mirror of https://github.com/vitalif/GPX
1687 lines
56 KiB
C
1687 lines
56 KiB
C
//
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// gpx.c
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//
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// Created by WHPThomas on 1/04/13.
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//
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// Copyright (c) 2013 WHPThomas.
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//
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// gpx references ReplicatorG sources from /src/replicatorg/drivers
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// which are part of the ReplicatorG project - http://www.replicat.org
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// Copyright (c) 2008 Zach Smith
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// and Makerbot4GSailfish.java Copyright (C) 2012 Jetty / Dan Newman
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software Foundation,
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// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#include <assert.h>
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#include <ctype.h>
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#include <errno.h>
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#include <float.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <strings.h>
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#include <unistd.h>
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#include "gpx.h"
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// Machine definitions
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// Axis - maxfeedrate, stepspermm, endstop
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// Extruder - maxfeedrate, stepspermm, motorsteps
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static Machine replicator_1 = {
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{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // x axis
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{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // y axis
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{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
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{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
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{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
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2, // tool count
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20, // timeout
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};
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static Machine replicator_2 = {
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
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{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
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{1600, 96.275201870333662468889989185642, 3200, 0}, // a extruder
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{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
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1, // tool count
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20, // timeout
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};
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static Machine replicator_2X = {
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
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{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
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{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
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{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
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2, // tool count
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20, // timeout
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};
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// The default machine definition is the Replicator 2
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Machine machine = {
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
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{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
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{1170, 400, ENDSTOP_IS_MIN}, // z axis
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{1600, 96.275201870333662468889989185642, 3200, 0}, // a extruder
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{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
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1, // tool count
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20, // timeout
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};
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// PRIVATE FUNCTION PROTOTYPES
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static double get_home_feedrate(int flag);
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// GLOBAL VARIABLES
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Command command; // command line
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Point5d currentPosition; // current point
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Point3d machineTarget; // machine target point
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Point5d workTarget; // work target point
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Point2d excess;
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int currentOffset; // current G10 offset
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Point3d offset[7]; // G10 offsets
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int currentTool;
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unsigned temperature[4];
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int isRelative;
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int positionKnown;
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int programState;
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unsigned line_number;
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static char buffer[256];
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FILE *in;
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FILE *out;
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static void on_exit(void)
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{
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// close open files
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if(in != stdin) {
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fclose(in);
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if(out != stdout) {
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if(ferror(out)) {
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perror("while writing to output file");
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}
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fclose(out);
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}
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}
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}
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static void initialize_globals(void)
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{
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int i;
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// we default to using pipes
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in = stdin;
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out = stdout;
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// register cleanup function
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atexit(on_exit);
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command.flag = 0;
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// initialize current position to zero
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currentPosition.x = 0.0;
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currentPosition.y = 0.0;
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currentPosition.z = 0.0;
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currentPosition.a = 0.0;
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currentPosition.b = 0.0;
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command.e = 0.0;
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command.f = get_home_feedrate(XYZ_BIT_MASK);
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command.l = 0.0;
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command.p = 0.0;
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command.q = 0.0;
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command.r = 0.0;
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command.s = 0.0;
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command.comment = "";
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excess.a = 0.0;
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excess.b = 0.0;
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currentOffset = 0;
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for(i = 0; i < 7; i++) {
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offset[i].x = 0.0;
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offset[i].y = 0.0;
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offset[i].z = 0.0;
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}
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currentTool = 0;
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for(i = 0; i < 4; i++) {
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temperature[i] = 0;
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}
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isRelative = 0;
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positionKnown = 0;
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programState = 0;
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line_number = 1;
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}
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// STATE
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#define start_program() programState = RUNNING_STATE
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#define end_program() programState = ENDED_STATE
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#define program_is_ready() programState < RUNNING_STATE
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#define program_is_running() programState < ENDED_STATE
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// PRIVATE FUNCTIONS
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#define write_8(VALUE) fputc(VALUE, out)
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static int write_16(unsigned short value)
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{
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union {
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unsigned short s;
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unsigned char b[2];
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} u;
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u.s = value;
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if(fputc(u.b[0], out) == EOF) return EOF;
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if(fputc(u.b[1], out) == EOF) return EOF;
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return 0;
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}
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static int write_32(unsigned int value)
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{
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union {
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unsigned int i;
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unsigned char b[4];
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} u;
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u.i = value;
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if(fputc(u.b[0], out) == EOF) return EOF;
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if(fputc(u.b[1], out) == EOF) return EOF;
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if(fputc(u.b[2], out) == EOF) return EOF;
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if(fputc(u.b[3], out) == EOF) return EOF;
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return 0;
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}
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static int write_float(float value) {
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union {
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float f;
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unsigned char b[4];
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} u;
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u.f = value;
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if(fputc(u.b[0], out) == EOF) return EOF;
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if(fputc(u.b[1], out) == EOF) return EOF;
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if(fputc(u.b[2], out) == EOF) return EOF;
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if(fputc(u.b[3], out) == EOF) return EOF;
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return 0;
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}
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static double magnitude(int flag, Ptr5d vector)
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{
