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GPX/gpx.c

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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 <stdlib.h>
#include <strings.h>
#include <unistd.h>
#include "gpx.h"
#define A 0
#define B 1
#define SHOW(FN) if(gpx->flag.showErrorMessages) FN
#define CALL(FN) if((rval = FN) != 0) return rval
// 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
1,
};
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
2,
};
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
3,
};
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
4,
};
// 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
5,
};
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
6,
};
// 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
7,
};
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
8,
};
// 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
9,
};
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
10,
};
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
11,
};
#define MACHINE_IS(m) strcasecmp(machine, m) == 0
int gpx_set_machine(Gpx *gpx, char *machine)
{
// only load/clobber the on-board machine definition if the one specified is different
if(MACHINE_IS("c3")) {
if(gpx->machine.type != 1) {
gpx->machine = cupcake_G3;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Cupcake Gen3 XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m c3" EOL, stderr);
}
else if(MACHINE_IS("c4")) {
if(gpx->machine.type != 2) {
gpx->machine = cupcake_G4;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Cupcake Gen4 XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m c4" EOL, stderr);
}
else if(MACHINE_IS("cp4")) {
if(gpx->machine.type != 3) {
gpx->machine = cupcake_P4;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Cupcake Pololu XYZ, Mk5/6 + Gen4 Extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m cp4" EOL, stderr);
}
else if(MACHINE_IS("cpp")) {
if(gpx->machine.type != 4) {
gpx->machine = cupcake_PP;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Cupcake Pololu XYZ, Mk5/6 + Pololu Extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m cpp" EOL, stderr);
}
else if(MACHINE_IS("t6")) {
if(gpx->machine.type != 5) {
gpx->machine = thing_o_matic_7;
if(gpx->flag.verboseMode) fputs("Loading machine definition: TOM Mk6 - single extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m t6" EOL, stderr);
}
else if(MACHINE_IS("t7")) {
if(gpx->machine.type != 5) {
gpx->machine = thing_o_matic_7;
if(gpx->flag.verboseMode) fputs("Loading machine definition: TOM Mk7 - single extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m t7" EOL, stderr);
}
else if(MACHINE_IS("t7d")) {
if(gpx->machine.type != 6) {
gpx->machine = thing_o_matic_7D;
if(gpx->flag.verboseMode) fputs("Loading machine definition: TOM Mk7 - dual extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m t7d" EOL, stderr);
}
else if(MACHINE_IS("r1")) {
if(gpx->machine.type != 7) {
gpx->machine = replicator_1;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Replicator 1 - single extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m r1" EOL, stderr);
}
else if(MACHINE_IS("r1d")) {
if(gpx->machine.type != 8) {
gpx->machine = replicator_1D;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Replicator 1 - dual extruder" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m r1d" EOL, stderr);
}
else if(MACHINE_IS("r2")) {
if(gpx->machine.type != 9) {
gpx->machine = replicator_2;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Replicator 2" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m r2" EOL, stderr);
}
else if(MACHINE_IS("r2h")) {
if(gpx->machine.type != 10) {
gpx->machine = replicator_2H;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Replicator 2 with HBP" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m r2h" EOL, stderr);
}
else if(MACHINE_IS("r2x")) {
if(gpx->machine.type != 11) {
gpx->machine = replicator_2X;
if(gpx->flag.verboseMode) fputs("Loading machine definition: Replicator 2X" EOL, stderr);
}
else if(gpx->flag.verboseMode) fputs("Ignoring duplicate machine definition: -m r2x" EOL, stderr);
}
else {
return 1;
}
return 0;
}
// PRIVATE FUNCTION PROTOTYPES
static double get_home_feedrate(Gpx *gpx, int flag);
static int pause_at_zpos(Gpx *gpx, float z_positon);
// initialization of global variables
void gpx_initialize(Gpx *gpx, int firstTime)
{
int i;
gpx->buffer.ptr = gpx->buffer.out;
// we default to using pipes
// initialise machine
if(firstTime) gpx->machine = replicator_2;
// initialise command
gpx->command.x = 0.0;
gpx->command.y = 0.0;
gpx->command.z = 0.0;
gpx->command.a = 0.0;
gpx->command.b = 0.0;
gpx->command.e = 0.0;
gpx->command.f = 0.0;
gpx->command.p = 0.0;
gpx->command.r = 0.0;
gpx->command.s = 0.0;
gpx->command.g = 0.0;
gpx->command.m = 0.0;
gpx->command.t = 0.0;
gpx->command.comment = "";
gpx->command.flag = 0;
// initialize target position
gpx->target.position.x = 0.0;
gpx->target.position.y = 0.0;
gpx->target.position.z = 0.0;
gpx->target.position.a = 0.0;
gpx->target.position.b = 0.0;
gpx->target.extruder = 0;
// initialize current position
gpx->current.position.x = 0.0;
gpx->current.position.y = 0.0;
gpx->current.position.z = 0.0;
gpx->current.position.a = 0.0;
gpx->current.position.b = 0.0;
gpx->current.positionKnown = 0;
gpx->current.feedrate = get_home_feedrate(gpx, XYZ_BIT_MASK);
gpx->current.extruder = 0;
gpx->current.offset = 0;
gpx->current.percent = 0;
// initialize the accumulated rounding error
gpx->excess.a = 0.0;
gpx->excess.b = 0.0;
// initialize the G10 offsets
for(i = 0; i < 7; i++) {
gpx->offset[i].x = 0.0;
gpx->offset[i].y = 0.0;
gpx->offset[i].z = 0.0;
}
// initialize the command line offset
if(firstTime) {
gpx->userOffset.x = 0.0;
gpx->userOffset.y = 0.0;
gpx->userOffset.z = 0.0;
}
for(i = 0; i < 2; i++) {
gpx->tool[i].motor_enabled = 0;
#if ENABLE_SIMULATED_RPM
gpx->tool[i].rpm = 0;
#endif
gpx->tool[i].nozzle_temperature = 0;
gpx->tool[i].build_platform_temperature = 0;
gpx->override[i].actual_filament_diameter = 0;
gpx->override[i].filament_scale = 1.0;
gpx->override[i].packing_density = 1.0;
gpx->override[i].standby_temperature = 0;
gpx->override[i].active_temperature = 0;
gpx->override[i].build_platform_temperature = 0;
}
if(firstTime) {
gpx->filament[0].colour = "_null_";
gpx->filament[0].diameter = 0.0;
gpx->filament[0].temperature = 0;
gpx->filament[0].LED = 0;
gpx->filamentLength = 1;
}
if(firstTime) gpx->commandAtIndex = 0;
gpx->commandAtLength = 0;
gpx->commandAtZ = 0.0;
// SETTINGS
if(firstTime) {
gpx->sdCardPath = NULL;
gpx->buildName = "GPX " GPX_VERSION;
}
gpx->flag.relativeCoordinates = 0;
gpx->flag.extruderIsRelative = 0;
if(firstTime) {
gpx->flag.reprapFlavor = 1; // default is reprap flavor
gpx->flag.dittoPrinting = 0;
gpx->flag.buildProgress = 0;
gpx->flag.verboseMode = 0;
gpx->flag.rewrite5D = 0;
gpx->flag.serialIO = 0;
}
// STATE
gpx->flag.programState = 0;
gpx->flag.doPauseAtZPos = 0;
gpx->flag.pausePending = 0;
gpx->flag.macrosEnabled = 0;
gpx->flag.framingEnabled = 0;
if(firstTime) gpx->flag.showErrorMessages = 1;
gpx->longestDDA = 0;
gpx->layerHeight = 0.34;
gpx->lineNumber = 1;
// STATISTICS
gpx->accumulated.a = 0.0;
gpx->accumulated.b = 0.0;
gpx->accumulated.time = 0.0;
gpx->accumulated.bytes = 0;
if(firstTime) {
gpx->total.length = 0.0;
gpx->total.time = 0.0;
gpx->total.bytes = 0;
}
// CALLBACK
gpx->callbackHandler = NULL;
gpx->callbackData = NULL;
}
// STATE
#define start_program() gpx->flag.programState = RUNNING_STATE
#define end_program() gpx->flag.programState = ENDED_STATE
#define program_is_ready() gpx->flag.programState < RUNNING_STATE
#define program_is_running() gpx->flag.programState < ENDED_STATE
// IO FUNCTIONS
static void write_8(Gpx *gpx, unsigned char value)
{
*gpx->buffer.ptr++ = value;
}
static void write_16(Gpx *gpx, unsigned short value)
{
union {
unsigned short s;
unsigned char b[2];
} u;
u.s = value;
*gpx->buffer.ptr++ = u.b[0];
*gpx->buffer.ptr++ = u.b[1];
}
static void write_32(Gpx *gpx, unsigned int value)
{
union {
unsigned int i;
unsigned char b[4];
} u;
u.i = value;
*gpx->buffer.ptr++ = u.b[0];
*gpx->buffer.ptr++ = u.b[1];
*gpx->buffer.ptr++ = u.b[2];
*gpx->buffer.ptr++ = u.b[3];
}
static void write_float(Gpx *gpx, float value)
{
union {
float f;
unsigned char b[4];
} u;
u.f = value;
*gpx->buffer.ptr++ = u.b[0];
*gpx->buffer.ptr++ = u.b[1];
*gpx->buffer.ptr++ = u.b[2];
*gpx->buffer.ptr++ = u.b[3];
}
static long write_string(Gpx *gpx, char *string, long length)
{
long l = length;
while(l--) {
*gpx->buffer.ptr++ = *string++;
}
*gpx->buffer.ptr++ = '\0';
return length;
}
// FRAMING
static unsigned char calculate_crc(unsigned char *addr, long len)
{
unsigned char data, crc = 0;
while(len--) {
data = *addr++;
// 8-bit iButton/Maxim/Dallas CRC loop unrolled
crc = crc ^ data;
// 1
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 2
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 3
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 4
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 5
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 6
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 7
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
// 8
if (crc & 0x01) crc = (crc >> 1) ^ 0x8C;
else crc >>= 1;
}
return crc;
}
static void begin_frame(Gpx *gpx)
{
gpx->buffer.ptr = gpx->buffer.out;
if(gpx->flag.framingEnabled) {
gpx->buffer.out[0] = 0xD5; // synchronization byte
gpx->buffer.ptr += 2;
}
}
static int end_frame(Gpx *gpx)
{
if(gpx->flag.framingEnabled) {
unsigned char *start = (unsigned char *)gpx->buffer.out + 2;
unsigned char *end = (unsigned char *)gpx->buffer.ptr;
long frameLength = end - start;
gpx->buffer.out[1] = (unsigned char)frameLength;
*gpx->buffer.ptr++ = calculate_crc(start, frameLength);
}
gpx->accumulated.bytes += gpx->buffer.ptr - gpx->buffer.out;
if(gpx->callbackHandler) return gpx->callbackHandler(gpx, gpx->callbackData);
return 0;
}
// 5D VECTOR FUNCTIONS
// compute the filament scaling factor
static void set_filament_scale(Gpx *gpx, unsigned extruder_id, double filament_diameter)
{
double actual_radius = filament_diameter / 2;
double nominal_radius = gpx->machine.nominal_filament_diameter / 2;
gpx->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(Gpx *gpx)
{
// calculate once
int longestDDA = gpx->longestDDA;
if(longestDDA == 0) {
longestDDA = (int)(60 * 1000000.0 / (gpx->machine.x.max_feedrate * gpx->machine.x.steps_per_mm));
int axisDDA = (int)(60 * 1000000.0 / (gpx->machine.y.max_feedrate * gpx->machine.y.steps_per_mm));
if(longestDDA < axisDDA) longestDDA = axisDDA;
axisDDA = (int)(60 * 1000000.0 / (gpx->machine.z.max_feedrate * gpx->machine.z.steps_per_mm));
if(longestDDA < axisDDA) longestDDA = axisDDA;
gpx->longestDDA = longestDDA;
}
return longestDDA;
}
// return the maximum home feedrate
static double get_home_feedrate(Gpx *gpx, int flag) {
double feedrate = 0.0;
if(flag & X_IS_SET) {
feedrate = gpx->machine.x.home_feedrate;
}
if(flag & Y_IS_SET && feedrate < gpx->machine.y.home_feedrate) {
feedrate = gpx->machine.y.home_feedrate;
}
if(flag & Z_IS_SET && feedrate < gpx->machine.z.home_feedrate) {
feedrate = gpx->machine.z.home_feedrate;
}
return feedrate;
}
// return the maximum safe feedrate
static double get_safe_feedrate(Gpx *gpx, int flag, Ptr5d delta) {
double feedrate = gpx->current.feedrate;
if(feedrate == 0.0) {
feedrate = gpx->machine.x.max_feedrate;
if(feedrate < gpx->machine.y.max_feedrate) {
feedrate = gpx->machine.y.max_feedrate;
}
if(feedrate < gpx->machine.z.max_feedrate) {
feedrate = gpx->machine.z.max_feedrate;
}
if(feedrate < gpx->machine.a.max_feedrate) {
feedrate = gpx->machine.a.max_feedrate;
}
if(feedrate < gpx->machine.b.max_feedrate) {
feedrate = gpx->machine.b.max_feedrate;
}
}
double distance = magnitude(flag & XYZ_BIT_MASK, delta);
if(flag & X_IS_SET && (feedrate * delta->x / distance) > gpx->machine.x.max_feedrate) {
feedrate = gpx->machine.x.max_feedrate * distance / delta->x;
}
if(flag & Y_IS_SET && (feedrate * delta->y / distance) > gpx->machine.y.max_feedrate) {
feedrate = gpx->machine.y.max_feedrate * distance / delta->y;
}
if(flag & Z_IS_SET && (feedrate * delta->z / distance) > gpx->machine.z.max_feedrate) {
feedrate = gpx->machine.z.max_feedrate * distance / delta->z;
}
if(distance == 0) {
if(flag & A_IS_SET && feedrate > gpx->machine.a.max_feedrate) {
feedrate = gpx->machine.a.max_feedrate;
}
if(flag & B_IS_SET && feedrate > gpx->machine.b.max_feedrate) {
feedrate = gpx->machine.b.max_feedrate;
}
}
else {
if(flag & A_IS_SET && (feedrate * delta->a / distance) > gpx->machine.a.max_feedrate) {
feedrate = gpx->machine.a.max_feedrate * distance / delta->a;
}
if(flag & B_IS_SET && (feedrate * delta->b / distance) > gpx->machine.b.max_feedrate) {
feedrate = gpx->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(Gpx *gpx, Ptr5d mm, Ptr2d excess)
