void setTime(void)
{
RTC_t rtc;
int c = -1, pos = 0, v = 0;
win_showMsgWin();
scr_setScroll(false);
rtc_gettime(&rtc);
scr_puts("D-ENTER C-CANCEL A-Up B-Down");
scr_puts("\n'*' -Left '#' -RIGHT");
scr_printf("\n\nTime: %02d.%02d.%02d %02d:%02d:%02d", rtc.mday, rtc.month, rtc.year - 2000, rtc.hour, rtc.min, rtc.sec);
do
{
switch (pos)
{
case 0: v = rtc.mday; break;
case 1: v = rtc.month; break;
case 2: v = rtc.year - 2000; break;
case 3: v = rtc.hour; break;
case 4: v = rtc.min; break;
case 5: v = rtc.sec; break;
}
if (c == KEY_STAR) pos = pos <= 0 ? 5 : pos - 1;
if (c == KEY_DIES) pos = pos >= 5 ? 0 : pos + 1;
scr_gotoxy(0, 4);
scr_fontColorNormal();
scr_printf(" New: %02d.%02d.%02d %02d:%02d:%02d", rtc.mday, rtc.month, rtc.year - 2000, rtc.hour, rtc.min, rtc.sec);
scr_fontColorInvers();
scr_gotoxy(pos * 3 + 6, 3);
scr_printf("%02d", v);
while ((c = kbd_getKey()) < 0);
if (c == KEY_A) v++;
if (c == KEY_B) v--;
switch (pos) {
case 0:
if (v >= 1 && v <= 31) rtc.mday = v;
break;
case 1:
if (v >= 1 && v <= 12) rtc.month = v;
break;
case 2:
if (v >= 12 && v <= 30) rtc.year = v + 2000;
break;
case 3:
if (v >= 0 && v <= 23) rtc.hour = v;
break;
case 4:
if (c >= 0 && v <= 59) rtc.min = v;
break;
case 5:
if (v >= 0 && v <= 59) rtc.sec = v;
break;
}
} while (c != KEY_C && c != KEY_D);
if (c == KEY_D) rtc_settime(&rtc);
}
void __debug_diplay_info() {
mem_capacity = (1<<20) + (EXT_MEM_K<<10); // memory end
scr_puts("Memory space: ");
scr_putdec(mem_capacity);
scr_puts("byte = ");
scr_putdec(mem_capacity>>20);
scr_puts("MB\n");
}
void readFileList(void)
{
#if (USE_SDCARD == 1) || defined( USE_USB_OTG_HS )
FRESULT fres;
FILINFO finfo;
DIR dirs;
static char lfn[_MAX_LFN + 1];
int i;
win_showMsgWin();
scr_gotoxy(2, 0);
scr_printf("Open SD dir.. ");
if ((fres = f_opendir(&dirs, path)) != FR_OK)
{
showCriticalStatus(" f_opendir()\n error [code:%d]\n Only RESET possible at now", fres);
WAIT_KEY_C();
}
scr_puts("\nRead file list");
finfo.lfname = lfn;
finfo.lfsize = sizeof(lfn);
for (fileListSz = 0; f_readdir(&dirs, &finfo) == FR_OK && fileListSz < MAX_FILE_LIST_SZ;)
{
scr_gotoxy(0, 3);
scr_printf("files:[%d]", fileListSz);
if (!finfo.fname[0])
break;
if (finfo.fname[0] == '.')