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double acc = 0.0;
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if(flag & X_IS_SET) {
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acc = vector->x * vector->x;
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}
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if(flag & Y_IS_SET) {
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acc += vector->y * vector->y;
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}
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if(flag & Z_IS_SET) {
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acc += vector->z * vector->z;
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}
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if(flag & A_IS_SET) {
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acc += vector->a * vector->a;
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}
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if(flag & B_IS_SET) {
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acc += vector->b * vector->b;
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}
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return sqrt(acc);
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}
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static double get_max_feedrate(int flag)
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{
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double feedrate;
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if(flag & F_IS_SET) {
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feedrate = command.f;
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}
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else {
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feedrate = 0.0;
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if(flag & X_IS_SET && feedrate < machine.x.max_feedrate) {
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feedrate = machine.x.home_feedrate;
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}
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if(flag & Y_IS_SET && feedrate < machine.y.max_feedrate) {
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feedrate = machine.y.home_feedrate;
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}
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if(flag & Z_IS_SET && feedrate < machine.z.max_feedrate) {
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feedrate = machine.z.home_feedrate;
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}
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}
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return feedrate;
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}
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static double get_home_feedrate(int flag) {
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double feedrate;
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if(flag & F_IS_SET) {
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feedrate = command.f;
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}
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else {
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feedrate = 0.0;
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if(flag & X_IS_SET && feedrate < machine.x.home_feedrate) {
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feedrate = machine.x.home_feedrate;
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}
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if(flag & Y_IS_SET && feedrate < machine.y.home_feedrate) {
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feedrate = machine.y.home_feedrate;
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}
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if(flag & Z_IS_SET && feedrate < machine.z.home_feedrate) {
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feedrate = machine.z.home_feedrate;
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}
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}
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return feedrate;
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}
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static Point5d mm_to_steps(Ptr5d mm, Ptr2d excess)
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{
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Point5d result;
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result.x = round(mm->x * machine.x.steps_per_mm);
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result.y = round(mm->y * machine.y.steps_per_mm);
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result.z = round(mm->z * machine.z.steps_per_mm);
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if(excess) {
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result.a = round((mm->a * machine.a.steps_per_mm) + excess->a);
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result.b = round((mm->b * machine.b.steps_per_mm) + excess->b);
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}
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else {
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result.a = round(mm->a * machine.a.steps_per_mm);
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result.b = round(mm->b * machine.b.steps_per_mm);
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}
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return result;
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}
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static unsigned feedrate_to_microseconds(int flag, Ptr5d origin, Ptr5d vector, double feedrate) {
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Point5d deltaMM;
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Point5d deltaSteps;
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double longestStep = 0.0;
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// feedrate is in mm/min
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if(flag & X_IS_SET) {
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deltaMM.x = fabs(vector->x - origin->x);
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deltaSteps.x = deltaMM.x * machine.x.steps_per_mm;
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longestStep = deltaSteps.x;
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}
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if(flag & Y_IS_SET) {
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deltaMM.y = fabs(vector->y - origin->y);
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deltaSteps.y = deltaMM.y * machine.y.steps_per_mm;
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if(longestStep < deltaSteps.y) {
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longestStep = deltaSteps.y;
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}
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}
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if(flag & Z_IS_SET) {
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deltaMM.z = fabs(vector->z - origin->z);
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deltaSteps.z = deltaMM.z * machine.z.steps_per_mm;
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if(longestStep < deltaSteps.z) {
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longestStep = deltaSteps.z;
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}
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}
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if(flag & A_IS_SET) {
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deltaMM.a = fabs(vector->a - origin->a);
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deltaSteps.a = deltaMM.a * machine.a.steps_per_mm;
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if(longestStep < deltaSteps.a) {
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longestStep = deltaSteps.a;
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}
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}
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if(flag & B_IS_SET) {
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deltaMM.b = fabs(vector->b - origin->b);
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deltaSteps.b = deltaMM.b * machine.b.steps_per_mm;
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if(longestStep < deltaSteps.b) {
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longestStep = deltaSteps.b;
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}
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}
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// distance is in mm
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double distance = magnitude(flag, &deltaMM);
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// move duration in microseconds = distance / feedrate * 60,000,000
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double microseconds = distance / feedrate * 60000000.0;
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// time between steps for longest axis = microseconds / longestStep
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double step_delay = microseconds / longestStep;
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return (unsigned)round(step_delay);
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}
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// X3G COMMANDS
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// 131 - Find axes minimums
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// 132 - Find axes maximums
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static void home_axes(unsigned direction)
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{
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Point3d origin, vector;
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int xyz_flag = command.flag & XYZ_BIT_MASK;
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double feedrate = get_home_feedrate(command.flag);
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assert(direction <= 1);
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// compute the slowest feedrate
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if(xyz_flag & X_IS_SET) {
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if(machine.x.home_feedrate < feedrate) {
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feedrate = machine.x.home_feedrate;
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}
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origin.x = 0;
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vector.x = 1;
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// confirm machine compatibility
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if(direction != machine.x.endstop) {
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fprintf(stderr, "(line %u) Semantic Warning: X axis homing to %s endstop", line_number, direction ? "maximum" : "minimum");
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}
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}
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if(xyz_flag & Y_IS_SET) {
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if(machine.y.home_feedrate < feedrate) {
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feedrate = machine.y.home_feedrate;
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}
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origin.y = 0;
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vector.y = 1;
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if(direction != machine.y.endstop) {
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fprintf(stderr, "(line %u) Semantic Warning: Y axis homing to %s endstop", line_number, direction ? "maximum" : "minimum");
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}
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}
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if(xyz_flag & Z_IS_SET) {
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if(machine.z.home_feedrate < feedrate) {
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feedrate = machine.z.home_feedrate;
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}
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origin.z = 0;
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vector.z = 1;
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if(direction != machine.z.endstop) {
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fprintf(stderr, "(line %u) Semantic Warning: Z axis homing to %s endstop", line_number, direction ? "maximum" : "minimum");
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}
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}
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unsigned microseconds = feedrate_to_microseconds(xyz_flag, (Ptr5d)&origin, (Ptr5d)&vector, feedrate);
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if(write_8(direction == ENDSTOP_IS_MIN ? 131 :132) == EOF) exit(1);
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// uint8: Axes bitfield. Axes whose bits are set will be moved.
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if(write_8(xyz_flag) == EOF) exit(1);
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// uint32: Feedrate, in microseconds between steps on the max delta. (DDA)
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if(write_32(microseconds) == EOF) exit(1);
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// uint16: Timeout, in seconds.
