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/**********************************************************************
*************************** G_Code.c *******************************
**********************************************************************
*
* Company: Bits From Bytes Ltd
*
* Software License Agreement
*
* Copyright (C) 2009 Bits From Bytes Ltd. All rights reserved.
*
* Bits From Bytes Ltd licenses to you the right to use, modify,
* copy, and distribute this software under the
* Creative Commons Attribution-Noncommercial-Share Alike 3.0 Unported
* licence (see
* CreativeCommons-by-nc-sa-3.0-summary.pdf which is a copy of the
* text at http://creativecommons.org/licenses/by-nc-sa/3.0/ for a
* summary and CreativeCommons-by-nc-sa-3.0.pdf which is a copy of the
* text at http://creativecommons.org/licenses/by-nc-sa/3.0/legalcode
* for the full legal text).
*
* You should refer to the license agreement (Bits From Bytes Ltd Software
* Licence.pdf) accompanying this Software for additional information
* regarding your rights and obligations.
*
* THE SOFTWARE AND DOCUMENTATION ARE PROVIDED "AS IS" WITHOUT
* WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT
* LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR A
* PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL
* BITS FROM BYTES LTD BE LIABLE FOR ANY INCIDENTAL, SPECIAL, INDIRECT
* OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA, COST OF
* PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR SERVICES, ANY CLAIMS
* BY THIRD PARTIES (INCLUDING BUT NOT LIMITED TO ANY DEFENSE
* THEREOF), ANY CLAIMS FOR INDEMNITY OR CONTRIBUTION, OR OTHER
* SIMILAR COSTS, WHETHER ASSERTED ON THE BASIS OF CONTRACT, TORT
* (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE.
*
*
* Author(s) Date Comment
*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
* Tony Fletcher (& Ian Adkins) 16/11/2009 Initial Release
***********************************************************************/
#include "G_Code.h"
#include "Stepper.h"
#include "Extruder.h"
#define FastFeed 960
#define SlowFeed 240
//Internal
void G_Code_G0(void);
void G_Code_G1(void);
void G_Code_G2(void);
void G_Code_G3(void);
void G_Code_G4(void);
//void G_Code_G10(void);
void G_Code_G20(void);
void G_Code_G21(void);
void G_Code_G28(void); //Go Home.
void G_Code_G90(void); //Absolute Positioning
void G_Code_G91(void); //Incremental Positioning
void G_Code_G92(void); //Set current as home
void M_Code_M101(void); //M101 Turn extruder on.
void M_Code_M103(void); //M103 Turn extruder off.
//see header for M104 external
//void M_Code_M104(void); //M104 S145.0 Set temperature to 145.0 C.
void M_Code_M106(void); //M106 Turn fan on.
void M_Code_M107(void); //Turn fan off.
void M_Code_M108(void); //M108 S210 Set extruder speed to 21.0RPM
//*********************
//BFB codes
void M_Code_M220(void); //Turn off AUX
void M_Code_M221(void); //Turn on AUX
void M_Code_M222(void); //M122 S500 Set speed of fast XY moves
void M_Code_M223(void); //M123 S500 Set speed of fast Z moves
//500fast - 2000slow
void M_Code_M224(void); //Enable extruder motor during fast move
void M_Code_M225(void); //Disable extruder motor during fast move
void M_Code_M226(void); //Issue a Pause command from G-Code
void M_Code_M227(void); //Enable Extruder Reverse S=Reverse time in ms P=Prime time in ms
void M_Code_M228(void); //Disable Extruder Reverse
//*********************
//Glaobal variables
int F_Code = 0; //copy of code numbers that are being worked on
int G_Code;
int M_Code;
int Inch_mm = 0;
float GX; //copy of Axis data being worked on
