From 96a97a088d4a3ee7298296b80ade4a040cde5a19 Mon Sep 17 00:00:00 2001
From: Stefan Hechenberger <stefan@nortd.com>
Date: Thu, 22 Mar 2012 11:56:50 +0100
Subject: [PATCH] laser_enable_bit tested and working

---
 config.h        |  2 +-
 gcode.c         | 13 ++++++++++---
 sense_control.c |  9 ---------
 sense_control.h |  1 -
 4 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/config.h b/config.h
index 877df2d64..9498467c2 100644
--- a/config.h
+++ b/config.h
@@ -57,7 +57,7 @@
 // With some lasers (e.g. DPSS YAG) this is necessary because they have a high latency when changing
 // the intensity. On/off during G0 seek motions is instead achieved with an optical switch in the
 // resonator which also might have a slight delay; hence the latency config. The firmware can accomodate.
-#define CONFIG_USE_LASER_ENABLE_BIT 0 // whether (0 or 1) to use the laser enable pin on seeks (G0)
+#define CONFIG_USE_LASER_ENABLE_BIT 1 // whether (0 or 1) to use the laser enable pin on seeks (G0)
 #define CONFIG_USE_LASER_ENABLE_LATENCY 0.5 // time (sec) it takes to enable the laser
 
 
diff --git a/gcode.c b/gcode.c
index 84da80f98..68ac71597 100644
--- a/gcode.c
+++ b/gcode.c
@@ -72,6 +72,7 @@ typedef struct {
   double offsets[6];               // coord system offsets {G54_X,G54_Y,G54_Z,G55_X,G55_Y,G55_Z}
   uint8_t offselect;               // currently active offset, 0 -> G54, 1 -> G55
   uint8_t nominal_laser_intensity; // 0-255 percentage
+  uint8_t prev_action;
 } parser_state_t;
 static parser_state_t gc;
 
@@ -100,6 +101,7 @@ void gcode_init() {
   gc.offsets[3+X_AXIS] = CONFIG_X_ORIGIN_OFFSET;
   gc.offsets[3+Y_AXIS] = CONFIG_Y_ORIGIN_OFFSET;
   gc.offsets[3+Z_AXIS] = CONFIG_Z_ORIGIN_OFFSET;
+  gc.prev_action = NEXT_ACTION_NONE;
   position_update_requested = false;
 }
 
@@ -208,6 +210,7 @@ uint8_t gcode_execute_line(char *line) {
   double p = 0.0;
   int cs = 0;
   int l = 0;
+  bool got_actual_line_command = false;  // as opposed to just e.g. G1 F1200
   gc.status_code = STATUS_OK;
     
   //// Pass 1: Commands
@@ -272,6 +275,7 @@ uint8_t gcode_execute_line(char *line) {
         } else {
           target[letter - 'X'] += unit_converted_value;
         }
+        got_actual_line_command = true;
         break;        
       case 'P':  // dwelling seconds or CS selector
         if (next_action == NEXT_ACTION_SET_COORDINATE_OFFSET) {
@@ -295,8 +299,10 @@ uint8_t gcode_execute_line(char *line) {
   //// Perform any physical actions
   switch (next_action) {
     case NEXT_ACTION_SEEK:  // G0
-      if (CONFIG_USE_LASER_ENABLE_BIT) {
-        planner_control_laser_disable(CONFIG_USE_LASER_ENABLE_LATENCY);
+      if (CONFIG_USE_LASER_ENABLE_BIT && got_actual_line_command) {
+        if (gc.prev_action != NEXT_ACTION_SEEK) {        
+          planner_control_laser_disable(CONFIG_USE_LASER_ENABLE_LATENCY);
+        }
         // seek - keep pwm up, laser is disabled via the LASER_ENABLE_BIT
         planner_line( target[X_AXIS] + gc.offsets[3*gc.offselect+X_AXIS], 
                       target[Y_AXIS] + gc.offsets[3*gc.offselect+Y_AXIS], 
@@ -311,7 +317,7 @@ uint8_t gcode_execute_line(char *line) {
       }
       break;   
     case NEXT_ACTION_FEED:  // G1
-      if (CONFIG_USE_LASER_ENABLE_BIT && !control_is_laser_enabled()) {
+      if (CONFIG_USE_LASER_ENABLE_BIT && got_actual_line_command && gc.prev_action != NEXT_ACTION_FEED) {
         // when a new path starts -> enable laser and dwell some time
         planner_control_laser_enable(CONFIG_USE_LASER_ENABLE_LATENCY, gc.nominal_laser_intensity);
       }
@@ -376,6 +382,7 @@ uint8_t gcode_execute_line(char *line) {
   // motion control system might still be processing the action and the real tool position
   // in any intermediate location.
   memcpy(gc.position, target, sizeof(double)*3); // gc.position[] = target[];
+  gc.prev_action = next_action;
   return gc.status_code;
 }
 
diff --git a/sense_control.c b/sense_control.c
index 29838afa9..fd6538a38 100644
--- a/sense_control.c
+++ b/sense_control.c
@@ -23,8 +23,6 @@
 #include "stepper.h"
 #include "planner.h"
 
-static bool laser_bit_enabled_flag;
-
 
 void sense_init() {
   //// power, chiller, door
@@ -70,18 +68,11 @@ void control_init() {
 void control_laser_enable(bool enable) {
   if (enable) {
     LASER_PORT &= ~(1 << LASER_ENABLE_BIT);
-    laser_bit_enabled_flag = true;
   } else {
     LASER_PORT |= (1 << LASER_ENABLE_BIT);
-    laser_bit_enabled_flag = false;
   }
 }
 
-bool control_is_laser_enabled() {
-  // return (LASER_PORT >> LASER_ENABLE_BIT) & 1;
-  return laser_bit_enabled_flag;
-}
-
 void control_laser_intensity(uint8_t intensity) {
   OCR0A = intensity;
 }
diff --git a/sense_control.h b/sense_control.h
index e603be0fd..8d5ceaefc 100644
--- a/sense_control.h
+++ b/sense_control.h
@@ -36,7 +36,6 @@ void sense_init();
 void control_init();
 
 void control_laser_enable(bool enable);
-bool control_is_laser_enabled();
 void control_laser_intensity(uint8_t intensity);  //0-255 is 0-100%
 
 void control_air(bool enable);