{
double value;
Point5d result;
result.x = round(mm->x * gpx->machine.x.steps_per_mm);
result.y = round(mm->y * gpx->machine.y.steps_per_mm);
result.z = round(mm->z * gpx->machine.z.steps_per_mm);
if(excess) {
// accumulate rounding remainder
value = (mm->a * gpx->machine.a.steps_per_mm) + excess->a;
result.a = round(value);
// changes to excess
excess->a = value - result.a;
value = (mm->b * gpx->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 * gpx->machine.a.steps_per_mm);
result.b = round(mm->b * gpx->machine.b.steps_per_mm);
}
return result;
}
static Point5d delta_mm(Gpx *gpx)
{
Point5d deltaMM;
// compute the relative distance traveled along each axis and convert to steps
if(gpx->command.flag & X_IS_SET) deltaMM.x = gpx->target.position.x - gpx->current.position.x; else deltaMM.x = 0;
if(gpx->command.flag & Y_IS_SET) deltaMM.y = gpx->target.position.y - gpx->current.position.y; else deltaMM.y = 0;
if(gpx->command.flag & Z_IS_SET) deltaMM.z = gpx->target.position.z - gpx->current.position.z; else deltaMM.z = 0;
if(gpx->command.flag & A_IS_SET) deltaMM.a = gpx->target.position.a - gpx->current.position.a; else deltaMM.a = 0;
if(gpx->command.flag & B_IS_SET) deltaMM.b = gpx->target.position.b - gpx->current.position.b; else deltaMM.b = 0;
return deltaMM;
}
static Point5d delta_steps(Gpx *gpx,Point5d deltaMM)
{
Point5d deltaSteps;
// compute the relative distance traveled along each axis and convert to steps
if(gpx->command.flag & X_IS_SET) deltaSteps.x = round(fabs(deltaMM.x) * gpx->machine.x.steps_per_mm); else deltaSteps.x = 0;
if(gpx->command.flag & Y_IS_SET) deltaSteps.y = round(fabs(deltaMM.y) * gpx->machine.y.steps_per_mm); else deltaSteps.y = 0;
if(gpx->command.flag & Z_IS_SET) deltaSteps.z = round(fabs(deltaMM.z) * gpx->machine.z.steps_per_mm); else deltaSteps.z = 0;
if(gpx->command.flag & A_IS_SET) deltaSteps.a = round(fabs(deltaMM.a) * gpx->machine.a.steps_per_mm); else deltaSteps.a = 0;
if(gpx->command.flag & B_IS_SET) deltaSteps.b = round(fabs(deltaMM.b) * gpx->machine.b.steps_per_mm); else deltaSteps.b = 0;
return deltaSteps;
}
// X3G QUERIES
// 00 - Get version
// 01 - Initialize firmware to boot state
// 02 - Get available buffer size
// 03 - Clear buffer
// 07 - Abort immediately
// 08 - Pause/Resume
// 10 - Tool query
// 11 - Is finished
// 12 - Read from EEPROM
// 13 - Write to EEPROM
// 14 - Capture to file
// 15 - End capture to file
// 16 - Play back capture
// 17 - Reset
// 18 - Get next filename
// 20 - Get build name
// 21 - Get extended position
// 22 - Extended stop
// 23 - Get motherboard status
// 24 - Get build statistics
// 25 - Get communication statistics
// 27 - Get advanced version number
// X3G COMMANDS
// 131 - Find axes minimums
// 132 - Find axes maximums
static int home_axes(Gpx *gpx, unsigned direction)
{
Point5d unitVector;
int xyz_flag = gpx->command.flag & XYZ_BIT_MASK;
double feedrate = gpx->command.flag & F_IS_SET ? gpx->current.feedrate : get_home_feedrate(gpx, gpx->command.flag);
double longestAxis = 0.0;
assert(direction <= 1);
// compute the slowest feedrate
if(xyz_flag & X_IS_SET) {
if(gpx->machine.x.home_feedrate < feedrate) {
feedrate = gpx->machine.x.home_feedrate;
}
unitVector.x = 1;
longestAxis = gpx->machine.x.steps_per_mm;
// confirm machine compatibility
if(direction != gpx->machine.x.endstop) {
SHOW( fprintf(stderr, "(line %u) Semantic warning: X axis homing to %s endstop" EOL, gpx->lineNumber, direction ? "maximum" : "minimum") );
}
}
if(xyz_flag & Y_IS_SET) {
if(gpx->machine.y.home_feedrate < feedrate) {
feedrate = gpx->machine.y.home_feedrate;
}
unitVector.y = 1;
if(longestAxis < gpx->machine.y.steps_per_mm) {
longestAxis = gpx->machine.y.steps_per_mm;
}
if(direction != gpx->machine.y.endstop) {
SHOW( fprintf(stderr, "(line %u) Semantic warning: Y axis homing to %s endstop" EOL, gpx->lineNumber, direction ? "maximum" : "minimum") );
}
}
if(xyz_flag & Z_IS_SET) {
if(gpx->machine.z.home_feedrate < feedrate) {
feedrate = gpx->machine.z.home_feedrate;
}
unitVector.z = 1;
if(longestAxis < gpx->machine.z.steps_per_mm) {
longestAxis = gpx->machine.z.steps_per_mm;
}
if(direction != gpx->machine.z.endstop) {
SHOW( fprintf(stderr, "(line %u) Semantic warning: Z axis homing to %s endstop" EOL, gpx->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);
gpx->accumulated.time += distance / feedrate * 60;
begin_frame(gpx);
write_8(gpx, direction == ENDSTOP_IS_MIN ? 131 :132);
// uint8: Axes bitfield. Axes whose bits are set will be moved.
write_8(gpx, xyz_flag);
// uint32: Feedrate, in microseconds between steps on the max delta. (DDA)
write_32(gpx, step_delay);
// uint16: Timeout, in seconds.
write_16(gpx, gpx->machine.timeout);
return end_frame(gpx);
}
// 133 - delay
static int delay(Gpx *gpx, unsigned milliseconds)
{
begin_frame(gpx);
write_8(gpx, 133);
// uint32: delay, in milliseconds
write_32(gpx, milliseconds);
return end_frame(gpx);
}
// 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 int change_extruder_offset(Gpx *gpx, unsigned extruder_id)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 134);
// uint8: ID of the extruder to switch to
write_8(gpx, extruder_id);
return end_frame(gpx);
}
// 135 - Wait for extruder ready
static int wait_for_extruder(Gpx *gpx, unsigned extruder_id, unsigned timeout)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 135);
// uint8: ID of the extruder to wait for
write_8(gpx, extruder_id);
// uint16: delay between query packets sent to the extruder, in ms (nominally 100 ms)
write_16(gpx, 100);
// uint16: Timeout before continuing without extruder ready, in seconds (nominally 1 minute)
write_16(gpx, timeout);
return end_frame(gpx);
}
// 136 - extruder action command
// Action 03 - Set extruder target temperature
static int set_nozzle_temperature(Gpx *gpx, unsigned extruder_id, unsigned temperature)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 136);
// uint8: ID of the extruder to query
write_8(gpx, extruder_id);
// uint8: Action command to send to the extruder
write_8(gpx, 3);
// uint8: Length of the extruder command payload (N)
write_8(gpx, 2);
// int16: Desired target temperature, in Celsius
write_16(gpx, temperature);
return end_frame(gpx);
}
// Action 12 - Enable / Disable fan
static int set_fan(Gpx *gpx, unsigned extruder_id, unsigned state)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 136);
// uint8: ID of the extruder to query
write_8(gpx, extruder_id);
// uint8: Action command to send to the extruder
write_8(gpx, 12);
// uint8: Length of the extruder command payload (N)
write_8(gpx, 1);
// uint8: 1 to enable, 0 to disable
write_8(gpx, state);
return end_frame(gpx);
}
// Action 13 - Enable / Disable extra output (blower fan)
/*
WARNING: If you are using Gen 4 electronics (e.g. a Thing-o-Matic or a
heavily modified Cupcake), THEN DO NOT USE M126 / M127. It can trigger
a bug in the Gen 4 Extruder Controller firmware that will cause the
HBP temperature to go wild. Note that the Extruder Controller is a
separate uprocessor on a separate board. It has it's own firmware.
It's not clear if the bug is firmware-only or if there is a problem
with electronics as well (e.g. the HBP FET sees some residual current
from the EXTRA FET and its Vgs/Igs threshold is met and it activates).
But, there's no fix for the bug since no one has invested the time in
diagnosing this Extruder Controller issue.
- dnewman 22/11/2013
*/
static int set_valve(Gpx *gpx, unsigned extruder_id, unsigned state)
{
assert(extruder_id < gpx->machine.extruder_count);
if(gpx->machine.type >= MACHINE_TYPE_REPLICATOR_1) {
begin_frame(gpx);
write_8(gpx, 136);
// uint8: ID of the extruder to query
write_8(gpx, extruder_id);
// uint8: Action command to send to the extruder
write_8(gpx, 13);
// uint8: Length of the extruder command payload (N)
write_8(gpx, 1);
// uint8: 1 to enable, 0 to disable
write_8(gpx, state);
return end_frame(gpx);
}
else if(gpx->flag.verboseMode) {
fputs("Warning: ignoring M126/M127 with Gen 4 extruder electronics" EOL, stderr);
}
return 0;
}
// Action 31 - Set build platform target temperature
static int set_build_platform_temperature(Gpx *gpx, unsigned extruder_id, unsigned temperature)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 136);
// uint8: ID of the extruder to query
write_8(gpx, extruder_id);
// uint8: Action command to send to the extruder
write_8(gpx, 31);
// uint8: Length of the extruder command payload (N)
write_8(gpx, 2);
// int16: Desired target temperature, in Celsius
write_16(gpx, temperature);
return end_frame(gpx);
}
// 137 - Enable / Disable axes steppers
static int set_steppers(Gpx *gpx, unsigned axes, unsigned state)
{
unsigned bitfield = axes & AXES_BIT_MASK;
if(state) {
bitfield |= 0x80;
}
begin_frame(gpx);
write_8(gpx, 137);
// uint8: Bitfield codifying the command (see below)
write_8(gpx, bitfield);
return end_frame(gpx);
}
// 139 - Queue absolute point
static int queue_absolute_point(Gpx *gpx)
{
long longestDDA = gpx->longestDDA ? gpx->longestDDA : get_longest_dda(gpx);
Point5d steps = mm_to_steps(gpx, &gpx->target.position, &gpx->excess);
begin_frame(gpx);
write_8(gpx, 139);
// int32: X coordinate, in steps
write_32(gpx, (int)steps.x);
// int32: Y coordinate, in steps
write_32(gpx, (int)steps.y);
// int32: Z coordinate, in steps
write_32(gpx, (int)steps.z);
// int32: A coordinate, in steps
write_32(gpx, -(int)steps.a);
// int32: B coordinate, in steps
write_32(gpx, -(int)steps.b);
// uint32: Feedrate, in microseconds between steps on the max delta. (DDA)
write_32(gpx, (int)longestDDA);
return end_frame(gpx);
}
// 140 - Set extended position
static int set_position(Gpx *gpx)
{
Point5d steps = mm_to_steps(gpx, &gpx->current.position, NULL);
begin_frame(gpx);
write_8(gpx, 140);
// int32: X position, in steps
write_32(gpx, (int)steps.x);
// int32: Y position, in steps
write_32(gpx, (int)steps.y);
// int32: Z position, in steps
write_32(gpx, (int)steps.z);
// int32: A position, in steps
write_32(gpx, (int)steps.a);
// int32: B position, in steps
write_32(gpx, (int)steps.b);
return end_frame(gpx);
}
// 141 - Wait for build platform ready
static int wait_for_build_platform(Gpx *gpx, unsigned extruder_id, int timeout)
{
assert(extruder_id < gpx->machine.extruder_count);
begin_frame(gpx);
write_8(gpx, 141);
// uint8: ID of the extruder platform to wait for
write_8(gpx, extruder_id);
// uint16: delay between query packets sent to the extruder, in ms (nominally 100 ms)
write_16(gpx, 100);
// uint16: Timeout before continuing without extruder ready, in seconds (nominally 1 minute)
write_16(gpx, timeout);
return end_frame(gpx);
}
// 142 - Queue extended point, new style
#if ENABLE_SIMULATED_RPM
static int queue_new_point(Gpx *gpx, 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(gpx->tool[A].motor_enabled && gpx->tool[A].rpm) {
double maxrpm = gpx->machine.a.max_feedrate * gpx->machine.a.steps_per_mm / gpx->machine.a.motor_steps;
double rpm = gpx->tool[A].rpm > maxrpm ? maxrpm : gpx->tool[A].rpm;
double minutes = milliseconds / 60000.0;
// minute * revolution/minute
double numRevolutions = minutes * (gpx->tool[A].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = gpx->machine.a.motor_steps * (1 / gpx->machine.a.steps_per_mm);
target.a = -(numRevolutions * mmPerRevolution);
gpx->command.flag |= A_IS_SET;
gpx->accumulated.a += fabs(target.a);
}
if(gpx->tool[B].motor_enabled && gpx->tool[B].rpm) {
double maxrpm = gpx->machine.b.max_feedrate * gpx->machine.b.steps_per_mm / gpx->machine.b.motor_steps;
double rpm = gpx->tool[B].rpm > maxrpm ? maxrpm : gpx->tool[B].rpm;
double minutes = milliseconds / 60000.0;
// minute * revolution/minute
double numRevolutions = minutes * (gpx->tool[B].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = gpx->machine.b.motor_steps * (1 / gpx->machine.b.steps_per_mm);
target.b = -(numRevolutions * mmPerRevolution);
gpx->command.flag |= B_IS_SET;
gpx->accumulated.b += fabs(target.a);
}
Point5d steps = mm_to_steps(gpx, &target, &gpx->excess);
gpx->accumulated.time += milliseconds / 1000.0;
begin_frame(gpx);
write_8(gpx, 142);
// int32: X coordinate, in steps
write_32(gpx, (int)steps.x);
// int32: Y coordinate, in steps
write_32(gpx, (int)steps.y);
// int32: Z coordinate, in steps
write_32(gpx, (int)steps.z);
// int32: A coordinate, in steps
write_32(gpx, (int)steps.a);
// int32: B coordinate, in steps
write_32(gpx, (int)steps.b);
// uint32: Duration of the movement, in microseconds
write_32(gpx, milliseconds * 1000.0);
// uint8: Axes bitfield to specify which axes are relative. Any axis with a bit set should make a relative movement.
write_8(gpx, AXES_BIT_MASK);
return end_frame(gpx);
}
#endif
// 143 - Store home positions
static int store_home_positions(Gpx *gpx)
{
begin_frame(gpx);
write_8(gpx, 143);
// uint8: Axes bitfield to specify which axes' positions to store.
