319 lines
6.8 KiB
C
319 lines
6.8 KiB
C
#include "gcode.h"
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#include <string.h>
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#include "machine.h"
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#include "dda.h"
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#include "serial.h"
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#include "sermsg.h"
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#include "temp.h"
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uint8_t option_bitfield;
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decfloat read_digit;
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#define PI 3.1415926535
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/*
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utility functions
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*/
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int8_t indexof(uint8_t c, char *string) {
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int8_t i;
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for (i = 0;string[i];i++) {
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if (c == string[i])
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return i;
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}
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return -1;
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}
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int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator) {
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int32_t r = df->mantissa;
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uint8_t e = df->exponent - 1;
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// scale factors
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if (multiplicand != 1)
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r *= multiplicand;
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if (denominator != 1)
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r /= denominator;
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// sign
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if (df->sign)
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r = -r;
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// exponent- try to keep divides to a minimum at expense of slightly more code
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while (e >= 5) {
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r /= 100000;
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e -= 5;
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}
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if (e == 1)
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r /= 10;
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else if (e == 2)
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r /= 100;
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else if (e == 3)
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r /= 1000;
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else if (e == 4)
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r /= 10000;
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return r;
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}
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void SpecialMoveXY(int32_t x, int32_t y, uint32_t f) {
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TARGET t = startpoint;
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t.X = x;
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t.Y = y;
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t.F = f;
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enqueue(&t);
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}
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void SpecialMoveZ(int32_t z, uint32_t f) {
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TARGET t = startpoint;
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t.Z = z;
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t.F = f;
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enqueue(&t);
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}
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void SpecialMoveE(int32_t e, uint32_t f) {
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TARGET t = startpoint;
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t.E = e;
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t.F = f;
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enqueue(&t);
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}
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/*
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public functions
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*/
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void scan_char(uint8_t c) {
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static uint8_t last_field = 0;
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static GCODE_COMMAND next_target = { 0, 0, 0, 0, { 0, 0, 0, 0, 0 } };
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// uppercase
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if (c >= 'a' && c <= 'z')
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c &= ~32;
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// process field
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if (indexof(c, "GMXYZEFS\n") >= 0) {
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if (last_field) {
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switch (last_field) {
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case 'G':
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next_target.G = read_digit.mantissa;
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break;
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case 'M':
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next_target.M = read_digit.mantissa;
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break;
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case 'X':
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next_target.target.X = decfloat_to_int(&read_digit, STEPS_PER_MM_X, 1);
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break;
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case 'Y':
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next_target.target.Y = decfloat_to_int(&read_digit, STEPS_PER_MM_Y, 1);
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break;
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case 'Z':
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next_target.target.Z = decfloat_to_int(&read_digit, STEPS_PER_MM_Z, 1);
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break;
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case 'E':
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next_target.target.E = decfloat_to_int(&read_digit, STEPS_PER_MM_E, 1);
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break;
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case 'F':
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// just save an integer value for F, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
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next_target.target.F = read_digit.mantissa;
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break;
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case 'S':
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next_target.S = decfloat_to_int(&read_digit, 1, 1);
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break;
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}
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read_digit.sign = 0;
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read_digit.mantissa = 0;
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read_digit.exponent = 0;
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}
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last_field = c;
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switch (c) {
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case 'G':
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next_target.seen |= SEEN_G;
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break;
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case 'M':
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next_target.seen |= SEEN_M;
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break;
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case 'X':
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next_target.seen |= SEEN_X;
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break;
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case 'Y':
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next_target.seen |= SEEN_Y;
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break;
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case 'Z':
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next_target.seen |= SEEN_Z;
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break;
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case 'E':
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next_target.seen |= SEEN_E;
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break;
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case 'F':
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next_target.seen |= SEEN_F;
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break;
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case 'S':
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next_target.seen |= SEEN_S;
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case '\n':
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// process
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process_gcode_command(&next_target);
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// save options
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option_bitfield = next_target.option;
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// reset variables
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last_field = 0;
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// memset(&next_target, 0, sizeof(GCODE_COMMAND));
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next_target.seen = 0;
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// next_target.option = option_bitfield;
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serial_writeblock((uint8_t *) "OK\n", 3);
