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Diffstat (limited to 'src/Platform/Roland.cpp')
| -rw-r--r-- | src/Platform/Roland.cpp | 267 |
1 files changed, 267 insertions, 0 deletions
diff --git a/src/Platform/Roland.cpp b/src/Platform/Roland.cpp new file mode 100644 index 00000000..8b87e779 --- /dev/null +++ b/src/Platform/Roland.cpp @@ -0,0 +1,267 @@ +// This class allows the RepRap firmware to transmit commands to a Roland mill +// See: http://www.rolanddg.com/product/3d/3d/mdx-20_15/mdx-20_15.html +// http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf + +#include "RepRapFirmware.h" + +#if SUPPORT_ROLAND + +Roland::Roland(Platform& p) : platform(p) +{ +} + +void Roland::Init() +{ + pinMode(ROLAND_RTS_PIN, OUTPUT); + pinMode(ROLAND_CTS_PIN, INPUT); + digitalWrite(ROLAND_RTS_PIN, HIGH); + + sBuffer = new StringRef(buffer, ARRAY_SIZE(buffer)); + sBuffer->Clear(); + + bufferPointer = 0; + Zero(true); + longWait = platform.Time(); + active = false; +} + +void Roland::Spin() +{ + if (!Active()) + { + platform.ClassReport(longWait); + return; + } + + // 'U' is 01010101 in binary (nice for an oscilloscope...) + + //SERIAL_AUX2_DEVICE.write('U'); + //SERIAL_AUX2_DEVICE.flush(); + //return; + + // Are we sending something to the Roland? + + if (Busy()) // Busy means we are sending something + { + if (digitalRead(ROLAND_CTS_PIN)) + { + platform.ClassReport(longWait); + return; + } + + SERIAL_AUX2_DEVICE.write(buffer[bufferPointer]); + SERIAL_AUX2_DEVICE.flush(); + bufferPointer++; + } + else // Not sending. + { + // Finished talking to the Roland + + sBuffer->Clear(); + bufferPointer = 0; + + // Anything new to do? + + EndstopChecks endStopsToCheck; + uint8_t moveType; + FilePosition filePos; + if (reprap.GetGCodes()->ReadMove(move, endStopsToCheck, moveType, filePos)) + { + move[AXES] = move[DRIVES]; // Roland doesn't have extruders etc. + ProcessMove(); + } + } + + platform.ClassReport(longWait); +} + +void Roland::Zero(bool feed) +{ + size_t lim = feed ? AXES + 1 : AXES; + for(size_t axis = 0; axis < lim; axis++) + { + move[axis] = 0.0; + coordinates[axis] = 0.0; + oldCoordinates[axis] = 0.0; + offset[axis] = 0.0; + } + + if (reprap.Debug(moduleGcodes)) + { + platform.Message(HOST_MESSAGE, "Roland zero\n"); + } +} + +bool Roland::Busy() +{ + return buffer[bufferPointer] != 0; +} + +bool Roland::ProcessHome() +{ + if (Busy()) + { + return false; + } + + sBuffer->copy("H;\n"); + Zero(false); + if (reprap.Debug(moduleGcodes)) + { + platform.MessageF(HOST_MESSAGE, "Roland home: %s", buffer); + } + return true; +} + +bool Roland::ProcessDwell(long milliseconds) +{ + if (Busy()) + { + return false; + } + + sBuffer->printf("W%ld;", milliseconds); + sBuffer->catf("Z %.4f,%.4f,%.4f;", oldCoordinates[0], oldCoordinates[1], oldCoordinates[2]); + sBuffer->cat("W0;\n"); + if (reprap.Debug(moduleGcodes)) + { + platform.MessageF(HOST_MESSAGE, "Roland dwell: %s", buffer); + } + return true; +} + +bool Roland::ProcessG92(float v, size_t axis) +{ + if (Busy()) + { + return false; + } + + move[axis] = v; + coordinates[axis] = move[axis]*ROLAND_FACTOR + offset[axis]; + offset[axis] = oldCoordinates[axis]; + oldCoordinates[axis] = coordinates[axis]; + if (reprap.Debug(moduleGcodes)) + { + platform.Message(HOST_MESSAGE, "Roland G92\n"); + } + return true; +} + +bool Roland::ProcessSpindle(float rpm) +{ + if (Busy()) + { + return false; + } + + if (rpm < 0.5) // Stop + { + sBuffer->printf("!MC 0;\n"); + } + else // Go + { + sBuffer->printf("!RC%ld;!MC 1;\n", (long)(rpm + 100.0)); + } + + if (reprap.Debug(moduleGcodes)) + { + platform.MessageF(HOST_MESSAGE, "Roland spindle: %s", buffer); + } + return true; + +} + +void Roland::GetCurrentRolandPosition(float moveBuffer[]) +{ + for(size_t axis = 0; axis < AXES; axis++) + { + moveBuffer[axis] = move[axis]; + } + + for(size_t axis = AXES; axis < DRIVES; axis++) + { + moveBuffer[axis] = 0.0; + } + + moveBuffer[DRIVES] = move[AXES]; +} + +void Roland::ProcessMove() +{ + for(size_t axis = 0; axis < AXES; axis++) + { + coordinates[axis] = move[axis] * ROLAND_FACTOR + offset[axis]; + } + coordinates[AXES] = move[AXES]; + + // Start with feedrate; For some reason the Roland won't accept more than 4 d.p. + + sBuffer->printf("V %.4f;", coordinates[AXES]); + + // Now the move + + sBuffer->catf("Z %.4f,%.4f,%.4f;\n", coordinates[0], coordinates[1], coordinates[2]); + + for(size_t axis = 0; axis <= AXES; axis++) + { + oldCoordinates[axis] = coordinates[axis]; + } + + if (reprap.Debug(moduleGcodes)) + { + platform.MessageF(HOST_MESSAGE, "Roland move: %s", buffer); + } +} + + +bool Roland::RawWrite(const char* s) +{ + if (Busy()) + { + return false; + } + + sBuffer->copy(s); + sBuffer->cat("\n"); + + if (reprap.Debug(moduleGcodes)) + { + platform.MessageF(HOST_MESSAGE, "Roland rawwrite: %s", buffer); + } + return true; +} + +bool Roland::Active() +{ + return active; +} + +void Roland::Activate() +{ + digitalWrite(ROLAND_RTS_PIN, LOW); + active = true; + + if (reprap.Debug(moduleGcodes)) + { + platform.Message(HOST_MESSAGE, "Roland started\n"); + } +} + +bool Roland::Deactivate() +{ + if (Busy()) + { + return false; + } + + digitalWrite(ROLAND_RTS_PIN, HIGH); + active = false; + if (reprap.Debug(moduleGcodes)) + { + platform.Message(HOST_MESSAGE, "Roland stopped\n"); + } + return true; +} + +#endif |