No license is granted to redistribute this work under any circumstance.
Todo:
- read boot button as input and display status
- parse self.url and use host portion to address microcontroller instead of hard coded uri
- calculate gcd in ui and firmware planners
- generate steps in stepper driver interrupt handler on micro
- implement queue between planner and stepper driver interrupt handler
- implement rate limiting in UI for geometry send
- implement SD support in firmware
- FAT / exFAT support for SD cards in firmware
- browse SD over HTTP in firmware
- UI for browsing SD in GUI
- read and display ADC values from micro
- read and display timer from micro
- read http headers, especially accept-encoding and content-length and others.
- integrate arcfinder
- get 2D image viewer based on a bitmapped memory region working in GUI
- get 3d viewer module based on kiss3d / miniquad working for CAD
- implement ramp_maker in firmware from https://github.com/braun-embedded/ramp-maker/blob/main/examples/basic.rs
- implement wifi AP mode, and configuration screens for connecting to other wifi
- simplify and cargo-ize build system
- rustwasm/wasm-bindgen#2000 WebXR bindings for WASM
- implement ETag / if-none-match for wasm based on build ( https://developer.mozilla.org/en-US/docs/Web/HTTP/Caching#etagif-none-match )
- enable https in firmware / UI with pinned cert, maybe still load UI via HTTP
- implement relay board support
- implement single axis board support
- implement 4 axis board support
- implement 4 axis c-6 board support
- implement endstop support
- store cryptographic key using wasm-cookies crate
- implement mppt algorithm in firmware
- implement topleveling algorithm in firmware
- include charge curves for common chemistries
- run flamegraphs on UI and firmware, and add to automated tests
- implement tree control for CAD window
- implement add / remove buttons for CAD tree control
- integrate https://surrealdb.com/
- integrate cavalier contours
- develop datastructure to represent idealized microcontroller
- send and receive Rusty Object Notation inside HTTP messages
- Easy setup
- Networked and secure
- Modular
- High quality motion synchronization for steppers and three phase servo motors
- Broad support for MCUs of different models and from different vendors
- Zero memory errors (Buffer Overflow is the most common CVE for SCADA systems according to Industrial Control Systems Vulnerabilities Statistics)
- Plasma, Laser, Router, Mill, Operator, Building support
- Versioned interfaces with feature discovery
Initial implementation for GUI and MCU
- High security and mission critical infrastructure automation
- Internet connected automation
MIT / BSD / Apache
- English Metric Units EMUs are used for coordinates in vector, raster, and voxel space. The EMU is a virtual unit to bridge centimeters, inches, and points. One inch equates to 914400 EMUs and a centimeter is 360000. The number 914400 is calculated by the least common multiples: 100 and 254, times 72. This ensures that we can convert back and forth between integer 100th inches, millimeters and pixels without any rounding errors.
- A Geometrical Understanding of Matrices
- Shape Interrogation for Computer Aided Design and Manufacturing
- Klipper's multi-MCU messaging protocol and MCU commands
sudo dnf groupinstall "C Development Tools and Libraries" "Development Tools"
sudo dnf install patch uglifyjs zstd libudev-devel glib-devel gdk-pixbuf2-devel atk-devel cairo-devel pango-devel gtk3-devel
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stdarg.h /usr/include/stdarg.h
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stddef.h /usr/include/stdbdef.h
sudo ln -s /usr/lib/gcc/x86_64-redhat-linux/12/include/stdbool.h /usr/include/stdbool.h
cargo install cargo-flash
cargo install probe-run
cargo install flip-link
cargo install cargo-embed
rustup target install thumbv6m-none-eabi
rustup target install arm-unknown-linux-gnueabihf
rustup target install x86_64-pc-windows-gnu
rustup target install x86_64-apple-darwin
rustup default nightly
scripts/build_demo_web.sh --release
cargo build --target x86_64-pc-windows-gnu --release
follow osxcross setup here
The genmesh crate provides primitives and CSG operations
- Bresenham's algorithm
- GJK (Youtube)
- curve tesselation
- calculate normal vector of line, angle, triangle
