✨ DEFAULT_ACCELERATION_SPINDLE (#27759)

Marlin/Configuration_adv.h

@@ -3682,6 +3682,8 @@
       #define SPEED_POWER_MIN          5000    // (RPM)
       #define SPEED_POWER_MAX         30000    // (RPM) SuperPID router controller 0 - 30,000 RPM
       #define SPEED_POWER_STARTUP     25000    // (RPM) M3/M4 speed/power default (with no arguments)
+
+      //#define DEFAULT_ACCELERATION_SPINDLE   1000 // (°/s/s) Default spindle acceleration (speed change with time)
     #endif
 
   #else

Marlin/src/feature/spindle_laser.cpp

@@ -43,6 +43,10 @@ bool SpindleLaser::enable_state;                                      // Virtual
 uint8_t SpindleLaser::power,                                          // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
         SpindleLaser::last_power_applied; // = 0                      // Basic power state tracking
 
+#if HAS_SPINDLE_ACCELERATION
+  uint32_t SpindleLaser::acceleration_spindle_deg_per_s2;             // (°/s/s) Spindle acceleration. Initialized by settings.load
+#endif
+
 #if ENABLED(LASER_FEATURE)
   cutter_test_pulse_t SpindleLaser::testPulse = 50;                   // (ms) Test fire pulse default duration
   uint8_t SpindleLaser::last_block_power; // = 0                      // Track power changes for dynamic inline power
@@ -100,7 +104,22 @@ void SpindleLaser::init() {
     #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
       hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
     #endif
-    hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    #if HAS_SPINDLE_ACCELERATION
+      const int16_t diff = ocr - last_power_applied;
+      const uint8_t abs_diff = ABS(diff);
+      uint8_t current_ocr = last_power_applied;
+      // Duration between ocr increments. SPEED_POWER_MAX is in RPM.
+      const millis_t duration = (float(SPEED_POWER_MAX) * (60000.f / 2550.f) / float(acceleration_spindle_deg_per_s2)) * abs_diff;
+      millis_t next_ocr_change = millis() + duration;
+      while (current_ocr != ocr) {
+        while (PENDING(millis(), next_ocr_change)) idle();
+        current_ocr += diff > 0 ? 1 : -1;
+        hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), current_ocr ^ SPINDLE_LASER_PWM_OFF);
+        next_ocr_change += duration;
+      }
+    #else
+      hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
+    #endif
   }
 
   void SpindleLaser::set_ocr(const uint8_t ocr) {
@@ -111,10 +130,10 @@ void SpindleLaser::init() {
   }
 
   void SpindleLaser::ocr_off() {
+    _set_ocr(0);
     #if PIN_EXISTS(SPINDLE_LASER_ENA)
       WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
     #endif
-    _set_ocr(0);
   }
 #endif // SPINDLE_LASER_USE_PWM
 
@@ -127,9 +146,8 @@ void SpindleLaser::init() {
  */
 void SpindleLaser::apply_power(const uint8_t opwr) {
   if (enabled() || opwr == 0) {                                   // 0 check allows us to disable where no ENA pin exists
-    // Test and set the last power used to improve performance
+    // Test the last power used to improve performance
     if (opwr == last_power_applied) return;
-    last_power_applied = opwr;
     // Handle PWM driven or just simple on/off
     #if ENABLED(SPINDLE_LASER_USE_PWM)
       if (CUTTER_UNIT_IS(RPM) && unitPower == 0)
@@ -146,6 +164,7 @@ void SpindleLaser::apply_power(const uint8_t opwr) {
       WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
       isReadyForUI = true;
     #endif
+    last_power_applied = opwr;
   }
   else {
     #if PIN_EXISTS(SPINDLE_LASER_ENA)

Marlin/src/feature/spindle_laser.h

@@ -109,11 +109,14 @@ public:
   static uint8_t power,
                  last_power_applied;      // Basic power state tracking
 
-  static cutter_frequency_t frequency;  // Set PWM frequency; range: 2K-50K
+  static cutter_frequency_t frequency;    // (Hz) Laser/Spindle PWM frequency (2000..50000)
 
-  static cutter_power_t menuPower,        // Power as set via LCD menu in PWM, Percentage or RPM
+  static cutter_power_t menuPower,        // Power as set via LCD menu in PWM, Percentage, or RPM
-                        unitPower;        // Power as displayed status in PWM, Percentage or RPM
+                        unitPower;        // Power as displayed status in PWM, Percentage, or RPM
 
