Added M113 gcode to set laser output power via PWM channel.

Makefile

@@ -34,6 +34,7 @@
 ##############################################################################
 
 DEFS ?=
+#DEFS += -DPRU_ABS_COORDS -DLASER_CUTTER
 DEFS += -DPRU_ABS_COORDS
 ARCH ?= arm
 CROSS_COMPILE ?= arm-arago-linux-gnueabi-

bebopr_r2.c

@@ -33,13 +33,17 @@
 GENERATE_TAG( bed_thermistor);
 GENERATE_TAG( extruder_thermistor);
 GENERATE_TAG( spare_ain);
+#ifdef LASER_CUTTER
+GENERATE_TAG( pwm_laser_power);
+#else
 GENERATE_TAG( temp_extruder);
 GENERATE_TAG( temp_bed);
 GENERATE_TAG( heater_extruder);
 GENERATE_TAG( heater_bed);
 GENERATE_TAG( pwm_extruder);
 GENERATE_TAG( pwm_bed);
 GENERATE_TAG( pwm_fan);
+#endif
 
 static const analog_config_record analog_config_data[] = {
   {
@@ -60,6 +64,7 @@ static const analog_config_record analog_config_data[] = {
 };
 
 static const temp_config_record temp_config_data[] = {
+#ifndef LASER_CUTTER
   {
     .tag                = temp_extruder,
     .source		= extruder_thermistor,
@@ -75,6 +80,13 @@ static const temp_config_record temp_config_data[] = {
 };
 
 static const pwm_config_record pwm_config_data[] = {
+#ifdef LASER_CUTTER
+  {
+    .tag		= pwm_laser_power,
+    .device_path	= PWM_PATH_PREFIX "ehrpwm.2:0",	// BEBOPR_R2_J3 - PWM1
+    .frequency		= 10,
+  },
+#else
   {
     .tag		= pwm_extruder,
     .device_path	= PWM_PATH_PREFIX "ehrpwm.2:0",	// BEBOPR_R2_J3 - PWM1
@@ -90,9 +102,11 @@ static const pwm_config_record pwm_config_data[] = {
     .device_path	= PWM_PATH_PREFIX "ehrpwm.1:0",	// BEBOPR_R2_J4 - PWM2
     .frequency		= 10,
   },
+#endif
 };
 
 static const heater_config_record heater_config_data[] = {
+#ifndef LASER_CUTTER
   {
     .tag		= heater_extruder,
     .analog_input	= temp_extruder,
@@ -121,6 +135,7 @@ static const heater_config_record heater_config_data[] = {
 	    .I_limit = 0.0,
     },
   },
+#endif
 };
 
 static int use_pololu_drivers = 1;

gcode_parse.c

@@ -167,7 +167,11 @@ void gcode_parse_char(uint8_t c) {
 					break;
 				case 'S':
 					if (next_target.seen_M && (next_target.M == 220 || next_target.M == 221)) {
+						// if this is a scaling factor, scale 1.0 to 1000
 						next_target.S = decfloat_to_int( &read_digit, 1000.0);
+					} else if (next_target.seen_M && (next_target.M == 113)) {
+						// if this is PWM output, scale 1.0 to 100(%)
+						next_target.S = decfloat_to_int( &read_digit, 100.0);
 					} else {
 						// if this is temperature, PID setting or anything else, scale 1:1
 						next_target.S = decfloat_to_int( &read_digit, 1.0);

gcode_process.c

@@ -41,6 +41,7 @@ static channel_tag heater_extruder = NULL;
 static channel_tag heater_bed = NULL;
 static channel_tag temp_extruder = NULL;
 static channel_tag temp_bed = NULL;
+static channel_tag pwm_extruder = NULL;
 
 static int extruder_temp_wait = 0;
 static int bed_temp_wait = 0;
@@ -769,6 +770,18 @@ void process_gcode_command() {
 				break;
 			#endif
 			// M113- extruder PWM
+			case 113: {
+				//? ==== M113: Set (extruder) PWM ====
+				//?
+				//? Example: M113 S0.125
+				//?
+				//? Set the (raw) extruder heater output to the specified value: 0.0-1.0 gives 0-100% duty cycle.
+				//? Should only be used when there is no heater control loop configured for this output!!!
+				if (next_target.seen_S) {
+					pwm_set_output( pwm_extruder, next_target.S);
+				}
+				break;
+			}
 			// M114- report XYZEF to host
 			case 114:
 				//? ==== M114: Get Current Position ====
@@ -1107,7 +1120,9 @@ int gcode_process_init( void)
 	    tag_name( heater_extruder), tag_name( heater_bed),
 	    tag_name( temp_extruder), tag_name( temp_bed));
   }
-  if (heater_extruder == NULL || temp_extruder == NULL) {
+  pwm_extruder    = pwm_lookup_by_name( "pwm_laser_power");
+  // If there's no extruder, or no laser power there's probably a configuration error!
+  if ((heater_extruder == NULL || temp_extruder == NULL) && pwm_extruder == NULL) {
     return -1;
   }
   gcode_current_pos.X = gcode_home_pos.X = 0;

pwm.c

@@ -159,3 +159,15 @@ int pwm_set_output( channel_tag pwm_channel, unsigned int percentage)
   }
   return -1;
 }
+
+channel_tag pwm_lookup_by_name( const char* name)
+{
+  for (int ix = 0 ; ix < num_pwm_channels ; ++ix) {
+    channel_tag tag = pwm_channels[ ix].id;
+    if (strcmp( tag_name( tag), name) == 0) {
+      return tag;
+    }
+  }
+  return NULL;
+}
+

pwm.h

@@ -12,7 +12,7 @@ typedef const struct {
 extern int pwm_init( void);
 extern void pwm_exit( void);
 extern int pwm_config( pwm_config_record* pconfig_data, int nr_config_items);
-
 extern int pwm_set_output( channel_tag pwm_channel, unsigned int percentage);
+extern channel_tag pwm_lookup_by_name( const char* name);
 
 #endif