Getting this branch to compile for gShield - inlcudes example VSCode …

…target and laser support

.vscode/launch.json

@@ -42,6 +42,25 @@
       },
       "preLaunchTask": "Build CONFIG=r7 Debug"
     },
+    {
+      "name": "Debug CONFIG=MiniMillgShield (J-Link)",
+      "type": "cortex-debug",
+      "request": "launch",
+      "servertype": "jlink",
+      "cwd": "${workspaceRoot}/g2core/",
+      "executable": "./bin/MiniMillgShield-gShield/g2core.elf",
+      "device": "ATSAMS3X8E",
+      "svdFile": "${workspaceRoot}/Motate/MotateProject/motate/cmsis/TARGET_Atmel/sam3x/ATSAM3X8E.svd",
+      "interface": "swd",
+      "showDevDebugOutput": false,
+      "osx": {
+        "armToolchainPath": "${workspaceRoot}/Motate/Tools/osx/gcc-arm-none-eabi-7u2/bin/"
+      },
+      "linux": {
+        "armToolchainPath": "${workspaceRoot}/Motate/Tools/linux/gcc-arm-none-eabi-9m/bin/"
+      },
+      "preLaunchTask": "Build CONFIG=MiniMillgShield Debug"
+    },
     {
       "name": "Debug CONFIG=ShapeokoDualY (J-Link)",
       "type": "cortex-debug",

.vscode/tasks.json

@@ -65,6 +65,41 @@
         "fileLocation": ["relative", "${workspaceRoot}/g2core"]
       }
     },
+    {
+      "label": "Build CONFIG=MiniMillgShield Debug",
+      "type": "process",
+      "command": "make",
+      "args": ["CONFIG=MiniMillgShield", "VERBOSE=2", "COLOR=0", "DEBUG=2",
+         "RECORD=1"],
+      "group": "build",
+      "problemMatcher": {
+        "base": "$gcc",
+        "fileLocation": ["relative", "${workspaceRoot}/g2core"]
+      }
+    },
+    {
+      "label": "Build CONFIG=MiniMillgShield Production",
+      "type": "process",
+      "command": "make",
+      "args": ["CONFIG=MiniMillgShield", "VERBOSE=2", "COLOR=0",
+         "RECORD=1"],
+      "group": "build",
+      "problemMatcher": {
+        "base": "$gcc",
+        "fileLocation": ["relative", "${workspaceRoot}/g2core"]
+      }
+    },
+    {
+      "label": "Clean CONFIG=MiniMillgShield",
+      "type": "process",
+      "command": "make",
+      "args": ["CONFIG=MiniMillgShield", "clean"],
+      "group": "build",
+      "problemMatcher": {
+        "base": "$gcc",
+        "fileLocation": ["relative", "${workspaceRoot}/g2core"]
+      }
+    },
     {
       "label": "Build CONFIG=MiniMillv9 Debug",
       "type": "process",

g2core/board/ArduinoDue.mk

@@ -62,7 +62,7 @@ ifeq ("$(BASE_BOARD)","g2core-due")
     # Note: we call it "g2core-due" instead of "due" since the Motate built-in provides
     # a "due" BASE_BOARD.
     BOARD_PATH = ./board/ArduinoDue
-    SOURCE_DIRS += ${BOARD_PATH} device/step_dir_driver device/esc_spindle
+    SOURCE_DIRS += ${BOARD_PATH} device/step_dir_driver device/esc_spindle device/laser_toolhead
 
     PLATFORM_BASE = ${MOTATE_PATH}/platform/atmel_sam
 

g2core/board/ArduinoDue/0_hardware.cpp

@@ -63,16 +63,35 @@
 SafetyManager sm{};
 SafetyManager *safety_manager = &sm;
 
-// Stub in getSysConfig_3
-// constexpr cfgItem_t sys_config_items_3[] = {};
-constexpr cfgSubtableFromStaticArray sys_config_3{};
-const configSubtable * const getSysConfig_3() { return &sys_config_3; }
-
 #include "esc_spindle.h"
 ESCSpindle esc_spindle {SPINDLE_PWM_NUMBER, SPINDLE_ENABLE_OUTPUT_NUMBER, SPINDLE_DIRECTION_OUTPUT_NUMBER, SPINDLE_SPEED_CHANGE_PER_MS};
 
