Exemplo n.º 1
0
void main()
{
	uint8 temp[20];
	Timer0_Init(1);
	UART_Conf(9600);
	LCD1602_Init();
	EEPROM_ReadString(0x40,16,temp);
	LCD1602_Show(0,0,temp,16);
	EEPROM_ReadString(0x80,16,temp);
	LCD1602_Show(0,1,temp,16);
	while(1)
	{
		UART_Driver();
	}	
}
Exemplo n.º 2
0
/* start the main program */
int main() 
{
    uint8_t eeprom_address = 0x00, write_str[] = "Welcome to LPC1768 programming by Explore Embedded";
    uint8_t read_str[50];

    UART0_Init(9600);

    UART0_Printf("\n\rEeprom Write String: %s", write_str); //Print the message on UART
    EEPROM_WriteString(eeprom_address, write_str);          // Write the string at memoryLocation   0x00


    EEPROM_ReadString(eeprom_address, read_str);            // Read the string from memoryLocation 0x00
    UART0_Printf("\n\rEeprom Read String: %s", read_str);   //Print the message on UART

    while (1);
}
Exemplo n.º 3
0
void MachineModel::manualToolChange(int toolNumber)
{
	// TODO: fetch tool description from tool database
	
	char desc[21];
	desc[0]=0x0;
	if(toolNumber>=0)
	{
		if(toolNumber>0 && toolNumber<=TOOL_COUNT)
		{
			EEPROM_ReadString(EEPROM_ADR_TOOL_BASE+(toolNumber-1)*EEPROM_SIZE_TOOL_RECORD, desc);
		}
		if(strlen(desc)==0)
			sprintf(desc, "Tool #%d",toolNumber);
	}
	else
		strcpy(desc, "Unspecified Tool");
	lcdUi.manualToolChange(desc);
}
Exemplo n.º 4
0
/* start the main program */
void main() 
{
  unsigned char eeprom_address=0x00, write_String[] = {"hello world"}, read_string[15];

  /* Initilize the Uart before Transmiting/Reaceiving any data */
    UART_Init(9600);												  
 
   while(1)
    {
	   	   UART_TxString("\n\rWr:");                      //Print the message on UART
		   UART_TxString(write_String);			         //Print the String to be written 
		   EEPROM_WriteString(eeprom_address,write_String); // Write the String at memory Location	0x00

		   
		   UART_TxString("  Rd:");                           //Print the message on UART
		   EEPROM_ReadString(eeprom_address,read_string);	// Read the String from memory Location 0x00
		   UART_TxString(read_string);			            //Print the read String

	  }		

  }
Exemplo n.º 5
0
void execute_commands(char instruction[])
{
	bool axisSelected;
        
	// Do we have lineNr and checksums in this gcode?
	if((bool)(gc.seen[GCODE_CHECKSUM]) | (bool)(gc.seen[GCODE_N]))
	{
		// Check that if recieved a L code, we also got a C code. If not, one of them has been lost, and we have to reset queue
		if( (bool)(gc.seen[GCODE_CHECKSUM]) != (bool)(gc.seen[GCODE_N]) )
		{
           if(SendDebug & DEBUG_ERRORS)
           {
              if(gc.seen[GCODE_CHECKSUM])
                sprintf(talkToHost.string(), "Serial Error: checksum without line number. Checksum: %d, line received: %s", gc.Checksum, instruction);
              else
                sprintf(talkToHost.string(), "Serial Error: line number without checksum. Linenumber: %ld, line received: %s", gc.N, instruction);
           }
           talkToHost.setResend(gc.LastLineNrRecieved+1);
           return;
		}
		// Check checksum of this string. Flush buffers and re-request line of error is found
		if(gc.seen[GCODE_CHECKSUM])  // if we recieved a line nr, we know we also recieved a Checksum, so check it
		{
            // Calc checksum.
            byte checksum = 0;
            byte count=0;
            while(instruction[count] != '*')
              checksum = checksum^instruction[count++];
            // Check checksum.
            if(gc.Checksum != (int)checksum)
            {
              if(SendDebug & DEBUG_ERRORS)
                sprintf(talkToHost.string(), "Serial Error: checksum mismatch.  Remote (%d) not equal to local (%d), line received: %s", 
                			gc.Checksum, (int)checksum, instruction);
              talkToHost.setResend(gc.LastLineNrRecieved+1);
              return;
            }
			// Check that this lineNr is LastLineNrRecieved+1. If not, flush
			if(!( (bool)(gc.seen[GCODE_M]) && gc.M == 110)) // unless this is a reset-lineNr command
				if(gc.N != gc.LastLineNrRecieved+1)
				{
					if(SendDebug & DEBUG_ERRORS)
						sprintf(talkToHost.string(), "Serial Error: Linenumber (%ld) is not last + 1 (%ld), line received: %s", gc.N, gc.LastLineNrRecieved+1, instruction);
					talkToHost.setResend(gc.LastLineNrRecieved+1);
					return;
				}
			//If we reach this point, communication is a succes, update our "last good line nr" and continue
			gc.LastLineNrRecieved = gc.N;
		}
	}


