Import LinuxCNC source tree

configs/sim/axis/laser/laser.hal

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+loadrt conv_s32_u32 names=laser.motion.type-conv
+loadrt bitslice names=laser.motion.type-slice personality=2
+loadrt limit1 names=laser.power.min.limit,laser.power.max.limit,laser.power.cmd.limit
+loadrt laserpower names=laser.control
+loadrt raster names=laser.raster
+loadrt not names=motion.enabled-not
+
+addf laser.power.min.limit                      servo-thread
+addf laser.power.max.limit                      servo-thread
+addf laser.power.cmd.limit                      servo-thread
+addf laser.motion.type-conv                     servo-thread
+addf laser.motion.type-slice                    servo-thread
+addf laser.control                              servo-thread
+addf laser.raster                               servo-thread
+addf motion.enabled-not                         servo-thread
+
+
+#the laser will fire when the the machine is in motion
+#and motion.motion-type is 2 or 3, which is linear feed or arc feed 
+#we use a bit-slice to determine if we can fire out laser
+net laser.motion.type <= motion.motion-type
+net laser.motion.type => laser.motion.type-conv.in
+net laser.motion.type-u32 <= laser.motion.type-conv.out
+net laser.motion.type-u32 => laser.motion.type-slice.in
+net laser.motion.feed-move <= laser.motion.type-slice.out-01
+
+
+#enables laser to fire
+net laser.motion.feed-move => laser.control.enabled
+
+setp laser.power.min.limit.min 0
+setp laser.power.min.limit.max 100
+
+net laser.power.min.cmd <= motion.analog-out-00
+net laser.power.min.cmd => laser.power.min.limit.in
+net laser.power.min.value <= laser.power.min.limit.out
+net laser.power.min.value => laser.control.min-power
+
+setp laser.power.max.limit.min 0
+setp laser.power.max.limit.max 100
+ 
+net laser.power.max.cmd <= motion.analog-out-01
+net laser.power.max.cmd => laser.power.max.limit.in
+net laser.power.max.value <= laser.power.max.limit.out
+net laser.power.max.value => laser.control.max-power
+
+setp laser.power.cmd.limit.min 0
+setp laser.power.cmd.limit.max 100
+
+net laser.power.cmd <= motion.analog-out-02
+net laser.power.cmd => laser.power.cmd.limit.in
+net laser.power.cmd.value <= laser.power.cmd.limit.out
+net laser.power.cmd.value => laser.control.vector-power
+
+net laser.motion.distance-to-go <= motion.distance-to-go
+net laser.motion.distance-to-go => laser.control.distance-to-go
+
+net laser.motion.cur-vel <= motion.current-vel
+net laser.motion.cur-vel => laser.control.cur-velocity
+
+net laser.motion.req-vel <= motion.requested-vel
+net laser.motion.req-vel => laser.control.req-velocity
+
+#rastering controller
+net J0:pos-fb => laser.raster.position
+
+net laser.raster.program-sig <= laser.raster.program
+sets laser.raster.program-sig 20000
+
+net laser.power.raster-power <= laser.raster.output
+net laser.power.raster-power => laser.control.raster-power
+
+net laser.power.raster-enabled <= laser.raster.enabled
+net laser.power.raster-enabled => laser.control.raster-mode
+
+net motion.enable-not <= laser.raster.fault
+net motion.enable-not => motion.enabled-not.in
+net motion:enable <= motion.enabled-not.out
+net motion:enable => motion.enable

configs/sim/axis/laser/laser.ini

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+# minimal sim config for laser controller and raster
+[EMC]
+VERSION = 1.1
+MACINE = laser
+
+[KINS]
+JOINTS = 3
+KINEMATICS = corexykins
+
+[TRAJ]
+COORDINATES = XYZ
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = laser.hal
+POSTGUI_HALFILE = postgui.hal
+
+
+[DISPLAY]
+DISPLAY = axis
+MAX_LINEAR_VELOCITY = 1
+PYVCP = pyvcp.xml
+
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+FEATURES=12
+PARAMETER_FILE = laser.var
+REMAP= M10 modalgroup=10 python=rasterStop
+REMAP= M11 modalgroup=10 python=rasterBegin argspec=PQRS
+REMAP= M12 modalgroup=10 python=rasterData
+REMAP= M13 modalgroup=10 python=rasterStart
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+TRAJ_PERIOD = 100000
+
+[PYTHON]
+TOPLEVEL=python/toplevel.py
+PATH_APPEND=python
+
+
+
+
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE = 0

configs/sim/axis/laser/postgui.hal

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+
+net laser.raster.program-sig => raster-programmer.program
+net raster.fault-code <= laser.raster.fault-code
+net raster.fault-code => raster-programmer.fault-code
+net laser.power.raster-enabled => raster-programmer.enabled 
+
+net raster-programmer-run <= raster-programmer.run
+net raster-programmer-run => laser.raster.run
+
+net laser-power <= laser.control.power
+net laser-power => pyvcp.power
+
+net laser.power.min.value => pyvcp.min-power
+net laser.power.max.value => pyvcp.max-power
+net laser.power.cmd.value => pyvcp.vector-power
+
+net laser.power.raster-enabled => pyvcp.raster-enabled
+
+net motion.enable-not => pyvcp.raster-fault
+
+net raster-prog-size <= laser.raster.count
+net raster-prog-size => pyvcp.raster-program-size
+
+net raster-reset <= laser.raster.reset
+net raster-reset => pyvcp.raster-reset