// Any axis with a bit set should have its position stored.
write_8(gpx, gpx->command.flag & AXES_BIT_MASK);
return end_frame(gpx);
}
// 144 - Recall home positions
static int recall_home_positions(Gpx *gpx)
{
begin_frame(gpx);
write_8(gpx, 144);
// uint8: Axes bitfield to specify which axes' positions to recall.
// Any axis with a bit set should have its position recalled.
write_8(gpx, gpx->command.flag & AXES_BIT_MASK);
return end_frame(gpx);
}
// 145 - Set digital potentiometer value
static int set_pot_value(Gpx *gpx, unsigned axis, unsigned value)
{
assert(axis <= 4);
assert(value <= 127);
begin_frame(gpx);
write_8(gpx, 145);
// uint8: axis value (valid range 0-4) which axis pot to set
write_8(gpx, axis);
// uint8: value (valid range 0-127), values over max will be capped at max
write_8(gpx, value);
return end_frame(gpx);
}
// 146 - Set RGB LED value
static int set_LED(Gpx *gpx, unsigned red, unsigned green, unsigned blue, unsigned blink)
{
begin_frame(gpx);
write_8(gpx, 146);
// uint8: red value (all pix are 0-255)
write_8(gpx, red);
// uint8: green
write_8(gpx, green);
// uint8: blue
write_8(gpx, blue);
// uint8: blink rate (0-255 valid)
write_8(gpx, blink);
// uint8: 0 (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
static int set_LED_RGB(Gpx *gpx, unsigned rgb, unsigned blink)
{
begin_frame(gpx);
write_8(gpx, 146);
// uint8: red value (all pix are 0-255)
write_8(gpx, (rgb >> 16) & 0xFF);
// uint8: green
write_8(gpx, (rgb >> 8) & 0xFF);
// uint8: blue
write_8(gpx, rgb & 0xFF);
// uint8: blink rate (0-255 valid)
write_8(gpx, blink);
// uint8: 0 (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
// 147 - Set Beep
static int set_beep(Gpx *gpx, unsigned frequency, unsigned milliseconds)
{
begin_frame(gpx);
write_8(gpx, 147);
// uint16: frequency
write_16(gpx, frequency);
// uint16: buzz length in ms
write_16(gpx, milliseconds);
// uint8: 0 (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
// 148 - Pause for button
#define BUTTON_CENTER 0x01
#define BUTTON_RIGHT 0x02
#define BUTTON_LEFT 0x04
#define BUTTON_DOWN 0x08
#define BUTTON_UP 0x10
#define BUTTON_RESET 0x20
// Button options
#define READY_ON_TIMEOUT 0x01 // change to ready state on timeout
#define RESET_ON_TIMEOUT 0x02 // reset on timeout
#define CLEAR_ON_PRESS 0x04 // clear screen on button press
static int wait_for_button(Gpx *gpx, int button, unsigned timeout, int button_options)
{
begin_frame(gpx);
write_8(gpx, 148);
// uint8: Bit field of buttons to wait for
write_8(gpx, button);
// uint16: Timeout, in seconds. A value of 0 indicates that the command should not time out.
write_16(gpx, timeout);
// uint8: Options bitfield
write_8(gpx, button_options);
return end_frame(gpx);
}
// 149 - Display message to LCD
static int display_message(Gpx *gpx, char *message, unsigned vPos, unsigned hPos, unsigned timeout, int wait_for_button)
{
assert(vPos < 4);
assert(hPos < 20);
int rval = 0;
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;
bitfield |= 0x01; //do not clear flag
}
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
}
begin_frame(gpx);
write_8(gpx, 149);
// uint8: Options bitfield (see below)
write_8(gpx, bitfield);
// uint8: Horizontal position to display the message at (commonly 0-19)
write_8(gpx, hPos);
// uint8: Vertical position to display the message at (commonly 0-3)
write_8(gpx, vPos);
// uint8: Timeout, in seconds. If 0, this message will left on the screen
write_8(gpx, seconds);
// 1+N bytes: Message to write to the screen, in ASCII, terminated with a null character.
long rowLength = length - bytesSent;
bytesSent += write_string(gpx, message + bytesSent, rowLength < maxLength ? rowLength : maxLength);
rval = end_frame(gpx);
if(rval) break;
}
return rval;
}
// 150 - Set Build Percentage
static int set_build_progress(Gpx *gpx, unsigned percent)
{
if(percent > 100) percent = 100;
begin_frame(gpx);
write_8(gpx, 150);
// uint8: percent (0-100)
write_8(gpx, percent);
// uint8: 0 (reserved for future use) (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
// 151 - Queue Song
static int queue_song(Gpx *gpx, 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);
begin_frame(gpx);
write_8(gpx, 151);
// uint8: songID: select from a predefined list of songs
write_8(gpx, song_id);
return end_frame(gpx);
}
// 152 - Reset to factory defaults
static int factory_defaults(Gpx *gpx)
{
begin_frame(gpx);
write_8(gpx, 152);
// uint8: 0 (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
// 153 - Build start notification
static int start_build(Gpx *gpx, char * filename)
{
begin_frame(gpx);
write_8(gpx, 153);
// uint32: 0 (reserved for future use)
write_32(gpx, 0);
// 1+N bytes: Name of the build, in ASCII, null terminated
write_string(gpx, filename, strlen(filename));
return end_frame(gpx);
}
// 154 - Build end notification
static int end_build(Gpx *gpx)
{
begin_frame(gpx);
write_8(gpx, 154);
// uint8: 0 (reserved for future use)
write_8(gpx, 0);
return end_frame(gpx);
}
// 155 - Queue extended point x3g
// IMPORTANT: this command updates the parser state
static int queue_ext_point(Gpx *gpx, double feedrate)
{
// 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(!gpx->current.positionKnown) {
return queue_absolute_point(gpx);
}
Point5d deltaMM = delta_mm(gpx);
Point5d deltaSteps = delta_steps(gpx, deltaMM);
// check that we have actually moved on at least one axis when the move is
// rounded down to the nearest step
if(magnitude(gpx->command.flag, &deltaSteps) > 0) {
double distance = magnitude(gpx->command.flag & XYZ_BIT_MASK, &deltaMM);
// are we moving and extruding?
if(gpx->flag.rewrite5D && (gpx->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(gpx->override[A].actual_filament_diameter > 0.0001) {
filament_radius = gpx->override[A].actual_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * gpx->override[A].packing_density;
}
else {
filament_radius = gpx->machine.nominal_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * gpx->machine.nominal_packing_density;
}
packing_scale = gpx->machine.nozzle_diameter * gpx->layerHeight / packing_area;
if(deltaMM.a > 0) {
deltaMM.a = distance * packing_scale;
}
else {
deltaMM.a = -(distance * packing_scale);
}
gpx->target.position.a = gpx->current.position.a + deltaMM.a;
deltaSteps.a = round(fabs(deltaMM.a) * gpx->machine.a.steps_per_mm);
}
if(B_IS_SET && deltaMM.b > 0.0001) {
if(gpx->override[B].actual_filament_diameter > 0.0001) {
filament_radius = gpx->override[B].actual_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * gpx->override[A].packing_density;
}
else {
filament_radius = gpx->machine.nominal_filament_diameter / 2;
packing_area = M_PI * filament_radius * filament_radius * gpx->machine.nominal_packing_density;
}
packing_scale = gpx->machine.nozzle_diameter * gpx->layerHeight / packing_area;
if(deltaMM.b > 0) {
deltaMM.b = distance * packing_scale;
}
else {
deltaMM.b = -(distance * packing_scale);
}
gpx->target.position.b = gpx->current.position.b + deltaMM.b;
deltaSteps.b = round(fabs(deltaMM.b) * gpx->machine.b.steps_per_mm);
}
}
Point5d target = gpx->target.position;
target.a = -deltaMM.a;
target.b = -deltaMM.b;
gpx->accumulated.a += deltaMM.a;
gpx->accumulated.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);
feedrate = get_safe_feedrate(gpx, gpx->command.flag, &deltaMM);
double minutes = distance / feedrate;
if(minutes == 0) {
distance = 0;
if(gpx->command.flag & A_IS_SET) {
distance = deltaMM.a;
}
if(gpx->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 && gpx->tool[A].motor_enabled && gpx->tool[A].rpm) {
double maxrpm = gpx->machine.a.max_feedrate * gpx->machine.a.steps_per_mm / gpx->machine.a.motor_steps;
double rpm = gpx->tool[A].rpm > maxrpm ? maxrpm : gpx->tool[A].rpm;
// minute * revolution/minute
double numRevolutions = minutes * (gpx->tool[A].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = gpx->machine.a.motor_steps * (1 / gpx->machine.a.steps_per_mm);
// set distance
deltaMM.a = numRevolutions * mmPerRevolution;
deltaSteps.a = round(fabs(deltaMM.a) * gpx->machine.a.steps_per_mm);
target.a = -deltaMM.a;
}
else {
// disable RPM as soon as we begin 5D printing
gpx->tool[A].rpm = 0;
}
if(deltaMM.b == 0.0 && gpx->tool[B].motor_enabled && gpx->tool[B].rpm) {
double maxrpm = gpx->machine.b.max_feedrate * gpx->machine.b.steps_per_mm / gpx->machine.b.motor_steps;
double rpm = gpx->tool[B].rpm > maxrpm ? maxrpm : gpx->tool[B].rpm;
// minute * revolution/minute
double numRevolutions = minutes * (gpx->tool[B].motor_enabled > 0 ? rpm : -rpm);
// steps/revolution * mm/steps
double mmPerRevolution = gpx->machine.b.motor_steps * (1 / gpx->machine.b.steps_per_mm);
// set distance
deltaMM.b = numRevolutions * mmPerRevolution;
deltaSteps.b = round(fabs(deltaMM.b) * gpx->machine.b.steps_per_mm);
target.b = -deltaMM.b;
}
else {
// disable RPM as soon as we begin 5D printing
gpx->tool[B].rpm = 0;
}
#endif
Point5d steps = mm_to_steps(gpx, &target, &gpx->excess);
double usec = (60000000.0 * minutes);
double dda_interval = usec / largest_axis(gpx->command.flag, &deltaSteps);
// Convert dda_interval into dda_rate (dda steps per second on the longest axis)
double dda_rate = 1000000.0 / dda_interval;
gpx->accumulated.time += minutes * 60;
begin_frame(gpx);
write_8(gpx, 155);
// int32: X coordinate, in steps
write_32(gpx, (int)steps.x);
// int32: Y coordinate, in steps
write_32(gpx, (int)steps.y);
// int32: Z coordinate, in steps
write_32(gpx, (int)steps.z);
// int32: A coordinate, in steps
write_32(gpx, (int)steps.a);
// int32: B coordinate, in steps
write_32(gpx, (int)steps.b);
// uint32: DDA Feedrate, in steps/s
write_32(gpx, (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(gpx, 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(gpx, (float)distance);
// uint16: feedrate in mm/s, multiplied by 64 to assist fixed point calculation on the bot
write_16(gpx, (unsigned)(feedrate * 64.0));
return end_frame(gpx);
}
return 0;
}
// 156 - Set segment acceleration
static int set_acceleration(Gpx *gpx, int state)
{
begin_frame(gpx);
write_8(gpx, 156);
// uint8: 1 to enable, 0 to disable
write_8(gpx, state);
return end_frame(gpx);
}
// 157 - Stream Version
static int stream_version(Gpx *gpx)
{
if(gpx->machine.type >= MACHINE_TYPE_REPLICATOR_1) {
begin_frame(gpx);
write_8(gpx, 157);
// uint8: x3g version high byte
write_8(gpx, STREAM_VERSION_HIGH);
// uint8: x3g version low byte
write_8(gpx, STREAM_VERSION_LOW);
// uint8: not implemented
write_8(gpx, 0);
// uint32: not implemented
write_32(gpx, 0);
// uint16: bot type: PID for the intended bot is sent
// Repliator 2/2X (Might Two)
if(gpx->machine.type >= MACHINE_TYPE_REPLICATOR_2) {
write_16(gpx, 0xB015);
}
// Replicator (Might One)
else {
write_16(gpx, 0xD314);
}
// uint16: not implemented
write_16(gpx, 0);
// uint32: not implemented
write_32(gpx, 0);
// uint32: not implemented
write_32(gpx, 0);
// uint8: not implemented
write_8(gpx, 0);
return end_frame(gpx);
}
return 0;
}
// 158 - Pause @ zPos
static int pause_at_zpos(Gpx *gpx, float z_positon)
{
begin_frame(gpx);
write_8(gpx, 158);
// uint8: pause at Z coordinate or 0.0 to disable
write_float(gpx, z_positon);
return end_frame(gpx);
}
// COMMAND @ ZPOS FUNCTIONS
// find an existing filament definition
static int find_filament(Gpx *gpx, char *filament_id)
{
int i, index = -1;
int l = gpx->filamentLength;
// a brute force search is generally fastest for low n
for(i = 0; i < l; i++) {
if(strcmp(filament_id, gpx->filament[i].colour) == 0) {
index = i;
break;
}
}
return index;
}
// add a new filament definition
static int add_filament(Gpx *gpx, char *filament_id, double diameter, unsigned temperature, unsigned LED)
{
int index = find_filament(gpx, filament_id);
if(index < 0) {
if(gpx->filamentLength < FILAMENT_MAX) {
index = gpx->filamentLength++;
gpx->filament[index].colour = strdup(filament_id);
gpx->filament[index].diameter = diameter;
gpx->filament[index].temperature = temperature;
gpx->filament[index].LED = LED;
}
else {
SHOW( fprintf(stderr, "(line %u) Buffer overflow: too many @filament definitions (maximum = %i)" EOL, gpx->lineNumber, FILAMENT_MAX - 1) );
index = 0;
}
}
return index;
}
// append a new command at z function
static int add_command_at(Gpx *gpx, double z, char *filament_id, unsigned nozzle_temperature, unsigned build_platform_temperature)
{
int rval;
int index = filament_id ? find_filament(gpx, filament_id) : 0;
if(index < 0) {
SHOW( fprintf(stderr, "(line %u) Semantic error: @pause macro with undefined filament name '%s', use a @filament macro to define it" EOL, gpx->lineNumber, filament_id) );
index = 0;
}
// insert command
if(gpx->commandAtLength < COMMAND_AT_MAX) {
int i = gpx->commandAtLength;
if(z <= gpx->commandAtZ) {
// make a space
while(i > 0 && z <= gpx->commandAt[i - 1].z) {
gpx->commandAt[i] = gpx->commandAt[i - 1];
i--;
}
gpx->commandAt[i].z = z;
gpx->commandAt[i].filament_index = index;
gpx->commandAt[i].nozzle_temperature = nozzle_temperature;
gpx->commandAt[i].build_platform_temperature = build_platform_temperature;
gpx->commandAtZ = gpx->commandAt[gpx->commandAtLength].z;
}
// append command
else {
gpx->commandAt[i].z = z;
gpx->commandAt[i].filament_index = index;
gpx->commandAt[i].nozzle_temperature = nozzle_temperature;
gpx->commandAt[i].build_platform_temperature = build_platform_temperature;
gpx->commandAtZ = z;
}
// nonzero temperature signals a temperature change, not a pause @ zPos
// so if its the first pause @ zPos que it up
if(nozzle_temperature == 0 && build_platform_temperature == 0 && gpx->commandAtLength == 0) {
if(gpx->flag.macrosEnabled) {
CALL( pause_at_zpos(gpx, z) );
}
else {
gpx->flag.pausePending = 1;
}
}
gpx->commandAtLength++;
}
else {
SHOW( fprintf(stderr, "(line %u) Buffer overflow: too many @pause definitions (maximum = %i)" EOL, gpx->lineNumber, COMMAND_AT_MAX) );
}
return 0;
}
// TARGET POSITION
// calculate target position
static int calculate_target_position(Gpx *gpx)
{
int rval = 0;
// G10 ofset
Point3d userOffset = gpx->offset[gpx->current.offset];
if(gpx->flag.macrosEnabled) {
// plus command line offset
userOffset.x += gpx->userOffset.x;
userOffset.y += gpx->userOffset.y;
