src/modules/tools/switch/Switch.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 <math.h>
  11 #include "Switch.h"
  12 #include "libs/Pin.h"
  13 #include "modules/robot/Conveyor.h"
  14
  15 #include "MRI_Hooks.h"
  16
  17 Switch::Switch(){}
  18
  19 Switch::Switch(uint16_t name){
  20     this->name_checksum = name;
  21 }
  22
  23 void Switch::on_module_loaded(){
  24     register_for_event(ON_CONFIG_RELOAD);
  25     this->register_for_event(ON_GCODE_RECEIVED);
  26     this->register_for_event(ON_GCODE_EXECUTE);
  27
  28     // Settings
  29     this->on_config_reload(this);
  30
  31     // PWM
  32     this->kernel->slow_ticker->attach(1000, &output_pin, &Pwm::on_tick);
  33 }
  34
  35
  36 // Get config
  37 void Switch::on_config_reload(void* argument){
  38     this->on_m_code     = this->kernel->config->value(switch_checksum, this->name_checksum, on_m_code_checksum     )->required()->as_number();
  39     this->off_m_code    = this->kernel->config->value(switch_checksum, this->name_checksum, off_m_code_checksum    )->required()->as_number();
  40     this->output_pin.from_string(this->kernel->config->value(switch_checksum, this->name_checksum, output_pin_checksum    )->required()->as_string())->as_output();
  41     this->output_pin.set(this->kernel->config->value(switch_checksum, this->name_checksum, startup_state_checksum )->by_default(0)->as_number() );
  42
  43     set_low_on_debug(output_pin.port_number, output_pin.pin);
  44 }
  45
  46
  47 void Switch::on_gcode_received(void* argument){
  48     Gcode* gcode = static_cast<Gcode*>(argument);
  49     // Add the gcode to the queue ourselves if we need it
  50     if( gcode->has_m && ( gcode->m == this->on_m_code || gcode->m == this->off_m_code ) ){
  51         gcode->mark_as_taken();
  52         if( this->kernel->conveyor->queue.size() == 0 ){
  53             this->kernel->call_event(ON_GCODE_EXECUTE, gcode );
  54         }else{
  55             Block* block = this->kernel->conveyor->queue.get_ref( this->kernel->conveyor->queue.size() - 1 );
  56             block->append_gcode(gcode);
  57         }
  58     }
  59 }
  60
  61 // Turn pin on and off
  62 void Switch::on_gcode_execute(void* argument){
  63     Gcode* gcode = static_cast<Gcode*>(argument);
  64     if( gcode->has_m){
  65         int code = gcode->m;
  66         if( code == this->on_m_code ){
  67             if (gcode->has_letter('S'))
  68             {
  69                 int v = gcode->get_value('S') * output_pin.max_pwm() / 256.0;
  70                 if (v)
  71                     this->output_pin.pwm(v);
  72                 else
  73                     this->output_pin.set(0);
  74             }
  75             else
  76             {
  77                 // Turn pin on
  78                 this->output_pin.set(1);
  79             }
  80         }
  81         if( code == this->off_m_code ){
  82             // Turn pin off
  83             this->output_pin.set(0);
  84         }
  85     }
  86 }