From 5e7d53cd8c28b19ac9360f3e0571f8c2fa28cd74 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Wed, 4 Apr 2012 16:22:36 -0500
Subject: [PATCH 01/14] stop axis backplot from offsetting the tool position by
 U axis

---
 2x_Laser.ini | 1 +
 1 file changed, 1 insertion(+)

diff --git a/2x_Laser.ini b/2x_Laser.ini
index ce72b3e..da5b46e 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -25,6 +25,7 @@ INTRO_TIME = 5
 #PROGRAM_PREFIX = /home/ubuntu/emc2/nc_files
 PROGRAM_PREFIX = /home/bjj/Desktop/2x_Laser
 INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+GEOMETRY = XYZ
 
 #[FILTER]
 #PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image

From 569f8ff431f8c451e8c14a4d8cb8b92da42b8ee7 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Thu, 10 May 2012 19:39:51 -0500
Subject: [PATCH 02/14] working raster laser config

---
 custompanel.xml | 48 ++++++++++++++++++++++++++++++++++++++++++++++++
 specs.txt       |  6 ++++++
 2 files changed, 54 insertions(+)
 create mode 100644 custompanel.xml
 create mode 100644 specs.txt

diff --git a/custompanel.xml b/custompanel.xml
new file mode 100644
index 0000000..02eb6be
--- /dev/null
+++ b/custompanel.xml
@@ -0,0 +1,48 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+	<button halpin="xy-touchoff" text="Touch-off X/Y"/>
+
+	<label>
+		<text>"PPI:"</text>
+		<font>("Helvetica",20)</font>
+	</label>
+	<bar>
+		<halpin>"ppi"</halpin>
+		<max_>500</max_>
+	</bar>
+
+	<label>
+		<text>"Power:"</text>
+		<font>("Helvetica",20)</font>
+	</label>
+	<bar>
+		<halpin>"power"</halpin>
+		<max_>1.0</max_>
+	</bar>
+
+	<hbox>
+                <label text="laser-master:"/>
+                <led halpin="laser-master"/>
+	</hbox>
+	<hbox>
+                <label text="laser-raster:"/>
+                <led halpin="laser-raster"/>
+	</hbox>
+	<hbox>
+                <label text="laser-dout:"/>
+                <led halpin="laser-dout"/>
+	</hbox>
+	<hbox>
+                <label text="laser-magic-z:"/>
+                <led halpin="laser-magic-z"/>
+		<button halpin="z-to-zero" text="Reset Z"/>
+	</hbox>
+	<hbox>
+                <label text="laser-pulsed:"/>
+                <led halpin="laser-pulsed"/>
+	</hbox>
+	<hbox>
+                <label text="laser-final:"/>
+                <led halpin="laser-final"/>
+	</hbox>
+</pyvcp>
diff --git a/specs.txt b/specs.txt
new file mode 100644
index 0000000..237ede0
--- /dev/null
+++ b/specs.txt
@@ -0,0 +1,6 @@
+
+Focus:
+4.2mm below air assist
+
+Bed:
+

From 3601ed58ec20800ae14f0938f8774899519e5be9 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Thu, 10 May 2012 19:41:45 -0500
Subject: [PATCH 03/14] working vector laser config

---
 2x_Laser.hal       | 117 +++++++++++++++++++++++++--------------------
 2x_Laser.ini       | 104 +++++++++++++++++++++-------------------
 axisrc             |   4 +-
 custom_postgui.hal |  17 +++++++
 4 files changed, 139 insertions(+), 103 deletions(-)

diff --git a/2x_Laser.hal b/2x_Laser.hal
index cba3be2..2ce2042 100755
--- a/2x_Laser.hal
+++ b/2x_Laser.hal
@@ -2,28 +2,34 @@
 # If you make changes to this file, they will be
 # overwritten when you run stepconf again
 
-loadrt threads name1=laser-thread period1=[EMCMOT]BASE_PERIOD
+loadrt threads name1=base-thread period1=[EMCMOT]BASE_PERIOD name2=charge-pump-thread period2=100000
 
 loadrt trivkins
-loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
 loadrt probe_parport
 loadrt hal_parport cfg="0x378 out"
-setp parport.0.reset-time 1000
+# setp parport.0.reset-time 1200
 loadrt stepgen step_type=0,0,0
 loadrt pwmgen output_type=0
+loadrt charge_pump
+loadrt abs count=1
 
 addf parport.0.read base-thread
 addf stepgen.make-pulses base-thread
 # need capture-position in laser-thread for raster engraving:
-addf stepgen.capture-position laser-thread
+# addf stepgen.capture-position base-thread
 addf pwmgen.make-pulses base-thread
 addf parport.0.write base-thread
-addf parport.0.reset base-thread
+# addf parport.0.reset base-thread
 
+addf stepgen.capture-position servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 addf stepgen.update-freq servo-thread
 addf pwmgen.update servo-thread
+addf abs.0 servo-thread
+
+addf charge-pump charge-pump-thread
 
 net laser-power-cmd <= motion.analog-out-00 => pwmgen.0.value
 net laser-pwm <= pwmgen.0.pwm
@@ -35,76 +41,81 @@ setp pwmgen.0.scale 1
 setp pwmgen.0.offset 0
 setp pwmgen.0.dither-pwm true
 
-net dout-02 <= motion.digital-out-02
-net din-02 => motion.digital-in-02
+net coolant-mist <= iocontrol.0.coolant-mist
+net estop-out <= iocontrol.0.user-enable-out
+net estop-out => iocontrol.0.emc-enable-in
 
-net laser-chiller => parport.0.pin-01-out
+net estop-out => parport.0.pin-01-out
 net xstep => parport.0.pin-02-out
-setp parport.0.pin-02-out-reset 1
+# setp parport.0.pin-02-out-reset 1
 net xdir => parport.0.pin-03-out
-setp parport.0.pin-03-out-invert 1
+setp parport.0.pin-03-out-invert 0
 net ystep => parport.0.pin-04-out
-setp parport.0.pin-04-out-reset 1
+# setp parport.0.pin-04-out-reset 1
 net ydir => parport.0.pin-05-out
 setp parport.0.pin-05-out-invert 1
-net ustep => parport.0.pin-06-out
-setp parport.0.pin-06-out-reset 1
-net udir => parport.0.pin-07-out
+net wstep => parport.0.pin-06-out
+# setp parport.0.pin-06-out-reset 1
+net wdir => parport.0.pin-07-out
 setp parport.0.pin-07-out-invert 1
-net dout-02 => parport.0.pin-08-out
+net xenable => parport.0.pin-08-out
+setp parport.0.pin-08-out-invert 1
 net laser-pwm => parport.0.pin-14-out
-net xenable => parport.0.pin-16-out
+net coolant-mist => parport.0.pin-16-out
 net laser-final => parport.0.pin-17-out
 
-net home-x <= parport.0.pin-10-in-not
-net home-y <= parport.0.pin-11-in-not
+net both-w <= parport.0.pin-12-in-not
+net max-home-y <= parport.0.pin-13-in-not
+net min-home-x <= parport.0.pin-15-in-not
 
-net din-02 <= parport.0.pin-13-in
+# charge pump output on pin 9
+net charge-pump-out-09 charge-pump.out => parport.0.pin-09-out
 
-# based on Pololu drivers with Allegro drivers (1us ea hi/lo step, 200ns dir setup/hold)
+# Keling 4030 driver 1.2us step, 5us dir setup
 setp stepgen.0.position-scale [AXIS_0]SCALE
-setp stepgen.0.steplen 1000
-setp stepgen.0.stepspace 0
-setp stepgen.0.dirhold 200
-setp stepgen.0.dirsetup 200
+setp stepgen.0.steplen 1200
+setp stepgen.0.stepspace 1200
+setp stepgen.0.dirhold 1000
+setp stepgen.0.dirsetup 5000
 setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
 net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
 net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
 net xstep <= stepgen.0.step
 net xdir <= stepgen.0.dir
 net xenable axis.0.amp-enable-out => stepgen.0.enable
-net home-x => axis.0.home-sw-in
+net min-home-x => axis.0.home-sw-in
+net min-home-x => axis.0.neg-lim-sw-in
 
 setp stepgen.1.position-scale [AXIS_1]SCALE
-setp stepgen.1.steplen 1000
-setp stepgen.1.stepspace 0
-setp stepgen.1.dirhold 200
-setp stepgen.1.dirsetup 200
+setp stepgen.1.steplen 1200
+setp stepgen.1.stepspace 1200
+setp stepgen.1.dirhold 1000
+setp stepgen.1.dirsetup 5000
 setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
 net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
 net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
 net ystep <= stepgen.1.step
 net ydir <= stepgen.1.dir
 net yenable axis.1.amp-enable-out => stepgen.1.enable
-net home-y => axis.1.home-sw-in
-
-setp stepgen.2.position-scale [AXIS_6]SCALE
-setp stepgen.2.steplen 1000
-setp stepgen.2.stepspace 0
-setp stepgen.2.dirhold 200
-setp stepgen.2.dirsetup 200
-setp stepgen.2.maxaccel [AXIS_6]STEPGEN_MAXACCEL
-net upos-cmd axis.6.motor-pos-cmd => stepgen.2.position-cmd
-net upos-fb stepgen.2.position-fb => axis.6.motor-pos-fb
-net ustep <= stepgen.2.step
-net udir <= stepgen.2.dir
-net uenable axis.6.amp-enable-out => stepgen.2.enable
+net max-home-y => axis.1.home-sw-in
+net max-home-y => axis.1.pos-lim-sw-in
+
+setp stepgen.2.position-scale [AXIS_8]SCALE
+setp stepgen.2.steplen 1200
+setp stepgen.2.stepspace 1200
+setp stepgen.2.dirhold 1000
+setp stepgen.2.dirsetup 5000
+setp stepgen.2.maxaccel [AXIS_8]STEPGEN_MAXACCEL
+net wpos-cmd axis.8.motor-pos-cmd => stepgen.2.position-cmd
+net wpos-fb stepgen.2.position-fb => axis.8.motor-pos-fb
+net wstep <= stepgen.2.step
+net wdir <= stepgen.2.dir
+net wenable axis.8.amp-enable-out => stepgen.2.enable
+net both-w => axis.8.neg-lim-sw-in
+net both-w => axis.8.pos-lim-sw-in
 
 net zpos-cmd-fb <= axis.2.motor-pos-cmd => axis.2.motor-pos-fb
 
-net estop-out <= iocontrol.0.user-enable-out
-net estop-out => iocontrol.0.emc-enable-in
-
 net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
 net tool-prepare-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
 
@@ -119,7 +130,7 @@ net laser-dout <= motion.digital-out-00
 ########################
 
 loadrt laserfreq
-addf laserfreq.0.make-pulses laser-thread
+addf laserfreq.0.make-pulses base-thread
 addf laserfreq.0.update servo-thread
 setp laserfreq.0.duration [LASER]PULSED_CUT_DURATION
 net current-vel motion.current-vel => laserfreq.0.velocity
@@ -143,7 +154,7 @@ net xpos-jcmd axis.0.joint-pos-cmd => motion-offset-sub.in0
 net xpos-cmd  axis.0.motor-pos-cmd => motion-offset-sub.in1
 net motion-offset                  <= motion-offset-sub.out
 
-addf motion-offset-apply laser-thread
+addf motion-offset-apply base-thread
 net xpos-fb       => motion-offset-apply.in0
 net motion-offset => motion-offset-apply.in1
 net raster-pos-fb <= motion-offset-apply.out
@@ -156,11 +167,11 @@ loadrt streamer depth=256 cfg=bbf
 
 # The order of addf determines the order of execution.
 # Order these so that the inputs cascade correctly to the outputs:
-addf raster-pos-gt-comp laser-thread
-addf raster-read-lut laser-thread
-addf streamer.0 laser-thread
-addf raster-fire-lut laser-thread
-addf laser-final-lut laser-thread
+addf raster-pos-gt-comp base-thread
+addf raster-read-lut base-thread
+addf streamer.0 base-thread
+addf raster-fire-lut base-thread
+addf laser-final-lut base-thread
 
 net raster-fire  <= streamer.0.pin.0
 net raster-rev   <= streamer.0.pin.1
@@ -200,7 +211,7 @@ net laser-raster <= raster-fire-lut.out
 
 addf laser-magic-z-comp servo-thread
 net zpos-fb <= axis.2.joint-pos-fb => laser-magic-z-comp.in0
-setp laser-magic-z-comp.in1 0.0
+setp laser-magic-z-comp.in1 -0.0001
 net laser-magic-z <= laser-magic-z-comp.out
 
 ########################
diff --git a/2x_Laser.ini b/2x_Laser.ini
index da5b46e..370ebf5 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -15,25 +15,26 @@ PULSED_CUT_DURATION = 0.003
 
 [DISPLAY]
 DISPLAY = axis
-USER_COMMAND_FILE = /home/bjj/Desktop/2x_Laser/axisrc
+USER_COMMAND_FILE = /home/jvangrin/emc2/configs/2x_laser/axisrc
 EDITOR = gedit
 POSITION_OFFSET = RELATIVE
 POSITION_FEEDBACK = ACTUAL
 MAX_FEED_OVERRIDE = 5
 INTRO_GRAPHIC = emc2.gif
 INTRO_TIME = 5
-#PROGRAM_PREFIX = /home/ubuntu/emc2/nc_files
-PROGRAM_PREFIX = /home/bjj/Desktop/2x_Laser
-INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
+PROGRAM_PREFIX = /home/jvangrin/emc2/configs/2x_laser
+INCREMENTS = .1in .05in .01in .005in .001in .0001in
 GEOMETRY = XYZ
+PYVCP = custompanel.xml
 
