changeset
Initial code from reprappro Marlin repository
Sat, 07 Nov 2015 13:23:07 +0100
- author
- mbayer
- date
- Sat, 07 Nov 2015 13:23:07 +0100
- changeset 0
- 2c8ba1964db7
- child 1
- b584642d4f58
Initial code from reprappro Marlin repository
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,3 @@ +*.o +*.~ +applet/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.hgignore Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,5 @@ +syntax: glob + +*.o +*.~ +applet/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/COPYING Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,188 @@ +GNU GENERAL PUBLIC LICENSE + +Version 3, 29 June 2007 + +Copyright © 2007 Free Software Foundation, Inc. <http://fsf.org/> + +Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. +Preamble + +The GNU General Public License is a free, copyleft license for software and other kinds of works. + +The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. 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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Configuration.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,440 @@ +#ifndef CONFIGURATION_H +#define CONFIGURATION_H + +// ============================================================================== + +// For instructions on setting these constants, see: +// Mendel: http://reprap.org/wiki/RepRapPro_Mendel_maintenance +// Huxley: http://reprap.org/wiki/RepRapPro_Huxley_maintenance + +// Uncomment ONE of the next three lines - the one for your RepRap machine +//#define REPRAPPRO_HUXLEY +//#define REPRAPPRO_MENDEL //Legacy Mendel +#define REPRAPPRO_MENDEL2 // Mono Mendel + +// Uncomment ONE of the next two lines - the one for your master controller electronics +#define REPRAPPRO_MELZI +//#define REPRAPPRO_SANGUINOLOLU + +// Uncomment ONE of the next two lines - the one for the series resistors on your controller +#define SERIAL_R 4700 +//#define SERIAL_R 10000 + + +// ------------------------------------------------------------------------------- + +#ifndef REPRAPPRO_HUXLEY +#ifndef REPRAPPRO_MENDEL +#ifndef REPRAPPRO_MENDEL2 +#error Uncomment one of #define REPRAPPRO_HUXLEY, REPRAPPRO_MENDEL, or REPRAPPRO_MENDEL2 at the start of the file Configuration.h +#endif +#endif +#endif + +#ifndef REPRAPPRO_MELZI +#ifndef REPRAPPRO_SANGUINOLOLU +#error Uncomment one of #define REPRAPPRO_MELZI or REPRAPPRO_SANGUINOLOLU at the start of the file Configuration.h +#endif +#endif + +#ifndef SERIAL_R +#error Uncomment one of #define SERIAL_R 10000 or 4700 at the start of the file Configuration.h +#endif + +// ============================================================================== + +// Uncomment this if you are experimenting, know what you are doing, and want to switch off some safety +// features, e.g. allow extrude at low temperature etc. +//#define DEVELOPING + +// This configurtion file contains the basic settings. +// Advanced settings can be found in Configuration_adv.h +// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration + +//User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup. +//Implementation of an idea by Prof Braino to inform user that any changes made +//to THIS file by the user have been successfully uploaded into firmware. +#define STRING_VERSION_CONFIG_H "2014-06-02-MB" //Personal revision number for changes to THIS file. +#define STRING_CONFIG_H_AUTHOR "NEO" //Who made the changes. + +// This determines the communication speed of the printer +//#define BAUDRATE 250000 +#define BAUDRATE 115200 + +//// The following define selects which electronics board you have. Please choose the one that matches your setup +// Sanguinololu 1.2 and above = 62 +// Melzi 63 + +#ifdef REPRAPPRO_SANGUINOLOLU +#define MOTHERBOARD 62 +#endif + +#ifdef REPRAPPRO_MELZI +#define MOTHERBOARD 63 +#endif + + + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +// Set this if you want to define the constants in the thermistor circuit +// and work out temperatures algebraically - added by AB. + +// See http://en.wikipedia.org/wiki/Thermistor#B_or_.CE.B2_parameter_equation + +// BETA is the B value +// RS is the value of the series resistor in ohms +// R_INF is R0.exp(-BETA/T0), where R0 is the thermistor resistance at T0 (T0 is in kelvin) +// Normally T0 is 298.15K (25 C). If you write that expression in brackets in the #define the compiler +// should compute it for you (i.e. it won't need to be calculated at run time). + +// If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023) +// then the thermistor resistance, R = V.RS/(1023 - V) +// and the temperature, T = BETA/ln(R/R_INF) +// To get degrees celsius (instead of kelvin) add -273.15 to T + +// This DOES assume that all extruders use the same thermistor type. + + +#define ABS_ZERO -273.15 +#define AD_RANGE 16383 + + +#ifdef REPRAPPRO_HUXLEY + +// Bed thermistor: VISHAY BC COMPONENTS NTCS0603E3104FXT - All Huxleys with heated bed PCB +#define BED_BETA 4100.0 +#define BED_NTC 100000.0 + +// Extruder thermistor: RS 198-961 100k ohm 10% DO-35 NTC thermistor - All Huxleys before 25/2/14 +// #define E_BETA 3960.0 +// #define E_NTC 100000.0 + +// Extruder thermistor: Digikey 480-3137-ND - All Huxleys shipped after 25/2/14 +#define E_BETA 4138.0 +#define E_NTC 100000.0 + +#endif + + +#ifdef REPRAPPRO_MENDEL + +// Extruder thermistor: RS 198-961 100k ohm 10% DO-35 NTC thermistor - All Mendels before 1/4/13 +#define E_BETA 3960.0 +#define E_NTC 100000.0 + +// Bed thermistor: RS 484-0149; EPCOS B57550G103J - All Mendels before 1/4/13 +#define BED_BETA 3480.0 +#define BED_NTC 10000.0 + +#endif + + +#ifdef REPRAPPRO_MENDEL2 + +// Bed thermistor: Rapid 61-0446 ; Semitec 103GT-2 - All Mendel2 shipped after 1/4/13 (launch) +// #define BED_BETA 4126.0 +// #define BED_NTC 10000.0 + +// Bed thermistor: Farnell 1299930 ; EPCOS B57863S103F040 - All Mendel2 shipped after 29/5/14 + #define BED_BETA 3988.0 + #define BED_NTC 10000.0 + +// Extruder thermistor: RS 198-961 100k ohm 10% DO-35 NTC thermistor - All Mendel2 shipped after 1/4/13 (launch) +// #define E_BETA 3960.0 +// #define E_NTC 100000.0 + +// Extruder thermistor: Digikey 480-3137-ND - All Mendels shipped after 25/2/14 +#define E_BETA 4138.0 +#define E_NTC 100000.0 + +#endif + + +#define E_RS SERIAL_R +#define E_R_INF ( E_NTC*exp(-E_BETA/298.15) ) + +#define BED_RS SERIAL_R +#define BED_R_INF ( BED_NTC*exp(-BED_BETA/298.15) ) + + + +#define BED_USES_THERMISTOR +#define HEATER_0_USES_THERMISTOR +#define HEATER_1_USES_THERMISTOR +#define HEATER_2_USES_THERMISTOR + + + +// Actual temperature must be close to target for this long before M109 returns success +#define TEMP_RESIDENCY_TIME 5 // (seconds) +#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one +#define TEMP_WINDOW 2 // (degC) Window around target to start the recidency timer x degC early. + +// The minimal temperature defines the temperature below which the heater will not be enabled It is used +// to check that the wiring to the thermistor is not broken. +// Otherwise this would lead to the heater being powered on all the time. +#define HEATER_0_MINTEMP 1 +#ifdef REPRAPPRO_MULTIMATERIALS +#define HEATER_1_MINTEMP 1 +#define HEATER_2_MINTEMP 1 +#endif +#define BED_MINTEMP 1 + +// When temperature exceeds max temp, your heater will be switched off. +// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +// You should use MINTEMP for thermistor short/failure protection. +#define HEATER_0_MAXTEMP 399 +#ifdef REPRAPPRO_MULTIMATERIALS +#define HEATER_1_MAXTEMP 275 +#define HEATER_2_MAXTEMP 275 +#endif +#define BED_MAXTEMP 150 + + +// PID settings: +// Comment the following line to disable PID and enable bang-bang. +#define PIDTEMP +#define PID_MAX 255 // limits current to nozzle; 255=full current +#define FULL_PID_BAND 150 // Full power is applied when pid_error[e] > FULL_PID_BAND +#ifdef PIDTEMP + //#define PID_DEBUG // Sends debug data to the serial port. + #define PID_INTEGRAL_DRIVE_MAX 125 //limit for the integral term + #define K1 0.95 //smoothing factor withing the PID + #define PID_dT 0.122 //sampling period of the PID + + +// RepRapPro Huxley + Mendel + #define DEFAULT_Kp 12.0 + #define DEFAULT_Ki (2.2*PID_dT) + #define DEFAULT_Kd (80/PID_dT) + +#endif // PIDTEMP + +#ifndef DEVELOPING +//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit +//can be software-disabled for whatever purposes by +#define PREVENT_DANGEROUS_EXTRUDE +#define EXTRUDE_MINTEMP 170 +#define EXTRUDE_MAXLENGTH (999) //prevent extrusion of very large distances. +#else +#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE +#endif + +//=========================================================================== +//=============================Mechanical Settings=========================== +//=========================================================================== + +// Endstop Settings +#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors + +// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. +const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. +const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. +const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. + +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +#define X_ENABLE_ON 0 +#define Y_ENABLE_ON 0 +#define Z_ENABLE_ON 0 +#define E_ENABLE_ON 0 // For all extruders + +// Disables axis when it's not being used. +#define DISABLE_X false +#define DISABLE_Y false +#define DISABLE_Z true +#define DISABLE_E false // For all extruders + +#ifdef REPRAPPRO_MENDEL +#define AXES_MAX_LENGTHS {210, 210, 140} +#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true +//#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false +#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E2_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#endif + +#ifdef REPRAPPRO_MENDEL2 +#define AXES_MAX_LENGTHS {210, 210, 140} +#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true +#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E2_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#endif + +#ifdef REPRAPPRO_HUXLEY +#define AXES_MAX_LENGTHS {155, 150, 90} +#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_E0_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#define INVERT_E2_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false +#endif + + +// ENDSTOP SETTINGS: +// Sets direction of endstops when homing; 1=MAX, -1=MIN +#define X_HOME_DIR -1 +#define Y_HOME_DIR -1 +#define Z_HOME_DIR -1 + +#define min_software_endstops true //If true, axis won't move to coordinates less than zero. +#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below. + +// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0 +#define X_HOME_POS 0 +#define Y_HOME_POS 0 +#define Z_HOME_POS 0 + +//// MOVEMENT SETTINGS +#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E + +/* +We've shipped a number of different configurations of belt and pulley now, so probably need some ifdef statements! At the moment, they all get the same. + +White polyurethane belt (T2.5), 14-tooth printed pulley: 91.4286 step per mm (Original Huxley, Legacy Mendel) +Black rubber belt (MXL), 17-tooth printed pulley: 92.635 step per mm (Huxley, Mendel Mono and Tri since 1/4/2013) +Black rubber belt (MXL), 18-tooth aluminium pulley: 87.489 step per mm (Huxley, Mendel Mono and Tri since 1/1/2014) + +Also, two different extruders: + +Original eMaker/RepRapPro-style: 920 steps per mm (Original Huxley, Legacy Mendel) +New version (NEMA14 and NEMA17): 660 steps per mm (Huxley, Mendel Mono and Tricolour since 1/4/2013) +*/ + +#ifdef REPRAPPRO_MENDEL + +#define X_MAX_LENGTH 210 +#define Y_MAX_LENGTH 210 +#define Z_MAX_LENGTH 110 +#define HOMING_FEEDRATE {10*60, 10*60, 1*60, 0} // set the homing speeds (mm/min) +#define FAST_HOME_FEEDRATE {50*60, 50*60, 1*60, 0} // set the homing speeds (mm/min) +#define DEFAULT_MAX_FEEDRATE {500, 500, 3, 45} +#define DEFAULT_MAX_FEEDRATE {300, 300, 3, 45} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {800,800,30,250} // X, Y, Z, E maximum start speed for accelerated moves. E default values + +// X, Y, Z, E steps per mm + +#define DEFAULT_AXIS_STEPS_PER_UNIT {80, 91.4286, 4000, 950.0} // <- 14 tooth T2.5 belt + original extruder drive + +#else + +#ifdef REPRAPPRO_MENDEL2 + +#define X_MAX_LENGTH 210 +#define Y_MAX_LENGTH 210 +#define Z_MAX_LENGTH 110 +#define HOMING_FEEDRATE {10*60, 10*60, 1*60, 0} // set the homing speeds (mm/min) +#define FAST_HOME_FEEDRATE {50*60, 50*60, 1*60, 0} // set the homing speeds (mm/min) +#define DEFAULT_MAX_FEEDRATE {500, 500, 3, 60} +//#define DEFAULT_MAX_FEEDRATE {300, 300, 3, 45} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {1000,1000,30,250} // X, Y, Z, E maximum start speed for accelerated moves. E default values + +// X, Y, Z, E steps per mm + +#define DEFAULT_AXIS_STEPS_PER_UNIT {80, 87.489, 4000, 950.0} // <- 18-tooth aluminium pulley +//#define DEFAULT_AXIS_STEPS_PER_UNIT {92.635, 92.635, 4000, 660} // <- 17-tooth printed pulley + +#else + +#define X_MAX_LENGTH 155 +#define Y_MAX_LENGTH 150 +#define Z_MAX_LENGTH 90 +#define HOMING_FEEDRATE {10*60, 10*60, 1*60, 0} // set the homing speeds (mm/min) +#define FAST_HOME_FEEDRATE {80*60, 80*60, 4*60, 0} // set the homing speeds (mm/min) +#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) +#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) +#define DEFAULT_MAX_ACCELERATION {1000,1000,50,250} // X, Y, Z, E maximum start speed for accelerated moves. E default values + +// X, Y, Z, E steps per mm + +#define DEFAULT_AXIS_STEPS_PER_UNIT {87.489, 87.489, 4000, 660.0} // <- 18-tooth aluminium pulley +//#define DEFAULT_AXIS_STEPS_PER_UNIT {92.635, 92.635, 4000, 660} // <- 17-tooth printed pulley +//#define DEFAULT_AXIS_STEPS_PER_UNIT {91.4286, 91.4286, 4000, 920.0} // <- 14 tooth T2.5 belt + original extruder drive + + +#endif +#endif + + + +// Defaults changed by the G10 command + +#define X_EXTRUDER_OFFSET 0 +#define Y_EXTRUDER_OFFSET 0 +#define Z_EXTRUDER_OFFSET 0 +#define STANDBY_TEMP 140 +#define PLA_TEMP 210 +#define ABS_TEMP 250 +#define DEFAULT_TEMP PLA_TEMP + + +#define DEFAULT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts + +// +#define DEFAULT_XYJERK 15.0 // (mm/sec) +#define DEFAULT_ZJERK 0.4 // (mm/sec) +#define DEFAULT_EJERK 15.0 // (mm/sec) + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +// EEPROM +// the microcontroller can store settings in the EEPROM, e.g. max velocity... +// M500 - stores paramters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +//define this to enable eeprom support +#define EEPROM_SETTINGS +//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out: +// please keep turned on if you can. +#define EEPROM_CHITCHAT + +//LCD and SD support +//#define ULTRA_LCD //general lcd support, also 16x2 +#define SDSUPPORT // Enable SD Card Support in Hardware Console + +//#define ULTIPANEL +#ifdef ULTIPANEL + //#define NEWPANEL //enable this if you have a click-encoder panel + #define SDSUPPORT + #define ULTRA_LCD + #define LCD_WIDTH 20 + #define LCD_HEIGHT 4 + +// Preheat Constants + #define PLA_PREHEAT_HOTEND_TEMP 180 + #define PLA_PREHEAT_HPB_TEMP 70 + #define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + + #define ABS_PREHEAT_HOTEND_TEMP 240 + #define ABS_PREHEAT_HPB_TEMP 100 + #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +#else //no panel but just lcd + #ifdef ULTRA_LCD + #define LCD_WIDTH 16 + #define LCD_HEIGHT 2 + #endif +#endif + +// Enable uM-FPU support: +#define UMFPUSUPPORT 1 + +// M240 Triggers a camera by emulating a Canon RC-1 Remote +// Data from: http://www.doc-diy.net/photo/rc-1_hacked/ +// #define PHOTOGRAPH_PIN 23 + +#include "Configuration_adv.h" + + +#endif //__CONFIGURATION_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Configuration_adv.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,190 @@ +#ifndef CONFIGURATION_ADV_H +#define CONFIGURATION_ADV_H + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + + +#define BED_CHECK_INTERVAL 5000 //ms + + +// Wait for Cooldown +// This defines if the M109 call should not block if it is cooling down. +// example: From a current temp of 220, you set M109 S200. +// if CooldownNoWait is defined M109 will not wait for the cooldown to finish +#define CooldownNoWait true + +//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements. +//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET" +#define TEMP_SENSOR_AD595_OFFSET 0.0 +#define TEMP_SENSOR_AD595_GAIN 1.0 + +//This is for controlling a fan to cool down the stepper drivers +//it will turn on when any driver is enabled +//and turn off after the set amount of seconds from last driver being disabled again +//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function +#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run + +//=========================================================================== +//=============================Mechanical Settings=========================== +//=========================================================================== + +// This defines the number of extruders +#ifdef REPRAPPRO_MULTIMATERIALS +#define EXTRUDERS 3 +#else +#define EXTRUDERS 1 +#endif + +#define Z_INCREMENT .0040 //Probe Movement Increment - 1 Full step on Huxley = 1/250 +#define PROBE_N 3 + +#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing + +//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats. + +//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again: +#define X_HOME_RETRACT_MM 10 +#define Y_HOME_RETRACT_MM 10 +#define Z_HOME_RETRACT_MM 2 + +#define AXIS_RELATIVE_MODES {false, false, false, false} + +#define MAX_STEP_FREQUENCY 50000 // Max step frequency for Ultimaker (5000 pps / half step) + +//default stepper release if idle +#define DEFAULT_STEPPER_DEACTIVE_TIME 60 + +#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate +#define DEFAULT_MINTRAVELFEEDRATE 0.0 + +// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff. +#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this + +// If defined the movements slow down when the look ahead buffer is only half full +#define SLOWDOWN + +// Frequency limit +// See nophead's blog for more info +// Not working O +//#define XY_FREQUENCY_LIMIT 15 + +// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end +// of the buffer and all stops. This should not be much greater than zero and should only be changed +// if unwanted behavior is observed on a user's machine when running at very slow speeds. +#define MINIMUM_PLANNER_SPEED 0.05 // (mm/sec) + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + + +#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers? +#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // no z because of layer shift. + + +// extruder advance constant (s2/mm3) +// +// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2 +// +// hooke's law says: force = k * distance +// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant +// so: v ^ 2 is proportional to number of steps we advance the extruder +//#define ADVANCE + +#ifdef ADVANCE + #define EXTRUDER_ADVANCE_K 0.015 + + #define D_FILAMENT 1.75 + #define STEPS_MM_E 836 + #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) + #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA) + +#endif // ADVANCE + +// Arc interpretation settings: +#define MM_PER_ARC_SEGMENT 1 +#define N_ARC_CORRECTION 25 + +const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement + +// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted +// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT +// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should +// be commented out otherwise +//#define SDCARDDETECTINVERTED + +//=========================================================================== +//=============================Buffers ============================ +//=========================================================================== + +// The number of linear motions that can be in the plan at any give time. +// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering. +#if defined SDSUPPORT + #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller +// Chuck size for fast sd transfer + #define SD_FAST_XFER_CHUNK_SIZE 1024 +#else + #define BLOCK_BUFFER_SIZE 16 // maximize block buffer +#endif + + +//The ASCII buffer for recieving from the serial: +#define MAX_CMD_SIZE 96 +#define BUFSIZE 4 + +//=========================================================================== +//============================= Define Defines ============================ +//=========================================================================== +/* +#if TEMP_SENSOR_0 > 0 + #define THERMISTORHEATER_0 TEMP_SENSOR_0 + #define HEATER_0_USES_THERMISTOR +#endif +#if TEMP_SENSOR_1 > 0 + #define THERMISTORHEATER_1 TEMP_SENSOR_1 + #define HEATER_1_USES_THERMISTOR +#endif +#if TEMP_SENSOR_2 > 0 + #define THERMISTORHEATER_2 TEMP_SENSOR_2 + #define HEATER_2_USES_THERMISTOR +#endif +#if TEMP_SENSOR_BED > 0 + #define THERMISTORBED TEMP_SENSOR_BED + #define BED_USES_THERMISTOR +#endif +#if TEMP_SENSOR_0 == -1 + #define HEATER_0_USES_AD595 +#endif +#if TEMP_SENSOR_1 == -1 + #define HEATER_1_USES_AD595 +#endif +#if TEMP_SENSOR_2 == -1 + #define HEATER_2_USES_AD595 +#endif +#if TEMP_SENSOR_BED == -1 + #define BED_USES_AD595 +#endif +#if TEMP_SENSOR_0 == -2 + #define HEATER_0_USES_MAX6675 +#endif +#if TEMP_SENSOR_0 == 0 + #undef HEATER_0_MINTEMP + #undef HEATER_0_MAXTEMP +#endif +#if TEMP_SENSOR_1 == 0 + #undef HEATER_1_MINTEMP + #undef HEATER_1_MAXTEMP +#endif +#if TEMP_SENSOR_2 == 0 + #undef HEATER_2_MINTEMP + #undef HEATER_2_MAXTEMP +#endif +#if TEMP_SENSOR_BED == 0 + #undef BED_MINTEMP + #undef BED_MAXTEMP +#endif +*/ + +#endif //__CONFIGURATION_ADV_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EEPROMwrite.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,275 @@ +#ifndef EEPROM_H +#define EEPROM_H + +#include "Marlin.h" +#include "planner.h" +#include "temperature.h" +#include "FPUTransform.h" +//#include <EEPROM.h> + + + +template <class T> int EEPROM_writeAnything(int &ee, const T& value) +{ + const byte* p = (const byte*)(const void*)&value; + int i; + for (i = 0; i < (int)sizeof(value); i++) + eeprom_write_byte((unsigned char *)ee++, *p++); + return i; +} + +template <class T> int EEPROM_readAnything(int &ee, T& value) +{ + byte* p = (byte*)(void*)&value; + int i; + for (i = 0; i < (int)sizeof(value); i++) + *p++ = eeprom_read_byte((unsigned char *)ee++); + return i; +} +//====================================================================================== + + + + +#define EEPROM_OFFSET 100 + + +// IMPORTANT: Whenever there are changes made to the variables stored in EEPROM +// in the functions below, also increment the version number. This makes sure that +// the default values are used whenever there is a change to the data, to prevent +// wrong data being written to the variables. +// ALSO: always make sure the variables in the Store and retrieve sections are in the same order. +#define EEPROM_VERSION "V05" + +inline void EEPROM_StoreSettings() +{ +#ifdef EEPROM_SETTINGS + char ver[4]= "000"; + int i=EEPROM_OFFSET; + EEPROM_writeAnything(i,ver); // invalidate data first + EEPROM_writeAnything(i,axis_steps_per_unit); + EEPROM_writeAnything(i,max_feedrate); + EEPROM_writeAnything(i,max_acceleration_units_per_sq_second); + EEPROM_writeAnything(i,acceleration); + EEPROM_writeAnything(i,retract_acceleration); + EEPROM_writeAnything(i,minimumfeedrate); + EEPROM_writeAnything(i,mintravelfeedrate); + EEPROM_writeAnything(i,minsegmenttime); + EEPROM_writeAnything(i,max_xy_jerk); + EEPROM_writeAnything(i,max_z_jerk); + EEPROM_writeAnything(i,max_e_jerk); + EEPROM_writeAnything(i,add_homeing); + #ifdef PIDTEMP + EEPROM_writeAnything(i,Kp); + EEPROM_writeAnything(i,Ki); + EEPROM_writeAnything(i,Kd); + EEPROM_writeAnything(i,Ki_Max); + #else + EEPROM_writeAnything(i,3000); + EEPROM_writeAnything(i,0); + EEPROM_writeAnything(i,0); + #endif + #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) + EEPROM_writeAnything(i,FPUEnabled); + #endif + EEPROM_writeAnything(i,max_length); + #ifdef ADVANCE + EEPROM_writeAnything(i,advance_k); + #endif + EEPROM_writeAnything(i,b_beta); + EEPROM_writeAnything(i,b_resistor); + EEPROM_writeAnything(i,b_thermistor); + EEPROM_writeAnything(i,b_inf); + EEPROM_writeAnything(i,n_beta); + EEPROM_writeAnything(i,n_resistor); + EEPROM_writeAnything(i,n_thermistor); + EEPROM_writeAnything(i,n_inf); + char ver2[4]=EEPROM_VERSION; + i=EEPROM_OFFSET; + EEPROM_writeAnything(i,ver2); // validate data + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Settings Stored"); +#endif //EEPROM_SETTINGS +} + + +inline void EEPROM_printSettings() +{ // if def=true, the default values will be used + #ifdef EEPROM_SETTINGS + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Steps per unit:"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]); + SERIAL_ECHOPAIR(" Y",axis_steps_per_unit[1]); + SERIAL_ECHOPAIR(" Z",axis_steps_per_unit[2]); + SERIAL_ECHOPAIR(" E",axis_steps_per_unit[3]); + SERIAL_ECHOLN(""); + + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]); + SERIAL_ECHOPAIR(" Y",max_feedrate[1] ); + SERIAL_ECHOPAIR(" Z", max_feedrate[2] ); + SERIAL_ECHOPAIR(" E", max_feedrate[3]); + SERIAL_ECHOLN(""); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] ); + SERIAL_ECHOPAIR(" Y" , max_acceleration_units_per_sq_second[1] ); + SERIAL_ECHOPAIR(" Z" ,max_acceleration_units_per_sq_second[2] ); + SERIAL_ECHOPAIR(" E" ,max_acceleration_units_per_sq_second[3]); + SERIAL_ECHOLN(""); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M204 S",acceleration ); + SERIAL_ECHOPAIR(" T" ,retract_acceleration); + SERIAL_ECHOLN(""); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s), K=advance_k"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M205 S",minimumfeedrate ); + SERIAL_ECHOPAIR(" T" ,mintravelfeedrate ); + SERIAL_ECHOPAIR(" B" ,minsegmenttime ); + SERIAL_ECHOPAIR(" X" ,max_xy_jerk ); + SERIAL_ECHOPAIR(" Z" ,max_z_jerk); + SERIAL_ECHOPAIR(" E" ,max_e_jerk); + #ifdef ADVANCE + SERIAL_ECHOPAIR(" K" ,advance_k); + #endif + SERIAL_ECHOLN(""); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M206 X",add_homeing[0]); + SERIAL_ECHOPAIR(" Y",add_homeing[1] ); + SERIAL_ECHOPAIR(" Z", add_homeing[2] ); + SERIAL_ECHOLN(""); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M208 X",max_length[0]); + SERIAL_ECHOPAIR(" Y",max_length[1] ); + SERIAL_ECHOPAIR(" Z", max_length[2] ); + SERIAL_ECHOLN(""); + #ifdef PIDTEMP + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("PID settings:"); + SERIAL_ECHO_START; + SERIAL_ECHOPAIR(" M301 P",Kp); + SERIAL_ECHOPAIR(" I" ,Ki/PID_dT); + SERIAL_ECHOPAIR(" D" ,Kd*PID_dT); + SERIAL_ECHOPAIR(" W" ,Ki_Max); + SERIAL_ECHOLN(""); + #endif + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Thermistor settings: M304 Hh Bb Rr Tt, H0=Bed, H1..n=nozzle, b=thermistor beta value, r=series resistor, t=thermistor resistance as 25C"); + SERIAL_ECHO_START; + SERIAL_ECHOLN(" M304 H0"); + SERIAL_ECHOPAIR(" B",b_beta); + SERIAL_ECHOPAIR(" R",b_resistor); + SERIAL_ECHOPAIR(" T",b_thermistor); + SERIAL_ECHOLN(" M304 H1"); + SERIAL_ECHOPAIR(" B",n_beta); + SERIAL_ECHOPAIR(" R",n_resistor); + SERIAL_ECHOPAIR(" T",n_thermistor); + SERIAL_ECHOLN(""); + #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) + SERIAL_ECHOPAIR(" FPU Enabled" , FPUEnabled?" yes":" no"); + SERIAL_ECHOLN(""); + #endif + #endif +} + + +inline void EEPROM_RetrieveSettings(bool def=false) +{ // if def=true, the default values will be used + #ifdef EEPROM_SETTINGS + int i=EEPROM_OFFSET; + char stored_ver[4]; + char ver[4]=EEPROM_VERSION; + EEPROM_readAnything(i,stored_ver); //read stored version + // SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]"); + if ((!def)&&(strncmp(ver,stored_ver,3)==0)) + { // version number match + EEPROM_readAnything(i,axis_steps_per_unit); + EEPROM_readAnything(i,max_feedrate); + EEPROM_readAnything(i,max_acceleration_units_per_sq_second); + EEPROM_readAnything(i,acceleration); + EEPROM_readAnything(i,retract_acceleration); + EEPROM_readAnything(i,minimumfeedrate); + EEPROM_readAnything(i,mintravelfeedrate); + EEPROM_readAnything(i,minsegmenttime); + EEPROM_readAnything(i,max_xy_jerk); + EEPROM_readAnything(i,max_z_jerk); + EEPROM_readAnything(i,max_e_jerk); + EEPROM_readAnything(i,add_homeing); + #ifndef PIDTEMP + float Kp,Ki,Kd; + int Ki_Max; + #endif + EEPROM_readAnything(i,Kp); + EEPROM_readAnything(i,Ki); + EEPROM_readAnything(i,Kd); + EEPROM_readAnything(i,Ki_Max); + #if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) + EEPROM_readAnything(i,FPUEnabled); + #endif + EEPROM_readAnything(i,max_length); + #ifdef ADVANCE + EEPROM_readAnything(i,advance_k); + #endif + EEPROM_readAnything(i,b_beta); + EEPROM_readAnything(i,b_resistor); + EEPROM_readAnything(i,b_thermistor); + EEPROM_readAnything(i,b_inf); + EEPROM_readAnything(i,n_beta); + EEPROM_readAnything(i,n_resistor); + EEPROM_readAnything(i,n_thermistor); + EEPROM_readAnything(i,n_inf); + + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM("Stored settings retreived:"); + } + else + #endif + { + float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT; + float tmp2[]=DEFAULT_MAX_FEEDRATE; + long tmp3[]=DEFAULT_MAX_ACCELERATION; + float tmp4[]=AXES_MAX_LENGTHS; + for (short i=0;i<4;i++) + { + axis_steps_per_unit[i]=tmp1[i]; + max_feedrate[i]=tmp2[i]; + max_acceleration_units_per_sq_second[i]=tmp3[i]; + max_length[i]=tmp4[i]; + } + acceleration=DEFAULT_ACCELERATION; + retract_acceleration=DEFAULT_RETRACT_ACCELERATION; + minimumfeedrate=DEFAULT_MINIMUMFEEDRATE; + minsegmenttime=DEFAULT_MINSEGMENTTIME; + mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE; + max_xy_jerk=DEFAULT_XYJERK; + max_z_jerk=DEFAULT_ZJERK; + max_e_jerk=DEFAULT_EJERK; + #ifdef ADVANCE + advance_k=EXTRUDER_ADVANCE_K; + #endif + b_beta = BED_BETA; + b_resistor = BED_RS; + b_thermistor = BED_NTC; + b_inf = BED_R_INF; + n_beta = E_BETA; + n_resistor = E_RS; + n_thermistor = E_NTC; + n_inf = E_R_INF; + SERIAL_ECHO_START; + SERIAL_ECHOLN("Using Default settings:"); + } + #ifdef EEPROM_CHITCHAT + EEPROM_printSettings(); + #endif +} + +#endif + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FPUTransform.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,190 @@ +#include "FPUTransform.h" + +#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) + +#include "MatrixMath.h" + +float MasterTransform[4][4]; // this is the transform that describes how to move from + // ideal coordinates to real world coords + +// private functions +void loadMatrix(float X4, float Y3, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4); +void transformDestination(float &X, float &Y, float &Z); + +bool FPUEnabled; // this is a bypass switch so that with one command the FPU can be + // turned off + +void loadMatrix(float X4, float Y1, float Z1, float X2, float Y2, float Z2, float X3, float Z3, float Z4) +{ +float Xdiff = X4 - X3; + serialPrintFloat(Xdiff); + SERIAL_ECHOLN(""); +float Ydiff = Y2 - Y1; + serialPrintFloat(Ydiff); + SERIAL_ECHOLN(""); +//clockwise +float ZdiffX = Z4 - Z3; + serialPrintFloat(ZdiffX); + SERIAL_ECHOLN(""); +//anti clockwise +float ZdiffY = Z1 - Z2; + serialPrintFloat(ZdiffY); + SERIAL_ECHOLN(""); + + +//modified to take advantage of small angle trig. +float Xtheta = ZdiffX / Xdiff; +// serialPrintFloat(Xtheta); +// SERIAL_ECHOLN(""); +float Ytheta = ZdiffY / Ydiff; +// serialPrintFloat(Ytheta); +// SERIAL_ECHOLN(""); +float cosxtheta = 1-(Xtheta*Xtheta)/2; +// serialPrintFloat(cosxtheta); +// SERIAL_ECHOLN(""); +float sinxtheta = Xtheta; +// serialPrintFloat(sinxtheta); +// SERIAL_ECHOLN(""); +float cosytheta = 1-(Ytheta*Ytheta)/2; +// serialPrintFloat(cosytheta); +// SERIAL_ECHOLN(""); +float sinytheta = Ytheta; +// serialPrintFloat(sinytheta); +// SERIAL_ECHOLN(""); + +//these transforms are to set the origin for each rotation +float TranslateX0[4][4] = {{1.0, 0.0, 0.0, -X3}, + {0.0, 1.0, 0.0, -Y1}, + {0.0, 0.0, 1.0, -Z3}, + {0.0, 0.0, 0.0, 1.0}}; + +float TranslateY0[4][4] = {{1.0, 0.0, 0.0, -X2}, + {0.0, 1.0, 0.0, -Y1}, + {0.0, 0.0, 1.0, -Z1}, + {0.0, 0.0, 0.0, 1.0}}; + +//rotate in Y using XZ +float TransformY[4][4] = {{cosxtheta, 0.0, sinxtheta, 0.0}, + { 0.0, 1.0, 0.0, 0.0}, + {-sinxtheta, 0.0, cosxtheta, 0.0}, + { 0.0, 0.0, 0.0, 1.0}}; +//rotate in X using YZ +float TransformX[4][4] = {{ 1.0, 0.0, 0.0, 0.0}, + { 0.0, cosytheta, sinytheta, 0.0}, + { 0.0,sinytheta, cosytheta, 0.0}, + { 0.0, 0.0, 0.0, 1.0}}; + + +// first translate point1 to 0 then rotate in Y then translate back +float MatrixStage1[4][4]; +float MatrixStage2[4][4]; +//matrixMaths.MatrixMult((float*)TranslateY0, (float*)TransformX, 4, 4, 4, (float*)MatrixStage1); +//matrixMaths.MatrixPrint((float*)MatrixStage1, 4, 4, "MatrixStage1"); +//TranslateY0[0][3] = -TranslateY0[0][3]; +//TranslateY0[1][3] = -TranslateY0[1][3]; +//TranslateY0[2][3] = -TranslateY0[2][3]; +//matrixMaths.MatrixPrint((float*)TranslateY0, 4, 4, "TranslateY0"); +//matrixMaths.MatrixMult((float*)MatrixStage1, (float*)TranslateY0, 4, 4, 4, (float*)MatrixStage2); +//matrixMaths.MatrixPrint((float*)MatrixStage2, 4, 4, "MatrixStage2"); +//Now translate point3 to 0 and rotate in x before translating back +float MatrixStage3[4][4]; +float MatrixStage4[4][4]; +//matrixMaths.MatrixMult((float*)MatrixStage2, (float*)TranslateX0, 4, 4, 4, (float*)MatrixStage3); +//matrixMaths.MatrixPrint((float*)MatrixStage3, 4, 4, "MatrixStage3"); +//matrixMaths.MatrixMult((float*)MatrixStage3, (float*)TransformY, 4, 4, 4, (float*)MatrixStage4); +matrixMaths.MatrixMult((float*)TransformX, (float*)TransformY, 4, 4, 4, (float*)MasterTransform); +matrixMaths.MatrixPrint((float*)MatrixStage4, 4, 4, "MatrixStage4"); +//TranslateX0[0][3] = -TranslateX0[0][3]; +//TranslateX0[1][3] = -TranslateX0[1][3]; +//TranslateX0[2][3] = -TranslateX0[2][3]; +//matrixMaths.MatrixPrint((float*)TranslateX0, 4, 4, "TranslateX0"); +//matrixMaths.MatrixMult((float*)MatrixStage4, (float*)TranslateX0, 4, 4, 4, (float*)MasterTransform); +//matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform (pre-invert)"); + +// We now have a way to translate from real-world coordinates to idealised coortdinates, +// but what we actually want is a way to transform from the idealised g-code coordinates +// to real world coordinates. +// This is simply the inverse. +matrixMaths.MatrixInvert((float*)MasterTransform, 4); +matrixMaths.MatrixPrint((float*)MasterTransform, 4, 4, "MasterTransform"); +} + +void transformDestination(float &X, float &Y, float &Z) +{ +float oldPoint[4][1]={{X}, {Y}, {Z}, {1.0}}; +float newPoint[1][4]={{0.0,0.0,0.0,0.0}}; +matrixMaths.MatrixMult((float*)MasterTransform, (float*)oldPoint, 4, 4, 1, (float*)newPoint); +X=newPoint[0][0]; +Y=newPoint[0][1]; +Z=newPoint[0][2]; +} + +void FPUTransform_init() +{ +if (FPUEnabled == true) + { + // It is important to ensure that if the bed levelling routine has not been called the + // printer behaves as if the real world and idealised world are one and the same + matrixMaths.MatrixIdentity((float*)MasterTransform,4,4); + SERIAL_ECHO("transform configured to identity"); + } +else + { + SERIAL_ECHO("transform correction not enabled"); + } +} + +void FPUEnable() +{ + FPUEnabled = true; + FPUTransform_init(); +} + +void FPUReset() +{ + FPUTransform_init(); +} + +void FPUDisable() +{ + FPUEnabled = false; +} + +void FPUTransform_determineBedOrientation() +{ +int X3 = 15; +float X4 = max_length[X_AXIS] - 20; +float X2 = (X4 + X3) / 2; +int Y1 = 15; +float Y2 = max_length[Y_AXIS] - 5; +float Z1; +float Z2; +float Z3; +float Z4; + +//get Z for X15 Y15, X15 Y(Y_MAX_LENGTH - 15) and X(max_length[X_AXIS] - 15) Y15 +Z3 = Probe_Bed(X3,Y1,PROBE_N); +Z4 = Probe_Bed(X4,Y1,PROBE_N); +Z1 = (Z3 + Z4) / 2; +Z2 = Probe_Bed(X2,Y2,PROBE_N); +if(FPUEnabled) + { + loadMatrix(X4, Y1, Z1, X2, Y2, Z2, X3, Z3, Z4); + } +} + +void FPUTransform_transformDestination() +{ +float XPoint = destination[X_AXIS]; // float variable +float YPoint = destination[Y_AXIS]; // float variable +float ZPoint = destination[Z_AXIS]; // float variable +if(FPUEnabled) + { + transformDestination(XPoint, YPoint, ZPoint); + } +modified_destination[X_AXIS] = XPoint; // float variable +modified_destination[Y_AXIS] = YPoint; // float variable +modified_destination[Z_AXIS] = ZPoint; // float variable +} + +#endif //UMFPUSUPPORT
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FPUTransform.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,21 @@ +#ifndef __FPUTRANSFORM + +#define __FPUTRANSFORM +#include "Marlin.h" +#include "z_probe.h" + +#if defined(UMFPUSUPPORT) && (UMFPUSUPPORT > -1) + extern bool FPUEnabled; + void FPUTransform_init(); + void FPUEnable(); + void FPUReset(); + void FPUDisable(); + void FPUTransform_determineBedOrientation(); + void FPUTransform_transformDestination(); + +#else //no UMFPU SUPPORT + FORCE_INLINE void FPUTransform_init() {}; + +#endif //UMFPUSUPPORT + +#endif //__FPUTRANSFORM
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Makefile Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,259 @@ +# Sprinter Arduino Project Makefile +# +# Makefile Based on: +# Arduino 0011 Makefile +# Arduino adaptation by mellis, eighthave, oli.keller +# +# This has been tested with Arduino 0022. +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# Detailed instructions for using the makefile: +# +# 1. Modify the line containg "INSTALL_DIR" to point to the directory that +# contains the Arduino installation (for example, under Mac OS X, this +# might be /Applications/arduino-0012). +# +# 2. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*). +# +# 3. Set the line containing "MCU" to match your board's processor. +# Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth +# or Diecimila have the atmega168. If you're using a LilyPad Arduino, +# change F_CPU to 8000000. If you are using Gen7 electronics, you +# probably need to use 20000000. Either way, you must regenerate +# the speed lookup table with create_speed_lookuptable.py. +# +# 4. Type "make" and press enter to compile/verify your program. +# +# 5. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id$ + +#For "old" Arduino Mega +#MCU = atmega1280 +#For Arduino Mega2560 +#MCU = atmega2560 +#For Sanguinololu +#MCU = atmega644p +MCU = atmega1284p +#For Printrboard +#MCU = at90usb1286 + + +#Arduino install directory +INSTALL_DIR = ../../arduino-0022/ + +# Be sure to regenerate speed_lookuptable.h with create_speed_lookuptable.py +# if you are setting this to something other than 16MHz +F_CPU = 16000000 + +UPLOAD_RATE = 115200 +AVRDUDE_PROGRAMMER = arduino +PORT = /dev/arduino + +TARGET = $(notdir $(CURDIR)) + + +############################################################################ +# Below here nothing should be changed... + +ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino +AVR_TOOLS_PATH = +SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \ + $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ + $(ARDUINO)/wiring_pulse.c \ + $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c +CXXSRC = $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\ + $(ARDUINO)/Print.cpp applet/Marlin.cpp MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp stepper.cpp temperature.cpp cardreader.cpp MatrixMath.cpp FPUTransform.cpp z_probe.cpp + +FORMAT = ihex + + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Place -I options here +CINCS = -I$(ARDUINO) +CXXINCS = -I$(ARDUINO) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +#CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22 +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING) +CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = -lm + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i +AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \ + -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) + +# Program settings +CC = $(AVR_TOOLS_PATH)avr-gcc +CXX = $(AVR_TOOLS_PATH)avr-g++ +OBJCOPY = $(AVR_TOOLS_PATH)avr-objcopy +OBJDUMP = $(AVR_TOOLS_PATH)avr-objdump +AR = $(AVR_TOOLS_PATH)avr-ar +SIZE = $(AVR_TOOLS_PATH)avr-size +NM = $(AVR_TOOLS_PATH)avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build sizeafter + +build: elf hex + +applet/$(TARGET).cpp: $(TARGET).pde $(MAKEFILE) + +applet/%.cpp: %.pde +# Here is the "preprocessing". +# It creates a .cpp file based with the same name as the .pde file. +# On top of the new .cpp file comes the WProgram.h header. +# At the end there is a generic main() function attached. +# Then the .cpp file will be compiled. Errors during compile will +# refer to this new, automatically generated, file. +# Not the original .pde file you actually edit... + @echo " WR $@" + @test -d $(dir $@) || mkdir $(dir $@) + @echo '#include "WProgram.h"' > $@ + @cat $< >> $@ + @cat $(ARDUINO)/main.cpp >> $@ + +elf: applet/$(TARGET).elf +hex: applet/$(TARGET).hex +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + +# Program the device. +upload: applet/$(TARGET).hex + stty hup < $(PORT); true + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + stty -hup < $(PORT); true + + + # Display size of file. +HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex +ELFSIZE = $(SIZE) applet/$(TARGET).elf +sizebefore: + @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi + +sizeafter: + @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ + --change-section-address .data-0x800000 \ + --change-section-address .bss-0x800000 \ + --change-section-address .noinit-0x800000 \ + --change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof + + +extcoff: $(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym +.PRECIOUS: .o + +.elf.hex: + @echo " COPY $@" + @$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + # Link: create ELF output file from library. +applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h + @echo " CXX $@" + @$(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) + +applet/core.a: $(OBJ) Configuration.h + @for i in $(OBJ); do echo " AR $$i"; $(AR) rcs applet/core.a $$i; done + +%.o: %.c Configuration.h $(MAKEFILE) + @echo " CC $@" + @$(CC) -c $(ALL_CFLAGS) $< -o $@ + +%.o: %.cpp Configuration.h $(MAKEFILE) + @echo " CXX $@" + @$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Target: clean project. +clean: + @echo " RM applet/*" + @$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \ + applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + @echo " RMDIR applet/" + @rmdir applet + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Marlin.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,216 @@ +// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. +// Licence: GPL + +#ifndef MARLIN_H +#define MARLIN_H + +#define FORCE_INLINE __attribute__((always_inline)) inline + +#include <math.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <inttypes.h> + +#include <util/delay.h> +#include <avr/pgmspace.h> +#include <avr/eeprom.h> +#include <avr/wdt.h> +#include <avr/interrupt.h> + + +#include "fastio.h" + +#include "Configuration.h" + +#ifndef REPRAPPRO_MULTIMATERIALS +#define HardwareSerial_h // trick to disable the standard HWserial +#endif +#include "pins.h" + +#if ARDUINO >= 100 + #include "Arduino.h" +#else + #include "WProgram.h" +#endif + +#include "MarlinSerial.h" + +#ifndef cbi +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif +#ifndef sbi +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +#include "WString.h" + +#ifdef REPRAPPRO_MULTIMATERIALS + #define MYSERIAL Serial + #define MYSERIAL1 Serial1 +#else + +#if MOTHERBOARD == 8 // Teensylu + #define MYSERIAL Serial + #define MYSERIAL1 Serial1 +#else + #define MYSERIAL MSerial +#endif + +#endif + +//this is a unfinsihed attemp to removes a lot of warning messages, see: +// http://www.avrfreaks.net/index.php?name=PNphpBB2&file=printview&t=57011 +//typedef char prog_char PROGMEM; +// //#define PSTR (s ) ((const PROGMEM char *)(s)) +// //# define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) +// //#define MYPGM(s) ((const prog_char *g PROGMEM=s)) +#define MYPGM(s) PSTR(s) +//#define MYPGM(s) (__extension__({static char __c[] __attribute__((__progmem__)) = (s); &__c[0];})) //This is the normal behaviour +//#define MYPGM(s) (__extension__({static prog_char __c[] = (s); &__c[0];})) //this does not work but hides the warnings + + +#define SERIAL_PROTOCOL(x) MYSERIAL.print(x); +#define SERIAL_PROTOCOL_F(x,y) MYSERIAL.print(x,y); +#define SERIAL_PROTOCOLPGM(x) serialprintPGM(MYPGM(x)); +#define SERIAL_PROTOCOLLN(x) {MYSERIAL.print(x);MYSERIAL.write('\n');} +#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(MYPGM(x));MYSERIAL.write('\n');} + + +const char errormagic[] PROGMEM ="Error:"; +const char echomagic[] PROGMEM ="echo:"; +#define SERIAL_ERROR_START serialprintPGM(errormagic); +#define SERIAL_ERROR(x) SERIAL_PROTOCOL(x) +#define SERIAL_ERRORPGM(x) SERIAL_PROTOCOLPGM(x) +#define SERIAL_ERRORLN(x) SERIAL_PROTOCOLLN(x) +#define SERIAL_ERRORLNPGM(x) SERIAL_PROTOCOLLNPGM(x) + +#define SERIAL_ECHO_START serialprintPGM(echomagic); +#define SERIAL_ECHO(x) SERIAL_PROTOCOL(x) +#define SERIAL_ECHOPGM(x) SERIAL_PROTOCOLPGM(x) +#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x) +#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x) + +#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);} + + +//things to write to serial from Programmemory. saves 400 to 2k of RAM. +#define SerialprintPGM(x) serialprintPGM(MYPGM(x)) +FORCE_INLINE void serialprintPGM(const char *str) +{ + char ch=pgm_read_byte(str); + while(ch) + { + MYSERIAL.write(ch); + ch=pgm_read_byte(++str); + } +} + +// printing floats to 3DP +FORCE_INLINE void serialPrintFloat( float f){ + SERIAL_ECHO((int)f); + SERIAL_ECHOPGM("."); + int mantissa = (f - (int)f) * 1000; + SERIAL_ECHO( abs(mantissa) ); +} + +void get_command(); +void process_commands(); + +void manage_inactivity(byte debug); + +#if X_ENABLE_PIN > -1 + #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) + #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) +#else + #define enable_x() ; + #define disable_x() ; +#endif + +#if Y_ENABLE_PIN > -1 + #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) + #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON) +#else + #define enable_y() ; + #define disable_y() ; +#endif + +#if Z_ENABLE_PIN > -1 + #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) + #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON) +#else + #define enable_z() ; + #define disable_z() ; +#endif + +#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1) + #define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON) + #define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON) +#else + #define enable_e0() /* nothing */ + #define disable_e0() /* nothing */ +#endif + +#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) + #define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON) + #define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON) +#else + #define enable_e1() /* nothing */ + #define disable_e1() /* nothing */ +#endif + +#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) + #define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON) + #define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON) +#else + #define enable_e2() /* nothing */ + #define disable_e2() /* nothing */ +#endif + + +enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3}; + + +void FlushSerialRequestResend(); +void ClearToSend(); + +void get_coordinates(); +void prepare_move(); +void kill(); +void Stop(); + +bool IsStopped(); + +void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer. +void prepare_arc_move(char isclockwise); + +#ifndef CRITICAL_SECTION_START + #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); + #define CRITICAL_SECTION_END SREG = _sreg; +#endif //CRITICAL_SECTION_START + +extern float homing_feedrate[]; +extern float fast_home_feedrate[]; +extern bool axis_relative_modes[]; +extern volatile int feedmultiply; +extern int saved_feedmultiply; +extern float current_position[NUM_AXIS] ; +extern float add_homeing[3]; +extern float max_length[3]; +#ifdef ADVANCE +extern float advance_k; +#endif +extern unsigned char FanSpeed; +extern bool m571_enabled; +extern bool n571_enabled; + +extern float destination[NUM_AXIS]; +extern float modified_destination[NUM_AXIS]; +extern float offset[3]; +extern float feedrate, next_feedrate, saved_feedrate; + + +// Handling multiple extruders pins +extern uint8_t active_extruder; + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Marlin.ino Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,1796 @@ +/* + Reprap firmware based on Sprinter and grbl. + Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm + + 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/>. + */ + +/* + This firmware is a mashup between Sprinter and grbl. + (https://github.com/kliment/Sprinter) + (https://github.com/simen/grbl/tree) + + It has preliminary support for Matthew Roberts advance algorithm + http://reprap.org/pipermail/reprap-dev/2011-May/003323.html + */ + +/* + RepRapPro ammendations, deletions and additions + + G10, M0, M1, M112 and T commands added/modified by AB 18/7/12 + Much conditional-compiled code for old/unused hardware removed - AB 29/7/12 + +*/ + +/* + NeoSoft modifications: + + Implement: + - M571 to enable PWM on extruder Movement (laser modulation support), second E parameter to disable real E drive + - MXXX to enable Emergency Stop button (if disabled the button can be used to programmatically pause the lasercut for user interaction. For example: + move to bottom left of print rectangle, ask user to align workpiece (wait for button press), then move to bottom right and ask user to align the other workpiece end, wait for button press to start engraving... + + EXT PINS: + 30, 29,28 = EXT1-3, 27=EXT4=LED + + M571 pin default to EXT3 (PIN 28) in pins.h + + Emergency Stop (PAUSE) button on EXT2 (PIN 29): + If not stopped: call stop() + If stopped: execute code from M999 Command (do not inject M999, execute the code!) + // bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING); + //pinMode(inPin, INPUT); + + alternative approach (better?): + make copy of "void enquecommand(const char *cmd)" with following behaviour: + - pause serial receiver enqueueing (the irq should respond like "buffer full") + - call alternative of stop() which memorizes the last PROCESSED line? +*/ + +#include "Marlin.h" + +#include "ultralcd.h" +#include "led.h" +#include "z_probe.h" +#include "FPUTransform.h" +#include "planner.h" +#include "stepper.h" +#include "temperature.h" +#include "motion_control.h" +#include "cardreader.h" +#include "EEPROMwrite.h" +#include "language.h" +#include "pins_arduino.h" +#include "slave_comms.h" + +#define VERSION_STRING "1.0.2 RRP/NeoSoft" + +// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html +// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes + +//Implemented Codes +//------------------- +// G0 -> G1 +// G1 - Coordinated Movement X Y Z E +// G2 - CW ARC +// G3 - CCW ARC +// G4 - Dwell S<seconds> or P<milliseconds> +// G10 - set head offset and temps +// G28 - Home all Axis +// G29 - Detailed Z-Probe (3 location test) +// G30 - Single Z Probe (probe current location) +// G31 - Report Curent Probe status +// G32 - Probe Z and calibrate with FPU +// G90 - Use Absolute Coordinates +// G91 - Use Relative Coordinates +// G92 - Set current position to cordinates given + +//RepRap M Codes +// M104 - Set extruder target temp (deprecated) +// M105 - Read current temp +// M106 - Fan on +// M107 - Fan off +// M109 - Wait for extruder current temp to reach target temp. (deprecated) +// M114 - Display current position + +//Custom M Codes +// M17 - Enable/Power all stepper motors +// M18 - Disable all stepper motors; same as M84 +// M20 - List SD card +// M21 - Init SD card +// M22 - Release SD card +// M23 - Select SD file (M23 filename.g) +// M24 - Start/resume SD print +// M25 - Pause SD print +// M26 - Set SD position in bytes (M26 S12345) +// M27 - Report SD print status +// M28 - Start SD write (M28 filename.g) +// M29 - Stop SD write +// M30 - Fast SD transfer +// M31 - high speed xfer capabilities +// M35 - Output time since last M109 or SD card start to serial + +// M42 - Change pin status via gcode +// M82 - Set E codes absolute (default) +// M83 - Set E codes relative while in Absolute Coordinates (G90) mode +// M84 - Disable steppers until next move, +// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. +// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) +// M92 - Set axis_steps_per_unit - same syntax as G92 +// M114 - Output current position to serial port +// M115 - Capabilities string +// M117 - display message +// M119 - Output Endstop status to serial port +// M140 - Set bed target temp +// M190 - Wait for bed current temp to reach target temp. +// M200 - Set filament diameter +// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) +// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! +// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec +// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate +// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk +// M206 - set additional homeing offset +// M208 - set axis max length +// M220 S<factor in percent>- set speed factor override percentage +// M221 S<factor in percent>- set extrude factor override percentage +// M240 - Trigger a camera to take a photograph +// M301 - Set PID parameters P I D and W +// M302 - S1 Allow cold extrudes, S0 cold extrues not allowed (default) +// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C) +// M304 - Set thermistor parameters +// M400 - Finish all moves +// M500 - stores paramters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +// M503 - print the current settings (from memory not from eeprom) +// M510 - FPU Enable +// M511 - FPU Reset +// M512 - FPU Disable +// M999 - Restart after being stopped by error + +// M555 - Temporary: master/slave comms test + +// TN - Select extruder N + +//Stepper Movement Variables + +//=========================================================================== +//=============================imported variables============================ +//=========================================================================== + + +//=========================================================================== +//=============================public variables============================= +//=========================================================================== +#ifdef SDSUPPORT +CardReader card; +#endif +float homing_feedrate[] = HOMING_FEEDRATE; +float fast_home_feedrate[] = FAST_HOME_FEEDRATE; +bool axis_relative_modes[] = AXIS_RELATIVE_MODES; +volatile int feedmultiply=100; //100->1 200->2 +int saved_feedmultiply; +volatile bool feedmultiplychanged=false; +volatile int extrudemultiply=100; //100->1 200->2 +float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }; +float add_homeing[3]={0,0,0}; +float max_length[] = AXES_MAX_LENGTHS; +#ifdef ADVANCE +float advance_k = EXTRUDER_ADVANCE_K; +#endif +uint8_t active_extruder = 0; +float extruder_x_off[EXTRUDERS]; +float extruder_y_off[EXTRUDERS]; +float extruder_z_off[EXTRUDERS]; +float extruder_standby[EXTRUDERS]; +float extruder_temperature[EXTRUDERS]; +float x_off_d; +float y_off_d; +float z_off_d; +float temp_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }; +bool extruder_selected=false; + + +unsigned char FanSpeed=0; +bool m571_enabled = 0; +bool n571_enabled = 0; + +float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; +float offset[3] = {0.0, 0.0, 0.0}; +float feedrate = 1500.0, next_feedrate, saved_feedrate; + +// used by FPU transform code +float modified_destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; + +//=========================================================================== +//=============================private variables============================= +//=========================================================================== +const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; +static bool home_all_axis = true; +static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; + +static bool relative_mode = false; //Determines Absolute or Relative Coordinates +static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode. + +static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; +static bool fromsd[BUFSIZE]; +static int bufindr = 0; +static int bufindw = 0; +static int buflen = 0; +//static int i = 0; +static char serial_char; +static int serial_count = 0; +static boolean comment_mode = false; +static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc + +const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42 + +//static float tt = 0; +//static float bt = 0; + +//Inactivity shutdown variables +static unsigned long previous_millis_cmd = 0; +static unsigned long max_inactive_time = 0; +static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l; + +static unsigned long starttime=0; +static unsigned long stoptime=0; + +static uint8_t tmp_extruder; + + +bool Stopped=false; + +//=========================================================================== +//=============================ROUTINES============================= +//=========================================================================== + +void get_arc_coordinates(); + +extern "C"{ + extern unsigned int __bss_end; + extern unsigned int __heap_start; + extern void *__brkval; + + int freeMemory() { + int free_memory; + + if((int)__brkval == 0) + free_memory = ((int)&free_memory) - ((int)&__bss_end); + else + free_memory = ((int)&free_memory) - ((int)__brkval); + + return free_memory; + } +} + +//adds an command to the main command buffer +//thats really done in a non-safe way. +//needs overworking someday +void enquecommand(const char *cmd) +{ + if(buflen < BUFSIZE) + { + //this is dangerous if a mixing of serial and this happsens + strcpy(&(cmdbuffer[bufindw][0]),cmd); + SERIAL_ECHO_START; + SERIAL_ECHOPGM("enqueing \""); + SERIAL_ECHO(cmdbuffer[bufindw]); + SERIAL_ECHOLNPGM("\""); + bufindw= (bufindw + 1)%BUFSIZE; + buflen += 1; + } +} + +void setup_photpin() +{ + #ifdef PHOTOGRAPH_PIN + #if (PHOTOGRAPH_PIN > -1) + SET_OUTPUT(PHOTOGRAPH_PIN); + WRITE(PHOTOGRAPH_PIN, LOW); + #endif + #endif +} + +void setup_powerhold() +{ + #ifdef SUICIDE_PIN + #if (SUICIDE_PIN> -1) + SET_OUTPUT(SUICIDE_PIN); + WRITE(SUICIDE_PIN, HIGH); + #endif + #endif +} + +void suicide() +{ + #ifdef SUICIDE_PIN + #if (SUICIDE_PIN> -1) + SET_OUTPUT(SUICIDE_PIN); + WRITE(SUICIDE_PIN, LOW); + #endif + #endif +} + +void setup() +{ + setup_powerhold(); + MYSERIAL.begin(BAUDRATE); + SERIAL_PROTOCOLLNPGM("start"); + SERIAL_ECHO_START; + + for(int8_t i = 0; i < EXTRUDERS; i++) + { + extruder_x_off[i] = X_EXTRUDER_OFFSET; + extruder_y_off[i] = Y_EXTRUDER_OFFSET; + extruder_z_off[i] = Z_EXTRUDER_OFFSET; + extruder_standby[i] = STANDBY_TEMP; + extruder_temperature[i] = DEFAULT_TEMP; + } + + + // Check startup - does nothing if bootloader sets MCUSR to 0 + byte mcu = MCUSR; + if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP); + if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET); + if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET); + if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET); + if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET); + MCUSR=0; + + SERIAL_ECHOPGM(MSG_MARLIN); + SERIAL_ECHOLNPGM(VERSION_STRING); + #ifdef STRING_VERSION_CONFIG_H + #ifdef STRING_CONFIG_H_AUTHOR + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_CONFIGURATION_VER); + SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H); + SERIAL_ECHOPGM(MSG_AUTHOR); + SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR); + #endif + #endif + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_FREE_MEMORY); + SERIAL_ECHO(freeMemory()); + SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES); + SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE); + for(int8_t i = 0; i < BUFSIZE; i++) + { + fromsd[i] = false; + } + + EEPROM_RetrieveSettings(); // loads data from EEPROM if available + + for(int8_t i=0; i < NUM_AXIS; i++) + { + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } + + + tp_init(); // Initialize temperature loop + plan_init(); // Initialize planner; + st_init(); // Initialize stepper; + #if (LED_PIN > -1) + led_init(); + #endif + probe_init(); //Initializes probe if PROBE_PIN is defined + FPUTransform_init(); //Initializes FPU when UMFPUSUPPORT defined + setup_photpin(); + +#ifdef REPRAPPRO_MULTIMATERIALS + setup_slave(); +#endif + +} + + +void loop() +{ + if(buflen < (BUFSIZE-1)) + get_command(); + #ifdef SDSUPPORT + card.checkautostart(false); + #endif + if(buflen) + { + #ifdef SDSUPPORT + if(card.saving) + { + if(strstr(cmdbuffer[bufindr],"M29") == NULL) + { + card.write_command(cmdbuffer[bufindr]); + SERIAL_PROTOCOLLNPGM(MSG_OK); + } + else + { + card.closefile(); + SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); + } + } + else + { + process_commands(); + } + #else + process_commands(); + #endif //SDSUPPORT + buflen = (buflen-1); + bufindr = (bufindr + 1)%BUFSIZE; + } + //check heater every n milliseconds + manage_heater(); + manage_inactivity(1); + checkHitEndstops(); + LCD_STATUS; + LED_STATUS; +} + +void get_command() +{ + while( MYSERIAL.available() > 0 && buflen < BUFSIZE) { + serial_char = MYSERIAL.read(); + if(serial_char == '\n' || + serial_char == '\r' || + (serial_char == ':' && comment_mode == false) || + serial_count >= (MAX_CMD_SIZE - 1) ) + { + if(!serial_count) { //if empty line + comment_mode = false; //for new command + return; + } + cmdbuffer[bufindw][serial_count] = 0; //terminate string + if(!comment_mode){ + comment_mode = false; //for new command + fromsd[bufindw] = false; + if(strstr(cmdbuffer[bufindw], "N") != NULL) + { + strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); + gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); + if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) { + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_LINE_NO); + SERIAL_ERRORLN(gcode_LastN); + //Serial.println(gcode_N); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + + if(strstr(cmdbuffer[bufindw], "*") != NULL) + { + byte checksum = 0; + byte count = 0; + while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; + strchr_pointer = strchr(cmdbuffer[bufindw], '*'); + + if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH); + SERIAL_ERRORLN(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + //if no errors, continue parsing + } + else + { + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM); + SERIAL_ERRORLN(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + + gcode_LastN = gcode_N; + //if no errors, continue parsing + } + else // if we don't receive 'N' but still see '*' + { + if((strstr(cmdbuffer[bufindw], "*") != NULL)) + { + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM); + SERIAL_ERRORLN(gcode_LastN); + serial_count = 0; + return; + } + } + if((strstr(cmdbuffer[bufindw], "G") != NULL)){ + strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); + switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){ + case 0: + case 1: + case 2: + case 3: + if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored. + #ifdef SDSUPPORT + if(card.saving) + break; + #endif //SDSUPPORT + SERIAL_PROTOCOLLNPGM(MSG_OK); + } + else { + SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); + } + break; + default: + break; + } + + } + bufindw = (bufindw + 1)%BUFSIZE; + buflen += 1; + } + serial_count = 0; //clear buffer + } + else + { + if(serial_char == ';') comment_mode = true; + if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; + } + } + #ifdef SDSUPPORT + if(!card.sdprinting || serial_count!