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if(write_16(machine.timeout) == EOF) exit(1);
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}
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// 133 - delay
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static void delay(unsigned milliseconds)
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{
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if(write_8(133) == EOF) exit(1);
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// uint32: delay, in milliseconds
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if(write_32(milliseconds) == EOF) exit(1);
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}
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// 134 - Change Tool
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static void change_tool(unsigned tool_id)
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{
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assert(tool_id < machine.tool_count);
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if(write_8(134) == EOF) exit(1);
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// uint8: Tool ID of the tool to switch to
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if(write_8(tool_id) == EOF) exit(1);
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}
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// 135 - Wait for tool ready
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static void wait_for_tool(unsigned tool_id, unsigned timeout)
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{
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assert(tool_id < machine.tool_count);
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if(write_8(135) == EOF) exit(1);
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// uint8: Tool ID of the tool to wait for
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if(write_8(tool_id) == EOF) exit(1);
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// uint16: delay between query packets sent to the tool, in ms (nominally 100 ms)
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if(write_16(100) == EOF) exit(1);
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// uint16: Timeout before continuing without tool ready, in seconds (nominally 1 minute)
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if(write_16(timeout) == EOF) exit(1);
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}
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// 136 - Tool action command
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static void set_extruder_temperature(unsigned tool_id, unsigned temperature)
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{
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assert(tool_id < machine.tool_count);
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if(write_8(136) == EOF) exit(1);
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// uint8: Tool ID of the tool to query
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if(write_8(tool_id) == EOF) exit(1);
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// uint8: Action command to send to the tool
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if(write_8(3) == EOF) exit(1);
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// uint8: Length of the tool command payload (N)
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if(write_8(2) == EOF) exit(1);
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// int16: Desired target temperature, in Celsius
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if(write_16(temperature) == EOF) exit(1);
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}
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static void set_fan(unsigned tool_id, unsigned state)
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{
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assert(tool_id < machine.tool_count);
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if(write_8(136) == EOF) exit(1);
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// uint8: Tool ID of the tool to query
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if(write_8(tool_id) == EOF) exit(1);
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// uint8: Action command to send to the tool
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if(write_8(12) == EOF) exit(1);
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// uint8: Length of the tool command payload (N)
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if(write_8(1) == EOF) exit(1);
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// uint8: 1 to enable, 0 to disable
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if(write_8(state) == EOF) exit(1);
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}
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static void set_valve(unsigned tool_id, unsigned state)
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{
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assert(tool_id < machine.tool_count);
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if(write_8(136) == EOF) exit(1);
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// uint8: Tool ID of the tool to query
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if(write_8(tool_id) == EOF) exit(1);
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// uint8: Action command to send to the tool
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if(write_8(13) == EOF) exit(1);
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// uint8: Length of the tool command payload (N)
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if(write_8(1) == EOF) exit(1);
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// uint8: 1 to enable, 0 to disable
|
|
if(write_8(state) == EOF) exit(1);
|
|
}
|
|
|
|
static void set_build_platform_temperature(unsigned tool_id, unsigned temperature)
|
|
{
|
|
assert(tool_id < machine.tool_count);
|
|
if(write_8(136) == EOF) exit(1);
|
|
|
|
// uint8: Tool ID of the tool to query
|
|
if(write_8(tool_id) == EOF) exit(1);
|
|
|
|
// uint8: Action command to send to the tool
|
|
if(write_8(31) == EOF) exit(1);
|
|
|
|
// uint8: Length of the tool command payload (N)
|
|
if(write_8(2) == EOF) exit(1);
|
|
|
|
// int16: Desired target temperature, in Celsius
|
|
if(write_16(temperature) == EOF) exit(1);
|
|
}
|
|
|
|
// 137 - Enable/disable axes
|
|
|
|
static void set_steppers(unsigned axes, unsigned state)
|
|
{
|
|
unsigned bitfield = axes & AXES_BIT_MASK;
|
|
if(state) {
|
|
bitfield |= 0x80;
|
|
}
|
|
if(write_8(137) == EOF) exit(1);
|
|
|
|
// uint8: Bitfield codifying the command (see below)
|
|
if(write_8(bitfield) == EOF) exit(1);
|
|
}
|
|
|
|
// 139 - Queue extended point
|
|
|
|
// 140 - Set extended position
|
|
|
|
static void set_position()
|
|
{
|
|
Point5d steps = mm_to_steps(&workTarget, &excess);
|
|
if(write_8(140) == EOF) exit(1);
|
|
|
|
// int32: X position, in steps
|
|
if(write_32((int)steps.x) == EOF) exit(1);
|
|
|
|
// int32: Y position, in steps
|
|
if(write_32((int)steps.y) == EOF) exit(1);
|
|
|
|
// int32: Z position, in steps
|
|
if(write_32((int)steps.z) == EOF) exit(1);
|
|
|
|
// int32: A position, in steps
|
|
if(write_32((int)steps.a) == EOF) exit(1);
|
|
|
|
// int32: B position, in steps
|
|
if(write_32((int)steps.b) == EOF) exit(1);
|
|
}
|
|
|
|
// 141 - Wait for platform ready
|
|
|
|
static void wait_for_platform(unsigned tool_id, int timeout)
|
|
{
|
|
assert(tool_id < machine.tool_count);
|
|
if(write_8(141) == EOF) exit(1);
|
|
|
|
// uint8: Tool ID of the tool to wait for
|
|
if(write_8(tool_id) == EOF) exit(1);
|
|
|
|
// uint16: delay between query packets sent to the tool, in ms (nominally 100 ms)
|
|
if(write_16(100) == EOF) exit(1);
|
|
|
|
// uint16: Timeout before continuing without tool ready, in seconds (nominally 1 minute)
|
|
if(write_16(timeout) == EOF) exit(1);
|
|
}
|
|
|
|
// 142 - Queue extended point, new style
|
|
|
|
// 143 - Store home positions
|
|
|
|
static void store_home_positions(void)
|
|
{
|
|
if(write_8(143) == EOF) exit(1);
|
|
|
|
// uint8: Axes bitfield to specify which axes' positions to store.
|
|
// Any axis with a bit set should have its position stored.
|
|
if(write_8(command.flag & AXES_BIT_MASK) == EOF) exit(1);
|
|
}
|
|
|
|
// 144 - Recall home positions
|
|
|
|
static void recall_home_positions(void)
|
|
{
|
|
if(write_8(144) == EOF) exit(1);
|
|
|
|
// uint8: Axes bitfield to specify which axes' positions to recall.
|
|
// Any axis with a bit set should have its position recalled.
|
|
if(write_8(command.flag & AXES_BIT_MASK) == EOF) exit(1);
|
|
}
|
|
|
|
// 145 - Set digital potentiometer value
|
|
|
|
static void set_pot_value(unsigned axis, unsigned value)
|
|
{
|
|
assert(axis <= 4);
|
|
assert(value <= 127);
|
|
if(write_8(145) == EOF) exit(1);
|
|
|
|
// uint8: axis value (valid range 0-4) which axis pot to set
|
|
if(write_8(axis) == EOF) exit(1);
|
|
|
|
// uint8: value (valid range 0-127), values over max will be capped at max
|
|
if(write_8(value) == EOF) exit(1);
|
|
}
|
|
|
|
// 146 - Set RGB LED value
|
|
|
|
// 147 - Set Beep
|
|
|
|
// 148 - Pause for button
|
|
|
|
// 149 - Display message to LCD
|
|
|
|
void display_message(char *message, unsigned timeout, int wait_for_button)
|
|
{
|
|
long bytesSent = 0;
|
|
unsigned bitfield = 0;
|
|
unsigned seconds = 0;
|
|
unsigned hPos = command.flag & Q_IS_SET ? (unsigned)command.q : 0;
|
|
unsigned vPos = command.flag & L_IS_SET ? (unsigned)command.l : 0;
|
|
long length = strlen(message);
|
|
if(hPos > 19) hPos = 19;
|
|
if(vPos > 3) vPos = 3;
|
|
|
|
while(bytesSent < length) {
|
|
if(bytesSent + 20 > length) {
|
|
seconds = timeout;
|
|
bitfield |= 0x02; // last message in group
|
|
if(wait_for_button) {
|
|
bitfield |= 0x04;
|
|
}
|
|
}
|
|
if(bytesSent > 0) {
|
|
bitfield |= 0x01; //do not clear flag
|
|
}
|
|
|
|
if(write_8(149) == EOF) exit(1);
|
|
|
|
// uint8: Options bitfield (see below)
|
|
if(write_8(bitfield) == EOF) exit(1);
|
|
// uint8: Horizontal position to display the message at (commonly 0-19)
|
|
if(write_8(hPos) == EOF) exit(1);
|
|
// uint8: Vertical position to display the message at (commonly 0-3)
|
|
if(write_8(vPos) == EOF) exit(1);
|
|
// uint8: Timeout, in seconds. If 0, this message will left on the screen
|
|
if(write_8(timeout) == EOF) exit(1);
|
|
// 1+N bytes: Message to write to the screen, in ASCII, terminated with a null character.
