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//
// gpx.c
//
// Created by WHPThomas <me(at)henri(dot)net> on 1/04/13.
//
// Copyright (c) 2013 WHPThomas, All rights reserved.
//
// gpx references ReplicatorG sources from /src/replicatorg/drivers
// which are part of the ReplicatorG project - http://www.replicat.org
// Copyright (c) 2008 Zach Smith
// and Makerbot4GSailfish.java Copyright (C) 2012 Jetty / Dan Newman
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software Foundation,
// Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#include <assert.h>
#include <ctype.h>
#include <errno.h>
#include <float.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <strings.h>
#ifdef _WIN32
# include "getopt.h"
#else
# include <unistd.h>
#endif
#include "gpx.h"
#include "ini.h"
#define A 0
#define B 1
// Machine definitions
// Axis - max_feedrate, home_feedrate, steps_per_mm, endstop;
// Extruder - max_feedrate, steps_per_mm, motor_steps, has_heated_build_platform;
static Machine cupcake_G3 = {
{9600, 500, 11.767463, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 11.767463, ENDSTOP_IS_MIN}, // y axis
{450, 450, 320, ENDSTOP_IS_MIN}, // z axis
{7200, 50.235478806907409, 400, 1}, // a extruder
{7200, 50.235478806907409, 400, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine cupcake_G4 = {
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // y axis
{450, 450, 1280, ENDSTOP_IS_MIN}, // z axis
{7200, 50.235478806907409, 400, 1}, // a extruder
{7200, 50.235478806907409, 400, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine cupcake_P4 = {
{9600, 500, 94.13970462, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 94.13970462, ENDSTOP_IS_MIN}, // y axis
{450, 450, 2560, ENDSTOP_IS_MIN}, // z axis
{7200, 50.235478806907409, 400, 1}, // a extruder
{7200, 50.235478806907409, 400, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine cupcake_PP = {
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // y axis
{450, 450, 1280, ENDSTOP_IS_MIN}, // z axis
{7200, 100.470957613814818, 400, 1}, // a extruder
{7200, 100.470957613814818, 400, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
// Axis - max_feedrate, home_feedrate, steps_per_mm, endstop;
// Extruder - max_feedrate, steps_per_mm, motor_steps, has_heated_build_platform;
static Machine thing_o_matic_7 = {
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // y axis
{1000, 500, 200, ENDSTOP_IS_MAX}, // z axis
{1600, 50.235478806907409, 1600, 1}, // a extruder
{1600, 50.235478806907409, 1600, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine thing_o_matic_7D = {
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // x axis
{9600, 500, 47.069852, ENDSTOP_IS_MIN}, // y axis
{1000, 500, 200, ENDSTOP_IS_MAX}, // z axis
{1600, 50.235478806907409, 1600, 0}, // a extruder
{1600, 50.235478806907409, 1600, 1}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
2, // extruder count
20, // timeout
};
// Axis - max_feedrate, home_feedrate, steps_per_mm, endstop;
// Extruder - max_feedrate, steps_per_mm, motor_steps, has_heated_build_platform;
static Machine replicator_1 = {
{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine replicator_1D = {
{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 94.139704, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
2, // extruder count
20, // timeout
};
// Axis - max_feedrate, home_feedrate, steps_per_mm, endstop;
// Extruder - max_feedrate, steps_per_mm, motor_steps, has_heated_build_platform;
static Machine replicator_2 = {
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 0}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
1.75, // nominal filament diameter
0.97, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine replicator_2H = {
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
1.75, // nominal filament diameter
0.97, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
static Machine replicator_2X = {
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 1}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 1}, // b extruder
1.75, // nominal filament diameter
0.85, // nominal packing density
0.4, // nozzle diameter
2, // extruder count
20, // timeout
};
// The default machine definition is the Replicator 2
Machine machine = {
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // x axis
{18000, 2500, 88.573186, ENDSTOP_IS_MAX}, // y axis
{1170, 1100, 400, ENDSTOP_IS_MIN}, // z axis
{1600, 96.275201870333662468889989185642, 3200, 0}, // a extruder
{1600, 96.275201870333662468889989185642, 3200, 0}, // b extruder
1.75, // nominal filament diameter
0.97, // nominal packing density
0.4, // nozzle diameter
1, // extruder count
20, // timeout
};
// PRIVATE FUNCTION PROTOTYPES
static double get_home_feedrate(int flag);
static void pause_at_zpos(float z_positon);
// GLOBAL VARIABLES
Command command; // the gcode command line
Point5d currentPosition; // the current position of the extruder in 5D space
Point5d targetPosition; // the target poaition the extruder will move to (including G10 offsets)
Point2d excess; // the accumulated rounding error in mm to step conversion
int selectedExtruder; // the current extruder selection (on the virtual tool carosel)
int currentExtruder; // the currently selectd extruder being used by the bot
double currentFeedrate; // the current feed rate
int currentOffset; // current G10 offset
Point3d offset[7]; // G10 offsets
Point3d userOffset; // command line offset
Tool tool[2]; // tool state
Override override[2]; // gcode override
int isRelative; // signals relitive or absolute coordinates
int extruderIsRelative; // signals relitive or absolute coordinates for extruder
int positionKnown; // is the current extruder position known
int programState; // gcode program state used to trigger start and end code sequences
int reprapFlavor; // reprap gcode flavor
int dittoPrinting; // enable ditto printing
int buildProgress; // override build percent
int verboseMode;
unsigned lineNumber; // the current line number in the gcode file
static char buffer[BUFFER_MAX + 1]; // the statically allocated parse-in-place buffer
Filament filament[FILAMENT_MAX];
int filamentLength;
CommandAt commandAt[COMMAND_AT_MAX];
int commandAtIndex;
int commandAtLength;
int macrosEnabled; // M73 P1 or ;@body encountered signalling body start
int pausePending; // signals a pause is pending before the macro script has started
int recalculate5D; // recalculate 5D E values rather than scaling them
double layer_height;
FILE *in; // the gcode input file stream
FILE *out; // the x3g output file stream
FILE *out2; // secondary output path
char *sdCardPath;
// cleanup code in case we encounter an error that causes the program to exit
static void exit_handler(void)
{
// close open files
if(in != stdin) {
fclose(in);
if(out != stdout) {
if(ferror(out)) {
perror("while writing to output file");
}
fclose(out);
}
if(out2) {
fclose(out2);
}
}
}
// initialization of global variables
static void initialize_globals(void)
{
int i;
// we default to using pipes
in = stdin;
out = stdout;
out2 = NULL;
sdCardPath = NULL;
// register cleanup function
atexit(exit_handler);
command.flag = 0;
// initialize current position to zero
currentPosition.x = 0.0;
currentPosition.y = 0.0;
currentPosition.z = 0.0;
currentPosition.a = 0.0;
currentPosition.b = 0.0;
command.e = 0.0;
command.f = 0.0;
command.p = 0.0;
command.r = 0.0;
command.s = 0.0;
command.comment = "";
excess.a = 0.0;
excess.b = 0.0;
currentFeedrate = get_home_feedrate(XYZ_BIT_MASK);
currentOffset = 0;
for(i = 0; i < 7; i++) {
offset[i].x = 0.0;
offset[i].y = 0.0;
offset[i].z = 0.0;
}
userOffset.x = 0.0;
userOffset.y = 0.0;
userOffset.z = 0.0;
selectedExtruder = 0;
currentExtruder = 0;
for(i = 0; i < 2; i++) {
tool[i].motor_enabled = 0;
#if ENABLE_SIMULATED_RPM
tool[i].rpm = 0;
#endif
tool[i].nozzle_temperature = 0;
tool[i].build_platform_temperature = 0;
override[i].actual_filament_diameter = 0;
override[i].filament_scale = 1.0;
override[i].packing_density = 1.0;
override[i].standby_temperature = 0;
override[i].active_temperature = 0;
override[i].build_platform_temperature = 0;
}
isRelative = 0;
extruderIsRelative = 0;
positionKnown = 0;
programState = 0;
reprapFlavor = 1; // default is reprap flavor
dittoPrinting = 0;
buildProgress = 0;
verboseMode = 0;
lineNumber = 1;
filament[0].colour = "_null_";
filament[0].diameter = 0.0;
filament[0].temperature = 0;
filament[0].LED = 0;
filamentLength = 1;
commandAtIndex = 0;
commandAtLength = 0;
macrosEnabled = 0;
pausePending = 0;
recalculate5D = 0;
layer_height = 0.34;
}
// STATE
#define start_program() programState = RUNNING_STATE
#define end_program() programState = ENDED_STATE
#define program_is_ready() programState < RUNNING_STATE
#define program_is_running() programState < ENDED_STATE
// IO FUNCTIONS
static void write_8(unsigned char value)
{
if(fputc(value, out) == EOF) exit(1);
if(out2) {
if(fputc(value, out2) == EOF) exit(1);
}
}
static void write_16(unsigned short value)
{
union {
unsigned short s;
unsigned char b[2];
} u;
u.s = value;
if(fputc(u.b[0], out) == EOF) exit(1);
if(fputc(u.b[1], out) == EOF) exit(1);
if(out2) {
if(fputc(u.b[0], out2) == EOF) exit(1);
if(fputc(u.b[1], out2) == EOF) exit(1);
}
}
static void write_32(unsigned int value)
{
union {
unsigned int i;
unsigned char b[4];
} u;
u.i = value;
if(fputc(u.b[0], out) == EOF) exit(1);
if(fputc(u.b[1], out) == EOF) exit(1);
if(fputc(u.b[2], out) == EOF) exit(1);
if(fputc(u.b[3], out) == EOF) exit(1);
if(out2) {
if(fputc(u.b[0], out2) == EOF) exit(1);
if(fputc(u.b[1], out2) == EOF) exit(1);
if(fputc(u.b[2], out2) == EOF) exit(1);
if(fputc(u.b[3], out2) == EOF) exit(1);
}
}
static void write_float(float value)