	/* if no command was seen, but parameters were, then use the last G code as 
	* the current command
	*/
	if ((!(gc.seen[GCODE_G] | gc.seen[GCODE_M] | gc.seen[GCODE_T])) && (seenAnything() && (last_gcode_g >= 0)))
	{
		/* yes - so use the previous command with the new parameters */
		gc.G[0] = last_gcode_g;
		gc.GIndex=1;
		gc.seen[GCODE_G]=true;
	}

	// Deal with emergency stop as No 1 priority
	if ((gc.seen[GCODE_M]) && (gc.M == 112))
		sharedMachineModel.shutdown();
	
	//did we get a gcode?
	if (gc.seen[GCODE_G])
	{		   
		// Handle all GCodes in this line
		for(int gIndex=0; gIndex<gc.GIndex; gIndex++)
		{
			last_gcode_g = gc.G[gIndex];	/* remember this for future instructions */

		    unsigned long endTime; // For Dwell
		    
			// Process the buffered move commands first
			bool gCodeHandled=false;
			switch (gc.G[gIndex])
			{
				////////////////////////
				// Buffered commands
				////////////////////////
				
				case 0:		//Rapid move
							fetchCartesianParameters();
							rapidMove(fp);
							break;
							
				case 1:		// Controlled move;
							fetchCartesianParameters();
							sharedMachineModel.qMove(fp);
							break;
															  
				case 2:		// G2, Clockwise arc
				case 3: 	// G3, Counterclockwise arc
							fetchCartesianParameters();
							if(gc.seen[GCODE_R])
							{
							  //drawRadius(tempX, tempY, rVal, (gc.G[gIndex]==2));
								if(SendDebug & DEBUG_ERRORS)
									sprintf(talkToHost.string(), "Dud G code: G%d with R param not yet implemented", gc.G[gIndex]);
								talkToHost.setResend(gc.LastLineNrRecieved+1);
							}
							else if(gc.seen[GCODE_I] || gc.seen[GCODE_J])
							{
								drawArc(fp.x+gc.I, fp.y+gc.J, fp.x, fp.y, (gc.G[gIndex]==2));
							}
							else
							{
								if(SendDebug & DEBUG_ERRORS)
									sprintf(talkToHost.string(), "Dud G code: G%d without I or J params", gc.G[gIndex]);
								talkToHost.setResend(gc.LastLineNrRecieved+1);
							}
							break;
				
							
				case 28:	//go home.  If we send coordinates (regardless of their value) only zero those axes
							fetchCartesianParameters();
							axisSelected = false;
							if(gc.seen[GCODE_Z])
							{
							  sharedMachineModel.zeroZ();
							  axisSelected = true;
							}
							if(gc.seen[GCODE_X])
							{
							  sharedMachineModel.zeroX();
							  axisSelected = true;
							}
							if(gc.seen[GCODE_Y])
							{
							  sharedMachineModel.zeroY();
							  axisSelected = true;
							}                                
							if(!axisSelected)
							{
							  sharedMachineModel.zeroZ();
							  sharedMachineModel.zeroX();
							  sharedMachineModel.zeroY();
							  sharedMachineModel.absolutePositionValid=true;
							}
							sharedMachineModel.localPosition.f = SLOW_FEEDRATE;     // Most sensible feedrate to leave it in                    

							break;							

				////////////////////////
				// Non-Buffered commands
				////////////////////////
							
				case 4: 	//Dwell
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							endTime = millis() + (int)(gc.P + 0.5);
							while(millis() < endTime) 
								sharedMachineModel.manage(true);
							break;
		
				case 20:	//Inches for Units
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setUnits(false);
							break;
		
				case 21:	//mm for Units
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setUnits(true);
							break;
							
				case 54:
				case 55:
				case 56:
				case 57:
				case 58:
				case 59:	// Switch to Workin Coordinate System
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							if(!sharedMachineModel.switchToWCS(gc.G[gIndex]-54))
							{
								if(SendDebug & DEBUG_ERRORS)
									sprintf(talkToHost.string(), "Dud G code: G%d not possible, probably machine not homed", gc.G[gIndex]);
								talkToHost.setResend(gc.LastLineNrRecieved+1);
							}
							break;
		
				case 73:	// Peck drilling cycle for milling - high-speed
				case 81:	// Drill Cycle
				case 82:	// Drill Cycle with dwell
				case 83:	// Drill Cycle peck drilling
				case 85:	// Drill Cycle, slow retract
				case 89:	// Drill Cycle with dwell and slow reredract
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							fetchCartesianParameters();
							doDrillCycle(gc.G[gIndex], fp);
							break;
																					
				case 90: 	//Absolute Positioning
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setAbsMode(true);
							break;

				case 91: 	//Incremental Positioning
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setAbsMode(false);
							break;

				case 92:	//Set position as fp
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							fetchCartesianParameters();
							sharedMachineModel.setLocalZero(fp);
							break;

				case 98:	// Return to initial Z level in canned cycle
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setRetractMode(true);
							break;

				case 99:	// Return to R level in canned cycle
							sharedMachineModel.waitFor_qEmpty(); // Non-buffered G command. Wait till the buffer q is empty first
							sharedMachineModel.setRetractMode(false);
							break;

				default:
							if(SendDebug & DEBUG_ERRORS)
								sprintf(talkToHost.string(), "Dud G code: G%d", gc.G[gIndex]);
							talkToHost.setResend(gc.LastLineNrRecieved+1);
			}	// switch
		}		// for
	}			// Gcode
	
