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[ Firing Pin Issue #7 ] Updated PWM functionality for laser #8

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[ Firing Pin Issue #7 ] Updated PWM functionality for laser #8

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181 changes: 145 additions & 36 deletions Marlin/laser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,39 +28,70 @@
laser_t laser;

void timer3_init(int pin) {

digitalWrite(pin, HIGH);
pinMode(pin, OUTPUT);
analogWrite(pin, 1); // let Arduino setup do it's thing to the PWM pin

TCCR3B = 0x00; // stop Timer4 clock for register updates
TCCR3A = 0x82; // Clear OC3A on match, fast PWM mode, lower WGM3x=14
ICR3 = labs(F_CPU / LASER_PWM); // clock cycles per PWM pulse
OCR3A = labs(F_CPU / LASER_PWM) - 1; // ICR3 - 1 force immediate compare on next tick
TCCR3B = 0x18 | 0x01; // upper WGM4x = 14, clock sel = prescaler, start running

noInterrupts();
TCCR3B &= 0xf8; // stop timer, OC3A may be active now
TCNT3 = labs(F_CPU / LASER_PWM); // force immediate compare on next tick
ICR3 = labs(F_CPU / LASER_PWM); // set new PWM period
TCCR3B |= 0x01; // start the timer with proper prescaler value
interrupts();

// Setup timer3 to fast PWM with OC w/ ICR3 as TOP
noInterrupts();

TCCR3A = 0x00;
TCCR3B = 0x00; // stop Timer3 clock for register updates
ICR3 = labs(F_CPU / LASER_PWM); // set clock cycles per PWM pulse (OC Top value)

if (pin == 2) {
TCCR3A = _BV(COM3B1) | _BV(COM3B0) | _BV(WGM31); // Fast PWM (WGM31) / (Clear OC3B/pin 2 on compare match (set output to low level)
OCR3B = 0;
}

if (pin == 3) {
TCCR3A = _BV(COM3C1) | _BV(COM3C0) | _BV(WGM31); // Fast PWM (WGM31) / Clear OC3C/pin 3 on compare match (set output to low level)
OCR3C = 0;
}

if (pin == 5) {
TCCR3A = _BV(COM3A1) | _BV(COM3A0) | _BV(WGM31); // Fast PWM (WGM31) / Clear OC3A/pin 5 on compare match (set output to low level)
OCR3A = 0;
}

TCCR3B = _BV(CS30) | _BV(WGM33) | _BV(WGM32); // Fast PWM / clkIo/1 (No prescaling)

interrupts();
}

void timer4_init(int pin) {

digitalWrite(pin, HIGH);
pinMode(pin, OUTPUT);
analogWrite(pin, 1); // let Arduino setup do it's thing to the PWM pin

TCCR4B = 0x00; // stop Timer4 clock for register updates
TCCR4A = 0x82; // Clear OC4A on match, fast PWM mode, lower WGM4x=14
ICR4 = labs(F_CPU / LASER_PWM); // clock cycles per PWM pulse
OCR4A = labs(F_CPU / LASER_PWM) - 1; // ICR4 - 1 force immediate compare on next tick
TCCR4B = 0x18 | 0x01; // upper WGM4x = 14, clock sel = prescaler, start running

noInterrupts();
TCCR4B &= 0xf8; // stop timer, OC4A may be active now
TCNT4 = labs(F_CPU / LASER_PWM); // force immediate compare on next tick
ICR4 = labs(F_CPU / LASER_PWM); // set new PWM period
TCCR4B |= 0x01; // start the timer with proper prescaler value
interrupts();

// Setup timer4 to fast PWM with OC w/ ICR4 as TOP
noInterrupts();

TCCR4A = 0x00;
TCCR4B = 0x00; // stop Timer4 clock for register updates
TCCR4C = 0x00;