{
union {
float f;
unsigned char b[4];
} u;
u.f = value;
if(fputc(u.b[0], out) == EOF) exit(1);
if(fputc(u.b[1], out) == EOF) exit(1);
if(fputc(u.b[2], out) == EOF) exit(1);
if(fputc(u.b[3], out) == EOF) exit(1);
if(out2) {
if(fputc(u.b[0], out2) == EOF) exit(1);
if(fputc(u.b[1], out2) == EOF) exit(1);
if(fputc(u.b[2], out2) == EOF) exit(1);
if(fputc(u.b[3], out2) == EOF) exit(1);
}
}
static size_t write_string(char *string, long length)
{
size_t bytes_sent = fwrite(string, 1, length, out);
if(fputc('\0', out) == EOF) exit(1);
if(out2) {
bytes_sent = fwrite(string, 1, length, out2);
if(fputc('\0', out2) == EOF) exit(1);
}
return bytes_sent;
}
// COMMAND @ ZPOS FUNCTIONS
// find an existing filament definition
static int find_filament(char *filament_id)
{
int i, index = -1;
// a brute force search is generally fastest for low n
for(i = 0; i < filamentLength; i++) {
if(strcmp(filament_id, filament[i].colour) == 0) {
index = i;
break;
}
}
return index;
}
// add a new filament definition
static int add_filament(char *filament_id, double diameter, unsigned temperature, unsigned LED)
{
int index = find_filament(filament_id);
if(index < 0) {
if(filamentLength < FILAMENT_MAX) {
index = filamentLength++;
filament[index].colour = strdup(filament_id);
filament[index].diameter = diameter;
filament[index].temperature = temperature;
filament[index].LED = LED;
}
else {
fprintf(stderr, "(line %u) Buffer overflow: too many @filament definitions (maximum = %i)" EOL, lineNumber, FILAMENT_MAX - 1);
index = 0;
}
}
return index;
}
// append a new command at z function
static void add_command_at(double z, char *filament_id, unsigned temperature)
{
static double previous_z = 0.0;
int index = filament_id ? find_filament(filament_id) : 0;
if(index < 0) {
fprintf(stderr, "(line %u) Semantic error: @pause macro with undefined filament name '%s', use a @filament macro to define it" EOL, lineNumber, filament_id);
index = 0;
}
// insert command
if(commandAtLength < COMMAND_AT_MAX) {
if(z <= previous_z) {
int i = commandAtLength;
// make a space
while(i > 0 && z <= commandAt[i - 1].z) {
commandAt[i] = commandAt[i - 1];
i--;
}
commandAt[i].z = z;
commandAt[i].filament_index = index;
commandAt[i].temperature = temperature;
previous_z = commandAt[commandAtLength].z;
}
// append command
else {
commandAt[commandAtLength].z = z;
commandAt[commandAtLength].filament_index = index;
commandAt[commandAtLength].temperature = temperature;
previous_z = z;
}
// nonzero temperature signals a tmperature change, not a pause @ zPos
if(temperature == 0 && commandAtLength == 0) {
if(macrosEnabled) {
pause_at_zpos(z);
}
else {
pausePending = 1;
}
}
commandAtLength++;
}
else {
fprintf(stderr, "(line %u) Buffer overflow: too many @pause definitions (maximum = %i)" EOL, lineNumber, COMMAND_AT_MAX);
}
}
// 5D VECTOR FUNCTIONS
// compute the filament scaling factor
static void set_filament_scale(unsigned extruder_id, double filament_diameter)
{
double actual_radius = filament_diameter / 2;
double nominal_radius = machine.nominal_filament_diameter / 2;
override[extruder_id].filament_scale = (nominal_radius * nominal_radius) / (actual_radius * actual_radius);
}
// return the magnitude (length) of the 5D vector
static double magnitude(int flag, Ptr5d vector)
{
double acc = 0.0;
if(flag & X_IS_SET) {
acc = vector->x * vector->x;
}
if(flag & Y_IS_SET) {
acc += vector->y * vector->y;
}
if(flag & Z_IS_SET) {
acc += vector->z * vector->z;
}
if(flag & A_IS_SET) {
acc += vector->a * vector->a;
}
if(flag & B_IS_SET) {
acc += vector->b * vector->b;
}
return sqrt(acc);
}
// return the largest axis in the vector
static double largest_axis(int flag, Ptr5d vector)
{
double length, rval = 0.0;
if(flag & X_IS_SET) {
rval = fabs(vector->x);
}
if(flag & Y_IS_SET) {
length = fabs(vector->y);
if(rval < length) rval = length;
}
if(flag & Z_IS_SET) {
length = fabs(vector->z);
if(rval < length) rval = length;
}
if(flag & A_IS_SET) {
length = fabs(vector->a);
if(rval < length) rval = length;
}
if(flag & B_IS_SET) {
length = fabs(vector->b);
if(rval < length) rval = length;
}
return rval;
}
// calculate the dda for the longest axis for the current machine definition
static int get_longest_dda()
{
// calculate once
static int longestDDA = 0;
if(longestDDA == 0) {
longestDDA = (int)(60 * 1000000.0 / (machine.x.max_feedrate * machine.x.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 * 1000000.0 / (machine.z.max_feedrate * machine.z.steps_per_mm));
if(longestDDA < axisDDA) longestDDA = axisDDA;
}
return longestDDA;
}
// return the maximum home feedrate
static double get_home_feedrate(int flag) {
double feedrate = 0.0;
if(flag & X_IS_SET) {
feedrate = machine.x.home_feedrate;
}
if(flag & Y_IS_SET && feedrate < machine.y.home_feedrate) {
feedrate = machine.y.home_feedrate;
}
if(flag & Z_IS_SET && feedrate < machine.z.home_feedrate) {
feedrate = machine.z.home_feedrate;
}
return feedrate;
}
// return the maximum safe feedrate
static double get_safe_feedrate(int flag, Ptr5d delta) {
double feedrate = currentFeedrate;
if(feedrate == 0.0) {
feedrate = machine.x.max_feedrate;
if(feedrate < machine.y.max_feedrate) {
feedrate = machine.y.max_feedrate;
}
if(feedrate < machine.z.max_feedrate) {
feedrate = machine.z.max_feedrate;
}
if(feedrate < machine.a.max_feedrate) {
feedrate = machine.a.max_feedrate;
}
if(feedrate < machine.b.max_feedrate) {
feedrate = machine.b.max_feedrate;
}
}
double distance = magnitude(flag & XYZ_BIT_MASK, delta);
if(flag & X_IS_SET && (feedrate * delta->x / distance) > machine.x.max_feedrate) {
feedrate = machine.x.max_feedrate * distance / delta->x;
}
if(flag & Y_IS_SET && (feedrate * delta->y / distance) > machine.y.max_feedrate) {
feedrate = machine.y.max_feedrate * distance / delta->y;
}
if(flag & Z_IS_SET && (feedrate * delta->z / distance) > machine.z.max_feedrate) {
feedrate = machine.z.max_feedrate * distance / delta->z;
}
if(distance == 0) {
if(flag & A_IS_SET && feedrate > machine.a.max_feedrate) {
feedrate = machine.a.max_feedrate;
}
if(flag & B_IS_SET && feedrate > machine.b.max_feedrate) {
feedrate = machine.b.max_feedrate;
}
}
else {
if(flag & A_IS_SET && (feedrate * delta->a / distance) > machine.a.max_feedrate) {
feedrate = machine.a.max_feedrate * distance / delta->a;
}
if(flag & B_IS_SET && (feedrate * delta->b / distance) > machine.b.max_feedrate) {
feedrate = machine.b.max_feedrate * distance / delta->b;
}
}
return feedrate;
}
// convert mm to steps using the current machine definition
// IMPORTANT: this command changes the global excess value which accumulates the rounding remainder
static Point5d mm_to_steps(Ptr5d mm, Ptr2d excess)
{
double value;
Point5d result;
result.x = round(mm->x * machine.x.steps_per_mm);
result.y = round(mm->y * machine.y.steps_per_mm);
result.z = round(mm->z * machine.z.steps_per_mm);
if(excess) {
// accumulate rounding remainder
value = (mm->a * machine.a.steps_per_mm) + excess->a;
result.a = round(value);
// changes to excess
excess->a = value - result.a;
value = (mm->b * machine.b.steps_per_mm) + excess->b;
result.b = round(value);
// changes to excess
excess->b = value - result.b;
}
else {
result.a = round(mm->a * machine.a.steps_per_mm);
result.b = round(mm->b * machine.b.steps_per_mm);
}
return result;
}
// X3G COMMANDS
// 131 - Find axes minimums
// 132 - Find axes maximums
static void home_axes(unsigned direction)
{
Point5d unitVector;
int xyz_flag = command.flag & XYZ_BIT_MASK;
double feedrate = command.flag & F_IS_SET ? currentFeedrate : get_home_feedrate(command.flag);
double longestAxis = 0.0;
assert(direction <= 1);
// compute the slowest feedrate
if(xyz_flag & X_IS_SET) {
if(machine.x.home_feedrate < feedrate) {
feedrate = machine.x.home_feedrate;
}
unitVector.x = 1;
longestAxis = machine.x.steps_per_mm;
// confirm machine compatibility
if(direction != machine.x.endstop) {
fprintf(stderr, "(line %u) Semantic warning: X axis homing to %s endstop" EOL, lineNumber, direction ? "maximum" : "minimum");
}
}
if(xyz_flag & Y_IS_SET) {
if(machine.y.home_feedrate < feedrate) {
feedrate = machine.y.home_feedrate;
}
unitVector.y = 1;
if(longestAxis < machine.y.steps_per_mm) {
longestAxis = machine.y.steps_per_mm;
}
if(direction != machine.y.endstop) {
fprintf(stderr, "(line %u) Semantic warning: Y axis homing to %s endstop" EOL, lineNumber, direction ? "maximum" : "minimum");
}
}
if(xyz_flag & Z_IS_SET) {
if(machine.z.home_feedrate < feedrate) {
feedrate = machine.z.home_feedrate;
}
unitVector.z = 1;
if(longestAxis < machine.z.steps_per_mm) {
longestAxis = machine.z.steps_per_mm;
}
if(direction != machine.z.endstop) {
fprintf(stderr, "(line %u) Semantic warning: Z axis homing to %s endstop" EOL, lineNumber, direction ? "maximum" : "minimum");
}
}
// unit vector distance in mm
double distance = magnitude(xyz_flag, &unitVector);
// move duration in microseconds = distance / feedrate * 60,000,000
double microseconds = distance / feedrate * 60000000.0;
// time between steps for longest axis = microseconds / longestStep
unsigned step_delay = (unsigned)round(microseconds / longestAxis);
write_8(direction == ENDSTOP_IS_MIN ? 131 :132);
// uint8: Axes bitfield. Axes whose bits are set will be moved.
write_8(xyz_flag);
// uint32: Feedrate, in microseconds between steps on the max delta. (DDA)
write_32(step_delay);
// uint16: Timeout, in seconds.
write_16(machine.timeout);
}
// 133 - delay
static void delay(unsigned milliseconds)
{
write_8(133);
// uint32: delay, in milliseconds
write_32(milliseconds);
}
// 134 - Change extruder offset
// This is important to use on dual-head Replicators, because the machine needs to know
// the current toolhead in order to apply a calibration offset.