=0){ + return; + } + while( !card.eof() && buflen < BUFSIZE) { + int16_t n=card.get(); + serial_char = (char)n; + if(serial_char == '\n' || + serial_char == '\r' || + (serial_char == ':' && comment_mode == false) || + serial_count >= (MAX_CMD_SIZE - 1)||n==-1) + { + if(card.eof()){ + SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); + stoptime=millis(); + char time[30]; + unsigned long t=(stoptime-starttime)/1000; + int sec,min; + min=t/60; + sec=t%60; + sprintf(time,"%i min, %i sec",min,sec); + SERIAL_ECHO_START; + SERIAL_ECHOLN(time); + LCD_MESSAGE(time); + card.printingHasFinished(); + card.checkautostart(true); + + } + if(!serial_count) + { + comment_mode = false; //for new command + return; //if empty line + } + cmdbuffer[bufindw][serial_count] = 0; //terminate string +// if(!comment_mode){ + fromsd[bufindw] = true; + buflen += 1; + bufindw = (bufindw + 1)%BUFSIZE; +// } + comment_mode = false; //for new command + serial_count = 0; //clear buffer + } + else + { + if(serial_char == ';') comment_mode = true; + if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; + } + } + + #endif //SDSUPPORT + +} + + +float code_value() +{ + return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); +} + +long code_value_long() +{ + return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); +} + +bool code_seen(char code_string[]) //Return True if the string was found +{ + return (strstr(cmdbuffer[bufindr], code_string) != NULL); +} + +bool code_seen(char code) +{ + strchr_pointer = strchr(cmdbuffer[bufindr], code); + return (strchr_pointer != NULL); //Return True if a character was found +} + +#define HOMEAXIS(LETTER) \ + if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\ + { \ + current_position[LETTER##_AXIS] = 0; \ + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \ + destination[LETTER##_AXIS] = 1.1 * max_length[LETTER##_AXIS] * LETTER##_HOME_DIR; \ + feedrate = fast_home_feedrate[LETTER##_AXIS]; \ + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ + \ + current_position[LETTER##_AXIS] = 0;\ + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ + destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ + \ + destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\ + feedrate = homing_feedrate[LETTER##_AXIS] ; \ + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ + st_synchronize();\ + \ + current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\ + destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ + feedrate = 0.0;\ + endstops_hit_on_purpose();\ + } + +void wait_for_temp(uint8_t& t_ext, unsigned long& codenum) +{ + /* See if we are heating up or cooling down */ + bool target_direction = isHeatingHotend(t_ext); // true if heating, false if cooling + + #ifdef TEMP_RESIDENCY_TIME + long residencyStart; + residencyStart = -1; + /* continue to loop until we have reached the target temp + _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ + while((residencyStart == -1) || + (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) + { + #else + while ( target_direction ? (isHeatingHotend(t_ext)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) + { + #endif //TEMP_RESIDENCY_TIME + if( (millis() - codenum) > 1000UL ) + { //Print Temp Reading and remaining time every 1 second while heating up/cooling down + SERIAL_PROTOCOLPGM("T:"); + SERIAL_PROTOCOL_F(degHotend(t_ext),1); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL( (int)t_ext ); + #ifdef TEMP_RESIDENCY_TIME + SERIAL_PROTOCOLPGM(" W:"); + if(residencyStart > -1) + { + codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL; + SERIAL_PROTOCOLLN( codenum ); + } else + { + SERIAL_PROTOCOLLN( "?" ); + } + #else + SERIAL_PROTOCOLLN(""); + #endif + codenum = millis(); + } + manage_heater(); + manage_inactivity(1); + lcd_status(); + led_status(); + #ifdef TEMP_RESIDENCY_TIME + /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time + or when current temp falls outside the hysteresis after target temp was reached */ + if ((residencyStart == -1 && target_direction && (degHotend(t_ext) >= (degTargetHotend(t_ext)-TEMP_WINDOW))) || + (residencyStart == -1 && !target_direction && (degHotend(t_ext) <= (degTargetHotend(t_ext)+TEMP_WINDOW))) || + (residencyStart > -1 && labs(degHotend(t_ext) - degTargetHotend(t_ext)) > TEMP_HYSTERESIS) ) + { + residencyStart = millis(); + } + #endif //TEMP_RESIDENCY_TIME + } + LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); + starttime=millis(); + previous_millis_cmd = millis(); +} + + +void process_commands() +{ + unsigned long codenum; //throw away variable + char *starpos = NULL; + + if(code_seen('G')) + { + switch((int)code_value()) + { + case 0: // G0 -> G1 + case 1: // G1 + if(Stopped == false) { + get_coordinates(); // For X Y Z E F + prepare_move(); + //ClearToSend(); + return; + } + //break; + case 2: // G2 - CW ARC + if(Stopped == false) { + get_arc_coordinates(); + prepare_arc_move(true); + return; + } + case 3: // G3 - CCW ARC + if(Stopped == false) { + get_arc_coordinates(); + prepare_arc_move(false); + return; + } + case 4: // G4 dwell + LCD_MESSAGEPGM(MSG_DWELL); + codenum = 0; + if(code_seen('P')) codenum = code_value(); // milliseconds to wait + if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait + + st_synchronize(); + codenum += millis(); // keep track of when we started waiting + previous_millis_cmd = millis(); + while(millis() < codenum ){ + manage_heater(); + manage_inactivity(1); + } + break; + + case 10: // Set offsets + if(code_seen('P')) + { + tmp_extruder = code_value(); + get_coordinates(); + extruder_x_off[tmp_extruder] = destination[0]; // X + extruder_y_off[tmp_extruder] = destination[1]; // Y + extruder_z_off[tmp_extruder] = destination[2]; // Z + if(code_seen('R')) + extruder_standby[tmp_extruder] = code_value(); + if(code_seen('S')) + extruder_temperature[tmp_extruder] = code_value(); + } + break; + + case 28: //G28 Home all Axis one at a time + saved_feedrate = feedrate; + saved_feedmultiply = feedmultiply; + feedmultiply = 100; + previous_millis_cmd = millis(); + + enable_endstops(true); + + for(int8_t i=0; i < NUM_AXIS; i++) { + destination[i] = current_position[i]; + } + feedrate = 0.0; + home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); + + if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) + { + HOMEAXIS(X); + } + + if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) { + HOMEAXIS(Y); + } + + if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { + HOMEAXIS(Z); + } + + if((home_all_axis) || code_seen(axis_codes[X_AXIS])) + { + if(code_value_long() != 0) { + current_position[X_AXIS]=code_value(); + } + current_position[X_AXIS]+=add_homeing[0]; + } + + if((home_all_axis) || code_seen(axis_codes[Y_AXIS])) { + if(code_value_long() != 0) { + current_position[Y_AXIS]=code_value(); + } + current_position[Y_AXIS]+=add_homeing[1]; + } + + if((home_all_axis) || code_seen(axis_codes[Z_AXIS])) { + if(code_value_long() != 0) { + current_position[Z_AXIS]=code_value(); + } + current_position[Z_AXIS]+=add_homeing[2]; + } + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #endif + + feedrate = saved_feedrate; + feedmultiply = saved_feedmultiply; + previous_millis_cmd = millis(); + endstops_hit_on_purpose(); + break; + case 29: + probe_3points(); + break; + case 30: + probe_1point(); + break; + case 31: + probe_status(); + break; + case 32: + FPUTransform_determineBedOrientation(); + break; + case 90: // G90 + relative_mode = false; + break; + case 91: // G91 + relative_mode = true; + break; + case 92: // G92 + if(!code_seen(axis_codes[E_AXIS])) + st_synchronize(); + for(int8_t i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) { + current_position[i] = code_value()+add_homeing[i]; + if(i == E_AXIS) { + current_position[i] = code_value(); + plan_set_e_position(current_position[E_AXIS]); + } + else { + current_position[i] = code_value()+add_homeing[i]; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + } + } + } + break; + } + } + + else if(code_seen('M')) + { + switch( (int)code_value() ) + { + case 0: // Stops - add me... + case 1: + case 112: + break; + + case 17: + LCD_MESSAGEPGM(MSG_NO_MOVE); + enable_x(); + enable_y(); + enable_z(); + // N571 disables real E drive! (ie. on laser operations) + if (!n571_enabled) { + enable_e0(); + enable_e1(); + enable_e2(); + } + break; + +#ifdef SDSUPPORT + case 20: // M20 - list SD card + SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); + card.ls(); + SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); + break; + case 21: // M21 - init SD card + + card.initsd(); + + break; + case 22: //M22 - release SD card + card.release(); + + break; + case 23: //M23 - Select file + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos!=NULL) + *(starpos-1)='\0'; + card.openFile(strchr_pointer + 4,true); + break; + case 24: //M24 - Start SD print + card.startFileprint(); + starttime=millis(); + break; + case 25: //M25 - Pause SD print + card.pauseSDPrint(); + break; + case 26: //M26 - Set SD index + if(card.cardOK && code_seen('S')) { + card.setIndex(code_value_long()); + } + break; + case 27: //M27 - Get SD status + card.getStatus(); + break; + case 28: //M28 - Start SD write + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos != NULL){ + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos,' ') + 1; + *(starpos-1) = '\0'; + } + card.openFile(strchr_pointer+4,false); + break; + case 29: //M29 - Stop SD write + //processed in write to file routine above + //card,saving = false; + break; + case 30: //M30 <filename> Delete File + if (card.cardOK){ + card.closefile(); + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos != NULL){ + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos,' ') + 1; + *(starpos-1) = '\0'; + } + card.removeFile(strchr_pointer + 4); + } + break; + + case 32: //M32 - fast SD transfer + card.fast_xfer(strchr_pointer+4); + break; + case 33: //M31 - high speed xfer capabilities + SERIAL_ECHOPGM("RAW:"); + SERIAL_ECHOLN(SD_FAST_XFER_CHUNK_SIZE); + break; +#endif //SDSUPPORT + + case 35: //M35 take time since the start of the SD print or an M109 command + { + stoptime=millis(); + char time[30]; + unsigned long t=(stoptime-starttime)/1000; + int sec,min; + min=t/60; + sec=t%60; + sprintf(time,"%i min, %i sec",min,sec); + SERIAL_ECHO_START; + SERIAL_ECHOLN(time); + LCD_MESSAGE(time); + } + break; + case 42: //M42 -Change pin status via gcode + if (code_seen('S')) + { + int pin_status = code_value(); + if (code_seen('P') && pin_status >= 0 && pin_status <= 255) + { + int pin_number = code_value(); + for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++) + { + if (sensitive_pins[i] == pin_number) + { + pin_number = -1; + break; + } + } + + if (pin_number > -1) + { + pinMode(pin_number, OUTPUT); + digitalWrite(pin_number, pin_status); + analogWrite(pin_number, pin_status); + } + } + } + break; + case 104: // M104 + tmp_extruder = active_extruder; + if(code_seen('T')) { // Why is this T and not S? - AB + tmp_extruder = code_value(); + if(tmp_extruder >= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER); + SERIAL_ECHOLN(tmp_extruder); + break; + } + } + if (code_seen('S')) + { + extruder_temperature[tmp_extruder] = code_value(); + setTargetHotend(code_value(), tmp_extruder); + } + + break; + case 140: // M140 set bed temp + if (code_seen('S')) setTargetBed(code_value()); + break; + case 1105: + #if (TEMP_0_PIN > -1) + SERIAL_PROTOCOLPGM("ok T0 raw:"); + SERIAL_PROTOCOL(rawHotend(tmp_extruder)); + SERIAL_PROTOCOLPGM(", min:"); + SERIAL_PROTOCOL(minHotend(tmp_extruder)); + SERIAL_PROTOCOLPGM(", max:"); + SERIAL_PROTOCOL(maxHotend(tmp_extruder)); + #endif + break; + case 105 : // M105 + tmp_extruder = active_extruder; + if(code_seen('T')) { + tmp_extruder = code_value(); + if(tmp_extruder >= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER); + SERIAL_ECHOLN(tmp_extruder); + break; + } + } + #if (TEMP_0_PIN > -1) + SERIAL_PROTOCOLPGM("ok T:"); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); + #if TEMP_BED_PIN > -1 + SERIAL_PROTOCOLPGM(" B:"); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetBed(),1); + #endif //TEMP_BED_PIN + #else + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); + #endif + #ifdef PIDTEMP + SERIAL_PROTOCOLPGM(" @:"); + SERIAL_PROTOCOL(getHeaterPower(tmp_extruder)); + #endif + SERIAL_PROTOCOLLN(""); + return; + break; + case 109: + // M109 - Wait for extruder heater to reach target. + tmp_extruder = active_extruder; + if(code_seen('T')) { // Why is this T and not S? - AB + tmp_extruder = code_value(); + if(tmp_extruder >= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER); + SERIAL_ECHOLN(tmp_extruder); + break; + } + } + LCD_MESSAGEPGM(MSG_HEATING); + + if (code_seen('S')) + { + extruder_temperature[tmp_extruder] = code_value(); + setTargetHotend(code_value(), tmp_extruder); + } + + + codenum = millis(); + wait_for_temp(tmp_extruder, codenum); + break; + case 190: // M190 - Wait for bed heater to reach target. + #if TEMP_BED_PIN > -1 + LCD_MESSAGEPGM(MSG_BED_HEATING); + if (code_seen('S')) setTargetBed(code_value()); + codenum = millis(); + while(isHeatingBed()) + { + if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + { + float tt=degHotend(active_extruder); + SERIAL_PROTOCOLPGM("T:"); + SERIAL_PROTOCOL(tt); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL((int)active_extruder); + SERIAL_PROTOCOLPGM(" B:"); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLLN(""); + codenum = millis(); + } + manage_heater(); + manage_inactivity(1); + LCD_STATUS; + } + LCD_MESSAGEPGM(MSG_BED_DONE); + previous_millis_cmd = millis(); + #endif + break; + + #if FAN_PIN > -1 + case 106: //M106 Fan On + if (code_seen('S')){ + FanSpeed=constrain(code_value(),0,255); + } + else { + FanSpeed=255; + } + break; + case 107: //M107 Fan Off + FanSpeed = 0; + break; + #endif //FAN_PIN + + + case 82: + axis_relative_modes[3] = false; + break; + case 83: + axis_relative_modes[3] = true; + break; + case 18: //compatibility + case 84: // M84 + if(code_seen('S')){ + stepper_inactive_time = code_value() * 1000; + } + else + { + bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3]))); + if(all_axis) + { + st_synchronize(); + disable_e0(); + disable_e1(); + disable_e2(); + finishAndDisableSteppers(); + + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable + } + else + { + st_synchronize(); + if(code_seen('X')) disable_x(); + if(code_seen('Y')) disable_y(); + if(code_seen('Z')) disable_z(); + #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS + if(code_seen('E')) { + disable_e0(); + disable_e1(); + disable_e2(); + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable + } + #endif + LCD_MESSAGEPGM(MSG_PART_RELEASE); + } + } + break; + case 85: // M85 + code_seen('S'); + max_inactive_time = code_value() * 1000; + break; + case 92: // M92 + for(int8_t i=0; i < NUM_AXIS; i++) + { + if(code_seen(axis_codes[i])) + axis_steps_per_unit[i] = code_value(); + } + break; + case 115: // M115 + SerialprintPGM(MSG_M115_REPORT); + break; + case 117: // M117 display message + LCD_MESSAGE(cmdbuffer[bufindr]+5); + break; + case 114: // M114 + SERIAL_PROTOCOLPGM("X:"); + SERIAL_PROTOCOL(current_position[X_AXIS]); + SERIAL_PROTOCOLPGM("Y:"); + SERIAL_PROTOCOL(current_position[Y_AXIS]); + SERIAL_PROTOCOLPGM("Z:"); + SERIAL_PROTOCOL(current_position[Z_AXIS]); + SERIAL_PROTOCOLPGM("E:"); + SERIAL_PROTOCOL(current_position[E_AXIS]); + + SERIAL_PROTOCOLPGM(MSG_COUNT_X); + SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOLPGM("Y:"); + SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOLPGM("Z:"); + SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); + + SERIAL_PROTOCOLLN(""); + break; + case 120: // M120 + enable_endstops(false) ; + break; + case 121: // M121 + enable_endstops(true) ; + break; + case 119: // M119 + #if (X_MIN_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_X_MIN); + SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + #if (X_MAX_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_X_MAX); + SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + #if (Y_MIN_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_Y_MIN); + SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + #if (Y_MAX_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_Y_MAX); + SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + #if (Z_MIN_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_Z_MIN); + SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + #if (Z_MAX_PIN > -1) + SERIAL_PROTOCOLPGM(MSG_Z_MAX); + SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L ")); + #endif + SERIAL_PROTOCOLLN(""); + break; + case 201: // M201 + for(int8_t i=0; i < NUM_AXIS; i++) + { + if(code_seen(axis_codes[i])) + { + max_acceleration_units_per_sq_second[i] = code_value(); + axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + } + } + break; + #if 0 // Not used for Sprinter/grbl gen6 + case 202: // M202 + for(int8_t i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + } + break; + #endif + case 203: // M203 max feedrate mm/sec + for(int8_t i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) max_feedrate[i] = code_value(); + } + break; + case 204: // M204 acclereration S normal moves T filmanent only moves + { + if(code_seen('S')) acceleration = code_value() ; + if(code_seen('T')) retract_acceleration = code_value() ; + } + break; + case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + { + if(code_seen('S')) minimumfeedrate = code_value(); + if(code_seen('T')) mintravelfeedrate = code_value(); + if(code_seen('B')) minsegmenttime = code_value() ; + if(code_seen('X')) max_xy_jerk = code_value() ; + if(code_seen('Z')) max_z_jerk = code_value() ; + if(code_seen('E')) max_e_jerk = code_value() ; + #ifdef ADVANCE + if(code_seen('K')) advance_k = code_value() ; + #endif + } + break; + case 206: // M206 additional homeing offset + for(int8_t i=0; i < 3; i++) + { + if(code_seen(axis_codes[i])) add_homeing[i] = code_value(); + } + break; + case 208: // M208 set axis max length + for(int8_t i=0; i < 3; i++) + { + if(code_seen(axis_codes[i])) { + max_length[i] = code_value(); + SERIAL_PROTOCOL(axis_codes[i]); + SERIAL_PROTOCOL(" Axis max length: "); + SERIAL_PROTOCOL(max_length[i]); + } + } + break; + case 220: // M220 S<factor in percent>- set speed factor override percentage + { + if(code_seen('S')) + { + feedmultiply = code_value() ; + feedmultiplychanged=true; + } + } + break; + case 221: // M221 S<factor in percent>- set extrude factor override percentage + { + if(code_seen('S')) + { + extrudemultiply = code_value() ; + } + } + break; + + #ifdef PIDTEMP + case 301: // M301 + { + if(code_seen('P')) Kp = code_value(); + if(code_seen('I')) Ki = code_value()*PID_dT; + if(code_seen('D')) Kd = code_value()/PID_dT; + if(code_seen('W')) Ki_Max = constrain(code_value(),0,255); + + updatePID(); + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" p:"); + SERIAL_PROTOCOL(Kp); + SERIAL_PROTOCOL(" i:"); + SERIAL_PROTOCOL(Ki/PID_dT); + SERIAL_PROTOCOL(" d:"); + SERIAL_PROTOCOL(Kd*PID_dT); + SERIAL_PROTOCOL(" w:"); + SERIAL_PROTOCOL(Ki_Max); + + SERIAL_PROTOCOLLN(""); + } + break; + #endif //PIDTEMP + case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ + { + #ifdef PHOTOGRAPH_PIN + #if (PHOTOGRAPH_PIN > -1) + const uint8_t NUM_PULSES=16; + const float PULSE_LENGTH=0.01524; + for(int i=0; i < NUM_PULSES; i++) { + WRITE(PHOTOGRAPH_PIN, HIGH); + _delay_ms(PULSE_LENGTH); + WRITE(PHOTOGRAPH_PIN, LOW); + _delay_ms(PULSE_LENGTH); + } + delay(7.33); + for(int i=0; i < NUM_PULSES; i++) { + WRITE(PHOTOGRAPH_PIN, HIGH); + _delay_ms(PULSE_LENGTH); + WRITE(PHOTOGRAPH_PIN, LOW); + _delay_ms(PULSE_LENGTH); + } + #endif + #endif + } + break; + + case 302: // allow cold extrudes + { + if (code_seen('S')) + { + allow_cold_extrudes(code_value()); + }else{ + allow_cold_extrudes(true); + } + } + break; + case 303: // M303 PID autotune + { + float temp = 150.0; + if (code_seen('S')) temp=code_value(); + PID_autotune(temp); + } + break; + case 304: // Set thermistor parameters + { + // M304 H0 B3960 R4700 + // M304 H1 Bb Rr + if (code_seen('H')) + { + if(!code_value()){ + //set BED thermistor + if(code_seen('B')) b_beta = code_value(); + if(code_seen('R')) b_resistor = code_value(); + if(code_seen('T')) b_thermistor = code_value(); + b_inf = ( b_thermistor*exp(-b_beta/298.15) ); + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" M304 H0 B"); + SERIAL_PROTOCOL(b_beta); + SERIAL_PROTOCOL(" R"); + SERIAL_PROTOCOL(b_resistor); + SERIAL_PROTOCOL(" T"); + SERIAL_PROTOCOL(b_thermistor); + SERIAL_PROTOCOLLN(""); + }else{ + //set active Nozzle thermistor + if(code_seen('B')) n_beta = code_value(); + if(code_seen('R')) n_resistor = code_value(); + if(code_seen('T')) n_thermistor = code_value(); + n_inf = ( n_thermistor*exp(-n_beta/298.15) ); + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" M304 H1 B"); + SERIAL_PROTOCOL(n_beta); + SERIAL_PROTOCOL(" R"); + SERIAL_PROTOCOL(n_resistor); + SERIAL_PROTOCOL(" T"); + SERIAL_PROTOCOL(n_thermistor); + SERIAL_PROTOCOLLN(""); + } + } + } + break; + case 400: // M400 finish all moves + { + st_synchronize(); + } + break; + case 500: // Store settings in EEPROM + { + EEPROM_StoreSettings(); + } + break; + case 501: // Read settings from EEPROM + { + EEPROM_RetrieveSettings(); + } + break; + case 502: // Revert to default settings + { + EEPROM_RetrieveSettings(true); + } + break; + case 503: // print settings currently in memory + { + EEPROM_printSettings(); + } + break; + case 504: // print free memory + { + SERIAL_ECHO_START; + SERIAL_ECHOPGM("Free Memory:"); + SERIAL_ECHO(freeMemory()); + } + break; + case 999: // Restart after being stopped + Stopped = false; + gcode_LastN = Stopped_gcode_LastN; + FlushSerialRequestResend(); + break; + case 510: // FPU Enable + { + FPUEnable(); + } + break; + case 511: // FPU Reset + { + FPUReset(); + } + break; + case 512: // FPU Disable + { + FPUDisable(); + } + break; +#ifdef REPRAPPRO_MULTIMATERIALS + case 555: // Slave comms test + talkToSlave("t 0"); + SERIAL_ECHO_START; + SERIAL_ECHOPGM("Slave response:"); + SERIAL_ECHO(listenToSlave()); + break; + case 556: // Set temp + talkToSlave("T 0 100"); + break; + case 557: // Call stepper test + talkToSlave("A"); + break; + case 558: // Send interrupt + for(int ii=0; ii < 1000; ii++) + { + toggleSlaveClock(); + delay(1); + } + break; +#endif + + case 571: // enable extruder active pin + if (code_seen('S')) + { + m571_enabled = (int)code_value(); + } + + if (code_seen('E')) + { + n571_enabled = (int)code_value(); + } + + WRITE(M571_PIN, LOW);// M571 disable in any case! + + SERIAL_ECHO_START; + SERIAL_ECHO("Parameters: S<0|1> enable extruder active pin, E<0|1> if enabled prevent real drive movement"); + + SERIAL_ECHO_START; + SERIAL_ECHO("Extruder active pin: "); + if (m571_enabled) { + SERIAL_ECHOLN("enabled"); + } else { + SERIAL_ECHOLN("disabled"); + } + + SERIAL_ECHO_START; + SERIAL_ECHO("Extruder motor move: "); + if (!n571_enabled) { + SERIAL_ECHOLN("enabled"); + } else { + SERIAL_ECHOLN("disabled"); + } + + break; + + + + } + } + + else if(code_seen('T')) + { + tmp_extruder = code_value(); + if(tmp_extruder >= EXTRUDERS) + { + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_STANDBY_TEMP); + SERIAL_ECHO(active_extruder); + setTargetHotend(extruder_standby[active_extruder], active_extruder); + } + else + { + if((tmp_extruder != active_extruder) || !extruder_selected) + { + setTargetHotend(extruder_standby[active_extruder], active_extruder); + extruder_selected = true; + + // Deal with offsets here: record current pos as temp_position; + // move to temp_position + tmp_extruder - active_extruder; + // Set current pos to be temp_position + // TOTHINKABOUT: What about cumulative errors with a LOT of extruder changes? + + for(int8_t i=0; i < NUM_AXIS; i++) + { + temp_position[i] = current_position[i]; + destination[i] = current_position[i]; + } + next_feedrate = feedrate; + x_off_d = extruder_x_off[tmp_extruder] - extruder_x_off[active_extruder]; + y_off_d = extruder_y_off[tmp_extruder] - extruder_y_off[active_extruder]; + z_off_d = extruder_z_off[tmp_extruder] - extruder_z_off[active_extruder]; + + if(z_off_d > 0) + { + destination[Z_AXIS] += z_off_d; + feedrate = fast_home_feedrate[Z_AXIS]; + prepare_move(); + destination[X_AXIS] = temp_position[X_AXIS] + x_off_d; + destination[Y_AXIS] = temp_position[Y_AXIS] + y_off_d; + feedrate = fast_home_feedrate[X_AXIS]; + prepare_move(); + } else + { + destination[X_AXIS] += x_off_d; + destination[Y_AXIS] += y_off_d; + feedrate = fast_home_feedrate[X_AXIS]; + prepare_move(); + destination[Z_AXIS] = temp_position[Z_AXIS] + z_off_d; + feedrate = fast_home_feedrate[Z_AXIS]; + prepare_move(); + } + + for(int8_t i=0; i < NUM_AXIS; i++) + current_position[i] = temp_position[i]; + feedrate = next_feedrate; + active_extruder = tmp_extruder; + + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); + SERIAL_PROTOCOLLN((int)active_extruder); + + setTargetHotend(extruder_temperature[active_extruder], active_extruder); + + + codenum = millis(); + wait_for_temp(active_extruder, codenum); + } + } + } + + + else + { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); + SERIAL_ECHO(cmdbuffer[bufindr]); + SERIAL_ECHOLNPGM("\""); + } + + ClearToSend(); +} + +void FlushSerialRequestResend() +{ + //char cmdbuffer[bufindr][100]="Resend:"; + MYSERIAL.flush(); + SERIAL_PROTOCOLPGM(MSG_RESEND); + SERIAL_PROTOCOLLN(gcode_LastN + 1); + ClearToSend(); +} + +void ClearToSend() +{ + previous_millis_cmd = millis(); + #ifdef SDSUPPORT + if(fromsd[bufindr]) + return; + #endif //SDSUPPORT + SERIAL_PROTOCOLLNPGM(MSG_OK); +} + +void get_coordinates() +{ + for(int8_t i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; + else destination[i] = current_position[i]; //Are these else lines really needed? + } + if(code_seen('F')) { + next_feedrate = code_value(); + if(next_feedrate > 0.0) feedrate = next_feedrate; + } +} + +void get_arc_coordinates() +{ + get_coordinates(); + if(code_seen('I')) { + offset[0] = code_value(); + } + else { + offset[0] = 0.0; + } + if(code_seen('J')) { + offset[1] = code_value(); + } + else { + offset[1] = 0.0; + } +} + +void prepare_move() +{ + +// transform destination ********************************************* + + FPUTransform_transformDestination(); + + if (min_software_endstops) { + if (modified_destination[X_AXIS] < X_HOME_POS) modified_destination[X_AXIS] = X_HOME_POS; + if (modified_destination[Y_AXIS] < Y_HOME_POS) modified_destination[Y_AXIS] = Y_HOME_POS; + if (modified_destination[Z_AXIS] < Z_HOME_POS) modified_destination[Z_AXIS] = Z_HOME_POS; + } + + if (max_software_endstops) { + if (modified_destination[X_AXIS] > max_length[X_AXIS]) modified_destination[X_AXIS] = max_length[X_AXIS]; + if (modified_destination[Y_AXIS] > max_length[Y_AXIS]) modified_destination[Y_AXIS] = max_length[Y_AXIS]; + if (modified_destination[Z_AXIS] > max_length[Z_AXIS]) modified_destination[Z_AXIS] = max_length[Z_AXIS]; + } + previous_millis_cmd = millis(); + plan_buffer_line(modified_destination[X_AXIS], modified_destination[Y_AXIS], modified_destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); + for(int8_t i=0; i < NUM_AXIS; i++) { + current_position[i] = destination[i]; + } +} + +void prepare_arc_move(char isclockwise) { + float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc + +// transform destination ********************************************* + FPUTransform_transformDestination(); + + // Trace the arc + mc_arc(current_position, modified_destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder); + + // As far as the parser is concerned, the position is now == target. In reality the + // motion control system might still be processing the action and the real tool position + // in any intermediate location. + for(int8_t i=0; i < NUM_AXIS; i++) { + current_position[i] = destination[i]; + } + previous_millis_cmd = millis(); +} + +#ifdef CONTROLLERFAN_PIN +unsigned long lastMotor = 0; //Save the time for when a motor was turned on last +unsigned long lastMotorCheck = 0; + +void controllerFan() +{ + if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms + { + lastMotorCheck = millis(); + + if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) + #if EXTRUDERS > 2 + || !READ(E2_ENABLE_PIN) + #endif + #if EXTRUDER > 1 + || !READ(E2_ENABLE_PIN) + #endif + || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled... + { + lastMotor = millis(); //... set time to NOW so the fan will turn on + } + + if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC... + { + WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off + } + else + { + WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on + } + } +} +#endif + +void manage_inactivity(byte debug) +{ + if( (millis() - previous_millis_cmd) > max_inactive_time ) + if(max_inactive_time) + kill(); + if(stepper_inactive_time) { + if( (millis() - previous_millis_cmd) > stepper_inactive_time ) + { + if(blocks_queued() == false) { + disable_x(); + disable_y(); + disable_z(); + disable_e0(); + disable_e1(); + disable_e2(); + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable + } + } + } + #ifdef CONTROLLERFAN_PIN + controllerFan(); //Check if fan should be turned on to cool stepper drivers down + #endif + check_axes_activity(); +} + +void kill() +{ + cli(); // Stop interrupts + disable_heater(); + + disable_x(); + disable_y(); + disable_z(); + disable_e0(); + disable_e1(); + disable_e2(); + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable + + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_KILLED); + LCD_MESSAGEPGM(MSG_KILLED); + suicide(); + while(1); // Wait for reset +} + +void Stop() +{ + disable_heater(); + if(Stopped == false) { + Stopped = true; + Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); + } +} + +bool IsStopped() { return Stopped; }; + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MarlinSerial.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,338 @@ +/* + HardwareSerial.cpp - Hardware serial library for Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library 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 + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 23 November 2006 by David A. Mellis + Modified 28 September 2010 by Mark Sproul +*/ + + + +#include "Marlin.h" + +#ifndef REPRAPPRO_MULTIMATERIALS + +#include "MarlinSerial.h" + +#if MOTHERBOARD != 8 // !teensylu +// this next line disables the entire HardwareSerial.cpp, +// this is so I can support Attiny series and any other chip without a uart +#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H) + +#if defined(UBRRH) || defined(UBRR0H) + ring_buffer rx_buffer = { { 0 }, 0, 0 }; +#endif + +FORCE_INLINE void store_char(unsigned char c) +{ + int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE; + + // if we should be storing the received character into the location + // just before the tail (meaning that the head would advance to the + // current location of the tail), we're about to overflow the buffer + // and so we don't write the character or advance the head. + if (i != rx_buffer.tail) { + rx_buffer.buffer[rx_buffer.head] = c; + rx_buffer.head = i; + } +} + + +//#elif defined(SIG_USART_RECV) +#if defined(USART0_RX_vect) + // fixed by Mark Sproul this is on the 644/644p + //SIGNAL(SIG_USART_RECV) + SIGNAL(USART0_RX_vect) + { + #if defined(UDR0) + unsigned char c = UDR0; + #elif defined(UDR) + unsigned char c = UDR; // atmega8, atmega32 + #else + #error UDR not defined + #endif + store_char(c); + } +#endif + +// Constructors //////////////////////////////////////////////////////////////// + +MarlinSerial::MarlinSerial() +{ + +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void MarlinSerial::begin(long baud) +{ + uint16_t baud_setting; + bool useU2X0 = true; + +#if F_CPU == 16000000UL + // hardcoded exception for compatibility with the bootloader shipped + // with the Duemilanove and previous boards and the firmware on the 8U2 + // on the Uno and Mega 2560. + if (baud == 57600) { + useU2X0 = false; + } +#endif + + if (useU2X0) { + UCSR0A = 1 << U2X0; + baud_setting = (F_CPU / 4 / baud - 1) / 2; + } else { + UCSR0A = 0; + baud_setting = (F_CPU / 8 / baud - 1) / 2; + } + + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + UBRR0H = baud_setting >> 8; + UBRR0L = baud_setting; + + sbi(UCSR0B, RXEN0); + sbi(UCSR0B, TXEN0); + sbi(UCSR0B, RXCIE0); +} + +void MarlinSerial::end() +{ + cbi(UCSR0B, RXEN0); + cbi(UCSR0B, TXEN0); + cbi(UCSR0B, RXCIE0); +} + + + +int MarlinSerial::peek(void) +{ + if (rx_buffer.head == rx_buffer.tail) { + return -1; + } else { + return rx_buffer.buffer[rx_buffer.tail]; + } +} + +int MarlinSerial::read(void) +{ + // if the head isn't ahead of the tail, we don't have any characters + if (rx_buffer.head == rx_buffer.tail) { + return -1; + } else { + unsigned char c = rx_buffer.buffer[rx_buffer.tail]; + rx_buffer.tail = (unsigned int)(rx_buffer.tail + 1) % RX_BUFFER_SIZE; + return c; + } +} + +void MarlinSerial::flush() +{ + // don't reverse this or there may be problems if the RX interrupt + // occurs after reading the value of rx_buffer_head but before writing + // the value to rx_buffer_tail; the previous value of rx_buffer_head + // may be written to rx_buffer_tail, making it appear as if the buffer + // don't reverse this or there may be problems if the RX interrupt + // occurs after reading the value of rx_buffer_head but before writing + // the value to rx_buffer_tail; the previous value of rx_buffer_head + // may be written to rx_buffer_tail, making it appear as if the buffer + // were full, not empty. + rx_buffer.head = rx_buffer.tail; +} + + + + +/// imports from print.h + + + + +void MarlinSerial::print(char c, int base) +{ + print((long) c, base); +} + +void MarlinSerial::print(unsigned char b, int base) +{ + print((unsigned long) b, base); +} + +void MarlinSerial::print(int n, int base) +{ + print((long) n, base); +} + +void MarlinSerial::print(unsigned int n, int base) +{ + print((unsigned long) n, base); +} + +void MarlinSerial::print(long n, int base) +{ + if (base == 0) { + write(n); + } else if (base == 10) { + if (n < 0) { + print('-'); + n = -n; + } + printNumber(n, 10); + } else { + printNumber(n, base); + } +} + +void MarlinSerial::print(unsigned long n, int base) +{ + if (base == 0) write(n); + else printNumber(n, base); +} + +void MarlinSerial::print(double n, int digits) +{ + printFloat(n, digits); +} + +void MarlinSerial::println(void) +{ + print('\r'); + print('\n'); +} + +void MarlinSerial::println(const String &s) +{ + print(s); + println(); +} + +void MarlinSerial::println(const char c[]) +{ + print(c); + println(); +} + +void MarlinSerial::println(char c, int base) +{ + print(c, base); + println(); +} + +void MarlinSerial::println(unsigned char b, int base) +{ + print(b, base); + println(); +} + +void MarlinSerial::println(int n, int base) +{ + print(n, base); + println(); +} + +void MarlinSerial::println(unsigned int n, int base) +{ + print(n, base); + println(); +} + +void MarlinSerial::println(long n, int base) +{ + print(n, base); + println(); +} + +void MarlinSerial::println(unsigned long n, int base) +{ + print(n, base); + println(); +} + +void MarlinSerial::println(double n, int digits) +{ + print(n, digits); + println(); +} + +// Private Methods ///////////////////////////////////////////////////////////// + +void MarlinSerial::printNumber(unsigned long n, uint8_t base) +{ + unsigned char buf[8 * sizeof(long)]; // Assumes 8-bit chars. + unsigned long i = 0; + + if (n == 0) { + print('0'); + return; + } + + while (n > 0) { + buf[i++] = n % base; + n /= base; + } + + for (; i > 0; i--) + print((char) (buf[i - 1] < 10 ? + '0' + buf[i - 1] : + 'A' + buf[i - 1] - 10)); +} + +void MarlinSerial::printFloat(double number, uint8_t digits) +{ + // Handle negative numbers + if (number < 0.0) + { + print('-'); + number = -number; + } + + // Round correctly so that print(1.999, 2) prints as "2.00" + double rounding = 0.5; + for (uint8_t i=0; i<digits; ++i) + rounding /= 10.0; + + number += rounding; + + // Extract the integer part of the number and print it + unsigned long int_part = (unsigned long)number; + double remainder = number - (double)int_part; + print(int_part); + + // Print the decimal point, but only if there are digits beyond + if (digits > 0) + print("."); + + // Extract digits from the remainder one at a time + while (digits-- > 0) + { + remainder *= 10.0; + int toPrint = int(remainder); + print(toPrint); + remainder -= toPrint; + } +} +// Preinstantiate Objects ////////////////////////////////////////////////////// + + +MarlinSerial MSerial; + +MarlinSerial MSerial1; + +#endif // whole file +#endif //teensylu + +#endif REPRAPPRO_MULTIMATERIALS +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MarlinSerial.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,156 @@ +/* + HardwareSerial.h - Hardware serial library for Wiring + Copyright (c) 2006 Nicholas Zambetti. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library 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 + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + Modified 28 September 2010 by Mark Sproul +*/ + + + +#ifndef MarlinSerial_h +#define MarlinSerial_h +#include "Marlin.h" + +#ifndef REPRAPPRO_MULTIMATERIALS + +#define DEC 10 +#define HEX 16 +#define OCT 8 +#define BIN 2 +#define BYTE 0 + + +#if MOTHERBOARD != 8 // ! teensylu +// Define constants and variables for buffering incoming serial data. We're +// using a ring buffer (I think), in which rx_buffer_head is the index of the +// location to which to write the next incoming character and rx_buffer_tail +// is the index of the location from which to read. +#define RX_BUFFER_SIZE 128 + + +struct ring_buffer +{ + unsigned char buffer[RX_BUFFER_SIZE]; + int head; + int tail; +}; + +#if defined(UBRRH) || defined(UBRR0H) + extern ring_buffer rx_buffer; +#endif + +class MarlinSerial //: public Stream +{ + + public: + MarlinSerial(); + void begin(long); + void end(); + int peek(void); + int read(void); + void flush(void); + + FORCE_INLINE int available(void) + { + return (unsigned int)(RX_BUFFER_SIZE + rx_buffer.head - rx_buffer.tail) % RX_BUFFER_SIZE; + } + + FORCE_INLINE void write(uint8_t c) + { + while (!((UCSR0A) & (1 << UDRE0))) + ; + + UDR0 = c; + } + + + FORCE_INLINE void checkRx(void) + { + if((UCSR0A & (1<<RXC0)) != 0) { + unsigned char c = UDR0; + int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE; + + // if we should be storing the received character into the location + // just before the tail (meaning that the head would advance to the + // current location of the tail), we're about to overflow the buffer + // and so we don't write the character or advance the head. + if (i != rx_buffer.tail) { + rx_buffer.buffer[rx_buffer.head] = c; + rx_buffer.head = i; + } + } + } + + + private: + void printNumber(unsigned long, uint8_t); + void printFloat(double, uint8_t); + + + public: + + FORCE_INLINE void write(const char *str) + { + while (*str) + write(*str++); + } + + + FORCE_INLINE void write(const uint8_t *buffer, size_t size) + { + while (size--) + write(*buffer++); + } + + FORCE_INLINE void print(const String &s) + { + for (int i = 0; i < (int)s.length(); i++) { + write(s[i]); + } + } + + FORCE_INLINE void print(const char *str) + { + write(str); + } + void print(char, int = BYTE); + void print(unsigned char, int = BYTE); + void print(int, int = DEC); + void print(unsigned int, int = DEC); + void print(long, int = DEC); + void print(unsigned long, int = DEC); + void print(double, int = 3); + + void println(const String &s); + void println(const char[]); + void println(char, int = BYTE); + void println(unsigned char, int = BYTE); + void println(int, int = DEC); + void println(unsigned int, int = DEC); + void println(long, int = DEC); + void println(unsigned long, int = DEC); + void println(double, int = 2); + void println(void); +}; + +extern MarlinSerial MSerial; +extern MarlinSerial MSerial1; +#endif // ! teensylu + +#endif + +#endif // REPRAPPRO_MULTIMATERIALS
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MatrixMath.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,206 @@ +/* + * MatrixMath.cpp Library for MatrixMath + * + * Created by Charlie Matlack on 12/18/10. + * Modified from code by RobH45345 on Arduino Forums, taken from unknown source. + * MatrixMath.cpp + */ + +#include "Marlin.h" +#include "MatrixMath.h" + +#define NR_END 1 + +MatrixMath::MatrixMath() +{ +} + +// Matrix Printing Routine +// Uses tabs to separate numbers under assumption printed float width won't cause problems +void MatrixMath::MatrixPrint(float* A, int m, int n, String label){ + // A = input matrix (m x n) + int i,j; + SERIAL_ECHOLN(' '); + SERIAL_ECHOLN(label); + for (i=0; i<m; i++){ + for (j=0;j<n;j++){ + serialPrintFloat(A[n*i+j]); + SERIAL_ECHO("\t"); + } + SERIAL_ECHOLN(' '); + } +} + +void MatrixMath::MatrixCopy(float* A, int n, int m, float* B) +{ + int i, j, k; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + { + B[n*i+j] = A[n*i+j]; + } +} + +//Matrix Multiplication Routine +// C = A*B +void MatrixMath::MatrixMult(float* A, float* B, int m, int p, int n, float* C) +{ + // A = input matrix (m x p) + // B = input matrix (p x n) + // m = number of rows in A + // p = number of columns in A = number of rows in B + // n = number of columns in B + // C = output matrix = A*B (m x n) + int i, j, k; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + { + C[n*i+j]=0; + for (k=0;k<p;k++) + C[n*i+j]= C[n*i+j]+A[p*i+k]*B[n*k+j]; + } +} + + +//Matrix Addition Routine +void MatrixMath::MatrixAdd(float* A, float* B, int m, int n, float* C) +{ + // A = input matrix (m x n) + // B = input matrix (m x n) + // m = number of rows in A = number of rows in B + // n = number of columns in A = number of columns in B + // C = output matrix = A+B (m x n) + int i, j; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + C[n*i+j]=A[n*i+j]+B[n*i+j]; +} + + +//Matrix Subtraction Routine +void MatrixMath::MatrixSubtract(float* A, float* B, int m, int n, float* C) +{ + // A = input matrix (m x n) + // B = input matrix (m x n) + // m = number of rows in A = number of rows in B + // n = number of columns in A = number of columns in B + // C = output matrix = A-B (m x n) + int i, j; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + C[n*i+j]=A[n*i+j]-B[n*i+j]; +} + + +//Matrix Transpose Routine +void MatrixMath::MatrixTranspose(float* A, int m, int n, float* C) +{ + // A = input matrix (m x n) + // m = number of rows in A + // n = number of columns in A + // C = output matrix = the transpose of A (n x m) + int i, j; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + C[m*j+i]=A[n*i+j]; +} + + +//Matrix Inversion Routine +// * This function inverts a matrix based on the Gauss Jordan method. +// * Specifically, it uses partial pivoting to improve numeric stability. +// * The algorithm is drawn from those presented in +// NUMERICAL RECIPES: The Art of Scientific Computing. +// * The function returns 1 on success, 0 on failure. +// * NOTE: The argument is ALSO the result matrix, meaning the input matrix is REPLACED +int MatrixMath::MatrixInvert(float* A, int n) +{ + // A = input matrix AND result matrix + // n = number of rows = number of columns in A (n x n) + int pivrow; // keeps track of current pivot row + int k,i,j; // k: overall index along diagonal; i: row index; j: col index + int pivrows[n]; // keeps track of rows swaps to undo at end + float tmp; // used for finding max value and making column swaps + + for (k = 0; k < n; k++) + { + // find pivot row, the row with biggest entry in current column + tmp = 0; + for (i = k; i < n; i++) + { + if (abs(A[i*n+k]) >= tmp) // 'Avoid using other functions inside abs()?' + { + tmp = abs(A[i*n+k]); + pivrow = i; + } + } + + // check for singular matrix + if (A[pivrow*n+k] == 0.0f) + { + SERIAL_ECHOLNPGM("Inversion failed due to singular matrix"); + return 0; + } + + // Execute pivot (row swap) if needed + if (pivrow != k) + { + // swap row k with pivrow + for (j = 0; j < n; j++) + { + tmp = A[k*n+j]; + A[k*n+j] = A[pivrow*n+j]; + A[pivrow*n+j] = tmp; + } + } + pivrows[k] = pivrow; // record row swap (even if no swap happened) + + tmp = 1.0f/A[k*n+k]; // invert pivot element + A[k*n+k] = 1.0f; // This element of input matrix becomes result matrix + + // Perform row reduction (divide every element by pivot) + for (j = 0; j < n; j++) + { + A[k*n+j] = A[k*n+j]*tmp; + } + + // Now eliminate all other entries in this column + for (i = 0; i < n; i++) + { + if (i != k) + { + tmp = A[i*n+k]; + A[i*n+k] = 0.0f; // The other place where in matrix becomes result mat + for (j = 0; j < n; j++) + { + A[i*n+j] = A[i*n+j] - A[k*n+j]*tmp; + } + } + } + } + + // Done, now need to undo pivot row swaps by doing column swaps in reverse order + for (k = n-1; k >= 0; k--) + { + if (pivrows[k] != k) + { + for (i = 0; i < n; i++) + { + tmp = A[i*n+k]; + A[i*n+k] = A[i*n+pivrows[k]]; + A[i*n+pivrows[k]] = tmp; + } + } + } + return 1; +} + +void MatrixMath::MatrixIdentity(float* A, int m, int n) +{ + int i, j; + for (i=0;i<m;i++) + for(j=0;j<n;j++) + A[n*i+j]=i==j?1:0; +} + +MatrixMath matrixMaths; //instance \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MatrixMath.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,29 @@ +/* + * MatrixMath.h Library for Matrix Math + * + * Created by Charlie Matlack on 12/18/10. + * Modified from code by RobH45345 on Arduino Forums, taken from unknown source. + */ + +#ifndef MatrixMath_h +#define MatrixMath_h + +#include "Marlin.h" + +class MatrixMath +{ +public: + MatrixMath(); + void MatrixPrint(float* A, int m, int n, String label); + void MatrixCopy(float* A, int n, int m, float* B); + void MatrixMult(float* A, float* B, int m, int p, int n, float* C); + void MatrixAdd(float* A, float* B, int m, int n, float* C); + void MatrixSubtract(float* A, float* B, int m, int n, float* C); + void MatrixTranspose(float* A, int m, int n, float* C); + int MatrixInvert(float* A, int n); + void MatrixIdentity(float* A, int m, int n); +}; + +extern MatrixMath matrixMaths; + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sd2Card.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,643 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * This Library 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 Library 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 the Arduino Sd2Card Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" + +#ifdef SDSUPPORT +#include "Sd2Card.h" +//------------------------------------------------------------------------------ +#ifndef SOFTWARE_SPI +// functions for hardware SPI +//------------------------------------------------------------------------------ +// make sure SPCR rate is in expected bits +#if (SPR0 != 0 || SPR1 != 1) +#error unexpected SPCR bits +#endif +/** + * Initialize hardware SPI + * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6] + */ +static void spiInit(uint8_t spiRate) { + // See avr processor documentation + SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1); + SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X; +} +//------------------------------------------------------------------------------ +/** SPI receive a byte */ +static uint8_t spiRec() { + SPDR = 0XFF; + while (!(SPSR & (1 << SPIF))); + return SPDR; +} +//------------------------------------------------------------------------------ +/** SPI read data - only one call so force inline */ +static inline __attribute__((always_inline)) + void spiRead(uint8_t* buf, uint16_t nbyte) { + if (nbyte-- == 0) return; + SPDR = 0XFF; + for (uint16_t i = 0; i < nbyte; i++) { + while (!(SPSR & (1 << SPIF))); + buf[i] = SPDR; + SPDR = 0XFF; + } + while (!(SPSR & (1 << SPIF))); + buf[nbyte] = SPDR; +} +//------------------------------------------------------------------------------ +/** SPI send a byte */ +static void spiSend(uint8_t b) { + SPDR = b; + while (!(SPSR & (1 << SPIF))); +} +//------------------------------------------------------------------------------ +/** SPI send block - only one call so force inline */ +static inline __attribute__((always_inline)) + void spiSendBlock(uint8_t token, const uint8_t* buf) { + SPDR = token; + for (uint16_t i = 0; i < 512; i += 2) { + while (!(SPSR & (1 << SPIF))); + SPDR = buf[i]; + while (!(SPSR & (1 << SPIF))); + SPDR = buf[i + 1]; + } + while (!(SPSR & (1 << SPIF))); +} +//------------------------------------------------------------------------------ +#else // SOFTWARE_SPI +//------------------------------------------------------------------------------ +/** nop to tune soft SPI timing */ +#define nop asm volatile ("nop\n\t") +//------------------------------------------------------------------------------ +/** Soft SPI receive byte */ +static uint8_t spiRec() { + uint8_t data = 0; + // no interrupts during byte receive - about 8 us + cli(); + // output pin high - like sending 0XFF + fastDigitalWrite(SPI_MOSI_PIN, HIGH); + + for (uint8_t i = 0; i < 8; i++) { + fastDigitalWrite(SPI_SCK_PIN, HIGH); + + // adjust so SCK is nice + nop; + nop; + + data <<= 1; + + if (fastDigitalRead(SPI_MISO_PIN)) data |= 1; + + fastDigitalWrite(SPI_SCK_PIN, LOW); + } + // enable interrupts + sei(); + return data; +} +//------------------------------------------------------------------------------ +/** Soft SPI read data */ +static void spiRead(uint8_t* buf, uint16_t nbyte) { + for (uint16_t i = 0; i < nbyte; i++) { + buf[i] = spiRec(); + } +} +//------------------------------------------------------------------------------ +/** Soft SPI send byte */ +static void spiSend(uint8_t data) { + // no interrupts during byte send - about 8 us + cli(); + for (uint8_t i = 0; i < 8; i++) { + fastDigitalWrite(SPI_SCK_PIN, LOW); + + fastDigitalWrite(SPI_MOSI_PIN, data & 0X80); + + data <<= 1; + + fastDigitalWrite(SPI_SCK_PIN, HIGH); + } + // hold SCK high for a few ns + nop; + nop; + nop; + nop; + + fastDigitalWrite(SPI_SCK_PIN, LOW); + // enable interrupts + sei(); +} +//------------------------------------------------------------------------------ +/** Soft SPI send block */ + void spiSendBlock(uint8_t token, const uint8_t* buf) { + spiSend(token); + for (uint16_t i = 0; i < 512; i++) { + spiSend(buf[i]); + } +} +#endif // SOFTWARE_SPI +//------------------------------------------------------------------------------ +// send command and return error code. Return zero for OK +uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) { + // select card + chipSelectLow(); + + // wait up to 300 ms if busy + waitNotBusy(300); + + // send command + spiSend(cmd | 0x40); + + // send argument + for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s); + + // send CRC + uint8_t crc = 0XFF; + if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0 + if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA + spiSend(crc); + + // skip stuff byte for stop read + if (cmd == CMD12) spiRec(); + + // wait for response + for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++); + return status_; +} +//------------------------------------------------------------------------------ +/** + * Determine the size of an SD flash memory card. + * + * \return The number of 512 byte data blocks in the card + * or zero if an error occurs. + */ +uint32_t Sd2Card::cardSize() { + csd_t csd; + if (!readCSD(&csd)) return 0; + if (csd.v1.csd_ver == 0) { + uint8_t read_bl_len = csd.v1.read_bl_len; + uint16_t c_size = (csd.v1.c_size_high << 10) + | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low; + uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1) + | csd.v1.c_size_mult_low; + return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7); + } else if (csd.v2.csd_ver == 1) { + uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16) + | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low; + return (c_size + 1) << 10; + } else { + error(SD_CARD_ERROR_BAD_CSD); + return 0; + } +} +//------------------------------------------------------------------------------ +void Sd2Card::chipSelectHigh() { + digitalWrite(chipSelectPin_, HIGH); +} +//------------------------------------------------------------------------------ +void Sd2Card::chipSelectLow() { +#ifndef SOFTWARE_SPI + spiInit(spiRate_); +#endif // SOFTWARE_SPI + digitalWrite(chipSelectPin_, LOW); +} +//------------------------------------------------------------------------------ +/** Erase a range of blocks. + * + * \param[in] firstBlock The address of the first block in the range. + * \param[in] lastBlock The address of the last block in the range. + * + * \note This function requests the SD card to do a flash erase for a + * range of blocks. The data on the card after an erase operation is + * either 0 or 1, depends on the card vendor. The card must support + * single block erase. