Checked in missing 1.09o source files
This commit is contained in:
David Crocker
parent
f9d4dec31a
commit
abf398b896
3 changed files with 363 additions and 0 deletions
17
Pins.h
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17
Pins.h
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#ifndef PINS_H__
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#define PINS_H__
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// Load Pins_<platform>.h
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#if !defined(PLATFORM)
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#define PLATFORM duet
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#endif
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#define P_EXPAND(x) x
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#define P_CONCAT(x,y) P_EXPAND(x)y
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#define P_STR(x) #x
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#define P_XSTR(x) P_STR(x)
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#define P_INCLUDE_FILE P_XSTR(P_CONCAT(Pins_,P_CONCAT(PLATFORM,.h)))
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#include P_INCLUDE_FILE
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#endif // PINS_H__
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268
Roland.cpp
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268
Roland.cpp
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// This class allows the RepRap firmware to transmit commands to a Roland mill
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// See: http://www.rolanddg.com/product/3d/3d/mdx-20_15/mdx-20_15.html
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// http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf
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#include "RepRapFirmware.h"
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Roland::Roland(Platform* p)
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{
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platform = p;
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}
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void Roland::Init()
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{
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pinMode(ROLAND_RTS_PIN, OUTPUT);
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pinMode(ROLAND_CTS_PIN, INPUT);
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digitalWrite(ROLAND_RTS_PIN, HIGH);
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Serial1.begin(ROLAND_BAUD); //For serial comms to mill
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sBuffer = new StringRef(buffer, ARRAY_SIZE(buffer));
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sBuffer->Clear();
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bufferPointer = 0;
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Zero(true);
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longWait = platform->Time();
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active = false;
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}
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void Roland::Spin()
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{
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if (!Active())
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{
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platform->ClassReport(longWait);
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return;
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}
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// 'U' is 01010101 in binary (nice for an oscilloscope...)
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//Serial1.write('U');
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//Serial1.flush();
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//return;
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// Are we sending something to the Roland?
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if (Busy()) // Busy means we are sending something
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{
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if (digitalRead(ROLAND_CTS_PIN))
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{
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platform->ClassReport(longWait);
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return;
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}
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Serial1.write(buffer[bufferPointer]);
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Serial1.flush();
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bufferPointer++;
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}
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else // Not sending.
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{
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// Finished talking to the Roland
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sBuffer->Clear();
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bufferPointer = 0;
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// Anything new to do?
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EndstopChecks endStopsToCheck;
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uint8_t moveType;
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FilePosition filePos;
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if (reprap.GetGCodes()->ReadMove(move, endStopsToCheck, moveType, filePos))
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{
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move[AXES] = move[DRIVES]; // Roland doesn't have extruders etc.
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ProcessMove();
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}
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}
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platform->ClassReport(longWait);
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}
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void Roland::Zero(bool feed)
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{
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size_t lim = feed ? AXES + 1 : AXES;
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for(size_t axis = 0; axis < lim; axis++)
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{
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move[axis] = 0.0;
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coordinates[axis] = 0.0;
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oldCoordinates[axis] = 0.0;
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offset[axis] = 0.0;
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}
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if (reprap.Debug(moduleGcodes))
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{
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platform->Message(HOST_MESSAGE, "Roland zero\n");
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}
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}
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bool Roland::Busy()
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{
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return buffer[bufferPointer] != 0;
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}
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bool Roland::ProcessHome()
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{
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if (Busy())
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{
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return false;
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}
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sBuffer->copy("H;\n");
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Zero(false);
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if (reprap.Debug(moduleGcodes))
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{
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platform->MessageF(HOST_MESSAGE, "Roland home: %s", buffer);
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}
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return true;
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}
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bool Roland::ProcessDwell(long milliseconds)
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{
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if (Busy())
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{
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return false;
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}
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sBuffer->printf("W%ld;", milliseconds);
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sBuffer->catf("Z %.4f,%.4f,%.4f;", oldCoordinates[0], oldCoordinates[1], oldCoordinates[2]);
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sBuffer->cat("W0;\n");
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if (reprap.Debug(moduleGcodes))
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{
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platform->MessageF(HOST_MESSAGE, "Roland dwell: %s", buffer);
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}
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return true;
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}
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bool Roland::ProcessG92(float v, size_t axis)
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{
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if (Busy())
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{
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return false;
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}
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move[axis] = v;
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coordinates[axis] = move[axis]*ROLAND_FACTOR + offset[axis];
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offset[axis] = oldCoordinates[axis];
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oldCoordinates[axis] = coordinates[axis];
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if (reprap.Debug(moduleGcodes))
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{
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platform->Message(HOST_MESSAGE, "Roland G92\n");
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}
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return true;
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}
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bool Roland::ProcessSpindle(float rpm)
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{
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if (Busy())
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{
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return false;
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}
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if (rpm < 0.5) // Stop
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{
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sBuffer->printf("!MC 0;\n");
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}
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else // Go
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{
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sBuffer->printf("!RC%ld;!MC 1;\n", (long)(rpm + 100.0));
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}
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if (reprap.Debug(moduleGcodes))
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{
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platform->MessageF(HOST_MESSAGE, "Roland spindle: %s", buffer);
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}
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return true;
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}
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void Roland::GetCurrentRolandPosition(float moveBuffer[])
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{
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for(size_t axis = 0; axis < AXES; axis++)
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{
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moveBuffer[axis] = move[axis];
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}
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for(size_t axis = AXES; axis < DRIVES; axis++)
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{
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moveBuffer[axis] = 0.0;
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}
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moveBuffer[DRIVES] = move[AXES];
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}
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void Roland::ProcessMove()
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{
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for(size_t axis = 0; axis < AXES; axis++)
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{
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coordinates[axis] = move[axis] * ROLAND_FACTOR + offset[axis];
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}
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coordinates[AXES] = move[AXES];
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// Start with feedrate; For some reason the Roland won't accept more than 4 d.p.