- identify inside and outside of closed polylines (i.e. part and waste)
- shape offsetting
- https://raphlinus.github.io/curves/2022/09/09/parallel-beziers.html (from here: https://news.ycombinator.com/item?id=32784491 code here: linebender/kurbo#230)
- robust path operations: raphlinus/raphlinus.github.io#79
- https://github.com/linebender/kurbo docs: https://raphlinus.github.io/curves/2023/04/18/bezpath-simplify.html
- arbitrary 2D shape packing, shared surfaces
- https://crates.io/crates/space-filling
- https://github.com/prusa3d/PrusaSlicer/tree/master/src/libnest2d
- https://github.com/tamasmeszaros/libnest2d
- https://github.com/Jack000/SVGnest
- https://github.com/Yisaer/Nest4J
- https://www.sciencedirect.com/science/article/abs/pii/S0377221706001639
- https://www.cs.stir.ac.uk/~goc/papers/EffectiveHueristic2DAOR2013.pdf
- https://github.com/MasumBhuiyan/2D-Irregular-Cutting-Stock-Algorithm
- https://github.com/Pseudomanifold/bin-packing-heuristics
- https://github.com/whitegreen/Dalsoo-Bin-Packing
- https://github.com/Pseudomanifold/bin-packing-heuristics
- https://github.com/cicirello/InteractiveBinPacking
- https://github.com/alikhanlab/wirecut-optimization
- https://www.sciencedirect.com/science/article/pii/S240589631930864X
- https://ieeexplore.ieee.org/document/8796818
- https://iopscience.iop.org/article/10.1088/1742-6596/2181/1/012002/meta
- https://www.researchgate.net/publication/330705071_Obstruction_map_local_search_solution_for_2D_irregular_bin_packing_problem_with_cache_acceleration
- https://www.researchgate.net/publication/362605146_Two-dimensional_irregular_packing_problems_A_review/fulltext/62f3d8e979550d6d1c6fcf99/Two-dimensional-irregular-packing-problems-A-review.pdf?origin=publication_detail
- https://www.faqgit.com/repositories/albert-espin/knapsack-packing?id=85733
- path optimization (distance, spindle load, tolerance, velocity, temperature, etc)
- https://crates.io/crates/optimization_engine
- https://crates.io/crates/gomez
- https://crates.io/crates/newton_rootfinder
- https://crates.io/crates/levenberg-marquardt
- https://github.com/djrakita/optima_toolbox
- https://www.youtube.com/watch?v=jvPPXbo87ds
- https://en.wikipedia.org/wiki/Root-finding_algorithms
- motion ramping
- motion smoothing using a lookahead window
- contour tracing from raster to vector
- raster2svg uses the contour_tracing library.
- marching squares creates contour lines from a heightmap of Vec<Vec<i16>>
- coordinate transformations
- https://blend2d.com/research/simplify_and_offset_bezier_curves.pdf
- https://mecatronyx.gitlab.io/opencnc/opencn/CNC_Path_Planning_Algorithms/Geometric_Operations/Geometric_Operations.html
- Solvespace's geometric solver is basically these files:
- timer
- analog to digital converter
- encoders
- command processor
- interrupt handler
- GPIO pin
- Wiznet W5500
- https://crates.io/crates/w5500
- https://crates.io/crates/w5500-hl
- https://crates.io/crates/w5500-dhcp
- https://crates.io/crates/w5500-dns
- https://crates.io/crates/w5500-ll
- https://crates.io/crates/w5500-mqtt
- https://crates.io/crates/w5500-sntp
- https://crates.io/crates/w5500-tls
- https://crates.io/crates/w5500-http
- https://crates.io/crates/w5500-https
- https://crates.io/crates/w5500-ntp
- https://crates.io/crates/w5500-regsim
- ENC28J60
- ESP32
- https://crates.io/crates/lib-rv32-mcu -- risc-v emulator
- accellerometer
- [3 phase driver (triple H bridge)]
- [stepper driver (dual H bridge)]
- [isolation ICs]
- [camera IC]
- [mems mic]
- [relay / SSR]
- voltage regulator(s)
- ethernet jack (w/ or w/o integrated coils - poe)
- passives (caps, resistors, diodes, fuses)
- connectors (wago)
- SD / EMMC
- stepper motors
- three phase servo motors
- Full H bridge with high and low side driver control
- current sensing
- voltage sensing
- isolation for GPIO, ADC, I2C, SPI, RS232/422/485, etc
- buck / boost
- PoE power supply (up to 48v, 100W - would be nice to push to non-standard 400W)
- relay / SSR driver
- ethernet to SPI adapter using w5500
- low, mid, high power three phase motor controller / inverter / vfd for open and closed loop w/ GPIO
- low, mid power stepper controller for open and closed loop w/ GPIO
- toolhead controller w/ serial / modbus, thc, capacitive sensing, accellerometer
- torch / laser / vfd controller
- dc-dc mppt power conditioner for solar panels up to 400W (MPPT PoE sender?)