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) { + csd_t csd; + if (!readCSD(&csd)) goto fail; + // check for single block erase + if (!csd.v1.erase_blk_en) { + // erase size mask + uint8_t m = (csd.v1.sector_size_high << 1) | csd.v1.sector_size_low; + if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) { + // error card can't erase specified area + error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK); + goto fail; + } + } + if (type_ != SD_CARD_TYPE_SDHC) { + firstBlock <<= 9; + lastBlock <<= 9; + } + if (cardCommand(CMD32, firstBlock) + || cardCommand(CMD33, lastBlock) + || cardCommand(CMD38, 0)) { + error(SD_CARD_ERROR_ERASE); + goto fail; + } + if (!waitNotBusy(SD_ERASE_TIMEOUT)) { + error(SD_CARD_ERROR_ERASE_TIMEOUT); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Determine if card supports single block erase. + * + * \return The value one, true, is returned if single block erase is supported. + * The value zero, false, is returned if single block erase is not supported. + */ +bool Sd2Card::eraseSingleBlockEnable() { + csd_t csd; + return readCSD(&csd) ? csd.v1.erase_blk_en : false; +} +//------------------------------------------------------------------------------ +/** + * Initialize an SD flash memory card. + * + * \param[in] sckRateID SPI clock rate selector. See setSckRate(). + * \param[in] chipSelectPin SD chip select pin number. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. The reason for failure + * can be determined by calling errorCode() and errorData(). + */ +bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) { + errorCode_ = type_ = 0; + chipSelectPin_ = chipSelectPin; + // 16-bit init start time allows over a minute + uint16_t t0 = (uint16_t)millis(); + uint32_t arg; + + // set pin modes + pinMode(chipSelectPin_, OUTPUT); + chipSelectHigh(); + pinMode(SPI_MISO_PIN, INPUT); + pinMode(SPI_MOSI_PIN, OUTPUT); + pinMode(SPI_SCK_PIN, OUTPUT); + +#ifndef SOFTWARE_SPI + // SS must be in output mode even it is not chip select + pinMode(SS_PIN, OUTPUT); + // set SS high - may be chip select for another SPI device +#if SET_SPI_SS_HIGH + digitalWrite(SS_PIN, HIGH); +#endif // SET_SPI_SS_HIGH + // set SCK rate for initialization commands + spiRate_ = SPI_SD_INIT_RATE; + spiInit(spiRate_); +#endif // SOFTWARE_SPI + + // must supply min of 74 clock cycles with CS high. + for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); + + // command to go idle in SPI mode + while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_CARD_ERROR_CMD0); + goto fail; + } + } + // check SD version + if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) { + type(SD_CARD_TYPE_SD1); + } else { + // only need last byte of r7 response + for (uint8_t i = 0; i < 4; i++) status_ = spiRec(); + if (status_ != 0XAA) { + error(SD_CARD_ERROR_CMD8); + goto fail; + } + type(SD_CARD_TYPE_SD2); + } + // initialize card and send host supports SDHC if SD2 + arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0; + + while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) { + // check for timeout + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_CARD_ERROR_ACMD41); + goto fail; + } + } + // if SD2 read OCR register to check for SDHC card + if (type() == SD_CARD_TYPE_SD2) { + if (cardCommand(CMD58, 0)) { + error(SD_CARD_ERROR_CMD58); + goto fail; + } + if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC); + // discard rest of ocr - contains allowed voltage range + for (uint8_t i = 0; i < 3; i++) spiRec(); + } + chipSelectHigh(); + +#ifndef SOFTWARE_SPI + return setSckRate(sckRateID); +#else // SOFTWARE_SPI + return true; +#endif // SOFTWARE_SPI + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** + * Read a 512 byte block from an SD card. + * + * \param[in] blockNumber Logical block to be read. + * \param[out] dst Pointer to the location that will receive the data. + + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::readBlock(uint32_t blockNumber, uint8_t* dst) { + // use address if not SDHC card + if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD17, blockNumber)) { + error(SD_CARD_ERROR_CMD17); + goto fail; + } + return readData(dst, 512); + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Read one data block in a multiple block read sequence + * + * \param[in] dst Pointer to the location for the data to be read. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::readData(uint8_t *dst) { + chipSelectLow(); + return readData(dst, 512); +} +//------------------------------------------------------------------------------ +bool Sd2Card::readData(uint8_t* dst, uint16_t count) { + // wait for start block token + uint16_t t0 = millis(); + while ((status_ = spiRec()) == 0XFF) { + if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) { + error(SD_CARD_ERROR_READ_TIMEOUT); + goto fail; + } + } + if (status_ != DATA_START_BLOCK) { + error(SD_CARD_ERROR_READ); + goto fail; + } + // transfer data + spiRead(dst, count); + + // discard CRC + spiRec(); + spiRec(); + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** read CID or CSR register */ +bool Sd2Card::readRegister(uint8_t cmd, void* buf) { + uint8_t* dst = reinterpret_cast<uint8_t*>(buf); + if (cardCommand(cmd, 0)) { + error(SD_CARD_ERROR_READ_REG); + goto fail; + } + return readData(dst, 16); + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Start a read multiple blocks sequence. + * + * \param[in] blockNumber Address of first block in sequence. + * + * \note This function is used with readData() and readStop() for optimized + * multiple block reads. SPI chipSelect must be low for the entire sequence. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::readStart(uint32_t blockNumber) { + if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD18, blockNumber)) { + error(SD_CARD_ERROR_CMD18); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** End a read multiple blocks sequence. + * +* \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::readStop() { + chipSelectLow(); + if (cardCommand(CMD12, 0)) { + error(SD_CARD_ERROR_CMD12); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** + * Set the SPI clock rate. + * + * \param[in] sckRateID A value in the range [0, 6]. + * + * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum + * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128 + * for \a scsRateID = 6. + * + * \return The value one, true, is returned for success and the value zero, + * false, is returned for an invalid value of \a sckRateID. + */ +bool Sd2Card::setSckRate(uint8_t sckRateID) { + if (sckRateID > 6) { + error(SD_CARD_ERROR_SCK_RATE); + return false; + } + spiRate_ = sckRateID; + return true; +} +//------------------------------------------------------------------------------ +// wait for card to go not busy +bool Sd2Card::waitNotBusy(uint16_t timeoutMillis) { + uint16_t t0 = millis(); + while (spiRec() != 0XFF) { + if (((uint16_t)millis() - t0) >= timeoutMillis) goto fail; + } + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** + * Writes a 512 byte block to an SD card. + * + * \param[in] blockNumber Logical block to be written. + * \param[in] src Pointer to the location of the data to be written. + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) { + // use address if not SDHC card + if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD24, blockNumber)) { + error(SD_CARD_ERROR_CMD24); + goto fail; + } + if (!writeData(DATA_START_BLOCK, src)) goto fail; + + // wait for flash programming to complete + if (!waitNotBusy(SD_WRITE_TIMEOUT)) { + error(SD_CARD_ERROR_WRITE_TIMEOUT); + goto fail; + } + // response is r2 so get and check two bytes for nonzero + if (cardCommand(CMD13, 0) || spiRec()) { + error(SD_CARD_ERROR_WRITE_PROGRAMMING); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Write one data block in a multiple block write sequence + * \param[in] src Pointer to the location of the data to be written. + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::writeData(const uint8_t* src) { + chipSelectLow(); + // wait for previous write to finish + if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; + if (!writeData(WRITE_MULTIPLE_TOKEN, src)) goto fail; + chipSelectHigh(); + return true; + + fail: + error(SD_CARD_ERROR_WRITE_MULTIPLE); + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +// send one block of data for write block or write multiple blocks +bool Sd2Card::writeData(uint8_t token, const uint8_t* src) { + spiSendBlock(token, src); + + spiSend(0xff); // dummy crc + spiSend(0xff); // dummy crc + + status_ = spiRec(); + if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) { + error(SD_CARD_ERROR_WRITE); + goto fail; + } + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Start a write multiple blocks sequence. + * + * \param[in] blockNumber Address of first block in sequence. + * \param[in] eraseCount The number of blocks to be pre-erased. + * + * \note This function is used with writeData() and writeStop() + * for optimized multiple block writes. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) { + // send pre-erase count + if (cardAcmd(ACMD23, eraseCount)) { + error(SD_CARD_ERROR_ACMD23); + goto fail; + } + // use address if not SDHC card + if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD25, blockNumber)) { + error(SD_CARD_ERROR_CMD25); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** End a write multiple blocks sequence. + * +* \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool Sd2Card::writeStop() { + chipSelectLow(); + if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; + spiSend(STOP_TRAN_TOKEN); + if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; + chipSelectHigh(); + return true; + + fail: + error(SD_CARD_ERROR_STOP_TRAN); + chipSelectHigh(); + return false; +} + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sd2Card.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,241 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * This Library 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 Library 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 the Arduino Sd2Card Library. If not, see + * <http://www.gnu.org/licenses/>. + */ + +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef Sd2Card_h +#define Sd2Card_h +/** + * \file + * \brief Sd2Card class for V2 SD/SDHC cards + */ +#include "SdFatConfig.h" +#include "Sd2PinMap.h" +#include "SdInfo.h" +//------------------------------------------------------------------------------ +// SPI speed is F_CPU/2^(1 + index), 0 <= index <= 6 +/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */ +uint8_t const SPI_FULL_SPEED = 0; +/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */ +uint8_t const SPI_HALF_SPEED = 1; +/** Set SCK rate to F_CPU/8. See Sd2Card::setSckRate(). */ +uint8_t const SPI_QUARTER_SPEED = 2; +/** Set SCK rate to F_CPU/16. See Sd2Card::setSckRate(). */ +uint8_t const SPI_EIGHTH_SPEED = 3; +/** Set SCK rate to F_CPU/32. See Sd2Card::setSckRate(). */ +uint8_t const SPI_SIXTEENTH_SPEED = 4; +//------------------------------------------------------------------------------ +/** init timeout ms */ +uint16_t const SD_INIT_TIMEOUT = 2000; +/** erase timeout ms */ +uint16_t const SD_ERASE_TIMEOUT = 10000; +/** read timeout ms */ +uint16_t const SD_READ_TIMEOUT = 300; +/** write time out ms */ +uint16_t const SD_WRITE_TIMEOUT = 600; +//------------------------------------------------------------------------------ +// SD card errors +/** timeout error for command CMD0 (initialize card in SPI mode) */ +uint8_t const SD_CARD_ERROR_CMD0 = 0X1; +/** CMD8 was not accepted - not a valid SD card*/ +uint8_t const SD_CARD_ERROR_CMD8 = 0X2; +/** card returned an error response for CMD12 (write stop) */ +uint8_t const SD_CARD_ERROR_CMD12 = 0X3; +/** card returned an error response for CMD17 (read block) */ +uint8_t const SD_CARD_ERROR_CMD17 = 0X4; +/** card returned an error response for CMD18 (read multiple block) */ +uint8_t const SD_CARD_ERROR_CMD18 = 0X5; +/** card returned an error response for CMD24 (write block) */ +uint8_t const SD_CARD_ERROR_CMD24 = 0X6; +/** WRITE_MULTIPLE_BLOCKS command failed */ +uint8_t const SD_CARD_ERROR_CMD25 = 0X7; +/** card returned an error response for CMD58 (read OCR) */ +uint8_t const SD_CARD_ERROR_CMD58 = 0X8; +/** SET_WR_BLK_ERASE_COUNT failed */ +uint8_t const SD_CARD_ERROR_ACMD23 = 0X9; +/** ACMD41 initialization process timeout */ +uint8_t const SD_CARD_ERROR_ACMD41 = 0XA; +/** card returned a bad CSR version field */ +uint8_t const SD_CARD_ERROR_BAD_CSD = 0XB; +/** erase block group command failed */ +uint8_t const SD_CARD_ERROR_ERASE = 0XC; +/** card not capable of single block erase */ +uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0XD; +/** Erase sequence timed out */ +uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0XE; +/** card returned an error token instead of read data */ +uint8_t const SD_CARD_ERROR_READ = 0XF; +/** read CID or CSD failed */ +uint8_t const SD_CARD_ERROR_READ_REG = 0X10; +/** timeout while waiting for start of read data */ +uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X11; +/** card did not accept STOP_TRAN_TOKEN */ +uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X12; +/** card returned an error token as a response to a write operation */ +uint8_t const SD_CARD_ERROR_WRITE = 0X13; +/** attempt to write protected block zero */ +uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X14; // REMOVE - not used +/** card did not go ready for a multiple block write */ +uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X15; +/** card returned an error to a CMD13 status check after a write */ +uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X16; +/** timeout occurred during write programming */ +uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X17; +/** incorrect rate selected */ +uint8_t const SD_CARD_ERROR_SCK_RATE = 0X18; +/** init() not called */ +uint8_t const SD_CARD_ERROR_INIT_NOT_CALLED = 0X19; +//------------------------------------------------------------------------------ +// card types +/** Standard capacity V1 SD card */ +uint8_t const SD_CARD_TYPE_SD1 = 1; +/** Standard capacity V2 SD card */ +uint8_t const SD_CARD_TYPE_SD2 = 2; +/** High Capacity SD card */ +uint8_t const SD_CARD_TYPE_SDHC = 3; +/** + * define SOFTWARE_SPI to use bit-bang SPI + */ +//------------------------------------------------------------------------------ +#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__)) +#define SOFTWARE_SPI +#elif USE_SOFTWARE_SPI +#define SOFTWARE_SPI +#endif // MEGA_SOFT_SPI +//------------------------------------------------------------------------------ +// SPI pin definitions - do not edit here - change in SdFatConfig.h +// +#ifndef SOFTWARE_SPI +// hardware pin defs +/** The default chip select pin for the SD card is SS. */ +uint8_t const SD_CHIP_SELECT_PIN = SS_PIN; +// The following three pins must not be redefined for hardware SPI. +/** SPI Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = MOSI_PIN; +/** SPI Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = MISO_PIN; +/** SPI Clock pin */ +uint8_t const SPI_SCK_PIN = SCK_PIN; + +#else // SOFTWARE_SPI + +/** SPI chip select pin */ +uint8_t const SD_CHIP_SELECT_PIN = SOFT_SPI_CS_PIN; +/** SPI Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = SOFT_SPI_MOSI_PIN; +/** SPI Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = SOFT_SPI_MISO_PIN; +/** SPI Clock pin */ +uint8_t const SPI_SCK_PIN = SOFT_SPI_SCK_PIN; +#endif // SOFTWARE_SPI +//------------------------------------------------------------------------------ +/** + * \class Sd2Card + * \brief Raw access to SD and SDHC flash memory cards. + */ +class Sd2Card { + public: + /** Construct an instance of Sd2Card. */ + Sd2Card() : errorCode_(SD_CARD_ERROR_INIT_NOT_CALLED), type_(0) {} + uint32_t cardSize(); + bool erase(uint32_t firstBlock, uint32_t lastBlock); + bool eraseSingleBlockEnable(); + /** + * Set SD error code. + * \param[in] code value for error code. + */ + void error(uint8_t code) {errorCode_ = code;} + /** + * \return error code for last error. See Sd2Card.h for a list of error codes. + */ + int errorCode() const {return errorCode_;} + /** \return error data for last error. */ + int errorData() const {return status_;} + /** + * Initialize an SD flash memory card with default clock rate and chip + * select pin. See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). + * + * \return true for success or false for failure. + */ + bool init(uint8_t sckRateID = SPI_FULL_SPEED, + uint8_t chipSelectPin = SD_CHIP_SELECT_PIN); + bool readBlock(uint32_t block, uint8_t* dst); + /** + * Read a card's CID register. The CID contains card identification + * information such as Manufacturer ID, Product name, Product serial + * number and Manufacturing date. + * + * \param[out] cid pointer to area for returned data. + * + * \return true for success or false for failure. + */ + bool readCID(cid_t* cid) { + return readRegister(CMD10, cid); + } + /** + * Read a card's CSD register. The CSD contains Card-Specific Data that + * provides information regarding access to the card's contents. + * + * \param[out] csd pointer to area for returned data. + * + * \return true for success or false for failure. + */ + bool readCSD(csd_t* csd) { + return readRegister(CMD9, csd); + } + bool readData(uint8_t *dst); + bool readStart(uint32_t blockNumber); + bool readStop(); + bool setSckRate(uint8_t sckRateID); + /** Return the card type: SD V1, SD V2 or SDHC + * \return 0 - SD V1, 1 - SD V2, or 3 - SDHC. + */ + int type() const {return type_;} + bool writeBlock(uint32_t blockNumber, const uint8_t* src); + bool writeData(const uint8_t* src); + bool writeStart(uint32_t blockNumber, uint32_t eraseCount); + bool writeStop(); + private: + //---------------------------------------------------------------------------- + uint8_t chipSelectPin_; + uint8_t errorCode_; + uint8_t spiRate_; + uint8_t status_; + uint8_t type_; + // private functions + uint8_t cardAcmd(uint8_t cmd, uint32_t arg) { + cardCommand(CMD55, 0); + return cardCommand(cmd, arg); + } + uint8_t cardCommand(uint8_t cmd, uint32_t arg); + + bool readData(uint8_t* dst, uint16_t count); + bool readRegister(uint8_t cmd, void* buf); + void chipSelectHigh(); + void chipSelectLow(); + void type(uint8_t value) {type_ = value;} + bool waitNotBusy(uint16_t timeoutMillis); + bool writeData(uint8_t token, const uint8_t* src); +}; +#endif // Sd2Card_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sd2PinMap.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,368 @@ +/* Arduino SdFat Library + * Copyright (C) 2010 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +// Warning this file was generated by a program. +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef Sd2PinMap_h +#define Sd2PinMap_h +#include <avr/io.h> +//------------------------------------------------------------------------------ +/** struct for mapping digital pins */ +struct pin_map_t { + volatile uint8_t* ddr; + volatile uint8_t* pin; + volatile uint8_t* port; + uint8_t bit; +}; +//------------------------------------------------------------------------------ +#if defined(__AVR_ATmega1280__)\ +|| defined(__AVR_ATmega2560__) +// Mega + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 20; // D1 +uint8_t const SCL_PIN = 21; // D0 + +#undef MOSI_PIN +#undef MISO_PIN +// SPI port +uint8_t const SS_PIN = 53; // B0 +uint8_t const MOSI_PIN = 51; // B2 +uint8_t const MISO_PIN = 50; // B3 +uint8_t const SCK_PIN = 52; // B1 + +static const pin_map_t digitalPinMap[] = { + {&DDRE, &PINE, &PORTE, 0}, // E0 0 + {&DDRE, &PINE, &PORTE, 1}, // E1 1 + {&DDRE, &PINE, &PORTE, 4}, // E4 2 + {&DDRE, &PINE, &PORTE, 5}, // E5 3 + {&DDRG, &PING, &PORTG, 5}, // G5 4 + {&DDRE, &PINE, &PORTE, 3}, // E3 5 + {&DDRH, &PINH, &PORTH, 3}, // H3 6 + {&DDRH, &PINH, &PORTH, 4}, // H4 7 + {&DDRH, &PINH, &PORTH, 5}, // H5 8 + {&DDRH, &PINH, &PORTH, 6}, // H6 9 + {&DDRB, &PINB, &PORTB, 4}, // B4 10 + {&DDRB, &PINB, &PORTB, 5}, // B5 11 + {&DDRB, &PINB, &PORTB, 6}, // B6 12 + {&DDRB, &PINB, &PORTB, 7}, // B7 13 + {&DDRJ, &PINJ, &PORTJ, 1}, // J1 14 + {&DDRJ, &PINJ, &PORTJ, 0}, // J0 15 + {&DDRH, &PINH, &PORTH, 1}, // H1 16 + {&DDRH, &PINH, &PORTH, 0}, // H0 17 + {&DDRD, &PIND, &PORTD, 3}, // D3 18 + {&DDRD, &PIND, &PORTD, 2}, // D2 19 + {&DDRD, &PIND, &PORTD, 1}, // D1 20 + {&DDRD, &PIND, &PORTD, 0}, // D0 21 + {&DDRA, &PINA, &PORTA, 0}, // A0 22 + {&DDRA, &PINA, &PORTA, 1}, // A1 23 + {&DDRA, &PINA, &PORTA, 2}, // A2 24 + {&DDRA, &PINA, &PORTA, 3}, // A3 25 + {&DDRA, &PINA, &PORTA, 4}, // A4 26 + {&DDRA, &PINA, &PORTA, 5}, // A5 27 + {&DDRA, &PINA, &PORTA, 6}, // A6 28 + {&DDRA, &PINA, &PORTA, 7}, // A7 29 + {&DDRC, &PINC, &PORTC, 7}, // C7 30 + {&DDRC, &PINC, &PORTC, 6}, // C6 31 + {&DDRC, &PINC, &PORTC, 5}, // C5 32 + {&DDRC, &PINC, &PORTC, 4}, // C4 33 + {&DDRC, &PINC, &PORTC, 3}, // C3 34 + {&DDRC, &PINC, &PORTC, 2}, // C2 35 + {&DDRC, &PINC, &PORTC, 1}, // C1 36 + {&DDRC, &PINC, &PORTC, 0}, // C0 37 + {&DDRD, &PIND, &PORTD, 7}, // D7 38 + {&DDRG, &PING, &PORTG, 2}, // G2 39 + {&DDRG, &PING, &PORTG, 1}, // G1 40 + {&DDRG, &PING, &PORTG, 0}, // G0 41 + {&DDRL, &PINL, &PORTL, 7}, // L7 42 + {&DDRL, &PINL, &PORTL, 6}, // L6 43 + {&DDRL, &PINL, &PORTL, 5}, // L5 44 + {&DDRL, &PINL, &PORTL, 4}, // L4 45 + {&DDRL, &PINL, &PORTL, 3}, // L3 46 + {&DDRL, &PINL, &PORTL, 2}, // L2 47 + {&DDRL, &PINL, &PORTL, 1}, // L1 48 + {&DDRL, &PINL, &PORTL, 0}, // L0 49 + {&DDRB, &PINB, &PORTB, 3}, // B3 50 + {&DDRB, &PINB, &PORTB, 2}, // B2 51 + {&DDRB, &PINB, &PORTB, 1}, // B1 52 + {&DDRB, &PINB, &PORTB, 0}, // B0 53 + {&DDRF, &PINF, &PORTF, 0}, // F0 54 + {&DDRF, &PINF, &PORTF, 1}, // F1 55 + {&DDRF, &PINF, &PORTF, 2}, // F2 56 + {&DDRF, &PINF, &PORTF, 3}, // F3 57 + {&DDRF, &PINF, &PORTF, 4}, // F4 58 + {&DDRF, &PINF, &PORTF, 5}, // F5 59 + {&DDRF, &PINF, &PORTF, 6}, // F6 60 + {&DDRF, &PINF, &PORTF, 7}, // F7 61 + {&DDRK, &PINK, &PORTK, 0}, // K0 62 + {&DDRK, &PINK, &PORTK, 1}, // K1 63 + {&DDRK, &PINK, &PORTK, 2}, // K2 64 + {&DDRK, &PINK, &PORTK, 3}, // K3 65 + {&DDRK, &PINK, &PORTK, 4}, // K4 66 + {&DDRK, &PINK, &PORTK, 5}, // K5 67 + {&DDRK, &PINK, &PORTK, 6}, // K6 68 + {&DDRK, &PINK, &PORTK, 7} // K7 69 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega644P__)\ +|| defined(__AVR_ATmega644__)\ +|| defined(__AVR_ATmega1284P__) +// Sanguino + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 17; // C1 +uint8_t const SCL_PIN = 18; // C2 + +// SPI port +uint8_t const SS_PIN = 4; // B4 +uint8_t const MOSI_PIN = 5; // B5 +uint8_t const MISO_PIN = 6; // B6 +uint8_t const SCK_PIN = 7; // B7 + +static const pin_map_t digitalPinMap[] = { + {&DDRB, &PINB, &PORTB, 0}, // B0 0 + {&DDRB, &PINB, &PORTB, 1}, // B1 1 + {&DDRB, &PINB, &PORTB, 2}, // B2 2 + {&DDRB, &PINB, &PORTB, 3}, // B3 3 + {&DDRB, &PINB, &PORTB, 4}, // B4 4 + {&DDRB, &PINB, &PORTB, 5}, // B5 5 + {&DDRB, &PINB, &PORTB, 6}, // B6 6 + {&DDRB, &PINB, &PORTB, 7}, // B7 7 + {&DDRD, &PIND, &PORTD, 0}, // D0 8 + {&DDRD, &PIND, &PORTD, 1}, // D1 9 + {&DDRD, &PIND, &PORTD, 2}, // D2 10 + {&DDRD, &PIND, &PORTD, 3}, // D3 11 + {&DDRD, &PIND, &PORTD, 4}, // D4 12 + {&DDRD, &PIND, &PORTD, 5}, // D5 13 + {&DDRD, &PIND, &PORTD, 6}, // D6 14 + {&DDRD, &PIND, &PORTD, 7}, // D7 15 + {&DDRC, &PINC, &PORTC, 0}, // C0 16 + {&DDRC, &PINC, &PORTC, 1}, // C1 17 + {&DDRC, &PINC, &PORTC, 2}, // C2 18 + {&DDRC, &PINC, &PORTC, 3}, // C3 19 + {&DDRC, &PINC, &PORTC, 4}, // C4 20 + {&DDRC, &PINC, &PORTC, 5}, // C5 21 + {&DDRC, &PINC, &PORTC, 6}, // C6 22 + {&DDRC, &PINC, &PORTC, 7}, // C7 23 + {&DDRA, &PINA, &PORTA, 7}, // A7 24 + {&DDRA, &PINA, &PORTA, 6}, // A6 25 + {&DDRA, &PINA, &PORTA, 5}, // A5 26 + {&DDRA, &PINA, &PORTA, 4}, // A4 27 + {&DDRA, &PINA, &PORTA, 3}, // A3 28 + {&DDRA, &PINA, &PORTA, 2}, // A2 29 + {&DDRA, &PINA, &PORTA, 1}, // A1 30 + {&DDRA, &PINA, &PORTA, 0} // A0 31 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega32U4__) +// Teensy 2.0 + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 6; // D1 +uint8_t const SCL_PIN = 5; // D0 + +// SPI port +uint8_t const SS_PIN = 0; // B0 +uint8_t const MOSI_PIN = 2; // B2 +uint8_t const MISO_PIN = 3; // B3 +uint8_t const SCK_PIN = 1; // B1 + +static const pin_map_t digitalPinMap[] = { + {&DDRB, &PINB, &PORTB, 0}, // B0 0 + {&DDRB, &PINB, &PORTB, 1}, // B1 1 + {&DDRB, &PINB, &PORTB, 2}, // B2 2 + {&DDRB, &PINB, &PORTB, 3}, // B3 3 + {&DDRB, &PINB, &PORTB, 7}, // B7 4 + {&DDRD, &PIND, &PORTD, 0}, // D0 5 + {&DDRD, &PIND, &PORTD, 1}, // D1 6 + {&DDRD, &PIND, &PORTD, 2}, // D2 7 + {&DDRD, &PIND, &PORTD, 3}, // D3 8 + {&DDRC, &PINC, &PORTC, 6}, // C6 9 + {&DDRC, &PINC, &PORTC, 7}, // C7 10 + {&DDRD, &PIND, &PORTD, 6}, // D6 11 + {&DDRD, &PIND, &PORTD, 7}, // D7 12 + {&DDRB, &PINB, &PORTB, 4}, // B4 13 + {&DDRB, &PINB, &PORTB, 5}, // B5 14 + {&DDRB, &PINB, &PORTB, 6}, // B6 15 + {&DDRF, &PINF, &PORTF, 7}, // F7 16 + {&DDRF, &PINF, &PORTF, 6}, // F6 17 + {&DDRF, &PINF, &PORTF, 5}, // F5 18 + {&DDRF, &PINF, &PORTF, 4}, // F4 19 + {&DDRF, &PINF, &PORTF, 1}, // F1 20 + {&DDRF, &PINF, &PORTF, 0}, // F0 21 + {&DDRD, &PIND, &PORTD, 4}, // D4 22 + {&DDRD, &PIND, &PORTD, 5}, // D5 23 + {&DDRE, &PINE, &PORTE, 6} // E6 24 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_AT90USB646__)\ +|| defined(__AVR_AT90USB1286__) +// Teensy++ 1.0 & 2.0 + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 1; // D1 +uint8_t const SCL_PIN = 0; // D0 + +// SPI port +uint8_t const SS_PIN = 20; // B0 +uint8_t const MOSI_PIN = 22; // B2 +uint8_t const MISO_PIN = 23; // B3 +uint8_t const SCK_PIN = 21; // B1 + +static const pin_map_t digitalPinMap[] = { + {&DDRD, &PIND, &PORTD, 0}, // D0 0 + {&DDRD, &PIND, &PORTD, 1}, // D1 1 + {&DDRD, &PIND, &PORTD, 2}, // D2 2 + {&DDRD, &PIND, &PORTD, 3}, // D3 3 + {&DDRD, &PIND, &PORTD, 4}, // D4 4 + {&DDRD, &PIND, &PORTD, 5}, // D5 5 + {&DDRD, &PIND, &PORTD, 6}, // D6 6 + {&DDRD, &PIND, &PORTD, 7}, // D7 7 + {&DDRE, &PINE, &PORTE, 0}, // E0 8 + {&DDRE, &PINE, &PORTE, 1}, // E1 9 + {&DDRC, &PINC, &PORTC, 0}, // C0 10 + {&DDRC, &PINC, &PORTC, 1}, // C1 11 + {&DDRC, &PINC, &PORTC, 2}, // C2 12 + {&DDRC, &PINC, &PORTC, 3}, // C3 13 + {&DDRC, &PINC, &PORTC, 4}, // C4 14 + {&DDRC, &PINC, &PORTC, 5}, // C5 15 + {&DDRC, &PINC, &PORTC, 6}, // C6 16 + {&DDRC, &PINC, &PORTC, 7}, // C7 17 + {&DDRE, &PINE, &PORTE, 6}, // E6 18 + {&DDRE, &PINE, &PORTE, 7}, // E7 19 + {&DDRB, &PINB, &PORTB, 0}, // B0 20 + {&DDRB, &PINB, &PORTB, 1}, // B1 21 + {&DDRB, &PINB, &PORTB, 2}, // B2 22 + {&DDRB, &PINB, &PORTB, 3}, // B3 23 + {&DDRB, &PINB, &PORTB, 4}, // B4 24 + {&DDRB, &PINB, &PORTB, 5}, // B5 25 + {&DDRB, &PINB, &PORTB, 6}, // B6 26 + {&DDRB, &PINB, &PORTB, 7}, // B7 27 + {&DDRA, &PINA, &PORTA, 0}, // A0 28 + {&DDRA, &PINA, &PORTA, 1}, // A1 29 + {&DDRA, &PINA, &PORTA, 2}, // A2 30 + {&DDRA, &PINA, &PORTA, 3}, // A3 31 + {&DDRA, &PINA, &PORTA, 4}, // A4 32 + {&DDRA, &PINA, &PORTA, 5}, // A5 33 + {&DDRA, &PINA, &PORTA, 6}, // A6 34 + {&DDRA, &PINA, &PORTA, 7}, // A7 35 + {&DDRE, &PINE, &PORTE, 4}, // E4 36 + {&DDRE, &PINE, &PORTE, 5}, // E5 37 + {&DDRF, &PINF, &PORTF, 0}, // F0 38 + {&DDRF, &PINF, &PORTF, 1}, // F1 39 + {&DDRF, &PINF, &PORTF, 2}, // F2 40 + {&DDRF, &PINF, &PORTF, 3}, // F3 41 + {&DDRF, &PINF, &PORTF, 4}, // F4 42 + {&DDRF, &PINF, &PORTF, 5}, // F5 43 + {&DDRF, &PINF, &PORTF, 6}, // F6 44 + {&DDRF, &PINF, &PORTF, 7} // F7 45 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega168__)\ +||defined(__AVR_ATmega168P__)\ +||defined(__AVR_ATmega328P__) +// 168 and 328 Arduinos + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 18; // C4 +uint8_t const SCL_PIN = 19; // C5 + +// SPI port +uint8_t const SS_PIN = 10; // B2 +uint8_t const MOSI_PIN = 11; // B3 +uint8_t const MISO_PIN = 12; // B4 +uint8_t const SCK_PIN = 13; // B5 + +static const pin_map_t digitalPinMap[] = { + {&DDRD, &PIND, &PORTD, 0}, // D0 0 + {&DDRD, &PIND, &PORTD, 1}, // D1 1 + {&DDRD, &PIND, &PORTD, 2}, // D2 2 + {&DDRD, &PIND, &PORTD, 3}, // D3 3 + {&DDRD, &PIND, &PORTD, 4}, // D4 4 + {&DDRD, &PIND, &PORTD, 5}, // D5 5 + {&DDRD, &PIND, &PORTD, 6}, // D6 6 + {&DDRD, &PIND, &PORTD, 7}, // D7 7 + {&DDRB, &PINB, &PORTB, 0}, // B0 8 + {&DDRB, &PINB, &PORTB, 1}, // B1 9 + {&DDRB, &PINB, &PORTB, 2}, // B2 10 + {&DDRB, &PINB, &PORTB, 3}, // B3 11 + {&DDRB, &PINB, &PORTB, 4}, // B4 12 + {&DDRB, &PINB, &PORTB, 5}, // B5 13 + {&DDRC, &PINC, &PORTC, 0}, // C0 14 + {&DDRC, &PINC, &PORTC, 1}, // C1 15 + {&DDRC, &PINC, &PORTC, 2}, // C2 16 + {&DDRC, &PINC, &PORTC, 3}, // C3 17 + {&DDRC, &PINC, &PORTC, 4}, // C4 18 + {&DDRC, &PINC, &PORTC, 5} // C5 19 +}; +#else // defined(__AVR_ATmega1280__) +#error unknown chip +#endif // defined(__AVR_ATmega1280__) +//------------------------------------------------------------------------------ +static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t); + +uint8_t badPinNumber(void) + __attribute__((error("Pin number is too large or not a constant"))); + +static inline __attribute__((always_inline)) + bool getPinMode(uint8_t pin) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1; + } else { + return badPinNumber(); + } +} +static inline __attribute__((always_inline)) + void setPinMode(uint8_t pin, uint8_t mode) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + if (mode) { + *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit; + } else { + *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit); + } + } else { + badPinNumber(); + } +} +static inline __attribute__((always_inline)) + bool fastDigitalRead(uint8_t pin) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1; + } else { + return badPinNumber(); + } +} +static inline __attribute__((always_inline)) + void fastDigitalWrite(uint8_t pin, uint8_t value) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + if (value) { + *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit; + } else { + *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit); + } + } else { + badPinNumber(); + } +} +#endif // Sd2PinMap_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdBaseFile.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,1791 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ + +#include "Marlin.h" +#ifdef SDSUPPORT + +#include "SdBaseFile.h" +//------------------------------------------------------------------------------ +// pointer to cwd directory +SdBaseFile* SdBaseFile::cwd_ = 0; +// callback function for date/time +void (*SdBaseFile::dateTime_)(uint16_t* date, uint16_t* time) = 0; +//------------------------------------------------------------------------------ +// add a cluster to a file +bool SdBaseFile::addCluster() { + if (!vol_->allocContiguous(1, &curCluster_)) goto fail; + + // if first cluster of file link to directory entry + if (firstCluster_ == 0) { + firstCluster_ = curCluster_; + flags_ |= F_FILE_DIR_DIRTY; + } + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// Add a cluster to a directory file and zero the cluster. +// return with first block of cluster in the cache +bool SdBaseFile::addDirCluster() { + uint32_t block; + // max folder size + if (fileSize_/sizeof(dir_t) >= 0XFFFF) goto fail; + + if (!addCluster()) goto fail; + if (!vol_->cacheFlush()) goto fail; + + block = vol_->clusterStartBlock(curCluster_); + + // set cache to first block of cluster + vol_->cacheSetBlockNumber(block, true); + + // zero first block of cluster + memset(vol_->cacheBuffer_.data, 0, 512); + + // zero rest of cluster + for (uint8_t i = 1; i < vol_->blocksPerCluster_; i++) { + if (!vol_->writeBlock(block + i, vol_->cacheBuffer_.data)) goto fail; + } + // Increase directory file size by cluster size + fileSize_ += 512UL << vol_->clusterSizeShift_; + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// cache a file's directory entry +// return pointer to cached entry or null for failure +dir_t* SdBaseFile::cacheDirEntry(uint8_t action) { + if (!vol_->cacheRawBlock(dirBlock_, action)) goto fail; + return vol_->cache()->dir + dirIndex_; + + fail: + return 0; +} +//------------------------------------------------------------------------------ +/** Close a file and force cached data and directory information + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include no file is open or an I/O error. + */ +bool SdBaseFile::close() { + bool rtn = sync(); + type_ = FAT_FILE_TYPE_CLOSED; + return rtn; +} +//------------------------------------------------------------------------------ +/** Check for contiguous file and return its raw block range. + * + * \param[out] bgnBlock the first block address for the file. + * \param[out] endBlock the last block address for the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include file is not contiguous, file has zero length + * or an I/O error occurred. + */ +bool SdBaseFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock) { + // error if no blocks + if (firstCluster_ == 0) goto fail; + + for (uint32_t c = firstCluster_; ; c++) { + uint32_t next; + if (!vol_->fatGet(c, &next)) goto fail; + + // check for contiguous + if (next != (c + 1)) { + // error if not end of chain + if (!vol_->isEOC(next)) goto fail; + *bgnBlock = vol_->clusterStartBlock(firstCluster_); + *endBlock = vol_->clusterStartBlock(c) + + vol_->blocksPerCluster_ - 1; + return true; + } + } + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Create and open a new contiguous file of a specified size. + * + * \note This function only supports short DOS 8.3 names. + * See open() for more information. + * + * \param[in] dirFile The directory where the file will be created. + * \param[in] path A path with a valid DOS 8.3 file name. + * \param[in] size The desired file size. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include \a path contains + * an invalid DOS 8.3 file name, the FAT volume has not been initialized, + * a file is already open, the file already exists, the root + * directory is full or an I/O error. + * + */ +bool SdBaseFile::createContiguous(SdBaseFile* dirFile, + const char* path, uint32_t size) { + uint32_t count; + // don't allow zero length file + if (size == 0) goto fail; + if (!open(dirFile, path, O_CREAT | O_EXCL | O_RDWR)) goto fail; + + // calculate number of clusters needed + count = ((size - 1) >> (vol_->clusterSizeShift_ + 9)) + 1; + + // allocate clusters + if (!vol_->allocContiguous(count, &firstCluster_)) { + remove(); + goto fail; + } + fileSize_ = size; + + // insure sync() will update dir entry + flags_ |= F_FILE_DIR_DIRTY; + + return sync(); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Return a file's directory entry. + * + * \param[out] dir Location for return of the file's directory entry. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::dirEntry(dir_t* dir) { + dir_t* p; + // make sure fields on SD are correct + if (!sync()) goto fail; + + // read entry + p = cacheDirEntry(SdVolume::CACHE_FOR_READ); + if (!p) goto fail; + + // copy to caller's struct + memcpy(dir, p, sizeof(dir_t)); + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Format the name field of \a dir into the 13 byte array + * \a name in standard 8.3 short name format. + * + * \param[in] dir The directory structure containing the name. + * \param[out] name A 13 byte char array for the formatted name. + */ +void SdBaseFile::dirName(const dir_t& dir, char* name) { + uint8_t j = 0; + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ')continue; + if (i == 8) name[j++] = '.'; + name[j++] = dir.name[i]; + } + name[j] = 0; +} +//------------------------------------------------------------------------------ +/** Test for the existence of a file in a directory + * + * \param[in] name Name of the file to be tested for. + * + * The calling instance must be an open directory file. + * + * dirFile.exists("TOFIND.TXT") searches for "TOFIND.TXT" in the directory + * dirFile. + * + * \return true if the file exists else false. + */ +bool SdBaseFile::exists(const char* name) { + SdBaseFile file; + return file.open(this, name, O_READ); +} +//------------------------------------------------------------------------------ +/** + * Get a string from a file. + * + * fgets() reads bytes from a file into the array pointed to by \a str, until + * \a num - 1 bytes are read, or a delimiter is read and transferred to \a str, + * or end-of-file is encountered. The string is then terminated + * with a null byte. + * + * fgets() deletes CR, '\\r', from the string. This insures only a '\\n' + * terminates the string for Windows text files which use CRLF for newline. + * + * \param[out] str Pointer to the array where the string is stored. + * \param[in] num Maximum number of characters to be read + * (including the final null byte). Usually the length + * of the array \a str is used. + * \param[in] delim Optional set of delimiters. The default is "\n". + * + * \return For success fgets() returns the length of the string in \a str. + * If no data is read, fgets() returns zero for EOF or -1 if an error occurred. + **/ +int16_t SdBaseFile::fgets(char* str, int16_t num, char* delim) { + char ch; + int16_t n = 0; + int16_t r = -1; + while ((n + 1) < num && (r = read(&ch, 1)) == 1) { + // delete CR + if (ch == '\r') continue; + str[n++] = ch; + if (!delim) { + if (ch == '\n') break; + } else { + if (strchr(delim, ch)) break; + } + } + if (r < 0) { + // read error + return -1; + } + str[n] = '\0'; + return n; +} +//------------------------------------------------------------------------------ +/** Get a file's name + * + * \param[out] name An array of 13 characters for the file's name. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::getFilename(char* name) { + if (!isOpen()) return false; + + if (isRoot()) { + name[0] = '/'; + name[1] = '\0'; + return true; + } + // cache entry + dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_READ); + if (!p) return false; + + // format name + dirName(*p, name); + return true; +} +//------------------------------------------------------------------------------ +void SdBaseFile::getpos(fpos_t* pos) { + pos->position = curPosition_; + pos->cluster = curCluster_; +} + +//------------------------------------------------------------------------------ +/** List directory contents. + * + * \param[in] pr Print stream for list. + * + * \param[in] flags The inclusive OR of + * + * LS_DATE - %Print file modification date + * + * LS_SIZE - %Print file size. + * + * LS_R - Recursive list of subdirectories. + * + * \param[in] indent Amount of space before file name. Used for recursive + * list to indicate subdirectory level. + */ +void SdBaseFile::ls(uint8_t flags, uint8_t indent) { + rewind(); + int8_t status; + while ((status = lsPrintNext( flags, indent))) { + if (status > 1 && (flags & LS_R)) { + uint16_t index = curPosition()/32 - 1; + SdBaseFile s; + if (s.open(this, index, O_READ)) s.ls( flags, indent + 2); + seekSet(32 * (index + 1)); + } + } +} +//------------------------------------------------------------------------------ +// saves 32 bytes on stack for ls recursion +// return 0 - EOF, 1 - normal file, or 2 - directory +int8_t SdBaseFile::lsPrintNext( uint8_t flags, uint8_t indent) { + dir_t dir; + uint8_t w = 0; + + while (1) { + if (read(&dir, sizeof(dir)) != sizeof(dir)) return 0; + if (dir.name[0] == DIR_NAME_FREE) return 0; + + // skip deleted entry and entries for . and .. + if (dir.name[0] != DIR_NAME_DELETED && dir.name[0] != '.' + && DIR_IS_FILE_OR_SUBDIR(&dir)) break; + } + // indent for dir level + for (uint8_t i = 0; i < indent; i++) MYSERIAL.write(' '); + + // print name + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ')continue; + if (i == 8) { + MYSERIAL.write('.'); + w++; + } + MYSERIAL.write(dir.name[i]); + w++; + } + if (DIR_IS_SUBDIR(&dir)) { + MYSERIAL.write('/'); + w++; + } + if (flags & (LS_DATE | LS_SIZE)) { + while (w++ < 14) MYSERIAL.write(' '); + } + // print modify date/time if requested + if (flags & LS_DATE) { + MYSERIAL.write(' '); + printFatDate( dir.lastWriteDate); + MYSERIAL.write(' '); + printFatTime( dir.lastWriteTime); + } + // print size if requested + if (!DIR_IS_SUBDIR(&dir) && (flags & LS_SIZE)) { + MYSERIAL.write(' '); + MYSERIAL.print(dir.fileSize); + } + MYSERIAL.println(); + return DIR_IS_FILE(&dir) ? 1 : 2; +} +//------------------------------------------------------------------------------ +// format directory name field from a 8.3 name string +bool SdBaseFile::make83Name(const char* str, uint8_t* name, const char** ptr) { + uint8_t c; + uint8_t n = 7; // max index for part before dot + uint8_t i = 0; + // blank fill name and extension + while (i < 11) name[i++] = ' '; + i = 0; + while (*str != '\0' && *str != '/') { + c = *str++; + if (c == '.') { + if (n == 10) goto fail; // only one dot allowed + n = 10; // max index for full 8.3 name + i = 8; // place for extension + } else { + // illegal FAT characters + PGM_P p = PSTR("|<>^+=?/[];,*\"\\"); + uint8_t b; + while ((b = pgm_read_byte(p++))) if (b == c) goto fail; + // check size and only allow ASCII printable characters + if (i > n || c < 0X21 || c > 0X7E)goto fail; + // only upper case allowed in 8.3 names - convert lower to upper + name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a'); + } + } + *ptr = str; + // must have a file name, extension is optional + return name[0] != ' '; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Make a new directory. + * + * \param[in] parent An open SdFat instance for the directory that will contain + * the new directory. + * + * \param[in] path A path with a valid 8.3 DOS name for the new directory. + * + * \param[in] pFlag Create missing parent directories if true. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include this file is already open, \a parent is not a + * directory, \a path is invalid or already exists in \a parent. + */ +bool SdBaseFile::mkdir(SdBaseFile* parent, const char* path, bool pFlag) { + uint8_t dname[11]; + SdBaseFile dir1, dir2; + SdBaseFile* sub = &dir1; + SdBaseFile* start = parent; + + if (!parent || isOpen()) goto fail; + + if (*path == '/') { + while (*path == '/') path++; + if (!parent->isRoot()) { + if (!dir2.openRoot(parent->vol_)) goto fail; + parent = &dir2; + } + } + while (1) { + if (!make83Name(path, dname, &path)) goto fail; + while (*path == '/') path++; + if (!*path) break; + if (!sub->open(parent, dname, O_READ)) { + if (!pFlag || !sub->mkdir(parent, dname)) { + goto fail; + } + } + if (parent != start) parent->close(); + parent = sub; + sub = parent != &dir1 ? &dir1 : &dir2; + } + return mkdir(parent, dname); + + fail: + return false; +} +//------------------------------------------------------------------------------ +bool SdBaseFile::mkdir(SdBaseFile* parent, const uint8_t dname[11]) { + uint32_t block; + dir_t d; + dir_t* p; + + if (!parent->isDir()) goto fail; + + // create a normal file + if (!open(parent, dname, O_CREAT | O_EXCL | O_RDWR)) goto fail; + + // convert file to directory + flags_ = O_READ; + type_ = FAT_FILE_TYPE_SUBDIR; + + // allocate and zero first cluster + if (!addDirCluster())goto fail; + + // force entry to SD + if (!sync()) goto fail; + + // cache entry - should already be in cache due to sync() call + p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!p) goto fail; + + // change directory entry attribute + p->attributes = DIR_ATT_DIRECTORY; + + // make entry for '.' + memcpy(&d, p, sizeof(d)); + d.name[0] = '.'; + for (uint8_t i = 1; i < 11; i++) d.name[i] = ' '; + + // cache block for '.' and '..' + block = vol_->clusterStartBlock(firstCluster_); + if (!vol_->cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) goto fail; + + // copy '.' to block + memcpy(&vol_->cache()->dir[0], &d, sizeof(d)); + + // make entry for '..' + d.name[1] = '.'; + if (parent->isRoot()) { + d.firstClusterLow = 0; + d.firstClusterHigh = 0; + } else { + d.firstClusterLow = parent->firstCluster_ & 0XFFFF; + d.firstClusterHigh = parent->firstCluster_ >> 16; + } + // copy '..' to block + memcpy(&vol_->cache()->dir[1], &d, sizeof(d)); + + // write first block + return vol_->cacheFlush(); + + fail: + return false; +} +//------------------------------------------------------------------------------ + /** Open a file in the current working directory. + * + * \param[in] path A path with a valid 8.3 DOS name for a file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of open flags. see SdBaseFile::open(SdBaseFile*, const char*, uint8_t). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ + bool SdBaseFile::open(const char* path, uint8_t oflag) { + return open(cwd_, path, oflag); + } +//------------------------------------------------------------------------------ +/** Open a file or directory by name. + * + * \param[in] dirFile An open SdFat instance for the directory containing the + * file to be opened. + * + * \param[in] path A path with a valid 8.3 DOS name for a file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * O_READ - Open for reading. + * + * O_RDONLY - Same as O_READ. + * + * O_WRITE - Open for writing. + * + * O_WRONLY - Same as O_WRITE. + * + * O_RDWR - Open for reading and writing. + * + * O_APPEND - If set, the file offset shall be set to the end of the + * file prior to each write. + * + * O_AT_END - Set the initial position at the end of the file. + * + * O_CREAT - If the file exists, this flag has no effect except as noted + * under O_EXCL below. Otherwise, the file shall be created + * + * O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists. + * + * O_SYNC - Call sync() after each write. This flag should not be used with + * write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class. + * These functions do character at a time writes so sync() will be called + * after each byte. + * + * O_TRUNC - If the file exists and is a regular file, and the file is + * successfully opened and is not read only, its length shall be truncated to 0. + * + * WARNING: A given file must not be opened by more than one SdBaseFile object + * of file corruption may occur. + * + * \note Directory files must be opened read only. Write and truncation is + * not allowed for directory files. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include this file is already open, \a dirFile is not + * a directory, \a path is invalid, the file does not exist + * or can't be opened in the access mode specified by oflag. + */ +bool SdBaseFile::open(SdBaseFile* dirFile, const char* path, uint8_t oflag) { + uint8_t dname[11]; + SdBaseFile dir1, dir2; + SdBaseFile *parent = dirFile; + SdBaseFile *sub = &dir1; + + if (!dirFile) goto fail; + + // error if already open + if (isOpen()) goto fail; + + if (*path == '/') { + while (*path == '/') path++; + if (!dirFile->isRoot()) { + if (!dir2.openRoot(dirFile->vol_)) goto fail; + parent = &dir2; + } + } + while (1) { + if (!make83Name(path, dname, &path)) goto fail; + while (*path == '/') path++; + if (!*path) break; + if (!sub->open(parent, dname, O_READ)) goto fail; + if (parent != dirFile) parent->close(); + parent = sub; + sub = parent != &dir1 ? &dir1 : &dir2; + } + return open(parent, dname, oflag); + + fail: + return false; +} +//------------------------------------------------------------------------------ +// open with filename in dname +bool SdBaseFile::open(SdBaseFile* dirFile, + const uint8_t dname[11], uint8_t oflag) { + bool emptyFound = false; + bool fileFound = false; + uint8_t index; + dir_t* p; + + vol_ = dirFile->vol_; + + dirFile->rewind(); + // search for file + + while (dirFile->curPosition_ < dirFile->fileSize_) { + index = 0XF & (dirFile->curPosition_ >> 5); + p = dirFile->readDirCache(); + if (!p) goto fail; + + if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) { + // remember first empty slot + if (!emptyFound) { + dirBlock_ = dirFile->vol_->cacheBlockNumber(); + dirIndex_ = index; + emptyFound = true; + } + // done if no entries follow + if (p->name[0] == DIR_NAME_FREE) break; + } else if (!memcmp(dname, p->name, 11)) { + fileFound = true; + break; + } + } + if (fileFound) { + // don't open existing file if O_EXCL + if (oflag & O_EXCL) goto fail; + } else { + // don't create unless O_CREAT and O_WRITE + if (!(oflag & O_CREAT) || !(oflag & O_WRITE)) goto fail; + if (emptyFound) { + index = dirIndex_; + p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!p) goto fail; + } else { + if (dirFile->type_ == FAT_FILE_TYPE_ROOT_FIXED) goto fail; + + // add and zero cluster for dirFile - first cluster is in cache for write + if (!dirFile->addDirCluster()) goto fail; + + // use first entry in cluster + p = dirFile->vol_->cache()->dir; + index = 0; + } + // initialize as empty file + memset(p, 0, sizeof(dir_t)); + memcpy(p->name, dname, 11); + + // set timestamps + if (dateTime_) { + // call user date/time function + dateTime_(&p->creationDate, &p->creationTime); + } else { + // use default date/time + p->creationDate = FAT_DEFAULT_DATE; + p->creationTime = FAT_DEFAULT_TIME; + } + p->lastAccessDate = p->creationDate; + p->lastWriteDate = p->creationDate; + p->lastWriteTime = p->creationTime; + + // write entry to SD + if (!dirFile->vol_->cacheFlush()) goto fail; + } + // open entry in cache + return openCachedEntry(index, oflag); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Open a file by index. + * + * \param[in] dirFile An open SdFat instance for the directory. + * + * \param[in] index The \a index of the directory entry for the file to be + * opened. The value for \a index is (directory file position)/32. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC. + * + * See open() by path for definition of flags. + * \return true for success or false for failure. + */ +bool SdBaseFile::open(SdBaseFile* dirFile, uint16_t index, uint8_t oflag) { + dir_t* p; + + vol_ = dirFile->vol_; + + // error if already open + if (isOpen() || !dirFile) goto fail; + + // don't open existing file if O_EXCL - user call error + if (oflag & O_EXCL) goto fail; + + // seek to location of entry + if (!dirFile->seekSet(32 * index)) goto fail; + + // read entry into cache + p = dirFile->readDirCache(); + if (!p) goto fail; + + // error if empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_FREE || + p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') { + goto fail; + } + // open cached entry + return openCachedEntry(index & 0XF, oflag); + + fail: + return false; +} +//------------------------------------------------------------------------------ +// open a cached directory entry. Assumes vol_ is initialized +bool SdBaseFile::openCachedEntry(uint8_t dirIndex, uint8_t oflag) { + // location of entry in cache + dir_t* p = &vol_->cache()->dir[dirIndex]; + + // write or truncate is an error for a directory or read-only file + if (p->attributes & (DIR_ATT_READ_ONLY | DIR_ATT_DIRECTORY)) { + if (oflag & (O_WRITE | O_TRUNC)) goto fail; + } + // remember location of directory entry on SD + dirBlock_ = vol_->cacheBlockNumber(); + dirIndex_ = dirIndex; + + // copy first cluster number for directory fields + firstCluster_ = (uint32_t)p->firstClusterHigh << 16; + firstCluster_ |= p->firstClusterLow; + + // make sure it is a normal file or subdirectory + if (DIR_IS_FILE(p)) { + fileSize_ = p->fileSize; + type_ = FAT_FILE_TYPE_NORMAL; + } else if (DIR_IS_SUBDIR(p)) { + if (!vol_->chainSize(firstCluster_, &fileSize_)) goto fail; + type_ = FAT_FILE_TYPE_SUBDIR; + } else { + goto fail; + } + // save open flags for read/write + flags_ = oflag & F_OFLAG; + + // set to start of file + curCluster_ = 0; + curPosition_ = 0; + if ((oflag & O_TRUNC) && !truncate(0)) return false; + return oflag & O_AT_END ? seekEnd(0) : true; + + fail: + type_ = FAT_FILE_TYPE_CLOSED; + return false; +} +//------------------------------------------------------------------------------ +/** Open the next file or subdirectory in a directory. + * + * \param[in] dirFile An open SdFat instance for the directory containing the + * file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC. + * + * See open() by path for definition of flags. + * \return true for success or false for failure. + */ +bool SdBaseFile::openNext(SdBaseFile* dirFile, uint8_t oflag) { + dir_t* p; + uint8_t index; + + if (!dirFile) goto fail; + + // error if already open + if (isOpen()) goto fail; + + vol_ = dirFile->vol_; + + while (1) { + index = 0XF & (dirFile->curPosition_ >> 5); + + // read entry into cache + p = dirFile->readDirCache(); + if (!p) goto fail; + + // done if last entry + if (p->name[0] == DIR_NAME_FREE) goto fail; + + // skip empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') { + continue; + } + // must be file or dir + if (DIR_IS_FILE_OR_SUBDIR(p)) { + return openCachedEntry(index, oflag); + } + } + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Open a directory's parent directory. + * + * \param[in] dir Parent of this directory will be opened. Must not be root. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::openParent(SdBaseFile* dir) { + dir_t entry; + dir_t* p; + SdBaseFile file; + uint32_t c; + uint32_t cluster; + uint32_t lbn; + // error if already open or dir is root or dir is not a directory + if (isOpen() || !dir || dir->isRoot() || !dir->isDir()) goto fail; + vol_ = dir->vol_; + // position to '..' + if (!dir->seekSet(32)) goto fail; + // read '..' entry + if (dir->read(&entry, sizeof(entry)) != 32) goto fail; + // verify it is '..' + if (entry.name[0] != '.' || entry.name[1] != '.') goto fail; + // start cluster for '..' + cluster = entry.firstClusterLow; + cluster |= (uint32_t)entry.firstClusterHigh << 16; + if (cluster == 0) return openRoot(vol_); + // start block for '..' + lbn = vol_->clusterStartBlock(cluster); + // first block of parent dir + if (!vol_->cacheRawBlock(lbn, SdVolume::CACHE_FOR_READ)) { + goto fail; + } + p = &vol_->cacheBuffer_.dir[1]; + // verify name for '../..' + if (p->name[0] != '.' || p->name[1] != '.') goto fail; + // '..' is pointer to first cluster of parent. open '../..' to find parent + if (p->firstClusterHigh == 0 && p->firstClusterLow == 0) { + if (!file.openRoot(dir->volume())) goto fail; + } else { + if (!file.openCachedEntry(1, O_READ)) goto fail; + } + // search for parent in '../..' + do { + if (file.readDir(&entry) != 32) goto fail; + c = entry.firstClusterLow; + c |= (uint32_t)entry.firstClusterHigh << 16; + } while (c != cluster); + // open parent + return open(&file, file.curPosition()/32 - 1, O_READ); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Open a volume's root directory. + * + * \param[in] vol The FAT volume containing the root directory to be opened. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is already open, the FAT volume has + * not been initialized or it a FAT12 volume. + */ +bool SdBaseFile::openRoot(SdVolume* vol) { + // error if file is already open + if (isOpen()) goto fail; + + if (vol->fatType() == 16 || (FAT12_SUPPORT && vol->fatType() == 12)) { + type_ = FAT_FILE_TYPE_ROOT_FIXED; + firstCluster_ = 0; + fileSize_ = 32 * vol->rootDirEntryCount(); + } else if (vol->fatType() == 32) { + type_ = FAT_FILE_TYPE_ROOT32; + firstCluster_ = vol->rootDirStart(); + if (!vol->chainSize(firstCluster_, &fileSize_)) goto fail; + } else { + // volume is not initialized, invalid, or FAT12 without support + return false; + } + vol_ = vol; + // read only + flags_ = O_READ; + + // set to start of file + curCluster_ = 0; + curPosition_ = 0; + + // root has no directory entry + dirBlock_ = 0; + dirIndex_ = 0; + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Return the next available byte without consuming it. + * + * \return The byte if no error and not at eof else -1; + */ +int SdBaseFile::peek() { + fpos_t pos; + getpos(&pos); + int c = read(); + if (c >= 0) setpos(&pos); + return c; +} + +//------------------------------------------------------------------------------ +/** %Print the name field of a directory entry in 8.3 format. + * \param[in] pr Print stream for output. + * \param[in] dir The directory structure containing the name. + * \param[in] width Blank fill name if length is less than \a width. + * \param[in] printSlash Print '/' after directory names if true. + */ +void SdBaseFile::printDirName(const dir_t& dir, + uint8_t width, bool printSlash) { + uint8_t w = 0; + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ')continue; + if (i == 8) { + MYSERIAL.write('.'); + w++; + } + MYSERIAL.write(dir.name[i]); + w++; + } + if (DIR_IS_SUBDIR(&dir) && printSlash) { + MYSERIAL.write('/'); + w++; + } + while (w < width) { + MYSERIAL.write(' '); + w++; + } +} +//------------------------------------------------------------------------------ +// print uint8_t with width 2 +static void print2u( uint8_t v) { + if (v < 10) MYSERIAL.write('0'); + MYSERIAL.print(v, DEC); +} +//------------------------------------------------------------------------------ +/** %Print a directory date field to Serial. + * + * Format is yyyy-mm-dd. + * + * \param[in] fatDate The date field from a directory entry. + */ + +//------------------------------------------------------------------------------ +/** %Print a directory date field. + * + * Format is yyyy-mm-dd. + * + * \param[in] pr Print stream for output. + * \param[in] fatDate The date field from a directory entry. + */ +void SdBaseFile::printFatDate(uint16_t fatDate) { + MYSERIAL.print(FAT_YEAR(fatDate)); + MYSERIAL.write('-'); + print2u( FAT_MONTH(fatDate)); + MYSERIAL.write('-'); + print2u( FAT_DAY(fatDate)); +} + +//------------------------------------------------------------------------------ +/** %Print a directory time field. + * + * Format is hh:mm:ss. + * + * \param[in] pr Print stream for output. + * \param[in] fatTime The time field from a directory entry. + */ +void SdBaseFile::printFatTime( uint16_t fatTime) { + print2u( FAT_HOUR(fatTime)); + MYSERIAL.write(':'); + print2u( FAT_MINUTE(fatTime)); + MYSERIAL.write(':'); + print2u( FAT_SECOND(fatTime)); +} +//------------------------------------------------------------------------------ +/** Print a file's name to Serial + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::printName() { + char name[13]; + if (!getFilename(name)) return false; + MYSERIAL.print(name); + return true; +} +//------------------------------------------------------------------------------ +/** Read the next byte from a file. + * + * \return For success read returns the next byte in the file as an int. + * If an error occurs or end of file is reached -1 is returned. + */ +int16_t SdBaseFile::read() { + uint8_t b; + return read(&b, 1) == 1 ? b : -1; +} +//------------------------------------------------------------------------------ +/** Read data from a file starting at the current position. + * + * \param[out] buf Pointer to the location that will receive the data. + * + * \param[in] nbyte Maximum number of bytes to read. + * + * \return For success read() returns the number of bytes read. + * A value less than \a nbyte, including zero, will be returned + * if end of file is reached. + * If an error occurs, read() returns -1. Possible errors include + * read() called before a file has been opened, corrupt file system + * or an I/O error occurred. + */ +int16_t SdBaseFile::read(void* buf, uint16_t nbyte) { + uint8_t* dst = reinterpret_cast<uint8_t*>(buf); + uint16_t offset; + uint16_t toRead; + uint32_t block; // raw device block number + + // error if not open or write only + if (!isOpen() || !