configs/sim/axis/laser/python/remap.py

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+from pyhal import *
+from raster import *
+from interpreter import INTERP_EXECUTE_FINISH, INTERP_OK
+
+rasterProgrammer = None
+
+def init(self):
+    global rasterProgrammer
+    rasterProgrammer = RasterProgrammer("raster-programmer")
+    print("raster initialized")
+       
+        
+def rasterBegin(self, **words):
+    global rasterProgrammer
+    #machine must be in position before begin issued
+    #make motion complete queue prior to begin program
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        offset = float(words['p'])
+        bpp = int(words['q'])
+        ppu = float(words['r'])
+        count = int(words['s'])
+        rasterProgrammer.begin(offset, bpp, ppu, count)
+
+
+def rasterData(self, **words):
+    global rasterProgrammer
+    if rasterProgrammer:
+        comment = self.blocks[self.remap_level].comment.strip()
+        rasterProgrammer.data(comment)
+    return INTERP_OK
+
+
+def rasterStart(self, **words):
+    global rasterProgrammer
+    #machine must be in position before run issued
+    #make motion complete queue prior to run program command
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        rasterProgrammer.start()
+
+def rasterStop(self, **words):
+    global rasterProgrammer
+    yield INTERP_EXECUTE_FINISH
+    if rasterProgrammer:
+        rasterProgrammer.stop()
+    
+

configs/sim/axis/laser/python/toplevel.py

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+import remap
+
+
+def __init__(self):
+    if self.task:
+        remap.init(self)

configs/sim/axis/laser/pyvcp.xml

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+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+    <label>
+        <text>"Laser"</text>
+    </label>
+    <vbox>
+        <labelframe text="Output Power">
+            <bar>
+                <halpin>"power"</halpin>
+                <min_>0</min_>
+                <max_>100</max_>
+                <bgcolor>"grey"</bgcolor>
+                <fillcolor>"red"</fillcolor>
+            </bar>
+        </labelframe>
+        <labelframe text="Min Power">
+            <number>
+                <halpin>"min-power"</halpin>
+                <format>"2.2f"</format>
+            </number>
+        </labelframe>
+        <labelframe text="Max Power">
+            <number>
+                <halpin>"max-power"</halpin>
+                <format>"2.2f"</format>
+            </number>
+        </labelframe>
+        <labelframe text="Vector Power">
+            <number>
+                <halpin>"vector-power"</halpin>
+                <format>"2.2f"</format>
+            </number>
+        </labelframe>
+        <labelframe text="Raster On">
+            <led>
+                <halpin>"raster-enabled"</halpin>
+            </led>
+        </labelframe>
+        <labelframe text="Raster Program Size">
+            <s32>
+                <halpin>"raster-program-size"</halpin>
+            </s32>
+        </labelframe>
+        <labelframe text="Raster Fault">
+            <led>
+                <halpin>"raster-fault"</halpin>
+            </led>
+        </labelframe>
+        <button>
+            <halpin>"raster-reset"</halpin>
+            <text>"Reset Raster"</text>
+         </button>
+    </vbox>
+</pyvcp>
+
+

configs/sim/axis/laser/raster_test.ngc

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+G61
+G90
+F5000
+G0 X-1 Y0
+M68 E1 Q100 (set max laser power to 100)
+M11 P1 Q4 R.5 S9
+;raster program can be programmed with more than 1 M12 line
+M12 (1E282)
+M12 (C494)
+M13 (run raster)
+G0 X0
+G1 X15 F5000
+G0 X16
+M10 (stop raster)
+M68 E1 Q100 (set max laser power to 100)
+
+G0 Y1 X17
+M11 P-1 Q4 R.5 S9
+M12 (1E28FC494)
+M13 (enable raster)
+G0 X15
+G1 X0 F5000
+G0 X-1
+M10 (stop raster)
+M2
+
+

configs/sim/axis/laser/vector_test.ngc

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+M68 E0 Q0  (set minimum laser power to 0)
+M68 E1 Q100 (set maximum laser power to 100)
+
+G64 P0.1 Q0.1 
+
+G0 X0 Y0
+F1000
+M68 E2 Q100 (set commanded power to 100)
+G1 X2
+G1 Y2
+G1 X0
+G1 Y0
+
+G0 X0 Y0
+M68 E2 Q0 (set commanded power to 0)
+G1 X5 M67 E2 Q25 (move from 0 to 5 scaling power from 0 to 25 along the way)
+G1 X10 M67 E2 Q75 (move from 5 to 10 scaling power from 25 to 75 along the way)
+G1 Y10 (move with output power at 75) 
+G1 X0 M67 E2 Q50 (move scaling from power 75 down to 50)
+G1 Y0 M67 E2 Q0 (move scaling from power 50 down to 0)
+
+M2
+
+

configs/sim/axis/laser/vector_test2.ngc

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+M68 E0 Q0  (set minimum laser power to 0)
+M68 E1 Q100 (set maximum laser power to 100)
+
+G64 
+
+G0 X0
+F1000
+M68 E2 Q100 (set commanded power to 100)
+G1 X5
+G1 X6
+G1 X7
+M68 E2 Q50
+G1 X8
+M68 E2 Q0
+G1 X9
+G1 X10 M67 E2 Q50
+G1 X15 M67 E2 Q25
+G1 X20 M67 E2 Q10
+G1 X22
+G1 X25 M67 E2 Q100
+M2
+
+