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ArmStrongPrinting.c
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ArmStrongPrinting.c
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/*
ARMStrongPrinter is a nascent and native 3d printer firmware that is designed to work with ARM SOMs.
Copyright (C) 2013 John Rowley ([email protected])
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* Revision 0.1 */
/* The main focus of the program is to interpret g0 and g1, both of which are the core printing functions.*/
/* The program starts by opening test.gcode. This file contains gcode to print. I have designed my */
/* interpretation of gcode based on a minimal if not insufficient version of the reprap styled gcode. */
/* From here it proceeds to parse the file line by line and execute the instructions. */
/* Revision 0.2 */
/* At this point I have added in g92, and added in the z,a,and b axes. */
/* It now uses integer based calculations as well */
/* Revision 0.3 */
/* I am now changing the way I write fiq data, the new method is much cleaner and effecient.*/
/* This version is the first version to actually work. */
/* Revision 0.4 */
/* I have decoupled some of the key parts as to allow different utilities access to the needed functions. */
/* I also cleaned up the solution by getting rid of old files. */
/* Revision 0.5 */
/* Merged all files back into one, preparing for the first public release. Adding in file compression so that upload times can be reduced */
/* Also working on a seperate tool to load the fiq files intelligently without constant supervision. */
/* This tool will also handle the controlling the hotend*/
#include <stdbool.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <stdint.h>
#include <unistd.h>
#include <ctype.h>
#include <getopt.h>
#include "ArmStrongPrinting.h"
#include "quicklz.h"
#define COMMANDBUFLEN 128
//#define DEBUG
FILE *fin, *fout; // Input and Output Files
double x_pos, y_pos, z_pos, a_pos, b_pos; // Positions
int lineNumber; // The line number inside the Input file
int totalLineNumber; // The total number of lines that the input file has
char *sourceFileName = NULL; // The name of the input file
char *destinationFileName = NULL; // name of the output file
bool isVerbose = false; // is verbose
bool isCompressing = false; // whether or not it compresses the fiq data after it writes it.
int main(int argc, char *argv[])
{
if (argc == 1)
{
printf("\n%s: invalid usage\n", argv[0]);
printf("\nUsage: %s [-i INPUT -o OUTPUT -v -c]\n\nParses gcode into fcode or cfcode\n\n", argv[0]);
printf("\t\t-o OUTPUT\t\tThe file to write to\n");
printf("\t\t-i INPUT\t\tThe file to read from\n");
printf("\t\t-v \t\t\tDisplay Extra Information (Be Verbose)\n");
printf("\t\t-c \t\t\tOutput cfcode instead of fcode\n\n\n");
exit(-4);
}
opterr = 0;
int c;
while ((c = getopt(argc, argv, "cvo:i:")) != -1)
{
switch (c)
{
case 'c':
isCompressing = true;
break;
case 'v':
isVerbose = true;
break;
case 'o':
destinationFileName = optarg;
break;
case 'i':
if (access(optarg, F_OK) != -1)
{
sourceFileName = optarg;
break;
}
else
{
printf("Source File Doesn't Exits: %s\nAborting\n", optarg);
exit(-2);
}
}
}
bool quit = false;
for (int i = optind; i < argc; i++)
{
quit = true;
printf ("invalid argument %s\n", argv[i]);
}
if (quit == true)
{
printf("Aborting\n");
return -3;
}
if (sourceFileName == NULL || destinationFileName == NULL)
{
printf("Not Enough Arguments\n");
exit(-1);
}
char rawInput[COMMANDBUFLEN];
// Open gcode
fin = fopen(sourceFileName, "r");
if (!fin)
{
printf("Can't Open %s\n", sourceFileName);
return -1;
}
// If you are compressing then we will write to a temp file for now. Other wise we will write to the specified file.
