#include "modules/robot/Stepper.h"
#include "Laser.h"
#include "libs/nuts_bolts.h"
+#include "Config.h"
+#include "StreamOutputPool.h"
+#include "Block.h"
+#include "checksumm.h"
+#include "ConfigValue.h"
+
+#include "libs/Pin.h"
+#include "Gcode.h"
+#include "PwmOut.h" // mbed.h lib
+
+#define laser_module_enable_checksum CHECKSUM("laser_module_enable")
+#define laser_module_pin_checksum CHECKSUM("laser_module_pin")
+#define laser_module_pwm_pin_checksum CHECKSUM("laser_module_pwm_pin")
+#define laser_module_ttl_pin_checksum CHECKSUM("laser_module_ttl_pin")
+#define laser_module_pwm_period_checksum CHECKSUM("laser_module_pwm_period")
+#define laser_module_maximum_power_checksum CHECKSUM("laser_module_maximum_power")
+#define laser_module_minimum_power_checksum CHECKSUM("laser_module_minimum_power")
+#define laser_module_default_power_checksum CHECKSUM("laser_module_default_power")
+#define laser_module_tickle_power_checksum CHECKSUM("laser_module_tickle_power")
+#define laser_module_max_power_checksum CHECKSUM("laser_module_max_power")
Laser::Laser(){
}
// Get smoothie-style pin from config
Pin* dummy_pin = new Pin();
dummy_pin->from_string(THEKERNEL->config->value(laser_module_pin_checksum)->by_default("nc")->as_string())->as_output();
-
- // Get mBed-style pin from smoothie-style pin
- if( dummy_pin->port_number == 2 ){
- if( dummy_pin->pin == 0 ){ this->laser_pin = new mbed::PwmOut(p26); }
- if( dummy_pin->pin == 1 ){ this->laser_pin = new mbed::PwmOut(p25); }
- if( dummy_pin->pin == 2 ){ this->laser_pin = new mbed::PwmOut(p24); }
- if( dummy_pin->pin == 3 ){ this->laser_pin = new mbed::PwmOut(p23); }
- if( dummy_pin->pin == 4 ){ this->laser_pin = new mbed::PwmOut(p22); }
- if( dummy_pin->pin == 5 ){ this->laser_pin = new mbed::PwmOut(p21); }
+
+ // Alternative less ambiguous name for pwm_pin
+ if (!dummy_pin->connected())
+ dummy_pin->from_string(THEKERNEL->config->value(laser_module_pwm_pin_checksum)->by_default("nc")->as_string())->as_output();
+
+ pwm_pin = dummy_pin->hardware_pwm();
+
+ if (pwm_pin == NULL)
+ {
+ 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);
+ delete dummy_pin;
+ delete this;
+ return;
+ }
+
+
+ this->pwm_inverting = dummy_pin->inverting;
+
+ delete dummy_pin;
+ dummy_pin = NULL;
+
+ // TTL settings
+ this->ttl_pin = new Pin();
+ ttl_pin->from_string( THEKERNEL->config->value(laser_module_ttl_pin_checksum)->by_default("nc" )->as_string())->as_output();
+ this->ttl_used = ttl_pin->connected();
+ this->ttl_inverting = ttl_pin->inverting;
+ if (ttl_used) {
+ ttl_pin->set(0);
+ } else {
+ delete ttl_pin;
+ ttl_pin = NULL;
}
- this->laser_pin->period_us(THEKERNEL->config->value(laser_module_pwm_period_checksum)->by_default(20)->as_number());
- this->laser_pin->write(0);
- this->laser_max_power = THEKERNEL->config->value(laser_module_max_power_checksum )->by_default(0.8f)->as_number() ;
- this->laser_tickle_power = THEKERNEL->config->value(laser_module_tickle_power_checksum)->by_default(0 )->as_number() ;
+ this->pwm_pin->period_us(THEKERNEL->config->value(laser_module_pwm_period_checksum)->by_default(20)->as_number());
+ this->pwm_pin->write(this->pwm_inverting ? 1 : 0);
+ this->laser_maximum_power = THEKERNEL->config->value(laser_module_maximum_power_checksum )->by_default(1.0f)->as_number() ;
+