|
|
bytesSent += fwrite(message + bytesSent, 1, length > 20 ? 20 : length, out);
|
|
if(write_8('\0') == EOF) exit(1);
|
|
}
|
|
}
|
|
|
|
// 150 - Set Build Percentage
|
|
|
|
static void set_build_percent(unsigned percent)
|
|
{
|
|
if(percent > 100) percent = 100;
|
|
|
|
if(write_8(150) == EOF) exit(1);
|
|
|
|
// uint8: percent (0-100)
|
|
if(write_8(percent) == EOF) exit(1);
|
|
|
|
// uint8: 0 (reserved for future use) (reserved for future use)
|
|
if(write_8(0) == EOF) exit(1);
|
|
}
|
|
|
|
// 151 - Queue Song
|
|
|
|
// song ID 0: error tone with 4 cycles
|
|
// song ID 1: done tone
|
|
// song ID 2: error tone with 2 cycles
|
|
|
|
static void queue_song(unsigned song_id)
|
|
{
|
|
assert(song_id <= 2);
|
|
if(write_8(151) == EOF) exit(1);
|
|
|
|
// uint8: songID: select from a predefined list of songs
|
|
if(write_8(song_id) == EOF) exit(1);
|
|
}
|
|
|
|
// 152 - Restore to factory settings
|
|
|
|
// 153 - Build start notification
|
|
|
|
static void start_build()
|
|
{
|
|
char name_of_build[] = "GPX";
|
|
|
|
if(write_8(153) == EOF) exit(1);
|
|
|
|
// uint32: 0 (reserved for future use)
|
|
if(write_32(0) == EOF) exit(1);
|
|
|
|
// 1+N bytes: Name of the build, in ASCII, null terminated
|
|
fwrite(name_of_build, 1, 4, out);
|
|
}
|
|
|
|
// 154 - Build end notification
|
|
|
|
static void end_build()
|
|
{
|
|
if(write_8(154) == EOF) exit(1);
|
|
|
|
// uint8: 0 (reserved for future use)
|
|
if(write_8(0) == EOF) exit(1);
|
|
}
|
|
|
|
// 155 - Queue extended point x3g
|
|
|
|
static void queue_point(double feedrate)
|
|
{
|
|
// int32: X coordinate, in steps
|
|
// int32: Y coordinate, in steps
|
|
// int32: Z coordinate, in steps
|
|
// int32: A coordinate, in steps
|
|
// int32: B coordinate, in steps
|
|
// uint32: DDA Feedrate, in steps/s
|
|
// uint8: Axes bitfield to specify which axes are relative. Any axis with a bit set should make a relative movement.
|
|
// float (single precision, 32 bit): mm distance for this move. normal of XYZ if any of these axes are active, and AB for extruder only moves
|
|
// uint16: feedrate in mm/s, multiplied by 64 to assist fixed point calculation on the bot
|
|
}
|
|
|
|
// 156 - Set segment acceleration
|
|
|
|
static void set_acceleration(int state)
|
|
{
|
|
if(write_8(156) == EOF) exit(1);
|
|
|
|
// uint8: 1 to enable, 0 to disable
|
|
if(write_8(state) == EOF) exit(1);
|
|
}
|
|
|
|
|
|
// 157 - Stream Version
|
|
|
|
// return the length of the given file in bytes
|
|
|
|
static long get_filesize(FILE *file)
|
|
{
|
|
long filesize = -1;
|
|
fseek(file, 0L, SEEK_END);
|
|
filesize = ftell(file);
|
|
fseek(file, 0L, SEEK_SET);
|
|
return filesize;
|
|
}
|
|
|
|
static char *normalize_word(char* p)
|
|
{
|
|
// we expect a letter followed by a digit
|
|
// [ a-zA-Z] [ +-]? [ 0-9]+ ('.' [ 0-9]*)?
|
|
char *s = p + 1;
|
|
char *e = p;
|
|
while(isspace(*s)) s++;
|
|
if(*s == '+' || *s == '-') {
|
|
*e++ = *s++;
|
|
}
|
|
while(1) {
|
|
// skip spaces
|
|
if(isspace(*s)) {
|
|
s++;
|
|
}
|
|
// append digits
|
|
else if(isdigit(*s)) {
|
|
*e++ = *s++;
|
|
}
|
|
else {
|
|
break;
|
|
}
|
|
}
|
|
if(*s == '.') {
|
|
*e++ = *s++;
|
|
while(1) {
|
|
// skip spaces
|
|
if(isspace(*s)) {
|
|
s++;
|
|
}
|
|
// append digits
|
|
else if(isdigit(*s)) {
|
|
*e++ = *s++;
|
|
}
|
|
else {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
*e = 0;
|
|
return s;
|
|
}
|
|
|
|
static char *normalize_comment(char *p) {
|
|
// strip white space from the end of comment
|
|
char *e = p + strlen(p);
|
|
while (e > p && isspace((unsigned char)(*--e))) *e = '\0';
|
|
// strip white space from the beginning of comment.
