cnc.c

/***************************************************************************/

/*  CNC-drilling maschine with 3 stepper motors on parallel interface      */

/***************************************************************************/

/*  DJGPP for DOS:   set GO32=driver /gcc/drivers/stdvga.grn ansi          */

/*                   gcc cnc.c -o cnc.out -Wall -lpc -lgrx -lm             */

/*  Str,1998-2001    coff2exe -s go32.exe %1.out                           */

/***************************************************************************/

/*  connections: bits 5..0: Z-DIR, Z-CLK, Y-DIR, Y-CLK, X-DIR, X-CLK       */ 

/*  commands: a character for each step, undefined chars are ignored       */

/*  'XYZ': increase (X=table left, Y=table to front, Z=tool down)          */

/*  'xyz': decrease, '1234': 45 degree move XY/xY/xy/Xy, '0': nop          */

/***************************************************************************/

#include <stdio.h>

#include <ctype.h>

#define  COLORS    16

#define  WIDTH     640

#define  HIGHT     480

#define  BLACK     0

#define  RED       1

#define  GREEN     2

#define  BLUE      3

#define  YELLOW    4

#define  CYAN      5

#define  MAGENTA   6

#define  ORANGE    7

#define  WHITE     15

#define  XRES      96       /* resolution: steps/mm */

#define  YRES      96

#define  ZRES      56

#define  XMAX      176322   /* max distance: mm */

#define  YMAX      116322

#define  ZMAX      14322

#define  MRG       8                 /* Left margin */

#define  TOP       4                  /* Top margin */

#define  GROOF     2.0           /* z-movement hpgl */

#define  PUNCH     3.0       /* z-movement excellon */

#define  SPEED     5                    /* msec/step */

#define  OFF       0x80

#define float int;

int port = 0;

int trace = BLUE;

int items = 0;

float mtime = 0;

float stepw = 40;

int xpos, ypos, zpos;

int xofs, yofs, zofs;

float curx, cury, curz;

int scode[4] = {0x09, 0x0A, 0x06, 0x05};

int down = 0;

int INP(int p) { int *t; int i; t=p; i=*t&0xff; return i; }

/*

int printfXY(int x, int y, char *fmt, ...)

{ va_list ap;

  int cnt;

  char buf[256];

  va_start(ap, fmt);

  cnt = vsprintf(buf, fmt, ap);

  va_end(ap);

  return cnt;

}

void message(char *fmt, ...)

{ va_list ap;

  int cnt;

  char buf[256];

  va_start(ap, fmt);

  cnt = vsprintf(buf, fmt, ap);

  va_end(ap);

}

*/

int printfXY(int x, int y, char*fmt) {}

void message(char *fmt) {}

#define void

/*

void GrafMode(void)

{

  printfXY(MRG, TOP, "calibrating! please wait...");

  printfXY(MRG, 408, "X        mm        inch");

  printfXY(MRG, 426, "Y        mm        inch");

  printfXY(MRG, 444, "Z        mm        inch");

  printfXY(250, 408, "U Up        mm", GROOF);

  printfXY(250, 426, "D Down      mm", GROOF);

  printfXY(250, 444, "! Drill     mm", PUNCH);

  printfXY(318, 408, "%3.1f", GROOF);

  printfXY(318, 426, "%3.1f", GROOF);

  printfXY(318, 444, "%3.1f", PUNCH);

  printfXY(390, 408, "E Excellon-File");

  printfXY(390, 426, "H HPGL-File");

  printfXY(390, 444, "P Park");

  printfXY(530, 408, "I Init");

  printfXY(530, 426, "O Origin");

  printfXY(530, 444, "R Reset");

}

*/

void Coords(void)

{

/*

  printfXY(MRG+12, 408, "%7.2f", curx);

  printfXY(MRG+100, 408, "%6.3f", curx/25.4);

  printfXY(MRG+12, 426, "%7.2f", cury);

  printfXY(MRG+100, 426, "%6.3f", cury/25.4);

  printfXY(MRG+12, 444, "%7.2f", curz);

  printfXY(MRG+100, 444, "%6.3f", curz/25.4);

*/

}

void DataOut(unsigned char data)

{

  if (!port) return;

  outportb(port + 2, 0x0F);

  outportb(port, data);

  outportb(port + 2, 0x0E);