- 110/220v remote controlled receptical
- multi-chemistry battery management system
- remote sensors / actuators: NIR, temp / humidity, RFID, accellerometer, PIN pad, deadbolt, solenoid, liquid and gas flow, current, voltage,
- camera, mic, audio output
- PoE network motion controller
- Actuator(s)
- Sensor(s)
- Coordinate space (cartesian, spherical, polar, hyperbolic, etc)
- Relationship between actuator and movement in coordinate space in EMUs
- Basic CAD representation built-in
- Axes in coordinate space relationships to each other
- control loops
- communication
- synchronization
- consumables
- Machines
- Operators
- Security, safety, and authorization
- Coordination
- log into app / web app / control backplane
- add public key of device to control backplane (via QR code)
- add public key of control backplane to device (via Wifi / BT)
- each device can only contain one control plane key?
- device connects to control backplane https://github.com/rapiz1/rathole and starts receiving encrypted messages
- https://github.com/bluez/bluer
- https://wiki.pine64.org/wiki/PineCone
- https://github.com/jonas-schievink/rubble
- https://crates.io/crates/chacha20poly1305
- SVG
- DXF
- GCode
- https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823374
- https://github.com/zethra/gcode-rs
- https://github.com/Michael-F-Bryan/gcode-rs
- https://reprap.org/wiki/G-code
- https://en.wikipedia.org/wiki/G-code
- https://en.wikipedia.org/wiki/Gerber_format#RS-274X
- https://www.ucamco.com/en/gerber
- https://lib.rs/crates/nom-reprap-response
- https://crates.io/crates/grbli
- Bitmaps / rasters
- STL
- STEP / IGES - https://github.com/ricosjp/ruststep
- Blender
-
for 2D and 3D:
- merge points closer than some minimum distance
- interpolate arcs and curves, otherwise tesselate complex shapes
- sort points and lines by connectedness
-
for 3D:
- fix inverted normals
- detect and fix manifoldness
For 3D toolpathing operations, this means we will need an idea of the shape of the working material:
- https://github.com/sebcrozet/cordic
- https://github.com/francisrstokes/githublog/blob/main/2024/5/10/cordic.md
- https://core.ac.uk/works/8439118
- https://github.com/nical/lyon
- https://github.com/pcwalton/pathfinder
- http://kiss3d.org/
- https://crates.io/crates/earcutr
- https://www.klipper3d.org/Protocol.html
- https://www.klipper3d.org/MCU_Commands.html
- http://linuxcnc.org/docs/2.5/html/code/NML_Messages.html
- http://linuxcnc.org/docs/stable/html/config/python-interface.html
- https://crates.io/crates/linuxcnc-hal
- Buffered:
- Most moves
- Unbuffered:
- Estop (both directions)
- Jog (from pendant, to motors)
- Torch Height Control
We will calculate the timer offsets from system time for each of our multiple microcontrollers so that we can accurately timestamp each command for execution:
- https://github.com/oxidecomputer/tlvc
- https://github.com/oxidecomputer/rusb
- https://crates.io/crates/dryoc
- https://github.com/smoltcp-rs/smoltcp
- https://github.com/tokio-rs/tokio
- https://github.com/berkowski/tokio-serial
- https://subscription.packtpub.com/book/application-development/9781788399487/11/ch11lvl1sec51/asynchronous-i-o-in-rust
- https://crates.io/crates/defmt
- https://crates.io/crates/defmt-serial
- https://gitlab.com/susurrus/serialport-rs
- https://lib.rs/crates/net-serial-console