+#if HAS_LASER
+#ifndef LASER_ENABLE_OUTPUT_NUMBER
+#error LASER_ENABLE_OUTPUT_NUMBER should be defined in settings or a board file!
+#endif
+
+#ifndef LASER_FIRE_PIN_NUMBER
+#error LASER_FIRE_PIN_NUMBER should be defined in settings or a board file!
+#endif
+
+#include "laser_toolhead.h"
+LaserTool_used_t laser_tool {LASER_ENABLE_OUTPUT_NUMBER, MOTOR_5};
+
+// CartesianKinematics<AXES, MOTORS> cartesian_kinematics;
+KinematicsBase<AXES, MOTORS> *kn = &laser_tool;
+#endif
+
 ToolHead *toolhead_for_tool(uint8_t tool) {
+#if !HAS_LASER
     return &esc_spindle;
+#else
+    if (tool != LASER_TOOL) {
+        return &esc_spindle;
+    } else {
+        return &laser_tool;
+    }
+#endif
 }
 
 /*
@@ -82,8 +101,13 @@ ToolHead *toolhead_for_tool(uint8_t tool) {
 void hardware_init()
 {
     board_hardware_init();
-    toolhead_for_tool(0)->init();
-    spindle_set_toolhead(toolhead_for_tool(0));
+
+    esc_spindle.init();
+#if HAS_LASER
+    laser_tool.init();
+#endif
+    spindle_set_toolhead(toolhead_for_tool(1));
+
     return;
 }
 
@@ -190,6 +214,78 @@ stat_t hw_flash(nvObj_t *nv)
 	return(STAT_OK);
 }
 
+#if !HAS_LASER
+// Stub in getSysConfig_3
+// constexpr cfgItem_t sys_config_items_3[] = {};
+constexpr cfgSubtableFromStaticArray sys_config_3{};
+const configSubtable * const getSysConfig_3() { return &sys_config_3; }
+
+#else
+
+stat_t set_pulse_duration(nvObj_t *nv)
+{
+    laser_tool.set_pulse_duration_us(nv->valuetype == TYPE_FLOAT ? nv->value_flt : nv->value_int);
+    return (STAT_OK);
+}
+stat_t get_pulse_duration(nvObj_t *nv)
+{
+    nv->value_int = laser_tool.get_pulse_duration_us();
+    nv->valuetype = TYPE_INTEGER;
+    return (STAT_OK);
+}
+
+stat_t get_min_s(nvObj_t *nv) {
+    nv->value_flt = laser_tool.get_min_s();
+    nv->valuetype = TYPE_FLOAT;
+    return (STAT_OK);
+}
+stat_t set_min_s(nvObj_t *nv) {
+    laser_tool.set_min_s(nv->value_flt);
+    return (STAT_OK);
+}
+
+stat_t get_max_s(nvObj_t *nv) {
+    nv->value_flt = laser_tool.get_max_s();
+    nv->valuetype = TYPE_FLOAT;
+    return (STAT_OK);
+}
+stat_t set_max_s(nvObj_t *nv) {
+    laser_tool.set_max_s(nv->value_flt);
+    return (STAT_OK);
+}
+
+stat_t get_min_ppm(nvObj_t *nv) {
+    nv->value_flt = laser_tool.get_min_ppm();
+    nv->valuetype = TYPE_FLOAT;
+    return (STAT_OK);
+}
+stat_t set_min_ppm(nvObj_t *nv) {
+    laser_tool.set_min_ppm(nv->value_flt);
+    return (STAT_OK);
+}
+
+stat_t get_max_ppm(nvObj_t *nv) {
+    nv->value_flt = laser_tool.get_max_ppm();
+    nv->valuetype = TYPE_FLOAT;
+    return (STAT_OK);
+}
+stat_t set_max_ppm(nvObj_t *nv) {
+    laser_tool.set_max_ppm(nv->value_flt);
+    return (STAT_OK);
+}
+
+constexpr cfgItem_t sys_config_items_3[] = {
+    { "th2","th2pd", _iip,  0, tx_print_nul, get_pulse_duration, set_pulse_duration, nullptr, LASER_PULSE_DURATION },
+    { "th2","th2mns", _fip,  0, tx_print_nul, get_min_s, set_min_s, nullptr, LASER_MIN_S },
+    { "th2","th2mxs", _fip,  0, tx_print_nul, get_max_s, set_max_s, nullptr, LASER_MAX_S },
+    { "th2","th2mnp", _fip,  0, tx_print_nul, get_min_ppm, set_min_ppm, nullptr, LASER_MIN_PPM },
+    { "th2","th2mxp", _fip,  0, tx_print_nul, get_max_ppm, set_max_ppm, nullptr, LASER_MAX_PPM },
+};
+
+constexpr cfgSubtableFromStaticArray sys_config_3{sys_config_items_3};
+const configSubtable * const getSysConfig_3() { return &sys_config_3; }
+
+#endif
 