static void change_extruder_offset(unsigned extruder_id)
{
assert(extruder_id < machine.extruder_count);
write_8(134);
// uint8: ID of the extruder to switch to
write_8(extruder_id);
}
// 135 - Wait for extruder ready
static void wait_for_extruder(unsigned extruder_id, unsigned timeout)
{
assert(extruder_id < machine.extruder_count);
write_8(135);
// uint8: ID of the extruder to wait for
write_8(extruder_id);
// uint16: delay between query packets sent to the extruder, in ms (nominally 100 ms)
write_16(100);
// uint16: Timeout before continuing without extruder ready, in seconds (nominally 1 minute)
write_16(timeout);
}
// 136 - extruder action command
// Action 03 - Set extruder target temperature
static void set_nozzle_temperature(unsigned extruder_id, unsigned temperature)
{
assert(extruder_id < machine.extruder_count);
write_8(136);
// uint8: ID of the extruder to query
write_8(extruder_id);
// uint8: Action command to send to the extruder
write_8(3);
// uint8: Length of the extruder command payload (N)
write_8(2);
// int16: Desired target temperature, in Celsius
write_16(temperature);
}
// Action 12 - Enable / Disable fan
static void set_fan(unsigned extruder_id, unsigned state)
{
assert(extruder_id < machine.extruder_count);
write_8(136);
// uint8: ID of the extruder to query
write_8(extruder_id);
// uint8: Action command to send to the extruder
write_8(12);
// uint8: Length of the extruder command payload (N)
write_8(1);
// uint8: 1 to enable, 0 to disable
write_8(state);
}
// Action 13 - Enable / Disable extra output (blower fan)
static void set_valve(unsigned extruder_id, unsigned state)
{
assert(extruder_id < machine.extruder_count);
write_8(136);
// uint8: ID of the extruder to query
write_8(extruder_id);
// uint8: Action command to send to the extruder
write_8(13);
// uint8: Length of the extruder command payload (N)
write_8(1);
// uint8: 1 to enable, 0 to disable
write_8(state);
}
// Action 31 - Set build platform target temperature
static void set_build_platform_temperature(unsigned extruder_id, unsigned temperature)
{
assert(extruder_id < machine.extruder_count);
write_8(136);
// uint8: ID of the extruder to query
write_8(extruder_id);
// uint8: Action command to send to the extruder
write_8(31);
// uint8: Length of the extruder command payload (N)
write_8(2);
// int16: Desired target temperature, in Celsius
write_16(temperature);
}
// 137 - Enable / Disable axes steppers
static void set_steppers(unsigned axes, unsigned state)
{
unsigned bitfield = axes & AXES_BIT_MASK;
if(state) {
bitfield |= 0x80;
}
write_8(137);
// uint8: Bitfield codifying the command (see below)
write_8(bitfield);
}
// 139 - Queue absolute point
static void queue_absolute_point()
{
long longestDDA = get_longest_dda();
Point5d steps = mm_to_steps(&targetPosition, &excess);
write_8(139);
// int32: X coordinate, in steps
write_32((int)steps.x);
// int32: Y coordinate, in steps
write_32((int)steps.y);
// int32: Z coordinate, in steps
write_32((int)steps.z);
// int32: A coordinate, in steps
write_32(-(int)steps.a);
// int32: B coordinate, in steps
write_32(-(int)steps.b);
// uint32: Feedrate, in microseconds between steps on the max delta. (DDA)
write_32((int)longestDDA);
}
// 140 - Set extended position
static void set_position()
{
Point5d steps = mm_to_steps(&currentPosition, NULL);
write_8(140);
// int32: X position, in steps
write_32((int)steps.x);
// int32: Y position, in steps
write_32((int)steps.y);
// int32: Z position, in steps
write_32((int)steps.z);
// int32: A position, in steps
write_32((int)steps.a);
// int32: B position, in steps
write_32((int)steps.b);
}
// 141 - Wait for build platform ready
static void wait_for_build_platform(unsigned extruder_id, int timeout)
{
assert(extruder_id < machine.extruder_count);
write_8(141);
// uint8: ID of the extruder platform to wait for
write_8(extruder_id);
// uint16: delay between query packets sent to the extruder, in ms (nominally 100 ms)
write_16(100);
// uint16: Timeout before continuing without extruder ready, in seconds (nominally 1 minute)
write_16(timeout);
}
// 142 - Queue extended point, new style
#if ENABLE_SIMULATED_RPM
static void queue_new_point(unsigned milliseconds)
{
Point5d target;
// the function is only called by dwell, which is by definition stationary,
// so set zero relitive position change
target.x = 0;
target.y = 0;
target.z = 0;
target.a = 0;
target.b = 0;
// 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);
write_8(142);
// int32: X coordinate, in steps
write_32((int)steps.x);
// int32: Y coordinate, in steps
write_32((int)steps.y);
// int32: Z coordinate, in steps
write_32((int)steps.z);
// int32: A coordinate, in steps
write_32((int)steps.a);
// int32: B coordinate, in steps
write_32((int)steps.b);
// uint32: Duration of the movement, in microseconds
write_32(milliseconds * 1000);
// uint8: Axes bitfield to specify which axes are relative. Any axis with a bit set should make a relative movement.
write_8(AXES_BIT_MASK);
}
#endif
// 143 - Store home positions
static void store_home_positions(void)
{
write_8(143);
// uint8: Axes bitfield to specify which axes' positions to store.
// Any axis with a bit set should have its position stored.
write_8(command.flag & AXES_BIT_MASK);
}
// 144 - Recall home positions
static void recall_home_positions(void)
{
write_8(144);
// uint8: Axes bitfield to specify which axes' positions to recall.
// Any axis with a bit set should have its position recalled.
write_8(command.flag & AXES_BIT_MASK);
}
// 145 - Set digital potentiometer value
static void set_pot_value(unsigned axis, unsigned value)
{
assert(axis <= 4);
assert(value <= 127);
write_8(145);
// uint8: axis value (valid range 0-4) which axis pot to set
write_8(axis);
// uint8: value (valid range 0-127), values over max will be capped at max
write_8(value);
}
// 146 - Set RGB LED value
static void set_LED(unsigned red, unsigned green, unsigned blue, unsigned blink)
{
write_8(146);
// uint8: red value (all pix are 0-255)
write_8(red);
// uint8: green
write_8(green);
// uint8: blue
write_8(blue);
// uint8: blink rate (0-255 valid)
write_8(blink);
// uint8: 0 (reserved for future use)
write_8(0);
}
static void set_LED_RGB(unsigned rgb, unsigned blink)
{
write_8(146);
// uint8: red value (all pix are 0-255)
write_8((rgb >> 16) & 0xFF);
// uint8: green
write_8((rgb >> 8) & 0xFF);
// uint8: blue
write_8(rgb & 0xFF);
// uint8: blink rate (0-255 valid)
write_8(blink);
// uint8: 0 (reserved for future use)
write_8(0);
}
// 147 - Set Beep
static void set_beep(unsigned frequency, unsigned milliseconds)
{
write_8(147);
// uint16: frequency
write_16(frequency);
// uint16: buzz length in ms
write_16(milliseconds);
// uint8: 0 (reserved for future use)
write_8(0);
}
// 148 - Pause for button
// 149 - Display message to LCD
static void display_message(char *message, unsigned vPos, unsigned hPos, unsigned timeout, int wait_for_button)
{
assert(vPos < 4);
assert(hPos < 20);
long bytesSent = 0;
unsigned bitfield = 0;
unsigned seconds = 0;
unsigned maxLength = hPos ? 20 - hPos : 20;
// clip string so it fits in 4 x 20 lcd display buffer
long length = strlen(message);
if(vPos || hPos) {
if(length > maxLength) length = maxLength;
}
else {
if(length > 80) length = 80;
}
while(bytesSent < length) {
if(bytesSent + maxLength >= length) {
seconds = timeout;
bitfield |= 0x02; // last message in group
if(wait_for_button) {
bitfield |= 0x04;
}
}
if(bytesSent > 0) {
bitfield |= 0x01; //do not clear flag
}
write_8(149);
// uint8: Options bitfield (see below)
write_8(bitfield);
// uint8: Horizontal position to display the message at (commonly 0-19)
write_8(hPos);
// uint8: Vertical position to display the message at (commonly 0-3)
write_8(vPos);
// uint8: Timeout, in seconds. If 0, this message will left on the screen
write_8(seconds);
// 1+N bytes: Message to write to the screen, in ASCII, terminated with a null character.
long rowLength = length - bytesSent;
bytesSent += write_string(message + bytesSent, rowLength < maxLength ? rowLength : maxLength);
}
}
// 150 - Set Build Percentage
static void set_build_progress(unsigned percent)
{
if(percent > 100) percent = 100;
write_8(150);
// uint8: percent (0-100)
write_8(percent);
// uint8: 0 (reserved for future use) (reserved for future use)
write_8(0);
}
// 151 - Queue Song
static void queue_song(unsigned song_id)
{
// song ID 0: error tone with 4 cycles
// song ID 1: done tone
// song ID 2: error tone with 2 cycles
assert(song_id <= 2);
write_8(151);
// uint8: songID: select from a predefined list of songs
write_8(song_id);
}
// 152 - Restore to factory settings
// 153 - Build start notification
static void start_build(char * filename)
{
write_8(153);
// uint32: 0 (reserved for future use)
write_32(0);
// 1+N bytes: Name of the build, in ASCII, null terminated
write_string(filename, strlen(filename));
}
// 154 - Build end notification
static void end_build()
{
write_8(154);
// uint8: 0 (reserved for future use)
write_8(0);
}
// 155 - Queue extended point x3g
// IMPORTANT: this command updates the parser state
static void queue_ext_point(double feedrate)
{
Point5d deltaMM;
Point5d deltaSteps;
// Because we don't know our previous position, we can't calculate the feedrate or
// distance correctly, so we use an unaccelerated command with a fixed DDA
if(!positionKnown) {
queue_absolute_point();
return;
}
// compute the relative distance traveled along each axis and convert to steps
if(command.flag & X_IS_SET) {
deltaMM.x = targetPosition.x - currentPosition.x;
deltaSteps.x = round(fabs(deltaMM.x) * machine.x.steps_per_mm);
}
else {
deltaMM.x = 0;
deltaSteps.x = 0;
}
if(command.flag & Y_IS_SET) {
deltaMM.y = targetPosition.y - currentPosition.y;
deltaSteps.y = round(fabs(deltaMM.y) * machine.y.steps_per_mm);
}
else {
deltaMM.y = 0;
deltaSteps.y = 0;
}
if(command.flag & Z_IS_SET) {
deltaMM.z = targetPosition.z - currentPosition.z;
deltaSteps.z = round(fabs(deltaMM.z) * machine.z.steps_per_mm);
}
else {
deltaMM.z = 0;
deltaSteps.z = 0;
}
if(command.flag & A_IS_SET) {
deltaMM.a = targetPosition.a - currentPosition.a;
deltaSteps.a = round(fabs(deltaMM.a) * machine.a.steps_per_mm);
}
else {
deltaMM.a = 0;
deltaSteps.a = 0;
}
if(command.flag & B_IS_SET) {
deltaMM.b = targetPosition.b - currentPosition.b;
deltaSteps.b = round(fabs(deltaMM.b) * machine.b.steps_per_mm);
}
else {
deltaMM.b = 0;
deltaSteps.b = 0;
}
// check that we have actually moved on at least one axis when the move is
// rounded down to the nearest step
if(magnitude(command.flag, &deltaSteps) > 0) {
double distance = magnitude(command.flag & XYZ_BIT_MASK, &deltaMM);
// are we moving and extruding?