+  #if HAS_SPINDLE_ACCELERATION
+    static uint32_t acceleration_spindle_deg_per_s2;  // (°/s/s) Spindle acceleration
+  #endif
   static void init();
 
   #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY

Marlin/src/inc/Conditionals-4-adv.h

@@ -1090,6 +1090,9 @@
   #define _CUTTER_POWER_RPM     3
   #define _CUTTER_POWER(V)      _CAT(_CUTTER_POWER_, V)
   #define CUTTER_UNIT_IS(V)    (_CUTTER_POWER(CUTTER_POWER_UNIT) == _CUTTER_POWER(V))
+  #if DEFAULT_ACCELERATION_SPINDLE
+    #define HAS_SPINDLE_ACCELERATION 1
+  #endif
 #endif
 
 #if !defined(__AVR__) || !defined(USBCON)

Marlin/src/inc/SanityCheck.h

@@ -4072,6 +4072,8 @@ static_assert(_PLUS_TEST(3), "DEFAULT_MAX_ACCELERATION values must be positive."
       #error "SPINDLE_LASER_PWM_INVERT is required for (SPINDLE|LASER)_FEATURE."
     #elif !(defined(SPEED_POWER_MIN) && defined(SPEED_POWER_MAX) && defined(SPEED_POWER_STARTUP))
       #error "SPINDLE_LASER_USE_PWM equation constant(s) missing."
+    #elif DEFAULT_ACCELERATION_SPINDLE > SPEED_POWER_MAX - SPEED_POWER_MIN
+      #error "DEFAULT_ACCELERATION_SPINDLE must be <= SPEED_POWER_MAX - SPEED_POWER_MIN."
     #elif _PIN_CONFLICT(X_MIN)
       #error "SPINDLE_LASER_PWM_PIN conflicts with X_MIN_PIN."
     #elif _PIN_CONFLICT(X_MAX)

Marlin/src/lcd/e3v2/common/limits.h

@@ -65,6 +65,12 @@ constexpr xyze_float_t max_acceleration_edit_values =
                          #endif
                        ;
 
+#if HAS_SPINDLE_ACCELERATION
+  constexpr float min_acceleration_edit_values_spindle = 1,
+                  default_acceleration_spindle = DEFAULT_ACCELERATION_SPINDLE,
+                  max_acceleration_edit_values_spindle = default_acceleration_spindle * DEFAULT_MAX_MULTIPLIER;
+#endif
+
 //
 // Max Jerk limits
 //

Marlin/src/lcd/e3v2/creality/dwin.cpp

@@ -1595,6 +1595,27 @@ void hmiMaxAccelerationXYZE() {
   drawEditInteger4(select_acc.now, hmiValues.maxAcceleration, true);
 }
 
+
+#if HAS_SPINDLE_ACCELERATION
+
+  void hmiSpindleAcceleration() {
+    EncoderState encoder_diffState = encoderReceiveAnalyze();
+    if (encoder_diffState == ENCODER_DIFF_NO) return;
+    if (applyEncoder(encoder_diffState, hmiValues.spindleAcceleration)) {
+      checkkey = ID_SpindleAcceleration;
+      encoderRate.enabled = false;
+      cutter.spindle_acceleration_deg_per_s2 = hmiValues.spindleAcceleration;
+      drawEditInteger4(select_acc.now, hmiValues.spindleAcceleration);
+      return;
+    }
+    // SpindleAcceleration limit
+    LIMIT(hmiValues.spindleAcceleration, min_acceleration_edit_values_spindle, max_acceleration_edit_values_spindle);
+    // SpindleAcceleration value
+    drawEditInteger4(select_acc.now, hmiValues.spindleAcceleration, true);
+  }
+
+#endif // HAS_SPINDLE_ACCELERATION
+
 #if ENABLED(CLASSIC_JERK)
 
   void hmiMaxJerkXYZE() {
@@ -4283,6 +4304,9 @@ void dwinHandleScreen() {
     case ID_PrintSpeed:     hmiPrintSpeed(); break;
     case ID_MaxSpeedValue:  hmiMaxFeedspeedXYZE(); break;
     case ID_MaxAccelerationValue: hmiMaxAccelerationXYZE(); break;
+    #if HAS_SPINDLE_ACCELERATION
+      case ID_SpindleAccelerationValue: hmiSpindleAcceleration(); break;
+    #endif
     #if ENABLED(CLASSIC_JERK)
       case ID_MaxJerkValue: hmiMaxJerkXYZE(); break;
     #endif

