feature: build firmware from web interface using firmware/src

backend/app.py

@@ -6,6 +6,7 @@
 from bottle import *
 from serial_manager import SerialManager
 from flash import flash_upload, reset_atmega
+from build import build_firmware
 from filereaders import read_svg, read_dxf
 
 
@@ -72,7 +73,7 @@ class HackedWSGIRequestHandler(WSGIRequestHandler):
     on the BeagleBone and RaspberryPi. The problem is WSGIRequestHandler
     which does a reverse lookup on every request calling gethostbyaddr.
     For some reason this is super slow when connected to the LAN.
-    (adding the the IP and name of the requester in the /etc/hosts file
+    (adding the IP and name of the requester in the /etc/hosts file
     solves the problem but obviously is not practical)
     """
     def address_string(self):
@@ -373,13 +374,33 @@ def flash_firmware_handler(firmware_file=FIRMWARE):
     else:
         print "ERROR: Failed to flash Arduino."
         ret.append('<h2>Flashing Failed!</h2> Check terminal window for possible errors. ')
-        ret. append('Most likely LasaurApp could not find the right serial port.<br><a href="/">return</a><br><br>')
+        ret.append('Most likely LasaurApp could not find the right serial port.')
+        ret.append('<br><a href="/flash_firmware/'+firmware_file+'">try again</a> or <a href="/">return</a><br><br>')
         if os.name != 'posix':
             ret. append('If you know the COM ports the Arduino is connected to you can specifically select it here:')
             for i in range(1,13):
                 ret. append('<br><a href="/flash_firmware?port=COM%s">COM%s</a>' % (i, i))
         return ''.join(ret)
-
+
+
+@route('/build_firmware')
+def build_firmware_handler():
+    ret = []
+    buildname = "LasaurGrbl_from_src"
+    firmware_dir = os.path.join(resources_dir(), 'firmware')
+    source_dir = os.path.join(resources_dir(), 'firmware', 'src')
+    return_code = build_firmware(source_dir, firmware_dir, buildname)
+    if return_code != 0:
+        print ret
+        ret.append('<h2>FAIL: build error!</h2>')
+        ret.append('Syntax error maybe? Try builing in the terminal.')
+        ret.append('<br><a href="/">return</a><br><br>')
+    else:
+        print "SUCCESS: firmware built."
+        ret.append('<h2>SUCCESS: new firmware built!</h2>')
+        ret.append('<br><a href="/flash_firmware/'+buildname+'.hex">Flash Now!</a><br><br>')
+    return ''.join(ret)
+
 
 @route('/reset_atmega')
 def reset_atmega_handler():
@@ -501,8 +522,10 @@ def svg_upload():
 argparser.add_argument('-v', '--version', action='version', version='%(prog)s ' + VERSION)
 argparser.add_argument('-p', '--public', dest='host_on_all_interfaces', action='store_true',
                     default=False, help='bind to all network devices (default: bind to 127.0.0.1)')
-argparser.add_argument('-f', '--flash', dest='build_and_flash', action='store_true',
+argparser.add_argument('-f', '--flash', dest='flash', action='store_true',
                     default=False, help='flash Arduino with LasaurGrbl firmware')
+argparser.add_argument('-b', '--build', dest='build_flash', action='store_true',
+                    default=False, help='build and flash from firmware/src')
 argparser.add_argument('-l', '--list', dest='list_serial_devices', action='store_true',
                     default=False, help='list all serial devices currently connected')
 argparser.add_argument('-d', '--debug', dest='debug', action='store_true',
@@ -672,12 +695,28 @@ def svg_upload():
         debug(True)
         if hasattr(sys, "_MEIPASS"):
             print "Data root is: " + sys._MEIPASS             
-    if args.build_and_flash:
+    if args.flash:
         return_code = flash_upload(SERIAL_PORT, resources_dir(), FIRMWARE, HARDWARE)
         if return_code == 0:
             print "SUCCESS: Arduino appears to be flashed."
         else:
             print "ERROR: Failed to flash Arduino."
+    elif args.build_flash:
+        # build
+        buildname = "LasaurGrbl_from_src"
+        firmware_dir = os.path.join(resources_dir(), 'firmware')
+        source_dir = os.path.join(resources_dir(), 'firmware', 'src')
+        return_code = build_firmware(source_dir, firmware_dir, buildname)
+        if return_code != 0:
+            print ret
+        else:
+            print "SUCCESS: firmware built."
+            # flash
+            return_code = flash_upload(SERIAL_PORT, resources_dir(), FIRMWARE, HARDWARE)
+            if return_code == 0:
+                print "SUCCESS: Arduino appears to be flashed."
+            else:
+                print "ERROR: Failed to flash Arduino."
     else:
         if args.host_on_all_interfaces:
             run_with_callback('', NETWORK_PORT)