continue;
if (!(finfo.fattrib & AM_DIR) && strcmp(CONF_FILE_NAME, *finfo.lfname ? finfo.lfname : finfo.fname) != 0)
strncpy(&fileList[fileListSz++][0], *finfo.lfname ? finfo.lfname : finfo.fname, MAX_FILE_NAME_SZ);
}
if (loadedFileName[0] != 0)
{ // set last loaded file as selected file
scr_printf("\nselect:'%s'..", loadedFileName);
for (i = 0; i < fileListSz; i++)
{
if (!strcmp(&fileList[i][0], &loadedFileName[0]))
{
loadedFileName[0] = 0; // reset for next dir reload
currentFile = i;
if (currentFile < FILE_LIST_ROWS)
firstFileInWin = 0;
else if ((fileListSz - currentFile) < FILE_LIST_ROWS)
firstFileInWin = fileListSz - FILE_LIST_ROWS;
else
firstFileInWin = currentFile;
break;
}
}
scr_printf("\npos in win/cur file:%d/%d", firstFileInWin, currentFile);
}
scr_puts("\n---- OK -----");
#endif
}
/***************************************************
* Initialize _smParam and load from config file
*/
void initSmParam(void)
{
_smParam.smoothStartF_from0[0] = SM_SMOOTH_START_X*K_FRQ;
_smParam.smoothStartF_from0[1] = SM_SMOOTH_START_Y*K_FRQ;
_smParam.smoothStartF_from0[2] = SM_SMOOTH_START_Z*K_FRQ;
_smParam.smoothStopF_to0[0] = SM_SMOOTH_STOP_X*K_FRQ;
_smParam.smoothStopF_to0[1] = SM_SMOOTH_STOP_Y*K_FRQ;
_smParam.smoothStopF_to0[2] = SM_SMOOTH_STOP_Z*K_FRQ;
_smParam.smoothAF[0] = SM_SMOOTH_DFEED_X*SM_X_STEPS_PER_MM*SM_SMOOTH_TFEED*K_FRQ / 1000;
_smParam.smoothAF[1] = SM_SMOOTH_DFEED_Y*SM_Y_STEPS_PER_MM*SM_SMOOTH_TFEED*K_FRQ / 1000;
_smParam.smoothAF[2] = SM_SMOOTH_DFEED_Z*SM_Z_STEPS_PER_MM*SM_SMOOTH_TFEED / 1000 * K_FRQ;
_smParam.maxFeedRate[0] = SM_X_MAX_STEPS_PER_SEC*K_FRQ;
_smParam.maxFeedRate[1] = SM_Y_MAX_STEPS_PER_SEC*K_FRQ;
_smParam.maxFeedRate[2] = SM_Z_MAX_STEPS_PER_SEC*K_FRQ;
_smParam.maxSpindleTemperature = MAX_SPINDEL_TEMPERATURE;
#if (USE_SDCARD == 1)
FIL fid;
char str[256], *p;
int i;
FRESULT fres = f_open(&fid, CONF_FILE_NAME, FA_READ);
if (fres == FR_OK)
{
scr_printf("\nloading %s", CONF_FILE_NAME);
for (i = 0; i < 3; i++)
{
scr_puts(".");
if (f_gets(str, sizeof(str), &fid) == NULL)
break;
DBG("\nc:%d:'%s'", i, str);
if (f_gets(str, sizeof(str), &fid) == NULL)
break;
DBG("\nd:%d:'%s'", i, str);
p = str;
_smParam.smoothStartF_from0[i] = strtod_M(p, &p);
_smParam.smoothStopF_to0[i] = strtod_M(p, &p);
_smParam.smoothAF[i] = strtod_M(p, &p);
_smParam.maxFeedRate[i] = strtod_M(p, &p);
}
if (f_gets(str, sizeof(str), &fid) != NULL)
{
DBG("t:'%s'", str);
if (f_gets(str, sizeof(str), &fid) != NULL)
_smParam.maxSpindleTemperature = strtod_M(str, &p);
}
scr_puts("*");
f_close(&fid);
scr_puts(" OK");
}
#endif
}
/***************************************************
* Save _smParam to config file
*/
void saveSmParam(void)
{
#if (USE_SDCARD == 1)
FIL fid;
int i;
f_unlink(CONF_FILE_NAME);
FRESULT fres = f_open(&fid, CONF_FILE_NAME, FA_CREATE_ALWAYS | FA_WRITE);
if (fres != FR_OK)
{
win_showErrorWin();
scr_printf("Error save file:'%s'\n Status:%d [%d/%d]", CONF_FILE_NAME, fres, SD_errno, SD_step);
scr_puts("\n\n\t PRESS C-KEY");
WAIT_KEY_C();
return;
}
scr_printf("\nSave into %s", CONF_FILE_NAME);
for (i = 0; i < 3; i++)
{
f_printf(&fid, "Crd%d (F:steps*%d/sec): 'smoothStartF_from0,smoothStopF_to0,smoothAF,maxFeedRate\n", i, K_FRQ);