|
|
while(isspace(*p)) p++;
|
|
return p;
|
|
}
|
|
|
|
static void usage()
|
|
{
|
|
puts("Usage: gpx [-m <MACHINE> | -c <CONFIG>] INPUT [OUTPUT]");
|
|
puts("\nMACHINE is the predefined machine type");
|
|
puts("\n\t r|r1 = Replicator 1");
|
|
puts("\tr2 = Replicator 2 (default)");
|
|
puts("\tr2x = Replicator 2X");
|
|
puts("\nCONFIG is the filename of a custom machine definition (ini)");
|
|
puts("\nINPUT is the name of the sliced gcode input filename");
|
|
puts("\nOUTPUT is the name of the x3g output filename");
|
|
puts("\nCopyright (c) 2013 WHPThomas, All rights reserved.");
|
|
|
|
exit(1);
|
|
}
|
|
|
|
int main(int argc, char * argv[])
|
|
{
|
|
long filesize = 0;
|
|
unsigned progress = 0;
|
|
int c, i;
|
|
|
|
initialize_globals();
|
|
|
|
// READ COMMAND LINE
|
|
|
|
// get the command line options
|
|
while ((c = getopt(argc, argv, "om:c:")) != -1) {
|
|
switch (c) {
|
|
case 'm':
|
|
if(strcasecmp(optarg, "r") == 0
|
|
|| strcasecmp(optarg, "r1") == 0) {
|
|
machine = replicator_1;
|
|
}
|
|
else if(strcasecmp(optarg, "r2") == 0) {
|
|
machine = replicator_2;
|
|
}
|
|
else if(strcasecmp(optarg, "r2x") == 0) {
|
|
machine = replicator_2X;
|
|
}
|
|
else {
|
|
usage();
|
|
}
|
|
break;
|
|
case 'c':
|
|
/*
|
|
TODO
|
|
if(!get_custom_definition(&machine, optarg)) {
|
|
usage();
|
|
};
|
|
break;
|
|
*/
|
|
case '?':
|
|
default:
|
|
usage();
|
|
}
|
|
}
|
|
argc -= optind;
|
|
argv += optind;
|
|
|
|
// OPEN FILES FOR INPUT AND OUTPUT
|
|
|
|
// open the input filename if one is provided
|
|
if(argc > 0) {
|
|
char *filename = argv[0];
|
|
if((in = fopen(filename, "rw")) == NULL) {
|
|
perror("Error opening input");
|
|
exit(1);
|
|
}
|
|
filesize = get_filesize(in);
|
|
argc--;
|
|
argv++;
|
|
// use the output filename if one is provided
|
|
if(argc > 0) {
|
|
filename = argv[0];
|
|
}
|
|
else {
|
|
// or use the input filename with a .x3g extension
|
|
char *dot = strrchr(filename, '.');
|
|
if(dot) {
|
|
long l = dot - filename;
|
|
memcpy(buffer, filename, l);
|
|
filename = buffer + l;
|
|
}
|
|
// or just append one if no .gcode extension is present
|
|
else {
|
|
filename = stpncpy(buffer, filename, 256 - 5);
|
|
}
|
|
*filename++ = '.';
|
|
*filename++ = 'x';
|
|
*filename++ = '3';
|
|
*filename++ = 'g';
|
|
*filename++ = '\0';
|
|
filename = buffer;
|
|
}
|
|
if((out = fopen(filename, "wb")) == NULL) {
|
|
perror("Error creating output");
|
|
out = stdout;
|
|
exit(1);
|
|
}
|
|
}
|
|
|
|
// READ INPUT AND CONVERT TO OUTPUT
|
|
|
|
// at this point we have read the command line, set the machine definition
|
|
// and both the input and output files are open, so its time to parse the
|
|
// gcode input and convert it to x3g output
|
|
while(fgets(buffer, 256, in) != NULL) {
|
|
// reset flag state
|
|
command.flag = 0;
|
|
char *digits, *p = buffer;
|
|
while(isspace(*p)) p++;
|
|
// check for line number
|
|
if(*p == 'n' || *p == 'N') {
|
|
digits = p;
|
|
p = normalize_word(p);
|
|
if(*p == 0) {
|
|
fprintf(stderr, "(line %u) Syntax Error: line number command word 'N' is missing digits", line_number);
|
|
exit(1);
|
|
}
|
|
line_number = atoi(digits);
|
|
}
|
|
else {
|
|
line_number++;
|
|
}
|
|
// parse command words in command line
|
|
while(*p != 0) {
|
|
if(isalpha(*p)) {
|
|
int c = *p;
|
|
digits = p;
|
|
p = normalize_word(p);
|
|
switch(c) {
|
|
|
|
// PARAMETERS
|
|
|
|
// Xnnn X coordinate, usually to move to
|
|
case 'x':
|
|
case 'X':
|
|
command.x = strtod(digits, NULL);
|
|
command.flag |= X_IS_SET;
|
|
break;
|
|
|
|
// Ynnn Y coordinate, usually to move to
|
|
case 'y':
|
|
case 'Y':
|
|
command.y = strtod(digits, NULL);
|
|
command.flag |= Y_IS_SET;
|
|
break;
|
|
|
|
// Znnn Z coordinate, usually to move to
|
|
case 'z':
|
|
case 'Z':
|
|
command.z = strtod(digits, NULL);
|
|
command.flag |= Z_IS_SET;
|
|
break;
|
|
|
|
// Annn Length of extrudate in mm.
|
|
case 'a':
|
|
case 'A':
|
|
command.a = strtod(digits, NULL);
|
|
command.flag |= A_IS_SET;
|
|
break;
|
|
|
|
// Bnnn Length of extrudate in mm.
|
|
case 'b':
|
|
case 'B':
|
|
command.b = strtod(digits, NULL);
|
|
command.flag |= B_IS_SET;
|
|
break;
|
|
|
|
// Ennn Length of extrudate in mm.
|
|
case 'e':
|
|
case 'E':
|
|
command.e = strtod(digits, NULL);
|
|
command.flag |= E_IS_SET;
|
|
break;
|
|
|
|
// Fnnn Feedrate in mm per minute.