if (!isCompressing)
{
fout = fopen(destinationFileName, "wb");
if (!fout)
{
printf("Can't Open %s\n", destinationFileName);
return -1;
}
}
else
{
fout = fopen("temp.bin", "wb");
if (!fout)
{
printf("Can't Open a temporary file:\ttemp.bin\n");
return -1;
}
}
totalLineNumber = fLineCount(fin);
while (fgets(rawInput, COMMANDBUFLEN, fin) != NULL)
{
// Prints Overall Progress
static int printIter = 1;
if (lineNumber >= (printIter / 10.0) * totalLineNumber)
{
printf("%i%% Percent Done\n", 10 * printIter);
printIter++;
}
lineNumber++;
// Searches for a comment, if one exists, terminate the string at the comment
char *line = strstr(rawInput, ";");
if (line != NULL)
*line = 0;
if (strstr(rawInput, "\n"))
*strstr(rawInput, "\n") = 0;
// Parses each individual gcode
if (strstr(rawInput, "G0 ") != NULL)
{
parseG0(rawInput, lineNumber);
}
else if (strstr(rawInput, "G1 ") != NULL)
{
parseG1(rawInput, lineNumber);
}
else if (strstr(rawInput, "G28 ") != NULL)
{
parseG28(rawInput, lineNumber);
}
else if (strstr(rawInput, "G92 ") != NULL)
{
parseG92(rawInput, lineNumber);
}
else if (strcmp("", rawInput) == 0)
{
// Do Nothing, this line is a comment
}
else
{
// An unknown gcode, ignore it, there are a lot of fluff gcodes that are for setting things like temperature.
printf("[%i] Unknown gcode function [%s]\n", lineNumber, rawInput);
}
}
printf("100%% Percent Done\n");
fclose(fin);
fclose(fout);
if (isCompressing)
{
printf("Now Starting Compression");
fin = fopen("temp.bin", "rb");
fout = fopen(destinationFileName,"wb");
unsigned long saved = compressFile(fin,fout);
printf("Saved %i Bytes\n",saved);
fclose(fin);
fclose(fout);
system("rm temp.bin");
}
return 1;
}
/* G0 is for moving around quickly, usually not for printing, but rather repositioning. */
void parseG0(char *input, int lineNumber)
{
/* At the moment there is no difference between G0 and G1, this is true for most 3d printers. */
parseG1(input, lineNumber);
}
/* G1 is the standard code for manuvering while extruding and is the most common command. */
void parseG1(char *input, int lineNumber)
{
// stepper_rate is the Micro Seconds Per Step delay. It is the delay that is put into the fiq.
static double stepper_rate = 0;
double xTargetMilimeter = x_pos; /* get xAxis from input. */
double yTargetMilimeter = y_pos; /* get yAxis from input. */
double zTargetMilimeter = z_pos; /* get zAxis from input. */
double aTargetMilimeter = a_pos; /* get aAxis from input. */
double bTargetMilimeter = b_pos; /* get bAxis from input. */
// Check to see if any specific axis are being set
char *xPlace = strstr(input, "X");
if (xPlace == NULL)
{
xTargetMilimeter = x_pos;
}
else
{
char *start = xPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(xPlace++) != ' ' && *xPlace != 0) {}
strncpy(floatHolder, start, xPlace - start);
xTargetMilimeter = atof(floatHolder);
}
char *yPlace = strstr(input, "Y");
if (yPlace == NULL)
{
yTargetMilimeter = y_pos;
}
else
{
char *start = yPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(yPlace++) != ' ' && *yPlace != 0) {}
strncpy(floatHolder, start, yPlace - start);
yTargetMilimeter = atof(floatHolder);
}
char *zPlace = strstr(input, "Z");
if (zPlace == NULL)
{
zTargetMilimeter = z_pos;
}
else
{
char *start = zPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(zPlace++) != ' ' && *zPlace != 0) {}
strncpy(floatHolder, start, zPlace - start);
zTargetMilimeter = atof(floatHolder);
}
char *aPlace = strstr(input, "E");
if (aPlace == NULL)
{
aTargetMilimeter = a_pos;
}
else
{
char *start = aPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(aPlace++) != ' ' && *aPlace != 0) {}
strncpy(floatHolder, start, aPlace - start);