f_printf(&fid, "%d,%d,%d,%d,%d\n",
_smParam.smoothStartF_from0[i],
_smParam.smoothStopF_to0[i],
_smParam.smoothAF[i],
_smParam.maxFeedRate[i]
);
scr_puts(".");
}
f_printf(&fid, "Spindle switch-off temperature (C.degree)\n");
f_printf(&fid, "%d\n", _smParam.maxSpindleTemperature);
scr_puts("*");
f_close(&fid);
scr_puts(" - OK");
#endif
}
uint8_t questionYesNo(char *msg, char *param)
{
win_showMsgWin();
scr_printf(msg, param);
scr_gotoxy(5, 6); scr_puts("'D' - OK, 'C' - Cancel");
SetTouchKeys(kbdQuestion);
while (true)
switch(kbd_getKey())
{
case KEY_D:
return true;
case KEY_C:
return false;
}
}
void
scr_putp32(void *ptr) {
char char_map[] = {'0', '1', '2', '3', '4', '5', '6', '7',
'8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
u32int mem = (u32int)ptr;
char row[9];
u32int col = 0;
row[8] = '\0';
row[col++] = char_map[((u32int)mem >> 28) & 0xF];
row[col++] = char_map[((u32int)mem >> 24) & 0xF];
row[col++] = char_map[((u32int)mem >> 20) & 0xF];
row[col++] = char_map[((u32int)mem >> 16) & 0xF];
row[col++] = char_map[((u32int)mem >> 12) & 0xF];
row[col++] = char_map[((u32int)mem >> 8) & 0xF];
row[col++] = char_map[((u32int)mem >> 4) & 0xF];
row[col++] = char_map[(u32int)mem & 0xF];
scr_puts(row);
}
void cnc_extruder_t(int temperature, int isWait)
{
extrudT_setTemperature((int16_t)temperature);
if (isWait)
{
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) != 0)
{
scr_fontColor(Red, Black);
while (!extrudT_isReady())
{
scr_gotoxy(3, 2);
scr_fontColor(Yellow, Blue);
scr_printf("extruder t:%03d/%03d", extrudT_getTemperatureReal(), extrudT_getTemperatureWait());
if (kbd_getKey() == KEY_C)
return;
}
scr_gotoxy(3, 2);
scr_fontColor(White, Black);
scr_puts(" ");
}
}
}
uint8_t sendLine(uint32_t fxyze[], uint32_t abs_dxyze[], uint8_t dir_xyze[])
{
uint32_t f = 0;
uint32_t i, n = 0;
for (i = 0; i < 3; i++)
{
if (fxyze[i] > f)
{
f = fxyze[i];
n = i;
}
}
// if(abs_dxyze[n] > 20) {
// for(i = 0; i < 4; i++) fxyze[i] = (uint32_t)((uint64_t)f * (uint64_t)abs_dxyze[i]/abs_dxyze[n]);
if (abs_dxyze[n] > 10)
{
for (i = 0; i < 4; i++)
if (i != n)
{
fxyze[i] = (uint32_t)(((uint64_t)f * (uint64_t)abs_dxyze[i]) / abs_dxyze[n]) + 1; //+1 for debug
}
}
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) == 0)
{
int i;
for (i = 0; i < 4; i++)
if (fxyze[i] != 0)
{
commonTimeReal += abs_dxyze[i] * 1000L * K_FRQ / fxyze[i];
break;
}
if ((curGCodeMode & GFILE_MODE_MASK_SHOW) != 0)
{
if (dir_xyze[0]) linesBuffer.stepsX += abs_dxyze[0];
else linesBuffer.stepsX -= abs_dxyze[0];
if (dir_xyze[1]) linesBuffer.stepsY += abs_dxyze[1];
else linesBuffer.stepsY -= abs_dxyze[1];
if (dir_xyze[2]) linesBuffer.stepsZ += abs_dxyze[2];
else linesBuffer.stepsZ -= abs_dxyze[2];
#if (USE_LCD != 0)
double x, y;
short scrX, scrY;
x = (double)linesBuffer.stepsX / SM_X_STEPS_PER_MM;
y = (double)linesBuffer.stepsY / SM_Y_STEPS_PER_MM;
scrX = crdXtoScr(TABLE_CENTER_X + x);
scrY = crdYtoScr(TABLE_CENTER_Y + y);
if (scrX != prev_scrX || prev_scrY != scrY)
scr_Line(prev_scrX, prev_scrY, scrX, scrY, calcColor((uint8_t)(linesBuffer.stepsZ * 5 / SM_X_STEPS_PER_MM) & 0x1F));
prev_scrX = scrX;
prev_scrY = scrY;
#endif
}
return true;
}