Marlin/src/lcd/e3v2/creality/dwin.h

@@ -53,6 +53,9 @@ enum processID : uint8_t {
   #endif
   ID_MaxSpeed, ID_MaxSpeedValue,
   ID_MaxAcceleration, ID_MaxAccelerationValue,
+  #if HAS_SPINDLE_ACCELERATION
+    ID_SpindleAccelerationValue,
+  #endif
   ID_MaxJerk, ID_MaxJerkValue,
   ID_Step, ID_StepValue,
   ID_HomeOff, ID_HomeOffX, ID_HomeOffY, ID_HomeOffZ,
@@ -105,6 +108,9 @@ typedef struct {
   int16_t printSpeed    = 100;
   float maxFeedSpeed    = 0;
   float maxAcceleration = 0;
+  #if HAS_SPINDLE_ACCELERATION
+    float spindleAcceleration = 0;
+  #endif
   float maxJerkScaled   = 0;
   float maxStepScaled   = 0;
   float offset_value    = 0;
@@ -203,6 +209,9 @@ void hmiPrintSpeed();
 
 void hmiMaxFeedspeedXYZE();
 void hmiMaxAccelerationXYZE();
+#if HAS_SPINDLE_ACCELERATION
+  void hmiSpindleAcceleration();
+#endif
 void hmiMaxJerkXYZE();
 #if ENABLED(EDITABLE_STEPS_PER_UNIT)
   void hmiStepXYZE();

Marlin/src/lcd/language/language_en.h

@@ -452,6 +452,7 @@ namespace LanguageNarrow_en {
   LSTR MSG_AMAX_EN                        = _UxGT("Max * Accel");
   LSTR MSG_A_RETRACT                      = _UxGT("Retract Accel");
   LSTR MSG_A_TRAVEL                       = _UxGT("Travel Accel");
+  LSTR MSG_A_SPINDLE                      = _UxGT("Spindle Accel");
   LSTR MSG_INPUT_SHAPING                  = _UxGT("Input Shaping");
   LSTR MSG_SHAPING_ENABLE_N               = _UxGT("Enable @ shaping");
   LSTR MSG_SHAPING_DISABLE_N              = _UxGT("Disable @ shaping");

Marlin/src/lcd/menu/menu_advanced.cpp

@@ -37,6 +37,10 @@
   #include "../../gcode/parser.h"
 #endif
 
+#if HAS_SPINDLE_ACCELERATION
+  #include "../../feature/spindle_laser.h"
+#endif
+
 #if HAS_BED_PROBE
   #include "../../module/probe.h"
 #endif
@@ -511,6 +515,9 @@ void menu_backlash();
     #else
       const xyze_ulong_t &max_accel_edit_scaled = max_accel_edit;
     #endif
+    #if HAS_SPINDLE_ACCELERATION
+      constexpr uint32_t max_spindle_accel_edit = 99000;
+    #endif
 
     START_MENU();
     BACK_ITEM(MSG_ADVANCED_SETTINGS);
@@ -544,6 +551,10 @@ void menu_backlash();
       EDIT_ITEM_FAST(long5_25, MSG_AMAX_E, &planner.settings.max_acceleration_mm_per_s2[E_AXIS], 100, max_accel_edit_scaled.e, []{ planner.refresh_acceleration_rates(); });
     #endif
 
+    #if HAS_SPINDLE_ACCELERATION
+      EDIT_ITEM_FAST(long5_25, MSG_A_SPINDLE, &cutter.acceleration_spindle_deg_per_s2, 100, max_spindle_accel_edit);
+    #endif
+
     #ifdef XY_FREQUENCY_LIMIT
       EDIT_ITEM(int8, MSG_XY_FREQUENCY_LIMIT, &planner.xy_freq_limit_hz, 0, 100, planner.refresh_frequency_limit, true);
       editable.uint8 = uint8_t(LROUND(planner.xy_freq_min_speed_factor * 255)); // percent to u8

Marlin/src/module/settings.cpp

@@ -60,6 +60,10 @@
   #include "../HAL/shared/eeprom_api.h"
 #endif
 
+#if HAS_SPINDLE_ACCELERATION
+  #include "../feature/spindle_laser.h"
+#endif
+
 #if HAS_BED_PROBE
   #include "probe.h"
 #endif
@@ -252,6 +256,13 @@ typedef struct SettingsDataStruct {
     xyz_pos_t hotend_offset[HOTENDS - 1];               // M218 XYZ
   #endif
 