userOffset.z += gpx->userOffset.z;
}
// CALCULATE TARGET POSITION
// x
if(gpx->command.flag & X_IS_SET) {
gpx->target.position.x = gpx->flag.relativeCoordinates ? (gpx->current.position.x + gpx->command.x) : (gpx->command.x + userOffset.x);
}
else {
gpx->target.position.x = gpx->current.position.x;
}
// y
if(gpx->command.flag & Y_IS_SET) {
gpx->target.position.y = gpx->flag.relativeCoordinates ? (gpx->current.position.y + gpx->command.y) : (gpx->command.y + userOffset.y);
}
else {
gpx->target.position.y = gpx->current.position.y;
}
// z
if(gpx->command.flag & Z_IS_SET) {
gpx->target.position.z = gpx->flag.relativeCoordinates ? (gpx->current.position.z + gpx->command.z) : (gpx->command.z + userOffset.z);
}
else {
gpx->target.position.z = gpx->current.position.z;
}
// a
if(gpx->command.flag & A_IS_SET) {
double a = (gpx->override[A].filament_scale == 1.0) ? gpx->command.a : (gpx->command.a * gpx->override[A].filament_scale);
gpx->target.position.a = (gpx->flag.relativeCoordinates || gpx->flag.extruderIsRelative) ? (gpx->current.position.a + a) : a;
}
else {
gpx->target.position.a = gpx->current.position.a;
}
// b
if(gpx->command.flag & B_IS_SET) {
double b = (gpx->override[B].filament_scale == 1.0) ? gpx->command.b : (gpx->command.b * gpx->override[B].filament_scale);
gpx->target.position.b = (gpx->flag.relativeCoordinates || gpx->flag.extruderIsRelative) ? (gpx->current.position.b + b) : b;
}
else {
gpx->target.position.b = gpx->current.position.b;
}
// update current feedrate
if(gpx->command.flag & F_IS_SET) {
gpx->current.feedrate = gpx->command.f;
}
// DITTO PRINTING
if(gpx->flag.dittoPrinting) {
if(gpx->command.flag & A_IS_SET) {
gpx->target.position.b = gpx->target.position.a;
gpx->command.flag |= B_IS_SET;
}
else if(gpx->command.flag & B_IS_SET) {
gpx->target.position.a = gpx->target.position.b;
gpx->command.flag |= A_IS_SET;
}
}
// CHECK FOR COMMAND @ Z POS
// check if there are more commands on the stack
if(gpx->flag.macrosEnabled && gpx->commandAtIndex < gpx->commandAtLength) {
// check if the next command will cross the z threshold
if(gpx->commandAt[gpx->commandAtIndex].z <= gpx->target.position.z) {
// is this a temperature change macro?
if(gpx->commandAt[gpx->commandAtIndex].nozzle_temperature || gpx->commandAt[gpx->commandAtIndex].build_platform_temperature) {
unsigned nozzle_temperature = gpx->commandAt[gpx->commandAtIndex].nozzle_temperature;
unsigned build_platform_temperature = gpx->commandAt[gpx->commandAtIndex].build_platform_temperature;
// make sure the temperature has changed
if(nozzle_temperature) {
if((gpx->current.extruder == A || gpx->tool[A].nozzle_temperature) && gpx->tool[A].nozzle_temperature != nozzle_temperature) {
CALL( set_nozzle_temperature(gpx, A, nozzle_temperature) );
gpx->tool[A].nozzle_temperature = gpx->override[A].active_temperature = nozzle_temperature;
}
if((gpx->current.extruder == B || gpx->tool[B].nozzle_temperature) && gpx->tool[B].nozzle_temperature != nozzle_temperature) {
CALL( set_nozzle_temperature(gpx, B, nozzle_temperature) );
gpx->tool[B].nozzle_temperature = gpx->override[B].active_temperature = nozzle_temperature;
}
}
if(build_platform_temperature) {
if(gpx->machine.a.has_heated_build_platform && gpx->tool[A].build_platform_temperature && gpx->tool[A].build_platform_temperature != build_platform_temperature) {
CALL( set_build_platform_temperature(gpx, A, build_platform_temperature) );
gpx->tool[A].build_platform_temperature = gpx->override[A].build_platform_temperature = build_platform_temperature;
}
else if(gpx->machine.b.has_heated_build_platform && gpx->tool[B].build_platform_temperature && gpx->tool[B].build_platform_temperature != build_platform_temperature) {
CALL( set_build_platform_temperature(gpx, B, build_platform_temperature) );
gpx->tool[B].build_platform_temperature = gpx->override[B].build_platform_temperature = build_platform_temperature;
}
}
gpx->commandAtIndex++;
}
// no its a pause macro
else if(gpx->commandAt[gpx->commandAtIndex].z <= gpx->target.position.z) {
int index = gpx->commandAt[gpx->commandAtIndex].filament_index;
// override filament diameter
if(gpx->filament[index].diameter > 0.0001) {
if(gpx->flag.dittoPrinting) {
set_filament_scale(gpx, B, gpx->filament[index].diameter);
set_filament_scale(gpx, A, gpx->filament[index].diameter);
}
else {
set_filament_scale(gpx, gpx->current.extruder, gpx->filament[index].diameter);
}
}
// override nozzle temperature
if(gpx->filament[index].temperature) {
unsigned temperature = gpx->filament[index].temperature;
if(gpx->tool[gpx->current.extruder].nozzle_temperature != temperature) {
if(gpx->flag.dittoPrinting) {
CALL( set_nozzle_temperature(gpx, B, temperature) );
CALL( set_nozzle_temperature(gpx, A, temperature));
gpx->tool[A].nozzle_temperature = gpx->tool[B].nozzle_temperature = temperature;
}
else {
CALL( set_nozzle_temperature(gpx, gpx->current.extruder, temperature) );
gpx->tool[gpx->current.extruder].nozzle_temperature = temperature;
}
}
}
// override LED colour
if(gpx->filament[index].LED) {
CALL( set_LED_RGB(gpx, gpx->filament[index].LED, 0) );
}
gpx->commandAtIndex++;
if(gpx->commandAtIndex < gpx->commandAtLength) {
gpx->flag.doPauseAtZPos = COMMAND_QUE_MAX;
}
}
}
}
return rval;
}
static void update_current_position(Gpx *gpx)
{
// the current position to tracks where the print head currently is
if(gpx->target.position.z != gpx->current.position.z) {
// calculate layer height
gpx->layerHeight = fabs(gpx->target.position.z - gpx->current.position.z);
// check upper bounds
if(gpx->layerHeight > (gpx->machine.nozzle_diameter * 0.85)) {
gpx->layerHeight = gpx->machine.nozzle_diameter * 0.85;
}
}
gpx->current.position = gpx->target.position;
gpx->current.positionKnown = 1;
}
// TOOL CHANGE
static int do_tool_change(Gpx *gpx, int timeout) {
int rval;
// set the temperature of current tool to standby (if standby is different to active)
if(gpx->override[gpx->current.extruder].standby_temperature
&& gpx->override[gpx->current.extruder].standby_temperature != gpx->tool[gpx->current.extruder].nozzle_temperature) {
unsigned temperature = gpx->override[gpx->current.extruder].standby_temperature;
CALL( set_nozzle_temperature(gpx, gpx->current.extruder, temperature) );
gpx->tool[gpx->current.extruder].nozzle_temperature = temperature;
}
// set the temperature of selected tool to active (if active is different to standby)
if(gpx->override[gpx->target.extruder].active_temperature
&& gpx->override[gpx->target.extruder].active_temperature != gpx->tool[gpx->target.extruder].nozzle_temperature) {
unsigned temperature = gpx->override[gpx->target.extruder].active_temperature;
CALL( set_nozzle_temperature(gpx, gpx->target.extruder, temperature) );
gpx->tool[gpx->target.extruder].nozzle_temperature = temperature;
// wait for nozzle to head up
// CALL( wait_for_extruder(gpx, gpx->target.extruder, timeout) );
}
// switch any active G10 offset (G54 or G55)
if(gpx->current.offset == gpx->current.extruder + 1) {
gpx->current.offset = gpx->target.extruder + 1;
}
// change current toolhead in order to apply the calibration offset
CALL( change_extruder_offset(gpx, gpx->target.extruder) );
// set current extruder so changes in E are expressed as changes to A or B
gpx->current.extruder = gpx->target.extruder;
return 0;
}
// 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 int parse_macro(Gpx *gpx, const char* macro, char *p)
{
int rval = 0;
char *name = NULL;
double z = 0.0;
double diameter = 0.0;
unsigned nozzle_temperature = 0;
unsigned build_platform_temperature = 0;
unsigned LED = 0;
while(*p != 0) {
// trim any leading white space
while(isspace(*p)) p++;
if(isalpha(*p)) {
name = p;
while(*p && isalnum(*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') {
unsigned temperature = atoi(t);
if(temperature > HBP_MAX) {
nozzle_temperature = temperature;
}
else {
build_platform_temperature = temperature;
}
}
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 = strchr(p + 1, ')');
if(t) {
*t = 0;
p = t + 1;
}
else {
*p = 0;
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: unrecognised macro parameter" EOL, gpx->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(gpx_set_machine(gpx, name)) {
SHOW( fprintf(stderr, "(line %u) Semantic error: @%s macro with unrecognised type '%s'" EOL, gpx->lineNumber, macro, name) );
}
gpx->override[A].packing_density = gpx->machine.nominal_packing_density;
gpx->override[B].packing_density = gpx->machine.nominal_packing_density;
}
if(z > 0.0001) {
gpx->machine.nominal_packing_density = z;
}
if(diameter > 0.0001) gpx->machine.nominal_filament_diameter = diameter;
if(build_platform_temperature) {
if(gpx->machine.a.has_heated_build_platform) gpx->override[A].build_platform_temperature = build_platform_temperature;
else if(gpx->machine.b.has_heated_build_platform) gpx->override[B].build_platform_temperature = build_platform_temperature;
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: @%s macro cannot override non-existant heated build platform" EOL, gpx->lineNumber, macro) );
}
}
if(LED) {
CALL( set_LED_RGB(gpx, LED, 0) );
}
}
// ;@enable ditto
// ;@enable progress
else if(MACRO_IS("enable")) {
if(name) {
if(NAME_IS("ditto")) {
if(gpx->machine.extruder_count == 1) {
SHOW( fprintf(stderr, "(line %u) Semantic warning: ditto printing cannot access non-existant second extruder" EOL, gpx->lineNumber) );
gpx->flag.dittoPrinting = 0;
}
else {
gpx->flag.dittoPrinting = 1;
}
}
else if(NAME_IS("progress")) gpx->flag.buildProgress = 1;
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @enable macro with unrecognised parameter '%s'" EOL, gpx->lineNumber, name) );
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: @enable macro with missing parameter" EOL, gpx->lineNumber) );
}
}
// ;@filament <NAME> <DIAMETER>mm <TEMP>c #<LED-COLOUR>
else if(MACRO_IS("filament")) {
if(name) {
add_filament(gpx, name, diameter, nozzle_temperature, LED);
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @filament macro with missing name" EOL, gpx->lineNumber) );
}
}
// ;@right <NAME> <PACKING_DENSITY> <DIAMETER>mm <TEMP>c
else if(MACRO_IS("right")) {
if(name) {
int index = find_filament(gpx, name);
if(index > 0) {
if(gpx->filament[index].diameter > 0.0001) set_filament_scale(gpx, A, gpx->filament[index].diameter);
if(gpx->filament[index].temperature) gpx->override[A].active_temperature = gpx->filament[index].temperature;
return 0;
}
}
if(z > 0.0001) gpx->override[A].packing_density = z;
if(diameter > 0.0001) set_filament_scale(gpx, A, diameter);
if(nozzle_temperature) gpx->override[A].active_temperature = nozzle_temperature;
}
// ;@left <NAME> <PACKING_DENSITY> <DIAMETER>mm <TEMP>c
else if(MACRO_IS("left")) {
if(name) {
int index = find_filament(gpx, name);
if(index > 0) {
if(gpx->filament[index].diameter > 0.0001) set_filament_scale(gpx, B, gpx->filament[index].diameter);
if(gpx->filament[index].temperature) gpx->override[B].active_temperature = gpx->filament[index].temperature;
return 0;
}
}
if(z > 0.0001) gpx->override[A].packing_density = z;
if(diameter > 0.0001) set_filament_scale(gpx, B, diameter);
if(nozzle_temperature) gpx->override[B].active_temperature = nozzle_temperature;
}
// ;@pause <ZPOS> <NAME>
else if(MACRO_IS("pause")) {
if(z > 0.0001) {
CALL( add_command_at(gpx, z, name, 0, 0) );
}
else if(diameter > 0.0001) {
CALL( add_command_at(gpx, diameter, name, 0, 0) );
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @pause macro with missing zPos" EOL, gpx->lineNumber) );
}
}
// ;@temp <ZPOS> <TEMP>c
// ;@temperature <ZPOS> <TEMP>c
else if(MACRO_IS("temp") || MACRO_IS("temperature")) {
if(nozzle_temperature || build_platform_temperature) {
if(z > 0.0001) {
CALL( add_command_at(gpx, z, NULL, nozzle_temperature, build_platform_temperature) );
}
else if(diameter > 0.0001) {
CALL( add_command_at(gpx, diameter, NULL, nozzle_temperature, build_platform_temperature) );
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @%s macro with missing zPos" EOL, gpx->lineNumber, macro) );
}
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @%s macro with missing temperature" EOL, gpx->lineNumber, macro) );
}
}
// ;@start <NAME> <TEMP>c
else if(MACRO_IS("start")) {
if(nozzle_temperature || build_platform_temperature) {
if(nozzle_temperature) {
if(gpx->tool[A].nozzle_temperature && gpx->tool[A].nozzle_temperature != nozzle_temperature) {
if(program_is_running()) {
CALL( set_nozzle_temperature(gpx, A, nozzle_temperature) );
}
gpx->tool[A].nozzle_temperature = gpx->override[A].active_temperature = nozzle_temperature;
}
else {
gpx->override[A].active_temperature = nozzle_temperature;
}
if(gpx->tool[B].nozzle_temperature && gpx->tool[B].nozzle_temperature != nozzle_temperature) {
if(program_is_running()) {
CALL( set_nozzle_temperature(gpx, B, nozzle_temperature) );
}
gpx->tool[B].nozzle_temperature = gpx->override[B].active_temperature = nozzle_temperature;
}
else {
gpx->override[B].active_temperature = nozzle_temperature;
}
}
if(build_platform_temperature) {
if(gpx->machine.a.has_heated_build_platform && gpx->tool[A].build_platform_temperature && gpx->tool[A].build_platform_temperature != build_platform_temperature) {
if(program_is_running()) {
CALL( set_build_platform_temperature(gpx, A, build_platform_temperature) );
}
gpx->tool[A].build_platform_temperature = gpx->override[A].build_platform_temperature = build_platform_temperature;
}
else if(gpx->machine.b.has_heated_build_platform && gpx->tool[B].build_platform_temperature && gpx->tool[B].build_platform_temperature != build_platform_temperature) {
if(program_is_running()) {
CALL( set_build_platform_temperature(gpx, B, build_platform_temperature) );
}
gpx->tool[B].build_platform_temperature = gpx->override[B].build_platform_temperature = build_platform_temperature;
}
}
}
else if(name) {
int index = find_filament(gpx, name);
if(index > 0) {
if(gpx->filament[index].diameter > 0.0001) {
if(gpx->flag.dittoPrinting) {
set_filament_scale(gpx, B, gpx->filament[index].diameter);
set_filament_scale(gpx, A, gpx->filament[index].diameter);
}
else {
set_filament_scale(gpx, gpx->current.extruder, gpx->filament[index].diameter);
}
}
if(gpx->filament[index].LED) {