#ifdef DEBUG_MODE
DBG("\n\tsendLine dx:%c%d(%d)\tdy:%c%d(%d)\tdz:%c%d(%d) tz:%d ty:%d tz:%d",
dir_xyze[0] ? '+' : '-', abs_dxyze[0], fxyze[0],
dir_xyze[1] ? '+' : '-', abs_dxyze[1], fxyze[1],
dir_xyze[2] ? '+' : '-', abs_dxyze[2], fxyze[2],
fxyze[0] == 0 ? 0 : abs_dxyze[0] * 1000L * K_FRQ / fxyze[0],
fxyze[1] == 0 ? 0 : abs_dxyze[1] * 1000L * K_FRQ / fxyze[1],
fxyze[2] == 0 ? 0 : abs_dxyze[2] * 1000L * K_FRQ / fxyze[2]);
{
static uint32_t prevF[3] = { 0, 0, 0 };
static uint8_t prevDir[3] = { 0, 0, 0 };
int i;
for (i = 0; i < 3; i++)
{
double p;
if ((p = labs(prevF[i] - fxyze[i]) / (double)_smParam.smoothStartF_from0[i]) > 1.5)
{
p *= 100;
DBG(" !!!!!! <%d:%d/%d\t%f> %s", i, labs(prevF[i] - fxyze[i]), _smParam.smoothStartF_from0[i], p, p > 250 ? "$$$" : "");
}
if (prevDir[i] != dir_xyze[i] && (p = fxyze[i] / (double)_smParam.smoothStartF_from0[i]) > 1.5)
{
p *= 100;
DBG(" !!!!!! ## <%d:%d/%d\t%f> %s", i, labs(prevF[i] - fxyze[i]), _smParam.smoothStartF_from0[i], p, p > 250 ? "$$$" : "");
}
if (fxyze[i] > _smParam.maxFeedRate[i])
{
DBG(" !!!!!! <%d:%d/%d too hight feedrate!> ", i, fxyze[i], _smParam.maxFeedRate[i]);
}
if (fxyze[i] < (50 * SM_X_STEPS_PER_MM / 60) && abs_dxyze[i] > 120)
{
DBG(" !!!!!! <%d:%d too slow feedrate!> ", i, fxyze[i]);
}
}
for (i = 0; i < 3; i++)
{
prevF[i] = fxyze[i];
prevDir[i] = dir_xyze[i];
}
}
#endif
if (!cnc_waitSMotorReady())
return false;
if (isPause)
{
#if (USE_KEYBOARD != 0)
#if (USE_KEYBOARD == 2)
const TPKey_p * tp_save;
tp_save = SetTouchKeys(kbdPause);
#endif
#if (USE_KEYBOARD == 1)
scr_fontColor(Black, White);
scr_gotoxy(1, 13);
scr_puts(" PAUSE..'B'-continue 'C'-cancel");
scr_clrEndl();
#endif
while (stepm_inProc()) { }
stepm_EmergeStop();
while (isPause)
{
switch (kbd_getKey())
{
case KEY_C:
isPause = false;
#if (USE_KEYBOARD == 2)
SetTouchKeys(tp_save);
#endif
return false;
case KEY_B:
isPause = false;
}
}
#if (USE_KEYBOARD == 1)
scr_fontColor(White, Black);
scr_gotoxy(1, 13);
scr_clrEndl();
#endif
#if (USE_KEYBOARD == 2)
SetTouchKeys(tp_save);
#endif
#endif
}
stepm_addMove(abs_dxyze, fxyze, dir_xyze);
return true;
}
uint8_t cnc_waitSMotorReady(void)
{
#if (USE_LCD != 0)
static uint32_t time = 0;
#endif
#if (USE_STEP_DEBUG == 1)
static uint8_t isStepDump = false;
#endif
int i;
do
{
if (stepm_getRemainLines() > 1)
{
scr_fontColor(Yellow, Black);
for (i = 0; i < STEPS_MOTORS; i++)
{
int32_t globalSteps = stepm_getCurGlobalStepsNum(i);
double n = (double)globalSteps / axisK[i];
scr_gotoxy(1 + i * 10, 3);
scr_printf("%c:%f ", axisName[i], n);
#if (USE_ENCODER == 1)
if (i == 2)
{
int32_t enVal = encoderZvalue();
double encValmm = (double)(enVal * MM_PER_360) / ENCODER_Z_CNT_PER_360;
scr_gotoxy(1 + 2 * 10, 4); scr_printf("errZ:%f ", encValmm - n);
if (isEncoderCorrection)
{
scr_gotoxy(1, 6);
scr_printf("dZ:%d[%d] ", encoderCorrectionDelta, encoderCorrectionMaxDelta);
scr_gotoxy(15, 6);
scr_printf("Up:%d Dn:%d ", encoderCorrectionCntUp, encoderCorrectionCntDown);
}
}
#endif
}
#if (USE_STEP_DEBUG == 1)
if (isStepDump)
step_dump();
#endif
#if (USE_LCD != 0)
if (time != Seconds())
{
uint32_t t;
time = Seconds();
t = time - startWorkTime;
scr_gotoxy(30, 12);
scr_fontColor(Cyan, Black);