aTargetMilimeter = atof(floatHolder);
}
char *bPlace = strstr(input, "B");
if (bPlace == NULL)
{
bTargetMilimeter = b_pos;
}
else
{
char *start = bPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(bPlace++) != ' ' && *bPlace != 0) {}
strncpy(floatHolder, start, bPlace - start);
bTargetMilimeter = atof(floatHolder);
}
// Converts the gcode format (Milimeters) to my format (Steps)
int xTargetSteps = xTargetMilimeter * XSTEPSPERMILIMETER;
int yTargetSteps = yTargetMilimeter * YSTEPSPERMILIMETER;
int zTargetSteps = zTargetMilimeter * ZSTEPSPERMILIMETER;
int aTargetSteps = aTargetMilimeter * ASTEPSPERMILIMETER;
int bTargetSteps = bTargetMilimeter * BSTEPSPERMILIMETER;
int xCurrentSteps = x_pos * XSTEPSPERMILIMETER;
int yCurrentSteps = y_pos * YSTEPSPERMILIMETER;
int zCurrentSteps = z_pos * ZSTEPSPERMILIMETER;
int aCurrentSteps = a_pos * ASTEPSPERMILIMETER;
int bCurrentSteps = b_pos * BSTEPSPERMILIMETER;
// check to see if a new speed is being set
char *speedPlace = strstr(input, "F");
if (speedPlace != NULL)
{
char *start = speedPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(speedPlace++) != ' ' && *speedPlace != 0) {}
strncpy(floatHolder, start, speedPlace - start);
double maximum_speed = atof(floatHolder);
// Gets the delta movement of each axis
int x_distance_s = (xTargetSteps - xCurrentSteps);
int y_distance_s = (yTargetSteps - yCurrentSteps);
int z_distance_s = (zTargetSteps - zCurrentSteps);
int a_distance_s = (aTargetSteps - aCurrentSteps);
int b_distance_s = (bTargetSteps - bCurrentSteps);
// Find the axis with the most steps. This will be the cont
int major_axis_steps = 0;
if (x_distance_s > major_axis_steps)
major_axis_steps = x_distance_s;
if (y_distance_s > major_axis_steps)
major_axis_steps = y_distance_s;
if (z_distance_s > major_axis_steps)
major_axis_steps = z_distance_s;
if (a_distance_s > major_axis_steps)
major_axis_steps = a_distance_s;
if (b_distance_s > major_axis_steps)
major_axis_steps = b_distance_s;
double x_distance_m = x_distance_s / XSTEPSPERMILIMETER;
double y_distance_m = y_distance_s / YSTEPSPERMILIMETER;
double z_distance_m = z_distance_s / ZSTEPSPERMILIMETER;
double a_distance_m = a_distance_s / ASTEPSPERMILIMETER;
double b_distance_m = b_distance_s / BSTEPSPERMILIMETER;
// get the distance in milimeters
double distance_m =
pow((x_distance_m * x_distance_m) +
(y_distance_m * y_distance_m) +
(z_distance_m * z_distance_m) +
(a_distance_m * a_distance_m) +
(b_distance_m * b_distance_m), 0.5);
//double normal_rate = maximumSpeed / 60; // Rate in mm per second
//double time = /* 24*/ (1000000.0 * distance_m) / normal_rate; //uSeconds (FIQ Rate)
//stepper_rate = time / distance_s; // uSeconds (FIQ Rate) per step
// currently stepper_rate is somthing that is untested. I need to test it soon.
stepper_rate = (1000000) / (major_axis_steps * distance_m * (60 / maximum_speed));
// Debugging Code
/*printf("[%i] MAS:\t%i\n",lineNumber,major_axis_steps);
printf("[%i] Distance:\t%f\n",lineNumber,distance_m);
printf("[%i] M Rate:\t%f\n",lineNumber,normal_rate);
printf("[%i] S Rate:\t%f\n",lineNumber,stepper_rate);
printf("[%i] Time:\t%f\n",lineNumber,time);
printf("[%i] Fiq Time I:\t%s\n",lineNumber,floatHolder);
printf("[%i] Fiq Time O:\t%f\n",lineNumber,stepper_rate);
printf("-----------------------------------------------\n");
printf("[%i] Stepper Fiq Rate:\t%f\n",lineNumber,stepper_rate);
printf("[%i] Time:\t%f\n",lineNumber,time);
printf("[%i] Distance_s:\t%f\n",lineNumber,distance_s);
printf("[%i] Distance_m:\t%f\n",lineNumber,distance_m);
printf("-----------------------------------------------\n");*/
}
// Call bresenham, and yes I know I spelled it incorrectly.