-#[FILTER]
-#PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
-#PROGRAM_EXTENSION = .py Python Script
-#png = image-to-gcode
-#gif = image-to-gcode
-#jpg = image-to-gcode
-#py = python
+[FILTER]
+PROGRAM_EXTENSION = .[nN][gG][cC] rs273ngc Gcode File
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python
 
 [TASK]
 TASK = milltask
@@ -41,12 +42,13 @@ CYCLE_TIME = 0.010
 
 [RS274NGC]
 PARAMETER_FILE = emc.var
+RS274NGC_STARTUP_CODE = G20 G90 G64 P0.001
 
 [EMCMOT]
 EMCMOT = motmod
 COMM_TIMEOUT = 1.0
 COMM_WAIT = 0.010
-BASE_PERIOD = 27000
+BASE_PERIOD = 25000
 SERVO_PERIOD = 1000000
 
 [HAL]
@@ -56,14 +58,18 @@ POSTGUI_HALFILE = custom_postgui.hal
 # for joystick:
 HALUI = halui
 
+[HALUI]
+MDI_COMMAND = G0 G53 Z0
+MDI_COMMAND = G10 L20 P1 X0 Y0
+
 [TRAJ]
-AXES = 7
-COORDINATES = X Y Z U
-LINEAR_UNITS = mm
+AXES = 9
+COORDINATES = X Y Z W
+LINEAR_UNITS = inch
 ANGULAR_UNITS = degree
 CYCLE_TIME = 0.010
-DEFAULT_VELOCITY = 50.00
-MAX_LINEAR_VELOCITY = 470
+DEFAULT_VELOCITY = 8.0
+MAX_LINEAR_VELOCITY = 18.0
 
 [EMCIO]
 EMCIO = io
@@ -72,46 +78,47 @@ TOOL_TABLE = tool.tbl
 
 [AXIS_0]
 TYPE = LINEAR
-HOME = 0.0
-MAX_VELOCITY = 470
-#MAX_ACCELERATION = 2500.0
-MAX_ACCELERATION = 7500.0
-STEPGEN_MAXACCEL = 9375.0
-SCALE = 78.7401574803
-FERROR = 1
-MIN_FERROR = .25
+MAX_VELOCITY = 17.575017575
+MAX_ACCELERATION = 300.0
+STEPGEN_MAXACCEL = 375.0
+SCALE = 1000.0
+FERROR = 0.05
+MIN_FERROR = 0.01
 MIN_LIMIT = -0.001
-MAX_LIMIT = 535
-HOME_OFFSET = 0.000000
-HOME_SEARCH_VEL = 120
-HOME_LATCH_VEL = 1
+MAX_LIMIT = 31.501
+HOME = 0
+HOME_OFFSET = -0.25
+HOME_SEARCH_VEL = -2.5
+HOME_LATCH_VEL = 0.83
 HOME_SEQUENCE = 0
+HOME_IGNORE_LIMITS = YES
 
 [AXIS_1]
 TYPE = LINEAR
-#HOME = 285.0
-MAX_VELOCITY = 200.0
-MAX_ACCELERATION = 5000.0
-STEPGEN_MAXACCEL = 6250.0
-SCALE = 78.7401574803
+MAX_VELOCITY = 17.575017575
+MAX_ACCELERATION = 200.0
+STEPGEN_MAXACCEL = 250.0
+SCALE = 1000.0
 FERROR = 1
-MIN_FERROR = .25
+MIN_FERROR = 0.05
 MIN_LIMIT = -0.001
-MAX_LIMIT = 285
-HOME_OFFSET = 0.000000
-HOME_SEARCH_VEL = 100
-HOME_LATCH_VEL = 1
+MAX_LIMIT = 15.751
+HOME = 15.75
+HOME_OFFSET = 16.0
+HOME_SEARCH_VEL = 2.5
+HOME_LATCH_VEL = -0.83
 HOME_SEQUENCE = 0
+HOME_IGNORE_LIMITS = YES
 
-[AXIS_6]
+[AXIS_8]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 6
-MAX_ACCELERATION = 50.0
-STEPGEN_MAXACCEL = 62.5
-SCALE = 6047.24409
-FERROR = 1
-MIN_FERROR = .25
+MAX_VELOCITY = 0.5
+MAX_ACCELERATION = 20.0
+STEPGEN_MAXACCEL = 25.0
+SCALE = 19200.0
+FERROR = 0.05
+MIN_FERROR = 0.01
 HOME_SEQUENCE = 0
 
 [AXIS_2]
@@ -123,6 +130,7 @@ STEPGEN_MAXACCEL = 60000
 SCALE = 1
 FERROR = 1
 MIN_FERROR = .25
-MIN_LIMIT = -100
-MAX_LIMIT = 100
+MIN_LIMIT = -6
+MAX_LIMIT = 6
 HOME_SEQUENCE = 0
+
diff --git a/axisrc b/axisrc
index ddc352c..50dc506 100644
--- a/axisrc
+++ b/axisrc
@@ -16,8 +16,8 @@ laser_hide(widgets.view_p)
 commands.set_view_z()
 
 # Attach table U to traditional Pg Up/Dn
-bind_axis("Next", "Prior", 6)
-bind_axis("KP_Next", "KP_Prior", 6)
+bind_axis("Next", "Prior", 8)
+bind_axis("KP_Next", "KP_Prior", 8)
 
 # Make Z accessible with [] just in case
 bind_axis("bracketleft", "bracketright", 2)
diff --git a/custom_postgui.hal b/custom_postgui.hal
index 786382c..5264851 100755
--- a/custom_postgui.hal
+++ b/custom_postgui.hal
@@ -1,3 +1,20 @@
 # Include your customized HAL commands here
 # The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
 
+# **** Setup of spindle speed display using pyvcp -START ****
+# **** Use COMMANDED spindle velocity from EMC because no spindle encoder was specified
+# **** COMANDED velocity is signed so we use absolute component (abs.0) to remove sign
+
+net laser-freq => pyvcp.ppi
+net laser-power-cmd => pyvcp.power
+
+net laser-master => pyvcp.laser-master
+net laser-raster => pyvcp.laser-raster
+net laser-dout => pyvcp.laser-dout
+net laser-magic-z => pyvcp.laser-magic-z
+net laser-pulsed => pyvcp.laser-pulsed
+net laser-final => pyvcp.laser-final
+
+net z-to-zero pyvcp.z-to-zero => halui.mdi-command-00
+net xy-touchoff pyvcp.xy-touchoff => halui.mdi-command-01
+

From f2dd9f2027aaf73c7d254879a0553294d37e9e77 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Thu, 10 May 2012 22:25:13 -0500
Subject: [PATCH 04/14] untested new raster engrave comp

---
 2x_Laser.hal      |  96 ++++--------------
 2x_Laser.ini      |  15 ++-
 laserfreq.comp    |  49 +++++-----
 laserraster.comp  | 242 ++++++++++++++++++++++++++++++++++++++++++++++
 raster_engrave.py | 161 ++++++++++++++++++++++++++++++
 raster_gui.py     |  10 +-
 strtod.h          | 150 ++++++++++++++++++++++++++++
 7 files changed, 612 insertions(+), 111 deletions(-)
 mode change 100644 => 100755 laserfreq.comp
 create mode 100644 laserraster.comp
 create mode 100755 raster_engrave.py
 create mode 100644 strtod.h

diff --git a/2x_Laser.hal b/2x_Laser.hal
index 2ce2042..ab9d64b 100755
--- a/2x_Laser.hal
+++ b/2x_Laser.hal
@@ -2,7 +2,7 @@
 # If you make changes to this file, they will be
 # overwritten when you run stepconf again
 
-loadrt threads name1=base-thread period1=[EMCMOT]BASE_PERIOD name2=charge-pump-thread period2=100000
+loadrt threads name1=base-thread period1=[EMCMOT]BASE_PERIOD fp1=0 name2=charge-pump-thread period2=100000 fp2=0
 
 loadrt trivkins
 loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
@@ -12,12 +12,13 @@ loadrt hal_parport cfg="0x378 out"
 loadrt stepgen step_type=0,0,0
 loadrt pwmgen output_type=0
 loadrt charge_pump
-loadrt abs count=1
+loadrt laserraster linear_units=[TRAJ]LINEAR_UNITS axis_scale=[AXIS_0]SCALE axis_min_limit=[AXIS_0]MIN_LIMIT axis_max_limit=[AXIS_0]MAX_LIMIT
+loadrt laserfreq
 
 addf parport.0.read base-thread
 addf stepgen.make-pulses base-thread
-# need capture-position in laser-thread for raster engraving:
-# addf stepgen.capture-position base-thread
+addf laserraster.0.make-pulses base-thread
+addf laserfreq.0.make-pulses base-thread
 addf pwmgen.make-pulses base-thread
 addf parport.0.write base-thread
 # addf parport.0.reset base-thread
@@ -26,8 +27,9 @@ addf stepgen.capture-position servo-thread
 addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 addf stepgen.update-freq servo-thread
+addf laserraster.0.update servo-thread
+addf laserfreq.0.update servo-thread
 addf pwmgen.update servo-thread
-addf abs.0 servo-thread
 
 addf charge-pump charge-pump-thread
 
@@ -129,9 +131,16 @@ net laser-dout <= motion.digital-out-00
 
 ########################
 
-loadrt laserfreq
-addf laserfreq.0.make-pulses base-thread
-addf laserfreq.0.update servo-thread
+setp laserraster.0.enable 1
+setp laserraster.0.laser-on-delay [LASER]TRIGGER_DELAY
+net raster-data-index <= motion.analog-out-01 => laserraster.0.data-index
+net raster-data-1 <= motion.analog-out-02 => laserraster.0.data-1
+net xstep => laserraster.0.stepgen-step
+net xdir => laserraster.0.stepgen-dir
+net laser-raster <= laserraster.0.laser-on
+
+########################
+
 setp laserfreq.0.duration [LASER]PULSED_CUT_DURATION
 net current-vel motion.current-vel => laserfreq.0.velocity
 net laser-freq motion.spindle-speed-out => laserfreq.0.pulse-per-unit
@@ -141,74 +150,7 @@ net laser-pulsed <= laserfreq.0.pulse
 
 ########################
 
-# XXX configurable axis 0
-
-# Compute motion-offset by observing how it affects the cmd so we can
-# apply it manually to the fb.  That allows us to use axis.0.position-fb
-# directly (at base-thread rate) rather than waiting for servo-thread
-# do do the same math and give us axis.N.joint-pos-fb
-loadrt sum2 names=motion-offset-sub,motion-offset-apply
-addf motion-offset-sub servo-thread
-setp motion-offset-sub.gain1 -1
-net xpos-jcmd axis.0.joint-pos-cmd => motion-offset-sub.in0
-net xpos-cmd  axis.0.motor-pos-cmd => motion-offset-sub.in1
-net motion-offset                  <= motion-offset-sub.out
-
-addf motion-offset-apply base-thread
-net xpos-fb       => motion-offset-apply.in0
-net motion-offset => motion-offset-apply.in1
-net raster-pos-fb <= motion-offset-apply.out
-
-
-loadrt comp names=raster-pos-gt-comp,laser-magic-z-comp
-loadrt lut5 names=raster-read-lut,raster-fire-lut,laser-final-lut
-
-loadrt streamer depth=256 cfg=bbf
-
-# The order of addf determines the order of execution.
-# Order these so that the inputs cascade correctly to the outputs:
-addf raster-pos-gt-comp base-thread
-addf raster-read-lut base-thread
-addf streamer.0 base-thread
-addf raster-fire-lut base-thread
-addf laser-final-lut base-thread
-
-net raster-fire  <= streamer.0.pin.0
-net raster-rev   <= streamer.0.pin.1
-net raster-pos   <= streamer.0.pin.2
-net raster-empty <= streamer.0.empty
-net raster-read  => streamer.0.enable
-
-# has the raster reached the target?
-# raster-pos-gt := raster-pos-fb > raster-pos
-net raster-pos     => raster-pos-gt-comp.in0
-net raster-pos-fb  => raster-pos-gt-comp.in1
-net raster-pos-gt  <= raster-pos-gt-comp.out
-
-# equation for reading the stream:
-# 1) XXX you can't avoid reading when empty or the state never changes
-# 2) flush (read all) when not running (M5 / laser-master off)
-# 3) when the laser position passes the target position in the right direction
-# raster-read := (~laser-master | (raster-pos-gt ^ raster-rev))
-#setp raster-read-lut.function 0x15511551 (with raster-empty)
-setp raster-read-lut.function 0x3ff33ff3
-net raster-empty  => raster-read-lut.in-0
-net laser-master  => raster-read-lut.in-1
-net raster-pos-gt => raster-read-lut.in-2
-net raster-rev    => raster-read-lut.in-3
-net raster-read   <= raster-read-lut.out
-
-# equation for firing the laser:
-# 1) never fire when empty (underflow or job finished)
-# 2) fire when raster-fire enabled
-# laser-raster := ~raster-empty & raster-fire
-setp raster-fire-lut.function 0x44444444
-net raster-empty => raster-fire-lut.in-0
-net raster-fire  => raster-fire-lut.in-1
-net laser-raster <= raster-fire-lut.out
-
-########################
-
+loadrt comp names=laser-magic-z-comp
 addf laser-magic-z-comp servo-thread
 net zpos-fb <= axis.2.joint-pos-fb => laser-magic-z-comp.in0
 setp laser-magic-z-comp.in1 -0.0001
@@ -223,6 +165,8 @@ net laser-magic-z <= laser-magic-z-comp.out
 #                    (laser-raster |
 #                   ((laser-magic-z | laser-dout) & laser-pulsed))
 
