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GPX
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Infinite loop bug fix 

RPM 5D simulator fully implemented
master
WHPThomas 2013-04-21 02:40:13 +10:00
parent 30d356bf10
commit 5a6c85f8a5
2 changed files with 146 additions and 87 deletions
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231
gpx.c
View File

@ -42,6 +42,9 @@
#include "gpx.h"
#include "ini.h"
#define A 0
#define B 1
// Machine definitions
// Axis - max_feedrate, home_feedrate, steps_per_mm, endstop;
@ -218,8 +221,8 @@ static void initialize_globals(void)
line_number = 1;
scale[0] = 0;
scale[1] = 0;
scale[A] = 0;
scale[B] = 0;
}
// STATE
@ -333,9 +336,9 @@ static int config_handler(void* user, const char* section, const char* name, con
else if(NAME_IS("motor_steps")) machine.a.motor_steps = strtod(value, NULL);
else if(NAME_IS("has_heated_build_platform")) machine.a.has_heated_build_platform = atoi(value);
// overrides
else if(NAME_IS("nozzle_temperature")) override[0].nozzle_temperature = atoi(value);
else if(NAME_IS("build_platform_temperature")) override[0].build_platform_temperature = atoi(value);
else if(NAME_IS("actual_filament_diameter")) override[0].actual_filament_diameter = strtod(value, NULL);
else if(NAME_IS("nozzle_temperature")) override[A].nozzle_temperature = atoi(value);
else if(NAME_IS("build_platform_temperature")) override[A].build_platform_temperature = atoi(value);
else if(NAME_IS("actual_filament_diameter")) override[A].actual_filament_diameter = strtod(value, NULL);
else return 0;
}
else if(SECTION_IS("b")) {
@ -344,9 +347,9 @@ static int config_handler(void* user, const char* section, const char* name, con
else if(NAME_IS("motor_steps")) machine.b.motor_steps = strtod(value, NULL);
else if(NAME_IS("has_heated_build_platform")) machine.b.has_heated_build_platform = atoi(value);
// overrides
else if(NAME_IS("nozzle_temperature")) override[1].nozzle_temperature = atoi(value);
else if(NAME_IS("build_platform_temperature")) override[1].build_platform_temperature = atoi(value);
else if(NAME_IS("actual_filament_diameter")) override[1].actual_filament_diameter = strtod(value, NULL);
else if(NAME_IS("nozzle_temperature")) override[B].nozzle_temperature = atoi(value);
else if(NAME_IS("build_platform_temperature")) override[B].build_platform_temperature = atoi(value);
else if(NAME_IS("actual_filament_diameter")) override[B].actual_filament_diameter = strtod(value, NULL);
else return 0;
}
else if(SECTION_IS("machine")) {
@ -428,12 +431,12 @@ static int get_longest_dda()
// calculate once
static int longestDDA = 0;
if(longestDDA == 0) {
longestDDA = (int)(60 * 1000 * 1000 / (machine.x.max_feedrate * machine.x.steps_per_mm));
longestDDA = (int)(60 * 1000000.0 / (machine.x.max_feedrate * machine.x.steps_per_mm));
int axisDDA = (int)(60 * 1000 * 1000 / (machine.y.max_feedrate * machine.y.steps_per_mm));
int axisDDA = (int)(60 * 1000000.0 / (machine.y.max_feedrate * machine.y.steps_per_mm));
if(longestDDA < axisDDA) longestDDA = axisDDA;
axisDDA = (int)(60 * 1000 * 1000 / (machine.z.max_feedrate * machine.z.steps_per_mm));
axisDDA = (int)(60 * 1000000.0 / (machine.z.max_feedrate * machine.z.steps_per_mm));
if(longestDDA < axisDDA) longestDDA = axisDDA;
}
return longestDDA;