if(recalculate5D && (command.flag & (A_IS_SET|B_IS_SET)) && distance > 0.0001) {
double filament_radius, packing_area, packing_scale;
if(A_IS_SET && deltaMM.a > 0.0001) {
if(override[A].actual_filament_diameter > 0.0001) {
filament_radius = override[A].actual_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * override[A].packing_density;
}
else {
filament_radius = machine.nominal_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * machine.nominal_packing_density;
}
packing_scale = machine.nozzle_diameter * layer_height / packing_area;
if(deltaMM.a > 0) {
deltaMM.a = distance * packing_scale;
}
else {
deltaMM.a = -(distance * packing_scale);
}
targetPosition.a = currentPosition.a + deltaMM.a;
deltaSteps.a = round(fabs(deltaMM.a) * machine.a.steps_per_mm);
}
if(B_IS_SET && deltaMM.b > 0.0001) {
if(override[B].actual_filament_diameter > 0.0001) {
filament_radius = override[B].actual_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * override[A].packing_density;
}
else {
filament_radius = machine.nominal_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * machine.nominal_packing_density;
}
packing_scale = machine.nozzle_diameter * layer_height / packing_area;
if(deltaMM.b > 0) {
deltaMM.b = distance * packing_scale;
}
else {
deltaMM.b = -(distance * packing_scale);
}
targetPosition.b = currentPosition.b + deltaMM.b;
deltaSteps.b = round(fabs(deltaMM.b) * machine.b.steps_per_mm);
}
}
Point5d target = targetPosition;
target.a = -deltaMM.a;
target.b = -deltaMM.b;
deltaMM.x = fabs(deltaMM.x);
deltaMM.y = fabs(deltaMM.y);
deltaMM.z = fabs(deltaMM.z);
deltaMM.a = fabs(deltaMM.a);
deltaMM.b = fabs(deltaMM.b);
double feedrate = get_safe_feedrate(command.flag, &deltaMM);
double minutes = distance / feedrate;
if(minutes == 0) {
distance = 0;
if(command.flag & A_IS_SET) {
distance = deltaMM.a;
}
if(command.flag & B_IS_SET && distance < deltaMM.b) {
distance = deltaMM.b;
}
minutes = distance / feedrate;
}
//convert feedrate to mm/sec
feedrate /= 60.0;
#if ENABLE_SIMULATED_RPM
// if either a or b is 0, but their motor is on and turning, '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[A].rpm = 0;
}
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[B].rpm = 0;
}
#endif
Point5d steps = mm_to_steps(&target, &excess);
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 = 1000000.0 / dda_interval;
write_8(155);
// int32: X coordinate, in steps
write_32((int)steps.x);
// int32: Y coordinate, in steps
write_32((int)steps.y);
// int32: Z coordinate, in steps
write_32((int)steps.z);
// int32: A coordinate, in steps
write_32((int)steps.a);
// int32: B coordinate, in steps
write_32((int)steps.b);
// uint32: DDA Feedrate, in steps/s
write_32((unsigned)dda_rate);
// uint8: Axes bitfield to specify which axes are relative. Any axis with a bit set should make a relative movement.
write_8(A_IS_SET|B_IS_SET);
// 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
write_float((float)distance);
// uint16: feedrate in mm/s, multiplied by 64 to assist fixed point calculation on the bot
write_16((unsigned)(feedrate * 64.0));
}
}
// 156 - Set segment acceleration
static void set_acceleration(int state)
{
write_8(156);
// uint8: 1 to enable, 0 to disable
write_8(state);
}
// 157 - Stream Version
// 158 - Pause @ zPos
static void pause_at_zpos(float z_positon)
{
write_8(158);
// uint8: pause at Z coordinate or 0.0 to disable
write_float(z_positon);
}
// TARGET POSITION
// calculate target position
static int calculate_target_position(void)
{
int do_pause_at_zpos = 0;
Point3d conditionalOffset = offset[currentOffset];
if(macrosEnabled) {
conditionalOffset.x += userOffset.x;
conditionalOffset.y += userOffset.y;
conditionalOffset.z += userOffset.z;
}
// CALCULATE TARGET POSITION
// x
if(command.flag & X_IS_SET) {
targetPosition.x = isRelative ? (currentPosition.x + command.x) : (command.x + conditionalOffset.x);
}
else {
targetPosition.x = currentPosition.x;
}
// y
if(command.flag & Y_IS_SET) {
targetPosition.y = isRelative ? (currentPosition.y + command.y) : (command.y + conditionalOffset.y);
}
else {
targetPosition.y = currentPosition.y;
}
// z
if(command.flag & Z_IS_SET) {
targetPosition.z = isRelative ? (currentPosition.z + command.z) : (command.z + conditionalOffset.z);
}
else {
targetPosition.z = currentPosition.z;
}
// a
if(command.flag & A_IS_SET) {
double a = (override[A].filament_scale == 1.0) ? command.a : (command.a * override[A].filament_scale);
targetPosition.a = (isRelative || extruderIsRelative) ? (currentPosition.a + a) : a;
}
else {
targetPosition.a = currentPosition.a;
}
// b
if(command.flag & B_IS_SET) {
double b = (override[B].filament_scale == 1.0) ? command.b : (command.b * override[B].filament_scale);
targetPosition.b = (isRelative || extruderIsRelative) ? (currentPosition.b + b) : b;
}
else {
targetPosition.b = currentPosition.b;
}
// update current feedrate
if(command.flag & F_IS_SET) {
currentFeedrate = command.f;
}
// DITTO PRINTING
if(dittoPrinting) {
if(command.flag & A_IS_SET) {
targetPosition.b = targetPosition.a;
command.flag |= B_IS_SET;
}
else if(command.flag & B_IS_SET) {
targetPosition.a = targetPosition.b;
command.flag |= A_IS_SET;
}
}
// CHECK FOR COMMAND @ Z POS
// check if there are more commands on the stack
if(macrosEnabled && commandAtIndex < commandAtLength) {
// check if the next command will cross the z threshold
if(commandAt[commandAtIndex].z <= targetPosition.z) {
// is this a temperature change macro?
if(commandAt[commandAtIndex].temperature) {
unsigned temperature = commandAt[commandAtIndex].temperature;
// make sure the temperature has changed
if(tool[currentExtruder].nozzle_temperature != temperature) {
if(dittoPrinting) {
set_nozzle_temperature(A, temperature);
set_nozzle_temperature(B, temperature);
tool[A].nozzle_temperature = tool[B].nozzle_temperature = temperature;
}
else {
set_nozzle_temperature(currentExtruder, temperature);
tool[currentExtruder].nozzle_temperature = temperature;
}
}
commandAtIndex++;
}
// no its a pause macro
else {
int index = commandAt[commandAtIndex].filament_index;
// override filament diameter
if(filament[index].diameter > 0.0001) {
if(dittoPrinting) {
set_filament_scale(A, filament[index].diameter);
set_filament_scale(B, filament[index].diameter);
}
else {
set_filament_scale(currentExtruder, filament[index].diameter);
}
}
// override nozzle temperature
if(filament[index].temperature) {
unsigned temperature = filament[index].temperature;
if(tool[currentExtruder].nozzle_temperature != temperature) {
if(dittoPrinting) {
set_nozzle_temperature(A, temperature);
set_nozzle_temperature(B, temperature);
tool[A].nozzle_temperature = tool[B].nozzle_temperature = temperature;
}
else {
set_nozzle_temperature(currentExtruder, temperature);
tool[currentExtruder].nozzle_temperature = temperature;
}
}
}
// override LED colour
if(filament[index].LED) {
set_LED_RGB(filament[index].LED, 0);
}
commandAtIndex++;
if(commandAtIndex < commandAtLength) {
do_pause_at_zpos = 1;
}
}
}
}
return do_pause_at_zpos;
}
static void update_target_position(void)
{
if(targetPosition.z != currentPosition.z) {
// calculate layer height
layer_height = fabs(targetPosition.z - currentPosition.z);
// check upper bounds
if(layer_height > (machine.nozzle_diameter * 0.85)) {
layer_height = machine.nozzle_diameter * 0.85;
}
}
currentPosition = targetPosition;
positionKnown = 1;
}
// TOOL CHANGE
void do_tool_change(int timeout) {
// set the temperature of current tool to standby (if standby is different to active)
if(override[currentExtruder].standby_temperature
&& override[currentExtruder].standby_temperature != tool[currentExtruder].nozzle_temperature) {
unsigned temperature = override[currentExtruder].standby_temperature;
set_nozzle_temperature(currentExtruder, temperature);
tool[currentExtruder].nozzle_temperature = temperature;
}
// set the temperature of selected tool to active (if active is different to standby)
if(override[selectedExtruder].active_temperature
&& override[selectedExtruder].active_temperature != tool[selectedExtruder].nozzle_temperature) {
unsigned temperature = override[selectedExtruder].active_temperature;
set_nozzle_temperature(selectedExtruder, temperature);
tool[selectedExtruder].nozzle_temperature = temperature;
// wait for nozzle to head up
wait_for_extruder(selectedExtruder, timeout);
}
// switch any active G10 offset (G54 or G55)
if(currentOffset == currentExtruder + 1) {
currentOffset = selectedExtruder + 1;
}
// change current toolhead in order to apply the calibration offset
change_extruder_offset(selectedExtruder);
// set current extruder so changes in E are expressed as changes to A or B
currentExtruder = selectedExtruder;
}
// PARSER PRE-PROCESSOR
// 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;
}
// clean up the gcode command for processing
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;
}
// clean up the gcode comment for processing
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;
}
// MACRO PARSER
/* format
;@<STRING> <STRING> <FLOAT> <FLOAT>mm <INTEGER>c #<HEX> (<STRING>)
MACRO:= ';' '@' COMMAND COMMENT EOL
COMMAND:= PRINTER | ENABLE | FILAMENT | EXTRUDER | SLICER | START| PAUSE
COMMENT:= S+ '(' [^)]* ')' S+
PRINTER:= ('printer' | 'machine' | 'slicer') (TYPE | PACKING_DENSITY | DIAMETER | TEMP | RGB)+
TYPE:= S+ ('c3' | 'c4' | 'cp4' | 'cpp' | 't6' | 't7' | 't7d' | 'r1' | 'r1d' | 'r2' | 'r2h' | 'r2x')
PACKING_DENSITY:= S+ DIGIT+ ('.' DIGIT+)?
DIAMETER:= S+ DIGIT+ ('.' DIGIT+)? 'm' 'm'?
TEMP:= S+ DIGIT+ 'c'
RGB:= S+ '#' HEX HEX HEX HEX HEX HEX ; LED colour
ENABLE:= 'enable' (DITTO | PROGRESS)
DITTO:= S+ 'ditto' ; Simulated ditto printing
PROGRESS:= S+ 'progress' ; Override build progress
FILAMENT:= 'filament' FILAMENT_ID (DIAMETER | TEMP | RGB)+
FILAMENT_ID:= S+ ALPHA+ ALPHA_NUMERIC*
EXTRUDER:= ('right' | 'left') (FILAMENT_ID | DIAMETER | TEMP)+
SLICER:= 'slicer' DIAMETER ; Nominal filament diameter
START:= 'start' (FILAMENT_ID | TEMPERATURE)
PAUSE:= 'pause' (ZPOS | FILAMENT_ID | TEMPERATURE)+
ZPOS:= S+ DIGIT+ ('.' DIGIT+)?
