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time to save again, added delay_ms, implemented cooling fan, tons of updates in gcode interpreter

This commit is contained in:
Michael Moon 2010-01-20 12:06:06 +11:00
parent ef09d62c00
commit f27e79aaf2
7 changed files with 107 additions and 20 deletions
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87
mendel/gcode.c
View File

@ -7,6 +7,7 @@
#include "serial.h"
#include "sermsg.h"
#include "temp.h"
#include "timer.h"
uint8_t option_bitfield;
@ -94,7 +95,7 @@ void scan_char(uint8_t c) {
c &= ~32;
// process field
if (indexof(c, "GMXYZEFS\n") >= 0) {
if (indexof(c, "GMXYZEFSP\n") >= 0) {
if (last_field) {
switch (last_field) {
case 'G':
@ -120,7 +121,20 @@ void scan_char(uint8_t c) {
next_target.target.F = read_digit.mantissa;
break;
case 'S':
next_target.S = decfloat_to_int(&read_digit, 1, 1);
// if this is temperature, multiply by 4 to convert to quarter-degree units
// cosmetically this should be done in the temperature section,
// but it takes less code, less memory and loses no precision if we do it here instead
if (next_target.M == 104)
next_target.S = decfloat_to_int(&read_digit, 4, 1);
else
next_target.S = decfloat_to_int(&read_digit, 1, 1);
break;
case 'P':
// if this is dwell, multiply by 1 million to convert seconds to milliseconds
if (next_target.G == 4)
next_target.P = decfloat_to_int(&read_digit, 1000, 1);
else
next_target.P = decfloat_to_int(&read_digit, 1, 1);
break;
}
read_digit.sign = 0;
@ -152,6 +166,10 @@ void scan_char(uint8_t c) {
break;
case 'S':
next_target.seen |= SEEN_S;
break;
case 'P':
next_target.seen |= SEEN_P;
break;
case '\n':
// process
process_gcode_command(&next_target);
@ -161,9 +179,7 @@ void scan_char(uint8_t c) {
// reset variables
last_field = 0;
// memset(&next_target, 0, sizeof(GCODE_COMMAND));
next_target.seen = 0;
// next_target.option = option_bitfield;
serial_writeblock((uint8_t *) "OK\n", 3);
break;
@ -189,40 +205,44 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
gcmd->target.Z += startpoint.Z;
gcmd->target.E += startpoint.E;
}
// if ((gcmd->seen & SEEN_X) == 0)
// gcmd->target.X = startpoint.X;
// if ((gcmd->seen & SEEN_Y) == 0)
// gcmd->target.X = startpoint.Y;
// if ((gcmd->seen & SEEN_Z) == 0)
// gcmd->target.X = startpoint.Z;
// if ((gcmd->seen & SEEN_E) == 0)
// gcmd->target.X = startpoint.E;
if (gcmd->seen & SEEN_G) {
switch (gcmd->G) {
// G0 - rapid, unsynchronised motion
// since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects
case 0:
gcmd->target.F = FEEDRATE_FAST_XY;
enqueue(&gcmd->target);
break;
// G1 - synchronised motion
case 1:
enqueue(&gcmd->target);
break;
// G2 - Arc Clockwise
// G3 - Arc Counter-clockwise
// G4 - Dwell
case 4:
delay_ms(gcmd->P);
break;
// G20 - inches as units
case 20:
gcmd->option |= OPTION_UNIT_INCHES;
break;
// G21 - mm as units
case 21:
gcmd->option &= ~OPTION_UNIT_INCHES;
break;
// G30 - go home via point
case 30:
enqueue(&gcmd->target);
// no break here, G30 is move and then go home
// G28 - go home
case 28:
/*
@ -269,18 +289,22 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
startpoint.E = current_position.E = 0;
break;
// G90 - absolute positioning
case 90:
gcmd->option &= ~OPTION_RELATIVE;
break;
// G91 - relative positioning
case 91:
gcmd->option |= OPTION_RELATIVE;
break;
// G92 - set home
case 92:
startpoint.X = startpoint.Y = startpoint.Z = 0;
break;
// TODO: spit an error
default:
serial_writeblock((uint8_t *) "E: Bad G-code ", 14);
@ -294,20 +318,53 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
case 101:
SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
break;
// M102- extruder reverse
// M103- extruder off
case 103:
SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
break;
// M104- set temperature
case 104:
temp_set(gcmd->S);
break;
// M105- get temperature
case 105:
serial_writeblock((uint8_t *) "T: ", 3);
serwrite_uint16(temp_get());
serial_writechar('\n');
// do .. while block here to provide local scope for temp
do {
uint16_t t = temp_get();
serial_writeblock((uint8_t *) "T: ", 3);
serwrite_uint16(t >> 2);
serial_writechar('.');
if (t & 3) {
if ((t & 3) == 1)
serial_writechar('2');
else if ((t & 3) == 3)
serial_writechar('7');
serial_writechar('5');
}
else {
serial_writechar('0');
}
serial_writechar('\n');
} while (0);
break;
// M106- fan on
#ifdef FAN_PIN
case 106:
WRITE(FAN_PIN, 1);
break;
// M107- fan off
case 107:
WRITE(FAN_PIN, 0);
break;
#endif
// TODO: spit an error
default:
serial_writeblock((uint8_t *) "E: Bad M-code ", 14);