|
|
case 'f':
|
|
case 'F':
|
|
command.f = strtod(digits, NULL);
|
|
command.flag |= F_IS_SET;
|
|
break;
|
|
|
|
// Lnnn Parameter - not currently used
|
|
case 'l':
|
|
case 'L':
|
|
command.l = strtod(digits, NULL);
|
|
command.flag |= L_IS_SET;
|
|
break;
|
|
|
|
// Pnnn Command parameter, such as a time in milliseconds
|
|
case 'p':
|
|
case 'P':
|
|
command.p = strtod(digits, NULL);
|
|
command.flag |= P_IS_SET;
|
|
break;
|
|
|
|
// Qnnn Parameter - not currently used
|
|
case 'q':
|
|
case 'Q':
|
|
command.q = strtod(digits, NULL);
|
|
command.flag |= Q_IS_SET;
|
|
break;
|
|
|
|
// Rnnn Command Parameter, such as RPM
|
|
case 'r':
|
|
case 'R':
|
|
command.r = strtod(digits, NULL);
|
|
command.flag |= R_IS_SET;
|
|
break;
|
|
|
|
// Snnn Command parameter, such as temperature
|
|
case 's':
|
|
case 'S':
|
|
command.s = strtod(digits, NULL);
|
|
command.flag |= S_IS_SET;
|
|
break;
|
|
|
|
// COMMANDS
|
|
|
|
// Gnnn GCode command, such as move to a point
|
|
case 'g':
|
|
case 'G':
|
|
command.g = atoi(digits);
|
|
command.flag |= G_IS_SET;
|
|
break;
|
|
// Mnnn RepRap-defined command
|
|
case 'm':
|
|
case 'M':
|
|
command.m = atoi(digits);
|
|
command.flag |= M_IS_SET;
|
|
break;
|
|
// Tnnn Select tool nnn. In RepRap, tools are extruders
|
|
case 't':
|
|
case 'T':
|
|
command.t = atoi(digits);
|
|
command.flag |= T_IS_SET;
|
|
break;
|
|
|
|
default:
|
|
fprintf(stderr, "(line %u) Syntax Warning: unrecognised command word '%c'", line_number, c);
|
|
}
|
|
}
|
|
else if(*p == ';') {
|
|
// Comment
|
|
command.comment = normalize_comment(p + 1);
|
|
command.flag |= COMMENT_IS_SET;
|
|
*p = 0;
|
|
}
|
|
else if(*p == '(') {
|
|
// Comment
|
|
char *e = strchr(p + 1, ')');
|
|
if(e) {
|
|
*e = 0;
|
|
command.comment = normalize_comment(p + 1);
|
|
command.flag |= COMMENT_IS_SET;
|
|
p = e + 1;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Warning: comment is missing closing ')'", line_number);
|
|
command.comment = normalize_comment(p + 1);
|
|
command.flag |= COMMENT_IS_SET;
|
|
*p = 0;
|
|
}
|
|
}
|
|
else if(*p == '*') {
|
|
// Checksum
|
|
*p = 0;
|
|
}
|
|
}
|
|
|
|
// CALCULATE TARGET POINT
|
|
|
|
// x
|
|
if(command.flag & X_IS_SET) {
|
|
machineTarget.x = isRelative ? (currentPosition.x + command.x) : command.x;
|
|
}
|
|
else {
|
|
machineTarget.x = currentPosition.x;
|
|
}
|
|
|
|
// y
|
|
if(command.flag & Y_IS_SET) {
|
|
machineTarget.y = isRelative ? (currentPosition.y + command.y) : command.y;
|
|
}
|
|
else {
|
|
machineTarget.y = currentPosition.y;
|
|
}
|
|
|
|
// z
|
|
if(command.flag & Z_IS_SET) {
|
|
machineTarget.z = isRelative ? (currentPosition.z + command.z) : command.z;
|
|
}
|
|
else {
|
|
machineTarget.z = currentPosition.z;
|
|
}
|
|
|
|
if(command.flag & E_IS_SET) {
|
|
if(currentTool == 0) {
|
|
// a = e
|
|
workTarget.a = isRelative ? (currentPosition.a + command.e) : command.e;
|
|
|
|
// b
|
|
if(command.flag & B_IS_SET) {
|
|
workTarget.b = isRelative ? (currentPosition.b + command.b) : command.b;
|
|
}
|
|
else {
|
|
workTarget.b = currentPosition.b;
|
|
}
|
|
}
|
|
else {
|
|
// a
|
|
if(command.flag & A_IS_SET) {
|
|
workTarget.a = isRelative ? (currentPosition.a + command.a) : command.a;
|
|
}
|
|
else {
|
|
workTarget.a = currentPosition.a;
|
|
}
|
|
|
|
// b = e
|
|
workTarget.b = isRelative ? (currentPosition.b + command.e) : command.e;
|
|
}
|
|
}
|
|
else {
|
|
// a
|
|
if(command.flag & A_IS_SET) {
|
|
workTarget.a = isRelative ? (currentPosition.a + command.a) : command.a;
|
|
}
|
|
else {
|
|
workTarget.a = currentPosition.a;
|
|
}
|
|
// b
|
|
if(command.flag & B_IS_SET) {
|
|
workTarget.b = isRelative ? (currentPosition.b + command.b) : command.b;
|
|
}
|
|
else {
|
|
workTarget.b = currentPosition.b;
|
|
}
|
|
}
|
|
|
|
// CALCULATE OFFSET
|
|
|
|
workTarget.x = machineTarget.x + offset[currentOffset].x;
|
|
workTarget.y = machineTarget.y + offset[currentOffset].y;
|
|
workTarget.z = machineTarget.z + offset[currentOffset].z;
|
|
|
|
// INTERPRET COMMAND
|
|
|
|
if(command.flag & G_IS_SET) {
|
|
switch(command.g) {
|
|
// G0 - Rapid Positioning
|
|
case 0:
|
|
if(command.flag & F_IS_SET) {
|
|
queue_point(command.f);
|
|
}
|
|
else {
|
|
Point3d delta;
|
|
if(command.flag & X_IS_SET) delta.x = fabs(workTarget.x - currentPosition.x);
|
|
if(command.flag & Y_IS_SET) delta.y = fabs(workTarget.y - currentPosition.y);
|
|
if(command.flag & Z_IS_SET) delta.z = fabs(workTarget.z - currentPosition.z);
|
|
double length = magnitude(command.flag & XYZ_BIT_MASK, (Ptr5d)&delta);
|
|
double candidate, feedrate = DBL_MAX;
|
|
if(command.flag & X_IS_SET && delta.x != 0.0) {
|
|
feedrate = machine.x.max_feedrate * length / delta.x;
|
|
}
|
|
if(command.flag & Y_IS_SET && delta.y != 0.0) {
|
|
candidate = machine.y.max_feedrate * length / delta.y;
|
|
if(feedrate > candidate) {
|
|
feedrate = candidate;
|
|
}
|
|
}
|
|
if(command.flag & Z_IS_SET && delta.z != 0.0) {
|
|
candidate = machine.z.max_feedrate * length / delta.z;
|
|
if(feedrate > candidate) {
|
|
feedrate = candidate;
|
|
}
|
|
}
|
|
if(feedrate == DBL_MAX) {
|
|
feedrate = machine.x.max_feedrate;
|
|
}
|
|
queue_point(feedrate);
|
|
}
|
|
break;
|
|
|
|
// G1 - Coordinated Motion
|
|
case 1:
|
|
queue_point(command.f);
|
|
break;
|
|
|
|
// G2 - Clockwise Arc
|
|
// G3 - Counter Clockwise Arc
|
|
|
|
// G4 - Dwell
|
|
case 4:
|
|
if(command.flag & P_IS_SET) {
|
|
delay(command.p);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: G4 is missing delay parameter, use Pn where n is milliseconds", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// G10 - Create Coordinate System Offset from the Absolute one
|
|
case 10:
|
|
if(command.flag & P_IS_SET && command.p >= 1.0 && command.p <= 6.0) {
|
|
i = (int)command.p - 1;
|
