From 97e3bcf54e5aed4f0204d8eb8b56c9f45b7e7db8 Mon Sep 17 00:00:00 2001
From: Stefan Hechenberger <stefan@nortd.com>
Date: Sun, 18 Mar 2012 13:20:53 +0100
Subject: [PATCH] yag enable functionality

---
 config.h        |  9 +++++++--
 gcode.c         | 10 ++++++++++
 planner.h       |  4 ++++
 sense_control.c | 12 ++++++++++++
 sense_control.h |  1 +
 stepper.c       | 14 +++++++++++++-
 6 files changed, 47 insertions(+), 3 deletions(-)

diff --git a/config.h b/config.h
index 82ddb9da3..cb42a794c 100644
--- a/config.h
+++ b/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
diff --git a/gcode.c b/gcode.c
index 1d5ba1eb0..601eef207 100644
--- a/gcode.c
+++ b/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
diff --git a/planner.h b/planner.h
index 1e673266b..c8ea73d5d 100644
--- a/planner.h
+++ b/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 
diff --git a/sense_control.c b/sense_control.c
index 2e04afd59..50671eb02 100644
--- a/sense_control.c
+++ b/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;
 }
diff --git a/sense_control.h b/sense_control.h
index a86dfad15..1ee61e564 100644
--- a/sense_control.h
+++ b/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);
diff --git a/stepper.c b/stepper.c
index f0056909b..f3f10bede 100644
--- a/stepper.c
+++ b/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;