@ -807,7 +810,63 @@ static void wait_for_build_platform(unsigned extruder_id, int timeout)
}
// 142 - Queue extended point, new style
void queue_new_point(unsigned milliseconds)
{
Point5d target = targetPosition;
// if we have a G4 dwell and either the a or b motor is on, 'simulate' a 5D extrusion distance
if(tool[A].motor_enabled && tool[A].rpm) {
double maxrpm = machine.a.max_feedrate * machine.a.steps_per_mm / machine.a.motor_steps;
double rpm = tool[A].rpm > maxrpm ? maxrpm : tool[A].rpm;
double minutes = milliseconds / 60000.0;
// minute * revolution/minute
double numRevolutions = minutes * (tool[A].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = machine.a.motor_steps * (1 / machine.a.steps_per_mm);
target.a = -(numRevolutions * mmPerRevolution);
command.flag |= A_IS_SET;
}
if(tool[B].motor_enabled && tool[B].rpm) {
double maxrpm = machine.b.max_feedrate * machine.b.steps_per_mm / machine.b.motor_steps;
double rpm = tool[B].rpm > maxrpm ? maxrpm : tool[B].rpm;
double minutes = milliseconds / 60000.0;
// minute * revolution/minute
double numRevolutions = minutes * (tool[B].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = machine.b.motor_steps * (1 / machine.b.steps_per_mm);
target.b = -(numRevolutions * mmPerRevolution);
command.flag |= B_IS_SET;
}
Point5d steps = mm_to_steps(&target, &excess);
if(write_8(142) == EOF) exit(1);
// int32: X coordinate, in steps
if(write_32((int)steps.x) == EOF) exit(1);
// int32: Y coordinate, in steps
if(write_32((int)steps.y) == EOF) exit(1);
// int32: Z coordinate, in steps
if(write_32((int)steps.z) == EOF) exit(1);
// int32: A coordinate, in steps
if(write_32((int)steps.a) == EOF) exit(1);
// int32: B coordinate, in steps
if(write_32((int)steps.b) == EOF) exit(1);
// uint32: Duration of the movement, in microseconds
if(write_32(milliseconds * 1000) == EOF) exit(1);
// uint8: Axes bitfield to specify which axes are relative. Any axis with a bit set should make a relative movement.
if(write_8(A_IS_SET|B_IS_SET) == EOF) exit(1);
}
// 143 - Store home positions
static void store_home_positions(void)
@ -1000,7 +1059,7 @@ static void end_build()
// IMPORTANT: this command updates the parser state
static void queue_point(double feedrate)
static void queue_ext_point(double feedrate)
{
Point5d deltaMM;
Point5d deltaSteps;
@ -1089,48 +1148,48 @@ static void queue_point(double feedrate)
//convert feedrate to mm/sec
feedrate /= 60.0;
// if either a or b is 0, but their motor is on, 'simulate' a 5D extrusion distance for them
if(deltaMM.a == 0.0) {
if(tool[0].motor_enabled && tool[0].rpm) {
// minute * revolution/minute
double numRevolutions = minutes * tool[0].rpm;
// steps/revolution * mm/steps
double mmPerRevolution = machine.a.motor_steps * (1 / machine.a.steps_per_mm);
// set distance
deltaMM.a = numRevolutions * mmPerRevolution;
deltaSteps.a = round(fabs(targetPosition.a - currentPosition.a) * machine.a.steps_per_mm);
target.a = -deltaMM.a;
}
// if either a or b is 0, but their motor is on, 'simulate' a 5D extrusion distance
if(deltaMM.a == 0.0 && tool[A].motor_enabled && tool[A].rpm) {
double maxrpm = machine.a.max_feedrate * machine.a.steps_per_mm / machine.a.motor_steps;
double rpm = tool[A].rpm > maxrpm ? maxrpm : tool[A].rpm;
// minute * revolution/minute
double numRevolutions = minutes * (tool[A].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = machine.a.motor_steps * (1 / machine.a.steps_per_mm);