backend/build.py

@@ -0,0 +1,94 @@
+# Super Awesome LasaurGrbl python flash script.
+# 
+# Copyright (c) 2011 Nortd Labs
+# Open Source by the terms of the Gnu Public License (GPL3) or higher.
+
+import os, sys, subprocess, shutil
+
+# Make sure you have the Arduino IDE installed (we've tested this on 022 and newer).
+# While build.py does not use the IDE directly it makes use of its tool chain.
+# On Linux all you need is the "arduino-core" package.
+# Please verify the following locations are correct for you platform:
+
+if sys.platform == "darwin":  # OSX
+    AVRDUDEAPP    = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/bin/avrdude"
+    AVRGCCAPP     = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/bin/avr-gcc"
+    AVROBJCOPYAPP = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/bin/avr-objcopy"
+    AVRSIZEAPP    = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/bin/avr-size"
+    AVROBJDUMPAPP = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/bin/avr-objdump"
+    AVRDUDECONFIG = "/Applications/Arduino.app/Contents/Resources/Java/hardware/tools/avr/etc/avrdude.conf"
+
+elif sys.platform == "win32": # Windows
+    AVRDUDEAPP    = "C:\\arduino\\hardware\\tools\\avr\\bin\\avrdude"
+    AVRGCCAPP     = "C:\\arduino\\hardware\\tools\\avr\\bin\\avr-gcc"
+    AVROBJCOPYAPP = "C:\\arduino\\hardware\\tools\\avr\\bin\\avr-objcopy"
+    AVRSIZEAPP    = "C:\\arduino\\hardware\\tools\\avr\\bin\\avr-size"
+    AVROBJDUMPAPP = "C:\\arduino\\hardware\\tools\\avr\\bin\\avr-objdump"
+    AVRDUDECONFIG = "C:\\arduino\\hardware\\tools\\avr\\etc\\avrdude.conf"
+
+elif sys.platform == "linux" or sys.platform == "linux2":  #Linux
+    AVRDUDEAPP    = "avrdude"
+    AVRGCCAPP     = "avr-gcc"
+    AVROBJCOPYAPP = "avr-objcopy"
+    AVRSIZEAPP    = "avr-size"
+    AVROBJDUMPAPP = "avr-objdump"
+    AVRDUDECONFIG = "/etc/avrdude.conf"
+
+
+
+# =============================================================================
+# No need to edit anything below this line
+
+
+def build_firmware(source_dir, firmware_dir, firmware_name):
+    ret = 0
+    cwd_temp = os.getcwd()
+    os.chdir(source_dir)
+
+    DEVICE = "atmega328p"
+    CLOCK = "16000000"
+    BUILDNAME = firmware_name
+    OBJECTS  = ["main", "serial", "gcode", "planner", "sense_control", "stepper"]
+
+    COMPILE = AVRGCCAPP + " -Wall -Os -DF_CPU=" + CLOCK + " -mmcu=" + DEVICE + " -I. -ffunction-sections" + " --std=c99"
+
+    for fileobj in OBJECTS:
+        command = '%(compile)s -c %(obj)s.c -o %(obj)s.o' % {'compile': COMPILE, 'obj':fileobj}
+        ret += subprocess.call(command, shell=True)
+
+    command = '%(compile)s -o main.elf %(alldoto)s  -lm' % {'compile': COMPILE, 'alldoto':".o ".join(OBJECTS)+'.o'}
+    ret += subprocess.call(command, shell=True)
+
+    command = '%(objcopy)s -j .text -j .data -O ihex main.elf %(product)s.hex' % {'objcopy': AVROBJCOPYAPP, 'obj':fileobj, 'product':BUILDNAME}
+    ret += subprocess.call(command, shell=True)
+
+    command = '%(size)s *.hex *.elf *.o' % {'size':AVRSIZEAPP}
+    ret += subprocess.call(command, shell=True)
+
+    # os.system('%(objdump)s -t -j .bss main.elf' % {'objdump':AVROBJDUMPAPP})
+
+    if ret != 0:
+        os.chdir(cwd_temp)
+        return "Error: failed to build"
+
+    try:
+        ## clean after upload
+        print "Cleaning up build files."
+        for fileobj in OBJECTS:
+            f = '%s.o' % (fileobj)
+            if os.path.isfile(f):
+                os.remove(f)
+        if os.path.isfile('main.elf'):
+            os.remove('main.elf')
+
+        ## move firmware hex file
+        print "Moving firmware to standard location."
+        firmware_src = firmware_name+'.hex'
+        firmware_dst = os.path.join(firmware_dir, firmware_src)
+        shutil.move(firmware_src, firmware_dst)
+    finally:
+        #restore previous cwd
+        os.chdir(cwd_temp)
+
+    return 0
+