4
mendel/gcode.h
View File

@ -18,7 +18,7 @@ typedef struct {
} decfloat;
typedef struct {
uint8_t seen;
uint16_t seen;
#define SEEN_G 1
#define SEEN_M 2
#define SEEN_X 4
@ -27,6 +27,7 @@ typedef struct {
#define SEEN_E 32
#define SEEN_F 64
#define SEEN_S 128
#define SEEN_P 256
uint8_t option;
#define OPTION_RELATIVE 1
@ -38,6 +39,7 @@ typedef struct {
TARGET target;
uint16_t S;
uint16_t P;
} GCODE_COMMAND;
int8_t indexof(uint8_t c, char *string);

4
mendel/mendel.c
View File

@ -37,6 +37,10 @@ int main (void)
WRITE(HEATER_PIN, 0); SET_OUTPUT(HEATER_PIN);
#ifdef FAN_PIN
WRITE(FAN_PIN, 0); SET_OUTPUT(FAN_PIN);
#endif
WRITE(SCK, 0); SET_OUTPUT(SCK);
WRITE(MISO, 1); SET_INPUT(MISO);
WRITE(SS, 0); SET_OUTPUT(SS);

6
mendel/pinout.h
View File

@ -24,8 +24,8 @@
#define Y_MIN_PIN AIO5
#define Z_STEP_PIN DIO5
#define Z_DIR_PIN DIO6
#define Z_MIN_PIN DIO7
#define Z_DIR_PIN DIO7
#define Z_MIN_PIN DIO8
#define E_STEP_PIN DIO2
#define E_DIR_PIN DIO3
@ -41,6 +41,8 @@
#define HEATER_PIN DIO6
#define HEATER_PIN_PWM OC0A
#define FAN_PIN DIO9
#define SCK DIO13
#define MISO DIO12
#define MOSI DIO11

12
mendel/temp.c
View File

@ -1,7 +1,17 @@
/*
temp.c
This file currently reads temp from a MAX6675 on the SPI bus
This file currently reads temp from a MAX6675 on the SPI bus.
ALL VALUES are in units of 0.25 degrees celsius, so temp_set(500) will set the temperature to 125 celsius, and temp_get() = 600 is reporting a temperature of 150 celsius.
the conversion to/from this unit is done in gcode.c, near:
if (next_target.M == 104)
next_target.S = decfloat_to_int(&read_digit, 4, 1);
and
// M105- get temperature
case 105:
uint16_t t = temp_get();
*/
#include "temp.h"

10
mendel/timer.c
View File

@ -135,12 +135,20 @@ void setTimer(uint32_t delay)
void delay(uint32_t delay) {
while (delay > 65535) {
delayMicrosecondsInterruptible(delay);
delayMicrosecondsInterruptible(65534);
delay -= 65535;
}
delayMicrosecondsInterruptible(delay & 0xFFFF);
}
void delay_ms(uint32_t delay) {
while (delay > 65) {
delayMicrosecondsInterruptible(64999);
delay -= 65;
}
delayMicrosecondsInterruptible(delay * 1000);
}
// from reprap project 5D firmware
void delayMicrosecondsInterruptible(uint16_t us)
{

4
mendel/timer.h
View File

@ -19,6 +19,10 @@ uint16_t getTimerCeiling(const uint32_t delay);
void setTimer(uint32_t delay);
void delay(uint32_t delay);
void delay_ms(uint32_t delay);
#define delay_us(d) delayMicrosecondsInterruptible(d)
void delayMicrosecondsInterruptible(unsigned int us);
inline void enableTimerInterrupt(void)