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" | |
7af0714f | 17 | #include "checksumm.h" |
8d54c34c | 18 | #include "ConfigValue.h" |
4cff3ded | 19 | |
1f19c40d JM |
20 | #include "libs/Pin.h" |
21 | #include "Gcode.h" | |
22 | #include "PwmOut.h" // mbed.h lib | |
23 | ||
24 | #define laser_module_enable_checksum CHECKSUM("laser_module_enable") | |
25 | #define laser_module_pin_checksum CHECKSUM("laser_module_pin") | |
39b0a65d | 26 | #define laser_module_pwm_pin_checksum CHECKSUM("laser_module_pwm_pin") |
4287ba0c | 27 | #define laser_module_ttl_pin_checksum CHECKSUM("laser_module_ttl_pin") |
1f19c40d | 28 | #define laser_module_pwm_period_checksum CHECKSUM("laser_module_pwm_period") |
6e986d7e BC |
29 | #define laser_module_maximum_power_checksum CHECKSUM("laser_module_maximum_power") |
30 | #define laser_module_minimum_power_checksum CHECKSUM("laser_module_minimum_power") | |
31 | #define laser_module_default_power_checksum CHECKSUM("laser_module_default_power") | |
1f19c40d | 32 | #define laser_module_tickle_power_checksum CHECKSUM("laser_module_tickle_power") |
6e986d7e | 33 | #define laser_module_max_power_checksum CHECKSUM("laser_module_max_power") |
1f19c40d | 34 | |
e605a0d6 | 35 | Laser::Laser(){ |
4cff3ded AW |
36 | } |
37 | ||
38 | void Laser::on_module_loaded() { | |
314ab8f7 | 39 | if( !THEKERNEL->config->value( laser_module_enable_checksum )->by_default(false)->as_bool() ){ |
0b1e8fd1 BG |
40 | // as not needed free up resource |
41 | delete this; | |
42 | return; | |
43 | } | |
e605a0d6 | 44 | |
dad4ecfc AW |
45 | // Get smoothie-style pin from config |
46 | Pin* dummy_pin = new Pin(); | |
314ab8f7 | 47 | dummy_pin->from_string(THEKERNEL->config->value(laser_module_pin_checksum)->by_default("nc")->as_string())->as_output(); |
61134a65 | 48 | |
39b0a65d FM |
49 | // Alternative less ambiguous name for pwm_pin |
50 | if (!dummy_pin->connected()) | |
51 | dummy_pin->from_string(THEKERNEL->config->value(laser_module_pwm_pin_checksum)->by_default("nc")->as_string())->as_output(); | |
52 | ||
4287ba0c | 53 | pwm_pin = dummy_pin->hardware_pwm(); |
820ee962 | 54 | |
4287ba0c | 55 | if (pwm_pin == NULL) |
820ee962 | 56 | { |
580cad4c | 57 | THEKERNEL->streams->printf("Error: Laser cannot use P%d.%d (P2.0 - P2.5, P1.18, P1.20, P1.21, P1.23, P1.24, P1.26, P3.25, P3.26 only). Laser module disabled.\n", dummy_pin->port_number, dummy_pin->pin); |
820ee962 MM |
58 | delete dummy_pin; |
59 | delete this; | |
60 | return; | |
61 | } | |
62 | ||
4287ba0c FM |
63 | |
64 | this->pwm_inverting = dummy_pin->inverting; | |
dad4ecfc | 65 | |
820ee962 MM |
66 | delete dummy_pin; |
67 | dummy_pin = NULL; | |
68 | ||
4287ba0c FM |
69 | // TTL settings |
70 | this->ttl_pin = new Pin(); | |
71 | ttl_pin->from_string( THEKERNEL->config->value(laser_module_ttl_pin_checksum)->by_default("nc" )->as_string())->as_output(); | |
72 | this->ttl_used = ttl_pin->connected(); | |
73 | this->ttl_inverting = ttl_pin->inverting; | |
74 | if (ttl_used) | |
75 | ttl_pin->set(0); | |
76 | ||
77 | this->pwm_pin->period_us(THEKERNEL->config->value(laser_module_pwm_period_checksum)->by_default(20)->as_number()); | |
78 | this->pwm_pin->write(this->pwm_inverting ? 1 : 0); | |
6e986d7e | 79 | this->laser_maximum_power = THEKERNEL->config->value(laser_module_maximum_power_checksum )->by_default(1.0f)->as_number() ; |
e605a0d6 | 80 | |