+loadrt lut5 names=laser-final-lut
+addf laser-final-lut base-thread
 setp laser-final-lut.function 0xfeaa0000
 net  laser-raster      => laser-final-lut.in-0
 net  laser-dout        => laser-final-lut.in-1
diff --git a/2x_Laser.ini b/2x_Laser.ini
index 370ebf5..6cd2150 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -7,22 +7,24 @@ DEBUG = 0
 
 [LASER]
 EXTRA_CHILLER_TIME = 20
-# duration of pulse "dashes" in seconds
-PULSED_CUT_DURATION = 0.003
+# duration of pulse "dashes" in ns
+PULSED_CUT_DURATION = 3000000
+# delay between triggering laser to fire and actual pulse
+TRIGGER_DELAY = 0
 
 [RASTER]
 #IMAGE_PATH = /home/bjj/Desktop:/home/bjj
 
 [DISPLAY]
 DISPLAY = axis
-USER_COMMAND_FILE = /home/jvangrin/emc2/configs/2x_laser/axisrc
+USER_COMMAND_FILE = /home/jvangrin/linuxcnc/configs/2x_laser/axisrc
 EDITOR = gedit
 POSITION_OFFSET = RELATIVE
 POSITION_FEEDBACK = ACTUAL
 MAX_FEED_OVERRIDE = 5
-INTRO_GRAPHIC = emc2.gif
+INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 5
-PROGRAM_PREFIX = /home/jvangrin/emc2/configs/2x_laser
+PROGRAM_PREFIX = /home/jvangrin/linuxcnc/configs/2x_laser
 INCREMENTS = .1in .05in .01in .005in .001in .0001in
 GEOMETRY = XYZ
 PYVCP = custompanel.xml
@@ -61,6 +63,9 @@ HALUI = halui
 [HALUI]
 MDI_COMMAND = G0 G53 Z0
 MDI_COMMAND = G10 L20 P1 X0 Y0
+MDI_COMMAND = G38.2 W20 F4
+MDI_COMMAND = G92 W0
+MDI_COMMAND = G0 W0 F4
 
 [TRAJ]
 AXES = 9
diff --git a/laserfreq.comp b/laserfreq.comp
old mode 100644
new mode 100755
index bc016fa..71a13e4
--- a/laserfreq.comp
+++ b/laserfreq.comp
@@ -5,49 +5,50 @@ pin in float velocity "Velocity of the laser head (e.g. motion.current-vel)";
 pin in float pulse-per-unit "How many pulses per unit distance";
 pin out bit pulse "Output firing pulse";
 pin out bit continuous "True if current inputs are causing continuous (not pulsed) output";
-param rw float duration "Duration of each pulse in seconds";
-function make_pulses fp "Add to fast thread to make laser pulses";
+param rw s32 duration "Duration of each pulse in ns";
+function make_pulses nofp "Add to fast thread to make laser pulses";
 function update fp "Add to update thread to compute pulse parameters";
 variable int updated;
-variable float interval;
-variable float accum;
-variable float pulse_remain;
+param r s32 interval;
+param r s32 accum;
+param r s32 pulse_remain;
 license "GPL";
 ;;
 FUNCTION(update) {
+
     if (velocity == 0.0 || pulse_per_unit == 0) {
-	updated = 0;
+        updated = 0;
     } else {
-	// velocity * pulse-per-unit gives pulses per second
-	// pulse interval is then 1/pps 
-	interval = 1.0 / (velocity * pulse_per_unit);
+        // velocity * pulse-per-unit gives pulses per second
+        // pulse interval is then 1/pps 
+        interval = 1000000000.0 / (velocity * pulse_per_unit);
 
-	updated = 1;
+        updated = 1;
     }
 }
 
 FUNCTION(make_pulses) {
     if (!enable || !updated) {
-	accum = 0;
-	pulse_remain = 0;
-	pulse = 0;
-	continuous = 0;
-	return;
+        accum = 0;
+        pulse_remain = 0;
+        pulse = 0;
+        continuous = 0;
+        return;
     }
 
-    accum += fperiod;
+    accum += period;
     if (accum > interval) {
-	accum -= interval;
-	if (accum > interval)
-	    accum = 0.0;
-	continuous = (pulse_remain > 0);
-	pulse_remain = duration;
+        accum -= interval;
+        if (accum > interval)
+            accum = 0;
+        continuous = (pulse_remain > 0);
+        pulse_remain = duration;
     }
 
     if (pulse_remain > 0) {
-	pulse = 1;
-	pulse_remain -= fperiod;
+        pulse = 1;
+        pulse_remain -= period;
     } else {
-	pulse = 0;
+        pulse = 0;
     }
 }
diff --git a/laserraster.comp b/laserraster.comp
new file mode 100644
index 0000000..9472ed7
--- /dev/null
+++ b/laserraster.comp
@@ -0,0 +1,242 @@
+component laserraster "Laser raster engrave engine";
+author "Jeremy Van Grinsven <jv4779@gmail.com>";
+option extra_setup yes;
+
+pin in bit enable = 0 "Enable component";
+pin in float data_index = 0 "Input raster data index";
+pin in float data_1 = 0 "Input raster data 1";
+pin in bit stepgen-dir = 0 "Direction pin from raster axis stepgen";
+pin in bit stepgen-step = 0 "Step pin from raster axis stepgen";
+pin out bit raster-active = 0 "Raster data loaded and laser can fire";
+pin out bit laser-on = 0 "Laser on signal";
+
+function update fp "Read the raster data";
+function make_pulses nofp "Generate laser pulses";
+
+param rw s32 laser_on_delay = 0 "Time in ns between triggering and the laser will fire";
+
+param r float raster-speed = 0 "Speed of raster, machine units/min";
+param r s32 raster-direction = 1 "Sweep direction, 1=right-to-left, -1=left-to-right";
+param r float dots-per-unit = 0 "Dots per machine unit";
+param r s32 bits-per-float = 0 "Bits of bitmap data per data-XX";
+param r s32 laser-on-time = 0 "Laser pulse time per dot, ns";
+param r float raster-lead-in = 0 "Lead in distance, machine units";
+param r s32 rawcounts = 0 "Calculated step count from stepgen step/dir";
+
+license "GPL";
+;;
+
+#include <rtapi_math.h>
+#include <rtapi_string.h>
+#include "strtod.h"
+
+
+static char* linear_units;
+RTAPI_MP_STRING(linear_units,"Specify the machine units of the raster axis");
+
+static char* axis_scale;
+RTAPI_MP_STRING(axis_scale,"Raster axis scale");
+
+static char* axis_min_limit;
+RTAPI_MP_STRING(axis_min_limit,"Raster axis min limit");
+
+static char* axis_max_limit;
+RTAPI_MP_STRING(axis_max_limit,"Raster axis max limit");
+
+
+// calculated
+static hal_s32_t m_delaySteps = 0;
+static hal_s32_t m_startStep = 0;
+static hal_s32_t m_endStep = 0;
+static int m_gcodeIsMetric = 0;
+static int m_machineIsMetric = 0;
+static hal_float_t m_convertScale = 1;
+static hal_float_t m_axisScale = 0;
+static hal_float_t m_axisLength = 0;
+
+// step bitmask storage
+static int m_stepMaskLen = 0;
+typedef hal_u32_t step_mask_type;
+const int m_stepMaskBits = (sizeof(step_mask_type)*8);
+static step_mask_type* m_stepMask = 0;
+
+FUNCTION(update) {
+    int i;
+    static hal_s32_t s_lastIndex = 0;
+
+    hal_s32_t data_index_s32 = data_index;
+    long long int data_1_s64 = data_1;
+
+    if ( !enable ) return;
+
+    if ( data_index_s32 < 0 ) {
+
+        if ( data_index_s32 != s_lastIndex ) {
+	    if ( data_index_s32 == -1 ) {
+	        // clear the step data array
+	        for (i=0;i<m_stepMaskLen;i++) { m_stepMask[i]=0; }
+                rtapi_print("starting raster line\n");
+	    } else {
+	        rtapi_print("header line %i = %f\n",data_index_s32,data_1);
+	        switch ( data_index_s32 ) {
+	            case -2:
+	    	        m_gcodeIsMetric = data_1_s64;
+		        break;
+	            case -3:
+	    	        raster_speed = data_1;
+		        break;
+	            case -4:
+		        raster_direction = data_1;
+		        break;
+	            case -5:
+		        dots_per_unit = data_1;
+		        break;
+	            case -6:
+		        bits_per_float = data_1_s64;
+		        break;
+	            case -7:
+		        laser_on_time = data_1_s64;
+		        break;
+	            case -8:
+		        raster_lead_in = data_1;
+		        break;
+	        }
+		if ( data_index_s32 == -8 ) {
+		    // params are done, lets init
+		    if ( !m_machineIsMetric && m_gcodeIsMetric ) {
+		    	m_convertScale = 1/25.4;
+		    } else if ( m_machineIsMetric && !m_gcodeIsMetric ) {
+		    	m_convertScale = 25.4;
+		    } else {
+			m_convertScale = 1;
+		    }
+
+		    // convert passed in values to machine units
+		    raster_speed *= m_convertScale;
+		    dots_per_unit *= m_convertScale;
+		    raster_lead_in *= m_convertScale;
+
+		    m_startStep = rawcounts + raster_lead_in * m_axisScale;
+		    m_endStep = m_startStep + m_stepMaskBits;
+         	    m_delaySteps = laser_on_delay * raster_speed / 60 / 1000 / 1000 * m_axisScale;
+		    raster_active = 1;
+
+            	    rtapi_print("speed=%f %s/min, dots/%s=%f, raster_lead_in=%f %s, axisScale=%f step/%s, axisLength=%f %s\n",
+			raster_speed,linear_units, linear_units,dots_per_unit, raster_lead_in,linear_units, m_axisScale,linear_units, m_axisLength,linear_units);
+		    rtapi_print("startStep=%i, delaySteps=%i, machMetric=%i, gcodeMetric=%i, convertScale=%f bpf=%d\n",
+			m_startStep, m_delaySteps, m_machineIsMetric, m_gcodeIsMetric, m_convertScale, bits_per_float);
+                }
+	    }
+	    s_lastIndex = data_index_s32;
+	}
+    } else if ( data_index_s32 > 0 ) {
+	if ( data_index_s32 != s_lastIndex ) {
+	    int i;
+            hal_u32_t src_bit_index_start;
+
+   	    rtapi_print("index=%d data=%f data_1_s64=0x%x%08x\n",
+                data_index_s32, data_1, (unsigned int)(data_1_s64>>32), (unsigned int)data_1_s64);
+
+            src_bit_index_start = (data_index_s32-1)*bits_per_float;
+
+            for (i=0;i<bits_per_float;++i) {
+                hal_u32_t src_bit_index = src_bit_index_start + i;
+                hal_u32_t scaled_bit_index = src_bit_index*m_axisScale/dots_per_unit;
+		if ( data_1_s64 & (1LL<<i) ) {
+		    int index_i = scaled_bit_index / m_stepMaskBits;
+		    int index_b = scaled_bit_index % m_stepMaskBits;
+
+		    if ( index_i >=0 && index_i < m_stepMaskLen ) {
+		        m_stepMask[index_i] |= (1<<index_b);
+            	        //rtapi_print("src=%u acaled=%u\n",src_bit_index,scaled_bit_index);
+            	        rtapi_print("setting index=%i bit=%i\n",index_i,index_b);
+		    }
+		}
+                if ( i == bits_per_float-1 ) {
+                    // set the new step end to the scaled bits we just loaded
+                    m_endStep = m_startStep + scaled_bit_index;
+                }
+	    }
+	    s_lastIndex = data_index_s32;
+	}
+    }
+}
+
+
+FUNCTION(make_pulses) {
+    static hal_s32_t pulse_remain = 0;
+    static hal_s32_t last_stepgen_step = 0;
+    static hal_s32_t last_rawcounts = 0;
+
+    // calculatge rawcounts ourselves because stepgen doesn't
+    // export it as a pin and stepgen.counts requires 
+    // capture-position to run, which is done in servo-thread
+    if ( stepgen_step && !last_stepgen_step ) {
+        if ( stepgen_dir ) {
+            --rawcounts;
+        } else {
+            ++rawcounts;
+        }
+    }
+    last_stepgen_step = stepgen_step;
+
+    if ( !enable ) return;
+
+    if ( pulse_remain > 0 ) {
+	pulse_remain -= period;
+    } else {
+	laser_on = 0;
+    }
+    if ( raster_active ) {
+        if ( rawcounts < last_rawcounts ) {
+	    // we moved in the wrong direction
+     	    rtapi_print("raster off, moved in wrong direction\n");
+ 	    raster_active = 0;
+        }
+	else if ( rawcounts > m_endStep ) {
+	    // after end of raster data
+     	    rtapi_print("raster off, past raster data\n");
+	    raster_active = 0;
+	}
+	else if ( rawcounts != last_rawcounts && rawcounts >= m_startStep ) {
+ 	    hal_s32_t bit_index = rawcounts - m_startStep;
+	    int index_i = bit_index / m_stepMaskBits;
+	    int index_b = bit_index % m_stepMaskBits;
+
+     	    //rtapi_print("raster rawcounts=%d index=%d i=%d b=%d\n",rawcounts,bit_index,index_i,index_b);
+
+	    if ( index_i >=0 && index_i < m_stepMaskLen ) {
+	        if ( m_stepMask[index_i] & (1<<index_b) ) {
+          	    rtapi_print("laser-on bit=%u\n",bit_index);
+		    laser_on = 1;
+		    pulse_remain = laser_on_time;
+                }
+	    }
+	}
+    }
+    last_rawcounts = rawcounts;
+}
+
+EXTRA_SETUP(){
+    int needed_step_mask_len;
+
+    if ( strcmp(linear_units,"inch")==0 ) {
+        m_machineIsMetric=0;
+    } else if ( strcmp(linear_units,"mm")==0 ) {
+	m_machineIsMetric=1;
+    } else {
+        rtapi_print_msg(RTAPI_MSG_ERR,"laserraster.linear_units='%s' is unknown, use 'inch' or 'mm'\n",linear_units);
+        return -EINVAL;
+    }
+    m_axisScale = strtod(axis_scale,0);
+    m_axisLength = strtod(axis_max_limit,0) - strtod(axis_min_limit,0);
+
+    needed_step_mask_len = ceil(m_axisLength * m_axisScale / m_stepMaskBits);
+
+    m_stepMask = hal_malloc(needed_step_mask_len*sizeof(step_mask_type));
+    m_stepMaskLen = needed_step_mask_len;
+    rtapi_print("allocated step mask len=%d\n",m_stepMaskLen);
+
+    return 0;
+}
+
diff --git a/raster_engrave.py b/raster_engrave.py
new file mode 100755
index 0000000..6bc6d8a
--- /dev/null
+++ b/raster_engrave.py
@@ -0,0 +1,161 @@
+#!/usr/bin/env python
+
+import os, sys, time, glob
+from math import ceil, floor
+from subprocess import *
+from itertools import *
+from PIL import Image
+from raster_gui import *
+
+print('%')
+
+#P, Q = map(lambda x: float(x), sys.argv[1:])
+
+if ( len(sys.argv) > 1 and os.path.exists(sys.argv[1]) ):
+    image_name = sys.argv[1]
+else:
+    image_name = image_not_found()
+print '(image = %s)' % image_name
+
+image = Image.open(image_name)
+
+(img_w,img_h) = image.size
+print('(original size w=%u,h=%u)' % (img_w,img_h))
+
+SPEED = 108
+ACCEL = 300
+origin_x = 0
+origin_y = 0
+# center, <top|middle|bottom><left|center|right>
+origin_loc = 'topleft'
+# for mirroring
+orientation_y = -1
+orientation_x = 1
+raster_w = 3
+raster_h = raster_w*float(img_h)/img_w
+XDPI = 400
+YDPI = 200
+
+# calc lead in + 10% fudge
+leadIn = (0.55*SPEED*SPEED/3600)/ACCEL
+
+pix_w = int(raster_w * XDPI)
+pix_h = int(raster_h * YDPI)
+W = float(pix_w) / XDPI
+H = float(pix_h) / YDPI
+MAX_BPF = 53
+
+if ( origin_loc == 'center' ):
+    X = origin_x - W/2.0
+    Y = origin_y + H/2.0
+else:
+    if ( 'top' in origin_loc ):
+        Y = origin_y
+    elif ( 'bottom' in origin_loc ):
+        Y = origin_y + H
+    elif ( 'middle' in origin_loc ):
+        Y = origin_y + H/2.0
+    else:
+        print('unknown origin_loc='+origin_loc)
+        sys.exit()
+
+    if ( 'left' in origin_loc ):
+        X = origin_x
+    elif ( 'center' in origin_loc ):
+        X = origin_x - W/2.0
+    elif ( 'right' in origin_loc ):
+        X = origin_x - W
+    else:
+        print('unknown origin_loc='+origin_loc)
+        sys.exit()
+
+reverse_fudge = 0.0
+#reverse_fudge = 0.339
+
+print '(rescaling to %u,%u w=%u,h=%u)' % (pix_w, pix_h, W, H)
+image = image.resize((pix_w, pix_h), Image.BICUBIC).convert('1')
+image.save('actual.png')
+
+pix = list(image.getdata())
+
+print('G20')
+print('G64 P0.0001 Q0.0001')
+print('#<raster_speed> = %0.3f' % SPEED)
+
+print('/ F[#<raster_speed>]')
+print('/ G0 X%0.3f Y%0.3f' % (X,Y))
+print('/ G1 X%0.3f Y%0.3f' % (X+W*orientation_x,Y))
+print('/ G1 X%0.3f Y%0.3f' % (X+W*orientation_x,Y+H*orientation_y))
+print('/ G1 X%0.3f Y%0.3f' % (X,Y+H*orientation_y))
+print('/ G1 X%0.3f Y%0.3f' % (X,Y))
+print('/ M2')
+
+for y in xrange(0,pix_h):
+    forward = (y & 1) == 0
+
+    offset_y = Y + float(y)/YDPI*orientation_y
+
+    print('(setup raster line %d)' % y)
+
+    row = pix[y * pix_w:(y + 1) * pix_w]
+
+    first_non_zero = -1
+    last_non_zero = -1
+    for index, pixel in enumerate(row):
+        if (pixel <= 127):
+            if (first_non_zero == -1):
+                first_non_zero = index
+            last_non_zero = index
+
+    # some data to output
+    if (first_non_zero > 0):
+        # figure out how many max bpf floats to hold the data and
+        # then evenly distribute the bits
+        total_bits = last_non_zero - first_non_zero + 1;
+        BPF = ceil(total_bits / (ceil(float(total_bits) / MAX_BPF)))
+
+        bits = []
+        i=0
+        bitval=0
+        for v in row[first_non_zero:last_non_zero+1]:
+            if (v <= 127):
+                bitval += (1<<i)
+            i += 1
+            if (i >= BPF):
+                bits.append(bitval);
+                bitval = 0
+                i = 0
+        if (i > 0):
+            bits.append(bitval);
+
+        offet_start = X + (float(first_non_zero)/XDPI - leadIn)*orientation_x
+
+        print('G0 X%0.3f Y%0.3f' % (offet_start,offset_y))
+        print('F[#<raster_speed>]')
+        print('M68 E1 Q-1 (start new line)')
+        print('M68 E2 Q0 (gcode is metric 0=no,1=yes)')
+        print('M68 E1 Q-2')
+        print('M68 E2 Q[#<raster_speed>] (speed, in/min or mm/min)')
+        print('M68 E1 Q-3')
+        print('M68 E2 Q1 (direction)')
+        print('M68 E1 Q-4')
+        print('M68 E2 Q%0.3f (dpi)' % XDPI)
+        print('M68 E1 Q-5')
+        print('M68 E2 Q%u (bits per float)' % BPF)
+        print('M68 E1 Q-6')
+        print('M68 E2 Q1000000 (laser on time, ns)')
+        print('M68 E1 Q-7')
+        print('M68 E2 Q%0.3f (lead in)' % leadIn)
+        print('M68 E1 Q-8')
+        print('(raster data start)')
+
+        for index, bitval in enumerate(bits):
+            offset_x = X + float(first_non_zero + index*BPF)/XDPI*orientation_x
+            print('M67 E2 Q%u' % (bitval))
+            print('M67 E1 Q%u' % (index+1))
+            print('G1 X%0.3f' % offset_x)
+
+        print('G1 X%0.3f' % (X + (float(last_non_zero)/XDPI + leadIn)*orientation_x))
+        print('M1')
+
+print('%')
diff --git a/raster_gui.py b/raster_gui.py
index cae24b1..c10def2 100644
--- a/raster_gui.py
+++ b/raster_gui.py
@@ -2,17 +2,15 @@
 