// set distance
deltaMM.a = numRevolutions * mmPerRevolution;
deltaSteps.a = round(fabs(deltaMM.a) * machine.a.steps_per_mm);
target.a = -deltaMM.a;
}
else {
// disable RPM as soon as we begin 5D printing
tool[0].rpm = 0;
tool[A].rpm = 0;
}
if(deltaMM.b == 0.0) {
if(tool[1].motor_enabled && tool[1].rpm) {
// minute * revolution/minute
double numRevolutions = minutes * tool[1].rpm;
// steps/revolution * mm/steps
double mmPerRevolution = machine.b.motor_steps * (1 / machine.b.steps_per_mm);
// set distance
deltaMM.b = numRevolutions * mmPerRevolution;
deltaSteps.b = round(fabs(targetPosition.b - currentPosition.b) * machine.b.steps_per_mm);
target.b = -deltaMM.b;
}
if(deltaMM.b == 0.0 && tool[B].motor_enabled && tool[B].rpm) {
double maxrpm = machine.b.max_feedrate * machine.b.steps_per_mm / machine.b.motor_steps;
double rpm = tool[B].rpm > maxrpm ? maxrpm : tool[B].rpm;
// minute * revolution/minute
double numRevolutions = minutes * (tool[B].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = machine.b.motor_steps * (1 / machine.b.steps_per_mm);
// set distance
deltaMM.b = numRevolutions * mmPerRevolution;
deltaSteps.b = round(fabs(deltaMM.b) * machine.b.steps_per_mm);
target.b = -deltaMM.b;
}
else {
// disable RPM as soon as we begin 5D printing
tool[0].rpm = 0;
tool[B].rpm = 0;
}
Point5d steps = mm_to_steps(&target, &excess);
double usec = (60 * 1000 * 1000 * minutes);
double usec = (60000000.0 * minutes);
double dda_interval = usec / largest_axis(command.flag, &deltaSteps);
// Convert dda_interval into dda_rate (dda steps per second on the longest axis)
double dda_rate = 1000 * 1000 / dda_interval;
double dda_rate = 1000000.0 / dda_interval;
if(write_8(155) == EOF) exit(1);
@ -1305,15 +1364,6 @@ int main(int argc, char * argv[])
fprintf(stderr, "Command line error: cannot load custom machine definition '%s'" EOL, optarg);
usage();
}
// check if the filament diameter has been overridden
if(override[0].actual_filament_diameter > 0.0 || override[0].actual_filament_diameter > 0.0) {
if(override[0].actual_filament_diameter != machine.nominal_filament_diameter) {
}
if(override[1].actual_filament_diameter != machine.nominal_filament_diameter) {
}
}
break;
case 'm':
if(strcasecmp(optarg, "r1") == 0) {
@ -1378,14 +1428,14 @@ int main(int argc, char * argv[])
// CALCULATE FILAMENT SCALING
if(override[0].actual_filament_diameter
&& override[0].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(0);
if(override[A].actual_filament_diameter > 0.0001
&& override[A].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(A);
}
if(override[1].actual_filament_diameter
&& override[1].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(1);
if(override[B].actual_filament_diameter > 0.0001
&& override[B].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(B);
}
argc -= optind;
@ -1446,7 +1496,8 @@ int main(int argc, char * argv[])
while(fgets(buffer, 256, in) != NULL) {
// reset flag state
command.flag = 0;
char *digits, *p = buffer;
char *digits;
char *p = buffer; // current parser location
while(isspace(*p)) p++;
// check for line number
if(*p == 'n' || *p == 'N') {
@ -1454,9 +1505,11 @@ int main(int argc, char * argv[])
p = normalize_word(p);
if(*p == 0) {