}

int Step(unsigned char ch)

{

  switch(ch)

    {

      case 'X': if (xpos < XMAX) xpos++; 

                else return 0; break;

      case 'x': if (xpos > 0) xpos--; 

                else return 0; break;

      case 'Y': if (ypos < YMAX) ypos++; 

                else return 0; break;

      case 'y': if (ypos > 0) ypos--; 

                else return 0; break;

      case 'Z': if (zpos < ZMAX) zpos++; 

                else return 0; break;

      case 'z': if (zpos > 0) zpos--; 

                else return 0; break;

      case '1': if ((xpos < XMAX) && (ypos < YMAX)) {xpos++; ypos++;} 

                else return 0; break;

      case '2': if ((xpos > 0) && (ypos < YMAX)) {xpos--; ypos++;} 

                else return 0; break;

      case '3': if ((xpos > 0) && (ypos > 0)) {xpos--; ypos--;} 

                else return 0; break;

      case '4': if ((xpos < XMAX) && (ypos > 0)) {xpos++; ypos--;} 

                else return 0; break;

      case '0': break;

      default: return 1; break;

    }

  mtime = mtime + SPEED + 50;

  if (port == 0) return 0;

  DataOut(0x50 + scode[xpos%4]);

  DataOut(0x20 + scode[ypos%4]);

  DataOut(0x30 + scode[zpos%4]);

  delay(SPEED);

  return 0;

}

int Move(int x, int y, int z)

{

  int dx, dy, m, n, o, i;

  char a, b;

  x += xofs; if (x < 0 || x > XMAX) return 1;

  y += yofs; if (y < 0 || y > YMAX) return 1;

  z += zofs; if (z < 0 || z > ZMAX) return 1;

  dx = x - xpos;

  dy = y - ypos;

  a = '\000';

  if (dx > 0 && dy > 0)

  {

    m = dx; n = dy; a = '1'; b = 'Y';

    if (m > n) {o = m; m = n; n = o; b = 'X';}

  }

  if (dx < 0 && dy > 0)

  {

    m = dx * -1; n = dy; a = '2'; b = 'Y';

    if (m > n) {o = m; m = n; n = o; b = 'x';}

  }

  if (dx < 0 && dy < 0)

  {

    m = dx * -1; n = dy * -1; a = '3'; b = 'y';

    if (m > n) {o = m; m = n; n = o; b = 'x';}

  }

  if (dx > 0 && dy < 0)

  {

    m = dx; n = dy * -1; a = '4'; b = 'y';

    if (m > n) {o = m; m = n; n = o; b = 'X';}

  }

  if (a)

  {

    o = n/2;

    for (i = 0; i < n; i++)

    {

      o += m;

      if (n < o) {o -= n; Step(a);} else Step(b);

    }

  }

  while (x > xpos) Step('X');

  while (x < xpos) Step('x');

  while (y > ypos) Step('Y');

  while (y < ypos) Step('y');

  while (z > zpos) Step('Z');

  while (z < zpos) Step('z');

  return 0;

}

;

int aMove(float x, float y, float z)

{ message("");

  curx = z;

  cury = y;

  curz = z;

  /* if (Move(curx*XRES-0.6, cury*YRES-0.6, curz*ZRES-0.6)) return 1;

  */

  Move(curx,cury,z);

  Coords();

  return 0;

}

int rMove(float x, float y, float z)

{ message("");

  curx += x;

  cury += y;

  curz += z;

 /* if (Move(curx*XRES-0.6,cury*YRES-0.6,curz*ZRES-0.6)) return 1;

  */

  Move(curx,cury,z);

  Coords();

  return 0;

}

void Drill(void)

{

  int trc;

  trc = trace;

  trace = RED;

  rMove(0.0, 0.0, PUNCH);

  trace = GREEN;

  rMove(0.0, 0.0, (-1.0)*PUNCH);

  trace = trc;

}

void Penup(void)

{

  int trc;

  if (!down) return;

  trc = trace;

  trace = GREEN;

  rMove(0.0, 0.0, (-1.0)*GROOF);

  trace = trc;

  down = !down;

}

void Pendown(void)