 def app():
     import Tkinter
-    app = Tkinter.Tk(className='emcM144')
+    app = Tkinter.Tk(className='emcRasterEngrave')
     app.withdraw()
     return app
 
-def image_not_found(P):
+def image_not_found():
     import tkFileDialog, tkMessageBox
     app()
-    tkMessageBox.showwarning(title='M144 Raster Image Not Found',
-	message='Could not find image *-%u.*\nafter searching [RASTER]IMAGE_PATH (default $HOME)' % P)
     name = tkFileDialog.askopenfilename(title='M144 Raster Image',
-	initialfile='%u' % P,
+	initialfile='',
 	filetypes=[('Images',('*.png', '*.gif', '*.jpg', '*.tif', '*.bmp')),
 	           ('Any File', '*.*')])
     if not name:
@@ -23,6 +21,6 @@ def image_not_found(P):
 def fatal(msg):
     import tkMessageBox
     app()
-    tkMessageBox.showerror(title='M144 Raster Error', message=msg)
+    tkMessageBox.showerror(title='Raster Engrave Error', message=msg)
     sys.exit(2)
 
diff --git a/strtod.h b/strtod.h
new file mode 100644
index 0000000..c530998
--- /dev/null
+++ b/strtod.h
@@ -0,0 +1,150 @@
+
+#define HUGE_VAL (__builtin_huge_val())
+
+//
+// strtod.c
+//
+// Convert string to double 
+//
+// Copyright (C) 2002 Michael Ringgaard. All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+// 
+// 1. Redistributions of source code must retain the above copyright 
+//    notice, this list of conditions and the following disclaimer.  
+// 2. Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.  
+// 3. Neither the name of the project nor the names of its contributors
+//    may be used to endorse or promote products derived from this software
+//    without specific prior written permission. 
+// 
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+// OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+// OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 
+// SUCH DAMAGE.
+// 
+
+static int isspace(char c){ return c==' '; }
+static int isdigit(char c){ return (c>='0'&&c<='9'); }
+
+static double strtod(const char *str, char **endptr)
+{
+  double number;
+  int exponent;
+  int negative;
+  char *p = (char *) str;
+  double p10;
+  int n;
+  int num_digits;
+  int num_decimals;
+
+  // Skip leading whitespace
+  while (isspace(*p)) p++;
+
+  // Handle optional sign
+  negative = 0;
+  switch (*p) 
+  {             
+    case '-': negative = 1; // Fall through to increment position
+    case '+': p++;
+  }
+
+  number = 0.;
+  exponent = 0;
+  num_digits = 0;
+  num_decimals = 0;
+
+  // Process string of digits
+  while (isdigit(*p))
+  {
+    number = number * 10. + (*p - '0');
+    p++;
+    num_digits++;
+  }
+
+  // Process decimal part
+  if (*p == '.') 
+  {
+    p++;
+
+    while (isdigit(*p))
+    {
+      number = number * 10. + (*p - '0');
+      p++;
+      num_digits++;
+      num_decimals++;
+    }
+
+    exponent -= num_decimals;
+  }
+
+  if (num_digits == 0)
+  {
+    return 0.0;
+  }
+
+  // Correct for sign
+  if (negative) number = -number;
+
+  // Process an exponent string
+  if (*p == 'e' || *p == 'E') 
+  {
+    // Handle optional sign
+    negative = 0;
+    switch (*++p) 
+    {   
+      case '-': negative = 1;   // Fall through to increment pos
+      case '+': p++;
+    }
+
+    // Process string of digits
+    n = 0;
+    while (isdigit(*p)) 
+    {   
+      n = n * 10 + (*p - '0');
+      p++;
+    }
+
+    if (negative) 
+      exponent -= n;
+    else
+      exponent += n;
+  }
+
+  if (exponent < __DBL_MIN_EXP__  || exponent > __DBL_MAX_EXP__)
+  {
+    return HUGE_VAL;
+  }
+
+  // Scale the result
+  p10 = 10.;
+  n = exponent;
+  if (n < 0) n = -n;
+  while (n) 
+  {
+    if (n & 1) 
+    {
+      if (exponent < 0)
+        number /= p10;
+      else
+        number *= p10;
+    }
+    n >>= 1;
+    p10 *= p10;
+  }
+
+  if (endptr) *endptr = p;
+
+  return number;
+}
+

From a32ad6b64f9eb2d0316da63d4f67d1532f5303ed Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Tue, 15 May 2012 22:43:57 -0500
Subject: [PATCH 05/14] add bidirectional raster