(flags_ & O_READ)) goto fail; + + // max bytes left in file + if (nbyte >= (fileSize_ - curPosition_)) { + nbyte = fileSize_ - curPosition_; + } + // amount left to read + toRead = nbyte; + while (toRead > 0) { + offset = curPosition_ & 0X1FF; // offset in block + if (type_ == FAT_FILE_TYPE_ROOT_FIXED) { + block = vol_->rootDirStart() + (curPosition_ >> 9); + } else { + uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_); + if (offset == 0 && blockOfCluster == 0) { + // start of new cluster + if (curPosition_ == 0) { + // use first cluster in file + curCluster_ = firstCluster_; + } else { + // get next cluster from FAT + if (!vol_->fatGet(curCluster_, &curCluster_)) goto fail; + } + } + block = vol_->clusterStartBlock(curCluster_) + blockOfCluster; + } + uint16_t n = toRead; + + // amount to be read from current block + if (n > (512 - offset)) n = 512 - offset; + + // no buffering needed if n == 512 + if (n == 512 && block != vol_->cacheBlockNumber()) { + if (!vol_->readBlock(block, dst)) goto fail; + } else { + // read block to cache and copy data to caller + if (!vol_->cacheRawBlock(block, SdVolume::CACHE_FOR_READ)) goto fail; + uint8_t* src = vol_->cache()->data + offset; + memcpy(dst, src, n); + } + dst += n; + curPosition_ += n; + toRead -= n; + } + return nbyte; + + fail: + return -1; +} +//------------------------------------------------------------------------------ +/** Read the next directory entry from a directory file. + * + * \param[out] dir The dir_t struct that will receive the data. + * + * \return For success readDir() returns the number of bytes read. + * A value of zero will be returned if end of file is reached. + * If an error occurs, readDir() returns -1. Possible errors include + * readDir() called before a directory has been opened, this is not + * a directory file or an I/O error occurred. + */ +int8_t SdBaseFile::readDir(dir_t* dir) { + int16_t n; + // if not a directory file or miss-positioned return an error + if (!isDir() || (0X1F & curPosition_)) return -1; + + while (1) { + n = read(dir, sizeof(dir_t)); + if (n != sizeof(dir_t)) return n == 0 ? 0 : -1; + // last entry if DIR_NAME_FREE + if (dir->name[0] == DIR_NAME_FREE) return 0; + // skip empty entries and entry for . and .. + if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == '.') continue; + // return if normal file or subdirectory + if (DIR_IS_FILE_OR_SUBDIR(dir)) return n; + } +} +//------------------------------------------------------------------------------ +// Read next directory entry into the cache +// Assumes file is correctly positioned +dir_t* SdBaseFile::readDirCache() { + uint8_t i; + // error if not directory + if (!isDir()) goto fail; + + // index of entry in cache + i = (curPosition_ >> 5) & 0XF; + + // use read to locate and cache block + if (read() < 0) goto fail; + + // advance to next entry + curPosition_ += 31; + + // return pointer to entry + return vol_->cache()->dir + i; + + fail: + return 0; +} +//------------------------------------------------------------------------------ +/** Remove a file. + * + * The directory entry and all data for the file are deleted. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file read-only, is a directory, + * or an I/O error occurred. + */ +bool SdBaseFile::remove() { + dir_t* d; + // free any clusters - will fail if read-only or directory + if (!truncate(0)) goto fail; + + // cache directory entry + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + + // mark entry deleted + d->name[0] = DIR_NAME_DELETED; + + // set this file closed + type_ = FAT_FILE_TYPE_CLOSED; + + // write entry to SD + return vol_->cacheFlush(); + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Remove a file. + * + * The directory entry and all data for the file are deleted. + * + * \param[in] dirFile The directory that contains the file. + * \param[in] path Path for the file to be removed. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is a directory, is read only, + * \a dirFile is not a directory, \a path is not found + * or an I/O error occurred. + */ +bool SdBaseFile::remove(SdBaseFile* dirFile, const char* path) { + SdBaseFile file; + if (!file.open(dirFile, path, O_WRITE)) goto fail; + return file.remove(); + + fail: + // can't set iostate - static function + return false; +} +//------------------------------------------------------------------------------ +/** Rename a file or subdirectory. + * + * \param[in] dirFile Directory for the new path. + * \param[in] newPath New path name for the file/directory. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include \a dirFile is not open or is not a directory + * file, newPath is invalid or already exists, or an I/O error occurs. + */ +bool SdBaseFile::rename(SdBaseFile* dirFile, const char* newPath) { + dir_t entry; + uint32_t dirCluster = 0; + SdBaseFile file; + dir_t* d; + + // must be an open file or subdirectory + if (!(isFile() || isSubDir())) goto fail; + + // can't move file + if (vol_ != dirFile->vol_) goto fail; + + // sync() and cache directory entry + sync(); + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + + // save directory entry + memcpy(&entry, d, sizeof(entry)); + + // mark entry deleted + d->name[0] = DIR_NAME_DELETED; + + // make directory entry for new path + if (isFile()) { + if (!file.open(dirFile, newPath, O_CREAT | O_EXCL | O_WRITE)) { + goto restore; + } + } else { + // don't create missing path prefix components + if (!file.mkdir(dirFile, newPath, false)) { + goto restore; + } + // save cluster containing new dot dot + dirCluster = file.firstCluster_; + } + // change to new directory entry + dirBlock_ = file.dirBlock_; + dirIndex_ = file.dirIndex_; + + // mark closed to avoid possible destructor close call + file.type_ = FAT_FILE_TYPE_CLOSED; + + // cache new directory entry + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + + // copy all but name field to new directory entry + memcpy(&d->attributes, &entry.attributes, sizeof(entry) - sizeof(d->name)); + + // update dot dot if directory + if (dirCluster) { + // get new dot dot + uint32_t block = vol_->clusterStartBlock(dirCluster); + if (!vol_->cacheRawBlock(block, SdVolume::CACHE_FOR_READ)) goto fail; + memcpy(&entry, &vol_->cache()->dir[1], sizeof(entry)); + + // free unused cluster + if (!vol_->freeChain(dirCluster)) goto fail; + + // store new dot dot + block = vol_->clusterStartBlock(firstCluster_); + if (!vol_->cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) goto fail; + memcpy(&vol_->cache()->dir[1], &entry, sizeof(entry)); + } + return vol_->cacheFlush(); + + restore: + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + // restore entry + d->name[0] = entry.name[0]; + vol_->cacheFlush(); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Remove a directory file. + * + * The directory file will be removed only if it is empty and is not the + * root directory. rmdir() follows DOS and Windows and ignores the + * read-only attribute for the directory. + * + * \note This function should not be used to delete the 8.3 version of a + * directory that has a long name. For example if a directory has the + * long name "New folder" you should not delete the 8.3 name "NEWFOL~1". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is not a directory, is the root + * directory, is not empty, or an I/O error occurred. + */ +bool SdBaseFile::rmdir() { + // must be open subdirectory + if (!isSubDir()) goto fail; + + rewind(); + + // make sure directory is empty + while (curPosition_ < fileSize_) { + dir_t* p = readDirCache(); + if (!p) goto fail; + // done if past last used entry + if (p->name[0] == DIR_NAME_FREE) break; + // skip empty slot, '.' or '..' + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; + // error not empty + if (DIR_IS_FILE_OR_SUBDIR(p)) goto fail; + } + // convert empty directory to normal file for remove + type_ = FAT_FILE_TYPE_NORMAL; + flags_ |= O_WRITE; + return remove(); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Recursively delete a directory and all contained files. + * + * This is like the Unix/Linux 'rm -rf *' if called with the root directory + * hence the name. + * + * Warning - This will remove all contents of the directory including + * subdirectories. The directory will then be removed if it is not root. + * The read-only attribute for files will be ignored. + * + * \note This function should not be used to delete the 8.3 version of + * a directory that has a long name. See remove() and rmdir(). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::rmRfStar() { + uint16_t index; + SdBaseFile f; + rewind(); + while (curPosition_ < fileSize_) { + // remember position + index = curPosition_/32; + + dir_t* p = readDirCache(); + if (!p) goto fail; + + // done if past last entry + if (p->name[0] == DIR_NAME_FREE) break; + + // skip empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; + + // skip if part of long file name or volume label in root + if (!DIR_IS_FILE_OR_SUBDIR(p)) continue; + + if (!f.open(this, index, O_READ)) goto fail; + if (f.isSubDir()) { + // recursively delete + if (!f.rmRfStar()) goto fail; + } else { + // ignore read-only + f.flags_ |= O_WRITE; + if (!f.remove()) goto fail; + } + // position to next entry if required + if (curPosition_ != (32*(index + 1))) { + if (!seekSet(32*(index + 1))) goto fail; + } + } + // don't try to delete root + if (!isRoot()) { + if (!rmdir()) goto fail; + } + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Create a file object and open it in the current working directory. + * + * \param[in] path A path with a valid 8.3 DOS name for a file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of open flags. see SdBaseFile::open(SdBaseFile*, const char*, uint8_t). + */ +SdBaseFile::SdBaseFile(const char* path, uint8_t oflag) { + type_ = FAT_FILE_TYPE_CLOSED; + writeError = false; + open(path, oflag); +} +//------------------------------------------------------------------------------ +/** Sets a file's position. + * + * \param[in] pos The new position in bytes from the beginning of the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::seekSet(uint32_t pos) { + uint32_t nCur; + uint32_t nNew; + // error if file not open or seek past end of file + if (!isOpen() || pos > fileSize_) goto fail; + + if (type_ == FAT_FILE_TYPE_ROOT_FIXED) { + curPosition_ = pos; + goto done; + } + if (pos == 0) { + // set position to start of file + curCluster_ = 0; + curPosition_ = 0; + goto done; + } + // calculate cluster index for cur and new position + nCur = (curPosition_ - 1) >> (vol_->clusterSizeShift_ + 9); + nNew = (pos - 1) >> (vol_->clusterSizeShift_ + 9); + + if (nNew < nCur || curPosition_ == 0) { + // must follow chain from first cluster + curCluster_ = firstCluster_; + } else { + // advance from curPosition + nNew -= nCur; + } + while (nNew--) { + if (!vol_->fatGet(curCluster_, &curCluster_)) goto fail; + } + curPosition_ = pos; + + done: + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +void SdBaseFile::setpos(fpos_t* pos) { + curPosition_ = pos->position; + curCluster_ = pos->cluster; +} +//------------------------------------------------------------------------------ +/** The sync() call causes all modified data and directory fields + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include a call to sync() before a file has been + * opened or an I/O error. + */ +bool SdBaseFile::sync() { + // only allow open files and directories + if (!isOpen()) goto fail; + + if (flags_ & F_FILE_DIR_DIRTY) { + dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + // check for deleted by another open file object + if (!d || d->name[0] == DIR_NAME_DELETED) goto fail; + + // do not set filesize for dir files + if (!isDir()) d->fileSize = fileSize_; + + // update first cluster fields + d->firstClusterLow = firstCluster_ & 0XFFFF; + d->firstClusterHigh = firstCluster_ >> 16; + + // set modify time if user supplied a callback date/time function + if (dateTime_) { + dateTime_(&d->lastWriteDate, &d->lastWriteTime); + d->lastAccessDate = d->lastWriteDate; + } + // clear directory dirty + flags_ &= ~F_FILE_DIR_DIRTY; + } + return vol_->cacheFlush(); + + fail: + writeError = true; + return false; +} +//------------------------------------------------------------------------------ +/** Copy a file's timestamps + * + * \param[in] file File to copy timestamps from. + * + * \note + * Modify and access timestamps may be overwritten if a date time callback + * function has been set by dateTimeCallback(). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::timestamp(SdBaseFile* file) { + dir_t* d; + dir_t dir; + + // get timestamps + if (!file->dirEntry(&dir)) goto fail; + + // update directory fields + if (!sync()) goto fail; + + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + + // copy timestamps + d->lastAccessDate = dir.lastAccessDate; + d->creationDate = dir.creationDate; + d->creationTime = dir.creationTime; + d->creationTimeTenths = dir.creationTimeTenths; + d->lastWriteDate = dir.lastWriteDate; + d->lastWriteTime = dir.lastWriteTime; + + // write back entry + return vol_->cacheFlush(); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Set a file's timestamps in its directory entry. + * + * \param[in] flags Values for \a flags are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * T_ACCESS - Set the file's last access date. + * + * T_CREATE - Set the file's creation date and time. + * + * T_WRITE - Set the file's last write/modification date and time. + * + * \param[in] year Valid range 1980 - 2107 inclusive. + * + * \param[in] month Valid range 1 - 12 inclusive. + * + * \param[in] day Valid range 1 - 31 inclusive. + * + * \param[in] hour Valid range 0 - 23 inclusive. + * + * \param[in] minute Valid range 0 - 59 inclusive. + * + * \param[in] second Valid range 0 - 59 inclusive + * + * \note It is possible to set an invalid date since there is no check for + * the number of days in a month. + * + * \note + * Modify and access timestamps may be overwritten if a date time callback + * function has been set by dateTimeCallback(). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +bool SdBaseFile::timestamp(uint8_t flags, uint16_t year, uint8_t month, + uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) { + uint16_t dirDate; + uint16_t dirTime; + dir_t* d; + + if (!isOpen() + || year < 1980 + || year > 2107 + || month < 1 + || month > 12 + || day < 1 + || day > 31 + || hour > 23 + || minute > 59 + || second > 59) { + goto fail; + } + // update directory entry + if (!sync()) goto fail; + + d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) goto fail; + + dirDate = FAT_DATE(year, month, day); + dirTime = FAT_TIME(hour, minute, second); + if (flags & T_ACCESS) { + d->lastAccessDate = dirDate; + } + if (flags & T_CREATE) { + d->creationDate = dirDate; + d->creationTime = dirTime; + // seems to be units of 1/100 second not 1/10 as Microsoft states + d->creationTimeTenths = second & 1 ? 100 : 0; + } + if (flags & T_WRITE) { + d->lastWriteDate = dirDate; + d->lastWriteTime = dirTime; + } + return vol_->cacheFlush(); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Truncate a file to a specified length. The current file position + * will be maintained if it is less than or equal to \a length otherwise + * it will be set to end of file. + * + * \param[in] length The desired length for the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include file is read only, file is a directory, + * \a length is greater than the current file size or an I/O error occurs. + */ +bool SdBaseFile::truncate(uint32_t length) { + uint32_t newPos; + // error if not a normal file or read-only + if (!isFile() || !(flags_ & O_WRITE)) goto fail; + + // error if length is greater than current size + if (length > fileSize_) goto fail; + + // fileSize and length are zero - nothing to do + if (fileSize_ == 0) return true; + + // remember position for seek after truncation + newPos = curPosition_ > length ? length : curPosition_; + + // position to last cluster in truncated file + if (!seekSet(length)) goto fail; + + if (length == 0) { + // free all clusters + if (!vol_->freeChain(firstCluster_)) goto fail; + firstCluster_ = 0; + } else { + uint32_t toFree; + if (!vol_->fatGet(curCluster_, &toFree)) goto fail; + + if (!vol_->isEOC(toFree)) { + // free extra clusters + if (!vol_->freeChain(toFree)) goto fail; + + // current cluster is end of chain + if (!vol_->fatPutEOC(curCluster_)) goto fail; + } + } + fileSize_ = length; + + // need to update directory entry + flags_ |= F_FILE_DIR_DIRTY; + + if (!sync()) goto fail; + + // set file to correct position + return seekSet(newPos); + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Write data to an open file. + * + * \note Data is moved to the cache but may not be written to the + * storage device until sync() is called. + * + * \param[in] buf Pointer to the location of the data to be written. + * + * \param[in] nbyte Number of bytes to write. + * + * \return For success write() returns the number of bytes written, always + * \a nbyte. If an error occurs, write() returns -1. Possible errors + * include write() is called before a file has been opened, write is called + * for a read-only file, device is full, a corrupt file system or an I/O error. + * + */ +int16_t SdBaseFile::write(const void* buf, uint16_t nbyte) { + // convert void* to uint8_t* - must be before goto statements + const uint8_t* src = reinterpret_cast<const uint8_t*>(buf); + + // number of bytes left to write - must be before goto statements + uint16_t nToWrite = nbyte; + + // error if not a normal file or is read-only + if (!isFile() || !(flags_ & O_WRITE)) goto fail; + + // seek to end of file if append flag + if ((flags_ & O_APPEND) && curPosition_ != fileSize_) { + if (!seekEnd()) goto fail; + } + + while (nToWrite > 0) { + uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_); + uint16_t blockOffset = curPosition_ & 0X1FF; + if (blockOfCluster == 0 && blockOffset == 0) { + // start of new cluster + if (curCluster_ == 0) { + if (firstCluster_ == 0) { + // allocate first cluster of file + if (!addCluster()) goto fail; + } else { + curCluster_ = firstCluster_; + } + } else { + uint32_t next; + if (!vol_->fatGet(curCluster_, &next)) goto fail; + if (vol_->isEOC(next)) { + // add cluster if at end of chain + if (!addCluster()) goto fail; + } else { + curCluster_ = next; + } + } + } + // max space in block + uint16_t n = 512 - blockOffset; + + // lesser of space and amount to write + if (n > nToWrite) n = nToWrite; + + // block for data write + uint32_t block = vol_->clusterStartBlock(curCluster_) + blockOfCluster; + if (n == 512) { + // full block - don't need to use cache + if (vol_->cacheBlockNumber() == block) { + // invalidate cache if block is in cache + vol_->cacheSetBlockNumber(0XFFFFFFFF, false); + } + if (!vol_->writeBlock(block, src)) goto fail; + } else { + if (blockOffset == 0 && curPosition_ >= fileSize_) { + // start of new block don't need to read into cache + if (!vol_->cacheFlush()) goto fail; + // set cache dirty and SD address of block + vol_->cacheSetBlockNumber(block, true); + } else { + // rewrite part of block + if (!vol_->cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) goto fail; + } + uint8_t* dst = vol_->cache()->data + blockOffset; + memcpy(dst, src, n); + } + curPosition_ += n; + src += n; + nToWrite -= n; + } + if (curPosition_ > fileSize_) { + // update fileSize and insure sync will update dir entry + fileSize_ = curPosition_; + flags_ |= F_FILE_DIR_DIRTY; + } else if (dateTime_ && nbyte) { + // insure sync will update modified date and time + flags_ |= F_FILE_DIR_DIRTY; + } + + if (flags_ & O_SYNC) { + if (!sync()) goto fail; + } + return nbyte; + + fail: + // return for write error + writeError = true; + return -1; +} +//------------------------------------------------------------------------------ +// suppress cpplint warnings with NOLINT comment +#if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN) +void (*SdBaseFile::oldDateTime_)(uint16_t& date, uint16_t& time) = 0; // NOLINT +#endif // ALLOW_DEPRECATED_FUNCTIONS + + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdBaseFile.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,483 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdBaseFile_h +#define SdBaseFile_h +/** + * \file + * \brief SdBaseFile class + */ +#include "Marlin.h" +#include "SdFatConfig.h" +#include "SdVolume.h" +//------------------------------------------------------------------------------ +/** + * \struct fpos_t + * \brief internal type for istream + * do not use in user apps + */ +struct fpos_t { + /** stream position */ + uint32_t position; + /** cluster for position */ + uint32_t cluster; + fpos_t() : position(0), cluster(0) {} +}; + +// use the gnu style oflag in open() +/** open() oflag for reading */ +uint8_t const O_READ = 0X01; +/** open() oflag - same as O_IN */ +uint8_t const O_RDONLY = O_READ; +/** open() oflag for write */ +uint8_t const O_WRITE = 0X02; +/** open() oflag - same as O_WRITE */ +uint8_t const O_WRONLY = O_WRITE; +/** open() oflag for reading and writing */ +uint8_t const O_RDWR = (O_READ | O_WRITE); +/** open() oflag mask for access modes */ +uint8_t const O_ACCMODE = (O_READ | O_WRITE); +/** The file offset shall be set to the end of the file prior to each write. */ +uint8_t const O_APPEND = 0X04; +/** synchronous writes - call sync() after each write */ +uint8_t const O_SYNC = 0X08; +/** truncate the file to zero length */ +uint8_t const O_TRUNC = 0X10; +/** set the initial position at the end of the file */ +uint8_t const O_AT_END = 0X20; +/** create the file if nonexistent */ +uint8_t const O_CREAT = 0X40; +/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ +uint8_t const O_EXCL = 0X80; + +// SdBaseFile class static and const definitions +// flags for ls() +/** ls() flag to print modify date */ +uint8_t const LS_DATE = 1; +/** ls() flag to print file size */ +uint8_t const LS_SIZE = 2; +/** ls() flag for recursive list of subdirectories */ +uint8_t const LS_R = 4; + + +// flags for timestamp +/** set the file's last access date */ +uint8_t const T_ACCESS = 1; +/** set the file's creation date and time */ +uint8_t const T_CREATE = 2; +/** Set the file's write date and time */ +uint8_t const T_WRITE = 4; +// values for type_ +/** This file has not been opened. */ +uint8_t const FAT_FILE_TYPE_CLOSED = 0; +/** A normal file */ +uint8_t const FAT_FILE_TYPE_NORMAL = 1; +/** A FAT12 or FAT16 root directory */ +uint8_t const FAT_FILE_TYPE_ROOT_FIXED = 2; +/** A FAT32 root directory */ +uint8_t const FAT_FILE_TYPE_ROOT32 = 3; +/** A subdirectory file*/ +uint8_t const FAT_FILE_TYPE_SUBDIR = 4; +/** Test value for directory type */ +uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT_FIXED; + +/** date field for FAT directory entry + * \param[in] year [1980,2107] + * \param[in] month [1,12] + * \param[in] day [1,31] + * + * \return Packed date for dir_t entry. + */ +static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) { + return (year - 1980) << 9 | month << 5 | day; +} +/** year part of FAT directory date field + * \param[in] fatDate Date in packed dir format. + * + * \return Extracted year [1980,2107] + */ +static inline uint16_t FAT_YEAR(uint16_t fatDate) { + return 1980 + (fatDate >> 9); +} +/** month part of FAT directory date field + * \param[in] fatDate Date in packed dir format. + * + * \return Extracted month [1,12] + */ +static inline uint8_t FAT_MONTH(uint16_t fatDate) { + return (fatDate >> 5) & 0XF; +} +/** day part of FAT directory date field + * \param[in] fatDate Date in packed dir format. + * + * \return Extracted day [1,31] + */ +static inline uint8_t FAT_DAY(uint16_t fatDate) { + return fatDate & 0X1F; +} +/** time field for FAT directory entry + * \param[in] hour [0,23] + * \param[in] minute [0,59] + * \param[in] second [0,59] + * + * \return Packed time for dir_t entry. + */ +static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) { + return hour << 11 | minute << 5 | second >> 1; +} +/** hour part of FAT directory time field + * \param[in] fatTime Time in packed dir format. + * + * \return Extracted hour [0,23] + */ +static inline uint8_t FAT_HOUR(uint16_t fatTime) { + return fatTime >> 11; +} +/** minute part of FAT directory time field + * \param[in] fatTime Time in packed dir format. + * + * \return Extracted minute [0,59] + */ +static inline uint8_t FAT_MINUTE(uint16_t fatTime) { + return(fatTime >> 5) & 0X3F; +} +/** second part of FAT directory time field + * Note second/2 is stored in packed time. + * + * \param[in] fatTime Time in packed dir format. + * + * \return Extracted second [0,58] + */ +static inline uint8_t FAT_SECOND(uint16_t fatTime) { + return 2*(fatTime & 0X1F); +} +/** Default date for file timestamps is 1 Jan 2000 */ +uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; +/** Default time for file timestamp is 1 am */ +uint16_t const FAT_DEFAULT_TIME = (1 << 11); +//------------------------------------------------------------------------------ +/** + * \class SdBaseFile + * \brief Base class for SdFile with Print and C++ streams. + */ +class SdBaseFile { + public: + /** Create an instance. */ + SdBaseFile() : writeError(false), type_(FAT_FILE_TYPE_CLOSED) {} + SdBaseFile(const char* path, uint8_t oflag); + ~SdBaseFile() {if(isOpen()) close();} + /** + * writeError is set to true if an error occurs during a write(). + * Set writeError to false before calling print() and/or write() and check + * for true after calls to print() and/or write(). + */ + bool writeError; + //---------------------------------------------------------------------------- + // helpers for stream classes + /** get position for streams + * \param[out] pos struct to receive position + */ + void getpos(fpos_t* pos); + /** set position for streams + * \param[out] pos struct with value for new position + */ + void setpos(fpos_t* pos); + //---------------------------------------------------------------------------- + bool close(); + bool contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); + bool createContiguous(SdBaseFile* dirFile, + const char* path, uint32_t size); + /** \return The current cluster number for a file or directory. */ + uint32_t curCluster() const {return curCluster_;} + /** \return The current position for a file or directory. */ + uint32_t curPosition() const {return curPosition_;} + /** \return Current working directory */ + static SdBaseFile* cwd() {return cwd_;} + /** Set the date/time callback function + * + * \param[in] dateTime The user's call back function. The callback + * function is of the form: + * + * \code + * void dateTime(uint16_t* date, uint16_t* time) { + * uint16_t year; + * uint8_t month, day, hour, minute, second; + * + * // User gets date and time from GPS or real-time clock here + * + * // return date using FAT_DATE macro to format fields + * *date = FAT_DATE(year, month, day); + * + * // return time using FAT_TIME macro to format fields + * *time = FAT_TIME(hour, minute, second); + * } + * \endcode + * + * Sets the function that is called when a file is created or when + * a file's directory entry is modified by sync(). All timestamps, + * access, creation, and modify, are set when a file is created. + * sync() maintains the last access date and last modify date/time. + * + * See the timestamp() function. + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t* date, uint16_t* time)) { + dateTime_ = dateTime; + } + /** Cancel the date/time callback function. */ + static void dateTimeCallbackCancel() {dateTime_ = 0;} + bool dirEntry(dir_t* dir); + static void dirName(const dir_t& dir, char* name); + bool exists(const char* name); + int16_t fgets(char* str, int16_t num, char* delim = 0); + /** \return The total number of bytes in a file or directory. */ + uint32_t fileSize() const {return fileSize_;} + /** \return The first cluster number for a file or directory. */ + uint32_t firstCluster() const {return firstCluster_;} + bool getFilename(char* name); + /** \return True if this is a directory else false. */ + bool isDir() const {return type_ >= FAT_FILE_TYPE_MIN_DIR;} + /** \return True if this is a normal file else false. */ + bool isFile() const {return type_ == FAT_FILE_TYPE_NORMAL;} + /** \return True if this is an open file/directory else false. */ + bool isOpen() const {return type_ != FAT_FILE_TYPE_CLOSED;} + /** \return True if this is a subdirectory else false. */ + bool isSubDir() const {return type_ == FAT_FILE_TYPE_SUBDIR;} + /** \return True if this is the root directory. */ + bool isRoot() const { + return type_ == FAT_FILE_TYPE_ROOT_FIXED || type_ == FAT_FILE_TYPE_ROOT32; + } + void ls( uint8_t flags = 0, uint8_t indent = 0); + bool mkdir(SdBaseFile* dir, const char* path, bool pFlag = true); + // alias for backward compactability + bool makeDir(SdBaseFile* dir, const char* path) { + return mkdir(dir, path, false); + } + bool open(SdBaseFile* dirFile, uint16_t index, uint8_t oflag); + bool open(SdBaseFile* dirFile, const char* path, uint8_t oflag); + bool open(const char* path, uint8_t oflag = O_READ); + bool openNext(SdBaseFile* dirFile, uint8_t oflag); + bool openRoot(SdVolume* vol); + int peek(); + static void printFatDate(uint16_t fatDate); + static void printFatTime( uint16_t fatTime); + bool printName(); + int16_t read(); + int16_t read(void* buf, uint16_t nbyte); + int8_t readDir(dir_t* dir); + static bool remove(SdBaseFile* dirFile, const char* path); + bool remove(); + /** Set the file's current position to zero. */ + void rewind() {seekSet(0);} + bool rename(SdBaseFile* dirFile, const char* newPath); + bool rmdir(); + // for backward compatibility + bool rmDir() {return rmdir();} + bool rmRfStar(); + /** Set the files position to current position + \a pos. See seekSet(). + * \param[in] offset The new position in bytes from the current position. + * \return true for success or false for failure. + */ + bool seekCur(int32_t offset) { + return seekSet(curPosition_ + offset); + } + /** Set the files position to end-of-file + \a offset. See seekSet(). + * \param[in] offset The new position in bytes from end-of-file. + * \return true for success or false for failure. + */ + bool seekEnd(int32_t offset = 0) {return seekSet(fileSize_ + offset);} + bool seekSet(uint32_t pos); + bool sync(); + bool timestamp(SdBaseFile* file); + bool timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day, + uint8_t hour, uint8_t minute, uint8_t second); + /** Type of file. You should use isFile() or isDir() instead of type() + * if possible. + * + * \return The file or directory type. + */ + uint8_t type() const {return type_;} + bool truncate(uint32_t size); + /** \return SdVolume that contains this file. */ + SdVolume* volume() const {return vol_;} + int16_t write(const void* buf, uint16_t nbyte); +//------------------------------------------------------------------------------ + private: + // allow SdFat to set cwd_ + friend class SdFat; + // global pointer to cwd dir + static SdBaseFile* cwd_; + // data time callback function + static void (*dateTime_)(uint16_t* date, uint16_t* time); + // bits defined in flags_ + // should be 0X0F + static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC); + // sync of directory entry required + static uint8_t const F_FILE_DIR_DIRTY = 0X80; + + // private data + uint8_t flags_; // See above for definition of flags_ bits + uint8_t fstate_; // error and eof indicator + uint8_t type_; // type of file see above for values + uint32_t curCluster_; // cluster for current file position + uint32_t curPosition_; // current file position in bytes from beginning + uint32_t dirBlock_; // block for this files directory entry + uint8_t dirIndex_; // index of directory entry in dirBlock + uint32_t fileSize_; // file size in bytes + uint32_t firstCluster_; // first cluster of file + SdVolume* vol_; // volume where file is located + + /** experimental don't use */ + bool openParent(SdBaseFile* dir); + // private functions + bool addCluster(); + bool addDirCluster(); + dir_t* cacheDirEntry(uint8_t action); + int8_t lsPrintNext( uint8_t flags, uint8_t indent); + static bool make83Name(const char* str, uint8_t* name, const char** ptr); + bool mkdir(SdBaseFile* parent, const uint8_t dname[11]); + bool open(SdBaseFile* dirFile, const uint8_t dname[11], uint8_t oflag); + bool openCachedEntry(uint8_t cacheIndex, uint8_t oflags); + dir_t* readDirCache(); +//------------------------------------------------------------------------------ +// to be deleted + static void printDirName( const dir_t& dir, + uint8_t width, bool printSlash); +//------------------------------------------------------------------------------ +// Deprecated functions - suppress cpplint warnings with NOLINT comment +#if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN) + public: + /** \deprecated Use: + * bool contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); + * \param[out] bgnBlock the first block address for the file. + * \param[out] endBlock the last block address for the file. + * \return true for success or false for failure. + */ + bool contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT + return contiguousRange(&bgnBlock, &endBlock); + } + /** \deprecated Use: + * bool createContiguous(SdBaseFile* dirFile, + * const char* path, uint32_t size) + * \param[in] dirFile The directory where the file will be created. + * \param[in] path A path with a valid DOS 8.3 file name. + * \param[in] size The desired file size. + * \return true for success or false for failure. + */ + bool createContiguous(SdBaseFile& dirFile, // NOLINT + const char* path, uint32_t size) { + return createContiguous(&dirFile, path, size); + } + /** \deprecated Use: + * static void dateTimeCallback( + * void (*dateTime)(uint16_t* date, uint16_t* time)); + * \param[in] dateTime The user's call back function. + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT + oldDateTime_ = dateTime; + dateTime_ = dateTime ? oldToNew : 0; + } + /** \deprecated Use: bool dirEntry(dir_t* dir); + * \param[out] dir Location for return of the file's directory entry. + * \return true for success or false for failure. + */ + bool dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT + /** \deprecated Use: + * bool mkdir(SdBaseFile* dir, const char* path); + * \param[in] dir An open SdFat instance for the directory that will contain + * the new directory. + * \param[in] path A path with a valid 8.3 DOS name for the new directory. + * \return true for success or false for failure. + */ + bool mkdir(SdBaseFile& dir, const char* path) { // NOLINT + return mkdir(&dir, path); + } + /** \deprecated Use: + * bool open(SdBaseFile* dirFile, const char* path, uint8_t oflag); + * \param[in] dirFile An open SdFat instance for the directory containing the + * file to be opened. + * \param[in] path A path with a valid 8.3 DOS name for the file. + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC. + * \return true for success or false for failure. + */ + bool open(SdBaseFile& dirFile, // NOLINT + const char* path, uint8_t oflag) { + return open(&dirFile, path, oflag); + } + /** \deprecated Do not use in new apps + * \param[in] dirFile An open SdFat instance for the directory containing the + * file to be opened. + * \param[in] path A path with a valid 8.3 DOS name for a file to be opened. + * \return true for success or false for failure. + */ + bool open(SdBaseFile& dirFile, const char* path) { // NOLINT + return open(dirFile, path, O_RDWR); + } + /** \deprecated Use: + * bool open(SdBaseFile* dirFile, uint16_t index, uint8_t oflag); + * \param[in] dirFile An open SdFat instance for the directory. + * \param[in] index The \a index of the directory entry for the file to be + * opened. The value for \a index is (directory file position)/32. + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC. + * \return true for success or false for failure. + */ + bool open(SdBaseFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT + return open(&dirFile, index, oflag); + } + /** \deprecated Use: bool openRoot(SdVolume* vol); + * \param[in] vol The FAT volume containing the root directory to be opened. + * \return true for success or false for failure. + */ + bool openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT + /** \deprecated Use: int8_t readDir(dir_t* dir); + * \param[out] dir The dir_t struct that will receive the data. + * \return bytes read for success zero for eof or -1 for failure. + */ + int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT + /** \deprecated Use: + * static uint8_t remove(SdBaseFile* dirFile, const char* path); + * \param[in] dirFile The directory that contains the file. + * \param[in] path The name of the file to be removed. + * \return true for success or false for failure. + */ + static bool remove(SdBaseFile& dirFile, const char* path) { // NOLINT + return remove(&dirFile, path); + } +//------------------------------------------------------------------------------ +// rest are private + private: + static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT + static void oldToNew(uint16_t* date, uint16_t* time) { + uint16_t d; + uint16_t t; + oldDateTime_(d, t); + *date = d; + *time = t; + } +#endif // ALLOW_DEPRECATED_FUNCTIONS +}; + +#endif // SdBaseFile_h +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFatConfig.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,114 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +/** + * \file + * \brief configuration definitions + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdFatConfig_h +#define SdFatConfig_h +#include <stdint.h> +//------------------------------------------------------------------------------ +/** + * To use multiple SD cards set USE_MULTIPLE_CARDS nonzero. + * + * Using multiple cards costs 400 - 500 bytes of flash. + * + * Each card requires about 550 bytes of SRAM so use of a Mega is recommended. + */ +#define USE_MULTIPLE_CARDS 0 +//------------------------------------------------------------------------------ +/** + * Call flush for endl if ENDL_CALLS_FLUSH is nonzero + * + * The standard for iostreams is to call flush. This is very costly for + * SdFat. Each call to flush causes 2048 bytes of I/O to the SD. + * + * SdFat has a single 512 byte buffer for SD I/O so it must write the current + * data block to the SD, read the directory block from the SD, update the + * directory entry, write the directory block to the SD and read the data + * block back into the buffer. + * + * The SD flash memory controller is not designed for this many rewrites + * so performance may be reduced by more than a factor of 100. + * + * If ENDL_CALLS_FLUSH is zero, you must call flush and/or close to force + * all data to be written to the SD. + */ +#define ENDL_CALLS_FLUSH 0 +//------------------------------------------------------------------------------ +/** + * Allow use of deprecated functions if ALLOW_DEPRECATED_FUNCTIONS is nonzero + */ +#define ALLOW_DEPRECATED_FUNCTIONS 1 +//------------------------------------------------------------------------------ +/** + * Allow FAT12 volumes if FAT12_SUPPORT is nonzero. + * FAT12 has not been well tested. + */ +#define FAT12_SUPPORT 0 +//------------------------------------------------------------------------------ +/** + * SPI init rate for SD initialization commands. Must be 5 (F_CPU/64) + * or 6 (F_CPU/128). + */ +#define SPI_SD_INIT_RATE 5 +//------------------------------------------------------------------------------ +/** + * Set the SS pin high for hardware SPI. If SS is chip select for another SPI + * device this will disable that device during the SD init phase. + */ +#define SET_SPI_SS_HIGH 1 +//------------------------------------------------------------------------------ +/** + * Define MEGA_SOFT_SPI nonzero to use software SPI on Mega Arduinos. + * Pins used are SS 10, MOSI 11, MISO 12, and SCK 13. + * + * MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used + * on Mega Arduinos. Software SPI works well with GPS Shield V1.1 + * but many SD cards will fail with GPS Shield V1.0. + */ +#define MEGA_SOFT_SPI 0 +//------------------------------------------------------------------------------ +/** + * Set USE_SOFTWARE_SPI nonzero to always use software SPI. + */ +#define USE_SOFTWARE_SPI 0 +// define software SPI pins so Mega can use unmodified 168/328 shields +/** Software SPI chip select pin for the SD */ +uint8_t const SOFT_SPI_CS_PIN = 10; +/** Software SPI Master Out Slave In pin */ +uint8_t const SOFT_SPI_MOSI_PIN = 11; +/** Software SPI Master In Slave Out pin */ +uint8_t const SOFT_SPI_MISO_PIN = 12; +/** Software SPI Clock pin */ +uint8_t const SOFT_SPI_SCK_PIN = 13; +//------------------------------------------------------------------------------ +/** + * The __cxa_pure_virtual function is an error handler that is invoked when + * a pure virtual function is called. + */ +#define USE_CXA_PURE_VIRTUAL 1 +#endif // SdFatConfig_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFatStructs.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,610 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdFatStructs_h +#define SdFatStructs_h +/** + * \file + * \brief FAT file structures + */ +/* + * mostly from Microsoft document fatgen103.doc + * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx + */ +//------------------------------------------------------------------------------ +/** Value for byte 510 of boot block or MBR */ +uint8_t const BOOTSIG0 = 0X55; +/** Value for byte 511 of boot block or MBR */ +uint8_t const BOOTSIG1 = 0XAA; +/** Value for bootSignature field int FAT/FAT32 boot sector */ +uint8_t const EXTENDED_BOOT_SIG = 0X29; +//------------------------------------------------------------------------------ +/** + * \struct partitionTable + * \brief MBR partition table entry + * + * A partition table entry for a MBR formatted storage device. + * The MBR partition table has four entries. + */ +struct partitionTable { + /** + * Boot Indicator . Indicates whether the volume is the active + * partition. Legal values include: 0X00. Do not use for booting. + * 0X80 Active partition. + */ + uint8_t boot; + /** + * Head part of Cylinder-head-sector address of the first block in + * the partition. Legal values are 0-255. Only used in old PC BIOS. + */ + uint8_t beginHead; + /** + * Sector part of Cylinder-head-sector address of the first block in + * the partition. Legal values are 1-63. Only used in old PC BIOS. + */ + unsigned beginSector : 6; + /** High bits cylinder for first block in partition. */ + unsigned beginCylinderHigh : 2; + /** + * Combine beginCylinderLow with beginCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t beginCylinderLow; + /** + * Partition type. See defines that begin with PART_TYPE_ for + * some Microsoft partition types. + */ + uint8_t type; + /** + * head part of cylinder-head-sector address of the last sector in the + * partition. Legal values are 0-255. Only used in old PC BIOS. + */ + uint8_t endHead; + /** + * Sector part of cylinder-head-sector address of the last sector in + * the partition. Legal values are 1-63. Only used in old PC BIOS. + */ + unsigned endSector : 6; + /** High bits of end cylinder */ + unsigned endCylinderHigh : 2; + /** + * Combine endCylinderLow with endCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t endCylinderLow; + /** Logical block address of the first block in the partition. */ + uint32_t firstSector; + /** Length of the partition, in blocks. */ + uint32_t totalSectors; +}; +/** Type name for partitionTable */ +typedef struct partitionTable part_t; +//------------------------------------------------------------------------------ +/** + * \struct masterBootRecord + * + * \brief Master Boot Record + * + * The first block of a storage device that is formatted with a MBR. + */ +struct masterBootRecord { + /** Code Area for master boot program. */ + uint8_t codeArea[440]; + /** Optional Windows NT disk signature. May contain boot code. */ + uint32_t diskSignature; + /** Usually zero but may be more boot code. */ + uint16_t usuallyZero; + /** Partition tables. */ + part_t part[4]; + /** First MBR signature byte. Must be 0X55 */ + uint8_t mbrSig0; + /** Second MBR signature byte. Must be 0XAA */ + uint8_t mbrSig1; +}; +/** Type name for masterBootRecord */ +typedef struct masterBootRecord mbr_t; +//------------------------------------------------------------------------------ +/** + * \struct fat_boot + * + * \brief Boot sector for a FAT12/FAT16 volume. + * + */ +struct fat_boot { + /** + * The first three bytes of the boot sector must be valid, + * executable x 86-based CPU instructions. This includes a + * jump instruction that skips the next nonexecutable bytes. + */ + uint8_t jump[3]; + /** + * This is typically a string of characters that identifies + * the operating system that formatted the volume. + */ + char oemId[8]; + /** + * The size of a hardware sector. Valid decimal values for this + * field are 512, 1024, 2048, and 4096. For most disks used in + * the United States, the value of this field is 512. + */ + uint16_t bytesPerSector; + /** + * Number of sectors per allocation unit. This value must be a + * power of 2 that is greater than 0. The legal values are + * 1, 2, 4, 8, 16, 32, 64, and 128. 128 should be avoided. + */ + uint8_t sectorsPerCluster; + /** + * The number of sectors preceding the start of the first FAT, + * including the boot sector. The value of this field is always 1. + */ + uint16_t reservedSectorCount; + /** + * The number of copies of the FAT on the volume. + * The value of this field is always 2. + */ + uint8_t fatCount; + /** + * For FAT12 and FAT16 volumes, this field contains the count of + * 32-byte directory entries in the root directory. For FAT32 volumes, + * this field must be set to 0. For FAT12 and FAT16 volumes, this + * value should always specify a count that when multiplied by 32 + * results in a multiple of bytesPerSector. FAT16 volumes should + * use the value 512. + */ + uint16_t rootDirEntryCount; + /** + * This field is the old 16-bit total count of sectors on the volume. + * This count includes the count of all sectors in all four regions + * of the volume. This field can be 0; if it is 0, then totalSectors32 + * must be nonzero. For FAT32 volumes, this field must be 0. For + * FAT12 and FAT16 volumes, this field contains the sector count, and + * totalSectors32 is 0 if the total sector count fits + * (is less than 0x10000). + */ + uint16_t totalSectors16; + /** + * This dates back to the old MS-DOS 1.x media determination and is + * no longer usually used for anything. 0xF8 is the standard value + * for fixed (nonremovable) media. For removable media, 0xF0 is + * frequently used. Legal values are 0xF0 or 0xF8-0xFF. + */ + uint8_t mediaType; + /** + * Count of sectors occupied by one FAT on FAT12/FAT16 volumes. + * On FAT32 volumes this field must be 0, and sectorsPerFat32 + * contains the FAT size count. + */ + uint16_t sectorsPerFat16; + /** Sectors per track for interrupt 0x13. Not used otherwise. */ + uint16_t sectorsPerTrack; + /** Number of heads for interrupt 0x13. Not used otherwise. */ + uint16_t headCount; + /** + * Count of hidden sectors preceding the partition that contains this + * FAT volume. This field is generally only relevant for media + * visible on interrupt 0x13. + */ + uint32_t hidddenSectors; + /** + * This field is the new 32-bit total count of sectors on the volume. + * This count includes the count of all sectors in all four regions + * of the volume. This field can be 0; if it is 0, then + * totalSectors16 must be nonzero. + */ + uint32_t totalSectors32; + /** + * Related to the BIOS physical drive number. Floppy drives are + * identified as 0x00 and physical hard disks are identified as + * 0x80, regardless of the number of physical disk drives. + * Typically, this value is set prior to issuing an INT 13h BIOS + * call to specify the device to access. The value is only + * relevant if the device is a boot device. + */ + uint8_t driveNumber; + /** used by Windows NT - should be zero for FAT */ + uint8_t reserved1; + /** 0X29 if next three fields are valid */ + uint8_t bootSignature; + /** + * A random serial number created when formatting a disk, + * which helps to distinguish between disks. + * Usually generated by combining date and time. + */ + uint32_t volumeSerialNumber; + /** + * A field once used to store the volume label. The volume label + * is now stored as a special file in the root directory. + */ + char volumeLabel[11]; + /** + * A field with a value of either FAT, FAT12 or FAT16, + * depending on the disk format. + */ + char fileSystemType[8]; + /** X86 boot code */ + uint8_t bootCode[448]; + /** must be 0X55 */ + uint8_t bootSectorSig0; + /** must be 0XAA */ + uint8_t bootSectorSig1; +}; +/** Type name for FAT Boot Sector */ +typedef struct fat_boot fat_boot_t; +//------------------------------------------------------------------------------ +/** + * \struct fat32_boot + * + * \brief Boot sector for a FAT32 volume. + * + */ +struct fat32_boot { + /** + * The first three bytes of the boot sector must be valid, + * executable x 86-based CPU instructions. This includes a + * jump instruction that skips the next nonexecutable bytes. + */ + uint8_t jump[3]; + /** + * This is typically a string of characters that identifies + * the operating system that formatted the volume. + */ + char oemId[8]; + /** + * The size of a hardware sector. Valid decimal values for this + * field are 512, 1024, 2048, and 4096. For most disks used in + * the United States, the value of this field is 512. + */ + uint16_t bytesPerSector; + /** + * Number of sectors per allocation unit. This value must be a + * power of 2 that is greater than 0. The legal values are + * 1, 2, 4, 8, 16, 32, 64, and 128. 128 should be avoided. + */ + uint8_t sectorsPerCluster; + /** + * The number of sectors preceding the start of the first FAT, + * including the boot sector. Must not be zero + */ + uint16_t reservedSectorCount; + /** + * The number of copies of the FAT on the volume. + * The value of this field is always 2. + */ + uint8_t fatCount; + /** + * FAT12/FAT16 only. For FAT32 volumes, this field must be set to 0. + */ + uint16_t rootDirEntryCount; + /** + * For FAT32 volumes, this field must be 0. + */ + uint16_t totalSectors16; + /** + * This dates back to the old MS-DOS 1.x media determination and is + * no longer usually used for anything. 