yag enable functionality

config.h

@@ -39,8 +39,8 @@
 #define CONFIG_X_ORIGIN_OFFSET 10.0  // mm, x-offset of table origin from physical home
 #define CONFIG_Y_ORIGIN_OFFSET 10.0  // mm, y-offset of table origin from physical home
 #define CONFIG_Z_ORIGIN_OFFSET 0.0   // mm, z-offset of table origin from physical home
-#define CONFIG_INVERT_X_AXIS 1  // 0 is regular, 1 inverts the x direction
-#define CONFIG_INVERT_Y_AXIS 1  // 0 is regular, 1 inverts the y direction
+#define CONFIG_INVERT_X_AXIS 0  // 0 is regular, 1 inverts the x direction
+#define CONFIG_INVERT_Y_AXIS 0  // 0 is regular, 1 inverts the y direction
 
 
 #define LIMITS_OVERWRITE_DDR     DDRD
@@ -62,6 +62,11 @@
 #define Y1_LIMIT_BIT            2
 #define Y2_LIMIT_BIT            3
 
+#define LASER_DDR               DDRD
+#define LASER_PORT              PORTD
+#define LASER_ENABLE_BIT        4
+// #define LASER_PWM_BIT        6
+
 #define AIRGAS_DDR              DDRC
 #define AIRGAS_PORT             PORTC
 #define AIR_BIT                 4

gcode.c

@@ -43,6 +43,8 @@
 #define NEXT_ACTION_AIRGAS_DISABLE 6
 #define NEXT_ACTION_AIR_ENABLE 7
 #define NEXT_ACTION_GAS_ENABLE 8
+#define NEXT_ACTION_LASER_ON 9
+#define NEXT_ACTION_LASER_OFF 10
 
 #define STATUS_OK 0
 #define STATUS_BAD_NUMBER_FORMAT 1
@@ -233,6 +235,8 @@ uint8_t gcode_execute_line(char *line) {
           case 7: next_action = NEXT_ACTION_AIR_ENABLE;break;
           case 8: next_action = NEXT_ACTION_GAS_ENABLE;break;
           case 9: next_action = NEXT_ACTION_AIRGAS_DISABLE;break;
+          case 140: next_action = NEXT_ACTION_LASER_ON;break;
+          case 141: next_action = NEXT_ACTION_LASER_OFF;break;
           default: FAIL(STATUS_UNSUPPORTED_STATEMENT);
         }            
         break;
@@ -363,6 +367,12 @@ uint8_t gcode_execute_line(char *line) {
     case NEXT_ACTION_GAS_ENABLE:
       planner_control_gas_enable();
       break;
+    case NEXT_ACTION_LASER_ON:
+      planner_control_laser_on();
+      break;
+    case NEXT_ACTION_LASER_OFF:
+      planner_control_laser_off();
+      break;      
   }
 
   // As far as the parser is concerned, the position is now == target. In reality the

planner.h

@@ -29,10 +29,14 @@
 #define TYPE_AIRGAS_DISABLE 1
 #define TYPE_AIR_ENABLE 2
 #define TYPE_GAS_ENABLE 3
+#define TYPE_LASER_ON 4
+#define TYPE_LASER_OFF 5
 
 #define planner_control_airgas_disable() planner_command(TYPE_AIRGAS_DISABLE)
 #define planner_control_air_enable() planner_command(TYPE_AIR_ENABLE)
 #define planner_control_gas_enable() planner_command(TYPE_GAS_ENABLE)
+#define planner_control_laser_on() planner_command(TYPE_LASER_ON)
+#define planner_control_laser_off() planner_command(TYPE_LASER_OFF)
 
 
 // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 

sense_control.c

@@ -49,6 +49,10 @@ void control_init() {
   TCCR0A |= (1 << WGM00);   // set phase correct PWM mode, has half the freq of fast PWM
   TCCR0B |= (1 << CS00);    // prescaler to 1, PWMfreq = 16000/(2*256*1) = 31.25kH
 
+  //// laser on/off pin
+  LASER_DDR |= (1 << LASER_ENABLE_BIT);  // set as output pin
+  control_laser(false);
+
   //// air and gas assist control
   AIRGAS_DDR |= (1 << AIR_BIT);  // set as output pin
   AIRGAS_DDR |= (1 << GAS_BIT);  // set as output pin
@@ -61,6 +65,14 @@ void control_init() {
 }
 
 
+void control_laser(bool enable) {
+  if (enable) {
+    LASER_PORT &= ~(1 << LASER_ENABLE_BIT);
+  } else {
+    LASER_PORT |= (1 << LASER_ENABLE_BIT);
+  }
+}
+
 void control_laser_intensity(uint8_t intensity) {
   OCR0A = intensity;
 }

sense_control.h

@@ -35,6 +35,7 @@ void sense_init();
 
 void control_init();
 
+void control_laser(bool enable);
 void control_laser_intensity(uint8_t intensity);  //0-255 is 0-100%
 
 void control_air(bool enable);

stepper.c

@@ -365,7 +365,19 @@ ISR(TIMER1_COMPA_vect) {
       control_gas(true);
       current_block = NULL;
       planner_discard_current_block();  
-      break;      
+      break;
+
+    case TYPE_LASER_ON:
+      control_laser(true);
+      current_block = NULL;
+      planner_discard_current_block();  
+      break;
+
+    case TYPE_LASER_OFF:
+      control_laser(false);
+      current_block = NULL;
+      planner_discard_current_block();  
+      break; 
   }
 
   busy = false;