backend/flash.py

@@ -24,8 +24,8 @@ def flash_upload(serial_port, resources_dir, firmware_file, hardware='x86'):
             AVRDUDECONFIG = os.path.join(resources_dir, "firmware/tools_osx/avrdude.conf")
 
         elif sys.platform == "win32": # Windows
-            AVRDUDEAPP    = os.path.join(resources_dir, "firmware/tools_win/avrdude")
-            AVRDUDECONFIG = os.path.join(resources_dir, "firmware/tools_win/avrdude.conf")
+            AVRDUDEAPP    = os.path.join(resources_dir, "firmware", "tools_win", "avrdude")
+            AVRDUDECONFIG = os.path.join(resources_dir, "firmware", "tools_win", "avrdude.conf")
 
         elif sys.platform == "linux" or sys.platform == "linux2":  #Linux
             AVRDUDEAPP    = os.path.join(resources_dir, "/usr/bin/avrdude")

firmware/src/NOTES.md

@@ -0,0 +1,50 @@
+
+
+Beam Dynamics Contemplations
+-----------------------------
+
+### intensity assumptions
+intensity 100% = 100 pulses per 32us
+intensity 20%  =  20 pulses per 32us
+pulses_per_32us * 31250 = pulses_per_seconds
+intensity 100% = 3125000 pulses per seconds
+
+!! but pulse length not a good measure, because beginning of the pulse most energy !!
+
+
+### nominal
+nominal_intensity
+nominal_steps_per_minute = nominal_feedrate * CONFIG_STEPS_PER_MM
+
+nominal_pulses_per_second = nominal_intensity * 31250
+nominal_step_dur_in_seconds = 60/nominal_steps_per_minute
+nominal_pulses_per_step = nominal_step_dur_in_seconds / nominal_pulses_per_second
+
+### actual
+steps_per_minute
+step_dur_in_seconds = 60/steps_per_minute
+pulses_per_step = step_dur_in_seconds / pulses_per_second
+
+
+
+### Q: what intensity so pulses_per_step == nominal_pulses_per_step?
+
+pulses_per_step == nominal_pulses_per_step
+step_dur_in_seconds / pulses_per_second == nominal_step_dur_in_seconds / nominal_pulses_per_second
+step_dur_in_seconds / (intensity * 31250) == nominal_step_dur_in_seconds / (nominal_intensity * 31250)
+(step_dur_in_seconds/31250) = (intensity*nominal_step_dur_in_seconds) / (nominal_intensity * 31250)
+
+intensity = (step_dur_in_seconds/31250) / ((nominal_step_dur_in_seconds) / (nominal_intensity * 31250))
+intensity = (step_dur_in_seconds/31250) * ((nominal_intensity * 31250) / (nominal_step_dur_in_seconds))
+intensity = (step_dur_in_seconds * nominal_intensity) / nominal_step_dur_in_seconds
+intensity = (60/steps_per_minute * nominal_intensity) / 60/nominal_steps_per_minute
+intensity = ((60/steps_per_minute) * nominal_intensity) / (60/(nominal_feedrate*CONFIG_STEPS_PER_MM))
+intensity = (nominal_intensity/steps_per_minute) / (1/(nominal_feedrate*CONFIG_STEPS_PER_MM))
+intensity = (nominal_intensity/steps_per_minute) * (nominal_feedrate*CONFIG_STEPS_PER_MM)
+intensity = (nominal_intensity * nominal_feedrate * CONFIG_STEPS_PER_MM) / steps_per_minute
+
+intensity = (current_block->nominal_laser_intensity * current_block->nominal_speed * CONFIG_STEPS_PER_MM) / steps_per_minute
+
+!! we actually need this based on the actual head speed !!
+
+adjusted_intensity = nominal_intensity * (nominal_speed/actual_speed)

