[arnaud2]

i cant give all the source code but i can give some routines of the program must be 100% free and i dont want that someone make buisness with it

it is integrally writen with mikrobasic (aproximative 2500 lines of code)
90% is only the menu and the display

for driving the motors it use a simple bresenham algorythm

sub procedure do_line

if px>maxx then fail=1 end if
if py>maxy then fail=2 end if
if pz>maxz then fail=3 end if

if px<0 then fail=1 end if
if py<0 then fail=2 end if
if pz<0 then fail=3 end if                                 

dx = ax - px
dy = ay - py
dz = az - pz

dx = dx * stepratio
dy = dy * stepratio
dz = dz * stepratio

stvel = 50000/(stvel1*stepratio)

speed2 = 50000/(speed*stepratio)
speed3 = 0

acc2=acc

coord = 0
coord1 = 0
coord2 = 0

mx = 0
my = 0
mz = 0

inv = -1
ct = 0

   if dx < 0 then portb.6 = 1 dirx = 1  dx = dx*inv
             else portb.6 = 0 dirx = 0  end if
                   
   if dy < 0 then portb.4 = 1 diry = 1  dy = dy*inv
             else portb.4 = 0 diry = 0  end if

   if dz < 0 then portb.2 = 1 dirz = 1  dz = dz*inv
             else portb.2 = 0 dirz = 0  end if
             
   if dx > stepratio then spi_glcd_write_text("   MOVE",15,1,1) end if
   
   if dy > stepratio then spi_glcd_write_text("   MOVE",15,2,1) end if
   
   if dz > stepratio then spi_glcd_write_text("   MOVE",15,3,1) end if

   vm = sqrt((dx*dx)+(dy*dy)+(dz*dz))
   vm2 = vm
   

   
   if speed2 < stvel then speed3 = stvel  vel = 1
                          endvec = acc*((stvel-speed2)/10)
                     else speed3 = speed2  vel = 0
                          endvec = 0
                     end if
                     
      while (vm>0)and(porta.4=1)and(fail=0)
      
      if (portd.1=1)and(portc.0=0)and(menu=1) then spi_glcd_write_text(" PAUSE ",76,6,1)
                                              delay_ms (1000)
                                              while (portd.1=0)and(portc.0=0) wend
                                                 if speed2 < stvel then speed3 = stvel  vel = 1
                                                 else speed3 = speed2  vel = 0
                                                 end if
                                              end if
      
      if vel=1
         then ct = ct +1
              if ct = acc2 then speed3 = speed3-10 ct = 0 end if
              if speed3stvel then speed3 = stvel end if
              end if

      for delay = 0 to speed3
      nop
      next delay

      vm = vm - 1
      if dx<>0 then
      if coord > dx then coord = coord - vm2
                         portb.7 = 1
                         mx = mx +1 end if end if
      coord = coord + dx
      
      if dy<>0 then
      if coord1 > dy then coord1 = coord1 - vm2
                          portb.5 = 1
                          my = my + 1 end if end if
      coord1 = coord1 + dy
      
      if dz<>0 then
      if coord2 > dz then coord2 = coord2 - vm2
                          portb.3 = 1
                          mz = mz + 1 end if end if
      coord2 = coord2 + dz

      delay_us (2)

      portb.3 = 0
      portb.5 = 0
      portb.7 = 0

      wend

   if dirx = 1 then ax = ax + (mx/stepratio)
               else ax = ax - (mx/stepratio)
               end if

   if diry = 1 then ay = ay + (my/stepratio)
               else ay = ay - (my/stepratio)
               end if

   if dirz = 1 then az = az + (mz/stepratio)
               else az = az - (mz/stepratio)
               end if

end sub

if someone have a code to do circular interpolation with G02 and G03 i can integrate into the program

for reading gcode it's verry simple i read it line after line

if the 3 first carracters are G00 then rapid move
if G01 the controled speed move

here is the routine to read the values

at the first i read a comlete line into the mmc (the routine is integred in mikrobasic) ans store it in a array of bytes

sub procedure read_gcode

file = 0

divider = 1

while ((data[pointer]<47) or (data[pointer]>58)) and (pointer > 3)
      pointer = pointer - 1
      wend


if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = (data[pointer]-48) * 100
   end if

pointer = pointer - 1

if (data[pointer]=46) and (pointer>3) then divider = 10
                                           pointer = pointer - 1 end if
        
if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*1000
        pointer = pointer - 1
        end if
        
if (data[pointer]=46) and (pointer > 3) then divider = 100
                                        pointer = pointer - 1 end if
                                        
if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*10000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*100000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*1000000
        pointer = pointer - 1
        end if

if (data[pointer]>47) and (data[pointer]< 58) and (pointer > 3)
   then file = file + (data[pointer]-48)*10000000
        pointer = pointer - 1
        end if
        
if (data[pointer]=45) and (pointer > 3)
   then inv2=1
        pointer = pointer - 1
   else inv2=-1
        end if


file = file /divider

if (data[pointer]=88) and (pointer > 3) then px = file+opx end if

if (data[pointer]=89) and (pointer > 3) then py = file+opy end if

if (data[pointer]=90) and (pointer > 3) then pz = (file*inv2)+opz end if

if (data[pointer]=70) and (pointer > 3) then setspeed = file/10 end if

if (data[pointer]=83) and (pointer > 3) then setrpm = file/100 end if

if (data[pointer]=84) and (pointer > 3) then tool = file/100 end if

file = 0

end sub