add PWM support for controlling Laser (Intensity) and CNC (rpm)

src/ArduinoAVR/Repetier/Configuration.h

@@ -769,12 +769,20 @@ and G0 moves have it disables.
 
 In any case, laser only enables while moving. At the end of a move it gets
 automatically disabled. 
+
+Laser Types
+LASER_ON_OFF only enable an disable the Laser
+LASER_PWM use a PWM to control the output power (M3 Sxxx 0-255)
+Note: PWM can not be used with Servos
 */
 
 #define SUPPORT_LASER 0 // set 1 to enable laser support
+//#define LASER_TYPE LASER_TYPE_PWM
+#define LASER_TYPE LASER_TYPE_ONOFF
 #define LASER_PIN -1    // set to pin enabling laser
 #define LASER_ON_HIGH 1 // Set 0 if low signal enables laser
 
+
 // ##########################################################################################
 // ##                              CNC configuration                                       ##
 // ##########################################################################################
@@ -793,7 +801,9 @@ It also can add a delay to wait for spindle to run on full speed.
 #define CNC_ENABLE_WITH 1 // Set 0 if low enables spindle
 #define CNC_DIRECTION_PIN -1 // Set to pin if direction control is possible
 #define CNC_DIRECTION_CW 1 // Set signal required for clockwise rotation
-
+#define CNC_PWM_PIN -1  // PWM pin for controlling Speed (RPM)
+#define CNC_PWM_INV 0 //Invert the PWM
+#define CNC_MAX_RPM 12000 // MAX RPM of the Tool
 
 /* Select the default mode when the printer gets enables. Possible values are
 PRINTER_MODE_FFF 0

src/ArduinoAVR/Repetier/Drivers.cpp

@@ -116,6 +116,7 @@ void LaserDriver::initialize()
     {
 #if LASER_PIN > -1
         SET_OUTPUT(LASER_PIN);
+        WRITE(LASER_PIN, !LASER_ON_HIGH); // be sure laser is off!
 #endif
     }
     changeIntensity(0);
@@ -126,7 +127,11 @@ void LaserDriver::changeIntensity(uint8_t newIntensity)
     {
         // Default implementation
 #if LASER_PIN > -1
+#if (LASER_TYPE == LASER_ON_OFF)
         WRITE(LASER_PIN,(LASER_ON_HIGH ? newIntensity > 199 : newIntensity < 200));
+#elif (LASER_TYPE == LASER_PWM)
+        HAL::setPWM(LASER_PIN, newIntensity, !LASER_ON_HIGH);
+#endif
 #endif
     }
 }
@@ -151,6 +156,10 @@ void CNCDriver::initialize()
 #endif
 #if CNC_DIRECTION_PIN > -1
         SET_OUTPUT(CNC_DIRECTION_PIN);
+#endif
+#if CNC_PWM_PIN > -1
+        SET_OUTPUT(CNC_PWM_PIN);
+        WRITE(CNC_PWM_PIN, CNC_PWM_INV);
 #endif
     }
 }
@@ -163,6 +172,9 @@ void CNCDriver::spindleOff()
     if(direction == 0) return; // already off
     if(EVENT_SPINDLE_OFF)
     {
+#if CNC_PWM_PIN > -1
+        HAL::setPWM(0, CNC_PWM_PIN, CNC_PWM_INV);
+#endif
 #if CNC_ENABLE_PIN > -1
         WRITE(CNC_ENABLE_PIN,!CNC_ENABLE_WITH);
 #endif
@@ -182,6 +194,16 @@ void CNCDriver::spindleOnCW(int32_t rpm)
     spindleOff();
     direction = 1;
     if(EVENT_SPINDLE_CW(rpm)) {
+#if CNC_PWM_PIN > -1
+#if defined(CNC_MAX_RPM)
+        if(rpm > CNC_MAX_RPM) {
+            rpm = CNC_MAX_RPM;
+        }
+        HAL::setPWM((uint8_t)(rpm/(CNC_MAX_RPM/TOOL_PWM_STEPS)), CNC_PWM_PIN, CNC_PWM_INV);
+#else
+        HAL::setPWM(rpm, CNC_PWM_PIN, CNC_PWM_INV);
+#endif
+#endif
 #if CNC_DIRECTION_PIN > -1
         WRITE(CNC_DIRECTION_PIN, CNC_DIRECTION_CW);
 #endif
@@ -203,6 +225,16 @@ void CNCDriver::spindleOnCCW(int32_t rpm)
     spindleOff();
     direction = -1;
     if(EVENT_SPINDLE_CW(rpm)) {
+#if CNC_PWM_PIN > -1
+#if defined(CNC_MAX_RPM)
+        if(rpm > CNC_MAX_RPM) {
+            rpm = CNC_MAX_RPM;
+        }
+        HAL::setPWM((uint8_t)(rpm/(CNC_MAX_RPM/TOOL_PWM_STEPS)), CNC_PWM_PIN, CNC_PWM_INV);
+#else
+        HAL::setPWM(rpm, CNC_PWM_PIN, CNC_PWM_INV);
+#endif
+#endif
 #if CNC_DIRECTION_PIN > -1
         WRITE(CNC_DIRECTION_PIN, !CNC_DIRECTION_CW);
 #endif