scr_printf("%02d:%02d:%02d", t / 3600, (t / 60) % 60, t % 60);
}
#endif
}
#if (USE_KEYBOARD != 0)
switch (kbd_getKey())
{
case KEY_C:
stepm_EmergeStop();
return false;
case KEY_A:
isPause = true;
break;
case KEY_0:
#if (USE_ENCODER == 1)
isEncoderCorrection = false;
#endif
scr_gotoxy(1, 6);
scr_clrEndl();
break;
case KEY_1:
#if (USE_ENCODER == 1)
isEncoderCorrection = true;
#endif
break;
case KEY_7:
#if (USE_STEP_DEBUG == 1)
isStepDump = true;
#endif
break;
case KEY_8:
#if (USE_STEP_DEBUG == 1)
isStepDump = false;
#endif
break;
}
#endif
} while (stepm_LinesBufferIsFull());
if (limits_chk())
{
stepm_EmergeStop();
#if (USE_LCD != 0)
scr_fontColor(Red, Black);
scr_gotoxy(7, 11);
scr_puts("LIMITS ERROR!");
scr_clrEndl();
#endif
return false;
}
return true;
}
void cnc_gfile(char *fileName, int mode)
{
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
int n;
#endif
int lineNum;
uint8_t hasMoreLines;
initGcodeProc();
#if (USE_SDCARD != 0)
FIL fid;
FRESULT res = f_open(&fid, fileName, FA_READ);
if (res != FR_OK)
{
win_showErrorWin();
#if (USE_SDCARD == 1)
scr_printf("Error open file:'%s'\nStatus:%d [%d]", fileName, (int)res, SD_errno);
#elif (USE_SDCARD == 2)
scr_printf("Error open file:'%s'\nStatus:%d", fileName, (int)res);
#endif
return;
}
#endif
curGCodeMode = mode;
#if (USE_LCD != 0)
if ((curGCodeMode & GFILE_MODE_MASK_SHOW) != 0)
{
scr_Rectangle(crdXtoScr(0), crdYtoScr(MAX_TABLE_SIZE_Y), crdXtoScr(MAX_TABLE_SIZE_X), crdYtoScr(0), Red, false);
scr_Line(prev_scrX, 30, prev_scrX, 240 - 30, Green);
scr_Line(50, prev_scrY, 320 - 50, prev_scrY, Green);
}
#endif
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) != 0)
{
#if (USE_KEYBOARD == 1)
scr_fontColor(Blue, Black);
scr_gotoxy(3, 14);
scr_puts("C-Cancel A-Pause 0/1-encoder");
#elif (USE_KEYBOARD == 2)
SetTouchKeys(kbdGFile);
#endif
}
lineNum = 1;
hasMoreLines = true;
do
{
char *p = cncFileBuf, *str;
while (true)
{
*p = 0;
str = p + 1;
if ((cncFileBuf + sizeof(cncFileBuf) - str) < (MAX_STR_SIZE + 1))
break;
#if (USE_SDCARD != 0)
if (f_gets(str, MAX_STR_SIZE, &fid) == NULL)
{
hasMoreLines = false;
break;
}
#endif
str_trim(str);
*p = (uint8_t)strlen(str) + 1;
p += *p + 1;
}
for (p = cncFileBuf; !isGcodeStop && *p != 0; lineNum++, p += *p + 1)
{
uint8_t st;
str = p + 1;
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) != 0)
{
GCODE_CMD *gp;
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
int i;
#endif
linesBuffer.gcodePtrCur++;
if (linesBuffer.gcodePtrCur > (MAX_SHOW_GCODE_LINES - 1))
linesBuffer.gcodePtrCur = 0;
gp = &linesBuffer.gcode[linesBuffer.gcodePtrCur];
strcpy(gp->cmd, str);
gp->lineNum = lineNum;
#if (USE_LCD != 0) && (MAX_SHOW_GCODE_LINES > 0)
scr_fontColor(Green, Black);
// if(stepm_getRemainLines() > 1) {
for (i = 0, n = linesBuffer.gcodePtrCur + 1; i < MAX_SHOW_GCODE_LINES; i++, n++)
{
if (n > (MAX_SHOW_GCODE_LINES - 1))
n = 0;
gp = &linesBuffer.gcode[n];
scr_gotoxy(1, i);
if (gp->lineNum)
scr_printf("%d:%s", gp->lineNum, gp->cmd);
scr_clrEndl();
}
// }
#endif
}
DBG("\n [gcode:%d] %s", lineNum, str);
st = gc_execute_line(str);
if (st != GCSTATUS_OK)
{
#if (USE_LCD != 0)
scr_fontColor(Red, Black);
scr_gotoxy(1, 11);
switch (st)