0xF8 is the standard value + * for fixed (nonremovable) media. For removable media, 0xF0 is + * frequently used. Legal values are 0xF0 or 0xF8-0xFF. + */ + uint8_t mediaType; + /** + * On FAT32 volumes this field must be 0, and sectorsPerFat32 + * contains the FAT size count. + */ + uint16_t sectorsPerFat16; + /** Sectors per track for interrupt 0x13. Not used otherwise. */ + uint16_t sectorsPerTrack; + /** Number of heads for interrupt 0x13. Not used otherwise. */ + uint16_t headCount; + /** + * Count of hidden sectors preceding the partition that contains this + * FAT volume. This field is generally only relevant for media + * visible on interrupt 0x13. + */ + uint32_t hidddenSectors; + /** + * Contains the total number of sectors in the FAT32 volume. + */ + uint32_t totalSectors32; + /** + * Count of sectors occupied by one FAT on FAT32 volumes. + */ + uint32_t sectorsPerFat32; + /** + * This field is only defined for FAT32 media and does not exist on + * FAT12 and FAT16 media. + * Bits 0-3 -- Zero-based number of active FAT. + * Only valid if mirroring is disabled. + * Bits 4-6 -- Reserved. + * Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs. + * -- 1 means only one FAT is active; it is the one referenced + * in bits 0-3. + * Bits 8-15 -- Reserved. + */ + uint16_t fat32Flags; + /** + * FAT32 version. High byte is major revision number. + * Low byte is minor revision number. Only 0.0 define. + */ + uint16_t fat32Version; + /** + * Cluster number of the first cluster of the root directory for FAT32. + * This usually 2 but not required to be 2. + */ + uint32_t fat32RootCluster; + /** + * Sector number of FSINFO structure in the reserved area of the + * FAT32 volume. Usually 1. + */ + uint16_t fat32FSInfo; + /** + * If nonzero, indicates the sector number in the reserved area + * of the volume of a copy of the boot record. Usually 6. + * No value other than 6 is recommended. + */ + uint16_t fat32BackBootBlock; + /** + * Reserved for future expansion. Code that formats FAT32 volumes + * should always set all of the bytes of this field to 0. + */ + uint8_t fat32Reserved[12]; + /** + * Related to the BIOS physical drive number. Floppy drives are + * identified as 0x00 and physical hard disks are identified as + * 0x80, regardless of the number of physical disk drives. + * Typically, this value is set prior to issuing an INT 13h BIOS + * call to specify the device to access. The value is only + * relevant if the device is a boot device. + */ + uint8_t driveNumber; + /** used by Windows NT - should be zero for FAT */ + uint8_t reserved1; + /** 0X29 if next three fields are valid */ + uint8_t bootSignature; + /** + * A random serial number created when formatting a disk, + * which helps to distinguish between disks. + * Usually generated by combining date and time. + */ + uint32_t volumeSerialNumber; + /** + * A field once used to store the volume label. The volume label + * is now stored as a special file in the root directory. + */ + char volumeLabel[11]; + /** + * A text field with a value of FAT32. + */ + char fileSystemType[8]; + /** X86 boot code */ + uint8_t bootCode[420]; + /** must be 0X55 */ + uint8_t bootSectorSig0; + /** must be 0XAA */ + uint8_t bootSectorSig1; +}; +/** Type name for FAT32 Boot Sector */ +typedef struct fat32_boot fat32_boot_t; +//------------------------------------------------------------------------------ +/** Lead signature for a FSINFO sector */ +uint32_t const FSINFO_LEAD_SIG = 0x41615252; +/** Struct signature for a FSINFO sector */ +uint32_t const FSINFO_STRUCT_SIG = 0x61417272; +/** + * \struct fat32_fsinfo + * + * \brief FSINFO sector for a FAT32 volume. + * + */ +struct fat32_fsinfo { + /** must be 0X52, 0X52, 0X61, 0X41 */ + uint32_t leadSignature; + /** must be zero */ + uint8_t reserved1[480]; + /** must be 0X72, 0X72, 0X41, 0X61 */ + uint32_t structSignature; + /** + * Contains the last known free cluster count on the volume. + * If the value is 0xFFFFFFFF, then the free count is unknown + * and must be computed. Any other value can be used, but is + * not necessarily correct. It should be range checked at least + * to make sure it is <= volume cluster count. + */ + uint32_t freeCount; + /** + * This is a hint for the FAT driver. It indicates the cluster + * number at which the driver should start looking for free clusters. + * If the value is 0xFFFFFFFF, then there is no hint and the driver + * should start looking at cluster 2. + */ + uint32_t nextFree; + /** must be zero */ + uint8_t reserved2[12]; + /** must be 0X00, 0X00, 0X55, 0XAA */ + uint8_t tailSignature[4]; +}; +/** Type name for FAT32 FSINFO Sector */ +typedef struct fat32_fsinfo fat32_fsinfo_t; +//------------------------------------------------------------------------------ +// End Of Chain values for FAT entries +/** FAT12 end of chain value used by Microsoft. */ +uint16_t const FAT12EOC = 0XFFF; +/** Minimum value for FAT12 EOC. Use to test for EOC. */ +uint16_t const FAT12EOC_MIN = 0XFF8; +/** FAT16 end of chain value used by Microsoft. */ +uint16_t const FAT16EOC = 0XFFFF; +/** Minimum value for FAT16 EOC. Use to test for EOC. */ +uint16_t const FAT16EOC_MIN = 0XFFF8; +/** FAT32 end of chain value used by Microsoft. */ +uint32_t const FAT32EOC = 0X0FFFFFFF; +/** Minimum value for FAT32 EOC. Use to test for EOC. */ +uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; +/** Mask a for FAT32 entry. Entries are 28 bits. */ +uint32_t const FAT32MASK = 0X0FFFFFFF; +//------------------------------------------------------------------------------ +/** + * \struct directoryEntry + * \brief FAT short directory entry + * + * Short means short 8.3 name, not the entry size. + * + * Date Format. A FAT directory entry date stamp is a 16-bit field that is + * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the + * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the + * 16-bit word): + * + * Bits 9-15: Count of years from 1980, valid value range 0-127 + * inclusive (1980-2107). + * + * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive. + * + * Bits 0-4: Day of month, valid value range 1-31 inclusive. + * + * Time Format. A FAT directory entry time stamp is a 16-bit field that has + * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the + * 16-bit word, bit 15 is the MSB of the 16-bit word). + * + * Bits 11-15: Hours, valid value range 0-23 inclusive. + * + * Bits 5-10: Minutes, valid value range 0-59 inclusive. + * + * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds). + * + * The valid time range is from Midnight 00:00:00 to 23:59:58. + */ +struct directoryEntry { + /** Short 8.3 name. + * + * The first eight bytes contain the file name with blank fill. + * The last three bytes contain the file extension with blank fill. + */ + uint8_t name[11]; + /** Entry attributes. + * + * The upper two bits of the attribute byte are reserved and should + * always be set to 0 when a file is created and never modified or + * looked at after that. See defines that begin with DIR_ATT_. + */ + uint8_t attributes; + /** + * Reserved for use by Windows NT. Set value to 0 when a file is + * created and never modify or look at it after that. + */ + uint8_t reservedNT; + /** + * The granularity of the seconds part of creationTime is 2 seconds + * so this field is a count of tenths of a second and its valid + * value range is 0-199 inclusive. (WHG note - seems to be hundredths) + */ + uint8_t creationTimeTenths; + /** Time file was created. */ + uint16_t creationTime; + /** Date file was created. */ + uint16_t creationDate; + /** + * Last access date. Note that there is no last access time, only + * a date. This is the date of last read or write. In the case of + * a write, this should be set to the same date as lastWriteDate. + */ + uint16_t lastAccessDate; + /** + * High word of this entry's first cluster number (always 0 for a + * FAT12 or FAT16 volume). + */ + uint16_t firstClusterHigh; + /** Time of last write. File creation is considered a write. */ + uint16_t lastWriteTime; + /** Date of last write. File creation is considered a write. */ + uint16_t lastWriteDate; + /** Low word of this entry's first cluster number. */ + uint16_t firstClusterLow; + /** 32-bit unsigned holding this file's size in bytes. */ + uint32_t fileSize; +}; +//------------------------------------------------------------------------------ +// Definitions for directory entries +// +/** Type name for directoryEntry */ +typedef struct directoryEntry dir_t; +/** escape for name[0] = 0XE5 */ +uint8_t const DIR_NAME_0XE5 = 0X05; +/** name[0] value for entry that is free after being "deleted" */ +uint8_t const DIR_NAME_DELETED = 0XE5; +/** name[0] value for entry that is free and no allocated entries follow */ +uint8_t const DIR_NAME_FREE = 0X00; +/** file is read-only */ +uint8_t const DIR_ATT_READ_ONLY = 0X01; +/** File should hidden in directory listings */ +uint8_t const DIR_ATT_HIDDEN = 0X02; +/** Entry is for a system file */ +uint8_t const DIR_ATT_SYSTEM = 0X04; +/** Directory entry contains the volume label */ +uint8_t const DIR_ATT_VOLUME_ID = 0X08; +/** Entry is for a directory */ +uint8_t const DIR_ATT_DIRECTORY = 0X10; +/** Old DOS archive bit for backup support */ +uint8_t const DIR_ATT_ARCHIVE = 0X20; +/** Test value for long name entry. Test is + (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */ +uint8_t const DIR_ATT_LONG_NAME = 0X0F; +/** Test mask for long name entry */ +uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F; +/** defined attribute bits */ +uint8_t const DIR_ATT_DEFINED_BITS = 0X3F; +/** Directory entry is part of a long name + * \param[in] dir Pointer to a directory entry. + * + * \return true if the entry is for part of a long name else false. + */ +static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) { + return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME; +} +/** Mask for file/subdirectory tests */ +uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY); +/** Directory entry is for a file + * \param[in] dir Pointer to a directory entry. + * + * \return true if the entry is for a normal file else false. + */ +static inline uint8_t DIR_IS_FILE(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0; +} +/** Directory entry is for a subdirectory + * \param[in] dir Pointer to a directory entry. + * + * \return true if the entry is for a subdirectory else false. + */ +static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY; +} +/** Directory entry is for a file or subdirectory + * \param[in] dir Pointer to a directory entry. + * + * \return true if the entry is for a normal file or subdirectory else false. + */ +static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_VOLUME_ID) == 0; +} +#endif // SdFatStructs_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFatUtil.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,79 @@ +/* Arduino SdFat Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" + +#ifdef SDSUPPORT +#include "SdFatUtil.h" + +//------------------------------------------------------------------------------ +/** Amount of free RAM + * \return The number of free bytes. + */ +int SdFatUtil::FreeRam() { + extern int __bss_end; + extern int* __brkval; + int free_memory; + if (reinterpret_cast<int>(__brkval) == 0) { + // if no heap use from end of bss section + free_memory = reinterpret_cast<int>(&free_memory) + - reinterpret_cast<int>(&__bss_end); + } else { + // use from top of stack to heap + free_memory = reinterpret_cast<int>(&free_memory) + - reinterpret_cast<int>(__brkval); + } + return free_memory; +} +//------------------------------------------------------------------------------ +/** %Print a string in flash memory. + * + * \param[in] pr Print object for output. + * \param[in] str Pointer to string stored in flash memory. + */ +void SdFatUtil::print_P( PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) MYSERIAL.write(c); +} +//------------------------------------------------------------------------------ +/** %Print a string in flash memory followed by a CR/LF. + * + * \param[in] pr Print object for output. + * \param[in] str Pointer to string stored in flash memory. + */ +void SdFatUtil::println_P( PGM_P str) { + print_P( str); + MYSERIAL.println(); +} +//------------------------------------------------------------------------------ +/** %Print a string in flash memory to Serial. + * + * \param[in] str Pointer to string stored in flash memory. + */ +void SdFatUtil::SerialPrint_P(PGM_P str) { + print_P(str); +} +//------------------------------------------------------------------------------ +/** %Print a string in flash memory to Serial followed by a CR/LF. + * + * \param[in] str Pointer to string stored in flash memory. + */ +void SdFatUtil::SerialPrintln_P(PGM_P str) { + println_P( str); +} +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFatUtil.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,48 @@ +/* Arduino SdFat Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdFatUtil_h +#define SdFatUtil_h +/** + * \file + * \brief Useful utility functions. + */ +#include "Marlin.h" +#include "MarlinSerial.h" +/** Store and print a string in flash memory.*/ +#define PgmPrint(x) SerialPrint_P(PSTR(x)) +/** Store and print a string in flash memory followed by a CR/LF.*/ +#define PgmPrintln(x) SerialPrintln_P(PSTR(x)) + +namespace SdFatUtil { + int FreeRam(); + void print_P( PGM_P str); + void println_P( PGM_P str); + void SerialPrint_P(PGM_P str); + void SerialPrintln_P(PGM_P str); +} + +using namespace SdFatUtil; // NOLINT +#endif // #define SdFatUtil_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFile.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,92 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" + +#ifdef SDSUPPORT +#include "SdFile.h" +/** Create a file object and open it in the current working directory. + * + * \param[in] path A path with a valid 8.3 DOS name for a file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of open flags. see SdBaseFile::open(SdBaseFile*, const char*, uint8_t). + */ +SdFile::SdFile(const char* path, uint8_t oflag) : SdBaseFile(path, oflag) { +} +//------------------------------------------------------------------------------ +/** Write data to an open file. + * + * \note Data is moved to the cache but may not be written to the + * storage device until sync() is called. + * + * \param[in] buf Pointer to the location of the data to be written. + * + * \param[in] nbyte Number of bytes to write. + * + * \return For success write() returns the number of bytes written, always + * \a nbyte. If an error occurs, write() returns -1. Possible errors + * include write() is called before a file has been opened, write is called + * for a read-only file, device is full, a corrupt file system or an I/O error. + * + */ +int16_t SdFile::write(const void* buf, uint16_t nbyte) { + return SdBaseFile::write(buf, nbyte); +} +//------------------------------------------------------------------------------ +/** Write a byte to a file. Required by the Arduino Print class. + * \param[in] b the byte to be written. + * Use writeError to check for errors. + */ +#if ARDUINO >= 100 + size_t SdFile::write(uint8_t b) +#else + void SdFile::write(uint8_t b) +#endif +{ + SdBaseFile::write(&b, 1); +} +//------------------------------------------------------------------------------ +/** Write a string to a file. Used by the Arduino Print class. + * \param[in] str Pointer to the string. + * Use writeError to check for errors. + */ +void SdFile::write(const char* str) { + SdBaseFile::write(str, strlen(str)); +} +//------------------------------------------------------------------------------ +/** Write a PROGMEM string to a file. + * \param[in] str Pointer to the PROGMEM string. + * Use writeError to check for errors. + */ +void SdFile::write_P(PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c); +} +//------------------------------------------------------------------------------ +/** Write a PROGMEM string followed by CR/LF to a file. + * \param[in] str Pointer to the PROGMEM string. + * Use writeError to check for errors. + */ +void SdFile::writeln_P(PGM_P str) { + write_P(str); + write_P(PSTR("\r\n")); +} + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdFile.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,54 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +/** + * \file + * \brief SdFile class + */ +#include "Marlin.h" + +#ifdef SDSUPPORT +#include "SdBaseFile.h" +#include <Print.h> +#ifndef SdFile_h +#define SdFile_h +//------------------------------------------------------------------------------ +/** + * \class SdFile + * \brief SdBaseFile with Print. + */ +class SdFile : public SdBaseFile, public Print { + public: + SdFile() {} + SdFile(const char* name, uint8_t oflag); + #if ARDUINO >= 100 + size_t write(uint8_t b); + #else + void write(uint8_t b); + #endif + + int16_t write(const void* buf, uint16_t nbyte); + void write(const char* str); + void write_P(PGM_P str); + void writeln_P(PGM_P str); +}; +#endif // SdFile_h + + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdInfo.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,280 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * This Library 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 Library 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 the Arduino Sd2Card Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdInfo_h +#define SdInfo_h +#include <stdint.h> +// Based on the document: +// +// SD Specifications +// Part 1 +// Physical Layer +// Simplified Specification +// Version 3.01 +// May 18, 2010 +// +// http://www.sdcard.org/developers/tech/sdcard/pls/simplified_specs +//------------------------------------------------------------------------------ +// SD card commands +/** GO_IDLE_STATE - init card in spi mode if CS low */ +uint8_t const CMD0 = 0X00; +/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/ +uint8_t const CMD8 = 0X08; +/** SEND_CSD - read the Card Specific Data (CSD register) */ +uint8_t const CMD9 = 0X09; +/** SEND_CID - read the card identification information (CID register) */ +uint8_t const CMD10 = 0X0A; +/** STOP_TRANSMISSION - end multiple block read sequence */ +uint8_t const CMD12 = 0X0C; +/** SEND_STATUS - read the card status register */ +uint8_t const CMD13 = 0X0D; +/** READ_SINGLE_BLOCK - read a single data block from the card */ +uint8_t const CMD17 = 0X11; +/** READ_MULTIPLE_BLOCK - read a multiple data blocks from the card */ +uint8_t const CMD18 = 0X12; +/** WRITE_BLOCK - write a single data block to the card */ +uint8_t const CMD24 = 0X18; +/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */ +uint8_t const CMD25 = 0X19; +/** ERASE_WR_BLK_START - sets the address of the first block to be erased */ +uint8_t const CMD32 = 0X20; +/** ERASE_WR_BLK_END - sets the address of the last block of the continuous + range to be erased*/ +uint8_t const CMD33 = 0X21; +/** ERASE - erase all previously selected blocks */ +uint8_t const CMD38 = 0X26; +/** APP_CMD - escape for application specific command */ +uint8_t const CMD55 = 0X37; +/** READ_OCR - read the OCR register of a card */ +uint8_t const CMD58 = 0X3A; +/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be + pre-erased before writing */ +uint8_t const ACMD23 = 0X17; +/** SD_SEND_OP_COMD - Sends host capacity support information and + activates the card's initialization process */ +uint8_t const ACMD41 = 0X29; +//------------------------------------------------------------------------------ +/** status for card in the ready state */ +uint8_t const R1_READY_STATE = 0X00; +/** status for card in the idle state */ +uint8_t const R1_IDLE_STATE = 0X01; +/** status bit for illegal command */ +uint8_t const R1_ILLEGAL_COMMAND = 0X04; +/** start data token for read or write single block*/ +uint8_t const DATA_START_BLOCK = 0XFE; +/** stop token for write multiple blocks*/ +uint8_t const STOP_TRAN_TOKEN = 0XFD; +/** start data token for write multiple blocks*/ +uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC; +/** mask for data response tokens after a write block operation */ +uint8_t const DATA_RES_MASK = 0X1F; +/** write data accepted token */ +uint8_t const DATA_RES_ACCEPTED = 0X05; +//------------------------------------------------------------------------------ +/** Card IDentification (CID) register */ +typedef struct CID { + // byte 0 + /** Manufacturer ID */ + unsigned char mid; + // byte 1-2 + /** OEM/Application ID */ + char oid[2]; + // byte 3-7 + /** Product name */ + char pnm[5]; + // byte 8 + /** Product revision least significant digit */ + unsigned char prv_m : 4; + /** Product revision most significant digit */ + unsigned char prv_n : 4; + // byte 9-12 + /** Product serial number */ + uint32_t psn; + // byte 13 + /** Manufacturing date year low digit */ + unsigned char mdt_year_high : 4; + /** not used */ + unsigned char reserved : 4; + // byte 14 + /** Manufacturing date month */ + unsigned char mdt_month : 4; + /** Manufacturing date year low digit */ + unsigned char mdt_year_low :4; + // byte 15 + /** not used always 1 */ + unsigned char always1 : 1; + /** CRC7 checksum */ + unsigned char crc : 7; +}cid_t; +//------------------------------------------------------------------------------ +/** CSD for version 1.00 cards */ +typedef struct CSDV1 { + // byte 0 + unsigned char reserved1 : 6; + unsigned char csd_ver : 2; + // byte 1 + unsigned char taac; + // byte 2 + unsigned char nsac; + // byte 3 + unsigned char tran_speed; + // byte 4 + unsigned char ccc_high; + // byte 5 + unsigned char read_bl_len : 4; + unsigned char ccc_low : 4; + // byte 6 + unsigned char c_size_high : 2; + unsigned char reserved2 : 2; + unsigned char dsr_imp : 1; + unsigned char read_blk_misalign :1; + unsigned char write_blk_misalign : 1; + unsigned char read_bl_partial : 1; + // byte 7 + unsigned char c_size_mid; + // byte 8 + unsigned char vdd_r_curr_max : 3; + unsigned char vdd_r_curr_min : 3; + unsigned char c_size_low :2; + // byte 9 + unsigned char c_size_mult_high : 2; + unsigned char vdd_w_cur_max : 3; + unsigned char vdd_w_curr_min : 3; + // byte 10 + unsigned char sector_size_high : 6; + unsigned char erase_blk_en : 1; + unsigned char c_size_mult_low : 1; + // byte 11 + unsigned char wp_grp_size : 7; + unsigned char sector_size_low : 1; + // byte 12 + unsigned char write_bl_len_high : 2; + unsigned char r2w_factor : 3; + unsigned char reserved3 : 2; + unsigned char wp_grp_enable : 1; + // byte 13 + unsigned char reserved4 : 5; + unsigned char write_partial : 1; + unsigned char write_bl_len_low : 2; + // byte 14 + unsigned char reserved5: 2; + unsigned char file_format : 2; + unsigned char tmp_write_protect : 1; + unsigned char perm_write_protect : 1; + unsigned char copy : 1; + /** Indicates the file format on the card */ + unsigned char file_format_grp : 1; + // byte 15 + unsigned char always1 : 1; + unsigned char crc : 7; +}csd1_t; +//------------------------------------------------------------------------------ +/** CSD for version 2.00 cards */ +typedef struct CSDV2 { + // byte 0 + unsigned char reserved1 : 6; + unsigned char csd_ver : 2; + // byte 1 + /** fixed to 0X0E */ + unsigned char taac; + // byte 2 + /** fixed to 0 */ + unsigned char nsac; + // byte 3 + unsigned char tran_speed; + // byte 4 + unsigned char ccc_high; + // byte 5 + /** This field is fixed to 9h, which indicates READ_BL_LEN=512 Byte */ + unsigned char read_bl_len : 4; + unsigned char ccc_low : 4; + // byte 6 + /** not used */ + unsigned char reserved2 : 4; + unsigned char dsr_imp : 1; + /** fixed to 0 */ + unsigned char read_blk_misalign :1; + /** fixed to 0 */ + unsigned char write_blk_misalign : 1; + /** fixed to 0 - no partial read */ + unsigned char read_bl_partial : 1; + // byte 7 + /** not used */ + unsigned char reserved3 : 2; + /** high part of card size */ + unsigned char c_size_high : 6; + // byte 8 + /** middle part of card size */ + unsigned char c_size_mid; + // byte 9 + /** low part of card size */ + unsigned char c_size_low; + // byte 10 + /** sector size is fixed at 64 KB */ + unsigned char sector_size_high : 6; + /** fixed to 1 - erase single is supported */ + unsigned char erase_blk_en : 1; + /** not used */ + unsigned char reserved4 : 1; + // byte 11 + unsigned char wp_grp_size : 7; + /** sector size is fixed at 64 KB */ + unsigned char sector_size_low : 1; + // byte 12 + /** write_bl_len fixed for 512 byte blocks */ + unsigned char write_bl_len_high : 2; + /** fixed value of 2 */ + unsigned char r2w_factor : 3; + /** not used */ + unsigned char reserved5 : 2; + /** fixed value of 0 - no write protect groups */ + unsigned char wp_grp_enable : 1; + // byte 13 + unsigned char reserved6 : 5; + /** always zero - no partial block read*/ + unsigned char write_partial : 1; + /** write_bl_len fixed for 512 byte blocks */ + unsigned char write_bl_len_low : 2; + // byte 14 + unsigned char reserved7: 2; + /** Do not use always 0 */ + unsigned char file_format : 2; + unsigned char tmp_write_protect : 1; + unsigned char perm_write_protect : 1; + unsigned char copy : 1; + /** Do not use always 0 */ + unsigned char file_format_grp : 1; + // byte 15 + /** not used always 1 */ + unsigned char always1 : 1; + /** checksum */ + unsigned char crc : 7; +}csd2_t; +//------------------------------------------------------------------------------ +/** union of old and new style CSD register */ +union csd_t { + csd1_t v1; + csd2_t v2; +}; +#endif // SdInfo_h + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdVolume.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,405 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#include "SdVolume.h" +//------------------------------------------------------------------------------ +#if !USE_MULTIPLE_CARDS +// raw block cache +uint32_t SdVolume::cacheBlockNumber_; // current block number +cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card +Sd2Card* SdVolume::sdCard_; // pointer to SD card object +bool SdVolume::cacheDirty_; // cacheFlush() will write block if true +uint32_t SdVolume::cacheMirrorBlock_; // mirror block for second FAT +#endif // USE_MULTIPLE_CARDS +//------------------------------------------------------------------------------ +// find a contiguous group of clusters +bool SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) { + // start of group + uint32_t bgnCluster; + // end of group + uint32_t endCluster; + // last cluster of FAT + uint32_t fatEnd = clusterCount_ + 1; + + // flag to save place to start next search + bool setStart; + + // set search start cluster + if (*curCluster) { + // try to make file contiguous + bgnCluster = *curCluster + 1; + + // don't save new start location + setStart = false; + } else { + // start at likely place for free cluster + bgnCluster = allocSearchStart_; + + // save next search start if one cluster + setStart = count == 1; + } + // end of group + endCluster = bgnCluster; + + // search the FAT for free clusters + for (uint32_t n = 0;; n++, endCluster++) { + // can't find space checked all clusters + if (n >= clusterCount_) goto fail; + + // past end - start from beginning of FAT + if (endCluster > fatEnd) { + bgnCluster = endCluster = 2; + } + uint32_t f; + if (!fatGet(endCluster, &f)) goto fail; + + if (f != 0) { + // cluster in use try next cluster as bgnCluster + bgnCluster = endCluster + 1; + } else if ((endCluster - bgnCluster + 1) == count) { + // done - found space + break; + } + } + // mark end of chain + if (!fatPutEOC(endCluster)) goto fail; + + // link clusters + while (endCluster > bgnCluster) { + if (!fatPut(endCluster - 1, endCluster)) goto fail; + endCluster--; + } + if (*curCluster != 0) { + // connect chains + if (!fatPut(*curCluster, bgnCluster)) goto fail; + } + // return first cluster number to caller + *curCluster = bgnCluster; + + // remember possible next free cluster + if (setStart) allocSearchStart_ = bgnCluster + 1; + + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +bool SdVolume::cacheFlush() { + if (cacheDirty_) { + if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { + goto fail; + } + // mirror FAT tables + if (cacheMirrorBlock_) { + if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { + goto fail; + } + cacheMirrorBlock_ = 0; + } + cacheDirty_ = 0; + } + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +bool SdVolume::cacheRawBlock(uint32_t blockNumber, bool dirty) { + if (cacheBlockNumber_ != blockNumber) { + if (!cacheFlush()) goto fail; + if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) goto fail; + cacheBlockNumber_ = blockNumber; + } + if (dirty) cacheDirty_ = true; + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// return the size in bytes of a cluster chain +bool SdVolume::chainSize(uint32_t cluster, uint32_t* size) { + uint32_t s = 0; + do { + if (!fatGet(cluster, &cluster)) goto fail; + s += 512UL << clusterSizeShift_; + } while (!isEOC(cluster)); + *size = s; + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// Fetch a FAT entry +bool SdVolume::fatGet(uint32_t cluster, uint32_t* value) { + uint32_t lba; + if (cluster > (clusterCount_ + 1)) goto fail; + if (FAT12_SUPPORT && fatType_ == 12) { + uint16_t index = cluster; + index += index >> 1; + lba = fatStartBlock_ + (index >> 9); + if (!cacheRawBlock(lba, CACHE_FOR_READ)) goto fail; + index &= 0X1FF; + uint16_t tmp = cacheBuffer_.data[index]; + index++; + if (index == 512) { + if (!cacheRawBlock(lba + 1, CACHE_FOR_READ)) goto fail; + index = 0; + } + tmp |= cacheBuffer_.data[index] << 8; + *value = cluster & 1 ? tmp >> 4 : tmp & 0XFFF; + return true; + } + if (fatType_ == 16) { + lba = fatStartBlock_ + (cluster >> 8); + } else if (fatType_ == 32) { + lba = fatStartBlock_ + (cluster >> 7); + } else { + goto fail; + } + if (lba != cacheBlockNumber_) { + if (!cacheRawBlock(lba, CACHE_FOR_READ)) goto fail; + } + if (fatType_ == 16) { + *value = cacheBuffer_.fat16[cluster & 0XFF]; + } else { + *value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK; + } + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// Store a FAT entry +bool SdVolume::fatPut(uint32_t cluster, uint32_t value) { + uint32_t lba; + // error if reserved cluster + if (cluster < 2) goto fail; + + // error if not in FAT + if (cluster > (clusterCount_ + 1)) goto fail; + + if (FAT12_SUPPORT && fatType_ == 12) { + uint16_t index = cluster; + index += index >> 1; + lba = fatStartBlock_ + (index >> 9); + if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail; + // mirror second FAT + if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; + index &= 0X1FF; + uint8_t tmp = value; + if (cluster & 1) { + tmp = (cacheBuffer_.data[index] & 0XF) | tmp << 4; + } + cacheBuffer_.data[index] = tmp; + index++; + if (index == 512) { + lba++; + index = 0; + if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail; + // mirror second FAT + if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; + } + tmp = value >> 4; + if (!(cluster & 1)) { + tmp = ((cacheBuffer_.data[index] & 0XF0)) | tmp >> 4; + } + cacheBuffer_.data[index] = tmp; + return true; + } + if (fatType_ == 16) { + lba = fatStartBlock_ + (cluster >> 8); + } else if (fatType_ == 32) { + lba = fatStartBlock_ + (cluster >> 7); + } else { + goto fail; + } + if (!cacheRawBlock(lba, CACHE_FOR_WRITE)) goto fail; + // store entry + if (fatType_ == 16) { + cacheBuffer_.fat16[cluster & 0XFF] = value; + } else { + cacheBuffer_.fat32[cluster & 0X7F] = value; + } + // mirror second FAT + if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +// free a cluster chain +bool SdVolume::freeChain(uint32_t cluster) { + uint32_t next; + + // clear free cluster location + allocSearchStart_ = 2; + + do { + if (!fatGet(cluster, &next)) goto fail; + + // free cluster + if (!fatPut(cluster, 0)) goto fail; + + cluster = next; + } while (!isEOC(cluster)); + + return true; + + fail: + return false; +} +//------------------------------------------------------------------------------ +/** Volume free space in clusters. + * + * \return Count of free clusters for success or -1 if an error occurs. + */ +int32_t SdVolume::freeClusterCount() { + uint32_t free = 0; + uint16_t n; + uint32_t todo = clusterCount_ + 2; + + if (fatType_ == 16) { + n = 256; + } else if (fatType_ == 32) { + n = 128; + } else { + // put FAT12 here + return -1; + } + + for (uint32_t lba = fatStartBlock_; todo; todo -= n, lba++) { + if (!cacheRawBlock(lba, CACHE_FOR_READ)) return -1; + if (todo < n) n = todo; + if (fatType_ == 16) { + for (uint16_t i = 0; i < n; i++) { + if (cacheBuffer_.fat16[i] == 0) free++; + } + } else { + for (uint16_t i = 0; i < n; i++) { + if (cacheBuffer_.fat32[i] == 0) free++; + } + } + } + return free; +} +//------------------------------------------------------------------------------ +/** Initialize a FAT volume. + * + * \param[in] dev The SD card where the volume is located. + * + * \param[in] part The partition to be used. Legal values for \a part are + * 1-4 to use the corresponding partition on a device formatted with + * a MBR, Master Boot Record, or zero if the device is formatted as + * a super floppy with the FAT boot sector in block zero. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. Reasons for + * failure include not finding a valid partition, not finding a valid + * FAT file system in the specified partition or an I/O error. + */ +bool SdVolume::init(Sd2Card* dev, uint8_t part) { + uint32_t totalBlocks; + uint32_t volumeStartBlock = 0; + fat32_boot_t* fbs; + + sdCard_ = dev; + fatType_ = 0; + allocSearchStart_ = 2; + cacheDirty_ = 0; // cacheFlush() will write block if true + cacheMirrorBlock_ = 0; + cacheBlockNumber_ = 0XFFFFFFFF; + + // if part == 0 assume super floppy with FAT boot sector in block zero + // if part > 0 assume mbr volume with partition table + if (part) { + if (part > 4)goto fail; + if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) goto fail; + part_t* p = &cacheBuffer_.mbr.part[part-1]; + if ((p->boot & 0X7F) !=0 || + p->totalSectors < 100 || + p->firstSector == 0) { + // not a valid partition + goto fail; + } + volumeStartBlock = p->firstSector; + } + if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) goto fail; + fbs = &cacheBuffer_.fbs32; + if (fbs->bytesPerSector != 512 || + fbs->fatCount == 0 || + fbs->reservedSectorCount == 0 || + fbs->sectorsPerCluster == 0) { + // not valid FAT volume + goto fail; + } + fatCount_ = fbs->fatCount; + blocksPerCluster_ = fbs->sectorsPerCluster; + // determine shift that is same as multiply by blocksPerCluster_ + clusterSizeShift_ = 0; + while (blocksPerCluster_ != (1 << clusterSizeShift_)) { + // error if not power of 2 + if (clusterSizeShift_++ > 7) goto fail; + } + blocksPerFat_ = fbs->sectorsPerFat16 ? + fbs->sectorsPerFat16 : fbs->sectorsPerFat32; + + fatStartBlock_ = volumeStartBlock + fbs->reservedSectorCount; + + // count for FAT16 zero for FAT32 + rootDirEntryCount_ = fbs->rootDirEntryCount; + + // directory start for FAT16 dataStart for FAT32 + rootDirStart_ = fatStartBlock_ + fbs->fatCount * blocksPerFat_; + + // data start for FAT16 and FAT32 + dataStartBlock_ = rootDirStart_ + ((32 * fbs->rootDirEntryCount + 511)/512); + + // total blocks for FAT16 or FAT32 + totalBlocks = fbs->totalSectors16 ? + fbs->totalSectors16 : fbs->totalSectors32; + // total data blocks + clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock); + + // divide by cluster size to get cluster count + clusterCount_ >>= clusterSizeShift_; + + // FAT type is determined by cluster count + if (clusterCount_ < 4085) { + fatType_ = 12; + if (!FAT12_SUPPORT) goto fail; + } else if (clusterCount_ < 65525) { + fatType_ = 16; + } else { + rootDirStart_ = fbs->fat32RootCluster; + fatType_ = 32; + } + return true; + + fail: + return false; +} +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SdVolume.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,214 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * This Library 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 Library 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 the Arduino SdFat Library. If not, see + * <http://www.gnu.org/licenses/>. + */ +#include "Marlin.h" +#ifdef SDSUPPORT +#ifndef SdVolume_h +#define SdVolume_h +/** + * \file + * \brief SdVolume class + */ +#include "SdFatConfig.h" +#include "Sd2Card.h" +#include "SdFatStructs.h" + +//============================================================================== +// SdVolume class +/** + * \brief Cache for an SD data block + */ +union cache_t { + /** Used to access cached file data blocks. */ + uint8_t data[512]; + /** Used to access cached FAT16 entries. */ + uint16_t fat16[256]; + /** Used to access cached FAT32 entries. */ + uint32_t fat32[128]; + /** Used to access cached directory entries. */ + dir_t dir[16]; + /** Used to access a cached Master Boot Record. */ + mbr_t mbr; + /** Used to access to a cached FAT boot sector. */ + fat_boot_t fbs; + /** Used to access to a cached FAT32 boot sector. */ + fat32_boot_t fbs32; + /** Used to access to a cached FAT32 FSINFO sector. */ + fat32_fsinfo_t fsinfo; +}; +//------------------------------------------------------------------------------ +/** + * \class SdVolume + * \brief Access FAT16 and FAT32 volumes on SD and SDHC cards. + */ +class SdVolume { + public: + /** Create an instance of SdVolume */ + SdVolume() : fatType_(0) {} + /** Clear the cache and returns a pointer to the cache. Used by the WaveRP + * recorder to do raw write to the SD card. Not for normal apps. + * \return A pointer to the cache buffer or zero if an error occurs. + */ + cache_t* cacheClear() { + if (!cacheFlush()) return 0; + cacheBlockNumber_ = 0XFFFFFFFF; + return &cacheBuffer_; + } + /** Initialize a FAT volume. Try partition one first then try super + * floppy format. + * + * \param[in] dev The Sd2Card where the volume is located. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. Reasons for + * failure include not finding a valid partition, not finding a valid + * FAT file system or an I/O error. + */ + bool init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);} + bool init(Sd2Card* dev, uint8_t part); + + // inline functions that return volume info + /** \return The volume's cluster size in blocks. */ + uint8_t blocksPerCluster() const {return blocksPerCluster_;} + /** \return The number of blocks in one FAT. */ + uint32_t blocksPerFat() const {return blocksPerFat_;} + /** \return The total number of clusters in the volume. */ + uint32_t clusterCount() const {return clusterCount_;} + /** \return The shift count required to multiply by blocksPerCluster. */ + uint8_t clusterSizeShift() const {return clusterSizeShift_;} + /** \return The logical block number for the start of file data. */ + uint32_t dataStartBlock() const {return dataStartBlock_;} + /** \return The number of FAT structures on the volume. */ + uint8_t fatCount() const {return fatCount_;} + /** \return The logical block number for the start of the first FAT. */ + uint32_t fatStartBlock() const {return fatStartBlock_;} + /** \return The FAT type of the volume. Values are 12, 16 or 32. */ + uint8_t fatType() const {return fatType_;} + int32_t freeClusterCount(); + /** \return The number of entries in the root directory for FAT16 volumes. */ + uint32_t rootDirEntryCount() const {return rootDirEntryCount_;} + /** \return The logical block number for the start of the root directory + on FAT16 volumes or the first cluster number on FAT32 volumes. */ + uint32_t rootDirStart() const {return rootDirStart_;} + /** Sd2Card object for this volume + * \return pointer to Sd2Card object. + */ + Sd2Card* sdCard() {return sdCard_;} + /** Debug access to FAT table + * + * \param[in] n cluster number. + * \param[out] v value of entry + * \return true for success or false for failure + */ + bool dbgFat(uint32_t n, uint32_t* v) {return fatGet(n, v);} +//------------------------------------------------------------------------------ + private: + // Allow SdBaseFile access to SdVolume private data. + friend class SdBaseFile; + + // value for dirty argument in cacheRawBlock to indicate read from cache + static bool const CACHE_FOR_READ = false; + // value for dirty argument in cacheRawBlock to indicate write to cache + static bool const CACHE_FOR_WRITE = true; + +#if USE_MULTIPLE_CARDS + cache_t cacheBuffer_; // 512 byte cache for device blocks + uint32_t cacheBlockNumber_; // Logical number of block in the cache + Sd2Card* sdCard_; // Sd2Card object for cache + bool cacheDirty_; // cacheFlush() will write block if true + uint32_t cacheMirrorBlock_; // block number for mirror FAT +#else // USE_MULTIPLE_CARDS + static cache_t cacheBuffer_; // 512 byte cache for device blocks + static uint32_t cacheBlockNumber_; // Logical number of block in the cache + static Sd2Card* sdCard_; // Sd2Card object for cache + static bool cacheDirty_; // cacheFlush() will write block if true + static uint32_t cacheMirrorBlock_; // block number for mirror FAT +#endif // USE_MULTIPLE_CARDS + uint32_t allocSearchStart_; // start cluster for alloc search + uint8_t blocksPerCluster_; // cluster size in blocks + uint32_t blocksPerFat_; // FAT size in blocks + uint32_t clusterCount_; // clusters in one FAT + uint8_t clusterSizeShift_; // shift to convert cluster count to block count + uint32_t dataStartBlock_; // first data block number + uint8_t fatCount_; // number of FATs on volume + uint32_t fatStartBlock_; // start block for first FAT + uint8_t fatType_; // volume type (12, 16, OR 32) + uint16_t rootDirEntryCount_; // number of entries in FAT16 root dir + uint32_t rootDirStart_; // root start block for FAT16, cluster for FAT32 + //---------------------------------------------------------------------------- + bool allocContiguous(uint32_t count, uint32_t* curCluster); + uint8_t blockOfCluster(uint32_t position) const { + return (position >> 9) & (blocksPerCluster_ - 1);} + uint32_t clusterStartBlock(uint32_t cluster) const { + return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);} + uint32_t blockNumber(uint32_t cluster, uint32_t position) const { + return clusterStartBlock(cluster) + blockOfCluster(position);} + cache_t *cache() {return &cacheBuffer_;} + uint32_t cacheBlockNumber() {return cacheBlockNumber_;} +#if USE_MULTIPLE_CARDS + bool cacheFlush(); + bool cacheRawBlock(uint32_t blockNumber, bool dirty); +#else // USE_MULTIPLE_CARDS + static bool cacheFlush(); + static bool cacheRawBlock(uint32_t blockNumber, bool dirty); +#endif // USE_MULTIPLE_CARDS + // used by SdBaseFile write to assign cache to SD location + void cacheSetBlockNumber(uint32_t blockNumber, bool dirty) { + cacheDirty_ = dirty; + cacheBlockNumber_ = blockNumber; + } + void cacheSetDirty() {cacheDirty_ |= CACHE_FOR_WRITE;} + bool chainSize(uint32_t beginCluster, uint32_t* size); + bool fatGet(uint32_t cluster, uint32_t* value); + bool fatPut(uint32_t cluster, uint32_t value); + bool fatPutEOC(uint32_t cluster) { + return fatPut(cluster, 0x0FFFFFFF); + } + bool freeChain(uint32_t cluster); + bool isEOC(uint32_t cluster) const { + if (FAT12_SUPPORT && fatType_ == 12) return cluster >= FAT12EOC_MIN; + if (fatType_ == 16) return cluster >= FAT16EOC_MIN; + return cluster >= FAT32EOC_MIN; + } + bool readBlock(uint32_t block, uint8_t* dst) { + return sdCard_->readBlock(block, dst);} + bool writeBlock(uint32_t block, const uint8_t* dst) { + return sdCard_->writeBlock(block, dst); + } +//------------------------------------------------------------------------------ + // Deprecated functions - suppress cpplint warnings with NOLINT comment +#if ALLOW_DEPRECATED_FUNCTIONS && !defined(DOXYGEN) + public: + /** \deprecated Use: bool SdVolume::init(Sd2Card* dev); + * \param[in] dev The SD card where the volume is located. + * \return true for success or false for failure. + */ + bool init(Sd2Card& dev) {return init(&dev);} // NOLINT + /** \deprecated Use: bool SdVolume::init(Sd2Card* dev, uint8_t vol); + * \param[in] dev The SD card where the volume is located. + * \param[in] part The partition to be used. + * \return true for success or false for failure. + */ + bool init(Sd2Card& dev, uint8_t part) { // NOLINT + return init(&dev, part); + } +#endif // ALLOW_DEPRECATED_FUNCTIONS +}; +#endif // SdVolume +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/cardreader.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,633 @@ +#include "Marlin.h" +#include "cardreader.h" +#include "ultralcd.h" +#include "stepper.h" +#include "temperature.h" +#include "language.h" + +#ifdef SDSUPPORT + + + +CardReader::CardReader() +{ + filesize = 0; + sdpos = 0; + sdprinting = false; + cardOK = false; + saving = false; + autostart_atmillis=0; + + autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware. + lastnr=0; + //power to SD reader + #if SDPOWER > -1 + SET_OUTPUT(SDPOWER); + WRITE(SDPOWER,HIGH); + #endif //SDPOWER + + autostart_atmillis=millis()+5000; +} + +char *createFilename(char *buffer,const dir_t &p) //buffer>12characters +{ + char *pos=buffer; + for (uint8_t i = 0; i < 11; i++) + { + if (p.name[i] == ' ')continue; + if (i == 8) + { + *pos++='.'; + } + *pos++=p.name[i]; + } + *pos++=0; + return buffer; +} + + +void CardReader::lsDive(const char *prepend,SdFile parent) +{ + dir_t p; + uint8_t cnt=0; + + while (parent.readDir(p) > 0) + { + if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint + { + + char path[13*2]; + char lfilename[13]; + createFilename(lfilename,p); + + path[0]=0; + if(strlen(prepend)==0) //avoid leading / if already in prepend + { + strcat(path,"/"); + } + strcat(path,prepend); + strcat(path,lfilename); + strcat(path,"/"); + + //Serial.print(path); + + SdFile dir; + if(!dir.open(parent,lfilename, O_READ)) + { + if(lsAction==LS_SerialPrint) + { + SERIAL_ECHO_START; + SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR); + SERIAL_ECHOLN(lfilename); + } + } + lsDive(path,dir); + //close done automatically by destructor of SdFile + + + } + else + { + if (p.name[0] == DIR_NAME_FREE) break; + if (p.name[0] == DIR_NAME_DELETED || p.name[0] == '.'|| p.name[0] == '_') continue; + if ( p.name[0] == '.') + { + if ( p.name[1] != '.') + continue; + } + + if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue; + filenameIsDir=DIR_IS_SUBDIR(&p); + + + if(!filenameIsDir) + { + if(p.name[8]!='G') continue; + if(p.name[9]=='~') continue; + } + //if(cnt++!=nr) continue; + createFilename(filename,p); + if(lsAction==LS_SerialPrint) + { + SERIAL_PROTOCOL(prepend); + SERIAL_PROTOCOLLN(filename); + } + else if(lsAction==LS_Count) + { + nrFiles++; + } + else if(lsAction==LS_GetFilename) + { + if(cnt==nrFiles) + return; + cnt++; + + } + } + } +} + +void CardReader::ls() +{ + lsAction=LS_SerialPrint; + if(lsAction==LS_Count) + nrFiles=0; + + root.rewind(); + lsDive("",root); +} + + +void CardReader::initsd() +{ + cardOK = false; + if(root.isOpen()) + root.close(); + if (!card.init(SPI_FULL_SPEED,SDSS)) + { + //if (!card.init(SPI_HALF_SPEED,SDSS)) + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL); + } + else if (!volume.init(&card)) + { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL); + } + else if (!root.openRoot(&volume)) + { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL); + } + else + { + cardOK = true; + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_SD_CARD_OK); + } + workDir=root; + curDir=&root; + /* + if(!workDir.openRoot(&volume)) + { + SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL); + } + */ + +} + +void CardReader::setroot() +{ + /*if(!workDir.openRoot(&volume)) + { + SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL); + }*/ + workDir=root; + + curDir=&workDir; +} +void CardReader::release() +{ + sdprinting = false; + cardOK = false; +} + +void CardReader::startFileprint() +{ + if(cardOK) + { + sdprinting = true; + + } +} + +void CardReader::pauseSDPrint() +{ + if(sdprinting) + { + sdprinting = false; + } +} + + + +void CardReader::openFile(char* name,bool read) +{ + if(!cardOK) + return; + file.close(); + sdprinting = false; + + + SdFile myDir; + curDir=&root; + char *fname=name; + + char *dirname_start,*dirname_end; + if(name[0]=='/') + { + dirname_start=strchr(name,'/')+1; + while(dirname_start>0) + { + dirname_end=strchr(dirname_start,'/'); + //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name)); + //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name)); + if(dirname_end>0 && dirname_end>dirname_start) + { + char subdirname[13]; + strncpy(subdirname, dirname_start, dirname_end-dirname_start); + subdirname[dirname_end-dirname_start]=0; + SERIAL_ECHOLN(subdirname); + if(!myDir.open(curDir,subdirname,O_READ)) + { + SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); + SERIAL_PROTOCOL(subdirname); + SERIAL_PROTOCOLLNPGM("."); + return; + } + else + ;//SERIAL_ECHOLN("dive ok"); + + curDir=&myDir; + dirname_start=dirname_end+1; + } + else // the reminder after all /fsa/fdsa/ is the filename + { + fname=dirname_start; + //SERIAL_ECHOLN("remaider"); + //SERIAL_ECHOLN(fname); + break; + } + + } + } + else //relative path + { + curDir=&workDir; + } + if(read) + { + if (file.open(curDir, fname, O_READ)) + { + filesize = file.fileSize(); + SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED); + SERIAL_PROTOCOL(fname); + SERIAL_PROTOCOLPGM(MSG_SD_SIZE); + SERIAL_PROTOCOLLN(filesize); + sdpos = 0; + + SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED); + LCD_MESSAGE(fname); + } + else + { + SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); + SERIAL_PROTOCOL(fname); + SERIAL_PROTOCOLLNPGM("."); + } + } + else + { //write + if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + { + SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); + SERIAL_PROTOCOL(fname); + SERIAL_PROTOCOLLNPGM("."); + } + else + { + saving = true; + SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE); + SERIAL_PROTOCOLLN(name); + LCD_MESSAGE(fname); + } + } + +} + +void CardReader::removeFile(char* name) +{ + if(!cardOK) + return; + file.close(); + sdprinting = false; + + + SdFile myDir; + curDir=&root; + char *fname=name; + + char *dirname_start,*dirname_end; + if(name[0]=='/') + { + dirname_start=strchr(name,'/')+1; + while(dirname_start>0) + { + dirname_end=strchr(dirname_start,'/'); + //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name)); + //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name)); + if(dirname_end>0 && dirname_end>dirname_start) + { + char subdirname[13]; + strncpy(subdirname, dirname_start, dirname_end-dirname_start); + subdirname[dirname_end-dirname_start]=0; + SERIAL_ECHOLN(subdirname); + if(!myDir.open(curDir,subdirname,O_READ)) + { + SERIAL_PROTOCOLPGM("open failed, File: "); + SERIAL_PROTOCOL(subdirname); + SERIAL_PROTOCOLLNPGM("."); + return; + } + else + ;//SERIAL_ECHOLN("dive ok"); + + curDir=&myDir; + dirname_start=dirname_end+1; + } + else // the reminder after all /fsa/fdsa/ is the filename + { + fname=dirname_start; + //SERIAL_ECHOLN("remaider"); + //SERIAL_ECHOLN(fname); + break; + } + + } + } + else //relative path + { + curDir=&workDir; + } + if (file.remove(curDir, fname)) + { + SERIAL_PROTOCOLPGM("File deleted:"); + SERIAL_PROTOCOL(fname); + sdpos = 0; + } + else + { + SERIAL_PROTOCOLPGM("Deletion failed, File: "); + SERIAL_PROTOCOL(fname); + SERIAL_PROTOCOLLNPGM("."); + } + +} + +void CardReader::getStatus() +{ + if(cardOK){ + SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE); + SERIAL_PROTOCOL(sdpos); + SERIAL_PROTOCOLPGM("/"); + SERIAL_PROTOCOLLN(filesize); + } + else{ + SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING); + } +} +void CardReader::write_command(char *buf) +{ + char* begin = buf; + char* npos = 0; + char* end = buf + strlen(buf) - 1; + + file.writeError = false; + if((npos = strchr(buf, 'N')) != NULL) + { + begin = strchr(npos, ' ') + 1; + end = strchr(npos, '*') - 1; + } + end[1] = '\r'; + end[2] = '\n'; + end[3] = '\0'; + file.write(begin); + if (file.writeError) + { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE); + } +} + + +void CardReader::checkautostart(bool force) +{ + if(!force) + { + if(!autostart_stilltocheck) + return; + if(autostart_atmillis<millis()) + return; + } + autostart_stilltocheck=false; + if(!cardOK) + { + initsd(); + if(!cardOK) //fail + return; + } + + char autoname[30]; + sprintf(autoname,"auto%i.g",lastnr); + for(int8_t i=0;i<(int)strlen(autoname);i++) + autoname[i]=tolower(autoname[i]); + dir_t p; + + root.rewind(); + + bool found=false; + while (root.readDir(p) > 0) + { + for(int8_t i=0;i<(int)strlen((char*)p.name);i++) + p.name[i]=tolower(p.name[i]); + //Serial.print((char*)p.name); + //Serial.print(" "); + //Serial.println(autoname); + if(p.name[9]!='~') //skip safety copies + if(strncmp((char*)p.name,autoname,5)==0) + { + char cmd[30]; + + sprintf(cmd,"M23 %s",autoname); + enquecommand(cmd); + enquecommand("M24"); + found=true; + } + } + if(!found) + lastnr=-1; + else + lastnr++; +} + +void CardReader::closefile() +{ + file.sync(); + file.close(); + saving = false; +} + +void CardReader::getfilename(const uint8_t nr) +{ + curDir=&workDir; + lsAction=LS_GetFilename; + nrFiles=nr; + curDir->rewind(); + lsDive("",*curDir); + +} + +uint16_t CardReader::getnrfilenames() +{ + curDir=&workDir; + lsAction=LS_Count; + nrFiles=0; + curDir->rewind(); + lsDive("",*curDir); + //SERIAL_ECHOLN(nrFiles); + return nrFiles; +} + +void CardReader::chdir(const char * relpath) +{ + SdFile newfile; + SdFile *parent=&root; + + if(workDir.isOpen()) + parent=&workDir; + + if(!newfile.open(*parent,relpath, O_READ)) + { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR); + SERIAL_ECHOLN(relpath); + } + else + { + workDirParentParent=workDirParent; + workDirParent=*parent; + + workDir=newfile; + } +} + +void CardReader::updir() +{ + if(!workDir.isRoot()) + { + workDir=workDirParent; + workDirParent=workDirParentParent; + } +} + + +void CardReader::printingHasFinished() +{ + st_synchronize(); + quickStop(); + sdprinting = false; + if(SD_FINISHED_STEPPERRELEASE) + { + //finishAndDisableSteppers(); + enquecommand(SD_FINISHED_RELEASECOMMAND); + } +} +void CardReader::fast_xfer(char* strchr_pointer) + { + char *pstr; + boolean done = false; + + //force heater pins low + if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW); + if(HEATER_BED_PIN > -1) WRITE(HEATER_BED_PIN,LOW); + + lastxferchar = 1; + xferbytes = 0; + + pstr = strstr(strchr_pointer, " "); + //pstr = strchr_pointer; + + if(pstr == NULL) + { + SERIAL_ECHOLN("invalid command"); + return; + } + + *pstr = '\0'; + + //check mode (currently only RAW is supported + if(strcmp(strchr_pointer, "RAW") != 0) + { + SERIAL_ECHOLN("Invalid transfer codec"); + return; + }else{ + SERIAL_ECHOPGM("Selected codec: "); + SERIAL_ECHOLN(strchr_pointer+4); + } + + if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + { + SERIAL_ECHOPGM("open failed, File: "); + SERIAL_ECHOLN(pstr+1); + SERIAL_ECHOPGM("."); + }else{ + SERIAL_ECHOPGM("Writing to file: "); + SERIAL_ECHOLN(pstr+1); + } + + SERIAL_ECHOLN("ok"); + + //RAW transfer codec + //Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0 + //when host is done, it sends \0\0. + //if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer. + + //read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved) + while(!done) + { + while(!MYSERIAL.available()) + { + } + if(MYSERIAL.peek() != 0) + { + //host has failed, this isn't a RAW chunk, it's an actual command + file.sync(); + file.close(); + SERIAL_ECHOLN("Not RAW data"); + return; + } + //clear the initial 0 + MYSERIAL.read(); + for(int i=0;i<SD_FAST_XFER_CHUNK_SIZE+1;i++) + { + while(!MYSERIAL.available()) + { + } + lastxferchar = MYSERIAL.read(); + //buffer the data... + fastxferbuffer[i] = lastxferchar; + + xferbytes++; + + if(lastxferchar == 0) + break; + } + + if(fastxferbuffer[0] != 0) + { + fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE] = 0; + file.write(fastxferbuffer); + SERIAL_ECHOLN("ok"); + }else{ + SERIAL_ECHOPGM("Wrote "); + SERIAL_ECHO(xferbytes); + SERIAL_ECHOLN(" bytes."); + done = true; + } + } + + file.sync(); + file.close(); + } + +#endif //SDSUPPORT
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/cardreader.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,80 @@ +#ifndef CARDREADER_H +#define CARDREADER_H + +#ifdef SDSUPPORT + +#include "SdFile.h" +enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename}; +class CardReader +{ +public: + CardReader(); + + void initsd(); + void write_command(char *buf); + //files auto[0-9].g on the sd card are performed in a row + //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset + + void checkautostart(bool x); + void openFile(char* name,bool read); + void removeFile(char* name); + void closefile(); + void release(); + void startFileprint(); + void pauseSDPrint(); + void getStatus(); + void printingHasFinished(); + + void getfilename(const uint8_t nr); + uint16_t getnrfilenames(); + + + void ls(); + void chdir(const char * relpath); + void updir(); + void setroot(); + + void fast_xfer(char* strchr_pointer); + + + FORCE_INLINE bool eof() { return sdpos>=filesize ;}; + FORCE_INLINE int16_t get() { sdpos = file.curPosition();return (int16_t)file.read();}; + FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);}; + FORCE_INLINE uint8_t percentDone(){if(!sdprinting) return 0; if(filesize) return sdpos*100/filesize; else return 0;}; + FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;}; + +public: + bool saving; + bool sdprinting ; + bool cardOK ; + char filename[12]; + bool filenameIsDir; + int lastnr; //last number of the autostart; + char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1]; +private: + SdFile root,*curDir,workDir,workDirParent,workDirParentParent; + Sd2Card card; + SdVolume volume; + SdFile file; + uint32_t filesize; + //int16_t n; + unsigned long autostart_atmillis; + uint32_t sdpos ; + + bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware. + + LsAction lsAction; //stored for recursion. + int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory. + char* diveDirName; + void lsDive(const char *prepend,SdFile parent); + int lastxferchar; + long xferbytes; +}; +#define IS_SD_PRINTING (card.sdprinting) + +#else + +#define IS_SD_PRINTING (false) + +#endif //SDSUPPORT +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/createTemperatureLookup.py Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,127 @@ +#!/usr/bin/python +# +# Creates a C code lookup table for doing ADC to temperature conversion +# on a microcontroller +# based on: http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html +"""Thermistor Value Lookup Table Generator + +Generates lookup to temperature values for use in a microcontroller in C format based on: +http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html + +The main use is for Arduino programs that read data from the circuit board described here: +http://make.rrrf.org/ts-1.0 + +Usage: python createTemperatureLookup.py [options] + +Options: + -h, --help show this help + --r0=... thermistor rating where # is the ohm rating of the thermistor at t0 (eg: 10K = 10000) + --t0=... thermistor temp rating where # is the temperature in Celsuis to get r0 (from your datasheet) + --beta=... thermistor beta rating. see http://reprap.org/bin/view/Main/MeasuringThermistorBeta + --r1=... R1 rating where # is the ohm rating of R1 (eg: 10K = 10000) + --r2=... R2 rating where # is the ohm rating of R2 (eg: 10K = 10000) + --num-temps=... the number of temperature points to calculate (default: 20) + --max-adc=... the max ADC reading to use. if you use R1, it limits the top value for the thermistor circuit, and thus the possible range of ADC values +""" + +from math import * +import sys +import getopt + +class Thermistor: + "Class to do the thermistor maths" + def __init__(self, r0, t0, beta, r1, r2): + self.r0 = r0 # stated resistance, e.g. 10K + self.t0 = t0 + 273.15 # temperature at stated resistance, e.g. 25C + self.beta = beta # stated beta, e.g. 3500 + self.vadc = 5.0 # ADC reference + self.vcc = 5.0 # supply voltage to potential divider + self.k = r0 * exp(-beta / self.t0) # constant part of calculation + + if r1 > 0: + self.vs = r1 * self.vcc / (r1 + r2) # effective bias voltage + self.rs = r1 * r2 / (r1 + r2) # effective bias impedance + else: + self.vs = self.vcc # effective bias voltage + self.rs = r2 # effective bias impedance + + def temp(self,adc): + "Convert ADC reading into a temperature in Celcius" + v = adc * self.vadc / 1024 # convert the 10 bit ADC value to a voltage + r = self.rs * v / (self.vs - v) # resistance of thermistor + return (self.beta / log(r / self.k)) - 273.15 # temperature + + def setting(self, t): + "Convert a temperature into a ADC value" + r = self.r0 * exp(self.beta * (1 / (t + 273.15) - 1 / self.t0)) # resistance of the thermistor + v = self.vs * r / (self.rs + r) # the voltage at the potential divider + return round(v / self.vadc * 1024) # the ADC reading + +def main(argv): + + r0 = 10000; + t0 = 25; + beta = 3947; + r1 = 680; + r2 = 1600; + num_temps = int(20); + + try: + opts, args = getopt.getopt(argv, "h", ["help", "r0=", "t0=", "beta=", "r1=", "r2="]) + except getopt.GetoptError: + usage() + sys.exit(2) + + for opt, arg in opts: + if opt in ("-h", "--help"): + usage() + sys.exit() + elif opt == "--r0": + r0 = int(arg) + elif opt == "--t0": + t0 = int(arg) + elif opt == "--beta": + beta = int(arg) + elif opt == "--r1": + r1 = int(arg) + elif opt == "--r2": + r2 = int(arg) + + if r1: + max_adc = int(1023 * r1 / (r1 + r2)); + else: + max_adc = 1023 + increment = int(max_adc/(num_temps-1)); + + t = Thermistor(r0, t0, beta, r1, r2) + + adcs = range(1, max_adc, increment); +# adcs = [1, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100, 110, 130, 150, 190, 220, 250, 300] + first = 1 + + print "// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)" + print "// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)" + print "// ./createTemperatureLookup.py --r0=%s --t0=%s --r1=%s --r2=%s --beta=%s --max-adc=%s" % (r0, t0, r1, r2, beta, max_adc) + print "// r0: %s" % (r0) + print "// t0: %s" % (t0) + print "// r1: %s" % (r1) + print "// r2: %s" % (r2) + print "// beta: %s" % (beta) + print "// max adc: %s" % (max_adc) + print "#define NUMTEMPS %s" % (len(adcs)) + print "short temptable[NUMTEMPS][2] = {" + + counter = 0 + for adc in adcs: + counter = counter +1 + if counter == len(adcs): + print " {%s, %s}" % (adc, int(t.temp(adc))) + else: + print " {%s, %s}," % (adc, int(t.temp(adc))) + print "};" + +def usage(): + print __doc__ + +if __name__ == "__main__": + main(sys.argv[1:])