src/ArduinoAVR/Repetier/HAL.cpp

@@ -9,6 +9,11 @@ uint8 osAnalogInputPos = 0; // Current sampling position
 #if FEATURE_WATCHDOG
     bool HAL::wdPinged = false;
 #endif
+
+#if (FEATURE_TOOL_PWM)
+t_tool_pwm_cfg HAL::tool_cfg;
+#endif
+
 //extern "C" void __cxa_pure_virtual() { }
 
 HAL::HAL()
@@ -246,6 +251,25 @@ void HAL::setupTimer()
     TCCR1B =  (_BV(WGM12) | _BV(CS10)); // no prescaler == 0.0625 usec tick | 001 = clk/1
     OCR1A=65500; //start off with a slow frequency.
     TIMSK1 |= (1<<OCIE1A); // Enable interrupt
+
+
+#if (FEATURE_TOOL_PWM)
+    TCCR3A = 0;             // normal counting mode
+    TCCR3B = _BV(CS31);     // set prescaler of 8
+    TCNT3 = 0;              // clear the timer count
+#if defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+    ETIMSK |= _BV(OCIE3A);// enable the output compare interrupt
+#else
+    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+    TIMSK3 = _BV(OCIE3A); // enable the output compare interrupt
+#endif
+    tool_cfg.pin = -1;
+    tool_cfg.inv = false;
+    tool_cfg.pwm = 0;
+    tool_cfg.state = 0;
+#endif
+
 #if FEATURE_SERVO
 #if SERVO0_PIN>-1
     SET_OUTPUT(SERVO0_PIN);
@@ -510,6 +534,100 @@ unsigned char HAL::i2cReadNak(void)
     return TWDR;
 }
 
+
+#if (FEATURE_TOOL_PWM)
+
+#define TOOL_PERIOD ((F_CPU/8)/TOOL_PWM_HZ)
+#define TOOL_STEP (TOOL_PERIOD/TOOL_PWM_STEPS)
+
+void HAL::setPWM(uint8_t val, int8_t pin, bool inv) {
+
+    if(tool_cfg.pin > -1) {
+#if defined(__AVR_ATmega128__)
+        ETIMSK &= ~_BV(OCIE3A);  // disable the output compare interrupt
+#else
+        TIMSK3 = 0; // disable the output compare interrupt
+#endif
+        //disable old PWM
+        digitalWrite(tool_cfg.pin, tool_cfg.inv);
+    }
+
+
+    if(val > TOOL_PWM_STEPS) {
+        val = TOOL_PWM_STEPS;
+    }
+
+    tool_cfg.pwm = val;
+    tool_cfg.pin = pin;
+    tool_cfg.inv = inv;
+
+    if(tool_cfg.pin > -1) {
+        return;
+    }
+
+    if(val == 0) {
+        digitalWrite(tool_cfg.pin, tool_cfg.inv);
+#if defined(__AVR_ATmega128__)
+        ETIMSK &= ~_BV(OCIE3A);  // disable the output compare interrupt
+#else
+        TIMSK3 = 0; // disable the output compare interrupt
+#endif
+    } else if(val == TOOL_PWM_STEPS) {
+        digitalWrite(tool_cfg.pin, !tool_cfg.inv);
+#if defined(__AVR_ATmega128__)
+        ETIMSK &= ~_BV(OCIE3A);  // disable the output compare interrupt
+#else
+        TIMSK3 = 0; // disable the output compare interrupt
+#endif
+    } else {
+        digitalWrite(tool_cfg.pin, !tool_cfg.inv);
+        tool_cfg.state = true;
+        OCR3A = (TOOL_STEP * val);
+#if defined(__AVR_ATmega128__)
+        TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+        ETIMSK |= _BV(OCIE3A);// enable the output compare interrupt
+#else
+        TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+        TIMSK3 = _BV(OCIE3A); // enable the output compare interrupt
+#endif
+    }
+}
+
+
+void HAL::timer3_irq() {
+    if(tool_cfg.pin <= -1) {
+#if defined(__AVR_ATmega128__)
+        ETIMSK &= ~_BV(OCIE3A);  // disable the output compare interrupt
+#else
+        TIMSK3 = 0; // disable the output compare interrupt
+#endif
+    }
+    if(tool_cfg.pwm <= 0) {
+        digitalWrite(tool_cfg.pin, tool_cfg.inv);
+        OCR3A = TOOL_PERIOD;
+    } else if(tool_cfg.pwm >= TOOL_PWM_STEPS) {
+        digitalWrite(tool_cfg.pin, !tool_cfg.inv);
+        OCR3A = TOOL_PERIOD;
+    } else {
+        if(tool_cfg.state == false) {
+            digitalWrite(tool_cfg.pin, !tool_cfg.inv);
+            tool_cfg.state = true;
+            OCR3A = (TOOL_STEP * tool_cfg.pwm);
+        } else {
+            digitalWrite(tool_cfg.pin, tool_cfg.inv);
+            tool_cfg.state = false;
+            OCR3A = (TOOL_STEP * (TOOL_PWM_STEPS - tool_cfg.pwm));
+        }
+    }
+}
+
+SIGNAL (TIMER3_COMPA_vect) {
+    TCNT3 = 0;
+    HAL::timer3_irq();
+}
+#endif
+
+
 #if FEATURE_SERVO
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) || defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
 #define SERVO2500US F_CPU/3200

