Drivers.cpp

#include "Repetier.h"

#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
MOTOR_DRIVER_1(motorDriver1);
#if NUM_MOTOR_DRIVERS > 1
MOTOR_DRIVER_2(motorDriver2);
#endif
#if NUM_MOTOR_DRIVERS > 2
MOTOR_DRIVER_3(motorDriver3);
#endif
#if NUM_MOTOR_DRIVERS > 3
MOTOR_DRIVER_4(motorDriver4);
#endif
#if NUM_MOTOR_DRIVERS > 4
MOTOR_DRIVER_5(motorDriver5);
#endif
#if NUM_MOTOR_DRIVERS > 5
MOTOR_DRIVER_6(motorDriver6);
#endif

MotorDriverInterface *motorDrivers[NUM_MOTOR_DRIVERS] =
{
    &motorDriver1
#if NUM_MOTOR_DRIVERS > 1
    , &motorDriver2
#endif
#if NUM_MOTOR_DRIVERS > 2
    , &motorDriver3
#endif
#if NUM_MOTOR_DRIVERS > 3
    , &motorDriver4
#endif
#if NUM_MOTOR_DRIVERS > 4
    , &motorDriver5
#endif
#if NUM_MOTOR_DRIVERS > 5
    , &motorDriver6
#endif
};

MotorDriverInterface *getMotorDriver(int idx)
{
    return motorDrivers[idx];
}

/**
Run motor P until it is at position X
*/
void commandG201(GCode &code)
{
    int id = 0;
    if(code.hasP())
        id = code.P;
    if(id < 0) id = 0;
    if(id >= NUM_MOTOR_DRIVERS) id = 0;
    if(!code.hasX()) return;
    motorDrivers[id]->gotoPosition(code.X);
}

//G202 P<motorId> X<setpos>  - Mark current position as X
void commandG202(GCode &code)
{
    int id = 0;
    if(code.hasP())
        id = code.P;
    if(id < 0) id = 0;
    if(id >= NUM_MOTOR_DRIVERS) id = 0;
    if(!code.hasX()) return;
    motorDrivers[id]->setCurrentAs(code.X);
}
//G203 P<motorId>            - Report current motor position
void commandG203(GCode &code)
{
    int id = 0;
    if(code.hasP())
        id = code.P;
    if(id < 0) id = 0;
    if(id >= NUM_MOTOR_DRIVERS) id = 0;
    Com::printF(PSTR("Motor"),id);
    Com::printFLN(PSTR(" Pos:"),motorDrivers[id]->getPosition());
}
//G204 P<motorId> S<0/1>     - Enable/disable motor
void commandG204(GCode &code)
{
    int id = 0;
    if(code.hasP())
        id = code.P;
    if(id < 0) id = 0;
    if(id >= NUM_MOTOR_DRIVERS) id = 0;
    if(!code.hasS()) return;
    if(code.S)
        motorDrivers[id]->enable();
    else
        motorDrivers[id]->disable();
}
// G205 P<motorId> S<0/1> E<0/1> - Home motor, S1 = go back to stored position, E1 = home only if endstop was never met, meaning it was never homed with motor.
void commandG205(GCode &code)
{
	int id = 0;
	if(code.hasP())
		id = code.P;
	if(id < 0) id = 0;
	if(id >= NUM_MOTOR_DRIVERS) id = 0;
	motorDrivers[id]->home(code.hasS() && code.S != 0, code.hasE() && code.E != 0);
}

void disableAllMotorDrivers()
{
    for(int i = 0; i < NUM_MOTOR_DRIVERS; i++)
        motorDrivers[i]->disable();
}
void initializeAllMotorDrivers()
{
    for(int i = 0; i < NUM_MOTOR_DRIVERS; i++)
        motorDrivers[i]->initialize();
}

#endif // NUM_MOTOR_DRIVERS

#if defined(SUPPORT_LASER) && SUPPORT_LASER

secondspeed_t LaserDriver::intensity = LASER_PWM_MAX; // Intensity to use for next move queued if we want lasers. This is NOT the current value!
secondspeed_t LaserDriver::intens = 0;

bool LaserDriver::laserOn = false;
bool LaserDriver::firstMove = true;

void LaserDriver::initialize()
{
    if(EVENT_INITIALIZE_LASER)
    {
#if LASER_PIN > -1
        SET_OUTPUT(LASER_PIN);
#endif
    }
    changeIntensity(0);
}

void LaserDriver::changeIntensity(secondspeed_t newIntensity)
{
#if defined(DOOR_PIN) && DOOR_PIN > -1
    if(Printer::isDoorOpen()) {
        newIntensity = 0; // force laser off if door is open
    }
#endif
    if(EVENT_SET_LASER(newIntensity))
    {
        // Default implementation
#if LASER_PIN > -1
        WRITE(LASER_PIN,(LASER_ON_HIGH ? newIntensity > 199 : newIntensity < 200));
#endif
    }
    intens=newIntensity;//for "Transfer" Status Page
}
#endif // SUPPORT_LASER