float GY;
float GZ;
float GI_Val;
float GJ_Val;
float GP_Val;
float GS_Val;
int GX_On = 0;
int GY_On = 0;
int GZ_On = 0;
int GI_On = 0;
int GJ_On = 0;
//TODO here:
//Code in some data validation checks
//const char LetterCode[18]={"DFGHIJKLMNPQRSTXYZ"};
//const int GNumberCode[39]={
//0,1,2,3,4,10,17,18,19,20,
//21,40,41,42,43,49,53,45,55,56,
//57,58,59,80,81,82,83,84,85,86,
//87,88,89,90,91,92,93,94,98
//};
//const int MNumberCode[]={
//0,1,2,3,4,5,6,7,8,9,26,27,30,48,49,60};
/********************************************************/
void G_CodeRun(char GC_L, int iGC_N, char GC_1L, float fGC_1, char GC_2L,
float fGC_2, char GC_3L, float fGC_3, char GC_4L,float fGC_4)
{
extern char EOF_Flag;
//Going into this function we do not know where the axis data
//appears in the line. The following sorts axis Data and stores
//in local globals. It then issues function calls to run the code
while (SBR!= SBW)
{
if ((EOF_Flag == 1)&&(SBW+1 == SBR))
{//at end of file and one entry in buffer, let it go
SBW = SBR;
}
};
GX = 0;
if (GC_1L==0x58) GX=fGC_1; //checks for char "X"
if (GC_2L==0x58) GX=fGC_2;
if (GC_3L==0x58) GX=fGC_3;
if (GC_4L==0x58) GX=fGC_4;
if ((GC_1L==0x58)|(GC_2L==0x58)|(GC_3L==0x58)|(GC_4L==0x58))
{
GX_On=1;
}
else
GX_On=0;
GY = 0;
if (GC_1L==0x59) GY=fGC_1; //checks for char "Y"
if (GC_2L==0x59) GY=fGC_2;
if (GC_3L==0x59) GY=fGC_3;
if (GC_4L==0x59) GY=fGC_4;
if ((GC_1L==0x59)|(GC_2L==0x59)|(GC_3L==0x59)|(GC_4L==0x59))
{
GY_On=1;
}
else
GY_On=0;
GZ = 0;
if (GC_1L==0x5A) GZ=fGC_1; //checks for char "Z"
if (GC_2L==0x5A) GZ=fGC_2;
if (GC_3L==0x5A) GZ=fGC_3;
if (GC_4L==0x5A) GZ=fGC_4;
if ((GC_1L==0x5A)|(GC_2L==0x5A)|(GC_3L==0x5A)|(GC_4L==0x5A))
{
GZ_On = 1;
}
else
GZ_On = 0;
GI_Val = 0;
if (GC_1L==0x49) GI_Val=fGC_1; //checks for char "I"
if (GC_2L==0x49) GI_Val=fGC_2;
if (GC_3L==0x49) GI_Val=fGC_3;
if (GC_4L==0x49) GI_Val=fGC_4;
if ((GC_1L==0x49)|(GC_2L==0x49)|(GC_3L==0x49)|(GC_4L==0x49))
{
GI_On = 1;
}
else
GI_On = 0;
GJ_Val = 0;
if (GC_1L==0x4A) GJ_Val=fGC_1; //checks for char "J"
if (GC_2L==0x4A) GJ_Val=fGC_2;
if (GC_3L==0x4A) GJ_Val=fGC_3;
if (GC_4L==0x4A) GJ_Val=fGC_4;
if ((GC_1L==0x4A)|(GC_2L==0x4A)|(GC_3L==0x4A)|(GC_4L==0x4A))
{
GJ_On = 1;
}
else
GJ_On = 0;
//F_Code = 0;//F_Code persistes until its reset by Gcode
if (GC_1L==0x46) F_Code=fGC_1; //checks for char "F"
if (GC_2L==0x46) F_Code=fGC_2;
if (GC_3L==0x46) F_Code=fGC_3;
if (GC_4L==0x46) F_Code=fGC_4;
GP_Val = 0;
if (GC_1L==0x50) GP_Val=fGC_1; //checks for char "P"
if (GC_2L==0x50) GP_Val=fGC_2;
if (GC_3L==0x50) GP_Val=fGC_3;
if (GC_4L==0x50) GP_Val=fGC_4;
GS_Val = 0;
if (GC_1L==0x53) GS_Val=fGC_1; //checks for char "S"
if (GC_2L==0x53) GS_Val=fGC_2;
if (GC_3L==0x53) GS_Val=fGC_3;
if (GC_4L==0x53) GS_Val=fGC_4;
/*
while (SBR!= SBW)
{
if ((EOF_Flag == 1)&&(SBW+1 == SBR))
{//at end of file and one entry in buffer, let it go
SBW = SBR;
}
};
*/
switch(GC_L)
{
case 0x47: //G Code
G_Code=iGC_N;
if (G_Code==0) G_Code_G0();
if (G_Code==1) G_Code_G1();
if (G_Code==2) G_Code_G2();
if (G_Code==3) G_Code_G3();
if (G_Code==4) G_Code_G4();
//if (G_Code==10) G_Code_G10();//?
if (G_Code==20) G_Code_G20(); //Set Units Inches
if (G_Code==21) G_Code_G21(); //Set Units Metric
if (G_Code==28) G_Code_G28(); //Go Home.
if (G_Code==90) G_Code_G90(); //Absolute Positioning
if (G_Code==91) G_Code_G91(); //Incremental Positioning
if (G_Code==92) G_Code_G92(); //Set current as home
break;
case 0x4D: //M Code
M_Code = iGC_N; //Sets M code
G_Code=0, F_Code=0;
if (M_Code == 101) M_Code_M101(); //M101 Turn extruder on.
if (M_Code == 103) M_Code_M103(); //M103 Turn extruder off.
