Commit | Line | Data |
---|---|---|
de91760a | 1 | /* |
58baeec1 MM |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
4cff3ded AW |
6 | */ |
7 | ||
4cff3ded AW |
8 | #include "libs/Module.h" |
9 | #include "libs/Kernel.h" | |
10 | #include "modules/communication/utils/Gcode.h" | |
11 | #include "modules/robot/Stepper.h" | |
12 | #include "Laser.h" | |
a2cd92c0 | 13 | #include "libs/nuts_bolts.h" |
61134a65 JM |
14 | #include "Config.h" |
15 | #include "StreamOutputPool.h" | |
16 | #include "Block.h" | |
4cff3ded | 17 | |
e605a0d6 | 18 | Laser::Laser(){ |
4cff3ded AW |
19 | } |
20 | ||
21 | void Laser::on_module_loaded() { | |
314ab8f7 | 22 | if( !THEKERNEL->config->value( laser_module_enable_checksum )->by_default(false)->as_bool() ){ |
0b1e8fd1 BG |
23 | // as not needed free up resource |
24 | delete this; | |
25 | return; | |
26 | } | |
e605a0d6 | 27 | |
dad4ecfc AW |
28 | // Get smoothie-style pin from config |
29 | Pin* dummy_pin = new Pin(); | |
314ab8f7 | 30 | dummy_pin->from_string(THEKERNEL->config->value(laser_module_pin_checksum)->by_default("nc")->as_string())->as_output(); |
61134a65 | 31 | |
820ee962 MM |
32 | laser_pin = NULL; |
33 | ||
dad4ecfc AW |
34 | // Get mBed-style pin from smoothie-style pin |
35 | if( dummy_pin->port_number == 2 ){ | |
36 | if( dummy_pin->pin == 0 ){ this->laser_pin = new mbed::PwmOut(p26); } | |
37 | if( dummy_pin->pin == 1 ){ this->laser_pin = new mbed::PwmOut(p25); } | |
38 | if( dummy_pin->pin == 2 ){ this->laser_pin = new mbed::PwmOut(p24); } | |
39 | if( dummy_pin->pin == 3 ){ this->laser_pin = new mbed::PwmOut(p23); } | |
40 | if( dummy_pin->pin == 4 ){ this->laser_pin = new mbed::PwmOut(p22); } | |
41 | if( dummy_pin->pin == 5 ){ this->laser_pin = new mbed::PwmOut(p21); } | |
42 | } | |
820ee962 MM |
43 | |
44 | if (laser_pin == NULL) | |
45 | { | |
46 | THEKERNEL->streams->printf("Error: Laser cannot use P%d.%d (P2.0 - P2.5 only). Laser module disabled.\n", dummy_pin->port_number, dummy_pin->pin); | |
47 | delete dummy_pin; | |
48 | delete this; | |
49 | return; | |
50 | } | |
51 | ||
9f9d7939 | 52 | this->laser_inverting = dummy_pin->inverting; |
dad4ecfc | 53 | |
820ee962 MM |
54 | delete dummy_pin; |
55 | dummy_pin = NULL; | |
56 | ||
9548623d | 57 | this->laser_pin->period_us(THEKERNEL->config->value(laser_module_pwm_period_checksum)->by_default(20)->as_number()); |
9f9d7939 | 58 | this->laser_pin->write(this->laser_inverting ? 1 : 0); |
e605a0d6 | 59 | |
1ad23cd3 MM |
60 | this->laser_max_power = THEKERNEL->config->value(laser_module_max_power_checksum )->by_default(0.8f)->as_number() ; |
61 | this->laser_tickle_power = THEKERNEL->config->value(laser_module_tickle_power_checksum)->by_default(0 )->as_number() ; | |
0b1e8fd1 | 62 | |
e605a0d6 | 63 | //register for events |
4cff3ded AW |
64 | this->register_for_event(ON_GCODE_EXECUTE); |
65 | this->register_for_event(ON_SPEED_CHANGE); | |
befcf5cc AW |
66 | this->register_for_event(ON_PLAY); |
67 | this->register_for_event(ON_PAUSE); | |
a2cd92c0 AW |
68 | this->register_for_event(ON_BLOCK_BEGIN); |
69 | this->register_for_event(ON_BLOCK_END); | |
4cff3ded AW |
70 | } |
71 | ||
a2cd92c0 AW |
72 | // Turn laser off laser at the end of a move |
73 | void Laser::on_block_end(void* argument){ | |
9f9d7939 | 74 | this->laser_pin->write(this->laser_inverting ? 1 : 0); |
a2cd92c0 AW |
75 | } |
76 | ||
77 | // Set laser power at the beginning of a block | |
78 | void Laser::on_block_begin(void* argument){ | |
79 | this->set_proportional_power(); | |
80 | } | |
befcf5cc AW |
81 | |
82 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event | |
83 | void Laser::on_pause(void* argument){ | |
9f9d7939 | 84 | this->laser_pin->write(this->laser_inverting ? 1 : 0); |
befcf5cc AW |
85 | } |
86 | ||
87 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
88 | void Laser::on_play(void* argument){ | |
a2cd92c0 | 89 | this->set_proportional_power(); |
befcf5cc AW |
90 | } |
91 | ||
4cff3ded AW |
92 | // Turn laser on/off depending on received GCodes |
93 | void Laser::on_gcode_execute(void* argument){ | |
94 | Gcode* gcode = static_cast<Gcode*>(argument); | |
b66fb830 | 95 | this->laser_on = false; |
0fe213e1 AW |
96 | if( gcode->has_g){ |
97 | int code = gcode->g; | |
a2cd92c0 | 98 | if( code == 0 ){ // G0 |
9f9d7939 | 99 | this->laser_pin->write(this->laser_inverting ? 1 - this->laser_tickle_power : this->laser_tickle_power); |
4cff3ded | 100 | this->laser_on = false; |
a2cd92c0 | 101 | }else if( code >= 1 && code <= 3 ){ // G1, G2, G3 |
4cff3ded AW |
102 | this->laser_on = true; |
103 | } | |
104 | } | |
de91760a | 105 | if ( gcode->has_letter('S' )){ |
58baeec1 | 106 | this->laser_max_power = gcode->get_value('S'); |
314ab8f7 | 107 | // THEKERNEL->streams->printf("Adjusted laser power to %d/100\r\n",(int)(this->laser_max_power*100.0+0.5)); |
de91760a GM |
108 | } |
109 | ||
4cff3ded AW |
110 | } |
111 | ||
6f57fb56 | 112 | // We follow the stepper module here, so speed must be proportional |
4cff3ded | 113 | void Laser::on_speed_change(void* argument){ |
58ecb87d MC |
114 | if( this->laser_on ){ |
115 | this->set_proportional_power(); | |
116 | } | |
a2cd92c0 AW |
117 | } |
118 | ||
119 | void Laser::set_proportional_power(){ | |
314ab8f7 | 120 | if( this->laser_on && THEKERNEL->stepper->current_block ){ |
58baeec1 | 121 | // adjust power to maximum power and actual velocity |
9f9d7939 L |
122 | float proportional_power = float(float(this->laser_max_power) * float(THEKERNEL->stepper->trapezoid_adjusted_rate) / float(THEKERNEL->stepper->current_block->nominal_rate)); |
123 | this->laser_pin->write(this->laser_inverting ? 1 - proportional_power : proportional_power); | |
4cff3ded | 124 | } |
2f37949e | 125 | } |