{
case GCSTATUS_BAD_NUMBER_FORMAT:
scr_puts("BAD_NUMBER_FORMAT");
break;
case GCSTATUS_EXPECTED_COMMAND_LETTER:
scr_puts("EXPECTED_COMMAND_LETTER");
break;
case GCSTATUS_UNSUPPORTED_STATEMENT:
scr_puts("UNSUPPORTED_STATEMENT");
break;
case GCSTATUS_FLOATING_POINT_ERROR:
scr_puts("FLOATING_POINT_ERROR");
break;
case GCSTATUS_UNSUPPORTED_PARAM:
scr_puts("UNSUPPORTED_PARAM");
break;
case GCSTATUS_UNSOPORTED_FEEDRATE:
scr_puts("GCSTATUS_UNSUPPORTED_FEEDRATE");
break;
case GCSTATUS_TABLE_SIZE_OVER_X:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_X");
break;
case GCSTATUS_TABLE_SIZE_OVER_Y:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_Y");
break;
case GCSTATUS_TABLE_SIZE_OVER_Z:
scr_puts("GCSTATUS_TABLE_SIZE_OVER_Z");
break;
case GCSTATUS_CANCELED:
scr_puts("GCSTATUS_CANCELED");
break;
}
scr_printf(" at line %d:\n %s", lineNum, str);
#endif
#if (USE_SDCARD != 0)
f_close(&fid);
#endif
return;
}
}
} while (!isGcodeStop && hasMoreLines);
#if (USE_SDCARD != 0)
f_close(&fid);
#endif
if ((curGCodeMode & GFILE_MODE_MASK_EXEC) == 0)
{
#if (USE_LCD != 0)
short scrX = crdXtoScr(TABLE_CENTER_X);
short scrY = crdYtoScr(TABLE_CENTER_Y);
int t1 = commonTimeIdeal / 1000;
int t2 = commonTimeReal / 1000;
scr_Line(scrX - 8, scrY, scrX + 8, scrY, Red);
scr_Line(scrX, scrY - 8, scrX, scrY + 8, Red);
scr_fontColor(Green, Black);
scr_gotoxy(1, 0);
scr_printf("Time %02d:%02d:%02d(%02d:%02d:%02d) N.cmd:%d",
t1 / 3600, (t1 / 60) % 60, t1 % 60,
t2 / 3600, (t2 / 60) % 60, t2 % 60,
lineNum
);
scr_printf("\n X%f/%f Y%f/%f Z%f/%f", minX, maxX, minY, maxY, minZ, maxZ);
#endif
}
else
{
#ifndef NO_ACCELERATION_CORRECTION
cnc_line(0, 0, 0, 0, 0, 0);
cnc_line(0, 0, 0, 0, 0, 0);
#endif
}
}
void __debug_smile() {
scr_puts(":)\n");
hlt();
}
void manualMode(void)
{
static uint8_t limits = 0xFF;
const double axisK[4] = { SM_X_STEPS_PER_MM, SM_Y_STEPS_PER_MM, SM_Z_STEPS_PER_MM, SM_E_STEPS_PER_MM };
int i, k = SM_X_STEPS_PER_MM;
uint32_t frq[4] = {
SM_MANUAL_MODE_STEPS_PER_SEC * K_FRQ,
SM_MANUAL_MODE_STEPS_PER_SEC * K_FRQ,
SM_MANUAL_MODE_STEPS_PER_SEC * K_FRQ,
SM_MANUAL_MODE_STEPS_PER_SEC * K_FRQ
};
uint8_t dir[4] = { 0, 0, 0, 0 };
uint32_t steps[4] = { 0, 0, 0, 0 };
LCD_Clear(Black);
scr_setfullTextWindow();
scr_gotoxy(6, 0); scr_fontColor(Green, Black);
scr_puts("CNC MANUAL MODE");
scr_fontColor(Yellow, Black);
scr_puts("\n key '6' - [X+] key '4' - [X-] ");
scr_puts("\n key '2' - [Y+] key '8' - [Y-] ");
scr_puts("\n key '1' - [Z+] key '7' - [Z-] ");
scr_puts("\n key '3' - [E+] key '9' - [E-] ");
scr_puts("\n 'A'k+1 'B'k-1 '*'k=1 '#'k++");
scr_puts("\n step motors 'D' - full stop");
scr_puts("\n 0 - zero 5 - goto zero C - exit");
delayMs(700);
while (kbd_getKey() >= 0) {};
while (true)
{
scr_fontColor(White, Black);
for (i = 0; i < 3; i++)
{
double n = (double)stepm_getCurGlobalStepsNum(i) / axisK[i];
scr_gotoxy(1 + i * 10, TEXT_Y_MAX - 4); scr_printf("%c:%f ", axisName[i], n);
if (i < 3)
{
scr_gotoxy(1, TEXT_Y_MAX - 3 + i);
scr_printf("steps %c:%d ", axisName[i], stepm_getCurGlobalStepsNum(i));
}
#if (USE_ENCODER == 1)
if (i == 2)
{
int32_t v = encoderZvalue();
scr_gotoxy(25, TEXT_Y_MAX - 1); scr_printf("encZ:%d ", v);