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break;
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}
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}
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// process digits
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else if (c == '-')
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read_digit.sign = 1;
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else if ((c == '.') && (read_digit.exponent == 0))
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read_digit.exponent = 1;
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else if (c >= '0' && c <= '9') {
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read_digit.mantissa = (read_digit.mantissa << 3) + (read_digit.mantissa << 1) + (c - '0');
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if (read_digit.exponent)
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read_digit.exponent++;
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}
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}
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void process_gcode_command(GCODE_COMMAND *gcmd) {
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if (gcmd->option & OPTION_RELATIVE) {
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gcmd->target.X += startpoint.X;
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gcmd->target.Y += startpoint.Y;
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gcmd->target.Z += startpoint.Z;
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gcmd->target.E += startpoint.E;
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}
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// if ((gcmd->seen & SEEN_X) == 0)
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// gcmd->target.X = startpoint.X;
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// if ((gcmd->seen & SEEN_Y) == 0)
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// gcmd->target.X = startpoint.Y;
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// if ((gcmd->seen & SEEN_Z) == 0)
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// gcmd->target.X = startpoint.Z;
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// if ((gcmd->seen & SEEN_E) == 0)
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// gcmd->target.X = startpoint.E;
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if (gcmd->seen & SEEN_G) {
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switch (gcmd->G) {
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// G0 - rapid, unsynchronised motion
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case 0:
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gcmd->target.F = FEEDRATE_FAST_XY;
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enqueue(&gcmd->target);
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break;
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// G1 - synchronised motion
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case 1:
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enqueue(&gcmd->target);
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break;
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// G2 - Arc Clockwise
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// G3 - Arc Counter-clockwise
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// G4 - Dwell
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// G20 - inches as units
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case 20:
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gcmd->option |= OPTION_UNIT_INCHES;
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break;
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// G21 - mm as units
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case 21:
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gcmd->option &= ~OPTION_UNIT_INCHES;
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break;
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// G30 - go home via point
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case 30:
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enqueue(&gcmd->target);
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// G28 - go home
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case 28:
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/*
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Home XY first
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*/
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// hit endstops
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SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, FEEDRATE_FAST_XY);
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startpoint.X = startpoint.Y = 0;
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SpecialMoveXY(5 * STEPS_PER_MM_X, 5 * STEPS_PER_MM_Y, FEEDRATE_SLOW_XY);
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// move back in to endstops slowly
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SpecialMoveXY(-20 * STEPS_PER_MM_X, -20 * STEPS_PER_MM_Y, FEEDRATE_SLOW_XY);
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// wait for queue to complete
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for (;!queue_empty(););
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// this is our home point
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startpoint.X = startpoint.Y = current_position.X = current_position.Y = 0;
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/*
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Home Z
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*/
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// hit endstop
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SpecialMoveZ(-250L * STEPS_PER_MM_Z, FEEDRATE_FAST_Z);
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startpoint.Z = 0;
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// move out a bit
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SpecialMoveZ(5 * STEPS_PER_MM_Z, FEEDRATE_SLOW_Z);
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// move back into endstop slowly
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SpecialMoveZ(-20L * STEPS_PER_MM_Z, FEEDRATE_SLOW_Z);
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// wait for queue to complete
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for (;queue_empty(););
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// this is our home point
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startpoint.Z = current_position.Z = 0;
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/*
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Home E
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*/
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// extruder only runs one way anyway
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startpoint.E = current_position.E = 0;
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break;
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// G90 - absolute positioning
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case 90:
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gcmd->option &= ~OPTION_RELATIVE;
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break;
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// G91 - relative positioning
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case 91:
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gcmd->option |= OPTION_RELATIVE;
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break;
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// G92 - set home
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case 92:
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startpoint.X = startpoint.Y = startpoint.Z = 0;
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break;
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// TODO: spit an error
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default:
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serial_writeblock((uint8_t *) "E: Bad G-code ", 14);
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serwrite_uint8(gcmd->G);
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serial_writechar('\n');
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}
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}
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if (gcmd->seen & SEEN_M) {
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switch (gcmd->M) {
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// M101- extruder on
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case 101:
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SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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break;
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// M103- extruder off
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case 103:
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SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
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break;
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// M104- set temperature
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case 104:
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temp_set(gcmd->S);
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break;
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// M105- get temperature
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case 105:
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serial_writeblock((uint8_t *) "T: ", 3);
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serwrite_uint16(temp_get());
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serial_writechar('\n');
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break;
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// TODO: spit an error
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default:
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serial_writeblock((uint8_t *) "E: Bad M-code ", 14);
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serwrite_uint8(gcmd->M);
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serial_writechar('\n');
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}
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}
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}
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