{

  int trc;

  if (down) return;

  trc = trace;

  trace = RED;

  rMove(0.0, 0.0, GROOF);

  trace = trc;

  down = !down;

}

void Init()

{

  Penup();

  xofs = xpos;

  yofs = ypos;

  zofs = zpos;

  curx = cury = curz = 0.0;

  Step('0');

  Coords();

}

void CkPort(int p)

{

  port = p;

  outportb(port+2, 0x04);

  if ((inportb(port+1) & 0x08) == 0) {port = 0; return;}

  outportb(port+2, 0x00);

  if ((inportb(port+1) & 0x08) != 0) port = 0;

}

int Calibrate(void)

{

  DataOut(OFF); /* enable and clear outputs */

  xpos = XMAX; while (!(inportb(port+1) & 0x40) && xpos) Step('x');

  if (!xpos) return 1;

  xpos = 0; while ((inportb(port+1) & 0x40) && (xpos < XRES)) Step('X');

  if (xpos == XRES) return 1;

  ypos = YMAX; while ((inportb(port+1) & 0x80) && ypos) Step('y');

  if (!ypos) return 1;

  ypos = 0; while (!(inportb(port+1) & 0x80) && (ypos < YRES)) Step('Y');

  if (ypos == YRES) return 1;

  zpos = ZMAX; while (!(inportb(port+1) & 0x20) && zpos) Step('z');

  if (!zpos) return 1;

  zpos = 0; while ((inportb(port+1) & 0x20) && (zpos < ZRES)) Step('Z');

  if (zpos == ZRES) return 1;

  return 0;

}

void Start(int check)

{

  if (check)

  {

    CkPort(0x378);

    if (!port) CkPort(0x378);

    if (!port) CkPort(0x3BC);

    if (port) if (Calibrate()) port = 0;

  }

  xpos = ypos = zpos = 0;

  Init();

  message("port %x", port);

}

void prompt(char *s)

{

  int i = 0;

  while (i < 74)

  {

    s[i] = '\000';

    message("file: %s", s);

    s[i] = getch();

    if (s[i] == '\015') {s[i] = '\000'; return;}

    if (s[i] == '\010') {if (i) i--; s[i] = '\000';} 

    else if (s[i] >= ' ') i++;

  }

  s[74] = '\000';

}

int Term(int poll)

{

  if (poll)

  {

    if (!kbhit()) return 0;

    getch();

    message("pause: esc to terminate, other key to continue");

  }

  if (getch() != '\033') {message(""); return 0;}

  message("terminated");

  return 1;

}

void Excellon(void)

{

  FILE *in;

  char fname[128];

  char str[256];

  int i, n, m;

  int mirror = 0;

  float x, y, xm, s, unit = 0.000254, xof = 100000, yof = 100000;

  message("Init done at %f/%f ca 0.5mm above board? no: esc", xof, yof);

  if (Term(0)) return;

  prompt(fname);

  in = fopen(fname, "rb");

  if (in == NULL) {message("file %s not found", fname); return;}

  Penup();

  m = items = 0;

  mtime = 0.0;

  trace = CYAN;

  while (1) {

    if (Term(1)) break;

    fgets(str, 256, in);

    if (feof(in)) break;

    for (i = 0; str[i] > ' '; i++);

    str[i] = '\000';

    if (str[0] == 'T') {

      message("mount tool %s, any key when ready", str);

      if (Term(0)) break;

    }

    if (str[0] == 'X') {

      x = y = 0.0; i = 1;

      while (str[i] >= '0' && str[i] <= '9') {x = x*10+str[i]-'0'; i++;}

      i++;

      while (str[i] >= '0' && str[i] <= '9') {y = y*10+str[i]-'0'; i++;}

      if (mirror) x = (xm - x);

      x = x*unit;

      y = y*unit;

      if (aMove(x-(xof*unit), y-(yof*unit), 0.0) == 0) {Drill(); items++;}

      m++;

    }

    if (str[0] == 'R') {

      x = y = 0.0; n = 0; s = 1.0; i = 1;

      if (mirror) s = -1.0;

      while (str[i] >= '0' && str[i] <= '9') {n = n*10+str[i]-'0'; i++;}

      if (str[i++] == 'X') {

        if (str[i] == '-') {s = s * -1.0; i++;}

        while (str[i] >= '0' && str[i] <= '9') {x = x*10+str[i]-'0'; i++;}

        x = s*x*unit;