bresenham(xCurrentSteps, yCurrentSteps, zCurrentSteps, aCurrentSteps, bCurrentSteps,
xTargetSteps, yTargetSteps, zTargetSteps, aTargetSteps, bTargetSteps, stepper_rate, fout);
x_pos = xTargetMilimeter;
y_pos = yTargetMilimeter;
z_pos = zTargetMilimeter;
a_pos = aTargetMilimeter;
b_pos = bTargetMilimeter;
}
// Sets the current position for the specified axes, if no axes or values
// are specified then the current position is considered 0,0,0
void parseG92(char *input, int lineNumber)
{
double newX = x_pos;
double newY = y_pos;
double newZ = z_pos;
double newA = a_pos;
double newB = b_pos;
// Check to see if any of the axis are being set
char *xPlace = strstr(input, "X");
if (xPlace != NULL)
{
char *start = xPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(xPlace++) != ' ' && xPlace != 0) {}
strncpy(floatHolder, start, xPlace - start);
newX = atof(floatHolder);
}
char *yPlace = strstr(input, "Y");
if (yPlace != NULL)
{
char *start = yPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(yPlace++) != ' ' && yPlace != 0) {}
strncpy(floatHolder, start, yPlace - start);
newY = atof(floatHolder);
}
char *zPlace = strstr(input, "Z");
if (zPlace != NULL)
{
char *start = zPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(zPlace++) != ' ' && zPlace != 0) {}
strncpy(floatHolder, start, zPlace - start);
newZ = atof(floatHolder);
}
char *aPlace = strstr(input, "E");
if (aPlace != NULL)
{
char *start = aPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(aPlace++) != ' ' && aPlace != 0) {}
strncpy(floatHolder, start, aPlace - start);
newA = atof(floatHolder);
}
char *bPlace = strstr(input, "B");
if (bPlace != NULL)
{
char *start = bPlace + 1;
char floatHolder[12];
memset(floatHolder, 0, 12);
while (*(bPlace++) != ' ' && bPlace != 0) {}
strncpy(floatHolder, start, bPlace - start);
newB = atof(floatHolder);
}
// Set the axis to the new settings.
x_pos = newX;
y_pos = newY;
z_pos = newZ;
a_pos = newA;
b_pos = newB;
}
/* Moves the specified axis to the origin. If no axes are specified then all of the axes are centered. */
void parseG28(char *input, int lineNumber)
{
double xTargetMilimeter = x_pos;
double yTargetMilimeter = y_pos;
double zTargetMilimeter = z_pos;
double aTargetMilimeter = a_pos;
double bTargetMilimeter = b_pos;
// If an axis is in this string it means that the specific axis needs to be centered.
if (strstr(input, "X") != NULL)
{
xTargetMilimeter = 0;
}
if (strstr(input, "Y") != NULL)
{
yTargetMilimeter = 0;
}
if (strstr(input, "Z") != NULL)
{
zTargetMilimeter = 0;
}
if (strstr(input, "A") != NULL)
{
aTargetMilimeter = 0;
}
if (strstr(input, "B") != NULL)
{
bTargetMilimeter = 0;
}
// Converts gcode format (Milimeters) to my format (Steps)
int xTargetSteps = xTargetMilimeter * XSTEPSPERMILIMETER;
int yTargetSteps = yTargetMilimeter * YSTEPSPERMILIMETER;
int zTargetSteps = zTargetMilimeter * ZSTEPSPERMILIMETER;
int aTargetSteps = aTargetMilimeter * ASTEPSPERMILIMETER;
int bTargetSteps = bTargetMilimeter * BSTEPSPERMILIMETER;
int xCurrentSteps = x_pos * XSTEPSPERMILIMETER;
int yCurrentSteps = y_pos * YSTEPSPERMILIMETER;
int zCurrentSteps = z_pos * ZSTEPSPERMILIMETER;
int aCurrentSteps = a_pos * ASTEPSPERMILIMETER;
int bCurrentSteps = b_pos * BSTEPSPERMILIMETER;
// Calls the incorrectly named algorithm
bresenham(xCurrentSteps, yCurrentSteps, zCurrentSteps, aCurrentSteps, bCurrentSteps, xTargetSteps, yTargetSteps, zTargetSteps, aTargetSteps, bTargetSteps, 0x000000F0, fout);
}
// The incorrectly named algorithm that approximates a line on 5 dimensions. There are no differences between axis. This allows multiple extruders to be added easily.