if (M_Code == 104) M_Code_M104(); //M104 Set temperature to S???
if (M_Code == 106) M_Code_M106(); //M106 Turn fan on
if (M_Code == 107) M_Code_M107(); //M107 Turn fan off.
if (M_Code == 108) M_Code_M108(); //M108 S210 Set extruder speed to 21.0RPM
if (M_Code == 220) M_Code_M220(); //Turn AUX off
if (M_Code == 221) M_Code_M221(); //Turn AUX On
if (M_Code == 222) M_Code_M222(); //Set speed of fast XY moves
if (M_Code == 223) M_Code_M223(); //Set speed of fast Z moves
if (M_Code == 224) M_Code_M224(); //Enable extruder motor during fast move
if (M_Code == 225) M_Code_M225(); //Disable extruder motor during fast move
if (M_Code == 226) M_Code_M226(); //Issue a Pause command from G-Code
if (M_Code == 227) M_Code_M227(); //Enable reverse extruder during extruder off
if (M_Code == 228) M_Code_M228(); //Disable reverse extruder during extruder off
break;
}//Switch
}
/********************************************************/
// G Code Functions to be added here.
// Please use same format and annotate.
/********************************************************/
void G_Code_G0(void)
{ //G00 rapid positioning
//Tool coordinates are set as Globals.
// Sets variables and calls functions to execute the code
//if (M_Code == 0) M_Code = StopSpindle; //if not set, make default
if (F_Code == 0) F_Code = FastFeed; //if not set, make default
//Load values into Stepper control
Stepper_LoadNewValues(F_Code, M_Code);
if (ToolType == 1) ExtruderStatus = 1; //Switch to set normal feed rate
Stepper_CalcSteps(Inch_mm,0x00);
Stepper_Run3DLine();
}
/********************************************************/
void G_Code_G1(void)
{ //G01 linear interpolation
//Tool coordinates are set as Globals.
//Sets variables and calls functions to execute the code
extern int ManualChange;
//if (M_Code == 0) M_Code = StopSpindle; //if not set, make default
if (F_Code == 0) F_Code = SlowFeed; //if not set, make slowest feed rate
if (FeedRate_ManualChange)
{
F_Code += ManualChange;
}
//Load values into Stepper control
Stepper_LoadNewValues(F_Code, M_Code);
if (ToolType == 1) ExtruderStatus = 1; //Switch to set normal feed rate
Stepper_CalcSteps(Inch_mm,0x00);
Stepper_Run3DLine(); //Linear machining
}
/********************************************************/
void G_Code_G2(void)
{ //G02 circular interpolation (clockwise)
//The tool is already at the start position for this instruction
// X,Y coordinates following G2 are the end position of the tool.
// I X-axis offset to centre
// J Y-axis offset to centre
//if (M_Code == 0) M_Code = StopSpindle; //if not set, make default
if (F_Code == 0) F_Code = SlowFeed; //if not set, make slowest feed rate
Stepper_LoadNewValues(F_Code, M_Code);
Stepper_CalcSteps(Inch_mm, 0x01);
// Stepper_RunArcLine(2); //run as G2
}
/********************************************************/
void G_Code_G3(void)
{ //G03 circular interpolation (c-clockwise)
//The tool is already at the start position for this instruction
// X,Y coordinates following G3 are the end position of the tool.
// I X-axis offset to centre
// J Y-axis offset to centre
//if (M_Code == 0) M_Code = StopSpindle; //if not set, make default
if (F_Code == 0) F_Code = SlowFeed; //if not set, make slowest feed rate
Stepper_LoadNewValues(F_Code, M_Code);
Stepper_CalcSteps(Inch_mm,0x01);
// Stepper_RunArcLine(3); //run as G3
}
/********************************************************/
void G_Code_G4(void)
{ //G4 Dwell time
//P Dwell time in seconds
int delay = 0;
//TODO HERE: Time needs sorting out, values here are incorrect
//ms function not scaled correctly and is running at 1/5th speed
if (GP_Val != 0)
{
delay = (int)GP_Val*200;
delay_ms(delay);
}
}
/********************************************************/
//void G_Code_G10(void)
//{ //G10 Coordinate system origin
//}
/********************************************************/
void G_Code_G20(void)
{ //G20 Set Units Inches
Inch_mm = 20;
}
/********************************************************/
void G_Code_G21(void)
{ //G21 Set Units Metric mm (This is the machine default setting)
Inch_mm = 21;
}
/********************************************************/
void G_Code_G28(void)
{//Go Home.TODO HERE
// if(!RapMan_Home())
// {
//home error
// }
}
/********************************************************/
void G_Code_G90(void)
{//Absolute Positioning relative to machine home
ResetOrigin();
}
/********************************************************/
void G_Code_G91(void)
{//Incremental Positioning, X5 moves +5 units regardless of where the tool is
//TODO HERE
}
/********************************************************/
void G_Code_G92(void)
{//Set new origin point
//G92 X10 Y20 Z0 sets the new origin to these coordinates
G_Code_G0(); //Go to new origin
OriginOffset(); //Set new origin
}
/********************************************************/
// M Code Functions to be added here.