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/create_speed_lookuptable.py Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +""" Generate the stepper delay lookup table for Marlin firmware. """ + +import argparse + +__author__ = "Ben Gamari <bgamari@gmail.com>" +__copyright__ = "Copyright 2012, Ben Gamari" +__license__ = "GPL" + +parser = argparse.ArgumentParser(description=__doc__) +parser.add_argument('-f', '--cpu-freq', type=int, default=16, help='CPU clockrate in MHz (default=16)') +parser.add_argument('-d', '--divider', type=int, default=8, help='Timer/counter pre-scale divider (default=8)') +args = parser.parse_args() + +cpu_freq = args.cpu_freq * 1000000 +timer_freq = cpu_freq / args.divider + +print "#ifndef SPEED_LOOKUPTABLE_H" +print "#define SPEED_LOOKUPTABLE_H" +print +print '#include "Marlin.h"' +print + +print "const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {" +a = [ timer_freq / ((i*256)+(args.cpu_freq*2)) for i in range(256) ] +b = [ a[i] - a[i+1] for i in range(255) ] +b.append(b[-1]) +for i in range(32): + print " ", + for j in range(8): + print "{%d, %d}," % (a[8*i+j], b[8*i+j]), + print +print "};" +print + +print "const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {" +a = [ timer_freq / ((i*8)+(args.cpu_freq*2)) for i in range(256) ] +b = [ a[i] - a[i+1] for i in range(255) ] +b.append(b[-1]) +for i in range(32): + print " ", + for j in range(8): + print "{%d, %d}," % (a[8*i+j], b[8*i+j]), + print +print "};" +print + +print "#endif" +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/fastio.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,2582 @@ +/* + This code contibuted by Triffid_Hunter and modified by Kliment + why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html +*/ + +#ifndef _ARDUINO_H +#define _ARDUINO_H + +#include <avr/io.h> + +/* + utility functions +*/ + +#ifndef MASK +/// MASKING- returns \f$2^PIN\f$ +#define MASK(PIN) (1 << PIN) +#endif + +/* + magic I/O routines + now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0); +*/ + +/// Read a pin +#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN))) +/// write to a pin +// On some boards pins > 0x100 are used. These are not converted to atomic actions. An critical section is needed. + +#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0) + +#define _WRITE_C(IO, v) do { if (v) { \ + CRITICAL_SECTION_START; \ + {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); }\ + CRITICAL_SECTION_END; \ + }\ + else {\ + CRITICAL_SECTION_START; \ + {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }\ + CRITICAL_SECTION_END; \ + }\ + }\ + while (0) + +#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0) + +/// toggle a pin +#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0) + +/// set pin as input +#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0) +/// set pin as output +#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= MASK(DIO ## IO ## _PIN); } while (0) + +/// check if pin is an input +#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) == 0) +/// check if pin is an output +#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0) + +/// check if pin is an timer +#define _GET_TIMER(IO) ((DIO ## IO ## _PWM) + +// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html + +/// Read a pin wrapper +#define READ(IO) _READ(IO) +/// Write to a pin wrapper +#define WRITE(IO, v) _WRITE(IO, v) + +/// toggle a pin wrapper +#define TOGGLE(IO) _TOGGLE(IO) + +/// set pin as input wrapper +#define SET_INPUT(IO) _SET_INPUT(IO) +/// set pin as output wrapper +#define SET_OUTPUT(IO) _SET_OUTPUT(IO) + +/// check if pin is an input wrapper +#define GET_INPUT(IO) _GET_INPUT(IO) +/// check if pin is an output wrapper +#define GET_OUTPUT(IO) _GET_OUTPUT(IO) + +/// check if pin is an timer wrapper +#define GET_TIMER(IO) _GET_TIMER(IO) + +/* + ports and functions + + added as necessary or if I feel like it- not a comprehensive list! +*/ + +#if defined (__AVR_ATmega168__) || defined (__AVR_ATmega328__) || defined (__AVR_ATmega328P__) +// UART +#define RXD DIO0 +#define TXD DIO1 + +// SPI +#define SCK DIO13 +#define MISO DIO12 +#define MOSI DIO11 +#define SS DIO10 + +// TWI (I2C) +#define SCL AIO5 +#define SDA AIO4 + +// timers and PWM +#define OC0A DIO6 +#define OC0B DIO5 +#define OC1A DIO9 +#define OC1B DIO10 +#define OC2A DIO11 +#define OC2B DIO3 + +#define DEBUG_LED AIO5 + +/* +pins +*/ + +#define DIO0_PIN PIND0 +#define DIO0_RPORT PIND +#define DIO0_WPORT PORTD +#define DIO0_DDR DDRD +#define DIO0_PWM NULL + +#define DIO1_PIN PIND1 +#define DIO1_RPORT PIND +#define DIO1_WPORT PORTD +#define DIO1_DDR DDRD +#define DIO1_PWM NULL + +#define DIO2_PIN PIND2 +#define DIO2_RPORT PIND +#define DIO2_WPORT PORTD +#define DIO2_DDR DDRD +#define DIO2_PWM NULL + +#define DIO3_PIN PIND3 +#define DIO3_RPORT PIND +#define DIO3_WPORT PORTD +#define DIO3_DDR DDRD +#define DIO3_PWM &OCR2B + +#define DIO4_PIN PIND4 +#define DIO4_RPORT PIND +#define DIO4_WPORT PORTD +#define DIO4_DDR DDRD +#define DIO4_PWM NULL + +#define DIO5_PIN PIND5 +#define DIO5_RPORT PIND +#define DIO5_WPORT PORTD +#define DIO5_DDR DDRD +#define DIO5_PWM &OCR0B + +#define DIO6_PIN PIND6 +#define DIO6_RPORT PIND +#define DIO6_WPORT PORTD +#define DIO6_DDR DDRD +#define DIO6_PWM &OCR0A + +#define DIO7_PIN PIND7 +#define DIO7_RPORT PIND +#define DIO7_WPORT PORTD +#define DIO7_DDR DDRD +#define DIO7_PWM NULL + +#define DIO8_PIN PINB0 +#define DIO8_RPORT PINB +#define DIO8_WPORT PORTB +#define DIO8_DDR DDRB +#define DIO8_PWM NULL + +#define DIO9_PIN PINB1 +#define DIO9_RPORT PINB +#define DIO9_WPORT PORTB +#define DIO9_DDR DDRB +#define DIO9_PWM NULL + +#define DIO10_PIN PINB2 +#define DIO10_RPORT PINB +#define DIO10_WPORT PORTB +#define DIO10_DDR DDRB +#define DIO10_PWM NULL + +#define DIO11_PIN PINB3 +#define DIO11_RPORT PINB +#define DIO11_WPORT PORTB +#define DIO11_DDR DDRB +#define DIO11_PWM &OCR2A + +#define DIO12_PIN PINB4 +#define DIO12_RPORT PINB +#define DIO12_WPORT PORTB +#define DIO12_DDR DDRB +#define DIO12_PWM NULL + +#define DIO13_PIN PINB5 +#define DIO13_RPORT PINB +#define DIO13_WPORT PORTB +#define DIO13_DDR DDRB +#define DIO13_PWM NULL + + +#define DIO14_PIN PINC0 +#define DIO14_RPORT PINC +#define DIO14_WPORT PORTC +#define DIO14_DDR DDRC +#define DIO14_PWM NULL + +#define DIO15_PIN PINC1 +#define DIO15_RPORT PINC +#define DIO15_WPORT PORTC +#define DIO15_DDR DDRC +#define DIO15_PWM NULL + +#define DIO16_PIN PINC2 +#define DIO16_RPORT PINC +#define DIO16_WPORT PORTC +#define DIO16_DDR DDRC +#define DIO16_PWM NULL + +#define DIO17_PIN PINC3 +#define DIO17_RPORT PINC +#define DIO17_WPORT PORTC +#define DIO17_DDR DDRC +#define DIO17_PWM NULL + +#define DIO18_PIN PINC4 +#define DIO18_RPORT PINC +#define DIO18_WPORT PORTC +#define DIO18_DDR DDRC +#define DIO18_PWM NULL + +#define DIO19_PIN PINC5 +#define DIO19_RPORT PINC +#define DIO19_WPORT PORTC +#define DIO19_DDR DDRC +#define DIO19_PWM NULL + +#define DIO20_PIN PINC6 +#define DIO20_RPORT PINC +#define DIO20_WPORT PORTC +#define DIO20_DDR DDRC +#define DIO20_PWM NULL + +#define DIO21_PIN PINC7 +#define DIO21_RPORT PINC +#define DIO21_WPORT PORTC +#define DIO21_DDR DDRC +#define DIO21_PWM NULL + + + +#undef PB0 +#define PB0_PIN PINB0 +#define PB0_RPORT PINB +#define PB0_WPORT PORTB +#define PB0_DDR DDRB +#define PB0_PWM NULL + +#undef PB1 +#define PB1_PIN PINB1 +#define PB1_RPORT PINB +#define PB1_WPORT PORTB +#define PB1_DDR DDRB +#define PB1_PWM NULL + +#undef PB2 +#define PB2_PIN PINB2 +#define PB2_RPORT PINB +#define PB2_WPORT PORTB +#define PB2_DDR DDRB +#define PB2_PWM NULL + +#undef PB3 +#define PB3_PIN PINB3 +#define PB3_RPORT PINB +#define PB3_WPORT PORTB +#define PB3_DDR DDRB +#define PB3_PWM &OCR2A + +#undef PB4 +#define PB4_PIN PINB4 +#define PB4_RPORT PINB +#define PB4_WPORT PORTB +#define PB4_DDR DDRB +#define PB4_PWM NULL + +#undef PB5 +#define PB5_PIN PINB5 +#define PB5_RPORT PINB +#define PB5_WPORT PORTB +#define PB5_DDR DDRB +#define PB5_PWM NULL + +#undef PB6 +#define PB6_PIN PINB6 +#define PB6_RPORT PINB +#define PB6_WPORT PORTB +#define PB6_DDR DDRB +#define PB6_PWM NULL + +#undef PB7 +#define PB7_PIN PINB7 +#define PB7_RPORT PINB +#define PB7_WPORT PORTB +#define PB7_DDR DDRB +#define PB7_PWM NULL + + +#undef PC0 +#define PC0_PIN PINC0 +#define PC0_RPORT PINC +#define PC0_WPORT PORTC +#define PC0_DDR DDRC +#define PC0_PWM NULL + +#undef PC1 +#define PC1_PIN PINC1 +#define PC1_RPORT PINC +#define PC1_WPORT PORTC +#define PC1_DDR DDRC +#define PC1_PWM NULL + +#undef PC2 +#define PC2_PIN PINC2 +#define PC2_RPORT PINC +#define PC2_WPORT PORTC +#define PC2_DDR DDRC +#define PC2_PWM NULL + +#undef PC3 +#define PC3_PIN PINC3 +#define PC3_RPORT PINC +#define PC3_WPORT PORTC +#define PC3_DDR DDRC +#define PC3_PWM NULL + +#undef PC4 +#define PC4_PIN PINC4 +#define PC4_RPORT PINC +#define PC4_WPORT PORTC +#define PC4_DDR DDRC +#define PC4_PWM NULL + +#undef PC5 +#define PC5_PIN PINC5 +#define PC5_RPORT PINC +#define PC5_WPORT PORTC +#define PC5_DDR DDRC +#define PC5_PWM NULL + +#undef PC6 +#define PC6_PIN PINC6 +#define PC6_RPORT PINC +#define PC6_WPORT PORTC +#define PC6_DDR DDRC +#define PC6_PWM NULL + +#undef PC7 +#define PC7_PIN PINC7 +#define PC7_RPORT PINC +#define PC7_WPORT PORTC +#define PC7_DDR DDRC +#define PC7_PWM NULL + + +#undef PD0 +#define PD0_PIN PIND0 +#define PD0_RPORT PIND +#define PD0_WPORT PORTD +#define PD0_DDR DDRD +#define PD0_PWM NULL + +#undef PD1 +#define PD1_PIN PIND1 +#define PD1_RPORT PIND +#define PD1_WPORT PORTD +#define PD1_DDR DDRD +#define PD1_PWM NULL + +#undef PD2 +#define PD2_PIN PIND2 +#define PD2_RPORT PIND +#define PD2_WPORT PORTD +#define PD2_DDR DDRD +#define PD2_PWM NULL + +#undef PD3 +#define PD3_PIN PIND3 +#define PD3_RPORT PIND +#define PD3_WPORT PORTD +#define PD3_DDR DDRD +#define PD3_PWM &OCR2B + +#undef PD4 +#define PD4_PIN PIND4 +#define PD4_RPORT PIND +#define PD4_WPORT PORTD +#define PD4_DDR DDRD +#define PD4_PWM NULL + +#undef PD5 +#define PD5_PIN PIND5 +#define PD5_RPORT PIND +#define PD5_WPORT PORTD +#define PD5_DDR DDRD +#define PD5_PWM &OCR0B + +#undef PD6 +#define PD6_PIN PIND6 +#define PD6_RPORT PIND +#define PD6_WPORT PORTD +#define PD6_DDR DDRD +#define PD6_PWM &OCR0A + +#undef PD7 +#define PD7_PIN PIND7 +#define PD7_RPORT PIND +#define PD7_WPORT PORTD +#define PD7_DDR DDRD +#define PD7_PWM NULL +#endif /* _AVR_ATmega{168,328,328P}__ */ + +#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) || defined (__AVR_ATmega1284__) || defined (__AVR_ATmega1284P__) +// UART +#define RXD DIO8 +#define TXD DIO9 +#define RXD0 DIO8 +#define TXD0 DIO9 + +#define RXD1 DIO10 +#define TXD1 DIO11 + +// SPI +#define SCK DIO7 +#define MISO DIO6 +#define MOSI DIO5 +#define SS DIO4 + +// TWI (I2C) +#define SCL DIO16 +#define SDA DIO17 + +// timers and PWM +#define OC0A DIO3 +#define OC0B DIO4 +#define OC1A DIO13 +#define OC1B DIO12 +#define OC2A DIO15 +#define OC2B DIO14 + +#define DEBUG_LED DIO0 +/* +pins +*/ + +#define DIO0_PIN PINB0 +#define DIO0_RPORT PINB +#define DIO0_WPORT PORTB +#define DIO0_DDR DDRB +#define DIO0_PWM NULL + +#define DIO1_PIN PINB1 +#define DIO1_RPORT PINB +#define DIO1_WPORT PORTB +#define DIO1_DDR DDRB +#define DIO1_PWM NULL + +#define DIO2_PIN PINB2 +#define DIO2_RPORT PINB +#define DIO2_WPORT PORTB +#define DIO2_DDR DDRB +#define DIO2_PWM NULL + +#define DIO3_PIN PINB3 +#define DIO3_RPORT PINB +#define DIO3_WPORT PORTB +#define DIO3_DDR DDRB +#define DIO3_PWM OCR0A + +#define DIO4_PIN PINB4 +#define DIO4_RPORT PINB +#define DIO4_WPORT PORTB +#define DIO4_DDR DDRB +#define DIO4_PWM OCR0B + +#define DIO5_PIN PINB5 +#define DIO5_RPORT PINB +#define DIO5_WPORT PORTB +#define DIO5_DDR DDRB +#define DIO5_PWM NULL + +#define DIO6_PIN PINB6 +#define DIO6_RPORT PINB +#define DIO6_WPORT PORTB +#define DIO6_DDR DDRB +#define DIO6_PWM NULL + +#define DIO7_PIN PINB7 +#define DIO7_RPORT PINB +#define DIO7_WPORT PORTB +#define DIO7_DDR DDRB +#define DIO7_PWM NULL + +#define DIO8_PIN PIND0 +#define DIO8_RPORT PIND +#define DIO8_WPORT PORTD +#define DIO8_DDR DDRD +#define DIO8_PWM NULL + +#define DIO9_PIN PIND1 +#define DIO9_RPORT PIND +#define DIO9_WPORT PORTD +#define DIO9_DDR DDRD +#define DIO9_PWM NULL + +#define DIO10_PIN PIND2 +#define DIO10_RPORT PIND +#define DIO10_WPORT PORTD +#define DIO10_DDR DDRD +#define DIO10_PWM NULL + +#define DIO11_PIN PIND3 +#define DIO11_RPORT PIND +#define DIO11_WPORT PORTD +#define DIO11_DDR DDRD +#define DIO11_PWM NULL + +#define DIO12_PIN PIND4 +#define DIO12_RPORT PIND +#define DIO12_WPORT PORTD +#define DIO12_DDR DDRD +#define DIO12_PWM OCR1B + +#define DIO13_PIN PIND5 +#define DIO13_RPORT PIND +#define DIO13_WPORT PORTD +#define DIO13_DDR DDRD +#define DIO13_PWM OCR1A + +#define DIO14_PIN PIND6 +#define DIO14_RPORT PIND +#define DIO14_WPORT PORTD +#define DIO14_DDR DDRD +#define DIO14_PWM OCR2B + +#define DIO15_PIN PIND7 +#define DIO15_RPORT PIND +#define DIO15_WPORT PORTD +#define DIO15_DDR DDRD +#define DIO15_PWM OCR2A + +#define DIO16_PIN PINC0 +#define DIO16_RPORT PINC +#define DIO16_WPORT PORTC +#define DIO16_DDR DDRC +#define DIO16_PWM NULL + +#define DIO17_PIN PINC1 +#define DIO17_RPORT PINC +#define DIO17_WPORT PORTC +#define DIO17_DDR DDRC +#define DIO17_PWM NULL + +#define DIO18_PIN PINC2 +#define DIO18_RPORT PINC +#define DIO18_WPORT PORTC +#define DIO18_DDR DDRC +#define DIO18_PWM NULL + +#define DIO19_PIN PINC3 +#define DIO19_RPORT PINC +#define DIO19_WPORT PORTC +#define DIO19_DDR DDRC +#define DIO19_PWM NULL + +#define DIO20_PIN PINC4 +#define DIO20_RPORT PINC +#define DIO20_WPORT PORTC +#define DIO20_DDR DDRC +#define DIO20_PWM NULL + +#define DIO21_PIN PINC5 +#define DIO21_RPORT PINC +#define DIO21_WPORT PORTC +#define DIO21_DDR DDRC +#define DIO21_PWM NULL + +#define DIO22_PIN PINC6 +#define DIO22_RPORT PINC +#define DIO22_WPORT PORTC +#define DIO22_DDR DDRC +#define DIO22_PWM NULL + +#define DIO23_PIN PINC7 +#define DIO23_RPORT PINC +#define DIO23_WPORT PORTC +#define DIO23_DDR DDRC +#define DIO23_PWM NULL + +#define DIO24_PIN PINA7 +#define DIO24_RPORT PINA +#define DIO24_WPORT PORTA +#define DIO24_DDR DDRA +#define DIO24_PWM NULL + +#define DIO25_PIN PINA6 +#define DIO25_RPORT PINA +#define DIO25_WPORT PORTA +#define DIO25_DDR DDRA +#define DIO25_PWM NULL + +#define DIO26_PIN PINA5 +#define DIO26_RPORT PINA +#define DIO26_WPORT PORTA +#define DIO26_DDR DDRA +#define DIO26_PWM NULL + +#define DIO27_PIN PINA4 +#define DIO27_RPORT PINA +#define DIO27_WPORT PORTA +#define DIO27_DDR DDRA +#define DIO27_PWM NULL + +#define DIO28_PIN PINA3 +#define DIO28_RPORT PINA +#define DIO28_WPORT PORTA +#define DIO28_DDR DDRA +#define DIO28_PWM NULL + +#define DIO29_PIN PINA2 +#define DIO29_RPORT PINA +#define DIO29_WPORT PORTA +#define DIO29_DDR DDRA +#define DIO29_PWM NULL + +#define DIO30_PIN PINA1 +#define DIO30_RPORT PINA +#define DIO30_WPORT PORTA +#define DIO30_DDR DDRA +#define DIO30_PWM NULL + +#define DIO31_PIN PINA0 +#define DIO31_RPORT PINA +#define DIO31_WPORT PORTA +#define DIO31_DDR DDRA +#define DIO31_PWM NULL + +#define AIO0_PIN PINA0 +#define AIO0_RPORT PINA +#define AIO0_WPORT PORTA +#define AIO0_DDR DDRA +#define AIO0_PWM NULL + +#define AIO1_PIN PINA1 +#define AIO1_RPORT PINA +#define AIO1_WPORT PORTA +#define AIO1_DDR DDRA +#define AIO1_PWM NULL + +#define AIO2_PIN PINA2 +#define AIO2_RPORT PINA +#define AIO2_WPORT PORTA +#define AIO2_DDR DDRA +#define AIO2_PWM NULL + +#define AIO3_PIN PINA3 +#define AIO3_RPORT PINA +#define AIO3_WPORT PORTA +#define AIO3_DDR DDRA +#define AIO3_PWM NULL + +#define AIO4_PIN PINA4 +#define AIO4_RPORT PINA +#define AIO4_WPORT PORTA +#define AIO4_DDR DDRA +#define AIO4_PWM NULL + +#define AIO5_PIN PINA5 +#define AIO5_RPORT PINA +#define AIO5_WPORT PORTA +#define AIO5_DDR DDRA +#define AIO5_PWM NULL + +#define AIO6_PIN PINA6 +#define AIO6_RPORT PINA +#define AIO6_WPORT PORTA +#define AIO6_DDR DDRA +#define AIO6_PWM NULL + +#define AIO7_PIN PINA7 +#define AIO7_RPORT PINA +#define AIO7_WPORT PORTA +#define AIO7_DDR DDRA +#define AIO7_PWM NULL + + + +#undef PA0 +#define PA0_PIN PINA0 +#define PA0_RPORT PINA +#define PA0_WPORT PORTA +#define PA0_DDR DDRA +#define PA0_PWM NULL + +#undef PA1 +#define PA1_PIN PINA1 +#define PA1_RPORT PINA +#define PA1_WPORT PORTA +#define PA1_DDR DDRA +#define PA1_PWM NULL + +#undef PA2 +#define PA2_PIN PINA2 +#define PA2_RPORT PINA +#define PA2_WPORT PORTA +#define PA2_DDR DDRA +#define PA2_PWM NULL + +#undef PA3 +#define PA3_PIN PINA3 +#define PA3_RPORT PINA +#define PA3_WPORT PORTA +#define PA3_DDR DDRA +#define PA3_PWM NULL + +#undef PA4 +#define PA4_PIN PINA4 +#define PA4_RPORT PINA +#define PA4_WPORT PORTA +#define PA4_DDR DDRA +#define PA4_PWM NULL + +#undef PA5 +#define PA5_PIN PINA5 +#define PA5_RPORT PINA +#define PA5_WPORT PORTA +#define PA5_DDR DDRA +#define PA5_PWM NULL + +#undef PA6 +#define PA6_PIN PINA6 +#define PA6_RPORT PINA +#define PA6_WPORT PORTA +#define PA6_DDR DDRA +#define PA6_PWM NULL + +#undef PA7 +#define PA7_PIN PINA7 +#define PA7_RPORT PINA +#define PA7_WPORT PORTA +#define PA7_DDR DDRA +#define PA7_PWM NULL + + +#undef PB0 +#define PB0_PIN PINB0 +#define PB0_RPORT PINB +#define PB0_WPORT PORTB +#define PB0_DDR DDRB +#define PB0_PWM NULL + +#undef PB1 +#define PB1_PIN PINB1 +#define PB1_RPORT PINB +#define PB1_WPORT PORTB +#define PB1_DDR DDRB +#define PB1_PWM NULL + +#undef PB2 +#define PB2_PIN PINB2 +#define PB2_RPORT PINB +#define PB2_WPORT PORTB +#define PB2_DDR DDRB +#define PB2_PWM NULL + +#undef PB3 +#define PB3_PIN PINB3 +#define PB3_RPORT PINB +#define PB3_WPORT PORTB +#define PB3_DDR DDRB +#define PB3_PWM OCR0A + +#undef PB4 +#define PB4_PIN PINB4 +#define PB4_RPORT PINB +#define PB4_WPORT PORTB +#define PB4_DDR DDRB +#define PB4_PWM OCR0B + +#undef PB5 +#define PB5_PIN PINB5 +#define PB5_RPORT PINB +#define PB5_WPORT PORTB +#define PB5_DDR DDRB +#define PB5_PWM NULL + +#undef PB6 +#define PB6_PIN PINB6 +#define PB6_RPORT PINB +#define PB6_WPORT PORTB +#define PB6_DDR DDRB +#define PB6_PWM NULL + +#undef PB7 +#define PB7_PIN PINB7 +#define PB7_RPORT PINB +#define PB7_WPORT PORTB +#define PB7_DDR DDRB +#define PB7_PWM NULL + + +#undef PC0 +#define PC0_PIN PINC0 +#define PC0_RPORT PINC +#define PC0_WPORT PORTC +#define PC0_DDR DDRC +#define PC0_PWM NULL + +#undef PC1 +#define PC1_PIN PINC1 +#define PC1_RPORT PINC +#define PC1_WPORT PORTC +#define PC1_DDR DDRC +#define PC1_PWM NULL + +#undef PC2 +#define PC2_PIN PINC2 +#define PC2_RPORT PINC +#define PC2_WPORT PORTC +#define PC2_DDR DDRC +#define PC2_PWM NULL + +#undef PC3 +#define PC3_PIN PINC3 +#define PC3_RPORT PINC +#define PC3_WPORT PORTC +#define PC3_DDR DDRC +#define PC3_PWM NULL + +#undef PC4 +#define PC4_PIN PINC4 +#define PC4_RPORT PINC +#define PC4_WPORT PORTC +#define PC4_DDR DDRC +#define PC4_PWM NULL + +#undef PC5 +#define PC5_PIN PINC5 +#define PC5_RPORT PINC +#define PC5_WPORT PORTC +#define PC5_DDR DDRC +#define PC5_PWM NULL + +#undef PC6 +#define PC6_PIN PINC6 +#define PC6_RPORT PINC +#define PC6_WPORT PORTC +#define PC6_DDR DDRC +#define PC6_PWM NULL + +#undef PC7 +#define PC7_PIN PINC7 +#define PC7_RPORT PINC +#define PC7_WPORT PORTC +#define PC7_DDR DDRC +#define PC7_PWM NULL + + +#undef PD0 +#define PD0_PIN PIND0 +#define PD0_RPORT PIND +#define PD0_WPORT PORTD +#define PD0_DDR DDRD +#define PD0_PWM NULL + +#undef PD1 +#define PD1_PIN PIND1 +#define PD1_RPORT PIND +#define PD1_WPORT PORTD +#define PD1_DDR DDRD +#define PD1_PWM NULL + +#undef PD2 +#define PD2_PIN PIND2 +#define PD2_RPORT PIND +#define PD2_WPORT PORTD +#define PD2_DDR DDRD +#define PD2_PWM NULL + +#undef PD3 +#define PD3_PIN PIND3 +#define PD3_RPORT PIND +#define PD3_WPORT PORTD +#define PD3_DDR DDRD +#define PD3_PWM NULL + +#undef PD4 +#define PD4_PIN PIND4 +#define PD4_RPORT PIND +#define PD4_WPORT PORTD +#define PD4_DDR DDRD +#define PD4_PWM NULL + +#undef PD5 +#define PD5_PIN PIND5 +#define PD5_RPORT PIND +#define PD5_WPORT PORTD +#define PD5_DDR DDRD +#define PD5_PWM NULL + +#undef PD6 +#define PD6_PIN PIND6 +#define PD6_RPORT PIND +#define PD6_WPORT PORTD +#define PD6_DDR DDRD +#define PD6_PWM OCR2B + +#undef PD7 +#define PD7_PIN PIND7 +#define PD7_RPORT PIND +#define PD7_WPORT PORTD +#define PD7_DDR DDRD +#define PD7_PWM OCR2A +#endif /* _AVR_ATmega{644,644P,644PA}__ */ + +#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__) +// UART +#define RXD DIO0 +#define TXD DIO1 + +// SPI +#define SCK DIO52 +#define MISO DIO50 +#define MOSI DIO51 +#define SS DIO53 + +// TWI (I2C) +#define SCL DIO21 +#define SDA DIO20 + +// timers and PWM +#define OC0A DIO13 +#define OC0B DIO4 +#define OC1A DIO11 +#define OC1B DIO12 +#define OC2A DIO10 +#define OC2B DIO9 +#define OC3A DIO5 +#define OC3B DIO2 +#define OC3C DIO3 +#define OC4A DIO6 +#define OC4B DIO7 +#define OC4C DIO8 +#define OC5A DIO46 +#define OC5B DIO45 +#define OC5C DIO44 + +// change for your board +#define DEBUG_LED DIO21 + +/* +pins +*/ +#define DIO0_PIN PINE0 +#define DIO0_RPORT PINE +#define DIO0_WPORT PORTE +#define DIO0_DDR DDRE +#define DIO0_PWM NULL + +#define DIO1_PIN PINE1 +#define DIO1_RPORT PINE +#define DIO1_WPORT PORTE +#define DIO1_DDR DDRE +#define DIO1_PWM NULL + +#define DIO2_PIN PINE4 +#define DIO2_RPORT PINE +#define DIO2_WPORT PORTE +#define DIO2_DDR DDRE +#define DIO2_PWM &OCR3BL + +#define DIO3_PIN PINE5 +#define DIO3_RPORT PINE +#define DIO3_WPORT PORTE +#define DIO3_DDR DDRE +#define DIO3_PWM &OCR3CL + +#define DIO4_PIN PING5 +#define DIO4_RPORT PING +#define DIO4_WPORT PORTG +#define DIO4_DDR DDRG +#define DIO4_PWM &OCR0B + +#define DIO5_PIN PINE3 +#define DIO5_RPORT PINE +#define DIO5_WPORT PORTE +#define DIO5_DDR DDRE +#define DIO5_PWM &OCR3AL + +#define DIO6_PIN PINH3 +#define DIO6_RPORT PINH +#define DIO6_WPORT PORTH +#define DIO6_DDR DDRH +#define DIO6_PWM &OCR4AL + +#define DIO7_PIN PINH4 +#define DIO7_RPORT PINH +#define DIO7_WPORT PORTH +#define DIO7_DDR DDRH +#define DIO7_PWM &OCR4BL + +#define DIO8_PIN PINH5 +#define DIO8_RPORT PINH +#define DIO8_WPORT PORTH +#define DIO8_DDR DDRH +#define DIO8_PWM &OCR4CL + +#define DIO9_PIN PINH6 +#define DIO9_RPORT PINH +#define DIO9_WPORT PORTH +#define DIO9_DDR DDRH +#define DIO9_PWM &OCR2B + +#define DIO10_PIN PINB4 +#define DIO10_RPORT PINB +#define DIO10_WPORT PORTB +#define DIO10_DDR DDRB +#define DIO10_PWM &OCR2A + +#define DIO11_PIN PINB5 +#define DIO11_RPORT PINB +#define DIO11_WPORT PORTB +#define DIO11_DDR DDRB +#define DIO11_PWM NULL + +#define DIO12_PIN PINB6 +#define DIO12_RPORT PINB +#define DIO12_WPORT PORTB +#define DIO12_DDR DDRB +#define DIO12_PWM NULL + +#define DIO13_PIN PINB7 +#define DIO13_RPORT PINB +#define DIO13_WPORT PORTB +#define DIO13_DDR DDRB +#define DIO13_PWM &OCR0A + +#define DIO14_PIN PINJ1 +#define DIO14_RPORT PINJ +#define DIO14_WPORT PORTJ +#define DIO14_DDR DDRJ +#define DIO14_PWM NULL + +#define DIO15_PIN PINJ0 +#define DIO15_RPORT PINJ +#define DIO15_WPORT PORTJ +#define DIO15_DDR DDRJ +#define DIO15_PWM NULL + +#define DIO16_PIN PINH1 +#define DIO16_RPORT PINH +#define DIO16_WPORT PORTH +#define DIO16_DDR DDRH +#define DIO16_PWM NULL + +#define DIO17_PIN PINH0 +#define DIO17_RPORT PINH +#define DIO17_WPORT PORTH +#define DIO17_DDR DDRH +#define DIO17_PWM NULL + +#define DIO18_PIN PIND3 +#define DIO18_RPORT PIND +#define DIO18_WPORT PORTD +#define DIO18_DDR DDRD +#define DIO18_PWM NULL + +#define DIO19_PIN PIND2 +#define DIO19_RPORT PIND +#define DIO19_WPORT PORTD +#define DIO19_DDR DDRD +#define DIO19_PWM NULL + +#define DIO20_PIN PIND1 +#define DIO20_RPORT PIND +#define DIO20_WPORT PORTD +#define DIO20_DDR DDRD +#define DIO20_PWM NULL + +#define DIO21_PIN PIND0 +#define DIO21_RPORT PIND +#define DIO21_WPORT PORTD +#define DIO21_DDR DDRD +#define DIO21_PWM NULL + +#define DIO22_PIN PINA0 +#define DIO22_RPORT PINA +#define DIO22_WPORT PORTA +#define DIO22_DDR DDRA +#define DIO22_PWM NULL + +#define DIO23_PIN PINA1 +#define DIO23_RPORT PINA +#define DIO23_WPORT PORTA +#define DIO23_DDR DDRA +#define DIO23_PWM NULL + +#define DIO24_PIN PINA2 +#define DIO24_RPORT PINA +#define DIO24_WPORT PORTA +#define DIO24_DDR DDRA +#define DIO24_PWM NULL + +#define DIO25_PIN PINA3 +#define DIO25_RPORT PINA +#define DIO25_WPORT PORTA +#define DIO25_DDR DDRA +#define DIO25_PWM NULL + +#define DIO26_PIN PINA4 +#define DIO26_RPORT PINA +#define DIO26_WPORT PORTA +#define DIO26_DDR DDRA +#define DIO26_PWM NULL + +#define DIO27_PIN PINA5 +#define DIO27_RPORT PINA +#define DIO27_WPORT PORTA +#define DIO27_DDR DDRA +#define DIO27_PWM NULL + +#define DIO28_PIN PINA6 +#define DIO28_RPORT PINA +#define DIO28_WPORT PORTA +#define DIO28_DDR DDRA +#define DIO28_PWM NULL + +#define DIO29_PIN PINA7 +#define DIO29_RPORT PINA +#define DIO29_WPORT PORTA +#define DIO29_DDR DDRA +#define DIO29_PWM NULL + +#define DIO30_PIN PINC7 +#define DIO30_RPORT PINC +#define DIO30_WPORT PORTC +#define DIO30_DDR DDRC +#define DIO30_PWM NULL + +#define DIO31_PIN PINC6 +#define DIO31_RPORT PINC +#define DIO31_WPORT PORTC +#define DIO31_DDR DDRC +#define DIO31_PWM NULL + +#define DIO32_PIN PINC5 +#define DIO32_RPORT PINC +#define DIO32_WPORT PORTC +#define DIO32_DDR DDRC +#define DIO32_PWM NULL + +#define DIO33_PIN PINC4 +#define DIO33_RPORT PINC +#define DIO33_WPORT PORTC +#define DIO33_DDR DDRC +#define DIO33_PWM NULL + +#define DIO34_PIN PINC3 +#define DIO34_RPORT PINC +#define DIO34_WPORT PORTC +#define DIO34_DDR DDRC +#define DIO34_PWM NULL + +#define DIO35_PIN PINC2 +#define DIO35_RPORT PINC +#define DIO35_WPORT PORTC +#define DIO35_DDR DDRC +#define DIO35_PWM NULL + +#define DIO36_PIN PINC1 +#define DIO36_RPORT PINC +#define DIO36_WPORT PORTC +#define DIO36_DDR DDRC +#define DIO36_PWM NULL + +#define DIO37_PIN PINC0 +#define DIO37_RPORT PINC +#define DIO37_WPORT PORTC +#define DIO37_DDR DDRC +#define DIO37_PWM NULL + +#define DIO38_PIN PIND7 +#define DIO38_RPORT PIND +#define DIO38_WPORT PORTD +#define DIO38_DDR DDRD +#define DIO38_PWM NULL + +#define DIO39_PIN PING2 +#define DIO39_RPORT PING +#define DIO39_WPORT PORTG +#define DIO39_DDR DDRG +#define DIO39_PWM NULL + +#define DIO40_PIN PING1 +#define DIO40_RPORT PING +#define DIO40_WPORT PORTG +#define DIO40_DDR DDRG +#define DIO40_PWM NULL + +#define DIO41_PIN PING0 +#define DIO41_RPORT PING +#define DIO41_WPORT PORTG +#define DIO41_DDR DDRG +#define DIO41_PWM NULL + +#define DIO42_PIN PINL7 +#define DIO42_RPORT PINL +#define DIO42_WPORT PORTL +#define DIO42_DDR DDRL +#define DIO42_PWM NULL + +#define DIO43_PIN PINL6 +#define DIO43_RPORT PINL +#define DIO43_WPORT PORTL +#define DIO43_DDR DDRL +#define DIO43_PWM NULL + +#define DIO44_PIN PINL5 +#define DIO44_RPORT PINL +#define DIO44_WPORT PORTL +#define DIO44_DDR DDRL +#define DIO44_PWM &OCR5CL + +#define DIO45_PIN PINL4 +#define DIO45_RPORT PINL +#define DIO45_WPORT PORTL +#define DIO45_DDR DDRL +#define DIO45_PWM &OCR5BL + +#define DIO46_PIN PINL3 +#define DIO46_RPORT PINL +#define DIO46_WPORT PORTL +#define DIO46_DDR DDRL +#define DIO46_PWM &OCR5AL + +#define DIO47_PIN PINL2 +#define DIO47_RPORT PINL +#define DIO47_WPORT PORTL +#define DIO47_DDR DDRL +#define DIO47_PWM NULL + +#define DIO48_PIN PINL1 +#define DIO48_RPORT PINL +#define DIO48_WPORT PORTL +#define DIO48_DDR DDRL +#define DIO48_PWM NULL + +#define DIO49_PIN PINL0 +#define DIO49_RPORT PINL +#define DIO49_WPORT PORTL +#define DIO49_DDR DDRL +#define DIO49_PWM NULL + +#define DIO50_PIN PINB3 +#define DIO50_RPORT PINB +#define DIO50_WPORT PORTB +#define DIO50_DDR DDRB +#define DIO50_PWM NULL + +#define DIO51_PIN PINB2 +#define DIO51_RPORT PINB +#define DIO51_WPORT PORTB +#define DIO51_DDR DDRB +#define DIO51_PWM NULL + +#define DIO52_PIN PINB1 +#define DIO52_RPORT PINB +#define DIO52_WPORT PORTB +#define DIO52_DDR DDRB +#define DIO52_PWM NULL + +#define DIO53_PIN PINB0 +#define DIO53_RPORT PINB +#define DIO53_WPORT PORTB +#define DIO53_DDR DDRB +#define DIO53_PWM NULL + +#define DIO54_PIN PINF0 +#define DIO54_RPORT PINF +#define DIO54_WPORT PORTF +#define DIO54_DDR DDRF +#define DIO54_PWM NULL + +#define DIO55_PIN PINF1 +#define DIO55_RPORT PINF +#define DIO55_WPORT PORTF +#define DIO55_DDR DDRF +#define DIO55_PWM NULL + +#define DIO56_PIN PINF2 +#define DIO56_RPORT PINF +#define DIO56_WPORT PORTF +#define DIO56_DDR DDRF +#define DIO56_PWM NULL + +#define DIO57_PIN PINF3 +#define DIO57_RPORT PINF +#define DIO57_WPORT PORTF +#define DIO57_DDR DDRF +#define DIO57_PWM NULL + +#define DIO58_PIN PINF4 +#define DIO58_RPORT PINF +#define DIO58_WPORT PORTF +#define DIO58_DDR DDRF +#define DIO58_PWM NULL + +#define DIO59_PIN PINF5 +#define DIO59_RPORT PINF +#define DIO59_WPORT PORTF +#define DIO59_DDR DDRF +#define DIO59_PWM NULL + +#define DIO60_PIN PINF6 +#define DIO60_RPORT PINF +#define DIO60_WPORT PORTF +#define DIO60_DDR DDRF +#define DIO60_PWM NULL + +#define DIO61_PIN PINF7 +#define DIO61_RPORT PINF +#define DIO61_WPORT PORTF +#define DIO61_DDR DDRF +#define DIO61_PWM NULL + +#define DIO62_PIN PINK0 +#define DIO62_RPORT PINK +#define DIO62_WPORT PORTK +#define DIO62_DDR DDRK +#define DIO62_PWM NULL + +#define DIO63_PIN PINK1 +#define DIO63_RPORT PINK +#define DIO63_WPORT PORTK +#define DIO63_DDR DDRK +#define DIO63_PWM NULL + +#define DIO64_PIN PINK2 +#define DIO64_RPORT PINK +#define DIO64_WPORT PORTK +#define DIO64_DDR DDRK +#define DIO64_PWM NULL + +#define DIO65_PIN PINK3 +#define DIO65_RPORT PINK +#define DIO65_WPORT PORTK +#define DIO65_DDR DDRK +#define DIO65_PWM NULL + +#define DIO66_PIN PINK4 +#define DIO66_RPORT PINK +#define DIO66_WPORT PORTK +#define DIO66_DDR DDRK +#define DIO66_PWM NULL + +#define DIO67_PIN PINK5 +#define DIO67_RPORT PINK +#define DIO67_WPORT PORTK +#define DIO67_DDR DDRK +#define DIO67_PWM NULL + +#define DIO68_PIN PINK6 +#define DIO68_RPORT PINK +#define DIO68_WPORT PORTK +#define DIO68_DDR DDRK +#define DIO68_PWM NULL + +#define DIO69_PIN PINK7 +#define DIO69_RPORT PINK +#define DIO69_WPORT PORTK +#define DIO69_DDR DDRK +#define DIO69_PWM NULL + + + +#undef PA0 +#define PA0_PIN PINA0 +#define PA0_RPORT PINA +#define PA0_WPORT PORTA +#define PA0_DDR DDRA +#define PA0_PWM NULL +#undef PA1 +#define PA1_PIN PINA1 +#define PA1_RPORT PINA +#define PA1_WPORT PORTA +#define PA1_DDR DDRA +#define PA1_PWM NULL +#undef PA2 +#define PA2_PIN PINA2 +#define PA2_RPORT PINA +#define PA2_WPORT PORTA +#define PA2_DDR DDRA +#define PA2_PWM NULL +#undef PA3 +#define PA3_PIN PINA3 +#define PA3_RPORT PINA +#define PA3_WPORT PORTA +#define PA3_DDR DDRA +#define PA3_PWM NULL +#undef PA4 +#define PA4_PIN PINA4 +#define PA4_RPORT PINA +#define PA4_WPORT PORTA +#define PA4_DDR DDRA +#define PA4_PWM NULL +#undef PA5 +#define PA5_PIN PINA5 +#define PA5_RPORT PINA +#define PA5_WPORT PORTA +#define PA5_DDR DDRA +#define PA5_PWM NULL +#undef PA6 +#define PA6_PIN PINA6 +#define PA6_RPORT PINA +#define PA6_WPORT PORTA +#define PA6_DDR DDRA +#define PA6_PWM NULL +#undef PA7 +#define PA7_PIN PINA7 +#define PA7_RPORT PINA +#define PA7_WPORT PORTA +#define PA7_DDR DDRA +#define PA7_PWM NULL + +#undef PB0 +#define PB0_PIN PINB0 +#define PB0_RPORT PINB +#define PB0_WPORT PORTB +#define PB0_DDR DDRB +#define PB0_PWM NULL +#undef PB1 +#define PB1_PIN PINB1 +#define PB1_RPORT PINB +#define PB1_WPORT PORTB +#define PB1_DDR DDRB +#define PB1_PWM NULL +#undef PB2 +#define PB2_PIN PINB2 +#define PB2_RPORT PINB +#define PB2_WPORT PORTB +#define PB2_DDR DDRB +#define PB2_PWM NULL +#undef PB3 +#define PB3_PIN PINB3 +#define PB3_RPORT PINB +#define PB3_WPORT PORTB +#define PB3_DDR DDRB +#define PB3_PWM NULL +#undef PB4 +#define PB4_PIN PINB4 +#define PB4_RPORT PINB +#define PB4_WPORT PORTB +#define PB4_DDR DDRB +#define PB4_PWM &OCR2A +#undef PB5 +#define PB5_PIN PINB5 +#define PB5_RPORT PINB +#define PB5_WPORT PORTB +#define PB5_DDR DDRB +#define PB5_PWM NULL +#undef PB6 +#define PB6_PIN PINB6 +#define PB6_RPORT PINB +#define PB6_WPORT PORTB +#define PB6_DDR DDRB +#define PB6_PWM NULL +#undef PB7 +#define PB7_PIN PINB7 +#define PB7_RPORT PINB +#define PB7_WPORT PORTB +#define PB7_DDR DDRB +#define PB7_PWM &OCR0A + +#undef PC0 +#define PC0_PIN PINC0 +#define PC0_RPORT PINC +#define PC0_WPORT PORTC +#define PC0_DDR DDRC +#define PC0_PWM NULL +#undef PC1 +#define PC1_PIN PINC1 +#define PC1_RPORT PINC +#define PC1_WPORT PORTC +#define PC1_DDR DDRC +#define PC1_PWM NULL +#undef PC2 +#define PC2_PIN PINC2 +#define PC2_RPORT PINC +#define PC2_WPORT PORTC +#define PC2_DDR DDRC +#define PC2_PWM NULL +#undef PC3 +#define PC3_PIN PINC3 +#define PC3_RPORT PINC +#define PC3_WPORT PORTC +#define PC3_DDR DDRC +#define PC3_PWM NULL +#undef PC4 +#define PC4_PIN PINC4 +#define PC4_RPORT PINC +#define PC4_WPORT PORTC +#define PC4_DDR DDRC +#define PC4_PWM NULL +#undef PC5 +#define PC5_PIN PINC5 +#define PC5_RPORT PINC +#define PC5_WPORT PORTC +#define PC5_DDR DDRC +#define PC5_PWM NULL +#undef PC6 +#define PC6_PIN PINC6 +#define PC6_RPORT PINC +#define PC6_WPORT PORTC +#define PC6_DDR DDRC +#define PC6_PWM NULL +#undef PC7 +#define PC7_PIN PINC7 +#define PC7_RPORT PINC +#define PC7_WPORT PORTC +#define PC7_DDR DDRC +#define PC7_PWM NULL + +#undef PD0 +#define PD0_PIN PIND0 +#define PD0_RPORT PIND +#define PD0_WPORT PORTD +#define PD0_DDR DDRD +#define PD0_PWM NULL +#undef PD1 +#define PD1_PIN PIND1 +#define PD1_RPORT PIND +#define PD1_WPORT PORTD +#define PD1_DDR DDRD +#define PD1_PWM NULL +#undef PD2 +#define PD2_PIN PIND2 +#define PD2_RPORT PIND +#define PD2_WPORT PORTD +#define PD2_DDR DDRD +#define PD2_PWM NULL +#undef PD3 +#define PD3_PIN PIND3 +#define PD3_RPORT PIND +#define PD3_WPORT PORTD +#define PD3_DDR DDRD +#define PD3_PWM NULL +#undef PD4 +#define PD4_PIN PIND4 +#define PD4_RPORT PIND +#define PD4_WPORT PORTD +#define PD4_DDR DDRD +#define PD4_PWM NULL +#undef PD5 +#define PD5_PIN PIND5 +#define PD5_RPORT PIND +#define PD5_WPORT PORTD +#define PD5_DDR DDRD +#define PD5_PWM NULL +#undef PD6 +#define PD6_PIN PIND6 +#define PD6_RPORT PIND +#define PD6_WPORT PORTD +#define PD6_DDR DDRD +#define PD6_PWM NULL +#undef PD7 +#define PD7_PIN PIND7 +#define PD7_RPORT PIND +#define PD7_WPORT PORTD +#define PD7_DDR DDRD +#define PD7_PWM NULL + +#undef PE0 +#define PE0_PIN PINE0 +#define PE0_RPORT PINE +#define PE0_WPORT PORTE +#define PE0_DDR DDRE +#define PE0_PWM NULL +#undef PE1 +#define PE1_PIN PINE1 +#define PE1_RPORT PINE +#define PE1_WPORT PORTE +#define PE1_DDR DDRE +#define PE1_PWM NULL +#undef PE2 +#define PE2_PIN PINE2 +#define PE2_RPORT PINE +#define PE2_WPORT PORTE +#define PE2_DDR DDRE +#define PE2_PWM NULL +#undef PE3 +#define PE3_PIN PINE3 +#define PE3_RPORT PINE +#define PE3_WPORT PORTE +#define PE3_DDR DDRE +#define PE3_PWM &OCR3AL +#undef PE4 +#define PE4_PIN PINE4 +#define PE4_RPORT PINE +#define PE4_WPORT PORTE +#define PE4_DDR DDRE +#define PE4_PWM &OCR3BL +#undef PE5 +#define PE5_PIN PINE5 +#define PE5_RPORT PINE +#define PE5_WPORT PORTE +#define PE5_DDR DDRE +#define PE5_PWM &OCR3CL +#undef PE6 +#define PE6_PIN PINE6 +#define PE6_RPORT PINE +#define PE6_WPORT PORTE +#define PE6_DDR DDRE +#define PE6_PWM NULL +#undef PE7 +#define PE7_PIN PINE7 +#define PE7_RPORT PINE +#define PE7_WPORT PORTE +#define PE7_DDR DDRE +#define PE7_PWM NULL + +#undef PF0 +#define PF0_PIN PINF0 +#define PF0_RPORT PINF +#define PF0_WPORT PORTF +#define PF0_DDR DDRF +#define PF0_PWM NULL +#undef PF1 +#define PF1_PIN PINF1 +#define PF1_RPORT PINF +#define PF1_WPORT PORTF +#define PF1_DDR DDRF +#define PF1_PWM NULL +#undef PF2 +#define PF2_PIN PINF2 +#define PF2_RPORT PINF +#define PF2_WPORT PORTF +#define PF2_DDR DDRF +#define PF2_PWM NULL +#undef PF3 +#define PF3_PIN PINF3 +#define PF3_RPORT PINF +#define PF3_WPORT PORTF +#define PF3_DDR DDRF +#define PF3_PWM NULL +#undef PF4 +#define PF4_PIN PINF4 +#define PF4_RPORT PINF +#define PF4_WPORT PORTF +#define PF4_DDR DDRF +#define PF4_PWM NULL +#undef PF5 +#define PF5_PIN PINF5 +#define PF5_RPORT PINF +#define PF5_WPORT PORTF +#define PF5_DDR DDRF +#define PF5_PWM NULL +#undef PF6 +#define PF6_PIN PINF6 +#define PF6_RPORT PINF +#define PF6_WPORT PORTF +#define PF6_DDR DDRF +#define PF6_PWM NULL +#undef PF7 +#define PF7_PIN PINF7 +#define PF7_RPORT PINF +#define PF7_WPORT PORTF +#define PF7_DDR DDRF +#define PF7_PWM NULL + +#undef PG0 +#define PG0_PIN PING0 +#define PG0_RPORT PING +#define PG0_WPORT PORTG +#define PG0_DDR DDRG +#define PG0_PWM NULL +#undef PG1 +#define PG1_PIN PING1 +#define PG1_RPORT PING +#define PG1_WPORT PORTG +#define PG1_DDR DDRG +#define PG1_PWM NULL +#undef PG2 +#define PG2_PIN PING2 +#define PG2_RPORT PING +#define PG2_WPORT PORTG +#define PG2_DDR DDRG +#define PG2_PWM NULL +#undef PG3 +#define PG3_PIN PING3 +#define PG3_RPORT PING +#define PG3_WPORT PORTG +#define PG3_DDR DDRG +#define PG3_PWM NULL +#undef PG4 +#define PG4_PIN PING4 +#define PG4_RPORT PING +#define PG4_WPORT PORTG +#define PG4_DDR DDRG +#define PG4_PWM NULL +#undef PG5 +#define PG5_PIN PING5 +#define PG5_RPORT PING +#define PG5_WPORT PORTG +#define PG5_DDR DDRG +#define PG5_PWM &OCR0B +#undef PG6 +#define PG6_PIN PING6 +#define PG6_RPORT PING +#define PG6_WPORT PORTG +#define PG6_DDR DDRG +#define PG6_PWM NULL +#undef PG7 +#define PG7_PIN PING7 +#define PG7_RPORT PING +#define PG7_WPORT PORTG +#define PG7_DDR DDRG +#define PG7_PWM NULL + +#undef PH0 +#define PH0_PIN PINH0 +#define PH0_RPORT PINH +#define PH0_WPORT PORTH +#define PH0_DDR DDRH +#define PH0_PWM NULL +#undef PH1 +#define PH1_PIN PINH1 +#define PH1_RPORT PINH +#define PH1_WPORT PORTH +#define PH1_DDR DDRH +#define PH1_PWM NULL +#undef PH2 +#define PH2_PIN PINH2 +#define PH2_RPORT PINH +#define PH2_WPORT PORTH +#define PH2_DDR DDRH +#define PH2_PWM NULL +#undef PH3 +#define PH3_PIN PINH3 +#define PH3_RPORT PINH +#define PH3_WPORT PORTH +#define PH3_DDR DDRH +#define PH3_PWM &OCR4AL +#undef PH4 +#define PH4_PIN PINH4 +#define PH4_RPORT PINH +#define PH4_WPORT PORTH +#define PH4_DDR DDRH +#define PH4_PWM &OCR4BL +#undef PH5 +#define PH5_PIN PINH5 +#define PH5_RPORT PINH +#define PH5_WPORT PORTH +#define PH5_DDR DDRH +#define PH5_PWM &OCR4CL +#undef PH6 +#define PH6_PIN PINH6 +#define PH6_RPORT PINH +#define PH6_WPORT PORTH +#define PH6_DDR DDRH +#define PH6_PWM &OCR2B +#undef PH7 +#define PH7_PIN PINH7 +#define PH7_RPORT PINH +#define PH7_WPORT PORTH +#define PH7_DDR DDRH +#define PH7_PWM NULL + +#undef PJ0 +#define PJ0_PIN PINJ0 +#define PJ0_RPORT PINJ +#define PJ0_WPORT PORTJ +#define PJ0_DDR DDRJ +#define PJ0_PWM NULL +#undef PJ1 +#define PJ1_PIN PINJ1 +#define PJ1_RPORT PINJ +#define PJ1_WPORT PORTJ +#define PJ1_DDR DDRJ +#define PJ1_PWM NULL +#undef PJ2 +#define PJ2_PIN PINJ2 +#define PJ2_RPORT PINJ +#define PJ2_WPORT PORTJ +#define PJ2_DDR DDRJ +#define PJ2_PWM NULL +#undef PJ3 +#define PJ3_PIN PINJ3 +#define PJ3_RPORT PINJ +#define PJ3_WPORT PORTJ +#define PJ3_DDR DDRJ +#define PJ3_PWM NULL +#undef PJ4 +#define PJ4_PIN PINJ4 +#define PJ4_RPORT PINJ +#define PJ4_WPORT PORTJ +#define PJ4_DDR DDRJ +#define PJ4_PWM NULL +#undef PJ5 +#define PJ5_PIN PINJ5 +#define PJ5_RPORT PINJ +#define PJ5_WPORT PORTJ +#define PJ5_DDR DDRJ +#define PJ5_PWM NULL +#undef PJ6 +#define PJ6_PIN PINJ6 +#define PJ6_RPORT PINJ +#define PJ6_WPORT PORTJ +#define PJ6_DDR DDRJ +#define PJ6_PWM NULL +#undef PJ7 +#define PJ7_PIN PINJ7 +#define PJ7_RPORT PINJ +#define PJ7_WPORT PORTJ +#define PJ7_DDR DDRJ +#define PJ7_PWM NULL + +#undef PK0 +#define PK0_PIN PINK0 +#define PK0_RPORT PINK +#define PK0_WPORT PORTK +#define PK0_DDR DDRK +#define PK0_PWM NULL +#undef PK1 +#define PK1_PIN PINK1 +#define PK1_RPORT PINK +#define PK1_WPORT PORTK +#define PK1_DDR DDRK +#define PK1_PWM NULL +#undef PK2 +#define PK2_PIN PINK2 +#define PK2_RPORT PINK +#define PK2_WPORT PORTK +#define PK2_DDR DDRK +#define PK2_PWM NULL +#undef PK3 +#define PK3_PIN PINK3 +#define PK3_RPORT PINK +#define PK3_WPORT PORTK +#define PK3_DDR DDRK +#define PK3_PWM NULL +#undef PK4 +#define PK4_PIN PINK4 +#define PK4_RPORT PINK +#define PK4_WPORT PORTK +#define PK4_DDR DDRK +#define PK4_PWM NULL +#undef PK5 +#define PK5_PIN PINK5 +#define PK5_RPORT PINK +#define PK5_WPORT PORTK +#define PK5_DDR DDRK +#define PK5_PWM NULL +#undef PK6 +#define PK6_PIN PINK6 +#define PK6_RPORT PINK +#define PK6_WPORT PORTK +#define PK6_DDR DDRK +#define PK6_PWM NULL +#undef PK7 +#define PK7_PIN PINK7 +#define PK7_RPORT PINK +#define PK7_WPORT PORTK +#define PK7_DDR DDRK +#define PK7_PWM NULL + +#undef PL0 +#define PL0_PIN PINL0 +#define PL0_RPORT PINL +#define PL0_WPORT PORTL +#define PL0_DDR DDRL +#define PL0_PWM NULL +#undef PL1 +#define PL1_PIN PINL1 +#define PL1_RPORT PINL +#define PL1_WPORT PORTL +#define PL1_DDR DDRL +#define PL1_PWM NULL +#undef PL2 +#define PL2_PIN PINL2 +#define PL2_RPORT PINL +#define PL2_WPORT PORTL +#define PL2_DDR DDRL +#define PL2_PWM NULL +#undef PL3 +#define PL3_PIN PINL3 +#define PL3_RPORT PINL +#define PL3_WPORT PORTL +#define PL3_DDR DDRL +#define PL3_PWM &OCR5AL +#undef PL4 +#define PL4_PIN PINL4 +#define PL4_RPORT PINL +#define PL4_WPORT PORTL +#define PL4_DDR DDRL +#define PL4_PWM &OCR5BL +#undef PL5 +#define PL5_PIN PINL5 +#define PL5_RPORT PINL +#define PL5_WPORT PORTL +#define PL5_DDR DDRL +#define PL5_PWM &OCR5CL +#undef PL6 +#define PL6_PIN PINL6 +#define PL6_RPORT PINL +#define PL6_WPORT PORTL +#define PL6_DDR DDRL +#define PL6_PWM NULL +#undef PL7 +#define PL7_PIN PINL7 +#define PL7_RPORT PINL +#define PL7_WPORT PORTL +#define PL7_DDR DDRL +#define PL7_PWM NULL + +#endif + +#if defined (__AVR_AT90USB1287__) || defined (__AVR_AT90USB1286__) +// SPI +#define SCK DIO9 +#define MISO DIO11 +#define MOSI DIO10 +#define SS DIO8 + +// change for your board +#define DEBUG_LED DIO31 /* led D5 red */ + +/* +pins +*/ +#define DIO0_PIN PINA0 +#define DIO0_RPORT PINA +#define DIO0_WPORT PORTA +#define DIO0_PWM NULL +#define DIO0_DDR DDRA + +#define DIO1_PIN PINA1 +#define DIO1_RPORT PINA +#define DIO1_WPORT PORTA +#define DIO1_PWM NULL +#define DIO1_DDR DDRA + +#define DIO2_PIN PINA2 +#define DIO2_RPORT PINA +#define DIO2_WPORT PORTA +#define DIO2_PWM NULL +#define DIO2_DDR DDRA + +#define DIO3_PIN PINA3 +#define DIO3_RPORT PINA +#define DIO3_WPORT PORTA +#define DIO3_PWM NULL +#define DIO3_DDR DDRA + +#define DIO4_PIN PINA4 +#define DIO4_RPORT PINA +#define DIO4_WPORT PORTA +#define DIO4_PWM NULL +#define DIO4_DDR DDRA + +#define DIO5_PIN PINA5 +#define DIO5_RPORT PINA +#define DIO5_WPORT PORTA +#define DIO5_PWM NULL +#define DIO5_DDR DDRA + +#define DIO6_PIN PINA6 +#define DIO6_RPORT PINA +#define DIO6_WPORT PORTA +#define DIO6_PWM NULL +#define DIO6_DDR DDRA + +#define DIO7_PIN PINA7 +#define DIO7_RPORT PINA +#define DIO7_WPORT PORTA +#define DIO7_PWM NULL +#define DIO7_DDR DDRA + +#define DIO8_PIN PINB0 +#define DIO8_RPORT PINB +#define DIO8_WPORT PORTB +#define DIO8_PWM NULL +#define DIO8_DDR DDRB + +#define DIO9_PIN PINB1 +#define DIO9_RPORT PINB +#define DIO9_WPORT PORTB +#define DIO9_PWM NULL +#define DIO9_DDR DDRB + +#define DIO10_PIN PINB2 +#define DIO10_RPORT PINB +#define DIO10_WPORT PORTB +#define DIO10_PWM NULL +#define DIO10_DDR DDRB + +#define DIO11_PIN PINB3 +#define DIO11_RPORT PINB +#define DIO11_WPORT PORTB +#define DIO11_PWM NULL +#define DIO11_DDR DDRB + +#define DIO12_PIN PINB4 +#define DIO12_RPORT PINB +#define DIO12_WPORT PORTB +#define DIO12_PWM NULL +#define DIO12_DDR DDRB + +#define DIO13_PIN PINB5 +#define DIO13_RPORT PINB +#define DIO13_WPORT PORTB +#define DIO13_PWM NULL +#define DIO13_DDR DDRB + +#define DIO14_PIN PINB6 +#define DIO14_RPORT PINB +#define DIO14_WPORT PORTB +#define DIO14_PWM NULL +#define DIO14_DDR DDRB + +#define DIO15_PIN PINB7 +#define DIO15_RPORT PINB +#define DIO15_WPORT PORTB +#define DIO15_PWM NULL +#define DIO15_DDR DDRB + +#define DIO16_PIN PINC0 +#define DIO16_RPORT PINC +#define DIO16_WPORT PORTC +#define DIO16_PWM NULL +#define DIO16_DDR DDRC + +#define DIO17_PIN PINC1 +#define DIO17_RPORT PINC +#define DIO17_WPORT PORTC +#define DIO17_PWM NULL +#define DIO17_DDR DDRC + +#define DIO18_PIN PINC2 +#define DIO18_RPORT PINC +#define DIO18_WPORT PORTC +#define DIO18_PWM NULL +#define DIO18_DDR DDRC + +#define DIO19_PIN PINC3 +#define DIO19_RPORT PINC +#define DIO19_WPORT PORTC +#define DIO19_PWM NULL +#define DIO19_DDR DDRC + +#define DIO20_PIN PINC4 +#define DIO20_RPORT PINC +#define DIO20_WPORT PORTC +#define DIO20_PWM NULL +#define DIO20_DDR DDRC + +#define DIO21_PIN PINC5 +#define DIO21_RPORT PINC +#define DIO21_WPORT PORTC +#define DIO21_PWM NULL +#define DIO21_DDR DDRC + +#define DIO22_PIN PINC6 +#define DIO22_RPORT PINC +#define DIO22_WPORT PORTC +#define DIO22_PWM NULL +#define DIO22_DDR DDRC + +#define DIO23_PIN PINC7 +#define DIO23_RPORT PINC +#define DIO23_WPORT PORTC +#define DIO23_PWM NULL +#define DIO23_DDR DDRC + +#define DIO24_PIN PIND0 +#define DIO24_RPORT PIND +#define DIO24_WPORT PORTD +#define DIO24_PWM NULL +#define DIO24_DDR DDRD + +#define DIO25_PIN PIND1 +#define DIO25_RPORT PIND +#define DIO25_WPORT PORTD +#define DIO25_PWM NULL +#define DIO25_DDR DDRD + +#define DIO26_PIN PIND2 +#define DIO26_RPORT PIND +#define DIO26_WPORT PORTD +#define DIO26_PWM NULL +#define DIO26_DDR DDRD + +#define DIO27_PIN PIND3 +#define DIO27_RPORT PIND +#define DIO27_WPORT PORTD +#define DIO27_PWM NULL +#define DIO27_DDR DDRD + +#define DIO28_PIN PIND4 +#define DIO28_RPORT PIND +#define DIO28_WPORT PORTD +#define DIO28_PWM NULL +#define DIO28_DDR DDRD + +#define DIO29_PIN PIND5 +#define DIO29_RPORT PIND +#define DIO29_WPORT PORTD +#define DIO29_PWM NULL +#define DIO29_DDR DDRD + +#define DIO30_PIN PIND6 +#define DIO30_RPORT PIND +#define DIO30_WPORT PORTD +#define DIO30_PWM NULL +#define DIO30_DDR DDRD + +#define DIO31_PIN PIND7 +#define DIO31_RPORT PIND +#define DIO31_WPORT PORTD +#define DIO31_PWM NULL +#define DIO31_DDR DDRD + + +#define DIO32_PIN PINE0 +#define DIO32_RPORT PINE +#define DIO32_WPORT PORTE +#define DIO32_PWM NULL +#define DIO32_DDR DDRE + +#define DIO33_PIN PINE1 +#define DIO33_RPORT PINE +#define DIO33_WPORT PORTE +#define DIO33_PWM NULL +#define DIO33_DDR DDRE + +#define DIO34_PIN PINE2 +#define DIO34_RPORT PINE +#define DIO34_WPORT PORTE +#define DIO34_PWM NULL +#define DIO34_DDR DDRE + +#define DIO35_PIN PINE3 +#define DIO35_RPORT PINE +#define DIO35_WPORT PORTE +#define DIO35_PWM NULL +#define DIO35_DDR DDRE + +#define DIO36_PIN PINE4 +#define DIO36_RPORT PINE +#define DIO36_WPORT PORTE +#define DIO36_PWM NULL +#define DIO36_DDR DDRE + +#define DIO37_PIN PINE5 +#define DIO37_RPORT PINE +#define DIO37_WPORT PORTE +#define DIO37_PWM NULL +#define DIO37_DDR DDRE + +#define DIO38_PIN PINE6 +#define DIO38_RPORT PINE +#define DIO38_WPORT PORTE +#define DIO38_PWM NULL +#define DIO38_DDR DDRE + +#define DIO39_PIN PINE7 +#define DIO39_RPORT PINE +#define DIO39_WPORT PORTE +#define DIO39_PWM NULL +#define DIO39_DDR DDRE + +#define AIO0_PIN PINF0 +#define AIO0_RPORT PINF +#define AIO0_WPORT PORTF +#define AIO0_PWM NULL +#define AIO0_DDR DDRF + +#define AIO1_PIN PINF1 +#define AIO1_RPORT PINF +#define AIO1_WPORT PORTF +#define AIO1_PWM NULL +#define AIO1_DDR DDRF + +#define AIO2_PIN PINF2 +#define AIO2_RPORT PINF +#define AIO2_WPORT PORTF +#define AIO2_PWM NULL +#define AIO2_DDR DDRF + +#define AIO3_PIN PINF3 +#define AIO3_RPORT PINF +#define AIO3_WPORT PORTF +#define AIO3_PWM NULL +#define AIO3_DDR DDRF + +#define AIO4_PIN PINF4 +#define AIO4_RPORT PINF +#define AIO4_WPORT PORTF +#define AIO4_PWM NULL +#define AIO4_DDR DDRF + +#define AIO5_PIN PINF5 +#define AIO5_RPORT PINF +#define AIO5_WPORT PORTF +#define AIO5_PWM NULL +#define AIO5_DDR DDRF + +#define AIO6_PIN PINF6 +#define AIO6_RPORT PINF +#define AIO6_WPORT PORTF +#define AIO6_PWM NULL +#define AIO6_DDR DDRF + +#define AIO7_PIN PINF7 +#define AIO7_RPORT PINF +#define AIO7_WPORT PORTF +#define AIO7_PWM NULL +#define AIO7_DDR DDRF + +#define DIO40_PIN PINF0 +#define DIO40_RPORT PINF +#define DIO40_WPORT PORTF +#define DIO40_PWM NULL +#define DIO40_DDR DDRF + +#define DIO41_PIN PINF1 +#define DIO41_RPORT PINF +#define DIO41_WPORT PORTF +#define DIO41_PWM NULL +#define DIO41_DDR DDRF + +#define DIO42_PIN PINF2 +#define DIO42_RPORT PINF +#define DIO42_WPORT PORTF +#define DIO42_PWM NULL +#define DIO42_DDR DDRF + +#define DIO43_PIN PINF3 +#define DIO43_RPORT PINF +#define DIO43_WPORT PORTF +#define DIO43_PWM NULL +#define DIO43_DDR DDRF + +#define DIO44_PIN PINF4 +#define DIO44_RPORT PINF +#define DIO44_WPORT PORTF +#define DIO44_PWM NULL +#define DIO44_DDR DDRF + +#define DIO45_PIN PINF5 +#define DIO45_RPORT PINF +#define DIO45_WPORT PORTF +#define DIO45_PWM NULL +#define DIO45_DDR DDRF + +#define DIO46_PIN PINF6 +#define DIO46_RPORT PINF +#define DIO46_WPORT PORTF +#define DIO46_PWM NULL +#define DIO46_DDR DDRF + +#define DIO47_PIN PINF7 +#define DIO47_RPORT PINF +#define DIO47_WPORT PORTF +#define DIO47_PWM NULL +#define DIO47_DDR DDRF + + + +#undef PA0 +#define PA0_PIN PINA0 +#define PA0_RPORT PINA +#define PA0_WPORT PORTA +#define PA0_PWM NULL +#define PA0_DDR DDRA +#undef PA1 +#define PA1_PIN PINA1 +#define PA1_RPORT PINA +#define PA1_WPORT PORTA +#define PA1_PWM NULL +#define PA1_DDR DDRA +#undef PA2 +#define PA2_PIN PINA2 +#define PA2_RPORT PINA +#define PA2_WPORT PORTA +#define PA2_PWM NULL +#define PA2_DDR DDRA +#undef PA3 +#define PA3_PIN PINA3 +#define PA3_RPORT PINA +#define PA3_WPORT PORTA +#define PA3_PWM NULL +#define PA3_DDR DDRA +#undef PA4 +#define PA4_PIN PINA4 +#define PA4_RPORT PINA +#define PA4_WPORT PORTA +#define PA4_PWM NULL +#define PA4_DDR DDRA +#undef PA5 +#define PA5_PIN PINA5 +#define PA5_RPORT PINA +#define PA5_WPORT PORTA +#define PA5_PWM NULL +#define PA5_DDR DDRA +#undef PA6 +#define PA6_PIN PINA6 +#define PA6_RPORT PINA +#define PA6_WPORT PORTA +#define PA6_PWM NULL +#define PA6_DDR DDRA +#undef PA7 +#define PA7_PIN PINA7 +#define PA7_RPORT PINA +#define PA7_WPORT PORTA +#define PA7_PWM NULL +#define PA7_DDR DDRA + +#undef PB0 +#define PB0_PIN PINB0 +#define PB0_RPORT PINB +#define PB0_WPORT PORTB +#define PB0_PWM NULL +#define PB0_DDR DDRB +#undef PB1 +#define PB1_PIN PINB1 +#define PB1_RPORT PINB +#define PB1_WPORT PORTB +#define PB1_PWM NULL +#define PB1_DDR DDRB +#undef PB2 +#define PB2_PIN PINB2 +#define PB2_RPORT PINB +#define PB2_WPORT PORTB +#define PB2_PWM NULL +#define PB2_DDR DDRB +#undef PB3 +#define PB3_PIN PINB3 +#define PB3_RPORT PINB +#define PB3_WPORT PORTB +#define PB3_PWM NULL +#define PB3_DDR DDRB +#undef PB4 +#define PB4_PIN PINB4 +#define PB4_RPORT PINB +#define PB4_WPORT PORTB +#define PB4_PWM NULL +#define PB4_DDR DDRB +#undef PB5 +#define PB5_PIN PINB5 +#define PB5_RPORT PINB +#define PB5_WPORT PORTB +#define PB5_PWM NULL +#define PB5_DDR DDRB +#undef PB6 +#define PB6_PIN PINB6 +#define PB6_RPORT PINB +#define PB6_WPORT PORTB +#define PB6_PWM NULL +#define PB6_DDR DDRB +#undef PB7 +#define PB7_PIN PINB7 +#define PB7_RPORT PINB +#define PB7_WPORT PORTB +#define PB7_PWM NULL +#define PB7_DDR DDRB + +#undef PC0 +#define PC0_PIN PINC0 +#define PC0_RPORT PINC +#define PC0_WPORT PORTC +#define PC0_PWM NULL +#define PC0_DDR DDRC +#undef PC1 +#define PC1_PIN PINC1 +#define PC1_RPORT PINC +#define PC1_WPORT PORTC +#define PC1_PWM NULL +#define PC1_DDR DDRC +#undef PC2 +#define PC2_PIN PINC2 +#define PC2_RPORT PINC +#define PC2_WPORT PORTC +#define PC2_PWM NULL +#define PC2_DDR DDRC +#undef PC3 +#define PC3_PIN PINC3 +#define PC3_RPORT PINC +#define PC3_WPORT PORTC +#define PC3_PWM NULL +#define PC3_DDR DDRC +#undef PC4 +#define PC4_PIN PINC4 +#define PC4_RPORT PINC +#define PC4_WPORT PORTC +#define PC4_PWM NULL +#define PC4_DDR DDRC +#undef PC5 +#define PC5_PIN PINC5 +#define PC5_RPORT PINC +#define PC5_WPORT PORTC +#define PC5_PWM NULL +#define PC5_DDR DDRC +#undef PC6 +#define PC6_PIN PINC6 +#define PC6_RPORT PINC +#define PC6_WPORT PORTC +#define PC6_PWM NULL +#define PC6_DDR DDRC +#undef PC7 +#define PC7_PIN PINC7 +#define PC7_RPORT PINC +#define PC7_WPORT PORTC +#define PC7_PWM NULL +#define PC7_DDR DDRC + +#undef PD0 +#define PD0_PIN PIND0 +#define PD0_RPORT PIND +#define PD0_WPORT PORTD +#define PD0_PWM NULL +#define PD0_DDR DDRD +#undef PD1 +#define PD1_PIN PIND1 +#define PD1_RPORT PIND +#define PD1_WPORT PORTD +#define PD1_PWM NULL +#define PD1_DDR DDRD +#undef PD2 +#define PD2_PIN PIND2 +#define PD2_RPORT PIND +#define PD2_WPORT PORTD +#define PD2_PWM NULL +#define PD2_DDR DDRD +#undef PD3 +#define PD3_PIN PIND3 +#define PD3_RPORT PIND +#define PD3_WPORT PORTD +#define PD3_PWM NULL +#define PD3_DDR DDRD +#undef PD4 +#define PD4_PIN PIND4 +#define PD4_RPORT PIND +#define PD4_WPORT PORTD +#define PD4_PWM NULL +#define PD4_DDR DDRD +#undef PD5 +#define PD5_PIN PIND5 +#define PD5_RPORT PIND +#define PD5_WPORT PORTD +#define PD5_PWM NULL +#define PD5_DDR DDRD +#undef PD6 +#define PD6_PIN PIND6 +#define PD6_RPORT PIND +#define PD6_WPORT PORTD +#define PD6_PWM NULL +#define PD6_DDR DDRD +#undef PD7 +#define PD7_PIN PIND7 +#define PD7_RPORT PIND +#define PD7_WPORT PORTD +#define PD7_PWM NULL +#define PD7_DDR DDRD + +#undef PE0 +#define PE0_PIN PINE0 +#define PE0_RPORT PINE +#define PE0_WPORT PORTE +#define PE0_PWM NULL +#define PE0_DDR DDRE +#undef PE1 +#define PE1_PIN PINE1 +#define PE1_RPORT PINE +#define PE1_WPORT PORTE +#define PE1_PWM NULL +#define PE1_DDR DDRE +#undef PE2 +#define PE2_PIN PINE2 +#define PE2_RPORT PINE +#define PE2_WPORT PORTE +#define PE2_PWM NULL +#define PE2_DDR DDRE +#undef PE3 +#define PE3_PIN PINE3 +#define PE3_RPORT PINE +#define PE3_WPORT PORTE +#define PE3_PWM NULL +#define PE3_DDR DDRE +#undef PE4 +#define PE4_PIN PINE4 +#define PE4_RPORT PINE +#define PE4_WPORT PORTE +#define PE4_PWM NULL +#define PE4_DDR DDRE +#undef PE5 +#define PE5_PIN PINE5 +#define PE5_RPORT PINE +#define PE5_WPORT PORTE +#define PE5_PWM NULL +#define PE5_DDR DDRE +#undef PE6 +#define PE6_PIN PINE6 +#define PE6_RPORT PINE +#define PE6_WPORT PORTE +#define PE6_PWM NULL +#define PE6_DDR DDRE +#undef PE7 +#define PE7_PIN PINE7 +#define PE7_RPORT PINE +#define PE7_WPORT PORTE +#define PE7_PWM NULL +#define PE7_DDR DDRE + +#undef PF0 +#define PF0_PIN PINF0 +#define PF0_RPORT PINF +#define PF0_WPORT PORTF +#define PF0_PWM NULL +#define PF0_DDR DDRF +#undef PF1 +#define PF1_PIN PINF1 +#define PF1_RPORT PINF +#define PF1_WPORT PORTF +#define PF1_PWM NULL +#define PF1_DDR DDRF +#undef PF2 +#define PF2_PIN PINF2 +#define PF2_RPORT PINF +#define PF2_WPORT PORTF +#define PF2_PWM NULL +#define PF2_DDR DDRF +#undef PF3 +#define PF3_PIN PINF3 +#define PF3_RPORT PINF +#define PF3_WPORT PORTF +#define PF3_PWM NULL +#define PF3_DDR DDRF +#undef PF4 +#define PF4_PIN PINF4 +#define PF4_RPORT PINF +#define PF4_WPORT PORTF +#define PF4_PWM NULL +#define PF4_DDR DDRF +#undef PF5 +#define PF5_PIN PINF5 +#define PF5_RPORT PINF +#define PF5_WPORT PORTF +#define PF5_PWM NULL +#define PF5_DDR DDRF +#undef PF6 +#define PF6_PIN PINF6 +#define PF6_RPORT PINF +#define PF6_WPORT PORTF +#define PF6_PWM NULL +#define PF6_DDR DDRF +#undef PF7 +#define PF7_PIN PINF7 +#define PF7_RPORT PINF +#define PF7_WPORT PORTF +#define PF7_PWM NULL +#define PF7_DDR DDRF +#endif + +#ifndef DIO0_PIN +#error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request +#endif + +#endif /* _ARDUINO_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/language.