Raster engrave via pure gcode

2x_Laser.hal

@@ -2,109 +2,123 @@
 # 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 fp1=0 name2=charge-pump-thread period2=100000 fp2=0
 
 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 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 laser-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
+# 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 laserraster.0.update servo-thread
+addf laserfreq.0.update servo-thread
 addf pwmgen.update 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
 # or tie pwmgen.0.enable to dout-00??
 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 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
 
@@ -118,89 +132,30 @@ net laser-dout <= motion.digital-out-00
 
 ########################
 
-loadrt laserfreq
-addf laserfreq.0.make-pulses laser-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
+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
 
 ########################
 
-# 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 laser-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 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
-
-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 0.0
+setp laser-magic-z-comp.in1 -0.0001
 net laser-magic-z <= laser-magic-z-comp.out
 
 ########################
@@ -212,6 +167,8 @@ 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