// Please use same format and annotate.
/********************************************************/
void M_Code_M101(void)
{ //"101" Extruder on
//Switch to flag any special functions required when Extruder is ON
if (ToolType == 2) //2 is EXTRUDER
{
ExtruderStatus = 1;
}
}
/********************************************************/
void M_Code_M103(void)
{ //"103" Extruder off
//Switch to flag any special functions required when Extruder is OFF
if (ToolType == 2) //2 is EXTRUDER
{
ExtruderStatus = 0;
}
}
/********************************************************/
void M_Code_M104(void)
{ //M104 S145.0 Set temperature to 145.0 C
extern X_Rest_mm;
extern Y_Rest_mm;
extern Z_Rest_mm;
if (ToolType == 2) //2 is EXTRUDER
{
OLED_ClearLine(4);
OLED_ClearLine(5);
OLED_ClearLine(6);
OLED_FastText57(5, 0, "TEMPERATURE CHANGE",0);
temperature_OK = FALSE; //assume temperature is false to start with
Change_M104 = 1; //Flag to indicate the temperature change is generated
//by this G-Code instruction
if (GS_Val != 0)SetTemperature = GS_Val;
GoToRest();
Extruder_Status(On); //enables the temperature interrupt
do
{
OLED_UpdateThermistorReading();
OLED_UpdateSetTemperature();
OLED_UpdateSetRPM();
}
while(temperature_OK == FALSE && SetTemperature != 0);
Change_M104 = 0; //Reset flag for normal temperature control
//Delayms(1000);
OLED_ClearLine(5); //Clear msg
}
}
/********************************************************/
void M_Code_M106(void)
{ // M106 Turn fan on.
extern char EnableFanControl; //Set if Fan is to be active
EnableFanControl=TRUE;
FAN = On;
}
/********************************************************/
void M_Code_M107(void)
{ // M107 Turn fan off.
extern char EnableFanControl; //Set if Fan is to be active
EnableFanControl=FALSE;
FAN = OFF;
}
/********************************************************/
void M_Code_M108(void)
{ //M108 S210 Set extruder speed to 21.0 RPM
if (ToolType == 2)
{
if (GS_Val > 0) RPM_Setting = GS_Val;
Control_Stepper_Motor();
RPM_Change = 1;//flag to indicate change in value
}
}
/********************************************************/
void M_Code_M220(void)
{ //M220 Aux OFF
AUX = OFF;
}
/********************************************************/
void M_Code_M221(void)
{ //M220 Aux ON
AUX = On;
}
/********************************************************/
void M_Code_M222(void)
{ //M222 S500 Set fast XY move to 500 Fast
if (ToolType == 2)
{
if (GS_Val > 0) G_CodeRapidXYMove = GS_Val;
}
}
/********************************************************/
void M_Code_M223(void)
{ //M223 S500 Set fast Z move to 500 Fast
if (ToolType == 2)
{
if (GS_Val > 0) G_CodeRapidZMove = GS_Val;
}
}
/********************************************************/
void M_Code_M224(void) //Enable extruder motor during fast move
{
FastMoveMotorEnable = TRUE;
}
/********************************************************/
void M_Code_M225(void) //Disable extruder motor during fast move
{//Defailt setting
FastMoveMotorEnable = FALSE;
}
/********************************************************/
void M_Code_M226(void) //Issue a Pause command from G-Code
{
extern float Save3_X, Save3_Y; //defined in Stepper.c
extern char EOF_Flag; //defined in RapMan.h
while (SBR!= SBW) //let buffer empty then continue
{
if ((EOF_Flag == 1)&&(SBW+1 == SBR))
{//at end of file and one entry in buffer, let it go
SBW = SBR;
}
};
Pause_Print();
while(!Manual_Select); //wait for key up
RapMan_MoveTo(Save3_X,Save3_Y,0,0); //move back to print.
}
/********************************************************/
void M_Code_M227(void)
{ //M228 Enable Extruder reverse during extruder off
//P=reverse time in ms S=prime time in ms P would
//normally be longer than S
if (ToolType == 2)
{
Ex_Reverse = TRUE;
if (GS_Val > 0) Reverse_Steps = ceil(GS_Val);
if (GP_Val > 0) Prime_Steps = ceil(GP_Val);
}
}
/********************************************************/
void M_Code_M228(void)
{ //M228 Disable Extruder reverse during extruder off
if (ToolType == 2)
{
Ex_Reverse = FALSE;
}
}
/********************************************************/
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