void bresenham(int x0, int y0, int z0, int a0, int b0, int x1, int y1, int z1, int a1, int b1, long speed, FILE *fout)
{
int dx, dy, dz, da, db; // Signed distances
int sx, sy, sz, sa, sb; // Signs of the distances
int adx, ady, adz, ada, adb; // Absolute distances
int adx2, ady2, adz2, ada2, adb2; // Absolute distances * 2
int err1, err2, err3, err4; // Error/Deviation Ratio
int xIter, yIter, zIter, aIter, bIter; // Iteration Variables for axes
int x_step, y_step, z_step, a_step, b_step;
dx = x1 - x0;
dy = y1 - y0;
dz = z1 - z0;
da = a1 - a0;
db = b1 - b0;
if (dx < 0)
sx = -1;
else
sx = 1;
if (dy < 0)
sy = -1;
else
sy = 1;
if (dz < 0)
sz = -1;
else
sz = 1;
if (da < 0)
sa = -1;
else
sa = 1;
if (db < 0)
sb = -1;
else
sb = 1;
adx = abs(dx);
ady = abs(dy);
adz = abs(dz);
ada = abs(da);
adb = abs(db);
adx2 = 2 * adx;
ady2 = 2 * ady;
adz2 = 2 * adz;
ada2 = 2 * ada;
adb2 = 2 * adb;
// If x is the major axis
if (adx >= ady && adx >= adz && adx >= ada && adx >= adb)
{
int x_step, y_step, z_step, a_step, b_step;
err1 = ady2 - adx; // err1 = ad2
err2 = adz2 - adx; // err2 = ad3
err3 = ada2 - adx; // err3 = ad4
err4 = adb2 - adx; // err4 = ad5
int i;
for (i = 0; i < adx; i++)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
if (err1 > 0)
{
yIter += sy;
y_step = sy;
err1 -= adx2;
}
if (err2 > 0)
{
zIter += sz;
z_step = sz;
err2 -= adx2;
}
if (err3 > 0)
{
aIter += sa;
a_step = sa;
err3 -= adx2;
}
if (err4 > 0)
{
bIter += sb;
b_step = sb;
err4 -= adx2;
}
err1 += ady2;
err2 += adz2;
err3 += ada2;
err4 += adb2;
xIter += sx;
x_step = sx;
write_to_fiq(x_step, y_step, z_step, a_step, b_step, speed, fout);
}
}
// If y is the major axis
if (ady > adx && ady >= adz && ady >= ada && ady >= adb)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
err1 = adx2 - ady;
err2 = adz2 - ady;
err3 = ada2 - ady;
err4 = adb2 - ady;
int i;
for (i = 0; i < ady; i++)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
if (err1 > 0)
{
xIter += sx;
x_step = sx;
err1 -= ady2;
}
if (err2 > 0)
{
zIter += sz;
z_step = sz;
err2 -= ady2;
}
if (err3 > 0)
{
aIter += sa;
a_step = sa;
err3 -= ady2;
}
if (err4 > 0)
{
bIter += sb;
b_step = sb;
err4 -= ady2;
}
err1 += adx2;
err2 += adz2;
err3 += ada2;
err4 += adb2;
yIter += sy;
y_step = sy;
write_to_fiq(x_step, y_step, z_step, a_step, b_step, speed, fout);
}
}
// If z is the major axis
if (adz > adx && adz > ady && adz >= ada && adz >= adb)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
err1 = ady2 - adz;
err2 = adx2 - adz;
err3 = ada2 - adz;
err4 = adb2 - adz;
int i;
for (i = 0; i < adz; i++)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
if (err1 > 0)
{
yIter += sy;
y_step = sy;
err1 -= adz2;
}
if (err2 > 0)
{
xIter += sx;
x_step = sx;
err2 -= adz2;
}
if (err3 > 0)
{
aIter += sa;
a_step = sa;
err3 -= adz2;
}
if (err4 > 0)
{
bIter += sb;
b_step = sb;
err4 -= adz2;
}
err1 += ady2;
err2 += adx2;
err3 += ada2;
err4 += adb2;
zIter += sz;
z_step = sz;
write_to_fiq(x_step, y_step, z_step, a_step, b_step, speed, fout);
}
}
// If a is the major axis
if (ada > adx && ada > ady && ada > adz && ada >= adb)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