#if defined(SUPPORT_CNC) && SUPPORT_CNC
/**
The CNC driver differs a bit from laser driver. Here only M3,M4,M5 have an influence on the spindle.
The motor also keeps running for G0 moves. M3 and M4 wait for old moves to be finished and then enables
the motor. It then waits CNC_WAIT_ON_ENABLE milliseconds for the spindle to reach target speed.
*/

int8_t CNCDriver::direction = 0;
secondspeed_t CNCDriver::spindleSpeed= 0;
uint16_t CNCDriver::spindleRpm= 0;


/** Initialize cnc pins. EVENT_INITIALIZE_CNC should return false to prevent default initialization.*/
void CNCDriver::initialize()
{
    if(EVENT_INITIALIZE_CNC)
    {
#if CNC_ENABLE_PIN > -1
        SET_OUTPUT(CNC_ENABLE_PIN);
        WRITE(CNC_ENABLE_PIN,!CNC_ENABLE_WITH);
#endif
#if CNC_DIRECTION_PIN > -1
        SET_OUTPUT(CNC_DIRECTION_PIN);
#endif
    }
}
/** Turns off spindle. For event override implement
EVENT_SPINDLE_OFF
returning false.
*/
void CNCDriver::spindleOff()
{
    spindleRpm=0;
    if(direction == 0) return; // already off
    if(EVENT_SPINDLE_OFF)
    {
#if CNC_ENABLE_PIN > -1
        WRITE(CNC_ENABLE_PIN,!CNC_ENABLE_WITH);
#endif
    }
    HAL::delayMilliseconds(CNC_WAIT_ON_DISABLE);
	direction = 0;
}
/** Turns spindle on. Default implementation uses a enable pin CNC_ENABLE_PIN. If
CNC_DIRECTION_PIN is not -1 it sets direction to CNC_DIRECTION_CW. rpm is ignored.
To override with event system, return false for the event
EVENT_SPINDLE_CW(rpm)
*/
void CNCDriver::spindleOnCW(int32_t rpm)
{
  spindleSpeed=map(rpm,0,CNC_RPM_MAX,0,CNC_PWM_MAX);// linear interpolation

  
    if(direction == 1 && spindleRpm == rpm)
        return;
    if(direction == -1) {
	    spindleOff();
    }
    spindleRpm = rpm;// for display
    direction = 1;
    if(EVENT_SPINDLE_CW(rpm)) {
#if CNC_DIRECTION_PIN > -1
        WRITE(CNC_DIRECTION_PIN, CNC_DIRECTION_CW);
#endif
#if CNC_ENABLE_PIN > -1
        WRITE(CNC_ENABLE_PIN, CNC_ENABLE_WITH);
#endif
    }
    HAL::delayMilliseconds(CNC_WAIT_ON_ENABLE);
}
/** Turns spindle on. Default implementation uses a enable pin CNC_ENABLE_PIN. If
CNC_DIRECTION_PIN is not -1 it sets direction to !CNC_DIRECTION_CW. rpm is ignored.
To override with event system, return false for the event
EVENT_SPINDLE_CCW(rpm)
*/
void CNCDriver::spindleOnCCW(int32_t rpm)
{
        spindleSpeed=map(rpm,0,CNC_RPM_MAX,0,CNC_PWM_MAX);// linear interpolation
   
    if(direction == -1 && spindleRpm == rpm)
        return;
    if(direction == 1) {
		spindleOff();
	}
    spindleRpm = rpm;// for display
    direction = -1;
    if(EVENT_SPINDLE_CCW(rpm)) {
#if CNC_DIRECTION_PIN > -1
        WRITE(CNC_DIRECTION_PIN, !CNC_DIRECTION_CW);
#endif
#if CNC_ENABLE_PIN > -1
        WRITE(CNC_ENABLE_PIN, CNC_ENABLE_WITH);
#endif
    }
    HAL::delayMilliseconds(CNC_WAIT_ON_ENABLE);
}
#endif