src/modules/tools/laser/Laser.cpp

   1 /*
   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/>.
   6 */
   7
   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"
  13 #include "libs/nuts_bolts.h"
  14 #include "Config.h"
  15 #include "StreamOutputPool.h"
  16 #include "Block.h"
  17 #include "checksumm.h"
  18 #include "ConfigValue.h"
  19
  20 Laser::Laser(){
  21 }
  22
  23 void Laser::on_module_loaded() {
  24     if( !THEKERNEL->config->value( laser_module_enable_checksum )->by_default(false)->as_bool() ){
  25         // as not needed free up resource
  26         delete this;
  27         return;
  28     }
  29
  30     // Get smoothie-style pin from config
  31     Pin* dummy_pin = new Pin();
  32     dummy_pin->from_string(THEKERNEL->config->value(laser_module_pin_checksum)->by_default("nc")->as_string())->as_output();
  33
  34     laser_pin = NULL;
  35
  36     // Get mBed-style pin from smoothie-style pin
  37     if( dummy_pin->port_number == 2 ){
  38         if( dummy_pin->pin == 0 ){ this->laser_pin = new mbed::PwmOut(p26); }
  39         if( dummy_pin->pin == 1 ){ this->laser_pin = new mbed::PwmOut(p25); }
  40         if( dummy_pin->pin == 2 ){ this->laser_pin = new mbed::PwmOut(p24); }
  41         if( dummy_pin->pin == 3 ){ this->laser_pin = new mbed::PwmOut(p23); }
  42         if( dummy_pin->pin == 4 ){ this->laser_pin = new mbed::PwmOut(p22); }
  43         if( dummy_pin->pin == 5 ){ this->laser_pin = new mbed::PwmOut(p21); }
  44     }
  45
  46     if (laser_pin == NULL)
  47     {
  48         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);
  49         delete dummy_pin;
  50         delete this;
  51         return;
  52     }
  53
  54     this->laser_inverting = dummy_pin->inverting;
  55
  56     delete dummy_pin;
  57     dummy_pin = NULL;
  58
  59     this->laser_pin->period_us(THEKERNEL->config->value(laser_module_pwm_period_checksum)->by_default(20)->as_number());
  60     this->laser_pin->write(this->laser_inverting ? 1 : 0);
  61
  62     this->laser_max_power =    THEKERNEL->config->value(laser_module_max_power_checksum   )->by_default(0.8f)->as_number() ;
  63     this->laser_tickle_power = THEKERNEL->config->value(laser_module_tickle_power_checksum)->by_default(0   )->as_number() ;
  64
  65     //register for events
  66     this->register_for_event(ON_GCODE_EXECUTE);
  67     this->register_for_event(ON_SPEED_CHANGE);
  68     this->register_for_event(ON_PLAY);
  69     this->register_for_event(ON_PAUSE);
  70     this->register_for_event(ON_BLOCK_BEGIN);
  71     this->register_for_event(ON_BLOCK_END);
  72 }
  73
  74 // Turn laser off laser at the end of a move
  75 void  Laser::on_block_end(void* argument){
  76     this->laser_pin->write(this->laser_inverting ? 1 : 0);
  77 }
  78
  79 // Set laser power at the beginning of a block
  80 void Laser::on_block_begin(void* argument){
  81     this->set_proportional_power();
  82 }
  83
  84 // When the play/pause button is set to pause, or a module calls the ON_PAUSE event
  85 void Laser::on_pause(void* argument){
  86     this->laser_pin->write(this->laser_inverting ? 1 : 0);
  87 }
  88
  89 // When the play/pause button is set to play, or a module calls the ON_PLAY event
  90 void Laser::on_play(void* argument){
  91     this->set_proportional_power();
  92 }
  93
  94 // Turn laser on/off depending on received GCodes
  95 void Laser::on_gcode_execute(void* argument){
  96     Gcode* gcode = static_cast<Gcode*>(argument);
  97     this->laser_on = false;
  98     if( gcode->has_g){
  99         int code = gcode->g;
 100         if( code == 0 ){                    // G0
 101             this->laser_pin->write(this->laser_inverting ? 1 - this->laser_tickle_power : this->laser_tickle_power);
 102             this->laser_on =  false;
 103         }else if( code >= 1 && code <= 3 ){ // G1, G2, G3
 104             this->laser_on =  true;
 105         }
 106     }
 107     if ( gcode->has_letter('S' )){
 108         this->laser_max_power = gcode->get_value('S');
 109 //         THEKERNEL->streams->printf("Adjusted laser power to %d/100\r\n",(int)(this->laser_max_power*100.0+0.5));
 110     }
 111
 112 }
 113
 114 // We follow the stepper module here, so speed must be proportional
 115 void Laser::on_speed_change(void* argument){
 116     if( this->laser_on ){
 117         this->set_proportional_power();
 118     }
 119 }
 120
 121 void Laser::set_proportional_power(){
 122     if( this->laser_on && THEKERNEL->stepper->get_current_block() ){
 123         // adjust power to maximum power and actual velocity
 124         float proportional_power = float(float(this->laser_max_power) * float(THEKERNEL->stepper->get_trapezoid_adjusted_rate()) / float(THEKERNEL->stepper->get_current_block()->nominal_rate));
 125         this->laser_pin->write(this->laser_inverting ? 1 - proportional_power : proportional_power);
 126     }
 127 }