CALL( set_LED_RGB(gpx, gpx->filament[index].LED, 0) );
}
nozzle_temperature = gpx->filament[index].temperature;
if(nozzle_temperature) {
if(gpx->tool[A].nozzle_temperature && gpx->tool[A].nozzle_temperature != nozzle_temperature) {
if(program_is_running()) {
CALL( set_nozzle_temperature(gpx, A, nozzle_temperature) );
}
gpx->tool[A].nozzle_temperature = gpx->override[A].active_temperature = nozzle_temperature;
}
else {
gpx->override[A].active_temperature = nozzle_temperature;
}
if(gpx->tool[B].nozzle_temperature && gpx->tool[B].nozzle_temperature != nozzle_temperature) {
if(program_is_running()) {
CALL( set_nozzle_temperature(gpx, B, nozzle_temperature) );
}
gpx->tool[B].nozzle_temperature = gpx->override[B].active_temperature = nozzle_temperature;
}
else {
gpx->override[B].active_temperature = nozzle_temperature;
}
}
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: @start with undefined filament name '%s', use a @filament macro to define it" EOL, gpx->lineNumber, name ? name : "") );
}
}
}
// ;@body
else if(MACRO_IS("body")) {
if(gpx->flag.pausePending) {
CALL( pause_at_zpos(gpx, gpx->commandAt[0].z) );
gpx->flag.pausePending = 0;
}
gpx->flag.macrosEnabled = 1;
}
// ;@header
// ;@footer
else if(MACRO_IS("header") && MACRO_IS("footer")) {
gpx->flag.macrosEnabled = 0;
}
return 0;
}
/*
SIMPLE .INI FILE PARSER
ini.c is released under the New BSD license (see LICENSE.txt). Go to the project
home page for more info: http://code.google.com/p/inih/
Parse given INI-style file. May have [section]s, name=value pairs
(whitespace stripped), and comments starting with ';' (semicolon). Section
is "" if name=value pair parsed before any section heading. name:value
pairs are also supported as a concession to Python's ConfigParser.
For each name=value pair parsed, call handler function with given user
pointer as well as section, name, and value (data only valid for duration
of handler call). Handler should return 0 on success, nonzero on error.
Returns 0 on success, line number of first error on parse error (doesn't
stop on first error), -1 on file open error.
*/
#define INI_SECTION_MAX 64
#define INI_NAME_MAX 64
/* Nonzero to allow multi-line value parsing, in the style of Python's
ConfigParser. If allowed, ini_parse() will call the handler with the same
name for each subsequent line parsed. */
#ifndef INI_ALLOW_MULTILINE
#define INI_ALLOW_MULTILINE 1
#endif
/* Nonzero to allow a UTF-8 BOM sequence (0xEF 0xBB 0xBF) at the start of
the file. See http://code.google.com/p/inih/issues/detail?id=21 */
#ifndef INI_ALLOW_BOM
#define INI_ALLOW_BOM 1
#endif
/* Strip whitespace chars off end of given string, in place. Return s. */
static char* rstrip(char* s)
{
char* p = s + strlen(s);
while (p > s && isspace((unsigned char)(*--p))) *p = '\0';
return s;
}
/* Return pointer to first non-whitespace char in given string. */
static char* lskip(const char* s)
{
while (*s && isspace((unsigned char)(*s))) s++;
return (char*)s;
}
/* Return pointer to first char c or ';' comment in given string, or pointer to
null at end of string if neither found. ';' must be prefixed by a whitespace
character to register as a comment. */
static char* find_char_or_comment(const char* s, char c)
{
int was_whitespace = 0;
while (*s && *s != c && !(was_whitespace && *s == ';')) {
was_whitespace = isspace((unsigned char)(*s));
s++;
}
return (char*)s;
}
/* Version of strncpy that ensures dest (size bytes) is null-terminated. */
static char* strncpy0(char* dest, const char* src, size_t size)
{
strncpy(dest, src, size);
dest[size - 1] = '\0';
return dest;
}
/* See documentation in header file. */
static int ini_parse_file(Gpx* gpx, FILE* file, int (*handler)(Gpx*, const char*, const char*, char*))
{
/* Uses a fair bit of stack (use heap instead if you need to) */
char section[INI_SECTION_MAX] = "";
char prev_name[INI_NAME_MAX] = "";
char* start;
char* end;
char* name;
char* value;
int error = 0;
gpx->lineNumber = 0;
/* Scan through file line by line */
while(fgets(gpx->buffer.in, BUFFER_MAX, file) != NULL) {
gpx->lineNumber++;
start = gpx->buffer.in;
#if INI_ALLOW_BOM
if(gpx->lineNumber == 1 && (unsigned char)start[0] == 0xEF &&
(unsigned char)start[1] == 0xBB &&
(unsigned char)start[2] == 0xBF) {
start += 3;
}
#endif
start = lskip(rstrip(start));
if(*start == ';' || *start == '#') {
/* Per Python ConfigParser, allow '#' comments at start of line */
}
#if INI_ALLOW_MULTILINE
else if(*prev_name && *start && start > gpx->buffer.in) {
/* Non-black line with leading whitespace, treat as continuation
of previous name's value (as per Python ConfigParser). */
if (handler(gpx, section, prev_name, start) && !error)
error = gpx->lineNumber;
}
#endif
else if(*start == '[') {
/* A "[section]" line */
end = find_char_or_comment(start + 1, ']');
if(*end == ']') {
*end = '\0';
strncpy0(section, start + 1, sizeof(section));
*prev_name = '\0';
}
else if(!error) {
/* No ']' found on section line */
error = gpx->lineNumber;
}
}
else if(*start && *start != ';') {
/* Not a comment, must be a name[=:]value pair */
end = find_char_or_comment(start, '=');
if(*end != '=') {
end = find_char_or_comment(start, ':');
}
if(*end == '=' || *end == ':') {
*end = '\0';
name = rstrip(start);
value = lskip(end + 1);
end = find_char_or_comment(value, '\0');
if (*end == ';')
*end = '\0';
rstrip(value);
/* Valid name[=:]value pair found, call handler */
strncpy0(prev_name, name, sizeof(prev_name));
if(handler(gpx, section, name, value) && !error)
error = gpx->lineNumber;
}
else if(!error) {
/* No '=' or ':' found on name[=:]value line */
error = gpx->lineNumber;
}
}
}
return error;
}
/* See documentation in header file. */
static int ini_parse(Gpx* gpx, const char* filename,
int (*handler)(Gpx*, const char*, const char*, char*))
{
FILE* file;
int error;
file = fopen(filename, "r");
if(!file) return -1;
error = ini_parse_file(gpx, file, handler);
fclose(file);
return error;
}
// 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
int gpx_set_property(Gpx *gpx, const char* section, const char* property, char* value)
{
int rval;
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")) {
CALL( parse_macro(gpx, property, value) );
}
else if(PROPERTY_IS("verbose")) {
gpx->flag.verboseMode = atoi(value);
}
else goto SECTION_ERROR;
}
else if(SECTION_IS("printer") || SECTION_IS("slicer")) {
if(PROPERTY_IS("ditto_printing")) gpx->flag.dittoPrinting = atoi(value);
else if(PROPERTY_IS("build_progress")) gpx->flag.buildProgress = atoi(value);
else if(PROPERTY_IS("packing_density")) gpx->machine.nominal_packing_density = strtod(value, NULL);
else if(PROPERTY_IS("recalculate_5d")) gpx->flag.rewrite5D = atoi(value);
else if(PROPERTY_IS("nominal_filament_diameter")
|| PROPERTY_IS("slicer_filament_diameter")
|| PROPERTY_IS("filament_diameter")) {
gpx->machine.nominal_filament_diameter = strtod(value, NULL);
}
else if(PROPERTY_IS("machine_type")) {
// only load/clobber the on-board machine definition if the one specified is different
if(gpx_set_machine(gpx, value)) {
SHOW( fprintf(stderr, "(line %u) Configuration error: unrecognised machine type '%s'" EOL, gpx->lineNumber, value) );
return gpx->lineNumber;
}
gpx->override[A].packing_density = gpx->machine.nominal_packing_density;
gpx->override[B].packing_density = gpx->machine.nominal_packing_density;
}
else if(PROPERTY_IS("gcode_flavor")) {
// use on-board machine definition
if(VALUE_IS("reprap")) gpx->flag.reprapFlavor = 1;
else if(VALUE_IS("makerbot")) gpx->flag.reprapFlavor = 0;
else {
SHOW( fprintf(stderr, "(line %u) Configuration error: unrecognised GCODE flavor '%s'" EOL, gpx->lineNumber, value) );
return gpx->lineNumber;
}
}
else if(PROPERTY_IS("build_platform_temperature")) {
if(gpx->machine.a.has_heated_build_platform) gpx->override[A].build_platform_temperature = atoi(value);
else if(gpx->machine.b.has_heated_build_platform) gpx->override[B].build_platform_temperature = atoi(value);
}
else if(PROPERTY_IS("sd_card_path")) {
gpx->sdCardPath = strdup(value);
}
else if(PROPERTY_IS("verbose")) {
gpx->flag.verboseMode = atoi(value);
}
else goto SECTION_ERROR;
}
else if(SECTION_IS("x")) {
if(PROPERTY_IS("max_feedrate")) gpx->machine.x.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) gpx->machine.x.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) gpx->machine.x.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) gpx->machine.x.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("y")) {
if(PROPERTY_IS("max_feedrate")) gpx->machine.y.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) gpx->machine.y.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) gpx->machine.y.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) gpx->machine.y.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("z")) {
if(PROPERTY_IS("max_feedrate")) gpx->machine.z.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("home_feedrate")) gpx->machine.z.home_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) gpx->machine.z.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("endstop")) gpx->machine.z.endstop = atoi(value);
else goto SECTION_ERROR;
}
else if(SECTION_IS("a")) {
if(PROPERTY_IS("max_feedrate")) gpx->machine.a.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) gpx->machine.a.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("motor_steps")) gpx->machine.a.motor_steps = strtod(value, NULL);
else if(PROPERTY_IS("has_heated_build_platform")) gpx->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")) gpx->override[A].active_temperature = atoi(value);
else if(PROPERTY_IS("standby_temperature")) gpx->override[A].standby_temperature = atoi(value);
else if(PROPERTY_IS("build_platform_temperature")) gpx->override[A].build_platform_temperature = atoi(value);
else if(PROPERTY_IS("actual_filament_diameter")) gpx->override[A].actual_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) gpx->override[A].packing_density = strtod(value, NULL);
else goto SECTION_ERROR;
}
else if(SECTION_IS("b")) {
if(PROPERTY_IS("max_feedrate")) gpx->machine.b.max_feedrate = strtod(value, NULL);
else if(PROPERTY_IS("steps_per_mm")) gpx->machine.b.steps_per_mm = strtod(value, NULL);
else if(PROPERTY_IS("motor_steps")) gpx->machine.b.motor_steps = strtod(value, NULL);
else if(PROPERTY_IS("has_heated_build_platform")) gpx->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")) gpx->override[B].active_temperature = atoi(value);
else if(PROPERTY_IS("standby_temperature")) gpx->override[B].standby_temperature = atoi(value);
else if(PROPERTY_IS("build_platform_temperature")) gpx->override[B].build_platform_temperature = atoi(value);
else if(PROPERTY_IS("actual_filament_diameter")) gpx->override[B].actual_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) gpx->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")) gpx->machine.nominal_filament_diameter = strtod(value, NULL);
else if(PROPERTY_IS("packing_density")) gpx->machine.nominal_packing_density = strtod(value, NULL);
else if(PROPERTY_IS("nozzle_diameter")) gpx->machine.nozzle_diameter = strtod(value, NULL);
else if(PROPERTY_IS("extruder_count")) gpx->machine.extruder_count = atoi(value);
else if(PROPERTY_IS("timeout")) gpx->machine.timeout = atoi(value);
else goto SECTION_ERROR;
}
else {
SHOW( fprintf(stderr, "(line %u) Configuration error: unrecognised section [%s]" EOL, gpx->lineNumber, section) );
return gpx->lineNumber;
}
return 0;
SECTION_ERROR:
SHOW( fprintf(stderr, "(line %u) Configuration error: [%s] section contains unrecognised property %s = %s" EOL, gpx->lineNumber, section, property, value) );
return gpx->lineNumber;
}
int gpx_read_config(Gpx *gpx, const char *filename)
{
return ini_parse(gpx, filename, gpx_set_property);
}
void gpx_register_callback(Gpx *gpx, int (*callbackHandler)(Gpx*, void*), void *callbackData)
{
gpx->callbackHandler = callbackHandler;
gpx->callbackData = callbackData;
}
void gpx_start_build(Gpx *gpx, char *buildName)
{
if(buildName) gpx->buildName = buildName;
if(gpx->flag.dittoPrinting && gpx->machine.extruder_count == 1) {
SHOW( fputs("Configuration error: ditto printing cannot access non-existant second extruder" EOL, stderr) );
gpx->flag.dittoPrinting = 0;
}
// CALCULATE FILAMENT SCALING
if(gpx->override[A].actual_filament_diameter > 0.0001
&& gpx->override[A].actual_filament_diameter != gpx->machine.nominal_filament_diameter) {
set_filament_scale(gpx, A, gpx->override[A].actual_filament_diameter);
}
if(gpx->override[B].actual_filament_diameter > 0.0001
&& gpx->override[B].actual_filament_diameter != gpx->machine.nominal_filament_diameter) {
set_filament_scale(gpx, B, gpx->override[B].actual_filament_diameter);
}
}
void gpx_end_build(Gpx *gpx)
{
if(gpx->flag.verboseMode) {
long seconds = round(gpx->accumulated.time);
long minutes = seconds / 60;
long hours = minutes / 60;
minutes %= 60;
seconds %= 60;
fprintf(stderr, "Extrusion length: %#0.3f metres" EOL, round(gpx->accumulated.a + gpx->accumulated.b) / 1000);
fputs("Estimated print time: ", stderr);
if(hours) fprintf(stderr, "%lu hours ", hours);
if(minutes) fprintf(stderr, "%lu minutes ", minutes);
fprintf(stderr, "%lu seconds" EOL, seconds);
fprintf(stderr, "X3G output filesize: %lu bytes" EOL, gpx->accumulated.bytes);
}
}
int gpx_convert_line(Gpx *gpx, char *gcode_line)
{
int i, rval;
int next_line = 0;
int command_emitted = 0;
// reset flag state
gpx->command.flag = 0;
char *digits;
char *p = gcode_line; // 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) {
SHOW( fprintf(stderr, "(line %u) Syntax error: line number command word 'N' is missing digits" EOL, gpx->lineNumber) );
next_line = gpx->lineNumber + 1;
}
else {
next_line = gpx->lineNumber = atoi(digits);
}
}
else {
next_line = gpx->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':
gpx->command.x = strtod(digits, NULL);
gpx->command.flag |= X_IS_SET;
break;
// Ynnn Y coordinate, usually to move to
case 'y':
case 'Y':
gpx->command.y = strtod(digits, NULL);
gpx->command.flag |= Y_IS_SET;
break;
// Znnn Z coordinate, usually to move to
case 'z':
case 'Z':
gpx->command.z = strtod(digits, NULL);
gpx->command.flag |= Z_IS_SET;
break;
// Annn Length of extrudate in mm.
