makerbot.h

00001 // Copyright (c) 2013, jake (at) allaboutjake (dot) com
00002 // All rights reserved.
00003 // 
00004 // Redistribution and use in source and binary forms, with or without
00005 // modification, are permitted provided that the following conditions are met:
00006 //     * Redistributions of source code must retain the above copyright
00007 //       notice, this list of conditions and the following disclaimer.
00008 //     * Redistributions in binary form must reproduce the above copyright
00009 //       notice, this list of conditions and the following disclaimer in the
00010 //       documentation and/or other materials provided with the distribution.
00011 //     * The name of the author and/or copyright holder nor the
00012 //       names of its contributors may be used to endorse or promote products
00013 //       derived from this software without specific prior written permission.
00014 // 
00015 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00016 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00017 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00018 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER, AUTHOR, OR ANY CONTRIBUTORS
00019 // BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
00020 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE 
00021 // GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 
00022 // HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
00023 // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT 
00024 // OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00025 
00026 // DESCRIPTION OF FILE:
00027 //
00028 // This is the associated header file and contains the declaration of a C++ 
00029 // object for communicating with a Makerbot over a USB host serial.
00030 //
00031 
00032 #include "mbed.h"
00033 #include "USBHostSerial.h"
00034 #include "rtos.h"
00035 
00036 #ifndef __MAKERBOT_H__
00037 #define __MAKERBOT_H__
00038 
00039 typedef unsigned char uint8_t;
00040 
00041 #define HEADER 0xD5
00042 #define MAXIMUM_PAYLOAD_LENGTH 32
00043 #define MAXIMUM_PACKET_LENGTH (MAXIMUM_PAYLOAD_LENGTH+3)
00044 
00045 // Response Codes
00046 #define HEADER_NOT_FOUND 0xFF
00047 #define GENERIC_PACKET_ERROR 0x80
00048 #define SUCCESS 0x81 
00049 #define ACTION_BUFFER_OVERFLOW 0x82 
00050 #define CRC_MISMATCH 0x83 
00051 #define PACKET_TOO_BIG 0x84
00052 #define COMMAND_NOT_SUPPORTED 0x85 
00053 #define DOWNSTREAM_TIMEOUT 0x87 
00054 #define TOOL_LOCK_TIMEOUT 0x88 
00055 #define CANCEL_BUILD 0x89 
00056 #define ACTIVE_LOCAL_BUILD 0x8A 
00057 #define OVERHEAT_STATE 0x8B 
00058 
00059 // EEPROM Offsets
00060 #define MACHINE_NAME_OFFSET 0x0022
00061 #define TOOL_COUNT_OFFSET 0x0042
00062 #define HBP_PRESENT_OFFSET 0x004C
00063 
00064 const uint8_t crctab[] = {
00065    0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
00066    157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
00067    35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
00068    190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
00069    70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
00070    219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
00071    101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
00072    248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
00073    140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
00074    17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
00075    175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
00076    50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
00077    202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
00078    87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
00079    233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
00080    116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
00081 };
00082 
00083 
00084 class Makerbot { 
00085 
00086 public:
00087 
00088     enum LCDOptions {
00089         CLEAR_EXISTING_MESSAGE = 0x01,
00090         LAST_MESSAGE_IN_GROUP = 0x02,
00091         WAIT_FOR_BUTTON_PRESS = 0x04,     
00092     };
00093 
00094     enum BuildState {
00095         NO_BUILD = 0,
00096         BUILD_RUNNING = 1,
00097         BUILD_FINISHED_NORMALLY = 2,
00098         BUILD_PAUSED = 3,
00099         BUILD_CANCELLED = 4,
00100         BUILD_SLEEPING = 5,
00101         BUILD_STATE_ERROR = 0xFF,
00102     };
00103     
00104     typedef struct {
00105         uint8_t build_state;
00106         uint8_t hours;
00107         uint8_t minutes;
00108         uint32_t line;
00109         uint32_t reserved;
00110     } __attribute__((packed, aligned(1))) MakerbotBuildState;
00111     
00112     // Constructor / Destructor
00113     Makerbot(USBHostSerial* serial);
00114     ~Makerbot();
00115     
00116     int displayMessageToLCD(uint8_t options, uint8_t xPos, uint8_t yPos, uint8_t timeout, char*  message);
00117     float getMakerbotVersion();
00118     char* getMachineName();
00119     int playbackCapture(char* filename);  
00120     int pauseResume();
00121     int abortImmediately();
00122     int getToolCount();
00123     int getToolTemperature(uint8_t toolIndex);
00124     int getToolSetPoint(uint8_t toolIndex);
00125     int getPlatformTemperature(uint8_t toolIndex);
00126     int getPlatformSetPoint(uint8_t toolIndex);
00127     char* getBuildName();
00128     int hasPlatform();
00129     MakerbotBuildState getBuildState();
00130    
00131     void flushInputChannel();
00132     
00133     static char* humanReadableBuildState(Makerbot::MakerbotBuildState state);
00134     
00135 private:
00136     uint8_t CalculateCRC(uint8_t* data, int length);
00137     int getEEPROMByte(uint16_t offset);
00138     
00139     int send_packet(uint8_t* payload, int length);
00140     int recv_packet(uint8_t* payload, int buffer_length);
00141   
00142     USBHostSerial* serial;
00143     Mutex mutex;
00144     
00145     char* machineName;
00146     float machineVersion;
00147     char* buildName;
00148     
00149 };
00150 
00151 
00152 #define DBG_INFO(x, ...) std::printf("[DBG_INFO: %s:%d]"x"\r\n", __FILE__, __LINE__, ##__VA_ARGS__);
00153 
00154 #endif