mirror of
https://github.com/synthetos/g2.git
synced 2026-09-22 03:08:42 +08:00
Cleanup and further work on lasers
This commit is contained in:
Rob Giseburt
@@ -88,7 +88,7 @@ SafetyManager *safety_manager = &sm;
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#include "esc_spindle.h"
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ESCSpindle esc_spindle {SPINDLE_PWM_NUMBER, SPINDLE_ENABLE_OUTPUT_NUMBER, SPINDLE_DIRECTION_OUTPUT_NUMBER, SPINDLE_SPEED_CHANGE_PER_MS};
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#if HAS_LASER
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#ifndef LASER_ENABLE_OUTPUT_NUMBER
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#warning LASER_ENABLE_OUTPUT_NUMBER is defaulted to 7!
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#warning LASER_ENABLE_OUTPUT_NUMBER should be defined in settings or a board file!
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@@ -103,13 +103,18 @@ ESCSpindle esc_spindle {SPINDLE_PWM_NUMBER, SPINDLE_ENABLE_OUTPUT_NUMBER, SPINDL
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#include "laser_toolhead.h"
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LaserTool laser_tool {LASER_PWM_NUMBER, LASER_PWM_NUMBER};
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#endif
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ToolHead *toolhead_for_tool(uint8_t tool) {
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#if !HAS_LASER
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return &esc_spindle;
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#else
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if (tool != 7) {
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return &esc_spindle;
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} else {
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return &laser_tool;
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}
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#endif
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}
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/*
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@@ -90,11 +90,17 @@ HOT_DATA Trinamic2130<SPIBus_used_t::SPIBusDevice,
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#if HAS_HOBBY_SERVO_MOTOR
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HOT_DATA StepDirHobbyServo<Motate::kServo1_PinNumber> motor_6;
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Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5, &motor_6};
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#elif HAS_LASER
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// laser_tool is defined over in hardware.cpp
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extern LaserTool laser_tool;
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LaserTool &motor_6 = laser_tool;
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Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5, &laser_tool};
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#else
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Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5};
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#endif
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#endif // 'D'
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#if (KINEMATICS == KINE_FOUR_CABLE)
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HOT_DATA encoder_0_t encoder_0{plex0, M1_ENCODER_INPUT_A, M1_ENCODER_INPUT_B, 1 << 0};
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HOT_DATA encoder_1_t encoder_1{plex0, M2_ENCODER_INPUT_A, M2_ENCODER_INPUT_B, 1 << 1};
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@@ -92,6 +92,9 @@ extern Trinamic2130<SPIBus_used_t::SPIBusDevice,
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motor_5;
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#if HAS_HOBBY_SERVO_MOTOR
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extern StepDirHobbyServo<Motate::kServo1_PinNumber> motor_6;
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#elif HAS_LASER
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#include "laser_toolhead.h"
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extern LaserTool &motor_6;
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#endif
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#endif // 'D'
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@@ -58,10 +58,18 @@
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#define HAS_HOBBY_SERVO_MOTOR 0
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#endif
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#if QUINTIC_REVISION == 'C' or !HAS_HOBBY_SERVO_MOTOR
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#ifndef HAS_LASER
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#if HAS_HOBBY_SERVO_MOTOR
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#error Can NOT have a laser and a hobby servo at the same time, sorry
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#endif
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#define HAS_LASER 0
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#endif
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#if QUINTIC_REVISION == 'C' or (!HAS_HOBBY_SERVO_MOTOR && !HAS_LASER)
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#define MOTORS 5 // number of motors on the board - 5Trinamics OR 4 Trinamics + 1 servo
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#else
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#define MOTORS 6 // number of motors on the board - 5 Trinamics + 1 servo
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#define MOTORS 6 // number of motors on the board - 5 Trinamics + 1 servo or laser
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#endif
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#define PWMS 2 // number of PWM channels supported the hardware
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#define AXES 6 // axes to support -- must be 6 or 9
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@@ -0,0 +1,185 @@
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/*
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* laser_toolhead.cpp - toolhead driver for a laser, controlled by spindle commands
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* This file is part of the g2core project
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*
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* Copyright (c) 2020 Robert Giseburt
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* Copyright (c) 2020 Alden S. Hart, Jr.
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*
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* This file ("the software") is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License, version 2 as published by the
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* Free Software Foundation. You should have received a copy of the GNU General Public
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* License, version 2 along with the software. If not, see <http://www.gnu.org/licenses/>.
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*
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* As a special exception, you may use this file as part of a software library without
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* restriction. Specifically, if other files instantiate templates or use macros or
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* inline functions from this file, or you compile this file and link it with other
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* files to produce an executable, this file does not by itself cause the resulting
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* executable to be covered by the GNU General Public License. This exception does not
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* however invalidate any other reasons why the executable file might be covered by the
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* GNU General Public License.