|
if(command.flag & X_IS_SET) offset[i].x = machineTarget.x;
|
|
if(command.flag & Y_IS_SET) offset[i].y = machineTarget.y;
|
|
if(command.flag & Z_IS_SET) offset[i].z = machineTarget.z;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: G10 is missing coordiante system, use Pn where n is 1-6", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// G53 - Set absolute coordinate system
|
|
case 53:
|
|
currentOffset = 0;
|
|
break;
|
|
|
|
// G54 - Use coordinate system from G10 P1
|
|
case 54:
|
|
currentOffset = 1;
|
|
break;
|
|
|
|
// G55 - Use coordinate system from G10 P2
|
|
case 55:
|
|
currentOffset = 2;
|
|
break;
|
|
|
|
// G56 - Use coordinate system from G10 P3
|
|
case 56:
|
|
currentOffset = 3;
|
|
break;
|
|
|
|
// G57 - Use coordinate system from G10 P4
|
|
case 57:
|
|
currentOffset = 4;
|
|
break;
|
|
|
|
// G58 - Use coordinate system from G10 P5
|
|
case 58:
|
|
currentOffset = 5;
|
|
break;
|
|
|
|
// G59 - Use coordinate system from G10 P6
|
|
case 59:
|
|
currentOffset = 6;
|
|
break;
|
|
|
|
// G90 - Absolute Positioning
|
|
case 90:
|
|
isRelative = 0;
|
|
break;
|
|
|
|
// G91 - Relative Positioning
|
|
case 91:
|
|
if(positionKnown) {
|
|
isRelative = 1;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Error: G91 switch to relitive positioning prior to first absolute move", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// G92 - Define current position on axes
|
|
case 92:
|
|
if(command.flag & X_IS_SET) currentPosition.x = machineTarget.x;
|
|
if(command.flag & Y_IS_SET) currentPosition.y = machineTarget.y;
|
|
if(command.flag & Z_IS_SET) currentPosition.z = machineTarget.z;
|
|
if(command.flag & A_IS_SET) currentPosition.a = workTarget.a;
|
|
if(command.flag & B_IS_SET) currentPosition.b = workTarget.b;
|
|
|
|
if(command.flag & E_IS_SET) {
|
|
if(currentTool == 0) {
|
|
currentPosition.a = workTarget.a;
|
|
}
|
|
else {
|
|
currentPosition.b = workTarget.b;
|
|
}
|
|
}
|
|
break;
|
|
|
|
// G130 - Set given axes potentiometer Value
|
|
case 130:
|
|
if(command.flag & X_IS_SET) set_pot_value(0, command.x < 0 ? 0 : command.x > 127 ? 127 : (unsigned)command.x);
|
|
if(command.flag & Y_IS_SET) set_pot_value(1, command.y < 0 ? 0 : command.y > 127 ? 127 : (unsigned)command.y);
|
|
if(command.flag & Z_IS_SET) set_pot_value(2, command.z < 0 ? 0 : command.z > 127 ? 127 : (unsigned)command.z);
|
|
if(command.flag & A_IS_SET) set_pot_value(3, command.a < 0 ? 0 : command.a > 127 ? 127 : (unsigned)command.a);
|
|
if(command.flag & B_IS_SET) set_pot_value(4, command.b < 0 ? 0 : command.b > 127 ? 127 : (unsigned)command.b);
|
|
break;
|
|
|
|
// G161 - Home given axes to minimum
|
|
case 161:
|
|
home_axes(ENDSTOP_IS_MIN);
|
|
positionKnown = 0;
|
|
break;
|
|
// G28 - Home given axes to maximum
|
|
// G162 - Home given axes to maximum
|
|
case 28:
|
|
case 162:
|
|
home_axes(ENDSTOP_IS_MAX);
|
|
positionKnown = 0;
|
|
break;
|
|
default:
|
|
fprintf(stderr, "(line %u) Syntax Warning: unsupported gcode command 'G%u'", line_number, command.g);
|
|
}
|
|
}
|
|
else if(command.flag & M_IS_SET) {
|
|
switch(command.m) {
|
|
// M2 - End program
|
|
case 2:
|
|
if(program_is_running()) {
|
|
end_program();
|
|
set_build_percent(100);
|
|
end_build();
|
|
set_steppers(AXES_BIT_MASK, 0);
|
|
}
|
|
exit(0);
|
|
|
|
// M6 - Wait for toolhead to come up to reach (or exceed) temperature
|
|
case 6:
|
|
if(command.flag & T_IS_SET) {
|
|
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
if(currentTool != tool_id) {
|
|
currentTool = tool_id;
|
|
change_tool(tool_id);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M6 cannot select non-existant tool T%u", line_number, tool_id);
|
|
tool_id = currentTool;
|
|
}
|
|
if(temperature[currentTool] > 0.0) {
|
|
wait_for_tool(tool_id, timeout);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M6 is missing tool number, use Tn where n is 0-1", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// M70 - Display Message On Machine
|
|
case 70:
|
|
if(command.flag & COMMENT_IS_SET) {
|
|
if(command.flag & P_IS_SET) {
|
|
display_message(command.comment, command.p, 0);
|
|
}
|
|
else {
|
|
display_message(command.comment, 0, 0);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M70 is missing message text, use (text) where text is message", line_number);
|
|
}
|
|
break;
|
|
|
|
// M71 - Display Message, Wait For User Button Press
|
|
case 71:
|
|
if(command.flag & COMMENT_IS_SET) {
|
|
if(command.flag & P_IS_SET) {
|
|
display_message(command.comment, command.p, 0);
|
|
}
|
|
else {
|
|
display_message(command.comment, 0, 0);
|
|
}
|
|
}
|
|
else {
|
|
if(command.flag & P_IS_SET) {
|
|
display_message("Press M to continue", command.p, 0);
|
|
}
|
|
else {
|
|
display_message("Press M to continue", 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
|
|
// M72 - Play a Tone or Song
|
|
case 72:
|
|
if(command.flag & P_IS_SET) {
|
|
unsigned song_id = (unsigned)command.p;
|
|
if(song_id > 2) song_id = 2;
|
|
queue_song(song_id);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Warning: M72 is missing song number, use Pn where n is 0-2", line_number);
|
|
}
|
|
break;
|
|
|
|
// M73 - Manual Set Build %
|
|
case 73:
|
|
if(command.flag & P_IS_SET) {
|
|
unsigned percent = (unsigned) command.p;
|
|
if(percent > 100) percent = 100;
|
|
if(program_is_ready()) {
|
|
start_program();
|
|
start_build();
|
|
set_build_percent(0);
|
|
}
|
|
else if(program_is_running()) {
|
|
if(percent == 100) {
|
|
end_program();
|
|
set_build_percent(100);
|
|
end_build();
|
|
}
|
|
else if(filesize == 0) {
|
|
set_build_percent(percent);
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Warning: M73 is missing build percentage, use Pn where n is 0-100", line_number);
|
|
}
|
|
break;
|
|
|