src/ArduinoAVR/Repetier/HAL.h

@@ -187,6 +187,15 @@ typedef uint8_t ufast8_t;
 #define SERIAL_TX_BUFFER_MASK 63
 #endif
 
+#if (FEATURE_TOOL_PWM)
+    typedef struct {
+        int8_t pin;
+        uint8_t pwm;
+        bool state;
+        bool inv;
+    } t_tool_pwm_cfg;
+#endif
+
 struct ring_buffer
 {
     uint8_t buffer[SERIAL_BUFFER_SIZE];
@@ -706,6 +715,14 @@ class HAL
     static uint8_t i2cReadAck(void);
     static uint8_t i2cReadNak(void);
 
+
+    // Software PWM
+#if (FEATURE_TOOL_PWM)
+    static t_tool_pwm_cfg tool_cfg;
+    static void setPWM(uint8_t val, int8_t pin, bool inv);
+    static void timer3_irq(void);
+#endif
+
     // Watchdog support
 
     inline static void startWatchdog()

src/ArduinoAVR/Repetier/Repetier.h

@@ -197,6 +197,46 @@ usage or for searching for memory induced errors. Switch it off for production,
 
 #include "Configuration.h"
 
+
+// HAL Tool PWM
+#define FEATURE_TOOL_PWM 0
+#ifndef TOOL_PWM_HZ
+#define TOOL_PWM_HZ 100
+#endif
+#ifndef TOOL_PWM_STEPS
+#define TOOL_PWM_STEPS 255
+#endif
+
+// Laser Type
+#define LASER_TYPE_OFF 0
+#define LASER_TYPE_ONOFF 1
+#define LASER_TYPE_PWM 2
+
+#if defined(SUPPORT_LASER) && SUPPORT_LASER
+#ifndef LASER_TYPE
+#define LASER_TYPE LASER_TYPE_ONOFF
+#endif
+#if ((LASER_TYPE == LASER_TYPE_PWM) && (LASER_PIN > -1))
+// enable TOOL PWM
+#undef FEATURE_TOOL_PWM
+#define FEATURE_TOOL_PWM 1
+#endif
+#endif
+
+
+#if defined(SUPPORT_CNC) && SUPPORT_CNC
+#if defined(CNC_PWM_PIN) && (CNC_PWM_PIN > -1)
+// enable TOOL PWM
+#undef FEATURE_TOOL_PWM
+#define FEATURE_TOOL_PWM 1
+#endif
+#endif
+
+#if (defined(FEATURE_SERVO) && FEATURE_SERVO) && (defined(FEATURE_TOOL_PWM) && FEATURE_TOOL_PWM)
+#error Servos and Tool PWM not possible on the same time
+#endif
+
+
 #ifndef SHARED_EXTRUDER_HEATER
 #define SHARED_EXTRUDER_HEATER 0
 #endif