On during first move (RM Issue #73, #75)

config/config.txt

@@ -1,61 +1,67 @@
 ;
-; Config file for HPC laser
+; Config file for HPC-3020 laser
+; With 400 steps/rev motors and 16microstepping, external (leadshine)
+; Prepared by Peter Brier ([email protected])
+;
 ; Save on MBED in the root, as "config.txt"
 ;
-net.ip 192.168.123.111		; IP address [xxx.xxx.xxx.xxx] 
-net.netmask 255.255.255.0	; netmask [xxx.xxx.xxx.xxx] 
-net.gateway 192.168.123.254	; gateway
-net.dns 192.168.123.194		; DNS server
-net.dhcp 0			; Enable DHCP for IP address [0/1]
-net.port 69			; Communication socket port number []
-
-sys.debug  1			; debug flags bit0=verbose, 
-				; bit1=log to serial, bit2=log to file
-sys.autohome 1			; Enable automatic homing at startup [1/0] 
-				;(or wait for cover to close)
-sys.nodisplay 0			; Disable the display [1/0]
-sys.i2cbaud 0			; I2C display baudrate [Hz]
-
-laser.enable 0			; Laser enable signal polarity [0/1]
-laser.on 0			; Laser on signal polarity [0/1]
-laser.pwm.min  90		; minimum pwm value [%]
-laser.pwm.max  0		; maximum pwm value [%]
-laser.pwm.freq 1000		; pwm frequency [Hz]
-
-motion.enable  0		; Enable signal state to enable motors [0/1] 
-motion.homespeed  100		; Homing speed [mm/sec]
-motion.speed  100		; max linear speed [mm/sec]
-motion.accel  500		; linear acceleration [mm/sec2]
-motion.tolerance  50		; tolerance [1/1000 units]
-
-; old firmware: set speed in [usec]
-motion.highspeed 100	; speed in [usec]
-
-; Next values are valid for axis x,y,z and e
-x.pol 0				; home/limit sensor polarity [1/0]
-x.scale -158516			; axis scaling [steps/meter]
-				; use negative number to invert direction [1/0]
-x.homedir 0			; state of the direction signal when homing
-x.home 350000			; home positions [um] 
-x.min 0				; minimal position [um]
-x.max 345000			; maximum position [um]
-x.rest 310000			; rest position [um]
-x.speed 1000			; maximum speed [mm/sec]
-x.invert 0			; Invert signal polarity for step signal [1/0]
+net.ip 192.168.123.111      ; IP address [xxx.xxx.xxx.xxx]
+net.netmask 255.255.255.0   ; netmask [xxx.xxx.xxx.xxx]
+net.gateway 192.168.123.0 ; gateway
+net.dns 192.168.123.1     ; DNS server
+net.dhcp 0                  ; Enable DHCP for IP address [0/1]
+net.port 69                 ; Communication socket port number [69 default TFTP]
+
+sys.debug  1         ; debug flags bit0=verbose, bit1=log to serial, bit2=log to file
+sys.autohome 1       ; Enable automatic homing at startup [1], or wait for cover to close [0]
+sys.nodisplay 0      ; Disable the display [1/0]
+sys.i2cbaud 0        ; I2C display baudrate [Hz]
+
+laser.enable 0       ; Laser enable signal polarity [0/1]
+laser.on 0           ; Laser on signal polarity [0/1]
+laser.pwm.min  0     ; minimum pwm value [%]
+laser.pwm.max  100   ; maximum pwm value [%]
+laser.pwm.freq 20000 ; pwm frequency [Hz]
+laser.pwm.modulate 0 ; Use speed PWM speed depending modulation
+
+
+motion.enable  0      ; Enable signal state to enable motors [0/1]
+motion.homespeed  100 ; Homing speed [mm/sec]
+motion.speed  100     ; max linear speed [mm/sec]
+motion.accel  500     ; linear acceleration [mm/sec2]
+motion.tolerance  50  ; tolerance [1/1000 units]
+
+; Next set of parameter values are valid for axis x,y,z and e
+x.pol 0               ; home/limit sensor polarity [1/0]
+x.scale -158516       ; axis scaling [steps/meter], use negative number to invert direction
+x.homedir 0           ; state of the direction signal when homing
+x.home 330000         ; home positions [um]
+x.min 0               ; minimal position [um]
+x.max 325000          ; maximum position [um]
+x.rest 310000         ; rest position [um]
+x.speed 100           ; maximum speed [mm/sec]
+x.invert 1            ; Invert signal polarity for step signal [1/0]
 
 ; Now for the Y-axis:
-y.pol 0				; home/limit sensor polarity [1/0]
-y.scale -158516   		; axis scaling [steps/meter]
-				; use negative number to invert direction [1/0]
-y.homedir 1			; state of the direction signal when homing
-y.home 20000			; home positions [um]
-y.min 20000			; minimal position [um]
-y.max 180000			; maximum position [um]
-y.rest 25000			; rest position [um] 
-y.speed 1000			; maximum speed [mm/sec]
-y.invert 0			; Invert signal polarity for step signal [1/0]
+y.pol 0
+y.scale 158516
+y.homedir 1
+y.home 210000
+y.min 1000
+y.max 180000
+y.rest 210000
+y.speed 1000
+y.invert 0
 