+ // These config variables are deprecated, they have been replaced with laser_module_default_power and laser_module_minimum_power
+ this->laser_minimum_power = THEKERNEL->config->value(laser_module_tickle_power_checksum)->by_default(0)->as_number() ;
+ this->laser_power = THEKERNEL->config->value(laser_module_max_power_checksum)->by_default(0.8f)->as_number() ;
+
+ // Load in our preferred config variables
+ this->laser_minimum_power = THEKERNEL->config->value(laser_module_minimum_power_checksum)->by_default(this->laser_minimum_power)->as_number() ;
+ this->laser_power = THEKERNEL->config->value(laser_module_default_power_checksum)->by_default(this->laser_power)->as_number() ;
//register for events
this->register_for_event(ON_GCODE_EXECUTE);
this->register_for_event(ON_SPEED_CHANGE);
- this->register_for_event(ON_PLAY);
- this->register_for_event(ON_PAUSE);
this->register_for_event(ON_BLOCK_BEGIN);
this->register_for_event(ON_BLOCK_END);
+ this->register_for_event(ON_HALT);
}
// Turn laser off laser at the end of a move
void Laser::on_block_end(void* argument){
- this->laser_pin->write(0);
+ this->pwm_pin->write(this->pwm_inverting ? 1 : 0);
+
+ if (this->ttl_used) {
+ Block* block = static_cast<Block*>(argument);
+ // Only switch TTL off if this is the last block for this move - G2/3 are multiple blocks
+ if (block->final_rate == 0)
+ this->ttl_pin->set(0);
+ }
}
// Set laser power at the beginning of a block
void Laser::on_block_begin(void* argument){
this->set_proportional_power();
-}
-
-// When the play/pause button is set to pause, or a module calls the ON_PAUSE event
-void Laser::on_pause(void* argument){
- this->laser_pin->write(0);
-}
-// When the play/pause button is set to play, or a module calls the ON_PLAY event
-void Laser::on_play(void* argument){
- this->set_proportional_power();
}
// Turn laser on/off depending on received GCodes
if( gcode->has_g){
int code = gcode->g;
if( code == 0 ){ // G0
- this->laser_pin->write(this->laser_tickle_power);
+ this->pwm_pin->write(this->pwm_inverting ? 1 - this->laser_minimum_power : this->laser_minimum_power);
this->laser_on = false;
}else if( code >= 1 && code <= 3 ){ // G1, G2, G3
this->laser_on = true;
}
}
if ( gcode->has_letter('S' )){
- this->laser_max_power = gcode->get_value('S');
-// THEKERNEL->streams->printf("Adjusted laser power to %d/100\r\n",(int)(this->laser_max_power*100.0+0.5));
+ this->laser_power = gcode->get_value('S');
}
+ if (this->ttl_used)
+ this->ttl_pin->set(this->laser_on);
+
}
// We follow the stepper module here, so speed must be proportional
}
void Laser::set_proportional_power(){
- if( this->laser_on && THEKERNEL->stepper->current_block ){
+ if( this->laser_on && THEKERNEL->stepper->get_current_block() ){
// adjust power to maximum power and actual velocity
- this->laser_pin->write(float(float(this->laser_max_power) * float(THEKERNEL->stepper->trapezoid_adjusted_rate) / float(THEKERNEL->stepper->current_block->nominal_rate)));
+ 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);
+ this->pwm_pin->write(this->pwm_inverting ? 1 - proportional_power : proportional_power);
+ }
+}
+
+void Laser::on_halt(void *argument)
+{
+ if(argument == nullptr) {
+ // Safety check - turn laser off on halt
+ this->laser_on = false;
+ if (this->ttl_used)
+ this->ttl_pin->set(this->laser_on);
}
}
HCoop / clinton / Smoothieware.git / blobdiff