case 'a':
case 'A':
gpx->command.a = strtod(digits, NULL);
gpx->command.flag |= A_IS_SET;
break;
// Bnnn Length of extrudate in mm.
case 'b':
case 'B':
gpx->command.b = strtod(digits, NULL);
gpx->command.flag |= B_IS_SET;
break;
// Ennn Length of extrudate in mm.
case 'e':
case 'E':
gpx->command.e = strtod(digits, NULL);
gpx->command.flag |= E_IS_SET;
break;
// Fnnn Feedrate in mm per minute.
case 'f':
case 'F':
gpx->command.f = strtod(digits, NULL);
gpx->command.flag |= F_IS_SET;
break;
// Pnnn Command parameter, such as a time in milliseconds
case 'p':
case 'P':
gpx->command.p = strtod(digits, NULL);
gpx->command.flag |= P_IS_SET;
break;
// Rnnn Command Parameter, such as RPM
case 'r':
case 'R':
gpx->command.r = strtod(digits, NULL);
gpx->command.flag |= R_IS_SET;
break;
// Snnn Command parameter, such as temperature
case 's':
case 'S':
gpx->command.s = strtod(digits, NULL);
gpx->command.flag |= S_IS_SET;
break;
// COMMANDS
// Gnnn GCode command, such as move to a point
case 'g':
case 'G':
gpx->command.g = atoi(digits);
gpx->command.flag |= G_IS_SET;
break;
// Mnnn RepRap-defined command
case 'm':
case 'M':
gpx->command.m = atoi(digits);
gpx->command.flag |= M_IS_SET;
break;
// Tnnn Select extruder nnn.
case 't':
case 'T':
gpx->command.t = atoi(digits);
gpx->command.flag |= T_IS_SET;
break;
default:
SHOW( fprintf(stderr, "(line %u) Syntax warning: unrecognised command word '%c'" EOL, gpx->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;
CALL( parse_macro(gpx, macro, normalize_comment(s)) );
*p = 0;
break;
}
}
// Comment
gpx->command.comment = normalize_comment(p + 1);
gpx->command.flag |= COMMENT_IS_SET;
*p = 0;
break;
}
else if(*p == '(') {
if(*(p + 1) == '@') {
char *s = p + 2;
if(isalpha(*s)) {
char *macro = s;
char *e = strrchr(p + 1, ')');
// skip any no space characters
while(*s && !isspace(*s)) s++;
// null terminate
if(*s) *s++ = 0;
if(e) *e = 0;
CALL( parse_macro(gpx, macro, normalize_comment(s)) );
*p = 0;
break;
}
}
// Comment
char *s = strchr(p + 1, '(');
char *e = strchr(p + 1, ')');
// check for nested comment
if(s && e && s < e) {
SHOW( fprintf(stderr, "(line %u) Syntax warning: nested comment detected" EOL, gpx->lineNumber) );
e = strrchr(p + 1, ')');
}
if(e) {
*e = 0;
gpx->command.comment = normalize_comment(p + 1);
gpx->command.flag |= COMMENT_IS_SET;
p = e + 1;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax warning: comment is missing closing ')'" EOL, gpx->lineNumber) );
gpx->command.comment = normalize_comment(p + 1);
gpx->command.flag |= COMMENT_IS_SET;
*p = 0;
break;
}
}
else if(*p == '*') {
// Checksum
*p = 0;
break;
}
else if(iscntrl(*p)) {
break;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: unrecognised gcode '%s'" EOL, gpx->lineNumber, p) );
break;
}
}
// revert tool selection to current extruder (Makerbot Tn is not sticky)
if(!gpx->flag.reprapFlavor) gpx->target.extruder = gpx->current.extruder;
// change the extruder selection (in the virtual tool carosel)
if(gpx->command.flag & T_IS_SET && !gpx->flag.dittoPrinting) {
unsigned tool_id = (unsigned)gpx->command.t;
if(tool_id < gpx->machine.extruder_count) {
gpx->target.extruder = tool_id;
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: T%u cannot select non-existant extruder" EOL, gpx->lineNumber, tool_id) );
}
}
// we treat E as short hand for A or B being set, depending on the state of the gpx->current.extruder
if(gpx->command.flag & E_IS_SET) {
if(gpx->current.extruder == 0) {
// a = e
gpx->command.flag |= A_IS_SET;
gpx->command.a = gpx->command.e;
}
else {
// b = e
gpx->command.flag |= B_IS_SET;
gpx->command.b = gpx->command.e;
}
}
// INTERPRET COMMAND
if(gpx->command.flag & G_IS_SET) {
switch(gpx->command.g) {
// G0 - Rapid Positioning
case 0:
if(gpx->command.flag & F_IS_SET) {
CALL( calculate_target_position(gpx) );
CALL( queue_ext_point(gpx, 0.0) );
update_current_position(gpx);
command_emitted++;
}
else {
Point3d delta;
CALL( calculate_target_position(gpx) );
if(gpx->command.flag & X_IS_SET) delta.x = fabs(gpx->target.position.x - gpx->current.position.x);
if(gpx->command.flag & Y_IS_SET) delta.y = fabs(gpx->target.position.y - gpx->current.position.y);
if(gpx->command.flag & Z_IS_SET) delta.z = fabs(gpx->target.position.z - gpx->current.position.z);
double length = magnitude(gpx->command.flag & XYZ_BIT_MASK, (Ptr5d)&delta);
double candidate, feedrate = DBL_MAX;
if(gpx->command.flag & X_IS_SET && delta.x != 0.0) {
feedrate = gpx->machine.x.max_feedrate * length / delta.x;
}
if(gpx->command.flag & Y_IS_SET && delta.y != 0.0) {
candidate = gpx->machine.y.max_feedrate * length / delta.y;
if(feedrate > candidate) {
feedrate = candidate;
}
}
if(gpx->command.flag & Z_IS_SET && delta.z != 0.0) {
candidate = gpx->machine.z.max_feedrate * length / delta.z;
if(feedrate > candidate) {
feedrate = candidate;
}
}
if(feedrate == DBL_MAX) {
feedrate = gpx->machine.x.max_feedrate;
}
CALL( queue_ext_point(gpx, feedrate) );
update_current_position(gpx);
command_emitted++;
}
break;
// G1 - Coordinated Motion
case 1:
CALL( calculate_target_position(gpx) );
CALL( queue_ext_point(gpx, 0.0) );
update_current_position(gpx);
command_emitted++;
break;
// G2 - Clockwise Arc
// G3 - Counter Clockwise Arc
// G4 - Dwell
case 4:
if(gpx->command.flag & P_IS_SET) {
#if ENABLE_SIMULATED_RPM
if(gpx->tool[gpx->current.extruder].motor_enabled && gpx->tool[gpx->current.extruder].rpm) {
CALL( calculate_target_position(gpx) );
CALL( queue_new_point(gpx, gpx->command.p) );
command_emitted++;
}
else
#endif
{
CALL( delay(gpx, gpx->command.p) );
command_emitted++;
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: G4 is missing delay parameter, use Pn where n is milliseconds" EOL, gpx->lineNumber) );
}
break;
// G10 - Create Coordinate System Offset from the Absolute one
case 10:
if(gpx->command.flag & P_IS_SET && gpx->command.p >= 1.0 && gpx->command.p <= 6.0) {
i = (int)gpx->command.p;
if(gpx->command.flag & X_IS_SET) gpx->offset[i].x = gpx->command.x;
if(gpx->command.flag & Y_IS_SET) gpx->offset[i].y = gpx->command.y;
if(gpx->command.flag & Z_IS_SET) gpx->offset[i].z = gpx->command.z;
// set standby temperature
if(gpx->command.flag & R_IS_SET) {
unsigned temperature = (unsigned)gpx->command.r;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
switch(i) {
case 1:
gpx->override[A].standby_temperature = temperature;
break;
case 2:
gpx->override[B].standby_temperature = temperature;
break;
}
}
// set tool temperature
if(gpx->command.flag & S_IS_SET) {
unsigned temperature = (unsigned)gpx->command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
switch(i) {
case 1:
gpx->override[A].active_temperature = temperature;
break;
case 2:
gpx->override[B].active_temperature = temperature;
break;
}
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: G10 is missing coordiante system, use Pn where n is 1-6" EOL, gpx->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:
gpx->current.offset = 0;
break;
// G54 - Use coordinate system from G10 P1
case 54:
gpx->current.offset = 1;
break;
// G55 - Use coordinate system from G10 P2
case 55:
gpx->current.offset = 2;
break;
// G56 - Use coordinate system from G10 P3
case 56:
gpx->current.offset = 3;
break;
// G57 - Use coordinate system from G10 P4
case 57:
gpx->current.offset = 4;
break;
// G58 - Use coordinate system from G10 P5
case 58:
gpx->current.offset = 5;
break;
// G59 - Use coordinate system from G10 P6
case 59:
gpx->current.offset = 6;
break;
// G90 - Absolute Positioning
case 90:
gpx->flag.relativeCoordinates = 0;
break;
// G91 - Relative Positioning
case 91:
if(gpx->current.positionKnown) {
gpx->flag.relativeCoordinates = 1;
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic error: G91 switch to relitive positioning prior to first absolute move" EOL, gpx->lineNumber) );
return -1;
}
break;
// G92 - Define current position on axes
case 92: {
if(gpx->command.flag & X_IS_SET) gpx->current.position.x = gpx->command.x;
if(gpx->command.flag & Y_IS_SET) gpx->current.position.y = gpx->command.y;
if(gpx->command.flag & Z_IS_SET) gpx->current.position.z = gpx->command.z;
if(gpx->command.flag & A_IS_SET) gpx->current.position.a = gpx->command.a;
if(gpx->command.flag & B_IS_SET) gpx->current.position.b = gpx->command.b;
CALL( set_position(gpx) );
command_emitted++;
// check if we know where we are
int mask = gpx->machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK;
if((gpx->command.flag & mask) == mask) gpx->current.positionKnown = 1;
break;
}
// G130 - Set given axes potentiometer Value
case 130:
if(gpx->command.flag & X_IS_SET) {
CALL( set_pot_value(gpx, 0, gpx->command.x < 0 ? 0 : gpx->command.x > 127 ? 127 : (unsigned)gpx->command.x) );
}
if(gpx->command.flag & Y_IS_SET) {
CALL( set_pot_value(gpx, 1, gpx->command.y < 0 ? 0 : gpx->command.y > 127 ? 127 : (unsigned)gpx->command.y) );
}
if(gpx->command.flag & Z_IS_SET) {
CALL( set_pot_value(gpx, 2, gpx->command.z < 0 ? 0 : gpx->command.z > 127 ? 127 : (unsigned)gpx->command.z) );
}
if(gpx->command.flag & A_IS_SET) {
CALL( set_pot_value(gpx, 3, gpx->command.a < 0 ? 0 : gpx->command.a > 127 ? 127 : (unsigned)gpx->command.a) );
}
if(gpx->command.flag & B_IS_SET) {
CALL( set_pot_value(gpx, 4, gpx->command.b < 0 ? 0 : gpx->command.b > 127 ? 127 : (unsigned)gpx->command.b) );
}
break;
// G161 - Home given axes to minimum
case 161:
if(gpx->command.flag & F_IS_SET) gpx->current.feedrate = gpx->command.f;
CALL( home_axes(gpx, ENDSTOP_IS_MIN) );
command_emitted++;
gpx->current.positionKnown = 0;
gpx->excess.a = 0;
gpx->excess.b = 0;
break;
// G28 - Home given axes to maximum
// G162 - Home given axes to maximum
case 28:
case 162:
if(gpx->command.flag & F_IS_SET) gpx->current.feedrate = gpx->command.f;
CALL( home_axes(gpx, ENDSTOP_IS_MAX) );
command_emitted++;
gpx->current.positionKnown = 0;
gpx->excess.a = 0;
gpx->excess.b = 0;
break;
default:
SHOW( fprintf(stderr, "(line %u) Syntax warning: unsupported gcode command 'G%u'" EOL, gpx->lineNumber, gpx->command.g) );
}
}
else if(gpx->command.flag & M_IS_SET) {
switch(gpx->command.m) {
// M2 - End program
case 2:
if(program_is_running()) {
end_program();
CALL( set_build_progress(gpx, 100) );
CALL( end_build(gpx) );
}
return 1;
// M6 - Tool change (AND)
// M116 - Wait for extruder AND build platfrom to reach (or exceed) temperature
case 6:
case 116: {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
if(!gpx->flag.dittoPrinting &&
#if !ENABLE_TOOL_CHANGE_ON_WAIT
gpx->command.m != 116 &&
#endif
gpx->target.extruder != gpx->current.extruder) {
CALL( do_tool_change(gpx, timeout) );
command_emitted++;
}
// wait for heated build platform
if(gpx->machine.a.has_heated_build_platform && gpx->tool[A].build_platform_temperature > 0) {
CALL( wait_for_build_platform(gpx, A, timeout) );
command_emitted++;
}
else if(gpx->machine.b.has_heated_build_platform && gpx->tool[B].build_platform_temperature > 0) {
CALL( wait_for_build_platform(gpx, B, timeout) );
command_emitted++;
}
// wait for extruder
if(gpx->flag.dittoPrinting) {