*/
#define MACRO_IS(token) strcmp(token, macro) == 0
#define NAME_IS(n) strcasecmp(name, n) == 0
static void parse_macro(const char* macro, char *p)
{
char *name = NULL;
double z = 0.0;
double diameter = 0.0;
unsigned temperature = 0;
unsigned LED = 0;
while(*p != 0) {
// trim any leading white space
while(isspace(*p)) p++;
if(isalpha(*p)) {
name = p;
while(*p && !isspace(*p)) p++;
if(*p) *p++ = 0;
}
else if(isdigit(*p)) {
char *t = p;
while(*p && !isspace(*p)) p++;
if(*(p - 1) == 'm') {
diameter = strtod(t, NULL);
}
else if(*(p - 1) == 'c') {
temperature = atoi(t);
}
else {
z = strtod(t, NULL);
}
if(*p) *p++ = 0;
}
else if(*p == '#') {
char *t = ++p;
while(*p && !isspace(*p)) p++;
if(*p) *p++ = 0;
LED = (unsigned)strtol(t, NULL, 16);
}
else if(*p == '(') {
char *t = strrchr(p + 1, ')');
if(t) {
*t = 0;
p = t + 1;
}
else {
*p = 0;
}
}
else {
fprintf(stderr, "(line %u) Syntax error: unrecognised macro parameter" EOL, lineNumber);
break;
}
}
// ;@printer <TYPE> <PACKING_DENSITY> <DIAMETER>mm <HBP-TEMP>c #<LED-COLOUR>
if(MACRO_IS("machine") || MACRO_IS("printer") || MACRO_IS("slicer")) {
if(name) {
if(NAME_IS("c3")) machine = cupcake_G3;
else if(NAME_IS("c4")) machine = cupcake_G4;
else if(NAME_IS("cp4")) machine = cupcake_P4;
else if(NAME_IS("cpp")) machine = cupcake_PP;
else if(NAME_IS("t6")) machine = thing_o_matic_7;
else if(NAME_IS("t7")) machine = thing_o_matic_7;
else if(NAME_IS("t7d")) machine = thing_o_matic_7D;
else if(NAME_IS("r1")) machine = replicator_1;
else if(NAME_IS("r1d")) machine = replicator_1D;
else if(NAME_IS("r2")) machine = replicator_2;
else if(NAME_IS("r2h")) machine = replicator_2H;
else if(NAME_IS("r2x")) machine = replicator_2X;
else {
fprintf(stderr, "(line %u) Semantic error: @printer macro with unrecognised type '%s'" EOL, lineNumber, name);
}
override[A].packing_density = machine.nominal_packing_density;
override[B].packing_density = machine.nominal_packing_density;
}
if(z > 0.0001) {
machine.nominal_packing_density = z;
}
if(diameter > 0.0001) machine.nominal_filament_diameter = diameter;
if(temperature) {
if(machine.a.has_heated_build_platform) override[A].build_platform_temperature = temperature;
else if(machine.b.has_heated_build_platform) override[B].build_platform_temperature = temperature;
else {
fprintf(stderr, "(line %u) Semantic warning: @printer macro cannot override non-existant heated build platform" EOL, lineNumber);
}
}
if(LED) set_LED_RGB(LED, 0);
}
// ;@enable ditto
// ;@enable progress
else if(MACRO_IS("enable")) {
if(name) {
if(NAME_IS("ditto")) {
if(machine.extruder_count == 1) {
fputs("Configuration error: ditto printing cannot access non-existant second extruder" EOL, stderr);
dittoPrinting = 0;
}
else {
dittoPrinting = 1;
}
}
else if(NAME_IS("progress")) buildProgress = 1;
else {
fprintf(stderr, "(line %u) Semantic error: @enable macro with unrecognised parameter '%s'" EOL, lineNumber, name);
}
}
else {
fprintf(stderr, "(line %u) Syntax error: @enable macro with missing parameter" EOL, lineNumber);
}
}
// ;@filament <NAME> <DIAMETER>mm <TEMP>c #<LED-COLOUR>
else if(MACRO_IS("filament")) {
if(name) {
add_filament(name, diameter, temperature, LED);
}
else {
fprintf(stderr, "(line %u) Semantic error: @filament macro with missing name" EOL, lineNumber);
}
}
// ;@right <NAME> <PACKING_DENSITY> <DIAMETER>mm <TEMP>c
else if(MACRO_IS("right")) {
if(name) {
int index = find_filament(name);
if(index > 0) {
if(filament[index].diameter > 0.0001) set_filament_scale(A, filament[index].diameter);
if(filament[index].temperature) override[A].active_temperature = filament[index].temperature;
return;
}
}
if(z > 0.0001) override[A].packing_density = z;
if(diameter > 0.0001) set_filament_scale(A, diameter);
if(temperature) override[A].active_temperature = temperature;
}
// ;@left <NAME> <PACKING_DENSITY> <DIAMETER>mm <TEMP>c
else if(MACRO_IS("left")) {
if(name) {
int index = find_filament(name);
if(index > 0) {
if(filament[index].diameter > 0.0001) set_filament_scale(B, filament[index].diameter);
if(filament[index].temperature) override[B].active_temperature = filament[index].temperature;
return;
}
}
if(z > 0.0001) override[A].packing_density = z;
if(diameter > 0.0001) set_filament_scale(B, diameter);
if(temperature) override[B].active_temperature = temperature;
}
// ;@pause <ZPOS> <NAME>
else if(MACRO_IS("pause")) {
if(z > 0.0001) {
add_command_at(z, name, 0);
}
else {
fprintf(stderr, "(line %u) Semantic error: @pause macro with missing zPos" EOL, lineNumber);
}
}
// ;@temp <ZPOS> <TEMP>c
// ;@temperature <ZPOS> <TEMP>c
else if(MACRO_IS("temp") || MACRO_IS("temperature")) {
if(temperature) {
if(z > 0.0001) {
add_command_at(z, NULL, temperature);
}
else {
fprintf(stderr, "(line %u) Semantic error: @%s macro with missing zPos" EOL, lineNumber, macro);
}
}
else {
fprintf(stderr, "(line %u) Semantic error: @%s macro with missing temperature" EOL, lineNumber, macro);
}
}
// ;@start <NAME> <TEMP>c
else if(MACRO_IS("start")) {
if(temperature) {
if(dittoPrinting) {
override[A].active_temperature = override[B].active_temperature = temperature;
}
else {
override[currentExtruder].active_temperature = temperature;
}
}
else {
int index = find_filament(name);
if(index > 0) {
if(dittoPrinting) {
if(filament[index].diameter > 0.0001) {
set_filament_scale(A, filament[index].diameter);
set_filament_scale(B, filament[index].diameter);
}
if(filament[index].temperature) {
override[A].active_temperature = override[B].active_temperature = filament[index].temperature;
}
}
else {
if(filament[index].diameter > 0.0001) set_filament_scale(currentExtruder, filament[index].diameter);
if(filament[index].temperature) override[currentExtruder].active_temperature = filament[index].temperature;
if(filament[index].LED) set_LED_RGB(filament[index].LED, 0);
}
}
else {
fprintf(stderr, "(line %u) Semantic error: @start with undefined filament name '%s', use a @filament macro to define it" EOL, lineNumber, name ? name : "");
}
}
}
// ;@body
else if(MACRO_IS("body")) {
if(pausePending) {
pause_at_zpos(commandAt[0].z);
pausePending = 0;
}
macrosEnabled = 1;
}
// ;@header
// ;@footer
else if(MACRO_IS("header") && MACRO_IS("footer")) {
macrosEnabled = 0;
}
}
// INI FILE HANDLER
// Custom machine definition ini handler
#define SECTION_IS(s) strcasecmp(section, s) == 0
#define PROPERTY_IS(n) strcasecmp(property, n) == 0
#define VALUE_IS(v) strcasecmp(value, v) == 0
static int config_handler(unsigned lineno, const char* section, const char* property, char* value)
{
if(SECTION_IS("") || SECTION_IS("macro")) {
if(PROPERTY_IS("slicer")
|| PROPERTY_IS("filament")
|| PROPERTY_IS("pause")
|| PROPERTY_IS("start")
|| PROPERTY_IS("temp")
|| PROPERTY_IS("temperature")) {
parse_macro(property, value);
}
else if(PROPERTY_IS("verbose")) {
verboseMode = atoi(value);
}
else goto SECTION_ERROR;
}
else if(SECTION_IS("printer") || SECTION_IS("slicer")) {
if(PROPERTY_IS("ditto_printing")) dittoPrinting = atoi(value);
else if(PROPERTY_IS("build_progress")) buildProgress = atoi(value);
else if(PROPERTY_IS("packing_density")) machine.nominal_packing_density = strtod(value, NULL);
else if(PROPERTY_IS("recalculate_5d")) recalculate5D = atoi(value);
else if(PROPERTY_IS("nominal_filament_diameter")
|| PROPERTY_IS("slicer_filament_diameter")
|| PROPERTY_IS("filament_diameter")) {
machine.nominal_filament_diameter = strtod(value, NULL);
}
else if(PROPERTY_IS("machine_type")) {
// use on-board machine definition
if(VALUE_IS("c3")) machine = cupcake_G3;
else if(VALUE_IS("c4")) machine = cupcake_G4;
else if(VALUE_IS("cp4")) machine = cupcake_P4;
else if(VALUE_IS("cpp")) machine = cupcake_PP;
else if(VALUE_IS("t7")) machine = thing_o_matic_7;
else if(VALUE_IS("t6")) machine = thing_o_matic_7;
else if(VALUE_IS("t7")) machine = thing_o_matic_7;
else if(VALUE_IS("t7d")) machine = thing_o_matic_7D;
else if(VALUE_IS("r1")) machine = replicator_1;
else if(VALUE_IS("r1d")) machine = replicator_1D;
else if(VALUE_IS("r2")) machine = replicator_2;
else if(VALUE_IS("r2h")) machine = replicator_2H;
else if(VALUE_IS("r2x")) machine = replicator_2X;
else {
fprintf(stderr, "(line %u) Configuration error: unrecognised machine type '%s'" EOL, lineno, value);
return 0;
}
override[A].packing_density = machine.nominal_packing_density;
override[B].packing_density = machine.nominal_packing_density;
}
else if(PROPERTY_IS("gcode_flavor")) {
// use on-board machine definition
if(VALUE_IS("reprap")) reprapFlavor = 1;
else if(VALUE_IS("makerbot")) reprapFlavor = 0;
else {
fprintf(stderr, "(line %u) Configuration error: unrecognised GCODE flavor '%s'" EOL, lineno, value);
return 0;
}
}
else if(PROPERTY_IS("build_platform_temperature")) {
if(machine.a.has_heated_build_platform) override[A].build_platform_temperature = atoi(value);
else if(machine.b.has_heated_build_platform) override[B].build_platform_temperature = atoi(value);
}
else if(PROPERTY_IS("sd_card_path")) {
sdCardPath = strdup(value);
}
else if(PROPERTY_IS("verbose")) {
verboseMode = atoi(value);
}
else goto SECTION_ERROR;
}
else if(SECTION_IS("x")) {
if(PROPERTY_IS("max_feedrate")) machine.x.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) machine.x.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) machine.x.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) machine.x.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("y")) {
if(PROPERTY_IS("max_feedrate")) machine.y.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) machine.y.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) machine.y.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) machine.y.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("z")) {
if(PROPERTY_IS("max_feedrate")) machine.z.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) machine.z.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) machine.z.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) machine.z.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("a")) {
if(PROPERTY_IS("max_feedrate")) machine.a.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) machine.a.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("motor_steps")) machine.a.motor_steps = strtod(value, NULL);
else if(PROPERTY_IS("has_heated_build_platform")) machine.a.has_heated_build_platform = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("right")) {
if(PROPERTY_IS("active_temperature")
|| PROPERTY_IS("nozzle_temperature")) override[A].active_temperature = atoi(value);
else if(PROPERTY_IS("standby_temperature")) override[A].standby_temperature = atoi(value);
else if(PROPERTY_IS("build_platform_temperature")) override[A].build_platform_temperature = atoi(value);
