From 44419feb34c968c5e87574099290b6f89bc8e97b Mon Sep 17 00:00:00 2001
From: David Crocker <dcrocker@eschertech.com>
Date: Thu, 4 Mar 2021 19:38:47 +0000
Subject: Created Platform and PrintMonitor folders within /src

---
 src/Platform/Roland.cpp | 267 ++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 267 insertions(+)
 create mode 100644 src/Platform/Roland.cpp

(limited to 'src/Platform/Roland.cpp')

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
-- 
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