---
 2x_Laser.ini      |  2 +-
 laserraster.comp  | 36 ++++++++++++++++----------
 raster_engrave.py | 65 +++++++++++++++++++++++++++++++++--------------
 3 files changed, 70 insertions(+), 33 deletions(-)

diff --git a/2x_Laser.ini b/2x_Laser.ini
index 6cd2150..6bf2ecd 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -118,7 +118,7 @@ HOME_IGNORE_LIMITS = YES
 [AXIS_8]
 TYPE = LINEAR
 HOME = 0.0
-MAX_VELOCITY = 0.5
+MAX_VELOCITY = 0.25
 MAX_ACCELERATION = 20.0
 STEPGEN_MAXACCEL = 25.0
 SCALE = 19200.0
diff --git a/laserraster.comp b/laserraster.comp
index 9472ed7..85bc858 100644
--- a/laserraster.comp
+++ b/laserraster.comp
@@ -16,7 +16,7 @@ function make_pulses nofp "Generate laser pulses";
 param rw s32 laser_on_delay = 0 "Time in ns between triggering and the laser will fire";
 
 param r float raster-speed = 0 "Speed of raster, machine units/min";
-param r s32 raster-direction = 1 "Sweep direction, 1=right-to-left, -1=left-to-right";
+param r s32 raster-direction = 1 "Sweep direction, 1=neg-to-pos, -1=pos-to-neg";
 param r float dots-per-unit = 0 "Dots per machine unit";
 param r s32 bits-per-float = 0 "Bits of bitmap data per data-XX";
 param r s32 laser-on-time = 0 "Laser pulse time per dot, ns";
@@ -77,6 +77,7 @@ FUNCTION(update) {
 	        for (i=0;i<m_stepMaskLen;i++) { m_stepMask[i]=0; }
                 rtapi_print("starting raster line\n");
 	    } else {
+		int do_init = 0;
 	        rtapi_print("header line %i = %f\n",data_index_s32,data_1);
 	        switch ( data_index_s32 ) {
 	            case -2:
@@ -86,7 +87,7 @@ FUNCTION(update) {
 	    	        raster_speed = data_1;
 		        break;
 	            case -4:
-		        raster_direction = data_1;
+		        raster_direction = (data_1_s64 > 0 ? 1 : -1);
 		        break;
 	            case -5:
 		        dots_per_unit = data_1;
@@ -99,9 +100,10 @@ FUNCTION(update) {
 		        break;
 	            case -8:
 		        raster_lead_in = data_1;
+			do_init = 1;
 		        break;
 	        }
-		if ( data_index_s32 == -8 ) {
+		if ( do_init ) {
 		    // params are done, lets init
 		    if ( !m_machineIsMetric && m_gcodeIsMetric ) {
 		    	m_convertScale = 1/25.4;
@@ -116,15 +118,15 @@ FUNCTION(update) {
 		    dots_per_unit *= m_convertScale;
 		    raster_lead_in *= m_convertScale;
 
-		    m_startStep = rawcounts + raster_lead_in * m_axisScale;
-		    m_endStep = m_startStep + m_stepMaskBits;
+		    m_startStep = rawcounts + raster_lead_in * m_axisScale * raster_direction;
+		    m_endStep = m_startStep;
          	    m_delaySteps = laser_on_delay * raster_speed / 60 / 1000 / 1000 * m_axisScale;
 		    raster_active = 1;
 
             	    rtapi_print("speed=%f %s/min, dots/%s=%f, raster_lead_in=%f %s, axisScale=%f step/%s, axisLength=%f %s\n",
 			raster_speed,linear_units, linear_units,dots_per_unit, raster_lead_in,linear_units, m_axisScale,linear_units, m_axisLength,linear_units);
-		    rtapi_print("startStep=%i, delaySteps=%i, machMetric=%i, gcodeMetric=%i, convertScale=%f bpf=%d\n",
-			m_startStep, m_delaySteps, m_machineIsMetric, m_gcodeIsMetric, m_convertScale, bits_per_float);
+		    rtapi_print("rawcounts=%i, startStep=%i, delaySteps=%i, machMetric=%i, gcodeMetric=%i, convertScale=%f bpf=%d\n",
+			rawcounts, m_startStep, m_delaySteps, m_machineIsMetric, m_gcodeIsMetric, m_convertScale, bits_per_float);
                 }
 	    }
 	    s_lastIndex = data_index_s32;
@@ -154,7 +156,7 @@ FUNCTION(update) {
 		}
                 if ( i == bits_per_float-1 ) {
                     // set the new step end to the scaled bits we just loaded
-                    m_endStep = m_startStep + scaled_bit_index;
+                    m_endStep = m_startStep + scaled_bit_index * raster_direction;
                 }
 	    }
 	    s_lastIndex = data_index_s32;
@@ -188,22 +190,30 @@ FUNCTION(make_pulses) {
 	laser_on = 0;
     }
     if ( raster_active ) {
-        if ( rawcounts < last_rawcounts ) {
+	hal_s32_t rawcounts_with_delay = rawcounts + m_delaySteps * raster_direction;
+
+        if ( (raster_direction > 0 && rawcounts < last_rawcounts) ||
+	     (raster_direction < 0 && rawcounts > last_rawcounts) )
+	{
 	    // we moved in the wrong direction
      	    rtapi_print("raster off, moved in wrong direction\n");
  	    raster_active = 0;
         }
-	else if ( rawcounts > m_endStep ) {
+	else if ( (raster_direction > 0 && rawcounts_with_delay > m_endStep) ||
+		  (raster_direction < 0 && rawcounts_with_delay < m_endStep) )
+	{
 	    // after end of raster data
      	    rtapi_print("raster off, past raster data\n");
 	    raster_active = 0;
 	}
-	else if ( rawcounts != last_rawcounts && rawcounts >= m_startStep ) {
- 	    hal_s32_t bit_index = rawcounts - m_startStep;
+	else if ( rawcounts != last_rawcounts && 
+		  ( (raster_direction > 0 && rawcounts_with_delay >= m_startStep) ||
+		    (raster_direction < 0 && rawcounts_with_delay <= m_startStep) ) ) {
+ 	    hal_s32_t bit_index = (rawcounts_with_delay - m_startStep)*raster_direction;
 	    int index_i = bit_index / m_stepMaskBits;
 	    int index_b = bit_index % m_stepMaskBits;
 
-     	    //rtapi_print("raster rawcounts=%d index=%d i=%d b=%d\n",rawcounts,bit_index,index_i,index_b);
+     	    //rtapi_print("raster rawcounts_with_delay=%d index=%d i=%d b=%d\n",rawcounts_with_delay,bit_index,index_i,index_b);
 
 	    if ( index_i >=0 && index_i < m_stepMaskLen ) {
 	        if ( m_stepMask[index_i] & (1<<index_b) ) {
diff --git a/raster_engrave.py b/raster_engrave.py
index 6bc6d8a..9e32d92 100755
--- a/raster_engrave.py
+++ b/raster_engrave.py
@@ -7,14 +7,13 @@
 from PIL import Image
 from raster_gui import *
 
-print('%')
-
-#P, Q = map(lambda x: float(x), sys.argv[1:])
 
 if ( len(sys.argv) > 1 and os.path.exists(sys.argv[1]) ):
     image_name = sys.argv[1]
 else:
     image_name = image_not_found()
+
+print('%')
 print '(image = %s)' % image_name
 
 image = Image.open(image_name)
@@ -22,8 +21,11 @@
 (img_w,img_h) = image.size
 print('(original size w=%u,h=%u)' % (img_w,img_h))
 
-SPEED = 108
+# user defined parameters
+SPEED = 1080
 ACCEL = 300
+laser_power = 0.15
+is_metric = 0
 origin_x = 0
 origin_y = 0
 # center, <top|middle|bottom><left|center|right>
@@ -33,18 +35,21 @@
 orientation_x = 1
 raster_w = 3
 raster_h = raster_w*float(img_h)/img_w
-XDPI = 400
+XDPI = 200
 YDPI = 200
 
 # calc lead in + 10% fudge
 leadIn = (0.55*SPEED*SPEED/3600)/ACCEL
+#leadIn = 1
 
+# calc image raster size
 pix_w = int(raster_w * XDPI)
 pix_h = int(raster_h * YDPI)
 W = float(pix_w) / XDPI
 H = float(pix_h) / YDPI
 MAX_BPF = 53
 
+# handle origin offsetting
 if ( origin_loc == 'center' ):
     X = origin_x - W/2.0
     Y = origin_y + H/2.0
@@ -69,19 +74,23 @@
         print('unknown origin_loc='+origin_loc)
         sys.exit()
 
-reverse_fudge = 0.0
-#reverse_fudge = 0.339
-
 print '(rescaling to %u,%u w=%u,h=%u)' % (pix_w, pix_h, W, H)
 image = image.resize((pix_w, pix_h), Image.BICUBIC).convert('1')
 image.save('actual.png')
 
 pix = list(image.getdata())
 
-print('G20')
+# gcode header
+if ( is_metric ):
+    print('G21')
+else:
+    print('G20')
 print('G64 P0.0001 Q0.0001')
+print('M68 E0 Q%0.3f' % laser_power)
+print('M3 S1 (master laser power on)')
 print('#<raster_speed> = %0.3f' % SPEED)
 
+# gcode skip lines that show raster image run box
 print('/ F[#<raster_speed>]')
 print('/ G0 X%0.3f Y%0.3f' % (X,Y))
 print('/ G1 X%0.3f Y%0.3f' % (X+W*orientation_x,Y))
@@ -90,15 +99,18 @@
 print('/ G1 X%0.3f Y%0.3f' % (X,Y))
 print('/ M2')
 
-for y in xrange(0,pix_h):
-    forward = (y & 1) == 0
+forward = 1
 
+for y in xrange(0,pix_h):
     offset_y = Y + float(y)/YDPI*orientation_y
 
     print('(setup raster line %d)' % y)
 
     row = pix[y * pix_w:(y + 1) * pix_w]
 
+    if not forward:
+        row.reverse()
+
     first_non_zero = -1
     last_non_zero = -1
     for index, pixel in enumerate(row):
@@ -107,8 +119,11 @@
                 first_non_zero = index
             last_non_zero = index
 
+    # debug raster
+    #first_non_zero, last_non_zero = (0,len(row)-1)
+
     # some data to output
-    if (first_non_zero > 0):
+    if (first_non_zero >= 0):
         # figure out how many max bpf floats to hold the data and
         # then evenly distribute the bits
         total_bits = last_non_zero - first_non_zero + 1;
@@ -128,16 +143,21 @@
         if (i > 0):
             bits.append(bitval);
 
-        offet_start = X + (float(first_non_zero)/XDPI - leadIn)*orientation_x
+	if forward:
+            offset_start = X + (float(first_non_zero)/XDPI - leadIn)*orientation_x
+            offset_end = X + (float(last_non_zero+1)/XDPI + leadIn)*orientation_x
+        else:
+            offset_start = X + (W - float(first_non_zero)/XDPI + leadIn)*orientation_x
+            offset_end = X + (W - float(last_non_zero+1)/XDPI - leadIn)*orientation_x
 
-        print('G0 X%0.3f Y%0.3f' % (offet_start,offset_y))
+        print('G0 X%0.3f Y%0.3f' % (offset_start,offset_y))
         print('F[#<raster_speed>]')
         print('M68 E1 Q-1 (start new line)')
-        print('M68 E2 Q0 (gcode is metric 0=no,1=yes)')
+        print('M68 E2 Q%d (gcode is metric 0=no,1=yes)' % is_metric)
         print('M68 E1 Q-2')
         print('M68 E2 Q[#<raster_speed>] (speed, in/min or mm/min)')
         print('M68 E1 Q-3')
-        print('M68 E2 Q1 (direction)')
+        print('M68 E2 Q%d (direction)' % (1 if forward else -1))
         print('M68 E1 Q-4')
         print('M68 E2 Q%0.3f (dpi)' % XDPI)
         print('M68 E1 Q-5')
@@ -150,12 +170,19 @@
         print('(raster data start)')
 
         for index, bitval in enumerate(bits):
-            offset_x = X + float(first_non_zero + index*BPF)/XDPI*orientation_x
+            if forward:
+                offset_i = X + float(first_non_zero + index*BPF)/XDPI*orientation_x
+            else:
+                offset_i = X + (W - float(first_non_zero + index*BPF)/XDPI)*orientation_x
             print('M67 E2 Q%u' % (bitval))
             print('M67 E1 Q%u' % (index+1))
-            print('G1 X%0.3f' % offset_x)
+            print('G1 X%0.3f' % offset_i)
 
-        print('G1 X%0.3f' % (X + (float(last_non_zero)/XDPI + leadIn)*orientation_x))
+        print('G1 X%0.3f' % offset_end)
         print('M1')
 
+    # next line is reverse direction
+    forward = not forward
+
+
 print('%')

From 696bf8917b14e4bf842ad0d3bde9068853706c14 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Wed, 16 May 2012 21:42:17 -0500
Subject: [PATCH 06/14] push raster data load before laser sweep, doing inline
 streaming was causing linuxcnc velocity to not reach desired. fine tune laser
 fire delay to even out both sweep directions

---
 2x_Laser.ini      |  8 ++++----
 laserraster.comp  |  2 +-
 raster_engrave.py | 21 ++++++++++++---------
 3 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/2x_Laser.ini b/2x_Laser.ini
index 6bf2ecd..4707484 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -9,8 +9,8 @@ DEBUG = 0
 EXTRA_CHILLER_TIME = 20
 # duration of pulse "dashes" in ns
 PULSED_CUT_DURATION = 3000000
-# delay between triggering laser to fire and actual pulse
-TRIGGER_DELAY = 0
+# delay between triggering laser to fire and actual pulse in ns
+TRIGGER_DELAY = 200
 
 [RASTER]
 #IMAGE_PATH = /home/bjj/Desktop:/home/bjj
@@ -83,7 +83,7 @@ TOOL_TABLE = tool.tbl
 