ICR4 = labs(F_CPU / LASER_PWM); // set clock cycles per PWM pulse (OC Top value)

if (pin == 6) {
TCCR4A = _BV(COM4A1) | _BV(COM4A0) | _BV(WGM41); // Fast PWM (WGM41) / Clear OC4A/pin 5 on compare match (set output to low level)
OCR4A = 0;
}

if (pin == 7) {
TCCR4A = _BV(COM4B1) | _BV(COM4B0) | _BV(WGM41); // Fast PWM (WGM41) / (Clear OC4B/pin 2 on compare match (set output to low level)
OCR4B = 0;
}

if (pin == 8) {
TCCR4A = _BV(COM4C1) | _BV(COM4C0) | _BV(WGM41); // Fast PWM (WGM41) / Clear OC4C/pin 4 on compare match (set output to low level)
OCR4C = labs(F_CPU / LASER_PWM); // Set OCR4C to TOP value so it doesnt compare
}

TCCR4B = _BV(CS40) | _BV(WGM43) | _BV(WGM42); // Fast PWM / clkIo/1 (No prescaling)

interrupts();

}

void laser_init()
Expand Down Expand Up @@ -112,31 +143,109 @@ void laser_init()

laser_extinguish();
}
void laser_fire(int intensity = 100.0){
void laser_fire(int intensity = 100.0) {

laser.firing = LASER_ON;
laser.last_firing = micros(); // microseconds of last laser firing

if (intensity > 100.0) intensity = 100.0; // restrict intensity between 0 and 100
if (intensity < 0) intensity = 0;

pinMode(LASER_FIRING_PIN, OUTPUT);
#if LASER_CONTROL == 1
analogWrite(LASER_FIRING_PIN, labs((intensity / 100.0)*(F_CPU / LASER_PWM)));
#if LASER_FIRING_PIN == 2
OCR3B = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_FIRING_PIN == 3
OCR3C = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_FIRING_PIN == 5
OCR3A = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_FIRING_PIN == 6
OCR4A = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_FIRING_PIN == 7
OCR4B = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_FIRING_PIN == 8
OCR4C = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#endif

#if LASER_CONTROL == 2
analogWrite(LASER_INTENSITY_PIN, labs((intensity / 100.0)*(F_CPU / LASER_PWM)));
digitalWrite(LASER_FIRING_PIN, HIGH);
#if LASER_INTENSITY_PIN == 2
OCR3B = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_INTENSITY_PIN == 3
OCR3C = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_INTENSITY_PIN == 5
OCR3A = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_INTENSITY_PIN == 6
OCR4A = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_INTENSITY_PIN == 7
OCR4B = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
#if LASER_INTENSITY_PIN == 8
OCR4C = labs((intensity / 100.0)*(F_CPU / LASER_PWM));
#endif
digitalWrite(LASER_FIRING_PIN, LOW);
#endif

if (laser.diagnostics) {
SERIAL_ECHOLN("Laser fired");
SERIAL_ECHOLN("Laser fired");
}
}

void laser_extinguish(){
if (laser.firing == LASER_ON) {
laser.firing = LASER_OFF;

// Engage the pullup resistor for TTL laser controllers which don't turn off entirely without it.
digitalWrite(LASER_FIRING_PIN, LOW);
#if LASER_CONTROL == 1
#if LASER_FIRING_PIN == 2
OCR3B = 0;
#endif
#if LASER_FIRING_PIN == 3
OCR3C = 0;
#endif
#if LASER_FIRING_PIN == 5
OCR3A = 0;
#endif
#if LASER_FIRING_PIN == 6
OCR4A = 0;
#endif
#if LASER_FIRING_PIN == 7
OCR4B = 0;
#endif
#if LASER_FIRING_PIN == 8
OCR4C = 0;
#endif
#endif

#if LASER_CONTROL == 2
#if LASER_INTENSITY_PIN == 2
OCR3B = 0;
#endif
#if LASER_INTENSITY_PIN == 3
OCR3C = 0;
#endif
#if LASER_INTENSITY_PIN == 5
OCR3A = 0;
#endif
#if LASER_INTENSITY_PIN == 6
OCR4A = 0;
#endif
#if LASER_INTENSITY_PIN == 7
OCR4B = 0;
#endif
#if LASER_INTENSITY_PIN == 8
OCR4C = 0;
#endif
digitalWrite(LASER_FIRING_PIN, HIGH);
#endif

laser.time += millis() - (laser.last_firing / 1000);

if (laser.diagnostics) {
Expand Down