+  //
+  // Spindle Acceleration
+  //
+  #if HAS_SPINDLE_ACCELERATION
+    uint32_t acceleration_spindle;                      // cutter.acceleration_spindle_deg_per_s2
+  #endif
+
   //
   // FILAMENT_RUNOUT_SENSOR
   //
@@ -941,7 +952,7 @@ void MarlinSettings::postprocess() {
     #endif // NUM_AXES
 
     //
-    // Hotend Offsets, if any
+    // Hotend Offsets
     //
     {
       #if HAS_HOTEND_OFFSET
@@ -951,6 +962,16 @@ void MarlinSettings::postprocess() {
       #endif
     }
 
+    //
+    // Spindle Acceleration
+    //
+    {
+      #if HAS_SPINDLE_ACCELERATION
+        _FIELD_TEST(acceleration_spindle);
+        EEPROM_WRITE(cutter.acceleration_spindle_deg_per_s2);
+      #endif
+    }
+
     //
     // Filament Runout Sensor
     //
@@ -1985,7 +2006,7 @@ void MarlinSettings::postprocess() {
       #endif // NUM_AXES
 
       //
-      // Hotend Offsets, if any
+      // Hotend Offsets
       //
       {
         #if HAS_HOTEND_OFFSET
@@ -1995,6 +2016,16 @@ void MarlinSettings::postprocess() {
         #endif
       }
 
+      //
+      // Spindle Acceleration
+      //
+      {
+        #if HAS_SPINDLE_ACCELERATION
+          _FIELD_TEST(acceleration_spindle);
+          EEPROM_READ(cutter.acceleration_spindle_deg_per_s2);
+        #endif
+      }
+
       //
       // Filament Runout Sensor
       //
@@ -2003,7 +2034,7 @@ void MarlinSettings::postprocess() {
         _FIELD_TEST(runout_sensor_enabled);
         EEPROM_READ(runout_sensor_enabled);
         #if HAS_FILAMENT_SENSOR
-        if (!validating) runout.enabled = runout_sensor_enabled < 0 ? FIL_RUNOUT_ENABLED_DEFAULT : runout_sensor_enabled;
+          if (!validating) runout.enabled = runout_sensor_enabled < 0 ? FIL_RUNOUT_ENABLED_DEFAULT : runout_sensor_enabled;
         #endif
 
         TERN_(HAS_FILAMENT_SENSOR, if (runout.enabled) runout.reset());
@@ -3286,14 +3317,27 @@ void MarlinSettings::reset() {
 
   TERN_(HAS_JUNCTION_DEVIATION, planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM));
 
+  //
+  // Home Offset
+  //
   #if HAS_SCARA_OFFSET
     scara_home_offset.reset();
   #elif HAS_HOME_OFFSET
     home_offset.reset();
   #endif
 
+  //
+  // Hotend Offsets
+  //
   TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets());
 
+  //
+  // Spindle Acceleration
+  //
+  #if HAS_SPINDLE_ACCELERATION
+    cutter.acceleration_spindle_deg_per_s2 = DEFAULT_ACCELERATION_SPINDLE;
+  #endif
+
   //
   // Filament Runout Sensor
   //

buildroot/tests/mega1280

@@ -19,7 +19,8 @@ restore_configs
 opt_set LCD_LANGUAGE an \
         POWER_MONITOR_CURRENT_PIN 14 POWER_MONITOR_VOLTAGE_PIN 15 \
         CLOSED_LOOP_ENABLE_PIN 44 CLOSED_LOOP_MOVE_COMPLETE_PIN 45
-opt_enable SPINDLE_FEATURE ULTIMAKERCONTROLLER LCD_BED_LEVELING EDITABLE_HOMING_FEEDRATE \
+opt_enable SPINDLE_FEATURE DEFAULT_ACCELERATION_SPINDLE \
+           ULTIMAKERCONTROLLER LCD_BED_LEVELING EDITABLE_HOMING_FEEDRATE \
            EEPROM_SETTINGS EEPROM_BOOT_SILENT EEPROM_AUTO_INIT \
            SENSORLESS_BACKOFF_MM HOMING_BACKOFF_POST_MM HOME_Y_BEFORE_X CODEPENDENT_XY_HOMING \
            MESH_BED_LEVELING ENABLE_LEVELING_FADE_HEIGHT MESH_G28_REST_ORIGIN \