 [AXIS_0]
 TYPE = LINEAR
-MAX_VELOCITY = 17.575017575
+MAX_VELOCITY = 18.0
 MAX_ACCELERATION = 300.0
 STEPGEN_MAXACCEL = 375.0
 SCALE = 1000.0
@@ -100,7 +100,7 @@ HOME_IGNORE_LIMITS = YES
 
 [AXIS_1]
 TYPE = LINEAR
-MAX_VELOCITY = 17.575017575
+MAX_VELOCITY = 18.0
 MAX_ACCELERATION = 200.0
 STEPGEN_MAXACCEL = 250.0
 SCALE = 1000.0
diff --git a/laserraster.comp b/laserraster.comp
index 85bc858..6d28aad 100644
--- a/laserraster.comp
+++ b/laserraster.comp
@@ -190,7 +190,7 @@ FUNCTION(make_pulses) {
 	laser_on = 0;
     }
     if ( raster_active ) {
-	hal_s32_t rawcounts_with_delay = rawcounts + m_delaySteps * raster_direction;
+	hal_s32_t rawcounts_with_delay = rawcounts - m_delaySteps * raster_direction;
 
         if ( (raster_direction > 0 && rawcounts < last_rawcounts) ||
 	     (raster_direction < 0 && rawcounts > last_rawcounts) )
diff --git a/raster_engrave.py b/raster_engrave.py
index 9e32d92..192ecb0 100755
--- a/raster_engrave.py
+++ b/raster_engrave.py
@@ -22,9 +22,10 @@
 print('(original size w=%u,h=%u)' % (img_w,img_h))
 
 # user defined parameters
-SPEED = 1080
+SPEED = 600
 ACCEL = 300
 laser_power = 0.15
+laser_on_time = 0.5
 is_metric = 0
 origin_x = 0
 origin_y = 0
@@ -38,8 +39,8 @@
 XDPI = 200
 YDPI = 200
 
-# calc lead in + 10% fudge
-leadIn = (0.55*SPEED*SPEED/3600)/ACCEL
+# calc lead in + 100% fudge
+leadIn = (1.0*SPEED*SPEED/3600)/ACCEL
 #leadIn = 1
 
 # calc image raster size
@@ -85,8 +86,10 @@
     print('G21')
 else:
     print('G20')
-print('G64 P0.0001 Q0.0001')
-print('M68 E0 Q%0.3f' % laser_power)
+print('M63 P0 (turn off laser dout)')
+print('G0 Z0 (turn off magic z)')
+print('G64 P0.0001 Q0.0001 (minimal path blending)')
+print('M68 E0 Q%0.3f (set laser power level)' % laser_power)
 print('M3 S1 (master laser power on)')
 print('#<raster_speed> = %0.3f' % SPEED)
 
@@ -163,7 +166,7 @@
         print('M68 E1 Q-5')
         print('M68 E2 Q%u (bits per float)' % BPF)
         print('M68 E1 Q-6')
-        print('M68 E2 Q1000000 (laser on time, ns)')
+        print('M68 E2 Q%d (laser on time, ns)' % (laser_on_time*1000000))
         print('M68 E1 Q-7')
         print('M68 E2 Q%0.3f (lead in)' % leadIn)
         print('M68 E1 Q-8')
@@ -174,9 +177,9 @@
                 offset_i = X + float(first_non_zero + index*BPF)/XDPI*orientation_x
             else:
                 offset_i = X + (W - float(first_non_zero + index*BPF)/XDPI)*orientation_x
-            print('M67 E2 Q%u' % (bitval))
-            print('M67 E1 Q%u' % (index+1))
-            print('G1 X%0.3f' % offset_i)
+            print('M68 E2 Q%u' % (bitval))
+            print('M68 E1 Q%u' % (index+1))
+            #print('G1 X%0.3f' % offset_i)
 
         print('G1 X%0.3f' % offset_end)
         print('M1')

From 1aa3b4a0650cdc13b6130e26ffb196766d4c3a74 Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Thu, 17 May 2012 16:13:13 -0500
Subject: [PATCH 07/14] remove obsolete files

---
 144.ngc         |  30 ----------
 145.ngc         |  29 ---------
 2x_Laser.ini    |   1 -
 M144            | 153 ------------------------------------------------
 M145            |   9 ---
 joystick.hal    |  32 ----------
 laserfreq.comp  |   0
 raster_gui.py   |   2 +-
 raster_utils.py |  44 --------------
 specs.txt       |   6 --
 10 files changed, 1 insertion(+), 305 deletions(-)
 delete mode 100644 144.ngc
 delete mode 100644 145.ngc
 delete mode 100755 M144
 delete mode 100755 M145
 delete mode 100755 joystick.hal
 mode change 100755 => 100644 laserfreq.comp
 delete mode 100644 raster_utils.py
 delete mode 100644 specs.txt

diff --git a/144.ngc b/144.ngc
deleted file mode 100644
index f71a21b..0000000
--- a/144.ngc
+++ /dev/null
@@ -1,30 +0,0 @@
-O144 sub
-  (raster scanning)
-  (O123 call [pic] [x] [y] [w] [h] [x-dpi] [overscan] [y-gap])
-  (           1     2   3   4   5     6        7         8 )
-  #11=[25.4 / #6]  (X per col)
-  #13=[#5 / #8]    (rows)
-  (gross hack to pass several params to M144)
-  M144 P[#1]
-  M145 P[#2] Q[#3]
-  M145 P[#4] Q[#5]
-  M145 P[#11] Q[#8]
-  (loop to produce raster scans)
-  #20=0
-  G0 X[#2-#7] Y[#3]
-  O101 while [#20 lt #13]
-    (move to next line)
-    G0 Y[#3-#20*#8]
-    (forward scan)
-    G1 X[#2+#4+#7]
-    #20=[#20+1]
-    O102 if [#20 lt #13]
-      (move to next line)
-      G0 Y[#3-#20*#8]
-      (backward scan)
-      G1 X[#2-#7]
-      #20=[#20+1]
-    O102 endif
-  O101 endwhile
-O144 endsub
-M2
diff --git a/145.ngc b/145.ngc
deleted file mode 100644
index 4073ffa..0000000
--- a/145.ngc
+++ /dev/null
@@ -1,29 +0,0 @@
-O145 sub
-  (raster scanning)
-  (O145 call [pic] [x] [y] [w] [h] [x-gap] [y-gap] [overscan])
-  (           1     2   3   4   5     6        7       8 )
-  #13=[#5 / #7]    (rows)
-  (gross hack to pass several params to M144)
-  M144 P[#1]
-  M145 P[#2] Q[#3]
-  M145 P[#4] Q[#5]
-  M145 P[#6] Q[#7]
-  (loop to produce raster scans)
-  #20=0
-  G0 X[#2-#8] Y[#3]
-  O101 while [#20 lt #13]
-    (move to next line)
-    G0 Y[#3-#20*#7]
-    (forward scan)
-    G1 X[#2+#4+#8]
-    #20=[#20+1]
-    O102 if [#20 lt #13]
-      (move to next line)
-      G0 Y[#3-#20*#7]
-      (backward scan)
-      G1 X[#2-#8]
-      #20=[#20+1]
-    O102 endif
-  O101 endwhile
-O145 endsub
-M2
diff --git a/2x_Laser.ini b/2x_Laser.ini
index 4707484..73e8c0a 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -57,7 +57,6 @@ SERVO_PERIOD = 1000000
 HALFILE = 2x_Laser.hal
 HALFILE = custom.hal
 POSTGUI_HALFILE = custom_postgui.hal
-# for joystick:
 HALUI = halui
 
 [HALUI]
diff --git a/M144 b/M144
deleted file mode 100755
index df9c462..0000000
--- a/M144
+++ /dev/null
@@ -1,153 +0,0 @@
-#!/usr/bin/env python
-
-import os, sys, time, glob
-from subprocess import *
-from itertools import *
-from PIL import Image
-from raster_utils import *
-from raster_gui import *
-import emc
-
-P, Q = map(lambda x: float(x), sys.argv[1:])
-
-try:
-    INI_FILE_NAME = os.environ['INI_FILE_NAME']
-except KeyError:
-    INI_FILE_NAME = '2x_Laser.ini'
-
-try:
-    ini = emc.ini(INI_FILE_NAME)
-except emc.error:
-    fatal('Expected EMC2 configuration in %s' % INI_FILE_NAME)
-
-emc.nmlfile = ini.find('EMC', 'NML_FILE')
-if emc.nmlfile is None:
-    fatal('Expected [EMC]NML_FILE in INI')
-
-axis = ini.find('RASTER', 'AXIS')
-if axis is None:
-    axis = 0
-
-stat = emc.stat()
-
-# Origin contains the G92 and G5x work offsets so we can translate
-stat.poll()
-origin = stat.origin[axis]
-
-if stat.current_line < 0:
-    fatal('cannot execute M144 from MDI')
-
-if False:
-    # Unfortunately when M144 is invoked from inside O145 the stat.file
-    # is the 145.ngc file rather than the original source.  Previously
-    # there was clever code to extract the filename from the comment on
-    # the M144 line.
-    image_name = get_comment(stat.file, stat.current_line)
-    dirname = os.path.dirname(stat.file)
-    image_name = os.path.normpath(os.path.join(dirname, image_name))
-else:
-    IMAGE_PATH = ini.find('RASTER', 'IMAGE_PATH')
-    if IMAGE_PATH is None:
-	IMAGE_PATH = os.environ['HOME']
-    IMAGE_PATH = IMAGE_PATH.split(os.path.pathsep)
-    image_name = None
-    for dir in IMAGE_PATH:
-	images = glob.glob(os.path.join(dir, '*-%u.*' % int(P)))
-	if images:
-	    image_name = images[0]
-    if image_name is None:
-	image_name = image_not_found(int(P))
-    print 'image = %s' % image_name
-
-if os.fork():
-    # parent must wait until child is ready, then exit
-    #...
-    time.sleep(1)
-    sys.exit(0)
-else:
-    os.setsid()
-
-    streamer = Popen(['halstreamer'], stdin=PIPE)
-    stream = streamer.stdin
-
-    image = Image.open(image_name)
-
-    # wait for M145 to send us the image info
-    X, Y = recv_params()
-    W, H = recv_params()
-    XSCANGAP, YSCANGAP = recv_params()
-
-    # program units are 1:inch, 2:mm, while linear_units are 0:inch, 1:mm
-    if stat.program_units == 1 and stat.linear_units == 1:
-	scale = 25.4
-    elif stat.program_units == 2 and stat.linear_units == 0:
-	scale = 1/25.4
-    else:
-	scale = 1
-    X *= scale
-    Y *= scale
-    W *= scale
-    H *= scale
-    XSCANGAP *= scale
-    YSCANGAP *= scale
-
-    x_mmpd = XSCANGAP
-    y_mmpd = YSCANGAP
-    origin += X
-
-    pix_w = int(W / x_mmpd)
-    pix_h = int(H / y_mmpd)
-    W = pix_w * x_mmpd
-    H = pix_h * y_mmpd
-
-    reverse_fudge = 0.0
-    #reverse_fudge = 0.339
-
-    print 'rescaling to %u,%u' % (pix_w, pix_h)
-    #XXX
-    image = image.resize((pix_w, pix_h), Image.BICUBIC).convert('1')
-    #image = image.resize((pix_w, pix_h), Image.NEAREST).convert('1')
-    image.save('actual.png')
-    # XXX possibly rotate based on axis
-
-    pix = list(image.getdata())
-
-    for y in xrange(0,pix_h):
-	forward = (y & 1) == 0
-
-	# laser is off until cued for this line:
-	if forward:
-	    stream.write('0 1 %0.3f\n' % (origin))
-	else:
-	    stream.write('0 0 %0.3f\n' % (origin + W + x_mmpd))
-
-	if False:
-	    if forward == (y > pix_h / 2):
-		continue
-
-	row = pix[y * pix_w:(y + 1) * pix_w]
-	grouped = groupby(row)
-	groups = map(lambda (v,run): (v, len(list(run))), groupby(row))
-	if forward:
-	    x = 0
-	else:
-	    groups.reverse()
-	    x = pix_w
-	for v, run in groups:
-	    if (v <= 127):
-		# off until we hit start / on until end
-		if forward:
-		    stream.write('0 0 %0.3f\n' % (origin + x * x_mmpd))
-		    stream.write('1 0 %0.3f\n' % (origin + (x + run) * x_mmpd))
-		else:
-		    stream.write('0 1 %0.3f\n' % (origin + x * x_mmpd + reverse_fudge))
-		    stream.write('1 1 %0.3f\n' % (origin + (x - run) * x_mmpd + reverse_fudge))
-	    if forward:
-		x += run
-	    else:
-		x -= run
-
-    stream.close()
-    streamer.wait()
-
-    print 'DONE!'
diff --git a/M145 b/M145
deleted file mode 100755
index bae8503..0000000
--- a/M145
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-import emc
-from raster_utils import *
-
-P, Q = map(lambda x: float(x), sys.argv[1:])
-print 'M145 P=%g Q=%g' % (P, Q)
-send_params(P, Q)
diff --git a/joystick.hal b/joystick.hal
deleted file mode 100755
index 2fb0f8d..0000000
--- a/joystick.hal
+++ /dev/null
@@ -1,32 +0,0 @@
-# Include your customized HAL commands here
-# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
-
-
-##########################
-# Joystick
-
-loadusr -W hal_input -KRAL Gravis
-
-loadrt mux2 names=joystick-speeds
-addf joystick-speeds servo-thread
-setp joystick-speeds.in0 1000
-setp joystick-speeds.in1 28000
-net joystick-speed-sel <= input.0.btn-tl2 => joystick-speeds.sel # "select"
-net joystick-speed <= joystick-speeds.out => halui.jog-speed
-
-net joy-x-jog <= input.0.abs-x-position => halui.jog.0.analog
-net joy-y-jog <= input.0.abs-y-position => halui.jog.1.analog
-net joy-u-jog-up <= input.0.btn-y  => halui.jog.6.plus  # trigger left up
-net joy-u-jog-dn <= input.0.btn-tl => halui.jog.6.minus # trigger left down
-
-# reverse Y
-setp input.0.abs-y-scale -127.5
-
-net joy-prog-run   <= input.0.btn-c => halui.program.run   # green
-net joy-prog-stop  <= input.0.btn-a => halui.program.stop  # red
-net joy-prog-pause <= input.0.btn-b => halui.program.pause # yellow
-#input.0.btn-x # blue
-#input.0.btn-z # trigger right up
-#input.0.btn-tr # trigger right down
-#input.0.btn-tr2 # "start"
-
diff --git a/laserfreq.comp b/laserfreq.comp
old mode 100755
new mode 100644
diff --git a/raster_gui.py b/raster_gui.py
index c10def2..b66f40b 100644
--- a/raster_gui.py
+++ b/raster_gui.py
@@ -9,7 +9,7 @@ def app():
 def image_not_found():
     import tkFileDialog, tkMessageBox
     app()
-    name = tkFileDialog.askopenfilename(title='M144 Raster Image',
+    name = tkFileDialog.askopenfilename(title='Raster Image',
 	initialfile='',
 	filetypes=[('Images',('*.png', '*.gif', '*.jpg', '*.tif', '*.bmp')),
 	           ('Any File', '*.*')])
diff --git a/raster_utils.py b/raster_utils.py
deleted file mode 100644
index e453532..0000000
--- a/raster_utils.py
+++ /dev/null
@@ -1,44 +0,0 @@
-#!/usr/bin/env python
-
-import os, re
-import emc
-
-emc_ini = None
-
-def open_raster_fifo(mode):
-    global emc_ini
-    if emc_ini is None:
-	emc_ini = emc.ini('2x_Laser.ini')
-    pipefile = emc_ini.find('RASTER', 'PIPE_FILE')
-
-    if pipefile is None:
-	pipefile = '/tmp/emc2_raster_fifo';
-
-    try:
-	return open(pipefile, mode)
-    except IOError:
-	os.mkfifo(pipefile)
-	return open(pipefile, mode)
-
-def send_params(p, q):
-    fp = open_raster_fifo('w')
-    fp.write('%g %g' % (p, q))
-    fp.close()
-
-def recv_params():
-    fp = open_raster_fifo('r')
-    params = fp.readline().strip()
-    fp.close()
-    return map(lambda x: float(x), params.split())
-
-
-def get_comment(file, lineno):
-    fp = open(file, 'r')
-    lineno = lineno - 1
-    for i, line in enumerate(fp):
-	if lineno == i:
-	    break
-    m = re.search('\(([^)]+)\)', line)
-    if m is not None:
-	return m.group(1).strip()
-    return ''
diff --git a/specs.txt b/specs.txt
deleted file mode 100644
index 237ede0..0000000
--- a/specs.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-
-Focus:
-4.2mm below air assist
-
-Bed:
-