|
// M101 - Turn Extruder On, Forward
|
|
// M102 - Turn Extruder On, Reverse
|
|
case 101:
|
|
case 102:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_steppers(tool_id == 0 ? A_IS_SET : B_IS_SET, 1);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M%u cannot select non-existant tool T%u", line_number, command.m, tool_id);
|
|
}
|
|
|
|
}
|
|
else {
|
|
set_steppers(currentTool == 0 ? A_IS_SET : B_IS_SET, 1);
|
|
}
|
|
break;
|
|
|
|
// M103 - Turn Extruder Off
|
|
case 103:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_steppers(tool_id == 0 ? A_IS_SET : B_IS_SET, 0);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M103 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
|
|
}
|
|
else {
|
|
set_steppers(currentTool == 0 ? A_IS_SET : B_IS_SET, 0);
|
|
}
|
|
break;
|
|
|
|
// M104 - Set extruder temperature
|
|
case 104:
|
|
if(command.flag & S_IS_SET) {
|
|
unsigned temp = (unsigned)command.t;
|
|
if(temp > 260) temp = 260;
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_extruder_temperature(tool_id, temp);
|
|
temperature[tool_id] = temp;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M104 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
set_extruder_temperature(currentTool, temp);
|
|
temperature[currentTool] = temp;
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M104 is missing temperature, use Sn where n is 0-260", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// M106 - Turn cooling fan on
|
|
case 106:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_fan(tool_id, 1);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M106 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
set_fan(currentTool, 1);
|
|
}
|
|
break;
|
|
|
|
// M107 - Turn cooling fan off
|
|
case 107:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_fan(tool_id, 0);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M107 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
set_fan(currentTool, 0);
|
|
}
|
|
break;
|
|
|
|
// M109 - Set Build Platform Temperature
|
|
// M140 - Set Build Platform Temperature (skeinforge)
|
|
case 109:
|
|
case 140:
|
|
if(machine.a.has_heated_build_platform || machine.b.has_heated_build_platform) {
|
|
if(command.flag & S_IS_SET) {
|
|
unsigned tool_id = machine.a.has_heated_build_platform ? 0 : 1;
|
|
unsigned temp = (unsigned)command.t;
|
|
if(temp > 160) temp = 160;
|
|
if(command.flag & T_IS_SET) {
|
|
tool_id = (unsigned)command.t;
|
|
}
|
|
if(tool_id < machine.tool_count && (tool_id ? machine.b.has_heated_build_platform : machine.a.has_heated_build_platform)) {
|
|
set_build_platform_temperature(tool_id, temp);
|
|
temperature[tool_id + 2] = temp;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M%u cannot select non-existant hbp tool T%u", line_number, command.m, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M%u is missing temperature, use Sn where n is 0-160", line_number, command.m);
|
|
exit(1);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M%u cannot select non-existant heated build platform", line_number, command.m);
|
|
}
|
|
break;
|
|
|
|
// M126 - Turn blower fan on (valve open)
|
|
case 126:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_valve(tool_id, 1);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M126 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
set_valve(currentTool, 1);
|
|
}
|
|
break;
|
|
|
|
// M127 - Turn blower fan on (valve close)
|
|
case 127:
|
|
if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
set_valve(tool_id, 0);
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: M127 cannot select non-existant tool T%u", line_number, tool_id);
|
|
}
|
|
}
|
|
else {
|
|
set_valve(currentTool, 0);
|
|
}
|
|
break;
|
|
|
|
// M146 - Set RGB LED value
|
|
case 146:
|
|
break;
|
|
|
|
// M147 - Set Beep
|
|
case 147:
|
|
break;
|
|
|
|
// M131 - Store Current Position to EEPROM
|
|
case 131:
|
|
if(command.flag & AXES_BIT_MASK) {
|
|
store_home_positions();
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M131 is missing axes, use X Y Z A B", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// M132 - Load Current Position from EEPROM
|
|
case 132:
|
|
if(command.flag & AXES_BIT_MASK) {
|
|
store_home_positions();
|
|
positionKnown = 0;
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Syntax Error: M132 is missing axes, use X Y Z A B", line_number);
|
|
exit(1);
|
|
}
|
|
break;
|
|
|
|
// M320 - Acceleration on for subsequent instructions
|
|
case 320:
|
|
set_acceleration(1);
|
|
break;
|
|
|
|
// M321 - Acceleration off for subsequent instructions
|
|
case 321:
|
|
set_acceleration(0);
|
|
break;
|
|
default:
|
|
fprintf(stderr, "(line %u) Syntax Warning: unsupported mcode command 'M%u'", line_number, command.m);
|
|
}
|
|
}
|
|
else if(command.flag & T_IS_SET) {
|
|
unsigned tool_id = (unsigned)command.t;
|
|
if(tool_id < machine.tool_count) {
|
|
if(currentTool != tool_id) {
|
|
currentTool = tool_id;
|
|
change_tool(tool_id);
|
|
}
|
|
}
|
|
else {
|
|
fprintf(stderr, "(line %u) Semantic Warning: T%u cannot select non-existant tool", line_number, tool_id);
|
|
}
|
|
}
|
|
else if(command.flag & PARAMETER_BIT_MASK) {
|
|
queue_point(command.f);
|
|
}
|
|
// update progress
|
|
if(filesize) {
|
|
unsigned percent = (unsigned)round(100.0 * (double)ftell(in) / (double)filesize);
|
|
if(percent > progress) {
|
|
if(program_is_ready()) {
|
|
start_program();
|
|
start_build();
|
|
set_build_percent(0);
|
|
}
|
|
else if(percent < 100) {
|
|
set_build_percent(percent);
|
|
progress = percent;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if(program_is_running()) {
|
|
end_program();
|
|
set_build_percent(100);
|
|
end_build();
|
|
}
|
|
set_steppers(AXES_BIT_MASK, 0);
|
|
|
|
exit(0);
|
|
}
|
|
|