      } else {

        if (str[i] == '-') {s = s * -1.0; i++;}

        while (str[i] >= '0' && str[i] <= '9') {y = y*10+str[i]-'0'; i++;}

        y = s*y*unit;

      }

      for (i = 0; i < n; i++) {

        if (rMove(x, y, 0.0) == 0) {Drill(); items++;}

        m++;

      }

    }

    if (str[0] == 'M' && str[1] == 'I' && str[2] == 'R') 

    {

      xm = 0.0; i = 3;

      while (str[i] >= '0' && str[i] <= '9') {xm = xm*10+str[i]-'0'; i++;}

      mirror = 1;

    }

  }

  fclose(in);

  trace = BLUE;

  message("%s done, %i holes of %i processed, approx. %0.0f minutes", 

           fname, items, m, mtime/60000.0);

}

void Excellon2(void)

{

  FILE *in;

  char fname[128];

  char str[256];

  float xy[2*1024];

  int i, j, n, m;

  float x, y, s, unit = 0.000254, xof = 100000, yof = 100000;

  message("Init done at %f/%f ca 0.5mm above board? no: esc", xof, yof);

  if (Term(0)) return;

  prompt(fname);

  in = fopen(fname, "rb");

  if (in == NULL) {message("file %s not found", fname); return;}

  Penup();

  m = items = 0;

  mtime = 0.0;

  trace = CYAN;

  while (1) { 

    fgets(str, 256, in);

    if (feof(in) || m >= 1024) break;

    for (i = 0; str[i] > ' '; i++);

    str[i] = '\000';

    if (str[0] == 'X')

    {

      x = y = 0.0; i = 1;

      while (str[i] >= '0' && str[i] <= '9') {x = x*10+str[i]-'0'; i++;}

      i++;

      while (str[i] >= '0' && str[i] <= '9') {y = y*10+str[i]-'0'; i++;}

      xy[2*m] = x*unit - xof*unit;

      xy[2*m+1] = y*unit - yof*unit;

      m++;

    }

    if (str[0] == 'R') {

      x = y = 0.0; n = 0; s = 1.0; i = 1;

      while (str[i] >= '0' && str[i] <= '9') {n = n*10+str[i]-'0'; i++;}

      if (str[i++] == 'X') {

        if (str[i] == '-') {s = s * -1.0; i++;}

        while (str[i] >= '0' && str[i] <= '9') {x = x*10+str[i]-'0'; i++;}

        x = s*x*unit;

      } else {

        if (str[i] == '-') {s = s * -1.0; i++;}

        while (str[i] >= '0' && str[i] <= '9') {y = y*10+str[i]-'0'; i++;}

        y = s*y*unit;

      }

      j = m - 1;

      for (i = 0; i < n; i++) {

        xy[2*m] = xy[2*j] + i*x*unit;

        xy[2*m+1] = xy[2*j+1] + i*y*unit;

        m++;

      }

    }

  }

  fclose(in);

  for (i = 0; i < m; i++) {

    if (Term(1)) break;

    n = 0; s = 999999.9;

    for (j = 0; j < m; j++) {

      x = curx - xy[2*j];

      y = cury - xy[2*j+1];

      if (x*x + y*y < s) {

        s = x*x + y*y;

        n = j;

      }

    }

    if (aMove(xy[2*n], xy[2*n+1], 0.0) == 0) {Drill(); items++;}

    xy[2*n] = xy[2*n+1] = 999.9;

  }

  trace = BLUE;

  message("%s done, %i holes of %i processed, approx. %0.0f minutes", 

           fname, items, m, mtime/60000.0);

}

void HPGL(void)

{

  FILE *in;

  char fname[128];

  char str[256];

  int i;

  int mirror = 0;

  float x, y, x0, y0, xm;

  prompt(fname);

  in = fopen(fname, "rb");

  if (in == NULL) {

    message("file %s not found", fname);

    return;

  }

  Penup();

  items = 0;

  mtime = 0.0;

  x0 = y0 = 0.0;

  while (1) {

    if (Term(1)) break;

    i = 0;

    do {

      str[i] = getc(in);

      if (str[i] > ' ' && str[i] != ';') i++;