 /***********************************************************************************
  * TEXT MODE SUPPORT

g2core/board/ArduinoDue/board_gpio.h

@@ -45,13 +45,13 @@
 #define INPUT_LOCKOUT_MS    10      // milliseconds to go dead after input firing
 
 // Setup spindle and coolant pin assignments
-#define SPINDLE_ENABLE_OUTPUT_NUMBER 1
-#define SPINDLE_DIRECTION_OUTPUT_NUMBER 2
-#define SPINDLE_PWM_NUMBER 3
-#define MIST_ENABLE_OUTPUT_NUMBER 4
+// #define SPINDLE_ENABLE_OUTPUT_NUMBER 1
+// #define SPINDLE_DIRECTION_OUTPUT_NUMBER 2
+// #define SPINDLE_PWM_NUMBER 3
+// #define MIST_ENABLE_OUTPUT_NUMBER 4
 
-#define FLOOD_ENABLE_OUTPUT_NUMBER 0
-#define SECONDARY_PWM_OUTPUT_NUMBER 0
+// #define FLOOD_ENABLE_OUTPUT_NUMBER 0
+// #define SECONDARY_PWM_OUTPUT_NUMBER 0
 
 /*
  * The GPIO objects themselves - this must match up with board_gpio.cpp!

g2core/board/ArduinoDue/board_stepper.cpp

@@ -86,7 +86,15 @@ StepDirStepper<Motate::kSocket4_StepPinNumber,
 //    Motate::kSocket6_VrefPinNumber>
 //  motor_6 {M6_STEP_POLARITY, M6_ENABLE_POLARITY};
 
-Stepper* Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
+#if HAS_LASER
+// laser_tool is defined over in hardware.cpp
+extern LaserTool_used_t laser_tool;
+LaserTool_used_t &motor_5 = laser_tool;
+Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5};
+#else
+Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4};
+#endif
+
 
 void board_stepper_init() {
     for (uint8_t motor = 0; motor < MOTORS; motor++) { Motors[motor]->init(); }

g2core/board/ArduinoDue/board_stepper.h

@@ -86,8 +86,15 @@ extern StepDirStepper<Motate::kSocket4_StepPinNumber,
 //    Motate::kSocket6_Microstep_2PinNumber,
 //    Motate::kSocket6_VrefPinNumber> motor_6 {};
 
-extern Stepper* Motors[MOTORS];
+#if HAS_LASER
+#include "laser_toolhead.h"
+#include "kinematics_cartesian.h"
+typedef LaserTool<BASE_KINEMATICS, LASER_FIRE_PIN_NUMBER> LaserTool_used_t;
+extern LaserTool_used_t &motor_5;
+#endif
+
+extern Stepper* const Motors[MOTORS];
 
 void board_stepper_init();
 
-#endif  // BOARD_STEPPER_H_ONCE
+#endif  // BOARD_STEPPER_H_ONCE

g2core/board/ArduinoDue/hardware.h

@@ -30,8 +30,11 @@
  */
 
 #include "config.h"
+#include "settings.h"
 #include "error.h"
 
+#include "MotateUtilities.h" // for HOT_FUNC and HOT_DATA
+
 #ifndef HARDWARE_H_ONCE
 #define HARDWARE_H_ONCE
 
@@ -40,11 +43,22 @@
 #define G2CORE_HARDWARE_PLATFORM    "ArduinoDue"
 #define G2CORE_HARDWARE_VERSION     "na"
 