 ; Z-axis not in use for HPC
-; z.min 0
-; z.max 200000
-; z.home 100000
+;z.pol 0
+;z.scale 1000
+;z.homedir 1
+;z.home 10000
+;z.min 0
+;z.max 10000
+;z.rest 1
+;z.speed 100
+;z.invert 1
+
+; EOF

laser/LaosMenu/LaosMenu.cpp

@@ -402,7 +402,7 @@ void LaosMenu::Handle() {
                     default:
                         if (runfile == NULL) {
                             runfile = sd.openfile(jobname, "rb");
-                            if (! runfile) 
+                            if (!runfile) 
                               screen=MAIN;
                             else
                                mot->reset();

laser/LaosMotion/LaosMotion.cpp

@@ -152,11 +152,14 @@ LaosMotion::~LaosMotion()
 **/
 void LaosMotion::reset()
 {
-  step = command = xstep = xdir = ystep = ydir = zstep = zdir = 0;
+  step = 0;
+  command = 0;
+  xstep = xdir = ystep = ydir = zstep = zdir = 0;
   ofsx = ofsy = ofsz = 0;
   *laser = LASEROFF;
   enable = cfg->enable;
   cover.mode(PullUp);
+  printf("\n..Reset..\n");
 }
 
 
@@ -220,6 +223,7 @@ void LaosMotion::write(int i)
   static int x=0,y=0,z=0,power=10000;
   //if (  plan_queue_empty() )
   //printf("Empty\n");
+  // printf(" s=%d ", step);
   if ( step == 0 )
   {
     command = i;
@@ -304,6 +308,8 @@ void LaosMotion::write(int i)
                     power = val;
                     printf("power: %d\n", power);
                     break;
+				  default:
+				    printf("Unknown parameter: %d, value=%d\n", param, val);
                 }
                 break;
             }
@@ -337,6 +343,7 @@ void LaosMotion::write(int i)
             }
             break;
          default: // I do not understand: stop motion
+		    printf("Unknown command: %d\n", command);
             step = 0;
             break;
     }

laser/LaosMotion/LaosMotion.h

@@ -28,8 +28,8 @@
 
 
 // the state of the laser OUTPUT
-#define LASEROFF 1
-#define LASERON 0
+#define LASEROFF (!cfg->lon)
+#define LASERON (cfg->lon)
 
     /** Motion Controll system
       *

laser/LaosMotion/grbl/stepper.cpp

@@ -270,14 +270,22 @@ static inline void trapezoid_generator_reset()
 // Set the step timer. Note: this starts the ticker at an interval of "cycles"
 static inline void set_step_timer (uint32_t cycles)
 {
-   volatile static double p;
+   volatile static double p,q;
+   volatile static uint32_t pnom=1, pcyc=1;
    timer.attach_us(&st_interrupt,cycles);
    // p = to_double(pwmofs + mul_f( pwmscale, ((power>>6) * c_min) / ((10000>>6)*cycles) ) );
    // p = ( to_double(c_min) * current_block->power) / ( 10000.0 * (double)cycles);
-  // p = (60E6/nominal_rate) / cycles; // nom_rate is steps/minute,
+   // 
    //printf("%f,%f,%f\n\r", (float)(60E6/nominal_rate), (float)cycles, (float)p);
-  // printf("%d: %f %f\n\r", (int)current_block->power, (float)p, (float)c_min/(float(c) ));
-   p = (double)(cfg->pwmmin/100.0 + ((current_block->power/10000.0)*((cfg->pwmmax - cfg->pwmmin)/100.0)));
+   if ( cfg->pwmmod ) // Use speed modulation?
+    q = (60E6/current_block->nominal_rate) / cycles; // nom_rate is steps/minute,
+   else
+    q = 1;
+
+   //printf("%d,%d(%c): %d %f %f\n\r", (int)current_block->power, (int) current_block->nominal_speed, (*laser? '1' : '0'),
+   //cycles, (float)p, (float)c_min/(float(c) ));
+
+   p = (double)(cfg->pwmmin/100.0 + ((q*current_block->power/10000.0)*((cfg->pwmmax - cfg->pwmmin)/100.0)));
    pwm = p;
 }
 

laser/LaosMotion/pins.h

@@ -25,7 +25,7 @@ extern DigitalIn zmax;
 // laser
 extern PwmOut pwm;                // O1: PWM (Yellow)
 extern DigitalOut laser_enable;   // O2: enable laser
-extern DigitalOut o3;              // 03: NC
+extern DigitalOut o3;             // 03: NC
 
 #define LASER_PIN p5 // note: we define the laser pin here and do not allocate the laser DigitalOut()
 extern DigitalOut *laser;           // O4: LaserON (White), do not statically allocte: because this will cause the laser to switch on at reboot