From 25c95baca71e305fb53d0d1764f7374c3959984b Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Thu, 17 May 2012 17:07:35 -0500
Subject: [PATCH 08/14] add a duty cycle mode to laserfreq by setting M4
 reverse spindle direction with S[1-100%]

---
 2x_Laser.hal   |  3 ++-
 2x_Laser.ini   |  1 +
 laserfreq.comp | 21 ++++++++++++++-------
 3 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/2x_Laser.hal b/2x_Laser.hal
index ab9d64b..3fedd68 100755
--- a/2x_Laser.hal
+++ b/2x_Laser.hal
@@ -143,7 +143,8 @@ net laser-raster <= laserraster.0.laser-on
 
 setp laserfreq.0.duration [LASER]PULSED_CUT_DURATION
 net current-vel motion.current-vel => laserfreq.0.velocity
-net laser-freq motion.spindle-speed-out => laserfreq.0.pulse-per-unit
+net laser-freq-speed motion.spindle-speed-out => laserfreq.0.pulse-per-unit
+net laser-freq-trick-axis-rev motion.spindle-reverse
 #net laser-dout => laserfreq.0.enable
 setp laserfreq.0.enable 1
 net laser-pulsed <= laserfreq.0.pulse
diff --git a/2x_Laser.ini b/2x_Laser.ini
index 73e8c0a..2804ca1 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -74,6 +74,7 @@ ANGULAR_UNITS = degree
 CYCLE_TIME = 0.010
 DEFAULT_VELOCITY = 8.0
 MAX_LINEAR_VELOCITY = 18.0
+#NO_FORCE_HOMING = 1
 
 [EMCIO]
 EMCIO = io
diff --git a/laserfreq.comp b/laserfreq.comp
index 71a13e4..0be2ce3 100644
--- a/laserfreq.comp
+++ b/laserfreq.comp
@@ -1,28 +1,35 @@
 component laserfreq "Pulse driver for CO2 Laser";
 author "Ben Jackson <ben@ben.com>";
-pin in bit enable "Enable pulse generation";
-pin in float velocity "Velocity of the laser head (e.g. motion.current-vel)";
-pin in float pulse-per-unit "How many pulses per unit distance";
+pin in bit enable = 0 "Enable pulse generation";
+pin in float velocity = 0 "Velocity of the laser head (e.g. motion.current-vel)";
+pin in float pulse-per-unit = 0 "How many pulses per unit distance";
 pin out bit pulse "Output firing pulse";
 pin out bit continuous "True if current inputs are causing continuous (not pulsed) output";
 param rw s32 duration "Duration of each pulse in ns";
+
 function make_pulses nofp "Add to fast thread to make laser pulses";
 function update fp "Add to update thread to compute pulse parameters";
+
 variable int updated;
 param r s32 interval;
 param r s32 accum;
 param r s32 pulse_remain;
 license "GPL";
 ;;
+
 FUNCTION(update) {
 
     if (velocity == 0.0 || pulse_per_unit == 0) {
         updated = 0;
     } else {
-        // velocity * pulse-per-unit gives pulses per second
-        // pulse interval is then 1/pps 
-        interval = 1000000000.0 / (velocity * pulse_per_unit);
-
+        if ( pulse_per_unit < 0.0 ) {
+            // duty cycle is just a function of % and duration
+            interval = duration * -100.0 / pulse_per_unit;
+        } else {
+            // velocity * pulse-per-unit gives pulses per second
+            // pulse interval is then 1/pps 
+            interval = 1000000000.0 / (velocity * pulse_per_unit);
+        }
         updated = 1;
     }
 }

From d7009e567e6755fef77b40d3b4e7825c74359bf8 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Thu, 17 May 2012 22:25:34 -0500
Subject: [PATCH 09/14] fix ppi display for negative dudy cycle mode

---
 custom_postgui.hal | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/custom_postgui.hal b/custom_postgui.hal
index 5264851..db3b13e 100755
--- a/custom_postgui.hal
+++ b/custom_postgui.hal
@@ -5,7 +5,11 @@
 # **** Use COMMANDED spindle velocity from EMC because no spindle encoder was specified
 # **** COMANDED velocity is signed so we use absolute component (abs.0) to remove sign
 
-net laser-freq => pyvcp.ppi
+loadrt abs
+addf abs.0 servo-thread
+net laser-freq-speed => abs.0.in
+
+net laser-freq-abs <= abs.0.out => pyvcp.ppi
 net laser-power-cmd => pyvcp.power
 
 net laser-master => pyvcp.laser-master

From ac990de9d30f159bfe2b9135bbbc2a38a499763c Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Sat, 26 May 2012 21:36:16 -0500
Subject: [PATCH 10/14] scale pwm analog in 0 to be 0 to 100 based on laser
 0.1-0.6 range clean up pyvcp display

---
 2x_Laser.hal       |  5 +--
 custom_postgui.hal |  7 ++--
 custompanel.xml    | 86 ++++++++++++++++++++++++----------------------
 3 files changed, 51 insertions(+), 47 deletions(-)

diff --git a/2x_Laser.hal b/2x_Laser.hal
index 3fedd68..88e6ec4 100755
--- a/2x_Laser.hal
+++ b/2x_Laser.hal
@@ -39,8 +39,9 @@ net laser-pwm <= pwmgen.0.pwm
 setp pwmgen.0.enable 1
 # pwm-freq 0 means PDM (pulse density modulation)
 setp pwmgen.0.pwm-freq 0
-setp pwmgen.0.scale 1
-setp pwmgen.0.offset 0
+setp pwmgen.0.max-dc 0.6
+setp pwmgen.0.scale 200
+setp pwmgen.0.offset 0.1
 setp pwmgen.0.dither-pwm true
 
 net coolant-mist <= iocontrol.0.coolant-mist
diff --git a/custom_postgui.hal b/custom_postgui.hal
index db3b13e..8241cb6 100755
--- a/custom_postgui.hal
+++ b/custom_postgui.hal
@@ -9,15 +9,16 @@ loadrt abs
 addf abs.0 servo-thread
 net laser-freq-speed => abs.0.in
 
-net laser-freq-abs <= abs.0.out => pyvcp.ppi
+net laser-freq-duty-cycle <= abs.0.is-negative => pyvcp.duty-cycle-mode
+net laser-freq-ppi <= abs.0.is-positive => pyvcp.ppi-mode
+net laser-freq-abs <= abs.0.out => pyvcp.spindle
 net laser-power-cmd => pyvcp.power
 
 net laser-master => pyvcp.laser-master
 net laser-raster => pyvcp.laser-raster
 net laser-dout => pyvcp.laser-dout
+net laser-continuous <= laserfreq.0.continuous => pyvcp.laser-continuous
 net laser-magic-z => pyvcp.laser-magic-z
-net laser-pulsed => pyvcp.laser-pulsed
-net laser-final => pyvcp.laser-final
 
 net z-to-zero pyvcp.z-to-zero => halui.mdi-command-00
 net xy-touchoff pyvcp.xy-touchoff => halui.mdi-command-01
diff --git a/custompanel.xml b/custompanel.xml
index 02eb6be..f55de5c 100644
--- a/custompanel.xml
+++ b/custompanel.xml
@@ -1,48 +1,50 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <pyvcp>
-	<button halpin="xy-touchoff" text="Touch-off X/Y"/>
+    <hbox>
+        <led halpin="laser-master"/>
+        <label text="Laser Enabled"/>
+    </hbox>
+    <button halpin="xy-touchoff" text="Touch-off X/Y"/>
 
-	<label>
-		<text>"PPI:"</text>
-		<font>("Helvetica",20)</font>
-	</label>
-	<bar>
-		<halpin>"ppi"</halpin>
-		<max_>500</max_>
-	</bar>
+    <labelframe text="Pulses">
+        <hbox>
+            <led halpin="duty-cycle-mode"/>
+            <label text="Duty Cycle"/>
+            <led halpin="ppi-mode"/>
+            <label text="PPI"/>
+        </hbox>
+        <bar>
+            <halpin>"spindle"</halpin>
+            <max_>500</max_>
+        </bar>
+        <hbox>
+            <led halpin="laser-continuous"/>
+            <label text="Continuous fire"/>
+        </hbox>
+    </labelframe>
 
-	<label>
-		<text>"Power:"</text>
-		<font>("Helvetica",20)</font>
-	</label>
-	<bar>
-		<halpin>"power"</halpin>
-		<max_>1.0</max_>
-	</bar>
+    <labelframe text="Power">
+        <bar>
+            <halpin>"power"</halpin>
+            <max_>100</max_>
+        </bar>
+    </labelframe>
+
+    <labelframe text="Triggers">
+        <hbox>
+            <led halpin="laser-raster"/>
+            <label text="Raster"/>
+        </hbox>
+
+        <hbox>
+            <led halpin="laser-dout"/>
+            <label text="Digital Out 0"/>
+        </hbox>
+        <hbox>
+            <led halpin="laser-magic-z"/>
+            <label text="Magic Z"/>
+            <button halpin="z-to-zero" text="Reset Z"/>
+        </hbox>
+    </labelframe>
 
-	<hbox>
-                <label text="laser-master:"/>
-                <led halpin="laser-master"/>
-	</hbox>
-	<hbox>
-                <label text="laser-raster:"/>
-                <led halpin="laser-raster"/>
-	</hbox>
-	<hbox>
-                <label text="laser-dout:"/>
-                <led halpin="laser-dout"/>
-	</hbox>
-	<hbox>
-                <label text="laser-magic-z:"/>
-                <led halpin="laser-magic-z"/>
-		<button halpin="z-to-zero" text="Reset Z"/>
-	</hbox>
-	<hbox>
-                <label text="laser-pulsed:"/>
-                <led halpin="laser-pulsed"/>
-	</hbox>
-	<hbox>
-                <label text="laser-final:"/>
-                <led halpin="laser-final"/>
-	</hbox>
 </pyvcp>

From f0126faccc3faa22150d278376d620a2e78b55ee Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Fri, 1 Jun 2012 17:29:37 -0500
Subject: [PATCH 11/14] Update README.md

---
 README.md | 125 +++++++++++++++---------------------------------------
 1 file changed, 34 insertions(+), 91 deletions(-)

diff --git a/README.md b/README.md
index 3522b98..bac17ca 100755
--- a/README.md
+++ b/README.md
@@ -1,28 +1,26 @@
 Overview
 ========
 
-This is an EMC2 configuration for the Buildlog.net 2.x laser cutter.
+This is an LinuxCNC 2.5+ configuration for the Buildlog.net 2.x laser cutter.
 It has the following features:
 
 * X/Y axis for the laser gantry and carriage.  Configured for MXL belts, 400 step motors and 8x microstepping.
-* U axis for the table.  Configured for 1/4" 20 TPI threaded rod driven by a 400 step motor, 8x microstepping via a 48:20 belt reduction.
+* W axis for the table.  Configured for 1/4" 20 TPI threaded rod driven by a 400 step motor, 8x microstepping via a 48:20 belt reduction.
 * Z axis which does not move the table at all but instead activates the laser when Z<0.  This provides some "instant compatibility" with mill/router CAM.
 