else if(PROPERTY_IS("actual_filament_diameter")) override[A].actual_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) override[A].packing_density = strtod(value, NULL);
else goto SECTION_ERROR;
}
else if(SECTION_IS("b")) {
if(PROPERTY_IS("max_feedrate")) machine.b.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) machine.b.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("motor_steps")) machine.b.motor_steps = strtod(value, NULL);
else if(PROPERTY_IS("has_heated_build_platform")) machine.b.has_heated_build_platform = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("left")) {
if(PROPERTY_IS("active_temperature")
|| PROPERTY_IS("nozzle_temperature")) override[B].active_temperature = atoi(value);
else if(PROPERTY_IS("standby_temperature")) override[B].standby_temperature = atoi(value);
else if(PROPERTY_IS("build_platform_temperature")) override[B].build_platform_temperature = atoi(value);
else if(PROPERTY_IS("actual_filament_diameter")) override[B].actual_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) override[B].packing_density = strtod(value, NULL);
else goto SECTION_ERROR;
}
else if(SECTION_IS("machine")) {
if(PROPERTY_IS("nominal_filament_diameter")
|| PROPERTY_IS("slicer_filament_diameter")) machine.nominal_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) machine.nominal_packing_density = strtod(value, NULL);
else if(PROPERTY_IS("nozzle_diameter")) machine.nozzle_diameter = strtod(value, NULL);
else if(PROPERTY_IS("extruder_count")) machine.extruder_count = atoi(value);
else if(PROPERTY_IS("timeout")) machine.timeout = atoi(value);
else goto SECTION_ERROR;
}
else {
fprintf(stderr, "(line %u) Configuration error: unrecognised section [%s]" EOL, lineno, section);
return 0;
}
return 1;
SECTION_ERROR:
fprintf(stderr, "(line %u) Configuration error: [%s] section contains unrecognised property %s=..." EOL, lineno, section, property);
return 0;
}
// display usage and exit
static void usage()
{
fputs("GPX " GPX_VERSION " Copyright (c) 2013 WHPThomas, All rights reserved." EOL, stderr);
fputs(EOL "This program is free software; you can redistribute it and/or modify" EOL, stderr);
fputs("it under the terms of the GNU General Public License as published by" EOL, stderr);
fputs("the Free Software Foundation; either version 2 of the License, or" EOL, stderr);
fputs("(at your option) any later version." EOL, stderr);
fputs(EOL "This program is distributed in the hope that it will be useful," EOL, stderr);
fputs("but WITHOUT ANY WARRANTY; without even the implied warranty of" EOL, stderr);
fputs("MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the" EOL, stderr);
fputs("GNU General Public License for more details." EOL, stderr);
fputs(EOL "Usage: gpx [-dgprsv] [-f F] [-x X] [-y Y] [-z Z] [-m M] [-c C] IN [OUT]" EOL, stderr);
fputs(EOL "Options:" EOL EOL, stderr);
fputs("\t-d\tsimulated ditto printing" EOL, stderr);
fputs("\t-g\tMakerbot/ReplicatorG GCODE flavor" EOL, stderr);
fputs("\t-p\toverride build percentage" EOL, stderr);
fputs("\t-r\trewrite 5d extrusion values" EOL, stderr);
fputs("\t-s\tenable stdin and stdout support for command pipes" EOL, stderr);
fputs("\t-v\tverose mode" EOL, stderr);
fputs(EOL "F is the filament diameter" EOL, stderr);
fputs(EOL "X,Y & Z are the coordinate system offsets for the conversion" EOL EOL, stderr);
fputs("\tX = the x axis offset" EOL, stderr);
fputs("\tY = the y axis offset" EOL, stderr);
fputs("\tZ = the z axis offset" EOL, stderr);
fputs(EOL "M is the predefined machine type" EOL EOL, stderr);
fputs("\tc3 = Cupcake Gen3 XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
fputs("\tc4 = Cupcake Gen4 XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
fputs("\tcp4 = Cupcake Pololu XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
fputs("\tcpp = Cupcake Pololu XYZ, Mk5/6 + Pololu Extruder" EOL, stderr);
fputs("\tt6 = TOM Mk6 - single extruder" EOL, stderr);
fputs("\tt7 = TOM Mk7 - single extruder" EOL, stderr);
fputs("\tt7d = TOM Mk7 - dual extruder" EOL, stderr);
fputs("\tr1 = Replicator 1 - single extruder" EOL, stderr);
fputs("\tr1d = Replicator 1 - dual extruder" EOL, stderr);
fputs("\tr2 = Replicator 2 (default config)" EOL, stderr);
fputs("\tr2h = Replicator 2 with HBP" EOL, stderr);
fputs("\tr2x = Replicator 2X" EOL, stderr);
fputs(EOL "C is the filename of a custom machine definition (ini)" EOL, stderr);
fputs(EOL "IN is the name of the sliced gcode input filename" EOL, stderr);
fputs(EOL "OUT is the name of the x3g output filename" EOL, stderr);
fputs(EOL "Examples:" EOL, stderr);
fputs("\tgpx -p -m r2 my-sliced-model.gcode" EOL, stderr);
fputs("\tgpx -c custom-tom.ini example.gcode /volumes/things/example.x3g" EOL, stderr);
fputs("\tgpx -x 3 -y -3 offset-model.gcode" EOL EOL, stderr);
exit(1);
}
// GPX program entry point
int main(int argc, char * argv[])
{
long filesize = 0;
unsigned progress = 0;
int c, i;
int next_line = 0;
int command_emitted = 0;
int do_pause_at_zpos = 0;
int standard_io = 0;
char *config = NULL;
double filament_diameter = 0;
char *buildname = "GPX " GPX_VERSION;
int overflow = 0;
initialize_globals();
// READ GPX.INI
// if present, read the gpx.ini file from the program directory
{
char *appname = argv[0];
// check for .exe extension
char *dot = strrchr(appname, '.');
if(dot) {
long l = dot - appname;
memcpy(buffer, appname, l);
appname = buffer + l;
}
// or just append .ini if no extension is present
else {
size_t sl = strlen(appname);
memcpy(buffer, appname, sl);
appname = buffer + sl;
}
*appname++ = '.';
*appname++ = 'i';
*appname++ = 'n';
*appname++ = 'i';
*appname++ = '\0';
appname = buffer;
i = ini_parse(appname, config_handler);
if(i == 0) {
if(verboseMode) fprintf(stderr, "Loaded config: %s" EOL, appname);
}
else if (i > 0) {
fprintf(stderr, "(ini line %u) Configuration syntax error in gpx.ini: unrecognised paremeters" EOL, i);
usage();
}
}
// READ COMMAND LINE
// get the command line options
while ((c = getopt(argc, argv, "c:dgf:m:prsvx:y:z:")) != -1) {
switch (c) {
case 'c':
config = optarg;
break;
case 'd':
dittoPrinting = 1;
break;
case 'g':
reprapFlavor = 0;
break;
case 'f':
filament_diameter = strtod(optarg, NULL);
recalculate5D = 1;
break;
case 'm':
if(strcasecmp(optarg, "c3") == 0) machine = cupcake_G3;
else if(strcasecmp(optarg, "c4") == 0) machine = cupcake_G4;
else if(strcasecmp(optarg, "cp4") == 0) machine = cupcake_P4;
else if(strcasecmp(optarg, "cpp") == 0) machine = cupcake_PP;
else if(strcasecmp(optarg, "t6") == 0) machine = thing_o_matic_7;
else if(strcasecmp(optarg, "t7") == 0) machine = thing_o_matic_7;
else if(strcasecmp(optarg, "t7d") == 0) machine = thing_o_matic_7D;
else if(strcasecmp(optarg, "r1") == 0) machine = replicator_1;
else if(strcasecmp(optarg, "r1d") == 0) machine = replicator_1D;
else if(strcasecmp(optarg, "r2") == 0) machine = replicator_2;
else if(strcasecmp(optarg, "r2h") == 0) machine = replicator_2H;
else if(strcasecmp(optarg, "r2x") == 0) machine = replicator_2X;
else usage();
override[A].packing_density = machine.nominal_packing_density;
override[B].packing_density = machine.nominal_packing_density;
break;
case 'p':
buildProgress = 1;
break;
case 'r':
recalculate5D = 1;
break;
case 's':
standard_io = 1;
break;
case 'v':
verboseMode = 1;
break;
case 'x':
userOffset.x = strtod(optarg, NULL);
break;
case 'y':
userOffset.y = strtod(optarg, NULL);
break;
case 'z':
userOffset.z = strtod(optarg, NULL);
break;
case '?':
default:
usage();
}
}
// READ CONFIGURATION
if(config) {
i = ini_parse(config, config_handler);
if(i == 0) {
if(verboseMode) fprintf(stderr, "Loaded config: %s" EOL, config);
}
else if (i < 0) {
fprintf(stderr, "Command line error: cannot load configuration file '%s'" EOL, config);
usage();
}
else if (i > 0) {
fprintf(stderr, "(line %u) Configuration syntax error in %s: unrecognised paremeters" EOL, i, config);
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");
in = stdin;
exit(1);
}
// assign build name
buildname = strrchr(filename, PATH_DELIM);
if(buildname) {
buildname++;
}
else {
buildname = filename;
}
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 {
size_t sl = strlen(filename);
memcpy(buffer, filename, sl);
filename = buffer + sl;
}
*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);
}
if(verboseMode) fprintf(stderr, "Writing to: %s" EOL, filename);
if(sdCardPath) {
char sd_filename[300];
long sl = strlen(sdCardPath);
if(sdCardPath[sl - 1] == PATH_DELIM) {
sdCardPath[--sl] = 0;
}
char *delim = strrchr(filename, PATH_DELIM);
if(delim) {
memcpy(sd_filename, sdCardPath, sl);
long l = strlen(delim);
memcpy(sd_filename + sl, delim, l);
sd_filename[sl + l] = 0;
}
else {
memcpy(sd_filename, sdCardPath, sl);
sd_filename[sl++] = PATH_DELIM;
long l = strlen(filename);
memcpy(sd_filename + sl, filename, l);
sd_filename[sl + l] = 0;
}
out2 = fopen(sd_filename, "wb");
if(out2) {
if(verboseMode) fprintf(stderr, "Writing to: %s" EOL, sd_filename);
}
}
}
else if(!standard_io) {
usage();
}
if(dittoPrinting && machine.extruder_count == 1) {
fputs("Configuration error: ditto printing cannot access non-existant second extruder" EOL, stderr);
dittoPrinting = 0;
}
if(filament_diameter > 0.0001) {
override[A].actual_filament_diameter = filament_diameter;
override[B].actual_filament_diameter = filament_diameter;
}
// CALCULATE FILAMENT SCALING
if(override[A].actual_filament_diameter > 0.0001
&& override[A].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(A, override[A].actual_filament_diameter);
}
if(override[B].actual_filament_diameter > 0.0001
&& override[B].actual_filament_diameter != machine.nominal_filament_diameter) {
set_filament_scale(B, override[B].actual_filament_diameter);
}
// 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, BUFFER_MAX, in) != NULL) {
// detect input buffer overflow and ignore overflow input
if(overflow) {
if(strlen(buffer) != BUFFER_MAX - 1) {
overflow = 0;
}
continue;
}
if(strlen(buffer) == BUFFER_MAX - 1) {
overflow = 1;
fprintf(stderr, "(line %u) Buffer overflow: input exceeds %u character limit, remaining characters in line will be ignored" EOL, lineNumber, BUFFER_MAX);
}
// reset flag state
command.flag = 0;
char *digits;
char *p = buffer; // current parser location
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" EOL, lineNumber);
next_line = lineNumber + 1;
}
else {
next_line = lineNumber = atoi(digits);
}
}
else {
next_line = lineNumber + 1;
}
// 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;
// Pnnn Command parameter, such as a time in milliseconds
case 'p':
case 'P':
command.p = strtod(digits, NULL);
command.flag |= P_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 extruder nnn.