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,300 @@ +#ifndef LANGUAGE_H +#define LANGUAGE_H + +// Languages +// 1 Custom (For you to add your own messages) +// 2 English +// 3 French (Waiting translation) +// 4 German (Waiting translation) +// 5 Etc + +#define LANGUAGE_CHOICE 1 // Pick your language from the list above + +#if LANGUAGE_CHOICE == 1 + +// LCD Menu Messages + + #define WELCOME_MSG "Printer Ready." + #define MSG_STANDBY_TEMP "Standby temp set for: " + #define MSG_SD_INSERTED "Card inserted" + #define MSG_SD_REMOVED "Card removed" + #define MSG_MAIN " Main \003" + #define MSG_AUTOSTART " Autostart" + #define MSG_DISABLE_STEPPERS " Disable Steppers" + #define MSG_AUTO_HOME " Auto Home" + #define MSG_SET_ORIGIN " Set Origin" + #define MSG_COOLDOWN " Cooldown" + #define MSG_EXTRUDE " Extrude" + #define MSG_PREHEAT_PLA " Preheat PLA" + #define MSG_PREHEAT_ABS " Preheat ABS" + #define MSG_MOVE_AXIS " Move Axis \x7E" + #define MSG_SPEED " Speed:" + #define MSG_NOZZLE " \002Nozzle:" + #define MSG_BED " \002Bed:" + #define MSG_FAN_SPEED " Fan speed:" + #define MSG_FLOW " Flow:" + #define MSG_CONTROL " Control \003" + #define MSG_MIN " \002 Min:" + #define MSG_MAX " \002 Max:" + #define MSG_FACTOR " \002 Fact:" + #define MSG_AUTOTEMP " Autotemp:" + #define MSG_ON "On " + #define MSG_OFF "Off" + #define MSG_PID_P " PID-P: " + #define MSG_PID_I " PID-I: " + #define MSG_PID_D " PID-D: " + #define MSG_PID_C " PID-C: " + #define MSG_ACC " Acc:" + #define MSG_VXY_JERK " Vxy-jerk: " + #define MSG_VMAX " Vmax " + #define MSG_X "x:" + #define MSG_Y "y:" + #define MSG_Z "z:" + #define MSG_E "e:" + #define MSG_VMIN " Vmin:" + #define MSG_VTRAV_MIN " VTrav min:" + #define MSG_AMAX " Amax " + #define MSG_A_RETRACT " A-retract:" + #define MSG_XSTEPS " Xsteps/mm:" + #define MSG_YSTEPS " Ysteps/mm:" + #define MSG_ZSTEPS " Zsteps/mm:" + #define MSG_ESTEPS " Esteps/mm:" + #define MSG_MAIN_WIDE " Main \003" + #define MSG_TEMPERATURE_WIDE " Temperature \x7E" + #define MSG_MOTION_WIDE " Motion \x7E" + #define MSG_STORE_EPROM " Store memory" + #define MSG_LOAD_EPROM " Load memory" + #define MSG_RESTORE_FAILSAFE " Restore Failsafe" + #define MSG_REFRESH "\004Refresh" + #define MSG_WATCH " Watch \003" + #define MSG_PREPARE " Prepare \x7E" + #define MSG_PREPARE_ALT " Prepare \003" + #define MSG_CONTROL_ARROW " Control \x7E" + #define MSG_TUNE " Tune \x7E" + #define MSG_STOP_PRINT " Stop Print \x7E" + #define MSG_CARD_MENU " Card Menu \x7E" + #define MSG_NO_CARD " No Card" + #define MSG_SERIAL_ERROR_MENU_STRUCTURE "Something is wrong in the MenuStructure." + #define MSG_DWELL "Sleep..." + #define MSG_USERWAIT "Wait for user..." + #define MSG_NO_MOVE "No move." + #define MSG_PART_RELEASE "Partial Release" + #define MSG_KILLED "KILLED. " + #define MSG_STOPPED "STOPPED. " + #define MSG_PREHEAT_PLA " Preheat PLA" + #define MSG_PREHEAT_ABS " Preheat ABS" + #define MSG_STEPPER_RELEASED "Released." + + +// Serial Console Messages + + #define MSG_Enqueing "enqueing \"" + #define MSG_POWERUP "PowerUp" + #define MSG_EXTERNAL_RESET " External Reset" + #define MSG_BROWNOUT_RESET " Brown out Reset" + #define MSG_WATCHDOG_RESET " Watchdog Reset" + #define MSG_SOFTWARE_RESET " Software Reset" + #define MSG_MARLIN "Marlin " + #define MSG_AUTHOR " | Author: " + #define MSG_CONFIGURATION_VER " Last Updated: " + #define MSG_FREE_MEMORY " Free Memory: " + #define MSG_PLANNER_BUFFER_BYTES " PlannerBufferBytes: " + #define MSG_OK "ok" + #define MSG_FILE_SAVED "Done saving file." + #define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:" + #define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:" + #define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:" + #define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:" + #define MSG_FILE_PRINTED "Done printing file" + #define MSG_BEGIN_FILE_LIST "Begin file list" + #define MSG_END_FILE_LIST "End file list" + #define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder " + #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " + #define MSG_ERR_NO_THERMISTORS "No thermistors - no temp" + #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " + #define MSG_HEATING "Heating..." + #define MSG_HEATING_COMPLETE "Heating done." + #define MSG_BED_HEATING "Bed Heating." + #define MSG_BED_DONE "Bed done." + #define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n" + #define MSG_COUNT_X " Count X:" + #define MSG_ERR_KILLED "Printer halted. kill() called !!" + #define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!. (Temperature is reset. Set it before restarting)" + #define MSG_RESEND "Resend:" + #define MSG_UNKNOWN_COMMAND "Unknown command:\"" + #define MSG_ACTIVE_EXTRUDER "Active Extruder: " + #define MSG_INVALID_EXTRUDER "Invalid extruder" + #define MSG_X_MIN "x_min:" + #define MSG_X_MAX "x_max:" + #define MSG_Y_MIN "y_min:" + #define MSG_Y_MAX "y_max:" + #define MSG_Z_MIN "z_min:" + #define MSG_Z_MAX "z_max:" + + #define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir" + #define MSG_SD_INIT_FAIL "SD init fail" + #define MSG_SD_VOL_INIT_FAIL "volume.init failed" + #define MSG_SD_OPENROOT_FAIL "openRoot failed" + #define MSG_SD_CARD_OK "SD card ok" + #define MSG_SD_WORKDIR_FAIL "workDir open failed" + #define MSG_SD_OPEN_FILE_FAIL "open failed, File: " + #define MSG_SD_FILE_OPENED "File opened:" + #define MSG_SD_SIZE " Size:" + #define MSG_SD_FILE_SELECTED "File selected" + #define MSG_SD_WRITE_TO_FILE "Writing to file: " + #define MSG_SD_PRINTING_BYTE "SD printing byte " + #define MSG_SD_NOT_PRINTING "Not SD printing" + #define MSG_SD_ERR_WRITE_TO_FILE "error writing to file" + #define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:" + + #define MSG_STEPPER_TO_HIGH "Steprate to high : " + #define MSG_ENDSTOPS_HIT "endstops hit: " + #define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented" + #define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented" + +#endif +#if LANGUAGE_CHOICE == 4 + +// LCD Menu Messages + + #define WELCOME_MSG "MARLIN Ready." + + #define MSG_SD_INSERTED "Card inserted" + #define MSG_SD_REMOVED "Card removed" + #define MSG_MAIN " Main \003" + #define MSG_AUTOSTART " Autostart" + #define MSG_DISABLE_STEPPERS " Stepper abschalten" + #define MSG_AUTO_HOME " Auto Heim" + #define MSG_SET_ORIGIN " Position setzen" + #define MSG_PREHEAT_PLA " Aufheizen PLA" + #define MSG_PREHEAT_ABS " Aufheizen ABS" + #define MSG_COOLDOWN " Abkuehlen" + #define MSG_EXTRUDE " Extrude" + #define MSG_PREHEAT_PLA " Preheat PLA" + #define MSG_PREHEAT_ABS " Preheat ABS" + #define MSG_MOVE_AXIS " Move Axis \x7E" + #define MSG_MOVE_AXIS " Achsen verfahren \x7E" + #define MSG_SPEED " Geschw:" + #define MSG_NOZZLE " \002Duese:" + #define MSG_BED " \002Bett:" + #define MSG_FAN_SPEED " Luefter geschw.:" + #define MSG_FLOW " Fluss:" + #define MSG_CONTROL " Kontrolle \003" + #define MSG_MIN " \002 Min:" + #define MSG_MAX " \002 Max:" + #define MSG_FACTOR " \002 Faktor:" + #define MSG_AUTOTEMP " AutoTemp:" + #define MSG_ON "Ein " + #define MSG_OFF "Aus " + #define MSG_PID_P " PID-P: " + #define MSG_PID_I " PID-I: " + #define MSG_PID_D " PID-D: " + #define MSG_PID_C " PID-C: " + #define MSG_ACC " Acc:" + #define MSG_VXY_JERK " Vxy-jerk: " + #define MSG_VMAX " Vmax " + #define MSG_X "x:" + #define MSG_Y "y:" + #define MSG_Z "z:" + #define MSG_E "e:" + #define MSG_VMIN " Vmin:" + #define MSG_VTRAV_MIN " VTrav min:" + #define MSG_AMAX " Amax " + #define MSG_A_RETRACT " A-retract:" + #define MSG_XSTEPS " Xsteps/mm:" + #define MSG_YSTEPS " Ysteps/mm:" + #define MSG_ZSTEPS " Zsteps/mm:" + #define MSG_ESTEPS " Esteps/mm:" + #define MSG_MAIN_WIDE " Main \003" + #define MSG_TEMPERATURE_WIDE " Temperatur \x7E" + #define MSG_MOTION_WIDE " Motion \x7E" + #define MSG_STORE_EPROM " EPROM speichern" + #define MSG_LOAD_EPROM " EPROM laden" + #define MSG_RESTORE_FAILSAFE " Standard Konfig." + #define MSG_REFRESH "\004Refresh" + #define MSG_WATCH " Beobachten \003" + #define MSG_PREPARE " Prepare \x7E" + #define MSG_PREPARE_ALT " Prepare \003" + #define MSG_CONTROL_ARROW " Control \x7E" + #define MSG_TUNE " Tune \x7E" + #define MSG_STOP_PRINT " Druck stoppen \x7E" + #define MSG_CARD_MENU " SDKarten Menue \x7E" + #define MSG_NO_CARD " Keine SDKarte" + #define MSG_SERIAL_ERROR_MENU_STRUCTURE "Fehler in der Menuestruktur." + #define MSG_DWELL "DWELL..." + #define MSG_NO_MOVE "No move." + #define MSG_PART_RELEASE "Partial Release" + #define MSG_KILLED "KILLED. " + #define MSG_PREHEAT_PLA " Preheat PLA" + #define MSG_PREHEAT_ABS " Preheat ABS" + #define MSG_STEPPER_RELEASED "Released." + + +// Serial Console Messages + + #define MSG_Enqueing "enqueing \"" + #define MSG_POWERUP "PowerUp" + #define MSG_EXTERNAL_RESET " External Reset" + #define MSG_BROWNOUT_RESET " Brown out Reset" + #define MSG_WATCHDOG_RESET " Watchdog Reset" + #define MSG_SOFTWARE_RESET " Software Reset" + #define MSG_MARLIN "Marlin: " + #define MSG_AUTHOR " | Author: " + #define MSG_CONFIGURATION_VER " Last Updated: " + #define MSG_FREE_MEMORY " Free Memory: " + #define MSG_PLANNER_BUFFER_BYTES " PlannerBufferBytes: " + #define MSG_OK "ok" + #define MSG_FILE_SAVED "Done saving file." + #define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line:" + #define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line:" + #define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line:" + #define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line:" + #define MSG_FILE_PRINTED "Done printing file" + #define MSG_BEGIN_FILE_LIST "Begin file list" + #define MSG_END_FILE_LIST "End file list" + #define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder " + #define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder " + #define MSG_ERR_NO_THERMISTORS "No thermistors - no temp" + #define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder " + #define MSG_HEATING "Heating..." + #define MSG_HEATING_COMPLETE "Heating done." + #define MSG_BED_HEATING "Bed Heating." + #define MSG_BED_DONE "Bed done." + #define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n" + #define MSG_COUNT_X " Count X:" + #define MSG_ERR_KILLED "Printer halted. kill() called !!" + #define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart!" + #define MSG_RESEND "Resend:" + #define MSG_UNKNOWN_COMMAND "Unknown command:\"" + #define MSG_ACTIVE_EXTRUDER "Active Extruder: " + #define MSG_INVALID_EXTRUDER "Invalid extruder" + #define MSG_X_MIN "x_min:" + #define MSG_X_MAX "x_max:" + #define MSG_Y_MIN "y_min:" + #define MSG_Y_MAX "y_max:" + #define MSG_Z_MIN "z_min:" + #define MSG_Z_MAX "z_max:" + + #define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir" + #define MSG_SD_INIT_FAIL "SD init fail" + #define MSG_SD_VOL_INIT_FAIL "volume.init failed" + #define MSG_SD_OPENROOT_FAIL "openRoot failed" + #define MSG_SD_CARD_OK "SD card ok" + #define MSG_SD_WORKDIR_FAIL "workDir open failed" + #define MSG_SD_OPEN_FILE_FAIL "open failed, File: " + #define MSG_SD_FILE_OPENED "File opened:" + #define MSG_SD_SIZE " Size:" + #define MSG_SD_FILE_SELECTED "File selected" + #define MSG_SD_WRITE_TO_FILE "Writing to file: " + #define MSG_SD_PRINTING_BYTE "SD printing byte " + #define MSG_SD_NOT_PRINTING "Not SD printing" + #define MSG_SD_ERR_WRITE_TO_FILE "error writing to file" + #define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir:" + + #define MSG_STEPPER_TO_HIGH "Steprate to high : " + #define MSG_ENDSTOPS_HIT "endstops hit: " + #define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented" + #define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented" + +#endif +#endif // ifndef LANGUAGE_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/led.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,37 @@ +#include "led.h" +#if (LED_PIN > -1) +#include "Marlin.h" +#include "temperature.h" + +static unsigned long previous_millis_led=0; +static unsigned long previous_millis_toggle=0; + +void led_init() +{ + SET_OUTPUT(LED_PIN); +} + +void led_status() +{ + if (((millis() - previous_millis_led) < LED_UPDATE_INTERVAL)) + return; + previous_millis_led=millis(); +/* // Not sure what this did - AB + if (degTargetHotend(active_extruder) > HEATER_0_MINTEMP) + { + if (((millis() - previous_millis_toggle) < LED_HOTEND_ACTIVE_FLASH)) + } + else + { + WRITE(LED_PIN, READ(HEATER_0_PIN)); // Just tell us if the extruder heater is on + }*/ + if(READ(HEATER_0_PIN)) + WRITE(LED_PIN, 1); // Heater on + else + TOGGLE(LED_PIN); // Heater off +} + + +#endif //LED_PIN > -1 + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/led.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,20 @@ +#ifndef __LEDH + +#define __LEDH +#include "Marlin.h" + +#if (LED_PIN > -1) + void led_status(); + void led_init(); + + #define LED_UPDATE_INTERVAL 100 + #define LED_HOTEND_ACTIVE_FLASH 800 + #define LED_ERROR_FLASH 200 + #define LED_STATUS led_status() + +#else //no led + #define LED_STATUS + FORCE_INLINE void led_status() {}; +#endif //LED_PIN > -1 + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motion_control.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,147 @@ +/* + motion_control.c - high level interface for issuing motion commands + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 Sungeun K. Jeon + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +#include "Marlin.h" +#include "stepper.h" +#include "planner.h" + +// The arc is approximated by generating a huge number of tiny, linear segments. The length of each +// segment is configured in settings.mm_per_arc_segment. +void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, + uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder) +{ + // int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled(); + // plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc + float center_axis0 = position[axis_0] + offset[axis_0]; + float center_axis1 = position[axis_1] + offset[axis_1]; + float linear_travel = target[axis_linear] - position[axis_linear]; + float extruder_travel = target[E_AXIS] - position[E_AXIS]; + float r_axis0 = -offset[axis_0]; // Radius vector from center to current location + float r_axis1 = -offset[axis_1]; + float rt_axis0 = target[axis_0] - center_axis0; + float rt_axis1 = target[axis_1] - center_axis1; + + // CCW angle between position and target from circle center. Only one atan2() trig computation required. + float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1); + if (angular_travel < 0) { angular_travel += 2*M_PI; } + if (isclockwise) { angular_travel -= 2*M_PI; } + + float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel)); + if (millimeters_of_travel < 0.001) { return; } + uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT); + if(segments == 0) segments = 1; + + /* + // Multiply inverse feed_rate to compensate for the fact that this movement is approximated + // by a number of discrete segments. The inverse feed_rate should be correct for the sum of + // all segments. + if (invert_feed_rate) { feed_rate *= segments; } + */ + float theta_per_segment = angular_travel/segments; + float linear_per_segment = linear_travel/segments; + float extruder_per_segment = extruder_travel/segments; + + /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + r_T = [cos(phi) -sin(phi); + sin(phi) cos(phi] * r ; + + For arc generation, the center of the circle is the axis of rotation and the radius vector is + defined from the circle center to the initial position. Each line segment is formed by successive + vector rotations. This requires only two cos() and sin() computations to form the rotation + matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + all double numbers are single precision on the Arduino. (True double precision will not have + round off issues for CNC applications.) Single precision error can accumulate to be greater than + tool precision in some cases. Therefore, arc path correction is implemented. + + Small angle approximation may be used to reduce computation overhead further. This approximation + holds for everything, but very small circles and large mm_per_arc_segment values. In other words, + theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + issue for CNC machines with the single precision Arduino calculations. + + This approximation also allows mc_arc to immediately insert a line segment into the planner + without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead. + This is important when there are successive arc motions. + */ + // Vector rotation matrix values + float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation + float sin_T = theta_per_segment; + + float arc_target[4]; + float sin_Ti; + float cos_Ti; + float r_axisi; + uint16_t i; + int8_t count = 0; + + // Initialize the linear axis + arc_target[axis_linear] = position[axis_linear]; + + // Initialize the extruder axis + arc_target[E_AXIS] = position[E_AXIS]; + + for (i = 1; i<segments; i++) { // Increment (segments-1) + + if (count < N_ARC_CORRECTION) { + // Apply vector rotation matrix + r_axisi = r_axis0*sin_T + r_axis1*cos_T; + r_axis0 = r_axis0*cos_T - r_axis1*sin_T; + r_axis1 = r_axisi; + count++; + } else { + // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. + // Compute exact location by applying transformation matrix from initial radius vector(=-offset). + cos_Ti = cos(i*theta_per_segment); + sin_Ti = sin(i*theta_per_segment); + r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti; + r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti; + count = 0; + } + + // Update arc_target location + arc_target[axis_0] = center_axis0 + r_axis0; + arc_target[axis_1] = center_axis1 + r_axis1; + arc_target[axis_linear] += linear_per_segment; + arc_target[E_AXIS] += extruder_per_segment; + + if (min_software_endstops) { + if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS; + if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS; + if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS; + } + + if (max_software_endstops) { + if (arc_target[X_AXIS] > max_length[X_AXIS]) arc_target[X_AXIS] = max_length[X_AXIS]; + if (arc_target[Y_AXIS] > max_length[Y_AXIS]) arc_target[Y_AXIS] = max_length[Y_AXIS]; + if (arc_target[Z_AXIS] > max_length[Z_AXIS]) arc_target[Z_AXIS] = max_length[Z_AXIS]; + } + plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder); + + } + // Ensure last segment arrives at target location. + plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder); + + // plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled); +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/motion_control.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,32 @@ +/* + motion_control.h - high level interface for issuing motion commands + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + Copyright (c) 2011 Sungeun K. Jeon + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +#ifndef motion_control_h +#define motion_control_h + +// Execute an arc in offset mode format. position == current xyz, target == target xyz, +// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is +// the direction of helical travel, radius == circle radius, isclockwise boolean. Used +// for vector transformation direction. +void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1, + unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder); + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pins.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,165 @@ +#ifndef _PINS_H +#define _PINS_H + +/**************************************************************************************** +* Sanguinololu pin assignment +* +****************************************************************************************/ +#if MOTHERBOARD == 62 +#define KNOWN_BOARD 1 +#ifndef __AVR_ATmega644P__ +#ifndef __AVR_ATmega1284P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif +#endif + +#define X_STEP_PIN 15 +#define X_DIR_PIN 21 +#define X_MIN_PIN 18 +#define X_MAX_PIN -1 + +#define Y_STEP_PIN 22 +#define Y_DIR_PIN 23 +#define Y_MIN_PIN 19 +#define Y_MAX_PIN -1 + +#define Z_STEP_PIN 3 +#define Z_DIR_PIN 2 +#define Z_MIN_PIN 20 +#define Z_MAX_PIN -1 + +#define E0_STEP_PIN 1 +#define E0_DIR_PIN 0 + +#define PROBE_PIN 20 + +#define LED_PIN -1 +#define FAN_PIN 12 + +#define PS_ON_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN 13 // (extruder) +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 + +#ifdef REPRAPPRO_HUXLEY + #define HEATER_BED_PIN 10 // bed (change to 10 for gate pin of MOSFET on heated bed) +#else + #define HEATER_BED_PIN 12 +#endif +#define X_ENABLE_PIN 14 +#define Y_ENABLE_PIN 14 +#define Z_ENABLE_PIN 26 +#define E0_ENABLE_PIN 14 + +#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder) +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define TEMP_BED_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) +#define SDPOWER -1 +#define SDSS 31 + + +#endif + +/**************************************************************************************** +* Melzi pin assignment +* +****************************************************************************************/ +#if MOTHERBOARD == 63 +#define KNOWN_BOARD 1 +#ifndef __AVR_ATmega644P__ +#ifndef __AVR_ATmega1284P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif +#endif + +#define X_STEP_PIN 15 +#define X_DIR_PIN 21 +#define X_MIN_PIN 18 +#define X_MAX_PIN -2 + +#define Y_STEP_PIN 22 +#define Y_DIR_PIN 23 +#define Y_MIN_PIN 19 +#define Y_MAX_PIN -1 + +#define Z_STEP_PIN 3 +#define Z_DIR_PIN 2 +#define Z_MIN_PIN 20 +#define Z_MAX_PIN -1 + +#define E0_STEP_PIN 1 +#define E0_DIR_PIN 0 + +#define PROBE_PIN -1 //29 on Melzi1284p A2 + +#define LED_PIN 27 +#define M571_PIN 28 + +#define FAN_PIN 4 + +#define PS_ON_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN 13 // (extruder) +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 +#ifdef REPRAPPRO_HUXLEY + #define HEATER_BED_PIN 10 // bed (change to 10 for gate pin of MOSFET on heated bed) +#else + #define HEATER_BED_PIN 12 +#endif +#define X_ENABLE_PIN 14 +#define Y_ENABLE_PIN 14 +#define Z_ENABLE_PIN 26 +#define E0_ENABLE_PIN 14 + +#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder) +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define TEMP_BED_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) +#define SDPOWER -1 +#define SDSS 31 + +#define SLAVE_CLOCK 16 + +#endif + + + +#ifndef KNOWN_BOARD +#error Unknown MOTHERBOARD value in configuration.h +#endif + +//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those! +#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, +#ifdef REPRAPPRO_MULTIMATERIALS + #define _E1_PINS -1, -1, -1, -1, + #define _E2_PINS -1, -1, -1, -1, +#else +#if EXTRUDERS > 1 + #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN, +#else + #define _E1_PINS +#endif +#if EXTRUDERS > 2 + #define _E2_PINS E2_STEP_PIN, E2_DIR_PIN, E2_ENABLE_PIN, HEATER_2_PIN, +#else + #define _E2_PINS +#endif +#endif + +#ifdef DISABLE_MAX_ENDSTOPS +#define X_MAX_PIN -1 +#define Y_MAX_PIN -1 +#define Z_MAX_PIN -1 +#endif + +#define SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, LED_PIN, PS_ON_PIN, \ + HEATER_BED_PIN, FAN_PIN, \ + _E0_PINS _E1_PINS _E2_PINS \ + TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN, TEMP_BED_PIN } + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/planner.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,815 @@ +/* + planner.c - buffers movement commands and manages the acceleration profile plan + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ + +/* + Reasoning behind the mathematics in this module (in the key of 'Mathematica'): + + s == speed, a == acceleration, t == time, d == distance + + Basic definitions: + + Speed[s_, a_, t_] := s + (a*t) + Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] + + Distance to reach a specific speed with a constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] + d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() + + Speed after a given distance of travel with constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] + m -> Sqrt[2 a d + s^2] + + DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] + + When to start braking (di) to reach a specified destionation speed (s2) after accelerating + from initial speed s1 without ever stopping at a plateau: + + Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] + di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() + + IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) +*/ + +#include "Marlin.h" +#include "planner.h" +#include "stepper.h" +#include "temperature.h" +#include "ultralcd.h" +#include "language.h" +#include "led.h" + +//=========================================================================== +//=============================public variables ============================ +//=========================================================================== + +unsigned long minsegmenttime; +float max_feedrate[4]; // set the max speeds +float axis_steps_per_unit[4]; +unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software +float minimumfeedrate; +float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX +float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX +float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. +float max_z_jerk; +float max_e_jerk; +float mintravelfeedrate; +unsigned long axis_steps_per_sqr_second[NUM_AXIS]; + +// The current position of the tool in absolute steps +long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode +static float previous_speed[4]; // Speed of previous path line segment +static float previous_nominal_speed; // Nominal speed of previous path line segment + +extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent) + +#ifdef AUTOTEMP + float autotemp_max=250; + float autotemp_min=210; + float autotemp_factor=0.1; + bool autotemp_enabled=false; +#endif + +//=========================================================================== +//=================semi-private variables, used in inline functions ===== +//=========================================================================== +block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions +volatile unsigned char block_buffer_head; // Index of the next block to be pushed +volatile unsigned char block_buffer_tail; // Index of the block to process now + +//=========================================================================== +//=============================private variables ============================ +//=========================================================================== +#ifdef PREVENT_DANGEROUS_EXTRUDE + bool allow_cold_extrude=false; +#endif +#ifdef XY_FREQUENCY_LIMIT + // Used for the frequency limit + static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations + static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations + static long y_segment_time[3]={0,0,0}; +#endif + +// Returns the index of the next block in the ring buffer +// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication. +static int8_t next_block_index(int8_t block_index) { + block_index++; + if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; } + return(block_index); +} + + +// Returns the index of the previous block in the ring buffer +static int8_t prev_block_index(int8_t block_index) { + if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; } + block_index--; + return(block_index); +} + +//=========================================================================== +//=============================functions ============================ +//=========================================================================== + +// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the +// given acceleration: +FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) +{ + if (acceleration!=0) { + return((target_rate*target_rate-initial_rate*initial_rate)/ + (2.0*acceleration)); + } + else { + return 0.0; // acceleration was 0, set acceleration distance to 0 + } +} + +// This function gives you the point at which you must start braking (at the rate of -acceleration) if +// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after +// a total travel of distance. This can be used to compute the intersection point between acceleration and +// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) + +FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) +{ + if (acceleration!=0) { + return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ + (4.0*acceleration) ); + } + else { + return 0.0; // acceleration was 0, set intersection distance to 0 + } +} + +// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. + +void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) { + unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min) + unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min) + + // Limit minimal step rate (Otherwise the timer will overflow.) + if(initial_rate <120) {initial_rate=120; } + if(final_rate < 120) {final_rate=120; } + + long acceleration = block->acceleration_st; + int32_t accelerate_steps = + ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration)); + int32_t decelerate_steps = + floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration)); + + // Calculate the size of Plateau of Nominal Rate. + int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; + + // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will + // have to use intersection_distance() to calculate when to abort acceleration and start braking + // in order to reach the final_rate exactly at the end of this block. + if (plateau_steps < 0) { + accelerate_steps = ceil( + intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count)); + accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off + accelerate_steps = min(accelerate_steps,block->step_event_count); + plateau_steps = 0; + } + + #ifdef ADVANCE + volatile long initial_advance = block->advance*entry_factor*entry_factor; + volatile long final_advance = block->advance*exit_factor*exit_factor; + #endif // ADVANCE + + // block->accelerate_until = accelerate_steps; + // block->decelerate_after = accelerate_steps+plateau_steps; + CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section + if(block->busy == false) { // Don't update variables if block is busy. + block->accelerate_until = accelerate_steps; + block->decelerate_after = accelerate_steps+plateau_steps; + block->initial_rate = initial_rate; + block->final_rate = final_rate; + #ifdef ADVANCE + block->initial_advance = initial_advance; + block->final_advance = final_advance; + #endif //ADVANCE + } + CRITICAL_SECTION_END; +} + +// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the +// acceleration within the allotted distance. +FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) { + return sqrt(target_velocity*target_velocity-2*acceleration*distance); +} + +// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. +// This method will calculate the junction jerk as the euclidean distance between the nominal +// velocities of the respective blocks. +//inline float junction_jerk(block_t *before, block_t *after) { +// return sqrt( +// pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2)); +//} + + +// The kernel called by planner_recalculate() when scanning the plan from last to first entry. +void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { + if(!current) { return; } + + if (next) { + // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. + // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and + // check for maximum allowable speed reductions to ensure maximum possible planned speed. + if (current->entry_speed != current->max_entry_speed) { + + // If nominal length true, max junction speed is guaranteed to be reached. Only compute + // for max allowable speed if block is decelerating and nominal length is false. + if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) { + current->entry_speed = min( current->max_entry_speed, + max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters)); + } else { + current->entry_speed = current->max_entry_speed; + } + current->recalculate_flag = true; + + } + } // Skip last block. Already initialized and set for recalculation. +} + +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the reverse pass. +void planner_reverse_pass() { + uint8_t block_index = block_buffer_head; + if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { + block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); + block_t *block[3] = { NULL, NULL, NULL }; + while(block_index != block_buffer_tail) { + block_index = prev_block_index(block_index); + block[2]= block[1]; + block[1]= block[0]; + block[0] = &block_buffer[block_index]; + planner_reverse_pass_kernel(block[0], block[1], block[2]); + } + } +} + +// The kernel called by planner_recalculate() when scanning the plan from first to last entry. +void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { + if(!previous) { return; } + + // If the previous block is an acceleration block, but it is not long enough to complete the + // full speed change within the block, we need to adjust the entry speed accordingly. Entry + // speeds have already been reset, maximized, and reverse planned by reverse planner. + // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. + if (!previous->nominal_length_flag) { + if (previous->entry_speed < current->entry_speed) { + double entry_speed = min( current->entry_speed, + max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) ); + + // Check for junction speed change + if (current->entry_speed != entry_speed) { + current->entry_speed = entry_speed; + current->recalculate_flag = true; + } + } + } +} + +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the forward pass. +void planner_forward_pass() { + uint8_t block_index = block_buffer_tail; + block_t *block[3] = { NULL, NULL, NULL }; + + while(block_index != block_buffer_head) { + block[0] = block[1]; + block[1] = block[2]; + block[2] = &block_buffer[block_index]; + planner_forward_pass_kernel(block[0],block[1],block[2]); + block_index = next_block_index(block_index); + } + planner_forward_pass_kernel(block[1], block[2], NULL); +} + +// Recalculates the trapezoid speed profiles for all blocks in the plan according to the +// entry_factor for each junction. Must be called by planner_recalculate() after +// updating the blocks. +void planner_recalculate_trapezoids() { + int8_t block_index = block_buffer_tail; + block_t *current; + block_t *next = NULL; + + while(block_index != block_buffer_head) { + current = next; + next = &block_buffer[block_index]; + if (current) { + // Recalculate if current block entry or exit junction speed has changed. + if (current->recalculate_flag || next->recalculate_flag) { + // NOTE: Entry and exit factors always > 0 by all previous logic operations. + calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed, + next->entry_speed/current->nominal_speed); + current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed + } + } + block_index = next_block_index( block_index ); + } + // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. + if(next != NULL) { + calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed, + MINIMUM_PLANNER_SPEED/next->nominal_speed); + next->recalculate_flag = false; + } +} + +// Recalculates the motion plan according to the following algorithm: +// +// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) +// so that: +// a. The junction jerk is within the set limit +// b. No speed reduction within one block requires faster deceleration than the one, true constant +// acceleration. +// 2. Go over every block in chronological order and dial down junction speed reduction values if +// a. The speed increase within one block would require faster accelleration than the one, true +// constant acceleration. +// +// When these stages are complete all blocks have an entry_factor that will allow all speed changes to +// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than +// the set limit. Finally it will: +// +// 3. Recalculate trapezoids for all blocks. + +void planner_recalculate() { + planner_reverse_pass(); + planner_forward_pass(); + planner_recalculate_trapezoids(); +} + +void plan_init() { + block_buffer_head = 0; + block_buffer_tail = 0; + memset(position, 0, sizeof(position)); // clear position + previous_speed[0] = 0.0; + previous_speed[1] = 0.0; + previous_speed[2] = 0.0; + previous_speed[3] = 0.0; + previous_nominal_speed = 0.0; +} + + + + +#ifdef AUTOTEMP +void getHighESpeed() +{ + static float oldt=0; + if(!autotemp_enabled){ + return; + } + if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero. + return; //do nothing + } + + float high=0.0; + uint8_t block_index = block_buffer_tail; + + while(block_index != block_buffer_head) { + if((block_buffer[block_index].steps_x != 0) || + (block_buffer[block_index].steps_y != 0) || + (block_buffer[block_index].steps_z != 0)) { + float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed; + //se; mm/sec; + if(se>high) + { + high=se; + } + } + block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); + } + + float g=autotemp_min+high*autotemp_factor; + float t=g; + if(t<autotemp_min) + t=autotemp_min; + if(t>autotemp_max) + t=autotemp_max; + if(oldt>t) + { + t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t; + } + oldt=t; + setTargetHotend0(t); +} +#endif + +void check_axes_activity() { + unsigned char x_active = 0; + unsigned char y_active = 0; + unsigned char z_active = 0; + unsigned char e_active = 0; + unsigned char fan_speed = 0; + unsigned char tail_fan_speed = 0; + block_t *block; + + if(block_buffer_tail != block_buffer_head) { + uint8_t block_index = block_buffer_tail; + tail_fan_speed = block_buffer[block_index].fan_speed; + while(block_index != block_buffer_head) { + block = &block_buffer[block_index]; + if(block->steps_x != 0) x_active++; + if(block->steps_y != 0) y_active++; + if(block->steps_z != 0) z_active++; + if(block->steps_e != 0) e_active++; + if(block->fan_speed != 0) fan_speed++; + block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); + } + } + else { + #if FAN_PIN > -1 + if (FanSpeed != 0) analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed + #endif + } + if((DISABLE_X) && (x_active == 0)) disable_x(); + if((DISABLE_Y) && (y_active == 0)) disable_y(); + if((DISABLE_Z) && (z_active == 0)) disable_z(); + if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); } + #if FAN_PIN > -1 + if((FanSpeed == 0) && (fan_speed ==0)) analogWrite(FAN_PIN, 0); + #endif + if (FanSpeed != 0 && tail_fan_speed !=0) { + analogWrite(FAN_PIN,tail_fan_speed); + } +} + + +float junction_deviation = 0.1; +// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in +// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration +// calculation the caller must also provide the physical length of the line in millimeters. +void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder) +{ + // Calculate the buffer head after we push this byte + int next_buffer_head = next_block_index(block_buffer_head); + + // If the buffer is full: good! That means we are well ahead of the robot. + // Rest here until there is room in the buffer. + while(block_buffer_tail == next_buffer_head) { + manage_heater(); + manage_inactivity(1); + LCD_STATUS; + LED_STATUS; + } + + // The target position of the tool in absolute steps + // Calculate target position in absolute steps + //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow + long target[4]; + target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); + target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); + target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + + #ifdef PREVENT_DANGEROUS_EXTRUDE + if(target[E_AXIS]!=position[E_AXIS]) + if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude) + { + position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); + } + if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH) + { + position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); + } + #endif + + // Prepare to set up new block + block_t *block = &block_buffer[block_buffer_head]; + + // Mark block as not busy (Not executed by the stepper interrupt) + block->busy = false; + + // Number of steps for each axis + block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); + block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); + block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); + block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); + block->steps_e *= extrudemultiply; + block->steps_e /= 100; + block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); + + // Bail if this is a zero-length block + if (block->step_event_count <= dropsegments) { return; }; + + block->fan_speed = FanSpeed; + + // Compute direction bits for this block + block->direction_bits = 0; + if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); } + if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); } + if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); } + if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); } + + block->active_extruder = extruder; + + //enable active axes + if(block->steps_x != 0) enable_x(); + if(block->steps_y != 0) enable_y(); + #ifndef Z_LATE_ENABLE + if(block->steps_z != 0) enable_z(); + #endif + + // Enable all + // N571 disables real E drive! (ie. on laser operations) + if (!n571_enabled) { + if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); } + } + + if (block->steps_e == 0) { + if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; + } + else { + if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; + } + + float delta_mm[4]; + delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; + delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; + delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; + delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0; +// if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) { +// block->millimeters = abs(delta_mm[E_AXIS]); +// } else { +// block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])); +// } + +// TODO - JMG - SORT OUT RETRACTS WHEN e IS NOT ALONE + block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + + square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS])); + float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides + + // Calculate speed in mm/second for each axis. No divide by zero due to previous checks. + float inverse_second = feed_rate * inverse_millimeters; + + int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); + + // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill + #ifdef OLD_SLOWDOWN + if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); + #endif + + #ifdef SLOWDOWN + // segment time im micro seconds + unsigned long segment_time = lround(1000000.0/inverse_second); + if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) { + if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. + inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued)); + } + } + #endif + // END OF SLOW DOWN SECTION + + + block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 + block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 + + // Calculate and limit speed in mm/sec for each axis + float current_speed[4]; + float speed_factor = 1.0; //factor <=1 do decrease speed + for(int i=0; i < 4; i++) { + current_speed[i] = delta_mm[i] * inverse_second; + if(fabs(current_speed[i]) > max_feedrate[i]) + speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); + } + +// Max segement time in us. +#ifdef XY_FREQUENCY_LIMIT +#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT) + + // Check and limit the xy direction change frequency + unsigned char direction_change = block->direction_bits ^ old_direction_bits; + old_direction_bits = block->direction_bits; + + if((direction_change & (1<<X_AXIS)) == 0) { + x_segment_time[0] += segment_time; + } + else { + x_segment_time[2] = x_segment_time[1]; + x_segment_time[1] = x_segment_time[0]; + x_segment_time[0] = segment_time; + } + if((direction_change & (1<<Y_AXIS)) == 0) { + y_segment_time[0] += segment_time; + } + else { + y_segment_time[2] = y_segment_time[1]; + y_segment_time[1] = y_segment_time[0]; + y_segment_time[0] = segment_time; + } + long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2])); + long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2])); + long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time); + if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME); +#endif + + // Correct the speed + if( speed_factor < 1.0) { + for(unsigned char i=0; i < 4; i++) { + current_speed[i] *= speed_factor; + } + block->nominal_speed *= speed_factor; + block->nominal_rate *= speed_factor; + } + + // Compute and limit the acceleration rate for the trapezoid generator. + float steps_per_mm = block->step_event_count/block->millimeters; + if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { + block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + } + else { + block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + // Limit acceleration per axis + if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; + } + block->acceleration = block->acceleration_st / steps_per_mm; + block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); + +#if 0 // Use old jerk for now + // Compute path unit vector + double unit_vec[3]; + + unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; + unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; + unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; + + // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. + // Let a circle be tangent to both previous and current path line segments, where the junction + // deviation is defined as the distance from the junction to the closest edge of the circle, + // colinear with the circle center. The circular segment joining the two paths represents the + // path of centripetal acceleration. Solve for max velocity based on max acceleration about the + // radius of the circle, defined indirectly by junction deviation. This may be also viewed as + // path width or max_jerk in the previous grbl version. This approach does not actually deviate + // from path, but used as a robust way to compute cornering speeds, as it takes into account the + // nonlinearities of both the junction angle and junction velocity. + double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed + + // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. + if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { + // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) + // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. + double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] + - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] + - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; + + // Skip and use default max junction speed for 0 degree acute junction. + if (cos_theta < 0.95) { + vmax_junction = min(previous_nominal_speed,block->nominal_speed); + // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. + if (cos_theta > -0.95) { + // Compute maximum junction velocity based on maximum acceleration and junction deviation + double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. + vmax_junction = min(vmax_junction, + sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); + } + } + } +#endif + // Start with a safe speed + float vmax_junction = max_xy_jerk/2; + if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) + vmax_junction = max_z_jerk/2; + vmax_junction = min(vmax_junction, block->nominal_speed); + if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) + vmax_junction = min(vmax_junction, max_e_jerk/2); + + if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) { + float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); + if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) { + vmax_junction = block->nominal_speed; + } + if (jerk > max_xy_jerk) { + vmax_junction *= (max_xy_jerk/jerk); + } + if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { + vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); + } + if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) { + vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])); + } + } + block->max_entry_speed = vmax_junction; + + // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. + double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); + block->entry_speed = min(vmax_junction, v_allowable); + + // Initialize planner efficiency flags + // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } + else { block->nominal_length_flag = false; } + block->recalculate_flag = true; // Always calculate trapezoid for new block + + // Update previous path unit_vector and nominal speed + memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[] + previous_nominal_speed = block->nominal_speed; + + + #ifdef ADVANCE + // Calculate advance rate + if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { + block->advance_rate = 0; + block->advance = 0; + } + else { + long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); + float advance = (STEPS_PER_CUBIC_MM_E * advance_k) * + (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256; + block->advance = advance; + if(acc_dist == 0) { + block->advance_rate = 0; + } + else { + block->advance_rate = advance / (float)acc_dist; + } + } + /* + SERIAL_ECHO_START; + SERIAL_ECHOPGM("advance :"); + SERIAL_ECHO(block->advance/256.0); + SERIAL_ECHOPGM("advance rate :"); + SERIAL_ECHOLN(block->advance_rate/256.0); + */ + #endif // ADVANCE + + calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, + MINIMUM_PLANNER_SPEED/block->nominal_speed); + + // Move buffer head + block_buffer_head = next_buffer_head; + + // Update position + memcpy(position, target, sizeof(target)); // position[] = target[] + + planner_recalculate(); + + st_wake_up(); +} + +void plan_set_position(const float &x, const float &y, const float &z, const float &e) +{ + position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); + position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); + position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); + previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. + previous_speed[0] = 0.0; + previous_speed[1] = 0.0; + previous_speed[2] = 0.0; + previous_speed[3] = 0.0; +} + +void plan_set_e_position(const float &e) +{ + position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + st_set_e_position(position[E_AXIS]); +} + +uint8_t movesplanned() +{ + return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); +} + +void allow_cold_extrudes(bool allow) +{ + #ifdef PREVENT_DANGEROUS_EXTRUDE + allow_cold_extrude=allow; + #endif +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/planner.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,139 @@ +/* + planner.h - buffers movement commands and manages the acceleration profile plan + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +// This module is to be considered a sub-module of stepper.c. Please don't include +// this file from any other module. + +#ifndef planner_h +#define planner_h + +#include "Marlin.h" + +// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in +// the source g-code and may never actually be reached if acceleration management is active. +typedef struct { + // Fields used by the bresenham algorithm for tracing the line + long steps_x, steps_y, steps_z, steps_e; // Step count along each axis + unsigned long step_event_count; // The number of step events required to complete this block + long accelerate_until; // The index of the step event on which to stop acceleration + long decelerate_after; // The index of the step event on which to start decelerating + long acceleration_rate; // The acceleration rate used for acceleration calculation + unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + unsigned char active_extruder; // Selects the active extruder + #ifdef ADVANCE + long advance_rate; + volatile long initial_advance; + volatile long final_advance; + float advance; + #endif + + // Fields used by the motion planner to manage acceleration +// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis + float nominal_speed; // The nominal speed for this block in mm/sec + float entry_speed; // Entry speed at previous-current junction in mm/sec + float max_entry_speed; // Maximum allowable junction entry speed in mm/sec + float millimeters; // The total travel of this block in mm + float acceleration; // acceleration mm/sec^2 + unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction + unsigned char nominal_length_flag; // Planner flag for nominal speed always reached + + // Settings for the trapezoid generator + unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec + unsigned long initial_rate; // The jerk-adjusted step rate at start of block + unsigned long final_rate; // The minimal rate at exit + unsigned long acceleration_st; // acceleration steps/sec^2 + unsigned long fan_speed; + volatile char busy; +} block_t; + +// Initialize the motion plan subsystem +void plan_init(); + +// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in +// millimaters. Feed rate specifies the speed of the motion. +void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); + +// Set position. Used for G92 instructions. +void plan_set_position(const float &x, const float &y, const float &z, const float &e); +void plan_set_e_position(const float &e); + + + +void check_axes_activity(); +uint8_t movesplanned(); //return the nr of buffered moves + +extern unsigned long minsegmenttime; +extern float max_feedrate[4]; // set the max speeds +extern float axis_steps_per_unit[4]; +extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software +extern float minimumfeedrate; +extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX +extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX +extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. +extern float max_z_jerk; +extern float max_e_jerk; +extern float mintravelfeedrate; +extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; + +#ifdef AUTOTEMP + extern bool autotemp_enabled; + extern float autotemp_max; + extern float autotemp_min; + extern float autotemp_factor; +#endif + + + + +extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions +extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed +extern volatile unsigned char block_buffer_tail; +// Called when the current block is no longer needed. Discards the block and makes the memory +// availible for new blocks. +FORCE_INLINE void plan_discard_current_block() +{ + if (block_buffer_head != block_buffer_tail) { + block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); + } +} + +// Gets the current block. Returns NULL if buffer empty +FORCE_INLINE block_t *plan_get_current_block() +{ + if (block_buffer_head == block_buffer_tail) { + return(NULL); + } + block_t *block = &block_buffer[block_buffer_tail]; + block->busy = true; + return(block); +} + +// Gets the current block. Returns NULL if buffer empty +FORCE_INLINE bool blocks_queued() +{ + if (block_buffer_head == block_buffer_tail) { + return false; + } + else + return true; +} + +void allow_cold_extrudes(bool allow); +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/slave_comms.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,17 @@ + +#include "Marlin.h" + +#ifdef REPRAPPRO_MULTIMATERIALS + +float txyz[EXTRUDERS]; +char slaveBuffer[64]; +long timeout; + +void setup_slave() +{ + MYSERIAL1.begin(250000); + SET_OUTPUT(SLAVE_CLOCK); + digitalWrite(SLAVE_CLOCK, 1); +} + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/slave_comms.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,71 @@ +#ifndef _SLAVE_COMMSH +#define _SLAVE_COMMSH +/* + Functions to drive, and to return values from, a slave processor + + Adrian Bowyer 29 July 2012 +*/ + +#ifdef REPRAPPRO_MULTIMATERIALS + +extern float txyz[]; +extern char slaveBuffer[]; +extern long timeout; +#define TIMEOUT 4 // ms + +float slaveDegHotend(uint8_t extruder); +void slaveSetTargetHotend(const float &celsius, uint8_t extruder); +float slaveDegTargetHotend(uint8_t extruder); +bool slaveIsHeatingHotend(uint8_t extruder); +bool slaveIsCoolingHotend(uint8_t extruder); +void slaveRemoteStep(int8_t extruder, int8_t v); +void slaveRemoteDir(int8_t extruder, bool forward); +void talkToSlave(char s[]); +char* listenToSlave(); +void setup_slave(); + + +FORCE_INLINE float slaveDegHotend(uint8_t extruder) { return txyz[extruder]; } +FORCE_INLINE void slaveSetTargetHotend(const float &celsius, uint8_t extruder) {txyz[extruder] = celsius; } +FORCE_INLINE float slaveDegTargetHotend(uint8_t extruder) { return txyz[extruder]; } +FORCE_INLINE bool slaveIsHeatingHotend(uint8_t extruder) { return false; } +FORCE_INLINE bool slaveIsCoolingHotend(uint8_t extruder) { return false; } + + +FORCE_INLINE void slaveRemoteStep(int8_t extruder, int8_t v) +{ + +} + +FORCE_INLINE void toggleSlaveClock() +{ + digitalWrite(SLAVE_CLOCK, !digitalRead(SLAVE_CLOCK)); +} + +FORCE_INLINE void slaveRemoteDir(int8_t extruder, bool forward) +{ + +} + +FORCE_INLINE void talkToSlave(char s[]) { MYSERIAL1.println(s); } +FORCE_INLINE char* listenToSlave() +{ + int c = 0; + timeout = millis(); + int8_t i = 0; + while(c != '\n' && (millis() - timeout < TIMEOUT)) + { + while(!MYSERIAL1.available() && (millis() - timeout < TIMEOUT)); + c = MYSERIAL1.read(); + //timeout = millis(); + slaveBuffer[i] = (char)c; + i++; + } + slaveBuffer[i] = 0; + return slaveBuffer; +} + +#endif + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/speed_lookuptable.