err1 = adx2 - ada;
err2 = ady2 - ada;
err3 = adz2 - ada;
err4 = adb2 - ada;
int i;
for (i = 0; i < ada; i++)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
if (err1 > 0)
{
xIter += sx;
x_step = sx;
err1 -= ada2;
}
if (err2 > 0)
{
yIter += sy;
y_step = sy;
err2 -= ada2;
}
if (err3 > 0)
{
zIter += sz;
z_step = sz;
err3 -= ada2;
}
if (err4 > 0)
{
bIter += sb;
b_step = sb;
err4 -= ada2;
}
err1 += adx2;
err2 += ady2;
err3 += adz2;
err4 += adb2;
aIter += sa;
a_step = sa;
write_to_fiq(x_step, y_step, z_step, a_step, b_step, speed, fout);
}
}
if (adb > adx && adb > ady && adb > adz && adb > ada)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
err1 = adx2 - adb;
err2 = ady2 - adb;
err3 = adz2 - adb;
err4 = ada2 - adb;
int i;
for (i = 0; i < adb; i++)
{
x_step = 0;
y_step = 0;
z_step = 0;
a_step = 0;
b_step = 0;
if (err1 > 0)
{
xIter += sx;
x_step = sx;
err1 -= adb2;
}
if (err2 > 0)
{
yIter += sy;
y_step = sy;
err2 -= adb2;
}
if (err3 > 0)
{
zIter += sz;
z_step = sz;
err3 -= adb2;
}
if (err4 > 0)
{
bIter += sb;
b_step = sb;
err4 -= adb2;
}
err1 += adx2;
err2 += ady2;
err3 += adz2;
err4 += ada2;
bIter += sb;
b_step = sb;
write_to_fiq(x_step, y_step, z_step, a_step, b_step, speed, fout);
}
}
}
// Swaps MSB LSB
#define ByteSwap32(n) \
( ((((unsigned long) n) << 24) & 0xFF000000) | \
((((unsigned long) n) << 8) & 0x00FF0000) | \
((((unsigned long) n) >> 8) & 0x0000FF00) | \
((((unsigned long) n) >> 24) & 0x000000FF) )
// Reverses the Endian, and the Byte Order, and then write to the specified file
void fwrite32(uint32_t val, FILE *f)
{
uint32_t item = ByteSwap32(val);
union
{
uint32_t value;
unsigned char byte[4];
} input, output;
input.value = item;
output.byte[3] = input.byte[0];
output.byte[2] = input.byte[1];
output.byte[1] = input.byte[2];
output.byte[0] = input.byte[3];
fwrite(&output.value, 4, 1, f);
}
// Writes the step data onto a file. ( Along with Speed ) It also writes using fwrite32 so that the endianness, and byte order get turned into fiq format.
void write_to_fiq(int x, int y, int z, int a, int b, long speed, FILE *fout)
{
long time_buffer;
long clear_buffer_0;
long set_buffer_0;
long clear_buffer_1;
long set_buffer_1;
// Sets the buffers to blank.
time_buffer = speed;
clear_buffer_0 = 0b00000000000000000000000000000000;
set_buffer_0 = 0b00000000000000000000000000000000;
clear_buffer_1 = 0b00000000000000000000000000000000;
set_buffer_1 = 0b00000000000000000000000000000000;
// If an axis is not idle, set the set and clear maps to represent this.
if (x != 0)
{
clear_buffer_0 |= X_STEP_BIT;
set_buffer_1 |= X_STEP_BIT;
if (x == STEPPER_NEGATIVE)
{
clear_buffer_0 |= X_DIR_BIT;
clear_buffer_1 |= X_DIR_BIT;
}
else
{
set_buffer_0 |= X_DIR_BIT;
set_buffer_1 |= X_DIR_BIT;
}
}
if (y != 0)
{
clear_buffer_0 |= Y_STEP_BIT;
set_buffer_1 |= Y_STEP_BIT;
if (y == STEPPER_NEGATIVE)
{
clear_buffer_0 |= Y_DIR_BIT;
clear_buffer_1 |= Y_DIR_BIT;
}
else
{
set_buffer_0 |= Y_DIR_BIT;
set_buffer_1 |= Y_DIR_BIT;
}
}
if (z != 0)
{
clear_buffer_0 |= Z_STEP_BIT;
set_buffer_1 |= Z_STEP_BIT;
if (z != STEPPER_NEGATIVE)
{
clear_buffer_0 |= Z_DIR_BIT;