firmware/src/README.md

@@ -0,0 +1,71 @@
+
+Lasersaur - Open Source Laser cutter
+-------------------------------------
+
+This is the firmware we use for the Lasersaur. It's a slightly modified version of grbl. It's what runs on an Arduino Uno and takes g-code files to controls the stepper motors accordingly.
+
+How to get this firmware onto an Arduino Uno? There is a python script that will do the trick. Edit the "flash.py" and follow the instruction in it. You will need a USB cable and the Arduino IDE.
+
+For more information see the [Lasersaur Software Setup Guide](http://labs.nortd.com/lasersaur/manual/software_setup).
+
+**DISCLAIMER:** Please be aware that operating a DIY laser cutter can be dangerous and requires full awareness of the risks involved. You build the machine and you will have to make sure it is safe. The instructions of the Lasersaur project and related software come without any warranty or guarantees whatsoever. All information is provided as-is and without claims to mechanical or electrical fitness, safety, or usefulness. You are fully responsible for doing your own evaluations and making sure your system does not burn, blind, or electrocute people.
+
+
+Grbl - An embedded g-code interpreter and motion-controller for the Arduino/AVR328 microcontroller
+--------------
+
+For more information [on Grbl](https://github.com/simen/grbl)
+
+
+TODO
+------
+- g55 wrong offset
+- homing cycle cannot recover out of bounds when limit already triggering
+
+mbed merger notes
+------------------
+- removed
+  - inverse mode
+  - plane selection, G17, G18, G19
+  - arc support, G2, G3
+  - M112, use M2 instead
+
+- laser intensity, 255 or 1.0
+- trunc() function in gcode parser
+- NEXT_ACTION_STOP, newer code
+- direction_bits to be uint8_t
+- nominal_laser_intensity to be uint8_t
+- rate_delta to be int32
+- SystemCoreClock/4 to be F_CPU
+- out_bits to be uint8_t
+- static volatile int busy; no need
+- stepper_init
+- stepper_synchronize
+- stepper_wake_up
+- stepper_go_idle
+- bit masking
+
+TODO: dwell, cancel, coordinate systems
+      proportional laser intensity
+      check for: limits, door, power (vrel), chiller
+
+
+Coordinate Systems
+------------------
+
+- use G10 L20 P1 to make the current position the origin in the G54 coordinate system, P2 for the G55 coord system
+- select coord system with G54, G55, G56
+- usage scenario:
+  - use G10 L20 P1 in homing cycle to set the physical home position, associated with G54
+  - use G10 L2 P2 X10 Y10 to set a standard offset from the home, associated with the G55 coords
+  - use G10 L20 P3 (or G10 L2 P3 X__ Y1__) to set a temporary origin, associated with G56
+
+stop, pause, resume
+--------------------
+stop on: power, chiller, limit, \03 control char
+stop resume on: \02 control char
+pause on: door, resume on door close
+
+
+
+

firmware/src/beaglebone_flash.py

@@ -0,0 +1,28 @@
+# Super Awesome LasaurGrbl python flash script.
+# 
+# Copyright (c) 2011 Nortd Labs
+# Open Source by the terms of the Gnu Public License (GPL3) or higher.
+
+import os, sys
+
+
+# Make sure you have avrdude installed on the beaglebone
+# opkg install libreadline5_5.2-r8.9_armv4.ipk
+# opkg install avrdude_5.10-r1.9_armv7a.ipk
+# get the packages from http://www.angstrom-distribution.org/repo/
+
+AVRDUDEAPP    = "avrdude"
+AVRDUDECONFIG = "/etc/avrdude.conf"
+SERIAL_PORT = "/dev/ttyO1"
+DEVICE = "atmega328p"
+PROGRAMMER = "arduino"    # use this for bootloader
+SERIAL_OPTION = '-P %(port)s' % {'port':SERIAL_PORT}
+BITRATE = "115200"
+BUILDNAME = "LasaurGrbl"
+
+# use beaglebone gpio2_7 to reset the atmege here
+
+os.system('%(dude)s -c %(programmer)s -b %(bps)s %(serial_option)s -p %(device)s -C %(dudeconf)s -Uflash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'serial_option':SERIAL_OPTION, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
+# os.system('%(dude)s -c %(programmer)s -b %(bps)s -P %(port)s -p %(device)s -C %(dudeconf)s -B 10 -F -U flash:w:%(product)s.hex:i' % {'dude':AVRDUDEAPP, 'programmer':PROGRAMMER, 'bps':BITRATE, 'port':SERIAL_PORT, 'device':DEVICE, 'dudeconf':AVRDUDECONFIG, 'product':BUILDNAME})
+
+