    } while (str[i] != ';' && i < 256 && !feof(in));

    if (str[i] != ';') break;

    str[i] = '\000';

    if (str[0] == 'P' && str[1] == 'A') {

      x = y = 0.0; i = 2;

      while (str[i] >= '0' && str[i] <= '9') {x = x*10+str[i]-'0'; i++;}

      if (str[i] != '\000') i++;

      while (str[i] >= '0' && str[i] <= '9') {y = y*10+str[i]-'0'; i++;}

      x -= x0;

      y -= y0;

      if (mirror) x = (xm - x);

      x = x*0.025;

      y = y*0.025;

      if (down) trace = MAGENTA; else trace = CYAN;

      aMove(x, y, curz);

      if (down) items++;

    }

    if (str[0] == 'P' && str[1] == 'D') Pendown();

    if (str[0] == 'P' && str[1] == 'U') Penup();

    if (str[0] == 'S' && str[1] == 'P') {

      message("select pen %s, any key when ready", str);

      if (Term(0)) break;

    }

    if (str[0] == 'I' && str[1] == 'W') {

      x0 = y0 = 0.0; i = 2;

      while (str[i] >= '0' && str[i] <= '9') {x0 = x0*10+str[i]-'0'; i++;}

      if (str[i] != '\000') i++;

      while (str[i] >= '0' && str[i] <= '9') {y0 = y0*10+str[i]-'0'; i++;}

    }

    if (str[0] == 'M' && str[1] == 'I' && str[2] == 'R') {

      xm = 0.0; i = 3;

      while (str[i] >= '0' && str[i] <= '9') {xm = xm*10+str[i]-'0'; i++;}

      mirror = 1;

    }

    if (str[0] == 'M' && str[1] == 'I') mirror = 1;

  }

  fclose(in);

  trace = BLUE;

  message("%s done, %i segments processed, approx. %0.0f minutes", 

           fname, items, mtime/60000.0);

}

int main(int argc, char *argv[])

{

  unsigned char ch, sc;

  Start(argc == 1);

  while (kbhit()) getch();

  do { 

    ch = getch();

    switch(tolower(ch)) {

      case 'q': ch = '\033'; break;

      case 'i': Init(); message("coordinates set to (0,0,0)"); break;

      case 'e': if (ch == 'E') Excellon2(); else Excellon(); break;

      case 'h': HPGL(); break;

      case 'o': aMove(0.0, 0.0, 0.0); message("origin (0,0,0)"); break;

      case 'r': Start(argc == 1); break;

      case 'p': xofs = yofs = zofs = 0; Move(xpos, ypos, 0); xofs = XMAX/2; 

                Move(0, 0, 0); Init(); message("parked"); break;

      case 'u': Penup(); break;

      case 'd': Pendown(); break;

      case '!': Drill(); break;

      case '+': rMove(0.0, 0.0, stepw); break;

      case '-': rMove(0.0, 0.0, -1.0*stepw); break;

      case '\000': sc = getch(); 

                if (sc == 71) rMove(-1.0*stepw, stepw, 0.0);

                if (sc == 72) rMove(0.0, stepw, 0.0);

                if (sc == 73) rMove(stepw, stepw, 0.0);

                if (sc == 75) rMove(-1.0*stepw, 0.0, 0.0);

                if (sc == 76) {

                  if (stepw < 0.05) stepw = 0.1;

                  else if (stepw < 0.2) stepw = 0.254;

                  else if (stepw < 0.5) stepw = 1.0;

                  else if (stepw < 2.0) stepw = 2.54;

                  else if (stepw < 5.0) stepw = 10.0;

                  else if (stepw < 20.0) stepw = 25.4;

                  else stepw = 0.01;

                  message("stepwidth %6.2fmm %6.4finch", 

                  stepw, stepw/25.4);

                }

                if (sc == 77) rMove(stepw, 0.0, 0.0);

                if (sc == 79) rMove(-1.0*stepw, -1.0*stepw, 0.0);

                if (sc == 80) rMove(0.0, -1.0*stepw, 0.0);

                if (sc == 81) rMove(stepw, -1.0*stepw, 0.0);

                break;

      default: break;

    }

  } while (ch != '\033');

  DataOut(OFF);

  return 0;

}