fprintf(stderr, "(line %u) Syntax Error: line number command word 'N' is missing digits" EOL, line_number);
exit(1);
next_line = line_number + 1;
}
else {
next_line = line_number = atoi(digits);
}
next_line = line_number = atoi(digits);
}
else {
next_line = line_number + 1;
@ -1591,7 +1644,13 @@ int main(int argc, char * argv[])
}
else if(*p == '(') {
// Comment
char *e = strrchr(p + 1, ')');
char *s = strchr(p + 1, '(');
char *e = strchr(p + 1, ')');
// check for nested comment
if(s && e && s < e) {
fprintf(stderr, "(line %u) Syntax Warning: nested comment detected" EOL, line_number);
e = strrchr(p + 1, ')');
}
if(e) {
*e = 0;
command.comment = normalize_comment(p + 1);
@ -1608,12 +1667,14 @@ int main(int argc, char * argv[])
else if(*p == '*') {
// Checksum
*p = 0;
break;
}
else if(iscntrl(*p)) {
break;
}
else {
fprintf(stderr, "(line %u) Syntax Error: unrecognised gcode '%s'" EOL, line_number, p);
break;
}
}
@ -1718,8 +1779,8 @@ int main(int argc, char * argv[])
// SCALE FILAMENT INDEPENDENTLY
if(command.flag & A_IS_SET && override[0].filament_scale != 1.0) targetPosition.a *= override[0].filament_scale;
if(command.flag & B_IS_SET && override[1].filament_scale != 1.0) targetPosition.b *= override[1].filament_scale;
if(command.flag & A_IS_SET && override[A].filament_scale != 1.0) targetPosition.a *= override[A].filament_scale;
if(command.flag & B_IS_SET && override[B].filament_scale != 1.0) targetPosition.b *= override[B].filament_scale;
// INTERPRET COMMAND
@ -1730,7 +1791,7 @@ int main(int argc, char * argv[])
// G0 - Rapid Positioning
case 0:
if(command.flag & F_IS_SET) {
queue_point(currentFeedrate);
queue_ext_point(currentFeedrate);
currentPosition = targetPosition;
positionKnown = 1;
}
@ -1759,7 +1820,7 @@ int main(int argc, char * argv[])
if(feedrate == DBL_MAX) {
feedrate = machine.x.max_feedrate;
}
queue_point(feedrate);
queue_ext_point(feedrate);
currentPosition = targetPosition;
positionKnown = 1;
}
@ -1767,7 +1828,7 @@ int main(int argc, char * argv[])
// G1 - Coordinated Motion
case 1:
queue_point(currentFeedrate);
queue_ext_point(currentFeedrate);
currentPosition = targetPosition;
positionKnown = 1;
break;
@ -1779,7 +1840,7 @@ int main(int argc, char * argv[])
case 4:
if(command.flag & P_IS_SET) {
if(tool[currentExtruder].motor_enabled && tool[currentExtruder].rpm) {
queue_point(currentFeedrate);
queue_new_point(command.p);
}
else {
delay(command.p);
@ -1939,15 +2000,15 @@ int main(int argc, char * argv[])
fprintf(stderr, "(line %u) Semantic Warning: M6 cannot select non-existant extruder T%u" EOL, line_number, extruder_id);
extruder_id = currentExtruder;
}
if(tool[currentExtruder].nozzle_temperature > 0.0) {
if(tool[currentExtruder].nozzle_temperature > 0) {
wait_for_extruder(currentExtruder, timeout);
}
// if we have a HBP wait for that too
if(machine.a.has_heated_build_platform && tool[0].build_platform_temperature > 0.0) {
wait_for_build_platform(0, timeout);
if(machine.a.has_heated_build_platform && tool[A].build_platform_temperature > 0) {
wait_for_build_platform(A, timeout);
}
if(machine.b.has_heated_build_platform && tool[1].build_platform_temperature > 0.0) {
wait_for_build_platform(1, timeout);
if(machine.b.has_heated_build_platform && tool[B].build_platform_temperature > 0) {
wait_for_build_platform(B, timeout);
}
break;
}