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sBuffer->printf("V %.4f;", coordinates[AXES]);
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// Now the move
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sBuffer->catf("Z %.4f,%.4f,%.4f;\n", coordinates[0], coordinates[1], coordinates[2]);
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for(size_t axis = 0; axis <= AXES; axis++)
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{
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oldCoordinates[axis] = coordinates[axis];
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}
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if (reprap.Debug(moduleGcodes))
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{
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platform->MessageF(HOST_MESSAGE, "Roland move: %s", buffer);
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}
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}
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bool Roland::RawWrite(const char* s)
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{
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if (Busy())
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{
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return false;
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}
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sBuffer->copy(s);
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sBuffer->cat("\n");
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if (reprap.Debug(moduleGcodes))
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{
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platform->MessageF(HOST_MESSAGE, "Roland rawwrite: %s", buffer);
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}
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return true;
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}
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bool Roland::Active()
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{
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return active;
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}
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void Roland::Activate()
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{
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digitalWrite(ROLAND_RTS_PIN, LOW);
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active = true;
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if (reprap.Debug(moduleGcodes))
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{
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platform->Message(HOST_MESSAGE, "Roland started\n");
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}
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}
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bool Roland::Deactivate()
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{
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if (Busy())
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{
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return false;
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}
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digitalWrite(ROLAND_RTS_PIN, HIGH);
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active = false;
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if (reprap.Debug(moduleGcodes))
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{
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platform->Message(HOST_MESSAGE, "Roland stopped\n");
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}
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return true;
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}
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// vim: ts=4:sw=4
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78
Roland.h
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78
Roland.h
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/****************************************************************************************************
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RepRapFirmware - Roland
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This class can interface with a Roland mill (e.g. Roland MDX-20/15) and allows the underlying hardware
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to act as a G-Code proxy, which translates G-Codes to internal Roland commands.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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Created on: Oct 14, 2015
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Adrian Bowyer
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Licence: GPL
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****************************************************************************************************/
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#ifndef ROLAND_H
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#define ROLAND_H
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// This class allows the RepRap firmware to transmit commands to a Roland mill
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// See: http://www.rolanddg.com/product/3d/3d/mdx-20_15/mdx-20_15.html
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// http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf
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#include "Arduino.h"
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#include "Platform.h"
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const float ROLAND_FACTOR = (1.016088061*100.0/2.54); // Roland units are 0.001"
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const int8_t ROLAND_RTS_PIN = 75; // Expansion pin 29, SPI0_MOSI
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const int8_t ROLAND_CTS_PIN = 76; // Expansion pin 28, SPI0_SPCK
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const size_t ROLAND_BUFFER_SIZE = 50;
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// TX and RX
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// Expansion pin 11, PA13_TXD1
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// Expansion pin 12, PA12_RXD1
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const uint16_t ROLAND_BAUD = 9600;
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class Roland
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{
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public:
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Roland(Platform* p);
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void Init();
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void Spin();
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bool ProcessHome();
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bool ProcessDwell(long milliseconds);
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bool ProcessG92(float v, size_t axis);
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bool ProcessSpindle(float rpm);
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bool RawWrite(const char* s);
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void GetCurrentRolandPosition(float moveBuffer[]);
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bool Active();
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void Activate();
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bool Deactivate();
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private:
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void ProcessMove();
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void Zero(bool feed);
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bool Busy();
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Platform* platform;
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float longWait;
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float move[DRIVES+1];
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float coordinates[AXES+1];
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float oldCoordinates[AXES+1];
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float offset[AXES+1];
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char buffer[ROLAND_BUFFER_SIZE];
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int bufferPointer;
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StringRef *sBuffer;
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bool active;
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};
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#endif
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// vim: ts=4:sw=4
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