scr_gotoxy(1 + 2 * 10, TEXT_Y_MAX - 5);
scr_printf("errZ:%f ", (double)(v*MM_PER_360) / ENCODER_Z_CNT_PER_360 - n);
}
#endif
dir[i] = 0;
steps[i] = 0;
}
scr_fontColor(Blue, Black);
scr_gotoxy(2, TEXT_Y_MAX - 7);
scr_printf("step per key press: %f mm ", (double)k / SM_X_STEPS_PER_MM);
switch (kbd_getKey())
{
case KEY_0:
while (stepm_inProc() && kbd_getKey() != KEY_C) {}
stepm_ZeroGlobalCrd();
#if (USE_ENCODER == 1)
encoderZreset();
encoderCorrectionCntUp = encoderCorrectionCntDown = encoderCorrectionDelta = encoderCorrectionMaxDelta = 0;
#endif
break;
case KEY_6: steps[0] = k; dir[0] = 1; stepm_addMove(steps, frq, dir); break;
case KEY_4: steps[0] = k; dir[0] = 0; stepm_addMove(steps, frq, dir); break;
case KEY_2: steps[1] = k; dir[1] = 1; stepm_addMove(steps, frq, dir); break;
case KEY_8: steps[1] = k; dir[1] = 0; stepm_addMove(steps, frq, dir); break;
case KEY_1: steps[2] = k; dir[2] = 1; stepm_addMove(steps, frq, dir); break;
case KEY_7: steps[2] = k; dir[2] = 0; stepm_addMove(steps, frq, dir); break;
case KEY_3: steps[3] = k; dir[3] = 1; stepm_addMove(steps, frq, dir); break;
case KEY_9: steps[3] = k; dir[3] = 0; stepm_addMove(steps, frq, dir); break;
case KEY_5:
while (stepm_inProc() && kbd_getKey() != KEY_C) {}
if (stepm_getCurGlobalStepsNum(0) != 0 || stepm_getCurGlobalStepsNum(1) != 0)
{
steps[0] = labs(stepm_getCurGlobalStepsNum(0));
dir[0] = stepm_getCurGlobalStepsNum(0) < 0;
steps[1] = labs(stepm_getCurGlobalStepsNum(1));
dir[1] = stepm_getCurGlobalStepsNum(1) < 0;
steps[2] = 0;
dir[2] = 0;
}
else
{
steps[0] = steps[1] = 0;
dir[0] = dir[1] = 0;
steps[2] = labs(stepm_getCurGlobalStepsNum(2));
dir[2] = stepm_getCurGlobalStepsNum(2) < 0;
}
stepm_addMove(steps, frq, dir);
break;
case KEY_A:
if (k < SM_X_STEPS_PER_MM) k++;
break;
case KEY_B:
if (k > 1) k--;
break;
case KEY_STAR:
k = 1;
break;
case KEY_DIES:
if (k < SM_X_STEPS_PER_MM) k += SM_X_STEPS_PER_MM / 8;
break;
case KEY_C:
stepm_EmergeStop();
return;
case KEY_D:
stepm_EmergeStop();
break;
}
if (limits != limits_chk())
{
limits = limits_chk();
scr_Rectangle(304, 232, 309, 239, limitX_chk() ? Red : Green, true);
scr_Rectangle(310, 232, 315, 239, limitY_chk() ? Red : Green, true);
scr_Rectangle(314, 232, 319, 239, limitZ_chk() ? Red : Green, true);
}
}
}
/***************************************************
* Main
*/
int main()
{
bool rereadDir = false, redrawScr = true, redrawDir = false;
SystemStartup();
#if (USE_SDCARD == 1)
rereadDir = true;
FRESULT fres = f_mount(0, &fatfs);
if (fres != FR_OK)
{
showCriticalStatus(
" Mount SD error [code:%d]\n"
" SD card used for any CNC process\n"
" Only RESET possible at now", fres);
WAIT_KEY_C();
}
#elif (USE_SDCARD == 2) && (USE_KEYBOARD != 0)
FRESULT fres;
#endif
initSmParam();
while (1)
{
if (SystemProcess() == SYS_READ_FLASH)
rereadDir = true;
if (rereadDir)
{
rereadDir = false;
readFileList();
redrawScr = true;
}
if (redrawScr)
{
redrawScr = false;
LCD_Clear(Black);
#if (USE_KEYBOARD == 1)
win_showMenu(0, 144, 40, 4);
scr_puts(
"0 - start gcode 1 - manual mode\n"
"2 - show gcode 3 - delete file\n"
"4 - set time 5 - file info\n"
//"6 - scan mode\t "
"7 - save conf.file (v1.1)");
#endif
#if (USE_KEYBOARD == 2)