@ -1956,13 +2017,13 @@ int main(int argc, char * argv[])
case 17:
if(command.flag & AXES_BIT_MASK) {
set_steppers(command.flag & AXES_BIT_MASK, 1);
if(command.flag & A_IS_SET) tool[0].motor_enabled = 1;
if(command.flag & B_IS_SET) tool[1].motor_enabled = 1;
if(command.flag & A_IS_SET) tool[A].motor_enabled = 1;
if(command.flag & B_IS_SET) tool[B].motor_enabled = 1;
}
else {
set_steppers(machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 1);
tool[0].motor_enabled = 1;
if(machine.extruder_count == 2) tool[1].motor_enabled = 1;
tool[A].motor_enabled = 1;
if(machine.extruder_count == 2) tool[B].motor_enabled = 1;
}
break;
@ -1970,13 +2031,13 @@ int main(int argc, char * argv[])
case 18:
if(command.flag & AXES_BIT_MASK) {
set_steppers(command.flag & AXES_BIT_MASK, 0);
if(command.flag & A_IS_SET) tool[0].motor_enabled = 0;
if(command.flag & B_IS_SET) tool[1].motor_enabled = 0;
if(command.flag & A_IS_SET) tool[A].motor_enabled = 0;
if(command.flag & B_IS_SET) tool[B].motor_enabled = 0;
}
else {
set_steppers(machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 0);
tool[0].motor_enabled = 0;
if(machine.extruder_count == 2) tool[1].motor_enabled = 0;
tool[A].motor_enabled = 0;
if(machine.extruder_count == 2) tool[B].motor_enabled = 0;
}
break;
@ -2061,9 +2122,7 @@ int main(int argc, char * argv[])
unsigned extruder_id = (unsigned)command.t;
if(extruder_id < machine.extruder_count) {
set_steppers(extruder_id == 0 ? A_IS_SET : B_IS_SET, 1);
tool[extruder_id].motor_enabled = 1;
// update the direction
tool[extruder_id].rpm = command.m == 101 ? fabs(tool[extruder_id].rpm) : -fabs(tool[extruder_id].rpm);
tool[extruder_id].motor_enabled = command.m == 101 ? 1 : -1;
}
else {
fprintf(stderr, "(line %u) Semantic Warning: M%u cannot select non-existant extruder T%u" EOL, line_number, command.m, extruder_id);
@ -2072,9 +2131,7 @@ int main(int argc, char * argv[])
}
else {
set_steppers(currentExtruder == 0 ? A_IS_SET : B_IS_SET, 1);
tool[currentExtruder].motor_enabled = 1;
// update the direction
tool[currentExtruder].rpm = command.m == 101 ? fabs(tool[currentExtruder].rpm) : -fabs(tool[currentExtruder].rpm);
tool[currentExtruder].motor_enabled = command.m == 101 ? 1 : -1;
}
break;
@ -2189,7 +2246,7 @@ int main(int argc, char * argv[])
case 140:
if(machine.a.has_heated_build_platform || machine.b.has_heated_build_platform) {
if(command.flag & S_IS_SET) {
unsigned extruder_id = machine.a.has_heated_build_platform ? 0 : 1;
unsigned extruder_id = machine.a.has_heated_build_platform ? A : B;
unsigned temperature = (unsigned)command.s;
if(temperature > 160) temperature = 160;
if(command.flag & T_IS_SET) {
@ -2314,8 +2371,8 @@ int main(int argc, char * argv[])
pause_at_z(targetPosition.z);
}
else {
fprintf(stderr, "(line %u) Syntax Warning: M322 is missing Z axes, assuming zero (0)" EOL, line_number);
pause_at_z(0.0);
fprintf(stderr, "(line %u) Syntax Warning: M322 is missing Z axes, assuming 0.0" EOL, line_number);
}
break;
@ -2343,7 +2400,7 @@ int main(int argc, char * argv[])
}
if(command.flag & AXES_BIT_MASK) {
command_line++;
queue_point(currentFeedrate);
queue_ext_point(currentFeedrate);
currentPosition = targetPosition;
positionKnown = 1;
}

2
lint.gcode
View File

@ -22,6 +22,8 @@
; PREFIX
(*(* THIS IS A NESTED COMMENT *)*)
M70 (M103 - extruder off)
M103 (turn extruder off)