	// Get feedrate if supplied and queue is empty
	if ( gc.seen[GCODE_F] && sharedMachineModel.qEmpty())
		sharedMachineModel.localPosition.f=MIN(gc.F, FAST_XY_FEEDRATE);
		
	//find us an m code.
	if (gc.seen[GCODE_M])
	{
		// Wait till the q is empty first
		sharedMachineModel.waitFor_qEmpty();
		switch (gc.M)
		{
			case 0:
				sharedMachineModel.shutdown();
				break;
		    case 1:
				 //todo: optional stop
				 break;
			case 2:
				 //todo: program end
				 break;
				 
			case 6:
				 // Tool change
				 if(gc.seen[GCODE_T])
				 	sharedMachineModel.manualToolChange(gc.T);
				 else
				 	sharedMachineModel.manualToolChange(-1);
				 break;

			//custom code for temperature control
//			case 104:
//				if (gc.seen[GCODE_S])
//				{
//					ex[extruder_in_use]->setTemperature((int)gc.S);
//				}
//				break;

			//custom code for temperature reading
//			case 105:
//				talkToHost.setETemp(ex[extruder_in_use]->getTemperature());
//				talkToHost.setBTemp(heatedBed.getTemperature());
//				break;
//
//			//turn fan on
//			case 106:
//				ex[extruder_in_use]->setCooler(255);
//				break;
//
//			//turn fan off
//			case 107:
//				ex[extruder_in_use]->setCooler(0);
//				break;
//
//
//			// Set the temperature and wait for it to get there
//			case 109:
//				ex[extruder_in_use]->setTemperature((int)gc.S);
//				ex[extruder_in_use]->waitForTemperature();
//				break;
			// Starting a new print, reset the gc.LastLineNrRecieved counter
			case 110:
				if (gc.seen[GCODE_N])
					gc.LastLineNrRecieved = gc.N;
				break;
			case 111:
				SendDebug = gc.S;
				break;
			case 112:	// STOP! (priority commnand)
				sharedMachineModel.shutdown();
				break;

			//custom code for returning current coordinates
			case 114:
				talkToHost.setCoords(sharedMachineModel.localPosition);
				break;

			//Reserved for returning machine capabilities in keyword:value pairs
			//custom code for returning Firmware Version and Capabilities 
			case 115:
				talkToHost.capabilities();
				break;

//			// TODO: make this work properly
//			case 116:
//				ex[extruder_in_use]->waitForTemperature();
//				break;

			//custom code for returning zero-hit coordinates
//			case 117:
//				talkToHost.setCoords(zeroHit);
//				break;

			// The valve (real, or virtual...) is now the way to control any extruder (such as
			// a pressurised paste extruder) that cannot move using E codes.

//			// Open the valve
//			case 126:
//				ex[extruder_in_use]->valveSet(true, (int)(gc.P + 0.5));
//				break;
//                                
//			// Close the valve
//			case 127:
//				ex[extruder_in_use]->valveSet(false, (int)(gc.P + 0.5));
//				break;
                                                                
//			case 140:
//				if (gc.seen[GCODE_S])
//				{
//					heatedBed.setTemperature((int)gc.S);
//				}
//				break;

			case 141: //TODO: set chamber temperature
				break;
                                
			case 142: //TODO: set holding pressure
				break;                                


			// Pleasant Mill priority commands
			// These commands are executed, even if the machine isn't in "armed for data" mode
			
			case 900:	// Machine-Identification
				sprintf(talkToHost.string(), "Pleasant Mill[%s]", FW_VERSION);
				break;
				
			case 901:	// Get Device Name
				sprintf(talkToHost.string(), EEPROM_ReadString(EEPROM_ADR_DEVICENAME, strBuffer));
				break;
				
			case 902:	// Set Device Name: The string argument is found in the commen
				if(strlen(strArgBuffer)>0)
				{
					strBuffer[16]=0x0;
					EEPROM_WriteString(EEPROM_ADR_DEVICENAME, strArgBuffer);
				}
				else
				{
					if(SendDebug & DEBUG_ERRORS)
						sprintf(talkToHost.string(), "Error: M902 not possible, bad device name argument: %s", strArgBuffer);
					talkToHost.setResend(gc.LastLineNrRecieved+1);
				}
				break;
				
				
			default:
				if(SendDebug & DEBUG_ERRORS)
					sprintf(talkToHost.string(), "Dud M code: M%d", gc.M);
				talkToHost.setResend(gc.LastLineNrRecieved+1);
		}
	}

	// Tool (i.e. extruder) change?
	if (gc.seen[GCODE_T])
	{
		sharedMachineModel.waitFor_qEmpty(); 
//		newExtruder(gc.T);
	}
}