if(gpx->tool[B].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, B, timeout) );
}
if(gpx->tool[A].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, A, timeout) );
}
command_emitted++;
}
else {
if(gpx->tool[gpx->target.extruder].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, gpx->target.extruder, timeout) );
command_emitted++;
}
}
if(gpx->flag.verboseMode) {
CALL( display_message(gpx, "GPX " GPX_VERSION, 0, 0, 0, 0) );
CALL( display_message(gpx, "by Dr Henry Thomas", 1, 0, 1, 0) );
}
break;
}
// M17 - Enable axes steppers
case 17:
if(gpx->command.flag & AXES_BIT_MASK) {
CALL( set_steppers(gpx, gpx->command.flag & AXES_BIT_MASK, 1) );
command_emitted++;
if(gpx->command.flag & A_IS_SET) gpx->tool[A].motor_enabled = 1;
if(gpx->command.flag & B_IS_SET) gpx->tool[B].motor_enabled = 1;
}
else {
CALL( set_steppers(gpx, gpx->machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 1) );
command_emitted++;
gpx->tool[A].motor_enabled = 1;
if(gpx->machine.extruder_count == 2) gpx->tool[B].motor_enabled = 1;
}
break;
// M18 - Disable axes steppers
case 18:
if(gpx->command.flag & AXES_BIT_MASK) {
CALL( set_steppers(gpx, gpx->command.flag & AXES_BIT_MASK, 0) );
command_emitted++;
if(gpx->command.flag & A_IS_SET) gpx->tool[A].motor_enabled = 0;
if(gpx->command.flag & B_IS_SET) gpx->tool[B].motor_enabled = 0;
}
else {
CALL( set_steppers(gpx, gpx->machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 0) );
command_emitted++;
gpx->tool[A].motor_enabled = 0;
if(gpx->machine.extruder_count == 2) gpx->tool[B].motor_enabled = 0;
}
break;
// M70 - Display message on LCD
case 70:
if(gpx->command.flag & COMMENT_IS_SET) {
unsigned vPos = gpx->command.flag & Y_IS_SET ? (unsigned)gpx->command.y : 0;
if(vPos > 3) vPos = 3;
unsigned hPos = gpx->command.flag & X_IS_SET ? (unsigned)gpx->command.x : 0;
if(hPos > 19) hPos = 19;
int timeout = gpx->command.flag & P_IS_SET ? gpx->command.p : 0;
CALL( display_message(gpx, gpx->command.comment, vPos, hPos, timeout, 0) );
command_emitted++;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M70 is missing message text, use (text) where text is message" EOL, gpx->lineNumber) );
}
break;
// M71 - Display message and wait for button press
case 71: {
char *message = gpx->command.flag & COMMENT_IS_SET ? gpx->command.comment : "Press M to continue";
unsigned vPos = gpx->command.flag & Y_IS_SET ? (unsigned)gpx->command.y : 0;
if(vPos > 3) vPos = 3;
unsigned hPos = gpx->command.flag & X_IS_SET ? (unsigned)gpx->command.x : 0;
if(hPos > 19) hPos = 19;
int timeout = gpx->command.flag & P_IS_SET ? gpx->command.p : 0;
CALL( display_message(gpx, message, vPos, hPos, timeout, 1) );
command_emitted++;
break;
}
// M72 - Queue a song or play a tone
case 72:
if(gpx->command.flag & P_IS_SET) {
unsigned song_id = (unsigned)gpx->command.p;
if(song_id > 2) song_id = 2;
CALL( queue_song(gpx, song_id) );
command_emitted++;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax warning: M72 is missing song number, use Pn where n is 0-2" EOL, gpx->lineNumber) );
}
break;
// M73 - Manual set build percentage
case 73:
if(gpx->command.flag & P_IS_SET) {
unsigned percent = (unsigned)gpx->command.p;
if(percent > 100) percent = 100;
if(program_is_ready()) {
start_program();
CALL( start_build(gpx, gpx->buildName) );
CALL( set_build_progress(gpx, 0) );
// start extruder in a known state
CALL( change_extruder_offset(gpx, gpx->current.extruder) );
}
else if(program_is_running()) {
if(percent == 100) {
// disable macros in footer
gpx->flag.macrosEnabled = 0;
end_program();
CALL( set_build_progress(gpx, 100) );
CALL( end_build(gpx) );
gpx->current.percent = 100;
}
else {
// enable macros in object body
if(!gpx->flag.macrosEnabled && percent > 0) {
if(gpx->flag.pausePending) {
CALL( pause_at_zpos(gpx, gpx->commandAt[0].z) );
gpx->flag.pausePending = 0;
}
gpx->flag.macrosEnabled = 1;
}
if(percent && (gpx->total.time == 0.0 || gpx->flag.buildProgress == 0)) {
CALL( set_build_progress(gpx, percent) );
gpx->current.percent = percent;
}
}
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax warning: M73 is missing build percentage, use Pn where n is 0-100" EOL, gpx->lineNumber) );
}
break;
// M82 - set extruder to absolute mode
case 82:
gpx->flag.extruderIsRelative = 0;
break;
// M83 - set extruder to relative mode
case 83:
gpx->flag.extruderIsRelative = 1;
break;
// M84 - Stop idle hold
case 84:
CALL( set_steppers(gpx, gpx->machine.extruder_count == 1 ? (XYZ_BIT_MASK | A_IS_SET) : AXES_BIT_MASK, 0) );
command_emitted++;
gpx->tool[A].motor_enabled = 0;
if(gpx->machine.extruder_count == 2) gpx->tool[B].motor_enabled = 0;
break;
// M101 - Turn extruder on, forward
// M102 - Turn extruder on, reverse
case 101:
case 102:
if(gpx->flag.dittoPrinting) {
CALL( set_steppers(gpx, A_IS_SET|B_IS_SET, 1) );
command_emitted++;
gpx->tool[A].motor_enabled = gpx->tool[B].motor_enabled = gpx->command.m == 101 ? 1 : -1;
}
else {
CALL( set_steppers(gpx, gpx->target.extruder == 0 ? A_IS_SET : B_IS_SET, 1) );
command_emitted++;
gpx->tool[gpx->target.extruder].motor_enabled = gpx->command.m == 101 ? 1 : -1;
}
break;
// M103 - Turn extruder off
case 103:
if(gpx->flag.dittoPrinting) {
CALL( set_steppers(gpx, A_IS_SET|B_IS_SET, 1) );
command_emitted++;
gpx->tool[A].motor_enabled = gpx->tool[B].motor_enabled = 0;
}
else {
CALL( set_steppers(gpx, gpx->target.extruder == 0 ? A_IS_SET : B_IS_SET, 0) );
command_emitted++;
gpx->tool[gpx->target.extruder].motor_enabled = 0;
}
break;
// M104 - Set extruder temperature
case 104:
if(gpx->command.flag & S_IS_SET) {
unsigned temperature = (unsigned)gpx->command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
if(gpx->flag.dittoPrinting) {
if(temperature && gpx->override[gpx->current.extruder].active_temperature) {
temperature = gpx->override[gpx->current.extruder].active_temperature;
}
CALL( set_nozzle_temperature(gpx, B, temperature) );
CALL( set_nozzle_temperature(gpx, A, temperature) );
command_emitted++;
gpx->tool[A].nozzle_temperature = gpx->tool[B].nozzle_temperature = temperature;
}
else {
if(temperature && gpx->override[gpx->target.extruder].active_temperature) {
temperature = gpx->override[gpx->target.extruder].active_temperature;
}
CALL( set_nozzle_temperature(gpx, gpx->target.extruder, temperature) );
command_emitted++;
gpx->tool[gpx->target.extruder].nozzle_temperature = temperature;
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M104 is missing temperature, use Sn where n is 0-280" EOL, gpx->lineNumber) );
}
break;
// M106 - Turn cooling fan on
case 106: {
int state = (gpx->command.flag & S_IS_SET) ? ((unsigned)gpx->command.s ? 1 : 0) : 1;
if(gpx->flag.reprapFlavor && gpx->machine.type >= MACHINE_TYPE_REPLICATOR_1) {
if(gpx->flag.dittoPrinting) {
CALL( set_valve(gpx, B, state) );
CALL( set_valve(gpx, A, state) );
command_emitted++;
}
else {
CALL( set_valve(gpx, gpx->target.extruder, state) );
command_emitted++;
}
}
else {
if(gpx->flag.dittoPrinting) {
CALL( set_fan(gpx, B, state) );
CALL( set_fan(gpx, A, state) );
command_emitted++;
}
else {
CALL( set_fan(gpx, gpx->target.extruder, state) );
command_emitted++;
}
}
break;
}
// M107 - Turn cooling fan off
case 107:
if(gpx->flag.reprapFlavor && gpx->machine.type >= MACHINE_TYPE_REPLICATOR_1) {
if(gpx->flag.dittoPrinting) {
CALL( set_valve(gpx, B, 0) );
CALL( set_valve(gpx, A, 0) );
command_emitted++;
}
else {
CALL( set_valve(gpx, gpx->target.extruder, 0) );
command_emitted++;
}
}
else {
if(gpx->flag.dittoPrinting) {
CALL( set_fan(gpx, B, 0) );
CALL( set_fan(gpx, A, 0) );
command_emitted++;
}
else {
CALL( set_fan(gpx, gpx->target.extruder, 0) );
command_emitted++;
}
}
break;
// M108 - set extruder motor 5D 'simulated' RPM
case 108:
#if ENABLE_SIMULATED_RPM
if(gpx->command.flag & R_IS_SET) {
if(gpx->flag.dittoPrinting) {
gpx->tool[A].rpm = gpx->tool[B].rpm = gpx->command.r;
}
else {
gpx->tool[gpx->target.extruder].rpm = gpx->command.r;
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M108 is missing motor RPM, use Rn where n is 0-5" EOL, gpx->lineNumber) );
}
#endif
break;
// M109 - Set Extruder Temperature and Wait
case 109:
if(gpx->flag.reprapFlavor) {
if(gpx->command.flag & S_IS_SET) {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
unsigned temperature = (unsigned)gpx->command.s;
if(temperature > TEMPERATURE_MAX) temperature = TEMPERATURE_MAX;
if(gpx->flag.dittoPrinting) {
unsigned tempB = temperature;
// set extruder temperatures
if(temperature) {
if(gpx->override[B].active_temperature) {
tempB = gpx->override[B].active_temperature;
}
if(gpx->override[A].active_temperature) {
temperature = gpx->override[A].active_temperature;
}
}
CALL( set_nozzle_temperature(gpx, B, tempB) );
CALL( set_nozzle_temperature(gpx, A, temperature) );
gpx->tool[B].nozzle_temperature = tempB;
gpx->tool[A].nozzle_temperature = temperature;
// wait for extruders to reach (or exceed) temperature
if(gpx->tool[B].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, B, timeout) );
}
if(gpx->tool[A].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, A, timeout) );
}
command_emitted++;
}
else {
#if ENABLE_TOOL_CHANGE_ON_WAIT
// because there is a wait we do a tool change
if(gpx->target.extruder != gpx->current.extruder) {
CALL( do_tool_change(gpx, timeout) );
}
#endif
// set extruder temperature
if(temperature && gpx->override[gpx->target.extruder].active_temperature) {
temperature = gpx->override[gpx->target.extruder].active_temperature;
}
CALL( set_nozzle_temperature(gpx, gpx->target.extruder, temperature) );
gpx->tool[gpx->target.extruder].nozzle_temperature = temperature;
// wait for extruder to reach (or exceed) temperature
if(gpx->tool[gpx->target.extruder].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, gpx->target.extruder, timeout) );
}
command_emitted++;
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M109 is missing temperature, use Sn where n is 0-280" EOL, gpx->lineNumber) );
}
break;
}
// fall through to M140 for Makerbot/ReplicatorG flavor
// M140 - Set Build Platform Temperature
case 140:
if(gpx->machine.a.has_heated_build_platform || gpx->machine.b.has_heated_build_platform) {
if(gpx->command.flag & S_IS_SET) {
unsigned temperature = (unsigned)gpx->command.s;
if(temperature > HBP_MAX) temperature = HBP_MAX;
unsigned tool_id = gpx->machine.a.has_heated_build_platform ? A : B;
if(gpx->command.flag & T_IS_SET) {
tool_id = gpx->target.extruder;
}
if(tool_id ? gpx->machine.b.has_heated_build_platform : gpx->machine.a.has_heated_build_platform) {
if(temperature && gpx->override[tool_id].build_platform_temperature) {
temperature = gpx->override[tool_id].build_platform_temperature;
}
CALL( set_build_platform_temperature(gpx, tool_id, temperature) );
command_emitted++;
gpx->tool[tool_id].build_platform_temperature = temperature;
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform T%u" EOL, gpx->lineNumber, gpx->command.m, tool_id) );
}
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M%u is missing temperature, use Sn where n is 0-120" EOL, gpx->lineNumber, gpx->command.m) );