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*
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* THE SOFTWARE IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL, BUT WITHOUT ANY
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* WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT
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* SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
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* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <stdint.h>
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#include "laser_toolhead.h"
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LaserTool::LaserTool(const uint8_t pwm_pin_number, const uint8_t enable_pin_number)
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: pwm_output_num{pwm_pin_number},
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enable_output_num{enable_pin_number} {}
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void LaserTool::init()
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{
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// TODO - ensure outputs are within range
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set_pwm_output(pwm_output_num);
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set_enable_output(enable_output_num);
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}
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void LaserTool::pause() {
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if (paused) {
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return;
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}
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paused = true;
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this->complete_change();
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}
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void LaserTool::resume() {
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if (!paused) {
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return;
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}
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paused = false;
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this->complete_change();
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}
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bool LaserTool::ready_to_resume() { return paused && safety_manager->ok_to_spindle(); }
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// bool LaserTool::busy() {
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// // return true when not paused, on, and ramping up to speed
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// if (paused || (direction == SPINDLE_OFF)) {
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// return false;
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// }
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// return true;
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// }
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float LaserTool::get_speed() { return speed; }
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spDirection LaserTool::get_direction() { return direction; }
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void LaserTool::stop() {
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paused = false;
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speed = 0;
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direction = SPINDLE_OFF;
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this->complete_change();
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}
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// called from a command that was queued when the default set_speed and set_direction returned true
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// ALSO called from the loader right before a move
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// we are handed the gcode model to use
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void LaserTool::engage(const GCodeState_t &gm) {
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if ((direction == gm.spindle_direction) && fp_EQ(speed, gm.spindle_speed)) {
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// nothing changed
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return;
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}
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// // special handling for reversals - we set the speed to zero and ramp up
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// if ((gm.spindle_direction != direction) && (direction != SPINDLE_OFF) && (gm.spindle_direction != SPINDLE_OFF)) {
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// speed_actual = 0;
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// }
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speed = gm.spindle_speed;
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direction = gm.spindle_direction;
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// handle the rest
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this->complete_change();
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}
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bool LaserTool::is_on() { return (direction != SPINDLE_OFF); }
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// LaserTool-specific functions
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void LaserTool::set_pwm_output(const uint8_t pwm_pin_number) {
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if (pwm_pin_number == 0) {
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pwm_output = nullptr;
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} else {
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pwm_output = d_out[pwm_pin_number - 1];
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pwm_output->setEnabled(IO_ENABLED);
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// set the frequency on the output -- not here
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// set the polarity on the output -- not here
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}
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}
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void LaserTool::set_enable_output(const uint8_t enable_pin_number) {
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if (enable_pin_number == 0) {
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enable_output = nullptr;
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} else {
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enable_output = d_out[enable_pin_number - 1];
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enable_output->setEnabled(IO_ENABLED);
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// set the polarity on the output -- not here
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}
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}
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void LaserTool::set_frequency(float new_frequency)
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{
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if (pwm_output) {
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pwm_output->setFrequency(new_frequency);
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}
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}
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float LaserTool::get_frequency()
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{
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if (pwm_output) {
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return pwm_output->getFrequency();
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}
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return 0.0;
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}
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// Stepper functons
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void LaserTool::_enableImpl() {
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enabled = true;
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};
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void LaserTool::_disableImpl() {
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enabled = false;
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};
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void LaserTool::stepStart() {
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if (!enabled) return;
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};
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void LaserTool::stepEnd() {
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};
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void LaserTool::setDirection(uint8_t new_direction) {
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};
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void LaserTool::setPowerLevels(float active_pl, float idle_pl) {
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; // ignore this
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};
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// Private functions
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void LaserTool::complete_change() {
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// if the spindle is not on (or paused), make sure we stop it
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if (paused || direction == SPINDLE_OFF) {
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if (enable_output != nullptr) {
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enable_output->setValue(false);
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}
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return;
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} else if (direction == SPINDLE_CW) {
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if (enable_output != nullptr) {
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enable_output->setValue(true);
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}
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} else if (direction == SPINDLE_CCW) {
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if (enable_output != nullptr) {
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enable_output->setValue(true);
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}
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}
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}
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@@ -29,8 +29,10 @@
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#ifndef LASER_TOOLHEAD_H_ONCE
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#define LASER_TOOLHEAD_H_ONCE
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class LaserTool; // Need to forward declare since stepper.h may (eventually) include this file
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#include "spindle.h"
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#include "stepper.h" // for st_request_load_move
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#include "stepper.h" // for Stepper and st_request_load_move
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#include "util.h" // for fp_NE
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#include "safety_manager.h" // for safety_manager
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@@ -46,7 +48,7 @@
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// class declaration
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// note implementation is after
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class LaserTool : public ToolHead {
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class LaserTool : public ToolHead, virtual public Stepper {