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'" EOL, lineNumber, c);
}
}
else if(*p == ';') {
if(*(p + 1) == '@') {
char *s = p + 2;
if(isalpha(*s)) {
char *macro = s;
// skip any no space characters
while(*s && !isspace(*s)) s++;
// null terminate
if(*s) *s++ = 0;
parse_macro(macro, normalize_comment(s));
}
}
else {
// Comment
command.comment = normalize_comment(p + 1);
command.flag |= COMMENT_IS_SET;
}
*p = 0;
}
else if(*p == '(') {
// Comment
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, lineNumber);
e = strrchr(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 ')'" EOL, lineNumber);
command.comment = normalize_comment(p + 1);
command.flag |= COMMENT_IS_SET;
*p = 0;
}
}
else if(*p == '*') {
// Checksum
*p = 0;
break;
}
else if(iscntrl(*p)) {
break;
}
else {
fprintf(stderr, "(line %u) Syntax error: unrecognised gcode '%s'" EOL, lineNumber, p);
break;
}
}
// revert to tool selection to current extruder
selectedExtruder = currentExtruder;
// change the extruder selection (in the virtual tool carosel)
if(command.flag & T_IS_SET && !dittoPrinting) {
unsigned tool_id = (unsigned)command.t;
if(tool_id < machine.extruder_count) {
selectedExtruder = tool_id;
}
else {
fprintf(stderr, "(line %u) Semantic warning: T%u cannot select non-existant extruder" EOL, lineNumber, tool_id);
}
}
// we treat E as short hand for A or B being set, depending on the state of the currentExtruder
if(command.flag & E_IS_SET) {
if(currentExtruder == 0) {
// a = e
command.flag |= A_IS_SET;
command.a = command.e;
}
else {
// b = e
command.flag |= B_IS_SET;
command.b = command.e;
}
}
// INTERPRET COMMAND
if(command.flag & G_IS_SET) {
switch(command.g) {
// G0 - Rapid Positioning
case 0:
if(command.flag & F_IS_SET) {
do_pause_at_zpos = calculate_target_position();
queue_ext_point(currentFeedrate);
update_target_position();
command_emitted++;
}
else {
Point3d delta;
do_pause_at_zpos = calculate_target_position();
if(command.flag & X_IS_SET) delta.x = fabs(targetPosition.x - currentPosition.x);
if(command.flag & Y_IS_SET) delta.y = fabs(targetPosition.y - currentPosition.y);
if(command.flag & Z_IS_SET) delta.z = fabs(targetPosition.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_ext_point(feedrate);
update_target_position();
command_emitted++;
}
break;
// G1 - Coordinated Motion
case 1:
do_pause_at_zpos = calculate_target_position();
queue_ext_point(currentFeedrate);
update_target_position();
command_emitted++;
break;
// G2 - Clockwise Arc
// G3 - Counter Clockwise Arc
// G4 - Dwell
case 4:
if(command.flag & P_IS_SET) {
#if ENABLE_SIMULATED_RPM
if(tool[currentExtruder].motor_enabled && tool[currentExtruder].rpm) {
do_pause_at_zpos = calculate_target_position();
queue_new_point(command.p);
command_emitted++;
}
else
#endif
{
delay(command.p);
command_emitted++;
}
}
else {
fprintf(stderr, "(line %u) Syntax error: G4 is missing delay parameter, use Pn where n is milliseconds" EOL, lineNumber);
}
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;
if(command.flag & X_IS_SET) offset[i].x = command.x;
if(command.flag & Y_IS_SET) offset[i].y = command.y;
if(command.flag & Z_IS_SET) offset[i].z = command.z;
// set standby temperature
if(command.flag & R_IS_SET) {
unsigned temperature = (unsigned)command.r;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
switch(i) {
case 1:
override[A].standby_temperature = temperature;
break;
case 2:
override[B].standby_temperature = temperature;
break;
}
}
// set tool temperature
if(command.flag & S_IS_SET) {
unsigned temperature = (unsigned)command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
switch(i) {
case 1:
override[A].active_temperature = temperature;
break;
case 2:
override[B].active_temperature = temperature;
break;
}
}
}
else {
fprintf(stderr, "(line %u) Syntax error: G10 is missing coordiante system, use Pn where n is 1-6" EOL, lineNumber);
}
break;
// G21 - Use Milimeters as Units (IGNORED)
// G71 - Use Milimeters as Units (IGNORED)
case 21:
case 71:
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" EOL, lineNumber);
exit(1);
}
break;
// G92 - Define current position on axes
case 92: {
if(command.flag & X_IS_SET) currentPosition.x = command.x;
if(command.flag & Y_IS_SET) currentPosition.y = command.y;
if(command.flag & Z_IS_SET) currentPosition.z = command.z;
if(command.flag & A_IS_SET) currentPosition.a = command.a;
if(command.flag & B_IS_SET) currentPosition.b = command.b;
set_position();
command_emitted++;
// check if we know where we are
int mask = machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK;
if((command.flag & mask) == mask) positionKnown = 1;
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:
if(command.flag & F_IS_SET) currentFeedrate = command.f;
home_axes(ENDSTOP_IS_MIN);
command_emitted++;
positionKnown = 0;
excess.a = 0;
excess.b = 0;
break;
// G28 - Home given axes to maximum
// G162 - Home given axes to maximum
case 28:
case 162:
if(command.flag & F_IS_SET) currentFeedrate = command.f;
home_axes(ENDSTOP_IS_MAX);
command_emitted++;
positionKnown = 0;
excess.a = 0;
excess.b = 0;
break;
default:
fprintf(stderr, "(line %u) Syntax warning: unsupported gcode command 'G%u'" EOL, lineNumber, 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_progress(100);
end_build();
set_steppers(AXES_BIT_MASK, 0);
}
exit(0);
// M6 - Tool change
case 6:
if(!dittoPrinting && selectedExtruder != currentExtruder) {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
do_tool_change(timeout);
command_emitted++;
}
// Reprap flavor - use M6 for tool changes and M116 to wait for temperature
if(reprapFlavor) break;
// fall through for Makerbot/ReplicatorG flavor
// M116 - Wait for extruder AND build platfrom to reach (or exceed) temperature
case 116: {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
// changing the
if(dittoPrinting) {
if(tool[A].nozzle_temperature > 0) {
wait_for_extruder(A, timeout);
}
if(tool[B].nozzle_temperature > 0) {
wait_for_extruder(B, timeout);
}
command_emitted++;
}
else {
// any tool changes have already occured
if(tool[selectedExtruder].nozzle_temperature > 0) {
wait_for_extruder(selectedExtruder, timeout);
command_emitted++;
}
}
// if we have a HBP wait for that too
if(machine.a.has_heated_build_platform && tool[A].build_platform_temperature > 0) {
wait_for_build_platform(A, timeout);
command_emitted++;
}
if(machine.b.has_heated_build_platform && tool[B].build_platform_temperature > 0) {
wait_for_build_platform(B, timeout);
command_emitted++;
}
break;
}
// M17 - Enable axes steppers
case 17:
if(command.flag & AXES_BIT_MASK) {
set_steppers(command.flag & AXES_BIT_MASK, 1);
command_emitted++;
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);
command_emitted++;
tool[A].motor_enabled = 1;
if(machine.extruder_count == 2) tool[B].motor_enabled = 1;
}
break;
// M18 - Disable axes steppers
case 18:
if(command.flag & AXES_BIT_MASK) {
set_steppers(command.flag & AXES_BIT_MASK, 0);
command_emitted++;
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);
command_emitted++;
tool[A].motor_enabled = 0;
if(machine.extruder_count == 2) tool[B].motor_enabled = 0;
}
break;
// M70 - Display message on LCD
case 70:
if(command.flag & COMMENT_IS_SET) {
unsigned vPos = command.flag & Y_IS_SET ? (unsigned)command.y : 0;
if(vPos > 3) vPos = 3;
unsigned hPos = command.flag & X_IS_SET ? (unsigned)command.x : 0;
if(hPos > 19) hPos = 19;
if(command.flag & P_IS_SET) {
display_message(command.comment, vPos, hPos, command.p, 0);
}
else {
display_message(command.comment, vPos, hPos, 0, 0);
}
command_emitted++;
}
else {
fprintf(stderr, "(line %u) Syntax error: M70 is missing message text, use (text) where text is message" EOL, lineNumber);
}
break;
// M71 - Display message and wait for button press
case 71: {
unsigned vPos = command.flag & Y_IS_SET ? (unsigned)command.y : 0;
if(vPos > 3) vPos = 3;
unsigned hPos = command.flag & X_IS_SET ? (unsigned)command.x : 0;
if(hPos > 19) hPos = 19;
if(command.flag & COMMENT_IS_SET) {
if(command.flag & P_IS_SET) {
display_message(command.comment, vPos, hPos, command.p, 1);
}
else {
display_message(command.comment, vPos, hPos, 0, 1);
}
}
else {
if(command.flag & P_IS_SET) {
display_message("Press M to continue", vPos, hPos, command.p, 1);
}
else {
display_message("Press M to continue", vPos, hPos, 0, 1);
}
}
command_emitted++;
break;
}
// M72 - Queue a song or play a tone
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);
command_emitted++;
}
else {
fprintf(stderr, "(line %u) Syntax warning: M72 is missing song number, use Pn where n is 0-2" EOL, lineNumber);
}
break;
// M73 - Manual set build percentage
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(buildname);
set_build_progress(0);
// start extruder in a known state
change_extruder_offset(currentExtruder);
}
else if(program_is_running()) {
if(percent == 100) {
// disable macros in footer
macrosEnabled = 0;
end_program();
set_build_progress(100);
end_build();
}
else {
// enable macros in object body
if(!macrosEnabled && percent > 0) {
if(pausePending) {
pause_at_zpos(commandAt[0].z);
pausePending = 0;
}
macrosEnabled = 1;
}
if(filesize == 0 || buildProgress == 0) {
set_build_progress(percent);
}
}
}
}
else {
fprintf(stderr, "(line %u) Syntax warning: M73 is missing build percentage, use Pn where n is 0-100" EOL, lineNumber);
}
break;
// M82 - set extruder to absolute mode
case 82:
extruderIsRelative = 0;
break;
// M83 - set extruder to relative mode
case 83:
extruderIsRelative = 1;
break;
// M84 - Stop idle hold
case 84:
set_steppers(machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 0);
command_emitted++;
tool[A].motor_enabled = 0;
if(machine.extruder_count == 2) tool[B].motor_enabled = 0;
break;
// M101 - Turn extruder on, forward
// M102 - Turn extruder on, reverse
case 101:
case 102:
if(dittoPrinting) {
set_steppers(A_IS_SET|B_IS_SET, 1);
command_emitted++;
tool[A].motor_enabled = tool[B].motor_enabled = command.m == 101 ? 1 : -1;
}
else {
set_steppers(selectedExtruder == 0 ? A_IS_SET : B_IS_SET, 1);
command_emitted++;
tool[selectedExtruder].motor_enabled = command.m == 101 ? 1 : -1;