- https://github.com/zethra/cinder
- https://crates.io/crates/embedded-websocket
- https://github.com/drogue-iot/embedded-tls
- https://github.com/smoltcp-rs/smoltcp
- https://github.com/zethra/wasp
- https://github.com/zethra/wasp_teensy32
- https://github.com/mdtusz/wasp
- https://github.com/rust-embedded/embedded-hal
- https://github.com/jonlamb-gh/oxcc
- https://crates.io/crates/embedded-graphics
- https://github.com/rust-iot/radio-hal
- https://github.com/smart-leds-rs
- https://github.com/rust-embedded-community/usb-device
- https://github.com/rust-embedded-community/embedded-nal
- https://crates.io/crates/cam-geom
- https://crates.io/crates/device-driver
- https://crates.io/crates/bitbang-hal
- https://crates.io/crates/ftdi-embedded-hal
- https://crates.io/crates/bounded-registers
- https://crates.io/crates/tock-registers
- https://crates.io/crates/adskalman
- https://crates.io/crates/atomic
- https://crates.io/crates/bbqueue
- https://crates.io/crates/debouncr
- https://crates.io/crates/embedded-crc-macros
- https://crates.io/crates/heapless
- https://crates.io/crates/irq
- https://github.com/tarcieri/micromath
- https://crates.io/crates/num-format
- https://crates.io/crates/scapegoat
- Monitor temperature sensors, encoders, estops, and various other inputs
- Register a configurable action to execute on event
- Register a configurable time to trigger the event (optionally repeating)
- Commands to configure all this
- https://github.com/drogue-iot/ector
We will sometimes have to speak other protocols to peripherals, necessitating commands and MCU facilities for doing so:
- https://surrealdb.com/
- Machines
- Machine ID
- Machine type
- Machine owner
- Date of manufacture
- Machine on hours
- EMUs moved, each axis
- Services
- Time of service
- Type of service
- Tool serviced
- People
- First name
- Last name
- Shipping address
- Billing address
- Toolpaths
- Unique ID
- Polylines - https://crates.io/crates/polyline ?
- Project Name
- https://minus-ze.ro/posts/flattening-bezier-curves-and-arcs/
- https://rust-unofficial.github.io/patterns/intro.html
- https://github.com/rust-embedded/awesome-embedded-rust
- https://github.com/armyofevilrobots/aoer-plotty-rs
- https://mecatronyx.gitlab.io/opencnc/opencn/CNC_Path_Planning_Algorithms/Geometric_Operations/Geometric_Operations.html
- https://github.com/distrap/lambdadrive/
- https://github.com/orgs/distrap/repositories
- http://www.hashmismatch.net/pragmatic-bare-metal-rust/
- http://blog.japaric.io/fearless-concurrency/
- https://docs.rust-embedded.org/discovery/index.html
- https://blend2d.com/research/simplify_and_offset_bezier_curves.pdf
- Bravais lattices In geometry and crystallography, a Bravais lattice is a category of translative symmetry groups (also known as lattices). There are 5 Bravais lattices in two dimensions, 14 Bravais lattices in three dimensions, and 64 Bravais lattices in four dimensions. Of the 64, 23 are primitive and 41 are centered, 10 are split into enantiomorphic pairs. All crystalline materials (not including quasicrystals) must, by definition, fit into one of these arrangements. For convenience a Bravais lattice is depicted by a unit cell which is a factor 1, 2, 3, or 4 larger than the primitive cell. Depending on the symmetry of a crystal or other pattern, the fundamental domain is again smaller, up to a factor 48.