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spDirection direction; // direction
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float speed; // S in RPM
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// float speed_actual; // actual speed (during speed ramping)
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@@ -62,9 +64,13 @@ class LaserTool : public ToolHead {
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uint8_t enable_output_num;
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gpioDigitalOutput *enable_output = nullptr;
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// For "Stepper" enabled control
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bool enabled = false;
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void complete_change();
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public:
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// ToolHead functions ----
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// constructor - provide it with the default output pins - 0 means no pin
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LaserTool(const uint8_t pwm_pin_number, const uint8_t enable_pin_number);
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@@ -129,137 +135,15 @@ class LaserTool : public ToolHead {
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// void set_phase_off(float new_phase_off) override { phase_off = new_phase_off; }
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// float get_phase_off() override { return phase_off; }
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// Stepper functions ----
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void _enableImpl() override;
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void _disableImpl() override;
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void stepStart() override;
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void stepEnd() override;
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void setDirection(uint8_t new_direction) override;
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void setPowerLevels(float active_pl, float idle_pl) override;
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};
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// method implementations follow
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LaserTool::LaserTool(const uint8_t pwm_pin_number, const uint8_t enable_pin_number)
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: pwm_output_num{pwm_pin_number},
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enable_output_num{enable_pin_number} {}
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void LaserTool::init()
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{
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// TODO - ensure outputs are within range
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set_pwm_output(pwm_output_num);
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set_enable_output(enable_output_num);
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}
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void LaserTool::pause() {
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if (paused) {
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return;
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}
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paused = true;
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this->complete_change();
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}
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void LaserTool::resume() {
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if (!paused) {
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return;
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}
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paused = false;
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this->complete_change();
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}
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bool LaserTool::ready_to_resume() { return paused && safety_manager->ok_to_spindle(); }
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// bool LaserTool::busy() {
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// // return true when not paused, on, and ramping up to speed
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// if (paused || (direction == SPINDLE_OFF)) {
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// return false;
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// }
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// return true;
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// }
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float LaserTool::get_speed() { return speed; }
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spDirection LaserTool::get_direction() { return direction; }
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void LaserTool::stop() {
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paused = false;
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speed = 0;
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direction = SPINDLE_OFF;
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this->complete_change();
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}
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// called from a command that was queued when the default set_speed and set_direction returned true
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// ALSO called from the loader right before a move
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// we are handed the gcode model to use
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void LaserTool::engage(const GCodeState_t &gm) {
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if ((direction == gm.spindle_direction) && fp_EQ(speed, gm.spindle_speed)) {
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// nothing changed
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return;
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}
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// // special handling for reversals - we set the speed to zero and ramp up
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// if ((gm.spindle_direction != direction) && (direction != SPINDLE_OFF) && (gm.spindle_direction != SPINDLE_OFF)) {
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// speed_actual = 0;
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// }
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speed = gm.spindle_speed;
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direction = gm.spindle_direction;
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// handle the rest
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this->complete_change();
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}
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bool LaserTool::is_on() { return (direction != SPINDLE_OFF); }
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// LaserTool-specific functions
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void LaserTool::set_pwm_output(const uint8_t pwm_pin_number) {
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if (pwm_pin_number == 0) {
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pwm_output = nullptr;
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} else {
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pwm_output = d_out[pwm_pin_number - 1];
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pwm_output->setEnabled(IO_ENABLED);
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// set the frequency on the output -- not here
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// set the polarity on the output -- not here
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}
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}
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void LaserTool::set_enable_output(const uint8_t enable_pin_number) {
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if (enable_pin_number == 0) {
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enable_output = nullptr;
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} else {
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enable_output = d_out[enable_pin_number - 1];
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enable_output->setEnabled(IO_ENABLED);
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// set the polarity on the output -- not here
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}
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}
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void LaserTool::set_frequency(float new_frequency)
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{
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if (pwm_output) {
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pwm_output->setFrequency(new_frequency);
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}
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}
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float LaserTool::get_frequency()
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{
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if (pwm_output) {
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return pwm_output->getFrequency();
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}
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return 0.0;
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}
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// Private functions
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void LaserTool::complete_change() {
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// if the spindle is not on (or paused), make sure we stop it
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if (paused || direction == SPINDLE_OFF) {
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if (enable_output != nullptr) {
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enable_output->setValue(false);
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}
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return;
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} else if (direction == SPINDLE_CW) {
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if (enable_output != nullptr) {
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enable_output->setValue(true);
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}
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} else if (direction == SPINDLE_CCW) {
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if (enable_output != nullptr) {
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enable_output->setValue(true);
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}
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}
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}
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#endif // End of include guard: LASER_TOOLHEAD_H_ONCE
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@@ -28,6 +28,9 @@
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#ifndef SPINDLE_H_ONCE
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#define SPINDLE_H_ONCE
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#include "error.h" // for stat_t
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#include "config.h" // for configSubtable
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enum spDirection { // how spindle controls are presented by the Gcode parser
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SPINDLE_OFF = 0, // M5
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SPINDLE_CW = 1, // M3 and store CW to spindle.direction
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