SetTouchKeys(kbdSelectFile);
#endif
redrawDir = true;
}
if (redrawDir)
{
redrawDir = false;
drawFileList();
}
showStatusString();
#if (USE_KEYBOARD != 0)
switch (kbd_getKey())
{
case KEY_A:
currentFile--;
redrawDir = true;
break;
case KEY_B:
currentFile++;
redrawDir = true;
break;
#if (USE_KEYBOARD == 1)
case KEY_STAR:
currentFile += FILE_LIST_ROWS;
redrawDir = true;
break;
case KEY_DIES:
currentFile -= FILE_LIST_ROWS;
redrawDir = true;
break;
#endif
//
// Start GCode
//
case KEY_0:
{
FLASH_KEYS();
#if (USE_LCD == 1)
uint32_t stime;
stime = Seconds();
#endif
cnc_gfile(&fileList[currentFile][0], GFILE_MODE_MASK_EXEC);
while (stepm_inProc())
{
scr_fontColor(Yellow, Blue);
scr_gotoxy(1, 13);
scr_printf(" remain moves: %d", stepm_getRemainLines());
scr_clrEndl();
}
stepm_EmergeStop();
#if (USE_LCD == 1)
scr_fontColor(Yellow, Blue);
scr_gotoxy(0, 13);
scr_puts(" FINISH. PRESS C-KEY");
scr_clrEndl();
stime = Seconds() - stime;
scr_fontColor(Yellow, Blue);
scr_gotoxy(0, 14);
scr_printf(" work time: %02d:%02d", stime / 60, stime % 60);
scr_clrEndl();
#endif
#if (USE_LCD == 2)
SetTouchKeys(kbdLast2Lines);
#endif
FLASH_KEYS();
WAIT_KEY_C();
redrawScr = true;
break;
}
//
// Manual Mode
//
case KEY_1:
manualMode();
redrawScr = true;
break;
#if (USE_SDCARD == 1)
//
// Show GCode
//
case KEY_2:
FLASH_KEYS();
cnc_gfile(&fileList[currentFile][0], GFILE_MODE_MASK_SHOW | GFILE_MODE_MASK_CHK);
scr_printf("\n PRESS C-KEY");
FLASH_KEYS();
while (kbd_getKey() != KEY_C);
redrawScr = true;
break;
//
// Delete file
//
case KEY_3:
if (questionYesNo("Delete file:\n'%s'?", &fileList[currentFile][0]))
{
rereadDir = true;
f_unlink(&fileList[currentFile][0]);
}
else
redrawScr = true;
break;
#endif
#if (USE_RTC == 1)
//
// Set time
//
case KEY_4:
setTime();
redrawScr = true;
break;
//
// Save conf. file
//
case KEY_7:
win_showMsgWin();
saveSmParam();
scr_printf("\n\n\n PRESS C-KEY");
WAIT_KEY_C();
redrawScr = true;
break;
#endif
#if (USE_SDCARD != 0)
//
// File info
//
case KEY_5:
{
FILINFO finf;
FIL fid;
int c, n;
memset(&finf, 0, sizeof(finf));
win_showMsgWin();
scr_setScroll(false);
scr_printf("File:%s", &fileList[currentFile][0]);
f_stat(&fileList[currentFile][0], &finf);
scr_gotoxy(0, 1);
scr_printf("Size:%d\n", (uint32_t)finf.fsize);
fres = f_open(&fid, &fileList[currentFile][0], FA_READ);
if (fres != FR_OK)
{
#if (USE_SDCARD == 1)
scr_printf("Error open file: '%s'\nStatus:%d [%d]", &fileList[currentFile][0], fres, SD_errno);
#elif (USE_SDCARD == 2)
scr_printf("Error open file: '%s'\nStatus:%d", &fileList[currentFile][0], fres);
#endif
}
else
{
char str[150];
scr_fontColorInvers();
scr_setScroll(false);
// Read lines from 3 to 6 from file and display it
for (n = 2; n < 7 && f_gets(str, sizeof(str), &fid) != NULL; n++)
{
scr_gotoxy(0, n);
scr_puts(str_trim(str));
}
}
scr_fontColorNormal();
scr_gotoxy(8, 7);
scr_printf("PRESS C-KEY");
redrawScr = true;
do {
c = kbd_getKey();
if (c == KEY_B)
{
char str[150];
scr_fontColorInvers();
for (n = 2; n < 7 && f_gets(str, sizeof(str), &fid) != NULL; n++)
{
scr_gotoxy(0, n);
scr_puts(str_trim(str));
scr_clrEndl();
}
}
} while (c != KEY_C);
f_close(&fid);
rereadDir = true;
}
break;
#endif
}
#endif
}
}