speeds(float d) {
+  float speed = FLT_MAX;
+
+  while (true) {
+    // Load new sync speed if needed and available
+    if (l.speed.offset < 0 && command_peek() == COMMAND_sync_speed)
+      l.speed = *(speed_t *)(command_next() + 1);
+
+    // Exit if we don't have a speed or it's not ready to be set
+    if (l.speed.offset < 0 || d < l.speed.offset) break;
+
+    // Set speed
+    speed = l.speed.speed;
+    l.speed.offset = -1; // Mark done
+  }
+
+  if (speed != FLT_MAX) spindle_set_speed(speed);
+}
+
+
 static stat_t _line_exec() {
   // Compute times
   float section_time = l.line.times[l.section];
@@ -142,13 +162,7 @@ static stat_t _line_exec() {
   if (l.line.length < d) d = l.line.length;
 
   // Handle syncronous speeds
-  if (l.speed.offset < 0 && command_peek() == COMMAND_sync_speed)
-    l.speed = *(speed_t *)(command_next() + 1);
-
-  if (0 <= l.speed.offset && l.speed.offset <= d) {
-    spindle_set_speed(l.speed.speed);
-    l.speed.offset = -1;
-  }
+  _set_sync_speeds(d);
 
   // Check if section complete
   if (t == section_time) {
@@ -258,6 +272,7 @@ void command_line_exec(void *data) {
   l.line = *(line_t *)data;
 
   l.speed.offset = -1;
+  _set_sync_speeds(0);
 
   // Setup first section
   l.seg = 0;
@@ -307,4 +322,9 @@ stat_t command_sync_speed(char *cmd) {
 
 
 unsigned command_sync_speed_size() {return sizeof(speed_t);}
-void command_sync_speed_exec(void *data) {} // Should not get here
+
+
+void command_sync_speed_exec(void *data) {
+  speed_t s = *(speed_t *)data;
+  spindle_set_speed(s.speed);
+}

diff --git a/src/avr/src/pwm_spindle.c b/src/avr/src/pwm_spindle.c
index 512b348020c8cadcf565f2bbd59ae25b4bde2f45..027eb7106d575a59d5f6d99bf05107b0e86bbc95 100644 (file)
--- a/src/avr/src/pwm_spindle.c
+++ b/src/avr/src/pwm_spindle.c
@@ -35,7 +35,7 @@
 
 
 typedef struct {
-  uint16_t freq; // base frequency for PWM driver, in Hz
+  float freq; // base frequency for PWM driver, in Hz
   float min_duty;
   float max_duty;
   float duty;
@@ -75,8 +75,20 @@ static void _update_pwm() {
     return;
   }
 
+  // Compute duty cycle
+  spindle.duty =
+    speed * (spindle.max_duty - spindle.min_duty) + spindle.min_duty;
+
+  // Configure clock
+  TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
+  TIMER_PWM.CCA = TIMER_PWM.PER * spindle.duty;
+}
+
+
+static void _update_freq() {
   // Set clock period and optimal prescaler value
-  float prescale = (float)(F_CPU >> 16) / spindle.freq;
+  float prescale = (F_CPU >> 16) / spindle.freq;
+
   if (prescale <= 1) {
     TIMER_PWM.PER = F_CPU / spindle.freq;
     TIMER_PWM.CTRLA = TC_CLKSEL_DIV1_gc;
@@ -99,13 +111,7 @@ static void _update_pwm() {
 
   } else TIMER_PWM.CTRLA = 0;
 
-  // Compute duty cycle
-  spindle.duty =
-    speed * (spindle.max_duty - spindle.min_duty) + spindle.min_duty;
-
-  // Configure clock
-  TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
-  TIMER_PWM.CCA = TIMER_PWM.PER * spindle.duty;
+  _update_pwm();
 }
 
 
@@ -113,6 +119,7 @@ void pwm_spindle_init() {
   // Configure IO
   _set_dir(true);
   _set_enable(false);
+  _update_freq();
 
   // PWM output
   OUTCLR_PIN(SPIN_PWM_PIN);
@@ -163,8 +170,16 @@ void set_pwm_max_duty(float value) {
 
 
 float get_pwm_duty() {return spindle.duty;}
-uint16_t get_pwm_freq() {return spindle.freq;}
-void set_pwm_freq(uint16_t value) {spindle.freq = value; _update_pwm();}
+float get_pwm_freq() {return spindle.freq;}
+
+
+void set_pwm_freq(float value) {
+  if (value < 8) value = 8;
+  if (320000 < value) value = 320000;
+  spindle.freq = value; _update_freq();
+}
+
+
 bool get_pwm_invert() {return PINCTRL_PIN(SPIN_PWM_PIN) & PORT_INVEN_bm;}
 
 

diff --git a/src/avr/src/vars.def b/src/avr/src/vars.def
index 8b4e99be5ed058557d4d301c9f2b060f767de190..bd0ab9d52fa0153175e8754a95d47e79111cb955 100644 (file)
--- a/src/avr/src/vars.def
+++ b/src/avr/src/vars.def
@@ -94,7 +94,7 @@ VAR(pwm_invert,      pi, b8,    0,      1, 1) // Inverted spindle PWM
 VAR(pwm_min_duty,    nd, f32,   0,      1, 1) // Minimum PWM duty cycle
 VAR(pwm_max_duty,    md, f32,   0,      1, 1) // Maximum PWM duty cycle
 VAR(pwm_duty,        pd, f32,   0,      0, 1) // Current PWM duty cycle
-VAR(pwm_freq,        sf, u16,   0,      1, 1) // Spindle PWM frequency in Hz
+VAR(pwm_freq,        sf, f32,   0,      1, 1) // Spindle PWM frequency in Hz
 
 // Modbus spindle
 VAR(modbus_debug,    hb, b8,    0,      1, 1) // Modbus debugging

diff --git a/src/resources/config-template.json b/src/resources/config-template.json
index f10621cb0e8fefd0bbdf533c2939f0eefc28b0db..7aa38be87910e77ef39fe39143475408813adff9 100644 (file)
--- a/src/resources/config-template.json
+++ b/src/resources/config-template.json
@@ -315,8 +315,8 @@
     "pwm-freq": {
       "type": "int",
       "unit": "Hz",
-      "min": 0,
-      "max": 65535,
+      "min": 8,
+      "max": 320000,
       "default": 1000,
       "code": "sf"
     }