}
break;
// M103 - Turn extruder off
case 103:
if(dittoPrinting) {
set_steppers(A_IS_SET|B_IS_SET, 1);
command_emitted++;
tool[A].motor_enabled = tool[B].motor_enabled = 0;
}
else {
set_steppers(selectedExtruder == 0 ? A_IS_SET : B_IS_SET, 0);
command_emitted++;
tool[selectedExtruder].motor_enabled = 0;
}
break;
// M104 - Set extruder temperature
case 104:
if(command.flag & S_IS_SET) {
unsigned temperature = (unsigned)command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
if(dittoPrinting) {
if(temperature && override[currentExtruder].active_temperature) {
temperature = override[currentExtruder].active_temperature;
}
set_nozzle_temperature(A, temperature);
set_nozzle_temperature(B, temperature);
command_emitted++;
tool[A].nozzle_temperature = tool[B].nozzle_temperature = temperature;
}
else {
if(temperature && override[selectedExtruder].active_temperature) {
temperature = override[selectedExtruder].active_temperature;
}
set_nozzle_temperature(selectedExtruder, temperature);
command_emitted++;
tool[selectedExtruder].nozzle_temperature = temperature;
}
}
else {
fprintf(stderr, "(line %u) Syntax error: M104 is missing temperature, use Sn where n is 0-280" EOL, lineNumber);
}
break;
// M106 - Turn cooling fan on
case 106: {
int state = (command.flag & S_IS_SET) ? ((unsigned)command.s ? 1 : 0) : 1;
if(dittoPrinting) {
set_fan(A, state);
set_fan(B, state);
command_emitted++;
}
else {
set_fan(selectedExtruder, state);
command_emitted++;
}
break;
}
// M107 - Turn cooling fan off
case 107:
if(dittoPrinting) {
set_fan(A, 0);
set_fan(B, 0);
command_emitted++;
}
else {
set_fan(selectedExtruder, 0);
command_emitted++;
}
break;
// M108 - set extruder motor 5D 'simulated' RPM
case 108:
#if ENABLE_SIMULATED_RPM
if(command.flag & R_IS_SET) {
if(dittoPrinting) {
tool[A].rpm = tool[B].rpm = command.r;
}
else {
tool[selectedExtruder].rpm = command.r;
}
}
else {
fprintf(stderr, "(line %u) Syntax error: M108 is missing motor RPM, use Rn where n is 0-5" EOL, lineNumber);
}
#endif
break;
// M109 - Set Extruder Temperature and Wait
case 109:
if(reprapFlavor) {
if(command.flag & S_IS_SET) {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
unsigned temperature = (unsigned)command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
if(dittoPrinting) {
unsigned tempB = temperature;
// set extruder temperatures
if(temperature) {
if(override[A].active_temperature) {
temperature = override[A].active_temperature;
}
if(override[B].active_temperature) {
tempB = override[B].active_temperature;
}
}
set_nozzle_temperature(A, temperature);
set_nozzle_temperature(B, tempB);
tool[A].nozzle_temperature = temperature;
tool[B].nozzle_temperature = tempB;
// wait for extruders to reach (or exceed) temperature
if(tool[A].nozzle_temperature > 0) {
wait_for_extruder(A, timeout);
}
if(tool[B].nozzle_temperature > 0) {
wait_for_extruder(B, timeout);
}
command_emitted++;
}
else {
// set extruder temperature
if(temperature && override[selectedExtruder].active_temperature) {
temperature = override[selectedExtruder].active_temperature;
}
set_nozzle_temperature(selectedExtruder, temperature);
tool[selectedExtruder].nozzle_temperature = temperature;
// wait for extruder to reach (or exceed) temperature
if(tool[selectedExtruder].nozzle_temperature > 0) {
wait_for_extruder(selectedExtruder, timeout);
}
command_emitted++;
}
}
else {
fprintf(stderr, "(line %u) Syntax error: M109 is missing temperature, use Sn where n is 0-280" EOL, lineNumber);
}
break;
}
// fall through to M140 for Makerbot/ReplicatorG flavor
// M140 - Set Build Platform Temperature
case 140:
if(machine.a.has_heated_build_platform || machine.b.has_heated_build_platform) {
if(command.flag & S_IS_SET) {
unsigned temperature = (unsigned)command.s;
if(temperature > HBP_MAX) temperature = HBP_MAX;
unsigned tool_id = machine.a.has_heated_build_platform ? A : B;
if(command.flag & T_IS_SET) {
tool_id = selectedExtruder;
}
if(tool_id ? machine.b.has_heated_build_platform : machine.a.has_heated_build_platform) {
if(temperature && override[tool_id].build_platform_temperature) {
temperature = override[tool_id].build_platform_temperature;
}
set_build_platform_temperature(tool_id, temperature);
command_emitted++;
tool[tool_id].build_platform_temperature = temperature;
}
else {
fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform T%u" EOL, lineNumber, command.m, tool_id);
}
}
else {
fprintf(stderr, "(line %u) Syntax error: M%u is missing temperature, use Sn where n is 0-160" EOL, lineNumber, command.m);
}
}
else {
fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform" EOL, lineNumber, command.m);
}
break;
// M126 - Turn blower fan on (valve open)
case 126: {
int state = (command.flag & S_IS_SET) ? ((unsigned)command.s ? 1 : 0) : 1;
if(dittoPrinting) {
set_valve(A, state);
set_valve(B, state);
command_emitted++;
}
else {
set_valve(selectedExtruder, state);
command_emitted++;
}
break;
}
// M127 - Turn blower fan off (valve close)
case 127:
if(dittoPrinting) {
set_valve(A, 0);
set_valve(B, 0);
command_emitted++;
}
else {
set_valve(selectedExtruder, 0);
command_emitted++;
}
break;
// M131 - Store Current Position to EEPROM
case 131:
if(command.flag & AXES_BIT_MASK) {
store_home_positions();
command_emitted++;
}
else {
fprintf(stderr, "(line %u) Syntax error: M131 is missing axes, use X Y Z A B" EOL, lineNumber);
}
break;
// M132 - Load Current Position from EEPROM
case 132:
if(command.flag & AXES_BIT_MASK) {
recall_home_positions();
command_emitted++;
positionKnown = 0;
excess.a = 0;
excess.b = 0;
}
else {
fprintf(stderr, "(line %u) Syntax error: M132 is missing axes, use X Y Z A B" EOL, lineNumber);
}
break;
// M133 - Wait for extruder
case 133: {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
// changing the
if(dittoPrinting) {
if(tool[A].nozzle_temperature > 0) {
wait_for_extruder(A, timeout);
}
if(tool[B].nozzle_temperature > 0) {
wait_for_extruder(B, timeout);
}
command_emitted++;
}
else {
// any tool changes have already occured
if(tool[selectedExtruder].nozzle_temperature > 0) {
wait_for_extruder(selectedExtruder, timeout);
command_emitted++;
}
}
break;
}
// M134
// M190 - Wait for build platform to reach (or exceed) temperature
case 134:
case 190: {
if(machine.a.has_heated_build_platform || machine.b.has_heated_build_platform) {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
unsigned tool_id = machine.a.has_heated_build_platform ? A : B;
if(command.flag & T_IS_SET) {
tool_id = selectedExtruder;
}
if(tool_id ? machine.b.has_heated_build_platform : machine.a.has_heated_build_platform
&& tool[tool_id].build_platform_temperature > 0) {
wait_for_build_platform(tool_id, timeout);
command_emitted++;
}
else {
fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform T%u" EOL, lineNumber, command.m, tool_id);
}
}
else {
fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform" EOL, lineNumber, command.m);
}
break;
}
// M135 - Change tool
case 135:
if(!dittoPrinting && selectedExtruder != currentExtruder) {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
do_tool_change(timeout);
command_emitted++;
}
break;
// M136 - Build start notification
case 136:
if(program_is_ready()) {
start_program();
start_build(buildname);
// start extruder in a known state
change_extruder_offset(currentExtruder);
}
break;
// M137 - Build end notification
case 137:
if(program_is_running()) {
end_program();
end_build();
}
break;
// M300 - Set Beep (SP)
case 300: {
unsigned frequency = 300;
if(command.flag & S_IS_SET) frequency = (unsigned)command.s & 0xFFFF;
unsigned milliseconds = 1000;
if(command.flag & P_IS_SET) milliseconds = (unsigned)command.p & 0xFFFF;
set_beep(frequency, milliseconds);
command_emitted++;
break;
}
// M320 - Acceleration on for subsequent instructions
case 320:
set_acceleration(1);
command_emitted++;
break;
// M321 - Acceleration off for subsequent instructions
case 321:
set_acceleration(0);
command_emitted++;
break;
// M322 - Pause @ zPos
case 322:
if(command.flag & Z_IS_SET) {
float conditional_z = offset[currentOffset].z;
if(macrosEnabled) {
conditional_z += userOffset.z;
}
double z = isRelative ? (currentPosition.z + command.z) : (command.z + conditional_z);
pause_at_zpos(z);
}
else {
fprintf(stderr, "(line %u) Syntax warning: M322 is missing Z axis" EOL, lineNumber);
}
command_emitted++;
break;
// M420 - Set RGB LED value (REB - P)
case 420: {
unsigned red = 0;
if(command.flag & R_IS_SET) red = (unsigned)command.r & 0xFF;
unsigned green = 0;
if(command.flag & E_IS_SET) green = (unsigned)command.e & 0xFF;
unsigned blue = 0;
if(command.flag & B_IS_SET) blue = (unsigned)command.b & 0xFF;
unsigned blink = 0;
if(command.flag & P_IS_SET) blink = (unsigned)command.p & 0xFF;
set_LED(red, green, blue, blink);
command_emitted++;
break;
}
default:
fprintf(stderr, "(line %u) Syntax warning: unsupported mcode command 'M%u'" EOL, lineNumber, command.m);
}
}
else {
// X,Y,Z,A,B,E,F
if(command.flag & (AXES_BIT_MASK | F_IS_SET)) {
do_pause_at_zpos = calculate_target_position();
queue_ext_point(currentFeedrate);
update_target_position();
command_emitted++;
}
// T?
else if(!dittoPrinting && selectedExtruder != currentExtruder) {
int timeout = command.flag & P_IS_SET ? (int)command.p : 0xFFFF;
do_tool_change(timeout);
command_emitted++;
}
}
// check for pending pause @ zPos
if(do_pause_at_zpos) {
pause_at_zpos(commandAt[commandAtIndex].z);
do_pause_at_zpos = 0;
}
// update progress
if(filesize && buildProgress && command_emitted) {
unsigned percent = (unsigned)round(100.0 * (double)ftell(in) / (double)filesize);
if(percent > progress) {
if(program_is_ready()) {
start_program();
start_build(buildname);
set_build_progress(0);
// start extruder in a known state
change_extruder_offset(currentExtruder);
}
else if(percent < 100 && program_is_running()) {
set_build_progress(percent);
progress = percent;
}
command_emitted = 0;
}
}
lineNumber = next_line;
}
if(program_is_running()) {
end_program();
set_build_progress(100);
end_build();
}
set_steppers(AXES_BIT_MASK, 0);
exit(0);
}
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