}
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform" EOL, gpx->lineNumber, gpx->command.m) );
}
break;
// M126 - Turn blower fan on (valve open)
case 126: {
int state = (gpx->command.flag & S_IS_SET) ? ((unsigned)gpx->command.s ? 1 : 0) : 1;
if(gpx->flag.dittoPrinting) {
CALL( set_valve(gpx, B, state) );
CALL( set_valve(gpx, A, state) );
command_emitted++;
}
else {
CALL( set_valve(gpx, gpx->target.extruder, state) );
command_emitted++;
}
break;
}
// M127 - Turn blower fan off (valve close)
case 127:
if(gpx->flag.dittoPrinting) {
CALL( set_valve(gpx, B, 0) );
CALL( set_valve(gpx, A, 0) );
command_emitted++;
}
else {
CALL( set_valve(gpx, gpx->target.extruder, 0) );
command_emitted++;
}
break;
// M131 - Store Current Position to EEPROM
case 131:
if(gpx->command.flag & AXES_BIT_MASK) {
CALL( store_home_positions(gpx) );
command_emitted++;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M131 is missing axes, use X Y Z A B" EOL, gpx->lineNumber) );
}
break;
// M132 - Load Current Position from EEPROM
case 132:
if(gpx->command.flag & AXES_BIT_MASK) {
CALL( recall_home_positions(gpx) );
command_emitted++;
gpx->current.positionKnown = 0;
gpx->excess.a = 0;
gpx->excess.b = 0;
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax error: M132 is missing axes, use X Y Z A B" EOL, gpx->lineNumber) );
}
break;
// M133 - Wait for extruder
case 133: {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
// changing the
if(gpx->flag.dittoPrinting) {
if(gpx->tool[B].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, B, timeout) );
}
if(gpx->tool[A].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, A, timeout) );
}
command_emitted++;
}
else {
#if ENABLE_TOOL_CHANGE_ON_WAIT
// because there is a wait we do a tool change
if(gpx->target.extruder != gpx->current.extruder) {
CALL( do_tool_change(gpx, timeout) );
}
#endif
// any tool changes have already occured
if(gpx->tool[gpx->target.extruder].nozzle_temperature > 0) {
CALL( wait_for_extruder(gpx, gpx->target.extruder, timeout) );
}
command_emitted++;
}
break;
}
// M134
// M190 - Wait for build platform to reach (or exceed) temperature
case 134:
case 190: {
if(gpx->machine.a.has_heated_build_platform || gpx->machine.b.has_heated_build_platform) {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
unsigned tool_id = gpx->machine.a.has_heated_build_platform ? A : B;
if(gpx->command.flag & T_IS_SET) {
tool_id = gpx->target.extruder;
}
if(tool_id ? gpx->machine.b.has_heated_build_platform : gpx->machine.a.has_heated_build_platform
&& gpx->tool[tool_id].build_platform_temperature > 0) {
CALL( wait_for_build_platform(gpx, tool_id, timeout) );
command_emitted++;
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform T%u" EOL, gpx->lineNumber, gpx->command.m, tool_id) );
}
}
else {
SHOW( fprintf(stderr, "(line %u) Semantic warning: M%u cannot select non-existant heated build platform" EOL, gpx->lineNumber, gpx->command.m) );
}
break;
}
// M135 - Change tool
case 135:
if(!gpx->flag.dittoPrinting && gpx->target.extruder != gpx->current.extruder) {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
CALL( do_tool_change(gpx, timeout) );
command_emitted++;
}
break;
// M136 - Build start notification
case 136:
if(program_is_ready()) {
start_program();
CALL( start_build(gpx, gpx->buildName) );
CALL( set_build_progress(gpx, 0) );
// start extruder in a known state
CALL( change_extruder_offset(gpx, gpx->current.extruder) );
}
break;
// M137 - Build end notification
case 137:
if(program_is_running()) {
end_program();
CALL( set_build_progress(gpx, 100) );
CALL( end_build(gpx) );
gpx->current.percent = 100;
}
break;
// M300 - Set Beep (SP)
case 300: {
unsigned frequency = 300;
if(gpx->command.flag & S_IS_SET) frequency = (unsigned)gpx->command.s & 0xFFFF;
unsigned milliseconds = 1000;
if(gpx->command.flag & P_IS_SET) milliseconds = (unsigned)gpx->command.p & 0xFFFF;
CALL( set_beep(gpx, frequency, milliseconds) );
command_emitted++;
break;
}
// M320 - Acceleration on for subsequent instructions
case 320:
CALL( set_acceleration(gpx, 1) );
command_emitted++;
break;
// M321 - Acceleration off for subsequent instructions
case 321:
CALL( set_acceleration(gpx, 0) );
command_emitted++;
break;
// M322 - Pause @ zPos
case 322:
if(gpx->command.flag & Z_IS_SET) {
float conditional_z = gpx->offset[gpx->current.offset].z;
if(gpx->flag.macrosEnabled) {
conditional_z += gpx->userOffset.z;
}
double z = gpx->flag.relativeCoordinates ? (gpx->current.position.z + gpx->command.z) : (gpx->command.z + conditional_z);
CALL( pause_at_zpos(gpx, z) );
}
else {
SHOW( fprintf(stderr, "(line %u) Syntax warning: M322 is missing Z axis" EOL, gpx->lineNumber) );
}
command_emitted++;
break;
// M420 - Set RGB LED value (REB - P)
case 420: {
unsigned red = 0;
if(gpx->command.flag & R_IS_SET) red = (unsigned)gpx->command.r & 0xFF;
unsigned green = 0;
if(gpx->command.flag & E_IS_SET) green = (unsigned)gpx->command.e & 0xFF;
unsigned blue = 0;
if(gpx->command.flag & B_IS_SET) blue = (unsigned)gpx->command.b & 0xFF;
unsigned blink = 0;
if(gpx->command.flag & P_IS_SET) blink = (unsigned)gpx->command.p & 0xFF;
CALL( set_LED(gpx, red, green, blue, blink) );
command_emitted++;
break;
}
default:
SHOW( fprintf(stderr, "(line %u) Syntax warning: unsupported mcode command 'M%u'" EOL, gpx->lineNumber, gpx->command.m) );
}
}
else {
// X,Y,Z,A,B,E,F
if(gpx->command.flag & (AXES_BIT_MASK | F_IS_SET)) {
CALL( calculate_target_position(gpx) );
CALL( queue_ext_point(gpx, 0.0) );
update_current_position(gpx);
command_emitted++;
}
// Tn
else if(!gpx->flag.dittoPrinting && gpx->target.extruder != gpx->current.extruder) {
int timeout = gpx->command.flag & P_IS_SET ? (int)gpx->command.p : 0xFFFF;
CALL( do_tool_change(gpx, timeout) );
command_emitted++;
}
}
// check for pending pause @ zPos
if(gpx->flag.doPauseAtZPos) {
gpx->flag.doPauseAtZPos--;
// issue next pause @ zPos after command buffer is flushed
if(gpx->flag.doPauseAtZPos == 0) {
CALL( pause_at_zpos(gpx, gpx->commandAt[gpx->commandAtIndex].z) );
}
}
// update progress
if(gpx->total.time > 0.0001 && gpx->accumulated.time > 0.0001 && gpx->flag.buildProgress && command_emitted) {
unsigned percent = (unsigned)round(100.0 * gpx->accumulated.time / gpx->total.time);
if(percent > gpx->current.percent) {
if(program_is_ready()) {
start_program();
CALL( start_build(gpx, gpx->buildName) );
CALL( set_build_progress(gpx, 0) );
// start extruder in a known state
CALL( change_extruder_offset(gpx, gpx->current.extruder) );
}
else if(percent < 100 && program_is_running()) {
CALL( set_build_progress(gpx, percent) );
gpx->current.percent = percent;
}
command_emitted = 0;
}
}
gpx->lineNumber = next_line;
return 0;
}
typedef struct tFile {
FILE *in;
FILE *out;
FILE *out2;
} File;
static int file_handler(Gpx *gpx, File *file)
{
size_t bytes, length = gpx->buffer.ptr - gpx->buffer.out;
if(length) {
bytes = fwrite(gpx->buffer.out, 1, length, file->out);
if(bytes != length) return -1;
if(file->out2) {
bytes = fwrite(gpx->buffer.out, 1, length, file->out2);
if(bytes != length) return -1;
}
}
return 0;
}
int gpx_convert_file(Gpx *gpx, FILE *file_in, FILE *file_out, FILE *file_out2)
{
int i, rval;
File file;
file.in = stdin;
file.out = stdout;
file.out2 = NULL;
int verboseMode = gpx->flag.verboseMode;
int showErrorMessages = gpx->flag.showErrorMessages;
if(file_in && file_in != stdin) {
// Multi-pass
file.in = file_in;
i = 0;
gpx->callbackHandler = NULL;
gpx->callbackData = NULL;
}
else {
// Single-pass
i = 1;
gpx->callbackHandler = (int (*)(Gpx*, void*))file_handler;;
gpx->callbackData = &file;
}
if(file_out) {
file.out = file_out;
}
file.out2 = file_out2;
for(;;) {
int overflow = 0;
while(fgets(gpx->buffer.in, BUFFER_MAX, file.in) != NULL) {
// detect input buffer overflow and ignore overflow input
if(overflow) {
if(strlen(gpx->buffer.in) != BUFFER_MAX - 1) {
overflow = 0;
}
continue;
}
if(strlen(gpx->buffer.in) == BUFFER_MAX - 1) {
overflow = 1;
SHOW( fprintf(stderr, "(line %u) Buffer overflow: input exceeds %u character limit, remaining characters in line will be ignored" EOL, gpx->lineNumber, BUFFER_MAX) );
}
rval = gpx_convert_line(gpx, gpx->buffer.in);
// normal exit
if(rval > 0) break;
// error
if(rval < 0) return rval;
}
if(program_is_running()) {
end_program();
CALL( set_build_progress(gpx, 100) );
CALL( end_build(gpx) );
}
CALL( set_steppers(gpx, AXES_BIT_MASK, 0) );
gpx->total.length = gpx->accumulated.a + gpx->accumulated.b;
gpx->total.time = gpx->accumulated.time;
gpx->total.bytes = gpx->accumulated.bytes;
if(++i > 1) break;
// rewind for second pass
fseek(file.in, 0L, SEEK_SET);
gpx_initialize(gpx, 0);
gpx->flag.verboseMode = 0;
gpx->flag.showErrorMessages = 0;
gpx->callbackHandler = (int (*)(Gpx*, void*))file_handler;
gpx->callbackData = &file;
}
gpx->flag.verboseMode = verboseMode;;
gpx->flag.showErrorMessages = showErrorMessages;;
return 0;
}
typedef struct tSio {
FILE *in;
int port;
} Sio;
static int port_handler(Gpx *gpx, Sio *sio)
{
size_t bytes, length = gpx->buffer.ptr - gpx->buffer.out;
if(length) {
// #TODO write serial I/O
}
return 0;
}
int gpx_send_file(Gpx *gpx, FILE *file_in, int sio_port)
{
int i, rval;
Sio sio;
sio.in = stdin;
sio.port = -1;
int verboseMode = gpx->flag.verboseMode;
int showErrorMessages = gpx->flag.showErrorMessages;
if(file_in && file_in != stdin) {
// Multi-pass
sio.in = file_in;
i = 0;
gpx->flag.framingEnabled = 0;
gpx->callbackHandler = NULL;
gpx->callbackData = NULL;
}
else {
// Single-pass
i = 1;
gpx->flag.framingEnabled = 1;
gpx->callbackHandler = (int (*)(Gpx*, void*))port_handler;;
gpx->callbackData = &sio;
}
if(sio_port > 2) {
sio.port = sio_port;
}
for(;;) {
int overflow = 0;
while(fgets(gpx->buffer.in, BUFFER_MAX, sio.in) != NULL) {
// detect input buffer overflow and ignore overflow input
if(overflow) {
if(strlen(gpx->buffer.in) != BUFFER_MAX - 1) {
overflow = 0;
}
continue;
}
if(strlen(gpx->buffer.in) == BUFFER_MAX - 1) {
overflow = 1;
SHOW( fprintf(stderr, "(line %u) Buffer overflow: input exceeds %u character limit, remaining characters in line will be ignored" EOL, gpx->lineNumber, BUFFER_MAX) );
}
rval = gpx_convert_line(gpx, gpx->buffer.in);
// normal exit
if(rval > 0) break;
// error
if(rval < 0) return rval;
}
if(program_is_running()) {
end_program();
CALL( set_build_progress(gpx, 100) );
CALL( end_build(gpx) );
}
CALL( set_steppers(gpx, AXES_BIT_MASK, 0) );
gpx->total.length = gpx->accumulated.a + gpx->accumulated.b;
gpx->total.time = gpx->accumulated.time;
gpx->total.bytes = gpx->accumulated.bytes;
if(++i > 1) break;
// rewind for second pass
fseek(sio.in, 0L, SEEK_SET);
gpx_initialize(gpx, 0);
gpx->flag.verboseMode = 0;
gpx->flag.showErrorMessages = 0;
gpx->flag.framingEnabled = 1;
gpx->callbackHandler = (int (*)(Gpx*, void*))port_handler;;
gpx->callbackData = &sio;
}
gpx->flag.verboseMode = verboseMode;;
gpx->flag.showErrorMessages = showErrorMessages;;
return 0;
}
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