6e986d7e BC |
81 | // These config variables are deprecated, they have been replaced with laser_module_default_power and laser_module_minimum_power |
82 | this->laser_minimum_power = THEKERNEL->config->value(laser_module_tickle_power_checksum)->by_default(0)->as_number() ; | |
83 | this->laser_power = THEKERNEL->config->value(laser_module_max_power_checksum)->by_default(0.8f)->as_number() ; | |
024545c5 | 84 | |
6e986d7e BC |
85 | // Load in our preferred config variables |
86 | this->laser_minimum_power = THEKERNEL->config->value(laser_module_minimum_power_checksum)->by_default(this->laser_minimum_power)->as_number() ; | |
87 | this->laser_power = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(this->laser_power)->as_number() ; | |
0b1e8fd1 | 88 | |
e605a0d6 | 89 | //register for events |
4cff3ded AW |
90 | this->register_for_event(ON_GCODE_EXECUTE); |
91 | this->register_for_event(ON_SPEED_CHANGE); | |
a2cd92c0 AW |
92 | this->register_for_event(ON_BLOCK_BEGIN); |
93 | this->register_for_event(ON_BLOCK_END); | |
4cff3ded AW |
94 | } |
95 | ||
a2cd92c0 AW |
96 | // Turn laser off laser at the end of a move |
97 | void Laser::on_block_end(void* argument){ | |
4287ba0c FM |
98 | this->pwm_pin->write(this->pwm_inverting ? 1 : 0); |
99 | ||
100 | if (this->ttl_used) | |
101 | this->ttl_pin->set(0); | |
a2cd92c0 AW |
102 | } |
103 | ||
104 | // Set laser power at the beginning of a block | |
105 | void Laser::on_block_begin(void* argument){ | |
106 | this->set_proportional_power(); | |
107 | } | |
befcf5cc | 108 | |
4cff3ded AW |
109 | // Turn laser on/off depending on received GCodes |
110 | void Laser::on_gcode_execute(void* argument){ | |
111 | Gcode* gcode = static_cast<Gcode*>(argument); | |
b66fb830 | 112 | this->laser_on = false; |
0fe213e1 AW |
113 | if( gcode->has_g){ |
114 | int code = gcode->g; | |
a2cd92c0 | 115 | if( code == 0 ){ // G0 |
4287ba0c | 116 | this->pwm_pin->write(this->pwm_inverting ? 1 - this->laser_minimum_power : this->laser_minimum_power); |
4cff3ded | 117 | this->laser_on = false; |
a2cd92c0 | 118 | }else if( code >= 1 && code <= 3 ){ // G1, G2, G3 |
4cff3ded AW |
119 | this->laser_on = true; |
120 | } | |
121 | } | |
de91760a | 122 | if ( gcode->has_letter('S' )){ |
024545c5 | 123 | this->laser_power = gcode->get_value('S'); |
de91760a GM |
124 | } |
125 | ||
4287ba0c FM |
126 | if (this->ttl_used) |
127 | this->ttl_pin->set(this->laser_on); | |
128 | ||
4cff3ded AW |
129 | } |
130 | ||
6f57fb56 | 131 | // We follow the stepper module here, so speed must be proportional |
4cff3ded | 132 | void Laser::on_speed_change(void* argument){ |
58ecb87d MC |
133 | if( this->laser_on ){ |
134 | this->set_proportional_power(); | |
135 | } | |
a2cd92c0 AW |
136 | } |
137 | ||
138 | void Laser::set_proportional_power(){ | |
38bf9a1c | 139 | if( this->laser_on && THEKERNEL->stepper->get_current_block() ){ |
58baeec1 | 140 | // adjust power to maximum power and actual velocity |
6e986d7e | 141 | float proportional_power = (((this->laser_maximum_power-this->laser_minimum_power)*(this->laser_power * THEKERNEL->stepper->get_trapezoid_adjusted_rate() / THEKERNEL->stepper->get_current_block()->nominal_rate))+this->laser_minimum_power); |
4287ba0c | 142 | this->pwm_pin->write(this->pwm_inverting ? 1 - proportional_power : proportional_power); |
4cff3ded | 143 | } |
2f37949e | 144 | } |