/**
*** LaosMotion() Constructor
*** Make new motion object
**/
LaosMotion::LaosMotion()
{
extern GlobalConfig *cfg;
#if DO_MOTION_TEST
tActionRequest act[2];
int i=0;
Timer t;
#endif
pwm.period(1.0 / cfg->pwmfreq);
pwm = cfg->pwmmin/100.0;
if ( laser == NULL ) laser = new DigitalOut(LASER_PIN);
*laser = LASEROFF;
mark_speed = cfg->speed;
//start.mode(PullUp);
xhome.mode(PullUp);
yhome.mode(PullUp);
isHome = false;
plan_init();
st_init();
reset();
mark_speed = cfg->speed;
bitmap_speed = cfg->xspeed;
action.param = 0;
action.target.x = action.target.y = action.target.z = action.target.e =0;
action.target.feed_rate = 60*mark_speed;
#if DO_MOTION_TEST
t.start();
act[0].ActionType = act[1].ActionType = AT_MOVE;
act[0].target.feed_rate = 60 * 100;
act[1].target.feed_rate = 60 * 200;
act[0].target.x = act[0].target.y = act[0].target.z = act[0].target.e = 0;
act[1].target.x = act[1].target.y = act[1].target.z = act[1].target.e = 100;
act[1].target.y = 200;
while(1)
{
while( plan_queue_full() ) led3 = !led3;
led1 = 1;
i++;
if ( i )
printf("%d PING...\n", t.read_ms());
else
printf("%d PONG...\n", t.read_ms());
if ( i > 1 || i<0) i = 0;
plan_buffer_line (&act[i]);
led1 = 0;
}
#endif
}
/**
*** ready()
*** ready to receive new commands
**/
int LaosMotion::ready()
{
return !plan_queue_full();
}
int app_main (void)
{
long timer1 = 0;
eParseResult parse_result;
buzzer_init();
buzzer_play(1500, 100); /* low beep */
buzzer_wait();
buzzer_play(2500, 200); /* high beep */
init();
read_config();
// grbl init
plan_init();
st_init();
// main loop
for (;;)
{
// process characters from the serial port
while (!serial_line_buf.seen_lf && (serial_rxchars() != 0) )
{
unsigned char c = serial_popchar();
if (serial_line_buf.len < MAX_LINE)
serial_line_buf.data [serial_line_buf.len++] = c;
if ((c==10) || (c==13))
{
if (serial_line_buf.len > 1)
serial_line_buf.seen_lf = 1;
else
serial_line_buf.len = 0;
}
}
// process SD file if no serial command pending
if (!sd_line_buf.seen_lf && sd_printing)
{
if (sd_read_file (&sd_line_buf))
{
sd_line_buf.seen_lf = 1;
}
else
{
sd_printing = false;
serial_writestr ("Done printing file\r\n");
}
}
// if queue is full, we wait
if (!plan_queue_full())
{
/* At end of each line, put the "GCode" on movebuffer.
* If there are movement to do, Timer will start and execute code which
* will take data from movebuffer and generate the required step pulses
* for stepper motors.
*/
// give priority to user commands
if (serial_line_buf.seen_lf)
{
parse_result = gcode_parse_line (&serial_line_buf);
serial_line_buf.len = 0;
serial_line_buf.seen_lf = 0;
}
else if (sd_line_buf.seen_lf)
{
parse_result = gcode_parse_line (&sd_line_buf);
sd_line_buf.len = 0;
sd_line_buf.seen_lf = 0;
}
}
/* Do every 100ms */
#define DELAY1 100
if (timer1 < millis())
{
timer1 = millis() + DELAY1;
/* If there are no activity during 30 seconds, power off the machine */
if (steptimeout > (30 * 1000/DELAY1))
{
power_off();
}
else
{
steptimeout++;
}
}
#ifdef USE_BOOT_BUTTON
// OPTION: enter bootloader on "Boot" button
check_boot_request();
#endif
}
}