+#ifndef HAS_LASER
+#if HAS_HOBBY_SERVO_MOTOR
+#error Can NOT have a laser and a hobby servo at the same time, sorry
+#endif
+#define HAS_LASER 0
+#endif
+
 /***** Motors & PWM channels supported by this hardware *****/
 // These must be defines (not enums) so expressions like this:
 //  #if (MOTORS >= 6)  will work
 
+#if HAS_LASER
+#define MOTORS 5                    // number of motors + one "laser" motor (used for pulsing the laser in sync)
+#else
 #define MOTORS 4                    // number of motors supported the hardware
+#endif
 #define PWMS 2                      // number of PWM channels supported the hardware
 #define AXES 6                      // axes to support -- must be 6 or 9
 

g2core/board/gquintic.mk

@@ -60,7 +60,7 @@ ifeq ("$(BASE_BOARD)","gquintic")
     endif
 
     BOARD_PATH = ./board/gquintic
-    SOURCE_DIRS += ${BOARD_PATH} device/trinamic device/step_dir_hobbyservo device/max31865 device/i2c_eeprom device/i2c_multiplexer device/i2c_as5601  device/esc_spindle device/laser_toolhead
+    SOURCE_DIRS += ${BOARD_PATH} device/trinamic device/step_dir_hobbyservo device/max31865 device/i2c_eeprom device/i2c_multiplexer device/i2c_as5601 device/esc_spindle device/laser_toolhead
 
     PLATFORM_BASE = ${MOTATE_PATH}/platform/atmel_sam
     include $(PLATFORM_BASE).mk

g2core/board/gquintic/board_gpio.h

@@ -29,7 +29,7 @@
 #define BOARD_GPIO_H_ONCE
 
 // this file is included from the bottom of gpio.h, but we do this for completeness
-#include "../../gpio.h"
+#include "gpio.h"
 #include "hardware.h"
 
 /*

g2core/board/gquintic/board_stepper.cpp

@@ -95,7 +95,6 @@ Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_
 extern LaserTool_used_t laser_tool;
 LaserTool_used_t &motor_6 = laser_tool;
 Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5, &motor_6};
-#warning here
 #else
 Stepper* const Motors[MOTORS] = {&motor_1, &motor_2, &motor_3, &motor_4, &motor_5};
 #endif

g2core/boards.mk

@@ -65,14 +65,19 @@ ifeq ("$(CONFIG)","MiniMillrevD")
     SETTINGS_FILE="settings_minimill.h"
 endif
 
-
 ifeq ("$(CONFIG)","MiniMill")
     ifeq ("$(BOARD)","NONE")
         BOARD=gquintic-g
     endif
     SETTINGS_FILE="settings_minimill.h"
 endif
 
+ifeq ("$(CONFIG)","MiniMillgShield")
+    ifeq ("$(BOARD)","NONE")
+        BOARD=gShield
+    endif
+    SETTINGS_FILE="settings_minimill.h"
+endif
 
 ifeq ("$(CONFIG)","CheapoLaser")
     ifeq ("$(BOARD)","NONE")

g2core/plan_line.cpp

@@ -437,26 +437,12 @@ static mpBuf_t* _plan_block(mpBuf_t* bf)
 }
 
 /***** ALINE HELPERS *****
- * _calculate_override() - calculate cruise_vmax given cruise_vset and feed rate factor
  * _calculate_jerk()
  * _calculate_vmaxes()
  * _calculate_junction_vmax()
  * _calculate_decel_time()
  */
 
-static void _calculate_override(mpBuf_t* bf)  // execute ramp to adjust cruise velocity
-{
-    if (bf->gm.motion_mode == MOTION_MODE_STRAIGHT_TRAVERSE) {
-        bf->override_factor = cm->gmx.mto_enable ? cm->gmx.mto_factor : 1.0;
-    }
-
-    else if (bf->gm.motion_mode == MOTION_MODE_STRAIGHT_FEED) {
-        bf->override_factor = cm->gmx.mfo_enable ? cm->gmx.mfo_factor : 1.0;
-    }
-
-    bf->cruise_vmax = std::min(bf->absolute_vmax, bf->override_factor * bf->cruise_vset);
-}
-
 /****************************************************************************************
  * _calculate_jerk() - calculate jerk given the dynamic state
  *