-There is some minor customization to Axis, the primary EMC2 GUI.  Some
+There is some minor customization to Axis, the primary LinuxCNC GUI.  Some
 of the viewing angle buttons have been eliminated and page up/down have
 been shifted to the U (table) axis.
 
-The laser has a master enable provided by M3/M5 (spindle control).  When the
+The laser has a master enable provided by M3/M4/M5 (spindle control).  When the
 "spindle" is off the laser cannot fire.  This means the laser turns off when
 you expect it to, such as when aborting a job.
 
-When the laser is enabled via M3 it can be fired either by digital IO or
+When the laser is enabled via M3/M4 it can be fired either by digital IO or
 by moving the imaginary Z axis to any negative position.  Using a high "plunge"
 speed in the CAM job and a very small depth of cut (such as 0.01mm) avoids
 having the laser pause when it starts and stops cuts.
 
-A custom "M" script is provided, M144, which can raster engrave images.
-
 Special Commands
 ================
 
@@ -31,14 +29,14 @@ Laser control
 
 Laser firing control is on parallel port pin 17.
 
-Set laser power with M68 E0 Qxxx where xxx is a number from 0.0 to 1.0.
-It is likely that your printer port's PWM output at 1.0 will be *more
-than 100% power* for your laser.  In my case my laser PSU current is
-20mA when there is 3V at the IN terminal.  My parallel port's "on"
-voltage is about 4.3V, so M68 E0 Q0.7 produces full power for my setup.
-Below about 0.5V (or Q0.012) my laser will not fire.  This power setting
-can generally go in the preamble of your CAM setup since you will vary
-PPI and speed rather than power for most cutting jobs.
+Set laser power with M68 E0 Qxxx where xxx is a number from 0 to 100.
+It is likely that your printer port's PWM output at 100 may be *more
+or less than 100% power* for your laser.  The scaling values in pwmgen
+component can be adjusted to bring the pwm power values inline with the
+actual milli-amp power being output from the laser power supply.  This 
+power setting can generally go in the preamble of your CAM setup since
+you will vary PPI/DutyCycle and speed rather than power for most cutting
+jobs.
 
 Enable the laser with M3 Sxx where the spindle speed xx is in "pulses
 per mm" (or about 1/25th a PPI or "pulses per inch" setting).  M3 S0 is
@@ -48,6 +46,12 @@ continuous wave output by simply picking a high enough S value for your
 feed rate that pulses happen more frequently than 3ms (e.g. S10000 is
 continuous for anything faster than F2).
 
+Enable the laser with M4 Sxx where the spindle speed xx is in 
+"percent duty-cycle".  M4 S0 is equivalent to "off" (or M5) and the laser
+will not fire.  The laser on pulse length is 3ms (in 2x_Laser.ini) and 
+duty-cycle percent adjusts now long the laser if off.  Continuous wave 
+output can be selected by S100.
+
 If you choose direct digital control of the laser, use M65 P0 ("immediate
 off") in your preamble and use M62 P0/M63 P0 to turn the laser on and off
 within a sequence of G1 movements.  The M62/63 are queued with movement
@@ -75,83 +79,18 @@ that removes smoke from the laser.
 Raster Engraving
 ----------------
 
-Raster operation is done by calling a subroutine O145 from within gcode
-with several parameters.  It invokes M144 and M145 which are external
-python scripts.  Those stream data back into EMC2's realtime engine while
-the subroutine in O145 sweeps out the raster pattern.
-
-Due to limitations in EMC2 there is no way to pass a filename for the
-rastering process.  Instead you must put a number in the filename, such
-as "flower-123.png".  The text name is for your convenience, but only the
-"123" will select the image from within gcode.  The program will search for
-the wildcard `*-123.*` in [RASTER]IMAGE_PATH (can be a colon separated list)
-and use the first one it finds.  If that is not configured in your INI it
-will default to your home directory.  If it does not find the file it will
-prompt you with a file selector.
-
-The image can be of any size or shape and will be rescaled and dithered to
-black and white to match the parameters of the engraving (see below).  You
-can provide a black and white image with the correct DPI and size and it will
-be used unmodified.
-
-To do a raster engraving, the spindle must be enabled with M3 (as always
-for any laser firing operation).  However, the pulse setting does not
-matter and all pulsing is controlled by the engraving process.
-
-The O145 script will operate in inches or mm (G20 or G21) and all sizes
-just need to be in the appropriate units:
-
-    M3 S1         (enable spindle)
-    M68 E0 Q0.2   (choose an engraving power)
-    F28200        (choose an engraving feed rate)
-    O145 call [pic] [x] [y] [w] [h] [x-gap] [y-gap] [overscan]
-
-Where the parameters are:
-
-* pic - number used to select the image file (with the wildcard `*-pic.*`)
-* x, y - the upper lefthand corner of the engraving (the spot where the image's (0,0) will appear)
-* w, h - the width and height of the engraving
-* x-gap - units per pixel column (in mm, 25.4/DPI, in inches 1/DPI)
-* y-gap - units per pixel row (see x-gap)
-* overscan - overshoot of the laser carriage to either side of the image
-
-The x-gap and y-gap are independent.  Choosing a y-gap of 0.085mm (about
-300 DPI) means that the laser carriage will sweep back and forth 300 times
-for every inch of image height.  The finer the y-gap the longer the engraving
-will take.  The x-gap only modifies how frequently the laser is modulated
-and thus has no effect on rastering time as long as your system has enough
-memory.  Obviously any x-gap smaller than 1/SCALE is meaningless, but with
-the stock setup that would be close to 2000 DPI.
-
-The overscan is to give the laser carriage time to accelerate to full speed.
-If the laser is still accelerating within the field of the image then the
-left/right edges will be engraved slightly darker.  You can compute the
-exact distance needed as 0.5 * F^2 / A where F is feed speed (in mm/s, not
-mm/min) and A is [AXIS_0]MAX_ACCELERATION.  Assuming you always engrave
-at top speed ([AXIS_0]MAX_VELOCITY = 470mm/s) and modulate power to suit,
-the value of overscan should be about 15mm.  If you tune the accel faster
-or engrave at a lower speed you can use smaller overscan.  If you are willing
-to tolerate some uneven engraving power at the edges you can turn overscan
-way down to get near the edge of your work area.  I have not tested with
-overscan of 0, that might break the algorithm.
-
-Example:
-
-    G20            ( set inches mode )
-    M3 S20
-    M68 E0 Q0.5
-    F1110
-    O145 call [1587] [0.2133] [10.2867] [10.0733] [10.0733] [0.0033] [0.0033] [0.5]
-
-(Note that the example is in inches due to G20!) That engraves an image
-"dominos-1587.png" at X0.2133 Y10.2867 which is 10.0733 inches square.
-The x- and y-gaps are both 0.0033" making 303 DPI.  The feedrate is 1110 IPM
-and the overscan is 0.5".
+Raster operation is done by calling raster_engrave.py to generate a g-code
+file that will engrave an image.  Currently all parameters are hard coded
+inside this python script.  It is really a proof of concept and is in 
+desperate need of a front end gui to setup raster jobs.
+
+The generated g-code file can be touched off and executed in LinuxCNC just
+like any other job.
 
 Installation
 ============
 
-This is based on an installed copy of the EMC2 Ubuntu 10.04 LTS Live CD.
+This is based on an installed copy of the LinuxCNC 2.5 Ubuntu 10.04 LTS Live CD.
 
 Install the custom laser pulse HAL component.  The first command installs
 the necessary tools in case you don't have them.  For more information see
@@ -159,17 +98,18 @@ http://wiki.linuxcnc.org/emcinfo.pl?ContributedComponents
 
     sudo apt-get install emc2-dev build-essential
     sudo comp --install laserfreq.comp
+    sudo comp --install laserraster.comp
 
 The configuration will not work without that component installed.
 
-Find all occurances of "/home/bjj/Desktop/2x_Laser" in the INI and replace
+Find all occurances of "/home/jvangrin/Desktop/2x_Laser" in the INI and replace
 with the path to your own configuration.
 
 Configuration
 =============
 
-You must first get EMC2's realtime configuration sorted out on your hardware.
-There is extensive documentation for this online based around the EMC2
+You must first get LinuxCNC's realtime configuration sorted out on your hardware.
+There is extensive documentation for this online based around the LinuxCNC
 latency-test program:  http://wiki.linuxcnc.org/emcinfo.pl?Latency-Test
 
 My system was able to use a [EMCMOT]BASE_PERIOD of 27000 (27us) which
@@ -213,3 +153,6 @@ Dirk Van Essendelft has done numerous experiments in DIY lasercutting
 which he has documented on the buildlog.net forums.  His research into the
 behavior of PPI with our CO2 lasers lead to improved the performance of the
 PPI implementation in this configuration.
+
+Ben Jackson for all the original work getting a working LinuxCNC 2.x laser
+config and laser frequency PPI custom HAL component.

From 2288386f3f96e4b10ab4243960dffe71ebba496a Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Fri, 1 Jun 2012 17:30:23 -0500
Subject: [PATCH 12/14] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index bac17ca..81c1d2f 100755
--- a/README.md
+++ b/README.md
@@ -96,7 +96,7 @@ Install the custom laser pulse HAL component.  The first command installs
 the necessary tools in case you don't have them.  For more information see
 http://wiki.linuxcnc.org/emcinfo.pl?ContributedComponents
 
-    sudo apt-get install emc2-dev build-essential
+    sudo apt-get install linuxcnc-dev build-essential
     sudo comp --install laserfreq.comp
     sudo comp --install laserraster.comp
 

From fc6f24584f8c59066ae7a3a3b21fa92325e3ae89 Mon Sep 17 00:00:00 2001
From: jv4779 <jv4779@gmail.com>
Date: Fri, 1 Jun 2012 17:30:55 -0500
Subject: [PATCH 13/14] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 81c1d2f..c00bb28 100755
--- a/README.md
+++ b/README.md
@@ -124,7 +124,7 @@ in 2x_Laser.ini.  Ignore AXIS_2, it is the imaginary Z axis.
 My build resulted in a maximum travel of 285x535mm.  These are the
 [AXIS_0]MAX_LIMIT and [AXIS_1]MAX_LIMIT.  Setting these correctly will keep
 you from banging into the physical endstops.  The 2.x build homes in the
-lower left, but you can cause EMC2 to automatically reposition anywhere
+lower left, but you can cause LinuxCNC to automatically reposition anywhere
 after homing with the [AXIS_0]HOME and [AXIS_1]HOME.
 
 If any axis moves backwards from what you expect, modify the parport

From 64788850fbfb44280d959379e847e420e5f8dcb7 Mon Sep 17 00:00:00 2001
From: Jeremy Van Grinsven <jv4779@gmail.com>
Date: Sat, 26 May 2012 21:51:01 -0500
Subject: [PATCH 14/14] lower x accel

---
 2x_Laser.ini      | 4 ++--
 raster_engrave.py | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/2x_Laser.ini b/2x_Laser.ini
index 2804ca1..85bcd33 100755
--- a/2x_Laser.ini
+++ b/2x_Laser.ini
@@ -84,8 +84,8 @@ TOOL_TABLE = tool.tbl
 [AXIS_0]
 TYPE = LINEAR
 MAX_VELOCITY = 18.0
-MAX_ACCELERATION = 300.0
-STEPGEN_MAXACCEL = 375.0
+MAX_ACCELERATION = 270.0
+STEPGEN_MAXACCEL = 337.0
 SCALE = 1000.0
 FERROR = 0.05
 MIN_FERROR = 0.01
diff --git a/raster_engrave.py b/raster_engrave.py
index 192ecb0..e2a7a70 100755
--- a/raster_engrave.py
+++ b/raster_engrave.py
@@ -23,18 +23,18 @@
 
 # user defined parameters
 SPEED = 600
-ACCEL = 300
+ACCEL = 270
 laser_power = 0.15
 laser_on_time = 0.5
 is_metric = 0
 origin_x = 0
 origin_y = 0
 # center, <top|middle|bottom><left|center|right>
-origin_loc = 'topleft'
+origin_loc = 'bottomleft'
 # for mirroring
 orientation_y = -1
 orientation_x = 1
-raster_w = 3
+raster_w = 5
 raster_h = raster_w*float(img_h)/img_w
 XDPI = 200
 YDPI = 200