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,152 @@ +#ifndef SPEED_LOOKUPTABLE_H +#define SPEED_LOOKUPTABLE_H + +#include "Marlin.h" + +#if F_CPU == 16000000 + +const uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\ +{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, +{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, +{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, +{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, +{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, +{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, +{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, +{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, +{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, +{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, +{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, +{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, +{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, +{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, +{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, +{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, +{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, +{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, +{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, +{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, +{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, +{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, +{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, +{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, +{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, +{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, +{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, +{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, +{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, +{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, +{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, +{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0} +}; + +const uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\ +{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, +{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, +{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, +{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, +{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, +{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, +{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, +{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, +{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, +{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, +{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, +{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, +{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, +{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, +{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, +{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, +{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, +{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, +{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, +{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, +{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, +{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, +{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, +{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, +{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, +{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, +{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, +{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, +{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, +{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, +{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, +{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3} +}; + +#else + +const uint16_t speed_lookuptable_fast[256][2] PROGMEM = { + {62500, 54055}, {8445, 3917}, {4528, 1434}, {3094, 745}, {2349, 456}, {1893, 307}, {1586, 222}, {1364, 167}, + {1197, 131}, {1066, 105}, {961, 86}, {875, 72}, {803, 61}, {742, 53}, {689, 45}, {644, 40}, + {604, 35}, {569, 32}, {537, 28}, {509, 25}, {484, 23}, {461, 21}, {440, 19}, {421, 17}, + {404, 16}, {388, 15}, {373, 14}, {359, 13}, {346, 12}, {334, 11}, {323, 10}, {313, 10}, + {303, 9}, {294, 9}, {285, 8}, {277, 7}, {270, 8}, {262, 7}, {255, 6}, {249, 6}, + {243, 6}, {237, 6}, {231, 5}, {226, 5}, {221, 5}, {216, 5}, {211, 4}, {207, 5}, + {202, 4}, {198, 4}, {194, 4}, {190, 3}, {187, 4}, {183, 3}, {180, 3}, {177, 4}, + {173, 3}, {170, 3}, {167, 2}, {165, 3}, {162, 3}, {159, 2}, {157, 3}, {154, 2}, + {152, 3}, {149, 2}, {147, 2}, {145, 2}, {143, 2}, {141, 2}, {139, 2}, {137, 2}, + {135, 2}, {133, 2}, {131, 2}, {129, 1}, {128, 2}, {126, 2}, {124, 1}, {123, 2}, + {121, 1}, {120, 2}, {118, 1}, {117, 1}, {116, 2}, {114, 1}, {113, 1}, {112, 2}, + {110, 1}, {109, 1}, {108, 1}, {107, 2}, {105, 1}, {104, 1}, {103, 1}, {102, 1}, + {101, 1}, {100, 1}, {99, 1}, {98, 1}, {97, 1}, {96, 1}, {95, 1}, {94, 1}, + {93, 1}, {92, 1}, {91, 0}, {91, 1}, {90, 1}, {89, 1}, {88, 1}, {87, 0}, + {87, 1}, {86, 1}, {85, 1}, {84, 0}, {84, 1}, {83, 1}, {82, 1}, {81, 0}, + {81, 1}, {80, 1}, {79, 0}, {79, 1}, {78, 0}, {78, 1}, {77, 1}, {76, 0}, + {76, 1}, {75, 0}, {75, 1}, {74, 1}, {73, 0}, {73, 1}, {72, 0}, {72, 1}, + {71, 0}, {71, 1}, {70, 0}, {70, 1}, {69, 0}, {69, 1}, {68, 0}, {68, 1}, + {67, 0}, {67, 1}, {66, 0}, {66, 1}, {65, 0}, {65, 0}, {65, 1}, {64, 0}, + {64, 1}, {63, 0}, {63, 1}, {62, 0}, {62, 0}, {62, 1}, {61, 0}, {61, 1}, + {60, 0}, {60, 0}, {60, 1}, {59, 0}, {59, 0}, {59, 1}, {58, 0}, {58, 0}, + {58, 1}, {57, 0}, {57, 0}, {57, 1}, {56, 0}, {56, 0}, {56, 1}, {55, 0}, + {55, 0}, {55, 1}, {54, 0}, {54, 0}, {54, 1}, {53, 0}, {53, 0}, {53, 0}, + {53, 1}, {52, 0}, {52, 0}, {52, 1}, {51, 0}, {51, 0}, {51, 0}, {51, 1}, + {50, 0}, {50, 0}, {50, 0}, {50, 1}, {49, 0}, {49, 0}, {49, 0}, {49, 1}, + {48, 0}, {48, 0}, {48, 0}, {48, 1}, {47, 0}, {47, 0}, {47, 0}, {47, 1}, + {46, 0}, {46, 0}, {46, 0}, {46, 0}, {46, 1}, {45, 0}, {45, 0}, {45, 0}, + {45, 1}, {44, 0}, {44, 0}, {44, 0}, {44, 0}, {44, 1}, {43, 0}, {43, 0}, + {43, 0}, {43, 0}, {43, 1}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, + {42, 1}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 1}, {40, 0}, + {40, 0}, {40, 0}, {40, 0}, {40, 1}, {39, 0}, {39, 0}, {39, 0}, {39, 0}, + {39, 0}, {39, 0}, {39, 1}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, +}; + +const uint16_t speed_lookuptable_slow[256][2] PROGMEM = { + {62500, 10417}, {52083, 7441}, {44642, 5580}, {39062, 4340}, {34722, 3472}, {31250, 2841}, {28409, 2368}, {26041, 2003}, + {24038, 1717}, {22321, 1488}, {20833, 1302}, {19531, 1149}, {18382, 1021}, {17361, 914}, {16447, 822}, {15625, 745}, + {14880, 676}, {14204, 618}, {13586, 566}, {13020, 520}, {12500, 481}, {12019, 445}, {11574, 414}, {11160, 385}, + {10775, 359}, {10416, 336}, {10080, 315}, {9765, 296}, {9469, 278}, {9191, 263}, {8928, 248}, {8680, 235}, + {8445, 222}, {8223, 211}, {8012, 200}, {7812, 191}, {7621, 181}, {7440, 173}, {7267, 165}, {7102, 158}, + {6944, 151}, {6793, 145}, {6648, 138}, {6510, 133}, {6377, 127}, {6250, 123}, {6127, 118}, {6009, 113}, + {5896, 109}, {5787, 106}, {5681, 101}, {5580, 98}, {5482, 95}, {5387, 91}, {5296, 88}, {5208, 86}, + {5122, 82}, {5040, 80}, {4960, 78}, {4882, 75}, {4807, 73}, {4734, 70}, {4664, 69}, {4595, 67}, + {4528, 64}, {4464, 63}, {4401, 61}, {4340, 60}, {4280, 58}, {4222, 56}, {4166, 55}, {4111, 53}, + {4058, 52}, {4006, 51}, {3955, 49}, {3906, 48}, {3858, 48}, {3810, 45}, {3765, 45}, {3720, 44}, + {3676, 43}, {3633, 42}, {3591, 40}, {3551, 40}, {3511, 39}, {3472, 38}, {3434, 38}, {3396, 36}, + {3360, 36}, {3324, 35}, {3289, 34}, {3255, 34}, {3221, 33}, {3188, 32}, {3156, 31}, {3125, 31}, + {3094, 31}, {3063, 30}, {3033, 29}, {3004, 28}, {2976, 28}, {2948, 28}, {2920, 27}, {2893, 27}, + {2866, 26}, {2840, 25}, {2815, 25}, {2790, 25}, {2765, 24}, {2741, 24}, {2717, 24}, {2693, 23}, + {2670, 22}, {2648, 22}, {2626, 22}, {2604, 22}, {2582, 21}, {2561, 21}, {2540, 20}, {2520, 20}, + {2500, 20}, {2480, 20}, {2460, 19}, {2441, 19}, {2422, 19}, {2403, 18}, {2385, 18}, {2367, 18}, + {2349, 17}, {2332, 18}, {2314, 17}, {2297, 16}, {2281, 17}, {2264, 16}, {2248, 16}, {2232, 16}, + {2216, 16}, {2200, 15}, {2185, 15}, {2170, 15}, {2155, 15}, {2140, 15}, {2125, 14}, {2111, 14}, + {2097, 14}, {2083, 14}, {2069, 14}, {2055, 13}, {2042, 13}, {2029, 13}, {2016, 13}, {2003, 13}, + {1990, 13}, {1977, 12}, {1965, 12}, {1953, 13}, {1940, 11}, {1929, 12}, {1917, 12}, {1905, 12}, + {1893, 11}, {1882, 11}, {1871, 11}, {1860, 11}, {1849, 11}, {1838, 11}, {1827, 11}, {1816, 10}, + {1806, 11}, {1795, 10}, {1785, 10}, {1775, 10}, {1765, 10}, {1755, 10}, {1745, 9}, {1736, 10}, + {1726, 9}, {1717, 10}, {1707, 9}, {1698, 9}, {1689, 9}, {1680, 9}, {1671, 9}, {1662, 9}, + {1653, 9}, {1644, 8}, {1636, 9}, {1627, 8}, {1619, 9}, {1610, 8}, {1602, 8}, {1594, 8}, + {1586, 8}, {1578, 8}, {1570, 8}, {1562, 8}, {1554, 7}, {1547, 8}, {1539, 8}, {1531, 7}, + {1524, 8}, {1516, 7}, {1509, 7}, {1502, 7}, {1495, 7}, {1488, 7}, {1481, 7}, {1474, 7}, + {1467, 7}, {1460, 7}, {1453, 7}, {1446, 6}, {1440, 7}, {1433, 7}, {1426, 6}, {1420, 6}, + {1414, 7}, {1407, 6}, {1401, 6}, {1395, 7}, {1388, 6}, {1382, 6}, {1376, 6}, {1370, 6}, + {1364, 6}, {1358, 6}, {1352, 6}, {1346, 5}, {1341, 6}, {1335, 6}, {1329, 5}, {1324, 6}, + {1318, 5}, {1313, 6}, {1307, 5}, {1302, 6}, {1296, 5}, {1291, 5}, {1286, 6}, {1280, 5}, + {1275, 5}, {1270, 5}, {1265, 5}, {1260, 5}, {1255, 5}, {1250, 5}, {1245, 5}, {1240, 5}, + {1235, 5}, {1230, 5}, {1225, 5}, {1220, 5}, {1215, 4}, {1211, 5}, {1206, 5}, {1201, 5}, +}; + +#endif + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stepper.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,872 @@ +/* + stepper.c - stepper motor driver: executes motion plans using stepper motors + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith + and Philipp Tiefenbacher. */ + +#include "Marlin.h" +#include "stepper.h" +#include "planner.h" +#include "temperature.h" +#include "ultralcd.h" +#include "language.h" +#include "led.h" +#include "speed_lookuptable.h" + + + +//=========================================================================== +//=============================public variables ============================ +//=========================================================================== +block_t *current_block; // A pointer to the block currently being traced +volatile bool endstop_z_hit=false; +bool old_z_min_endstop=false; + + +//=========================================================================== +//=============================private variables ============================ +//=========================================================================== +//static makes it inpossible to be called from outside of this file by extern.! + +// Variables used by The Stepper Driver Interrupt +static unsigned char out_bits; // The next stepping-bits to be output +static long counter_x, // Counter variables for the bresenham line tracer + counter_y, + counter_z, + counter_e; +volatile static unsigned long step_events_completed; // The number of step events executed in the current block +#ifdef ADVANCE + static long advance_rate, advance, final_advance = 0; + static long old_advance = 0; +#endif +static long e_steps[3]; +static long acceleration_time, deceleration_time; +//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; +static unsigned short acc_step_rate; // needed for deccelaration start point +static char step_loops; +static unsigned short OCR1A_nominal; + +volatile long endstops_trigsteps[3]={0,0,0}; +volatile long endstops_stepsTotal,endstops_stepsDone; +static volatile bool endstop_x_hit=false; +static volatile bool endstop_y_hit=false; + +static bool old_x_min_endstop=false; +static bool old_x_max_endstop=false; +static bool old_y_min_endstop=false; +static bool old_y_max_endstop=false; +static bool old_z_max_endstop=false; + +static bool check_endstops = true; + +volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; +volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; + +//=========================================================================== +//=============================functions ============================ +//=========================================================================== + +#define CHECK_ENDSTOPS if(check_endstops) + +// intRes = intIn1 * intIn2 >> 16 +// uses: +// r26 to store 0 +// r27 to store the byte 1 of the 24 bit result +#define MultiU16X8toH16(intRes, charIn1, intIn2) \ +asm volatile ( \ +"clr r26 \n\t" \ +"mul %A1, %B2 \n\t" \ +"movw %A0, r0 \n\t" \ +"mul %A1, %A2 \n\t" \ +"add %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"lsr r0 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"clr r1 \n\t" \ +: \ +"=&r" (intRes) \ +: \ +"d" (charIn1), \ +"d" (intIn2) \ +: \ +"r26" \ +) + +// intRes = longIn1 * longIn2 >> 24 +// uses: +// r26 to store 0 +// r27 to store the byte 1 of the 48bit result +#define MultiU24X24toH16(intRes, longIn1, longIn2) \ +asm volatile ( \ +"clr r26 \n\t" \ +"mul %A1, %B2 \n\t" \ +"mov r27, r1 \n\t" \ +"mul %B1, %C2 \n\t" \ +"movw %A0, r0 \n\t" \ +"mul %C1, %C2 \n\t" \ +"add %B0, r0 \n\t" \ +"mul %C1, %B2 \n\t" \ +"add %A0, r0 \n\t" \ +"adc %B0, r1 \n\t" \ +"mul %A1, %C2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %B1, %B2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %C1, %A2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %B1, %A2 \n\t" \ +"add r27, r1 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"lsr r27 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"clr r1 \n\t" \ +: \ +"=&r" (intRes) \ +: \ +"d" (longIn1), \ +"d" (longIn2) \ +: \ +"r26" , "r27" \ +) + +// Some useful constants + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) + + +void checkHitEndstops() +{ + if( endstop_x_hit || endstop_y_hit || endstop_z_hit) { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT); + if(endstop_x_hit) { + SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]); + } + if(endstop_y_hit) { + SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]); + } + if(endstop_z_hit) { + SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]); + } + SERIAL_ECHOLN(""); + endstop_x_hit=false; + endstop_y_hit=false; + endstop_z_hit=false; + } +} + +void endstops_hit_on_purpose() +{ + endstop_x_hit=false; + endstop_y_hit=false; + endstop_z_hit=false; +} + +void enable_endstops(bool check) +{ + check_endstops = check; +} + +// __________________________ +// /| |\ _________________ ^ +// / | | \ /| |\ | +// / | | \ / | | \ s +// / | | | | | \ p +// / | | | | | \ e +// +-----+------------------------+---+--+---------------+----+ e +// | BLOCK 1 | BLOCK 2 | d +// +// time -----> +// +// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates +// first block->accelerate_until step_events_completed, then keeps going at constant speed until +// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. +// The slope of acceleration is calculated with the leib ramp alghorithm. + +void st_wake_up() { + // TCNT1 = 0; + ENABLE_STEPPER_DRIVER_INTERRUPT(); +} + +FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) { + unsigned short timer; + if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; + + if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times + step_rate = (step_rate >> 2)&0x3fff; + step_loops = 4; + } + else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times + step_rate = (step_rate >> 1)&0x7fff; + step_loops = 2; + } + else { + step_loops = 1; + } + + if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000); + step_rate -= (F_CPU/500000); // Correct for minimal speed + if(step_rate >= (8*256)){ // higher step rate + unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; + unsigned char tmp_step_rate = (step_rate & 0x00ff); + unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); + MultiU16X8toH16(timer, tmp_step_rate, gain); + timer = (unsigned short)pgm_read_word_near(table_address) - timer; + } + else { // lower step rates + unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0]; + table_address += ((step_rate)>>1) & 0xfffc; + timer = (unsigned short)pgm_read_word_near(table_address); + timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); + } + if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen) + return timer; +} + +// Initializes the trapezoid generator from the current block. Called whenever a new +// block begins. +FORCE_INLINE void trapezoid_generator_reset() { + #ifdef ADVANCE + advance = current_block->initial_advance; + final_advance = current_block->final_advance; + // Do E steps + advance steps + e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); + old_advance = advance >>8; + #endif + deceleration_time = 0; + // step_rate to timer interval + acc_step_rate = current_block->initial_rate; + acceleration_time = calc_timer(acc_step_rate); + OCR1A = acceleration_time; + OCR1A_nominal = calc_timer(current_block->nominal_rate); + + + +// SERIAL_ECHO_START; +// SERIAL_ECHOPGM("advance :"); +// SERIAL_ECHO(current_block->advance/256.0); +// SERIAL_ECHOPGM("advance rate :"); +// SERIAL_ECHO(current_block->advance_rate/256.0); +// SERIAL_ECHOPGM("initial advance :"); +// SERIAL_ECHO(current_block->initial_advance/256.0); +// SERIAL_ECHOPGM("final advance :"); +// SERIAL_ECHOLN(current_block->final_advance/256.0); + +} + +// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. +// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. +ISR(TIMER1_COMPA_vect) +{ + // If there is no current block, attempt to pop one from the buffer + if (current_block == NULL) { + // Anything in the buffer? + current_block = plan_get_current_block(); + if (current_block != NULL) { + current_block->busy = true; + trapezoid_generator_reset(); + counter_x = -(current_block->step_event_count >> 1); + counter_y = counter_x; + counter_z = counter_x; + counter_e = counter_x; + step_events_completed = 0; + + #ifdef Z_LATE_ENABLE + if(current_block->steps_z > 0) { + enable_z(); + OCR1A = 2000; //1ms wait + return; + } + #endif + +// #ifdef ADVANCE +// e_steps[current_block->active_extruder] = 0; +// #endif + } + else { + OCR1A=2000; // 1kHz. + } + } + + if (current_block != NULL) { + // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt + out_bits = current_block->direction_bits; + + // Set direction en check limit switches + if ((out_bits & (1<<X_AXIS)) != 0) { // -direction + WRITE(X_DIR_PIN, INVERT_X_DIR); + count_direction[X_AXIS]=-1; + CHECK_ENDSTOPS + { + #if X_MIN_PIN > -1 + bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING); + if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { + endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_min_endstop = x_min_endstop; + #endif + } + } + else { // +direction + WRITE(X_DIR_PIN,!INVERT_X_DIR); + count_direction[X_AXIS]=1; + CHECK_ENDSTOPS + { + #if X_MAX_PIN > -1 + bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING); + if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ + endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_max_endstop = x_max_endstop; + #endif + } + } + + if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction + WRITE(Y_DIR_PIN,INVERT_Y_DIR); + count_direction[Y_AXIS]=-1; + CHECK_ENDSTOPS + { + #if Y_MIN_PIN > -1 + bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING); + if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { + endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_min_endstop = y_min_endstop; + #endif + } + } + else { // +direction + WRITE(Y_DIR_PIN,!INVERT_Y_DIR); + count_direction[Y_AXIS]=1; + CHECK_ENDSTOPS + { + #if Y_MAX_PIN > -1 + bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING); + if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ + endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_max_endstop = y_max_endstop; + #endif + } + } + + if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction + WRITE(Z_DIR_PIN,INVERT_Z_DIR); + count_direction[Z_AXIS]=-1; + CHECK_ENDSTOPS + { + #if Z_MIN_PIN > -1 + bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING); + if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { + endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; + endstop_z_hit=true; + step_events_completed = current_block->step_event_count; + } + old_z_min_endstop = z_min_endstop; + #endif + } + } + else { // +direction + WRITE(Z_DIR_PIN,!INVERT_Z_DIR); + count_direction[Z_AXIS]=1; + CHECK_ENDSTOPS + { + #if Z_MAX_PIN > -1 + bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING); + if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { + endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; + endstop_z_hit=true; + step_events_completed = current_block->step_event_count; + } + old_z_max_endstop = z_max_endstop; + #endif + } + } + + #ifndef ADVANCE + if ((out_bits & (1<<E_AXIS)) != 0) { // -direction + REV_E_DIR(); + + if (m571_enabled) WRITE(M571_PIN, LOW);// M571 disable, never on retract! + count_direction[E_AXIS]=-1; + } + else { // +direction + NORM_E_DIR(); + count_direction[E_AXIS]=1; + } + #endif //!ADVANCE + + + + for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) + #ifndef REPRAPPRO_MULTIMATERIALS + #if MOTHERBOARD != 8 // !teensylu + MSerial.checkRx(); // Check for serial chars. + #endif + #endif + + #ifdef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) { + counter_e -= current_block->step_event_count; + if ((out_bits & (1<<E_AXIS)) != 0) { // - direction + e_steps[current_block->active_extruder]--; + } + else { + e_steps[current_block->active_extruder]++; + } + } + #endif //ADVANCE + + counter_x += current_block->steps_x; + if (counter_x > 0) { + WRITE(X_STEP_PIN, HIGH); + counter_x -= current_block->step_event_count; + WRITE(X_STEP_PIN, LOW); + count_position[X_AXIS]+=count_direction[X_AXIS]; + } + + counter_y += current_block->steps_y; + if (counter_y > 0) { + WRITE(Y_STEP_PIN, HIGH); + counter_y -= current_block->step_event_count; + WRITE(Y_STEP_PIN, LOW); + count_position[Y_AXIS]+=count_direction[Y_AXIS]; + } + + counter_z += current_block->steps_z; + if (counter_z > 0) { + WRITE(Z_STEP_PIN, HIGH); + counter_z -= current_block->step_event_count; + WRITE(Z_STEP_PIN, LOW); + count_position[Z_AXIS]+=count_direction[Z_AXIS]; + } + + #ifndef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) { + // M571 enable, since extruder motor active + if (m571_enabled) WRITE(M571_PIN, HIGH); + // N571 disables real E drive! (ie. on laser operations) + if (!n571_enabled) { + WRITE_E_STEP(HIGH); + counter_e -= current_block->step_event_count; + WRITE_E_STEP(LOW); + } else counter_e -= current_block->step_event_count; + count_position[E_AXIS]+=count_direction[E_AXIS]; + } else { + // M571 disable, no more E_steps to do + if (m571_enabled) WRITE(M571_PIN, LOW); + + } + #endif //!ADVANCE + step_events_completed += 1; + if(step_events_completed >= current_block->step_event_count) break; + } + // Calculare new timer value + unsigned short timer; + unsigned short step_rate; + if (step_events_completed <= (unsigned long int)current_block->accelerate_until) { + + MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); + acc_step_rate += current_block->initial_rate; + + // upper limit + if(acc_step_rate > current_block->nominal_rate) + acc_step_rate = current_block->nominal_rate; + + // step_rate to timer interval + timer = calc_timer(acc_step_rate); + OCR1A = timer; + acceleration_time += timer; + #ifdef ADVANCE + for(int8_t i=0; i < step_loops; i++) { + advance += advance_rate; + } + //if(advance > current_block->advance) advance = current_block->advance; + // Do E steps + advance steps + e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); + old_advance = advance >>8; + + #endif + } + else if (step_events_completed > (unsigned long int)current_block->decelerate_after) { + MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); + + if(step_rate > acc_step_rate) { // Check step_rate stays positive + step_rate = current_block->final_rate; + } + else { + step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point. + } + + // lower limit + if(step_rate < current_block->final_rate) + step_rate = current_block->final_rate; + + // step_rate to timer interval + timer = calc_timer(step_rate); + OCR1A = timer; + deceleration_time += timer; + #ifdef ADVANCE + for(int8_t i=0; i < step_loops; i++) { + advance -= advance_rate; + } + if(advance < final_advance) advance = final_advance; + // Do E steps + advance steps + e_steps[current_block->active_extruder] += ((advance >>8) - old_advance); + old_advance = advance >>8; + #endif //ADVANCE + } + else { + OCR1A = OCR1A_nominal; + } + + // If current block is finished, reset pointer + if (step_events_completed >= current_block->step_event_count) { + current_block = NULL; + plan_discard_current_block(); + } + } +} + +#ifdef ADVANCE + unsigned char old_OCR0A; + // Timer interrupt for E. e_steps is set in the main routine; + // Timer 0 is shared with millies + ISR(TIMER0_COMPA_vect) + { + old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) + OCR0A = old_OCR0A; + // Set E direction (Depends on E direction + advance) + for(unsigned char i=0; i<4;i++) { + if (e_steps[0] != 0) { + WRITE(E0_STEP_PIN, LOW); + if (e_steps[0] < 0) { + WRITE(E0_DIR_PIN, INVERT_E0_DIR); + e_steps[0]++; + WRITE(E0_STEP_PIN, HIGH); + } + else if (e_steps[0] > 0) { + WRITE(E0_DIR_PIN, !INVERT_E0_DIR); + e_steps[0]--; + WRITE(E0_STEP_PIN, HIGH); + } + } + #if EXTRUDERS > 1 + if (e_steps[1] != 0) { + WRITE(E1_STEP_PIN, LOW); + if (e_steps[1] < 0) { + WRITE(E1_DIR_PIN, INVERT_E1_DIR); + e_steps[1]++; + WRITE(E1_STEP_PIN, HIGH); + } + else if (e_steps[1] > 0) { + WRITE(E1_DIR_PIN, !INVERT_E1_DIR); + e_steps[1]--; + WRITE(E1_STEP_PIN, HIGH); + } + } + #endif + #if EXTRUDERS > 2 + if (e_steps[2] != 0) { + WRITE(E2_STEP_PIN, LOW); + if (e_steps[2] < 0) { + WRITE(E2_DIR_PIN, INVERT_E2_DIR); + e_steps[2]++; + WRITE(E2_STEP_PIN, HIGH); + } + else if (e_steps[2] > 0) { + WRITE(E2_DIR_PIN, !INVERT_E2_DIR); + e_steps[2]--; + WRITE(E2_STEP_PIN, HIGH); + } + } + #endif + } + } +#endif // ADVANCE + +void st_init() +{ + //Initialize Dir Pins + #if X_DIR_PIN > -1 + SET_OUTPUT(X_DIR_PIN); + #endif + #if Y_DIR_PIN > -1 + SET_OUTPUT(Y_DIR_PIN); + #endif + #if Z_DIR_PIN > -1 + SET_OUTPUT(Z_DIR_PIN); + #endif + #if E0_DIR_PIN > -1 + SET_OUTPUT(E0_DIR_PIN); + #endif + #if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1) + SET_OUTPUT(E1_DIR_PIN); + #endif + #if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1) + SET_OUTPUT(E2_DIR_PIN); + #endif + + //Initialize Enable Pins - steppers default to disabled. + + #if (X_ENABLE_PIN > -1) + SET_OUTPUT(X_ENABLE_PIN); + if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); + #endif + #if (Y_ENABLE_PIN > -1) + SET_OUTPUT(Y_ENABLE_PIN); + if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); + #endif + #if (Z_ENABLE_PIN > -1) + SET_OUTPUT(Z_ENABLE_PIN); + if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); + #endif + #if (E0_ENABLE_PIN > -1) + SET_OUTPUT(E0_ENABLE_PIN); + if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); + #endif + #if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1) + SET_OUTPUT(E1_ENABLE_PIN); + if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); + #endif + #if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1) + SET_OUTPUT(E2_ENABLE_PIN); + if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); + #endif + + //endstops and pullups + #ifdef ENDSTOPPULLUPS + #if X_MIN_PIN > -1 + SET_INPUT(X_MIN_PIN); + WRITE(X_MIN_PIN,HIGH); + #endif + #if X_MAX_PIN > -1 + SET_INPUT(X_MAX_PIN); + WRITE(X_MAX_PIN,HIGH); + #endif + #if Y_MIN_PIN > -1 + SET_INPUT(Y_MIN_PIN); + WRITE(Y_MIN_PIN,HIGH); + #endif + #if Y_MAX_PIN > -1 + SET_INPUT(Y_MAX_PIN); + WRITE(Y_MAX_PIN,HIGH); + #endif + #if Z_MIN_PIN > -1 + SET_INPUT(Z_MIN_PIN); + WRITE(Z_MIN_PIN,HIGH); + #endif + #if Z_MAX_PIN > -1 + SET_INPUT(Z_MAX_PIN); + WRITE(Z_MAX_PIN,HIGH); + #endif + #else //ENDSTOPPULLUPS + #if X_MIN_PIN > -1 + SET_INPUT(X_MIN_PIN); + #endif + #if X_MAX_PIN > -1 + SET_INPUT(X_MAX_PIN); + #endif + #if Y_MIN_PIN > -1 + SET_INPUT(Y_MIN_PIN); + #endif + #if Y_MAX_PIN > -1 + SET_INPUT(Y_MAX_PIN); + #endif + #if Z_MIN_PIN > -1 + SET_INPUT(Z_MIN_PIN); + #endif + #if Z_MAX_PIN > -1 + SET_INPUT(Z_MAX_PIN); + #endif + #endif //ENDSTOPPULLUPS + + + //Initialize Step Pins + #if (X_STEP_PIN > -1) + SET_OUTPUT(X_STEP_PIN); + #if X_ENABLE_PIN > -1 + if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); + #endif + #endif + #if (Y_STEP_PIN > -1) + SET_OUTPUT(Y_STEP_PIN); + #if Y_ENABLE_PIN > -1 + if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); + #endif + #endif + #if (Z_STEP_PIN > -1) + SET_OUTPUT(Z_STEP_PIN); + #if Z_ENABLE_PIN > -1 + if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); + #endif + #endif + #if (E0_STEP_PIN > -1) + SET_OUTPUT(E0_STEP_PIN); + #if E0_ENABLE_PIN > -1 + if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH); + #endif + #endif + #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) + SET_OUTPUT(E1_STEP_PIN); + #if E1_ENABLE_PIN > -1 + if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH); + #endif + #endif + #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) + SET_OUTPUT(E2_STEP_PIN); + #if E2_ENABLE_PIN > -1 + if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH); + #endif + #endif + + #ifdef CONTROLLERFAN_PIN + SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan + #endif + + // M571 disable, switch off default + if (m571_enabled) WRITE(M571_PIN, LOW); + + + // waveform generation = 0100 = CTC + TCCR1B &= ~(1<<WGM13); + TCCR1B |= (1<<WGM12); + TCCR1A &= ~(1<<WGM11); + TCCR1A &= ~(1<<WGM10); + + // output mode = 00 (disconnected) + TCCR1A &= ~(3<<COM1A0); + TCCR1A &= ~(3<<COM1B0); + + // Set the timer pre-scaler + // Generally we use a divider of 8, resulting in a 2MHz timer + // frequency on a 16MHz MCU. If you are going to change this, be + // sure to regenerate speed_lookuptable.h with + // create_speed_lookuptable.py + TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); + + OCR1A = 0x4000; + TCNT1 = 0; + ENABLE_STEPPER_DRIVER_INTERRUPT(); + + #ifdef ADVANCE + #if defined(TCCR0A) && defined(WGM01) + TCCR0A &= ~(1<<WGM01); + TCCR0A &= ~(1<<WGM00); + #endif + e_steps[0] = 0; + e_steps[1] = 0; + e_steps[2] = 0; + TIMSK0 |= (1<<OCIE0A); + #endif //ADVANCE + + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #else + enable_endstops(true); + #endif + + sei(); +} + + +// Block until all buffered steps are executed +void st_synchronize() +{ + while( blocks_queued()) { + manage_heater(); + manage_inactivity(1); + LCD_STATUS; + } +} + +void st_set_position(const long &x, const long &y, const long &z, const long &e) +{ + CRITICAL_SECTION_START; + count_position[X_AXIS] = x; + count_position[Y_AXIS] = y; + count_position[Z_AXIS] = z; + count_position[E_AXIS] = e; + CRITICAL_SECTION_END; +} + +void st_set_e_position(const long &e) +{ + CRITICAL_SECTION_START; + count_position[E_AXIS] = e; + CRITICAL_SECTION_END; +} + +long st_get_position(uint8_t axis) +{ + long count_pos; + CRITICAL_SECTION_START; + count_pos = count_position[axis]; + CRITICAL_SECTION_END; + return count_pos; +} + +void finishAndDisableSteppers() +{ + st_synchronize(); + LCD_MESSAGEPGM(MSG_STEPPER_RELEASED); + disable_x(); + disable_y(); + disable_z(); + disable_e0(); + disable_e1(); + disable_e2(); +} + +void quickStop() +{ + DISABLE_STEPPER_DRIVER_INTERRUPT(); + + while(blocks_queued()) + plan_discard_current_block(); + current_block = NULL; + + // M571 disable, switch off default + if (m571_enabled) WRITE(M571_PIN, LOW); + + ENABLE_STEPPER_DRIVER_INTERRUPT(); +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/stepper.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,139 @@ +/* + stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors + Part of Grbl + + Copyright (c) 2009-2011 Simen Svale Skogsrud + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +#ifndef stepper_h +#define stepper_h + +#include "planner.h" +#include "slave_comms.h" + +#ifdef REPRAPPRO_MULTIMATERIALS + +#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { slaveRemoteStep(2, v); } else { if(current_block->active_extruder == 1) { slaveRemoteStep(1, v); } else { WRITE(E0_STEP_PIN, v); }}} +#define NORM_E_DIR() { if(current_block->active_extruder == 2) { slaveRemoteDir(2, true); } else { if(current_block->active_extruder == 1) { slaveRemoteDir(1, true); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}} +#define REV_E_DIR() { if(current_block->active_extruder == 2) { slaveRemoteDir(2, false); } else { if(current_block->active_extruder == 1) { slaveRemoteDir(1, false); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}} + + +/* +inline void WRITE_E_STEP(int8_t v) +{ + if(current_block->active_extruder == 2) + { + slaveRemoteStep(2, v); //E2_STEP_PIN, v); + } else + { + if(current_block->active_extruder == 1) + { + slaveRemoteStep(1, v); //E1_STEP_PIN, v); + } else + { + WRITE(E0_STEP_PIN, v); + } + } +} + +inline void NORM_E_DIR() +{ + if(current_block->active_extruder == 2) + { + slaveRemoteDir(2, true); //!E2_DIR_PIN, INVERT_E2_DIR); + } else + { + if(current_block->active_extruder == 1) + { + slaveRemoteDir(1, true); //!E1_DIR_PIN, INVERT_E1_DIR); + } else + { + WRITE(E0_DIR_PIN, !INVERT_E0_DIR); + } + } +} + +inline void REV_E_DIR() +{ + if(current_block->active_extruder == 2) + { + slaveRemoteDir(2, false); //E2_DIR_PIN, INVERT_E2_DIR); + } else + { + if(current_block->active_extruder == 1) + { + slaveRemoteDir(1, false); //E1_DIR_PIN, INVERT_E1_DIR); + } else + { + WRITE(E0_DIR_PIN, INVERT_E0_DIR); + } + } +} +*/ +#else + +#if EXTRUDERS > 2 + #define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}} + #define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(!E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(!E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}} + #define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}} +#elif EXTRUDERS > 1 + #define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }} + #define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }} + #define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }} +#else + #define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v) + #define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR) + #define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR) +#endif + +#endif + + + +// Initialize and start the stepper motor subsystem +void st_init(); + +// Block until all buffered steps are executed +void st_synchronize(); + +// Set current position in steps +void st_set_position(const long &x, const long &y, const long &z, const long &e); +void st_set_e_position(const long &e); + +// Get current position in steps +long st_get_position(uint8_t axis); + +// The stepper subsystem goes to sleep when it runs out of things to execute. Call this +// to notify the subsystem that it is time to go to work. +void st_wake_up(); + + +void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered +void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops(); + +void enable_endstops(bool check); // Enable/disable endstop checking + +void checkStepperErrors(); //Print errors detected by the stepper + +void finishAndDisableSteppers(); + +extern block_t *current_block; // A pointer to the block currently being traced +extern volatile long endstops_trigsteps[]; +extern volatile bool endstop_z_hit; +extern bool old_z_min_endstop; + +void quickStop(); +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/temperature.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,733 @@ +/* + temperature.c - temperature control + Part of Marlin + + Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm + + 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/>. + */ + +/* + This firmware is a mashup between Sprinter and grbl. + (https://github.com/kliment/Sprinter) + (https://github.com/simen/grbl/tree) + + It has preliminary support for Matthew Roberts advance algorithm + http://reprap.org/pipermail/reprap-dev/2011-May/003323.html + + */ + + +#include "Marlin.h" +#include "ultralcd.h" +#include "temperature.h" + +//=========================================================================== +//=============================public variables============================ +//=========================================================================== +int target_raw[EXTRUDERS_T] = { 0 }; +int target_raw_bed = 0; + +int current_raw[EXTRUDERS_T] = { 0 }; +int current_raw_bed = 0; + +int b_beta = BED_BETA; +int b_resistor = BED_RS; +long b_thermistor = BED_NTC; +float b_inf = BED_R_INF; + +int n_beta = E_BETA; +int n_resistor = E_RS; +long n_thermistor = E_NTC; +float n_inf = E_R_INF; + +#ifdef PIDTEMP + // used external + float pid_setpoint[EXTRUDERS_T] = { 0.0 }; + + float Kp=DEFAULT_Kp; + float Ki=DEFAULT_Ki; + int Ki_Max=PID_INTEGRAL_DRIVE_MAX; + float Kd=DEFAULT_Kd; + +#endif //PIDTEMP + + +//=========================================================================== +//=============================private variables============================ +//=========================================================================== +static volatile bool temp_meas_ready = false; + +static unsigned long previous_millis_bed_heater; +//static unsigned long previous_millis_heater; + +#ifdef PIDTEMP + //static cannot be external: + static float temp_iState[EXTRUDERS_T] = { 0 }; + static float temp_dState[EXTRUDERS_T] = { 0 }; + static float pTerm[EXTRUDERS_T]; + static float iTerm[EXTRUDERS_T]; + static float dTerm[EXTRUDERS_T]; + //int output; + static float pid_error[EXTRUDERS_T]; + static float temp_iState_min[EXTRUDERS_T]; + static float temp_iState_max[EXTRUDERS_T]; + // static float pid_input[EXTRUDERS_T]; + // static float pid_output[EXTRUDERS_T]; + static bool pid_reset[EXTRUDERS_T]; +#endif //PIDTEMP + static unsigned char soft_pwm[EXTRUDERS_T]; + + +// Init min and max temp with extreme values to prevent false errors during startup +// static int minttemp[EXTRUDERS_T] = { 0 }; +// static int maxttemp[EXTRUDERS_T] = { 16383 }; // the first value used for all + static int bed_minttemp = 0; + static int bed_maxttemp = 16383; + + +//=========================================================================== +//============================= functions ============================ +//=========================================================================== + +void PID_autotune(float temp) +{ + float input; + int cycles=0; + bool heating = true; + + unsigned long temp_millis = millis(); + unsigned long t1=temp_millis; + unsigned long t2=temp_millis; + long t_high; + long t_low; + + long bias=PID_MAX/2; + long d = PID_MAX/2; + float Ku, Tu; + float Kp, Ki, Kd; + float max, min; + + SERIAL_ECHOLN("PID Autotune start"); + + disable_heater(); // switch off all heaters. + + soft_pwm[0] = PID_MAX/2; + + for(;;) { + + if(temp_meas_ready == true) { // temp sample ready + CRITICAL_SECTION_START; + temp_meas_ready = false; + CRITICAL_SECTION_END; + input = analog2temp(current_raw[0], 0); + + max=max(max,input); + min=min(min,input); + if(heating == true && input > temp) { + if(millis() - t2 > 5000) { + heating=false; + soft_pwm[0] = (bias - d) >> 1; + t1=millis(); + t_high=t1 - t2; + max=temp; + } + } + if(heating == false && input < temp) { + if(millis() - t1 > 5000) { + heating=true; + t2=millis(); + t_low=t2 - t1; + if(cycles > 0) { + bias += (d*(t_high - t_low))/(t_low + t_high); + bias = constrain(bias, 20 ,PID_MAX-FULL_PID_BAND); + if(bias > PID_MAX/2) d = PID_MAX - 1 - bias; + else d = bias; + + SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias); + SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d); + SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min); + SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max); + if(cycles > 2) { + Ku = (4.0*d)/(3.14159*(max-min)/2.0); + Tu = ((float)(t_low + t_high)/1000.0); + SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku); + SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu); + Kp = 0.6*Ku; + Ki = 2*Kp/Tu; + Kd = Kp*Tu/8; + SERIAL_PROTOCOLLNPGM(" Clasic PID ") + SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + } + } + soft_pwm[0] = (bias + d) >> 1; + cycles++; + min=temp; + } + } + } + if(input > (temp + 20)) { + SERIAL_PROTOCOLLNPGM("PID Autotune failed! Temperature to high"); + return; + } + if(millis() - temp_millis > 2000) { + temp_millis = millis(); + SERIAL_PROTOCOLPGM("ok T:"); + SERIAL_PROTOCOL(degHotend(0)); + SERIAL_PROTOCOLPGM(" @:"); + SERIAL_PROTOCOLLN(getHeaterPower(0)); + } + if(((millis() - t1) + (millis() - t2)) > (10L*60L*1000L*2L)) { + SERIAL_PROTOCOLLNPGM("PID Autotune failed! timeout"); + return; + } + if(cycles > 5) { + SERIAL_PROTOCOLLNPGM("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h"); + return; + } + LCD_STATUS; + } +} + +void updatePID() +{ +#ifdef PIDTEMP + for(int e = 0; e < EXTRUDERS_T; e++) { + temp_iState_max[e] = Ki_Max / Ki; + } +#endif +} + +int getHeaterPower(int heater) { + return soft_pwm[heater]; +} + +void manage_heater() +{ + float pid_input; + float pid_output; + + if(temp_meas_ready != true) //better readability + return; + + CRITICAL_SECTION_START; + temp_meas_ready = false; + CRITICAL_SECTION_END; + + for(int e = 0; e < EXTRUDERS_T; e++) + { + + #ifdef PIDTEMP + pid_input = analog2temp(current_raw[e], e); + + + pid_error[e] = pid_setpoint[e] - pid_input; + if(pid_error[e] > FULL_PID_BAND) { + pid_output = PID_MAX; + pid_reset[e] = true; + } + else if(pid_error[e] < -FULL_PID_BAND) { + pid_output = 0; + pid_reset[e] = true; + } + else { + if(pid_reset[e] == true) { + temp_iState[e] = 0.0; + pid_reset[e] = false; + } + pTerm[e] = Kp * pid_error[e]; + temp_iState[e] += pid_error[e]; + temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]); + iTerm[e] = Ki * temp_iState[e]; + //K1 defined in Configuration.h in the PID settings + #define K2 (1.0-K1) + dTerm[e] = (Kd * (pid_input - temp_dState[e]))*K2 + (K1 * dTerm[e]); + temp_dState[e] = pid_input; + pid_output = constrain(pTerm[e] + iTerm[e] - dTerm[e], 0, PID_MAX); + } + + #ifdef PID_DEBUG + SERIAL_ECHOLN(" PIDDEBUG "<<e<<": Input "<<pid_input<<" Output "<<pid_output" pTerm "<<pTerm[e]<<" iTerm "<<iTerm[e]<<" dTerm "<<dTerm[e]); + #endif //PID_DEBUG + #else /* PID off */ + pid_output = 0; + if(current_raw[e] < target_raw[e]) { + pid_output = PID_MAX; + } + #endif + + // Check if temperature is within the correct range + if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e])) + { + soft_pwm[e] = (int)pid_output >> 1; + } + else { + soft_pwm[e] = 0; + } + } // End extruder for loop + + + if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) + return; + previous_millis_bed_heater = millis(); + + #if TEMP_BED_PIN > -1 + + // Check if temperature is within the correct range + if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) { + if(current_raw_bed >= target_raw_bed) + { + WRITE(HEATER_BED_PIN,LOW); + } + else + { + WRITE(HEATER_BED_PIN,HIGH); + } + } + else { + WRITE(HEATER_BED_PIN,LOW); + } + #endif +} + +// Use algebra to work out temperatures, not tables +// NB - this assumes all extruders use the same thermistor type. +int temp2analogi(int celsius, const float& beta, const float& rs, const float& r_inf) +{ + float r = r_inf*exp(beta/(celsius - ABS_ZERO)); + return AD_RANGE - (int)(0.5 + AD_RANGE*r/(r + rs)); +} + +float analog2tempi(int raw, const float& beta, const float& rs, const float& r_inf) +{ + float rawf = (float)(AD_RANGE - raw); + return ABS_ZERO + beta/log( (rawf*rs/(AD_RANGE - rawf))/r_inf ); +} + + +#ifdef REPRAPPRO_MULTIMATERIALS + + +float analog2temp_remote(uint8_t e) +{ + return slaveDegHotend(e); +} + +int temp2analog_remote(int celsius, uint8_t e) +{ + // What do we do about this, then? + return temp2analogi(celsius, n_beta, n_resistor, n_inf); +} +#endif + + +int temp2analog(int celsius, uint8_t e) +{ +#ifdef REPRAPPRO_MULTIMATERIALS + if(e > 0) return temp2analog_remote(celsius, e); +#endif + return temp2analogi(celsius, n_beta, n_resistor, n_inf); +} +float analog2temp(int raw, uint8_t e) +{ +#ifdef REPRAPPRO_MULTIMATERIALS + if(e > 0) return analog2temp_remote(e); +#endif + return analog2tempi(raw, n_beta, n_resistor, n_inf); +} + +int temp2analogBed(int celsius) +{ + return temp2analogi(celsius, b_beta, b_resistor, b_inf); +} +float analog2tempBed(int raw) +{ + return analog2tempi(raw, b_beta, b_resistor, b_inf); +} + + + +void tp_init() +{ + // Finish init of mult extruder arrays + for(int e = 0; e < EXTRUDERS_T; e++) { + // populate with the first value + maxttemp[e] = maxttemp[0]; +#ifdef PIDTEMP + temp_iState_min[e] = 0.0; + temp_iState_max[e] = Ki_Max / Ki; +#endif //PIDTEMP + } + + #if (HEATER_0_PIN > -1) + SET_OUTPUT(HEATER_0_PIN); + #endif + #if (HEATER_1_PIN > -1) + SET_OUTPUT(HEATER_1_PIN); + #endif + #if (HEATER_2_PIN > -1) + SET_OUTPUT(HEATER_2_PIN); + #endif + #if (HEATER_BED_PIN > -1) + SET_OUTPUT(HEATER_BED_PIN); + #endif + #if (FAN_PIN > -1) + SET_OUTPUT(FAN_PIN); + #endif + + + // Set analog inputs + ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; + DIDR0 = 0; + #ifdef DIDR2 + DIDR2 = 0; + #endif + #if (TEMP_0_PIN > -1) + #if TEMP_0_PIN < 8 + DIDR0 |= 1 << TEMP_0_PIN; + #else + DIDR2 |= 1<<(TEMP_0_PIN - 8); + #endif + #endif + #if (TEMP_1_PIN > -1) + #if TEMP_1_PIN < 8 + DIDR0 |= 1<<TEMP_1_PIN; + #else + DIDR2 |= 1<<(TEMP_1_PIN - 8); + #endif + #endif + #if (TEMP_2_PIN > -1) + #if TEMP_2_PIN < 8 + DIDR0 |= 1 << TEMP_2_PIN; + #else + DIDR2 = 1<<(TEMP_2_PIN - 8); + #endif + #endif + #if (TEMP_BED_PIN > -1) + #if TEMP_BED_PIN < 8 + DIDR0 |= 1<<TEMP_BED_PIN; + #else + DIDR2 |= 1<<(TEMP_BED_PIN - 8); + #endif + #endif + + // Use timer0 for temperature measurement + // Interleave temperature interrupt with millies interrupt + OCR0B = 128; + TIMSK0 |= (1<<OCIE0B); + + // Wait for temperature measurement to settle + delay(250); + +#ifdef HEATER_0_MINTEMP + minttemp[0] = temp2analog(HEATER_0_MINTEMP, 0); +#endif //MINTEMP +#ifdef HEATER_0_MAXTEMP + maxttemp[0] = temp2analog(HEATER_0_MAXTEMP, 0); +#endif //MAXTEMP + +#if (EXTRUDERS_T > 1) && defined(HEATER_1_MINTEMP) + minttemp[1] = temp2analog(HEATER_1_MINTEMP, 1); +#endif // MINTEMP 1 +#if (EXTRUDERS_T > 1) && defined(HEATER_1_MAXTEMP) + maxttemp[1] = temp2analog(HEATER_1_MAXTEMP, 1); +#endif //MAXTEMP 1 + +#if (EXTRUDERS_T > 2) && defined(HEATER_2_MINTEMP) + minttemp[2] = temp2analog(HEATER_2_MINTEMP, 2); +#endif //MINTEMP 2 +#if (EXTRUDERS_T > 2) && defined(HEATER_2_MAXTEMP) + maxttemp[2] = temp2analog(HEATER_2_MAXTEMP, 2); +#endif //MAXTEMP 2 + +#ifdef BED_MINTEMP + bed_minttemp = temp2analogBed(BED_MINTEMP); +#endif //BED_MINTEMP +#ifdef BED_MAXTEMP + bed_maxttemp = temp2analogBed(BED_MAXTEMP); +#endif //BED_MAXTEMP +} + + + +void disable_heater() +{ + for(int i=0;i<EXTRUDERS_T;i++) + setTargetHotend(0,i); + setTargetBed(0); + #if TEMP_0_PIN > -1 + target_raw[0]=0; + soft_pwm[0]=0; + #if HEATER_0_PIN > -1 + WRITE(HEATER_0_PIN,LOW); + #endif + #endif + + #if TEMP_1_PIN > -1 + target_raw[1]=0; + soft_pwm[1]=0; + #if HEATER_1_PIN > -1 + WRITE(HEATER_1_PIN,LOW); + #endif + #endif + + #if TEMP_2_PIN > -1 + target_raw[2]=0; + soft_pwm[2]=0; + #if HEATER_2_PIN > -1 + WRITE(HEATER_2_PIN,LOW); + #endif + #endif + + #if TEMP_BED_PIN > -1 + target_raw_bed=0; + #if HEATER_BED_PIN > -1 + WRITE(HEATER_BED_PIN,LOW); + #endif + #endif +} + +void max_temp_error(uint8_t e) { + disable_heater(); + if(IsStopped() == false) { + SERIAL_ERROR_START; + SERIAL_ERRORLN((int)e); + SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !"); + } +} + +void min_temp_error(uint8_t e) { + disable_heater(); + if(IsStopped() == false) { + SERIAL_ERROR_START; + SERIAL_ERRORLN((int)e); + SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !"); + } +} + +void bed_max_temp_error(void) { +#if HEATER_BED_PIN > -1 + WRITE(HEATER_BED_PIN, 0); +#endif + if(IsStopped() == false) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!"); + } +} + + +// Timer 0 is shared with millies +ISR(TIMER0_COMPB_vect) +{ + //these variables are only accesible from the ISR, but static, so they don't loose their value + static unsigned char temp_count = 0; + static unsigned long raw_temp_0_value = 0; + static unsigned long raw_temp_1_value = 0; + static unsigned long raw_temp_2_value = 0; + static unsigned long raw_temp_bed_value = 0; + static unsigned char temp_state = 0; + static unsigned char pwm_count = 1; + static unsigned char soft_pwm_0; + static unsigned char soft_pwm_1; + static unsigned char soft_pwm_2; + + if(pwm_count == 0){ + soft_pwm_0 = soft_pwm[0]; + if(soft_pwm_0 > 0) WRITE(HEATER_0_PIN,1); + #ifdef REPRAPPRO_MULTIMATERIALS + // Nothing to do here - remote handles it + #else + #if EXTRUDERS_T > 1 + soft_pwm_1 = soft_pwm[1]; + if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); + #endif + #if EXTRUDERS_T > 2 + soft_pwm_2 = soft_pwm[2]; + if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); + #endif + #endif + } + if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0); + #ifdef REPRAPPRO_MULTIMATERIALS + // Nothing to do here - remote handles it + #else + #if EXTRUDERS_T > 1 + if(soft_pwm_1 <= pwm_count) WRITE(HEATER_1_PIN,0); + #endif + #if EXTRUDERS_T > 2 + if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0); + #endif + #endif + pwm_count++; + pwm_count &= 0x7f; + + switch(temp_state) { + case 0: // Prepare TEMP_0 + #if (TEMP_0_PIN > -1) + #if TEMP_0_PIN > 7 + ADCSRB = 1<<MUX5; + #else + ADCSRB = 0; + #endif + ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07)); + ADCSRA |= 1<<ADSC; // Start conversion + #endif + #ifdef ULTIPANEL + buttons_check(); + #endif + temp_state = 1; + break; + case 1: // Measure TEMP_0 + #if (TEMP_0_PIN > -1) + raw_temp_0_value += ADC; + #endif + + temp_state = 2; + break; + case 2: // Prepare TEMP_BED + #if (TEMP_BED_PIN > -1) + #if TEMP_BED_PIN > 7 + ADCSRB = 1<<MUX5; + #endif + ADMUX = ((1 << REFS0) | (TEMP_BED_PIN & 0x07)); + ADCSRA |= 1<<ADSC; // Start conversion + #endif + #ifdef ULTIPANEL + buttons_check(); + #endif + temp_state = 3; + break; + case 3: // Measure TEMP_BED + #if (TEMP_BED_PIN > -1) + raw_temp_bed_value += ADC; + #endif + temp_state = 4; + break; + case 4: // Prepare TEMP_1 + #if (TEMP_1_PIN > -1) + #if TEMP_1_PIN > 7 + ADCSRB = 1<<MUX5; + #else + ADCSRB = 0; + #endif + ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07)); + ADCSRA |= 1<<ADSC; // Start conversion + #endif + #ifdef ULTIPANEL + buttons_check(); + #endif + temp_state = 5; + break; + case 5: // Measure TEMP_1 + #if (TEMP_1_PIN > -1) + raw_temp_1_value += ADC; + #endif + temp_state = 6; + break; + case 6: // Prepare TEMP_2 + #if (TEMP_2_PIN > -1) + #if TEMP_2_PIN > 7 + ADCSRB = 1<<MUX5; + #else + ADCSRB = 0; + #endif + ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07)); + ADCSRA |= 1<<ADSC; // Start conversion + #endif + #ifdef ULTIPANEL + buttons_check(); + #endif + temp_state = 7; + break; + case 7: // Measure TEMP_2 + #if (TEMP_2_PIN > -1) + raw_temp_2_value += ADC; + #endif + temp_state = 0; + temp_count++; + break; +// default: +// SERIAL_ERROR_START; +// SERIAL_ERRORLNPGM("Temp measurement error!"); +// break; + } + + if(temp_count >= 16) // 8 ms * 16 = 128ms. + { + #if defined(HEATER_0_USES_AD595) || defined(HEATER_0_USES_MAX6675) + current_raw[0] = raw_temp_0_value; + #else + current_raw[0] = 16383 - raw_temp_0_value; + #endif + +#if EXTRUDERS_T > 1 + #ifdef HEATER_1_USES_AD595 + current_raw[1] = raw_temp_1_value; + #else + current_raw[1] = 16383 - raw_temp_1_value; + #endif +#endif + +#if EXTRUDERS_T > 2 + #ifdef HEATER_2_USES_AD595 + current_raw[2] = raw_temp_2_value; + #else + current_raw[2] = 16383 - raw_temp_2_value; + #endif +#endif + + + current_raw_bed = 16383 - raw_temp_bed_value; + + + temp_meas_ready = true; + temp_count = 0; + raw_temp_0_value = 0; + raw_temp_1_value = 0; + raw_temp_2_value = 0; + raw_temp_bed_value = 0; + + for(unsigned char e = 0; e < EXTRUDERS_T; e++) { + if(current_raw[e] >= maxttemp[e]) { + target_raw[e] = 0; + max_temp_error(e); + #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE + { + Stop(); + } + #endif + } + if(current_raw[e] <= minttemp[e]) { + target_raw[e] = 0; + min_temp_error(e); + #ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE + { + Stop(); + } + #endif + } + } + +#if defined(BED_MAXTEMP) && (HEATER_BED_PIN > -1) + if(current_raw_bed >= bed_maxttemp) { + target_raw_bed = 0; + bed_max_temp_error(); + Stop(); + } +#endif + } +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/temperature.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,217 @@ +/* + temperature.h - temperature controller + Part of Marlin + + Copyright (c) 2011 Erik van der Zalm + + Grbl 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. + + Grbl 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 Grbl. If not, see <http://www.gnu.org/licenses/>. +*/ + +#ifndef temperature_h +#define temperature_h + +#include "Marlin.h" +#include "planner.h" +#include "slave_comms.h" + +// If we are using a slave board we have multiple extruders, but we only have to worry +// about the temperature of the first one of them. + +#ifdef REPRAPPRO_MULTIMATERIALS +#define EXTRUDERS_T 1 +#else +#define EXTRUDERS_T EXTRUDERS +#endif + +// public functions +void tp_init(); //initialise the heating +void manage_heater(); //it is critical that this is called periodically. + +//low leven conversion routines +// do not use this routines and variables outsie of temperature.cpp +int temp2analog(int celsius, uint8_t e); +int temp2analogBed(int celsius); +float analog2temp(int raw, uint8_t e); +float analog2tempBed(int raw); +extern int target_raw[EXTRUDERS_T]; +extern int heatingtarget_raw[EXTRUDERS_T]; +extern int current_raw[EXTRUDERS_T]; + static int minttemp[EXTRUDERS_T] = { 50 }; + static int maxttemp[EXTRUDERS_T] = { 16383 }; // the first value used for all +extern int target_raw_bed; +extern int current_raw_bed; +extern int b_beta; +extern int b_resistor; +extern long b_thermistor; +extern float b_inf; + +extern int n_beta; +extern int n_resistor; +extern long n_thermistor; +extern float n_inf; + +extern float Kp,Ki,Kd,Kc; +extern int Ki_Max; + +#ifdef PIDTEMP + extern float pid_setpoint[EXTRUDERS_T]; +#endif + +//high level conversion routines, for use outside of temperature.cpp +//inline so that there is no performance decrease. +//deg=degreeCelsius + +#ifdef REPRAPPRO_MULTIMATERIALS +FORCE_INLINE float degHotend(uint8_t extruder) +{ + if(extruder == 0) + return analog2temp(current_raw[extruder], extruder); + else + return slaveDegHotend(extruder); +}; + +FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) +{ + if(extruder == 0) + { + target_raw[extruder] = temp2analog(celsius, extruder); + #ifdef PIDTEMP + pid_setpoint[extruder] = celsius; + #endif //PIDTEMP + } else + slaveSetTargetHotend(celsius, extruder); +}; + +FORCE_INLINE float degTargetHotend(uint8_t extruder) +{ + if(extruder == 0) + return analog2temp(target_raw[extruder], extruder); + else + return slaveDegTargetHotend(extruder); +}; + +FORCE_INLINE bool isHeatingHotend(uint8_t extruder) +{ + if(extruder == 0) + return target_raw[extruder] > current_raw[extruder]; + else + return slaveIsHeatingHotend(extruder); +}; + +FORCE_INLINE bool isCoolingHotend(uint8_t extruder) +{ + if(extruder == 0) + return target_raw[extruder] < current_raw[extruder]; + else + return slaveIsCoolingHotend(extruder); +}; + +#else + +FORCE_INLINE float degHotend(uint8_t extruder) { + return analog2temp(current_raw[extruder], extruder); +}; +FORCE_INLINE int rawHotend(uint8_t extruder) { + return current_raw[extruder]; +}; +FORCE_INLINE int minHotend(uint8_t extruder) { + return minttemp[extruder]; +}; +FORCE_INLINE int maxHotend(uint8_t extruder) { + return maxttemp[extruder]; +}; + +FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) { + target_raw[extruder] = temp2analog(celsius, extruder); +#ifdef PIDTEMP + pid_setpoint[extruder] = celsius; +#endif //PIDTEMP +}; + +FORCE_INLINE float degTargetHotend(uint8_t extruder) { + return analog2temp(target_raw[extruder], extruder); +}; + +FORCE_INLINE bool isHeatingHotend(uint8_t extruder){ + return target_raw[extruder] > current_raw[extruder]; +}; + +FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { + return target_raw[extruder] < current_raw[extruder]; +}; +#endif // REPRAPPRO_MULTIMATERIALS + + + +FORCE_INLINE float degBed() { + return analog2tempBed(current_raw_bed); +}; + +FORCE_INLINE float degTargetBed() { + return analog2tempBed(target_raw_bed); +}; + +FORCE_INLINE void setTargetBed(const float &celsius) { + + target_raw_bed = temp2analogBed(celsius); +}; + +FORCE_INLINE bool isHeatingBed() { + return target_raw_bed > current_raw_bed; +}; + +FORCE_INLINE bool isCoolingBed() { + return target_raw_bed < current_raw_bed; +}; + +#define degHotend0() degHotend(0) +#define degTargetHotend0() degTargetHotend(0) +#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0) +#define isHeatingHotend0() isHeatingHotend(0) +#define isCoolingHotend0() isCoolingHotend(0) +#if EXTRUDERS_T > 1 +#define degHotend1() degHotend(1) +#define degTargetHotend1() degTargetHotend(1) +#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1) +#define isHeatingHotend1() isHeatingHotend(1) +#define isCoolingHotend1() isCoolingHotend(1) +#else +#define setTargetHotend1(_celsius) do{}while(0) +#endif +#if EXTRUDERS_T > 2 +#define degHotend2() degHotend(2) +#define degTargetHotend2() degTargetHotend(2) +#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2) +#define isHeatingHotend2() isHeatingHotend(2) +#define isCoolingHotend2() isCoolingHotend(2) +#else +#define setTargetHotend2(_celsius) do{}while(0) +#endif +#if EXTRUDERS_T > 3 +#error Invalid number of extruders +#endif + + + +int getHeaterPower(int heater); +void disable_heater(); +void updatePID(); + +FORCE_INLINE void autotempShutdown(){ +} + +void PID_autotune(float temp); + +#endif +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ultralcd.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,165 @@ +#ifndef ULTRALCD_H +#define ULTRALCD_H +#include "Marlin.h" +#ifdef ULTRA_LCD + #include <LiquidCrystal.h> + void lcd_status(); + void lcd_init(); + void lcd_status(const char* message); + void beep(); + void buttons_init(); + void buttons_check(); + + #define LCD_UPDATE_INTERVAL 100 + #define STATUSTIMEOUT 15000 + extern LiquidCrystal lcd; + extern volatile char buttons; //the last checked buttons in a bit array. + + #ifdef NEWPANEL + #define EN_C (1<<BLEN_C) + #define EN_B (1<<BLEN_B) + #define EN_A (1<<BLEN_A) + + #define CLICKED (buttons&EN_C) + #define BLOCK {blocking=millis()+blocktime;} + #if (SDCARDDETECT > -1) + #ifdef SDCARDDETECTINVERTED + #define CARDINSERTED (READ(SDCARDDETECT)!=0) + #else + #define CARDINSERTED (READ(SDCARDDETECT)==0) + #endif + #endif //SDCARDTETECTINVERTED + + #else + + //atomatic, do not change + #define B_LE (1<<BL_LE) + #define B_UP (1<<BL_UP) + #define B_MI (1<<BL_MI) + #define B_DW (1<<BL_DW) + #define B_RI (1<<BL_RI) + #define B_ST (1<<BL_ST) + #define EN_B (1<<BLEN_B) + #define EN_A (1<<BLEN_A) + + #define CLICKED ((buttons&B_MI)||(buttons&B_ST)) + #define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;} + + #endif + + // blocking time for recognizing a new keypress of one key, ms + #define blocktime 500 + #define lcdslow 5 + + enum MainStatus{Main_Status, Main_Menu, Main_Prepare,Sub_PrepareMove, Main_Control, Main_SD,Sub_TempControl,Sub_MotionControl,Sub_RetractControl}; + + class MainMenu{ + public: + MainMenu(); + void update(); + int8_t activeline; + MainStatus status; + uint8_t displayStartingRow; + + void showStatus(); + void showMainMenu(); + void showPrepare(); + void showTune(); + void showControl(); + void showControlMotion(); + void showControlTemp(); + void showControlRetract(); + void showAxisMove(); + void showSD(); + bool force_lcd_update; + long lastencoderpos; + int8_t lineoffset; + int8_t lastlineoffset; + + bool linechanging; + + bool tune; + + private: + FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos) + { + if(linechanging) return; // an item is changint its value, do not switch lines hence + lastlineoffset=lineoffset; + long curencoderpos=encoderpos; + force_lcd_update=false; + if( (abs(curencoderpos-lastencoderpos)<lcdslow) ) + { + lcd.setCursor(0,activeline);lcd.print((activeline+lineoffset)?' ':' '); + if(curencoderpos<0) + { + lineoffset--; + if(lineoffset<0) lineoffset=0; + curencoderpos=lcdslow-1; + } + if(curencoderpos>(LCD_HEIGHT-1+1)*lcdslow) + { + lineoffset++; + curencoderpos=(LCD_HEIGHT-1)*lcdslow; + if(lineoffset>(maxlines+1-LCD_HEIGHT)) + lineoffset=maxlines+1-LCD_HEIGHT; + if(curencoderpos>maxlines*lcdslow) + curencoderpos=maxlines*lcdslow; + } + lastencoderpos=encoderpos=curencoderpos; + activeline=curencoderpos/lcdslow; + if(activeline<0) activeline=0; + if(activeline>LCD_HEIGHT-1) activeline=LCD_HEIGHT-1; + if(activeline>maxlines) + { + activeline=maxlines; + curencoderpos=maxlines*lcdslow; + } + if(lastlineoffset!=lineoffset) + force_lcd_update=true; + lcd.setCursor(0,activeline);lcd.print((activeline+lineoffset)?'>':'\003'); + } + } + + FORCE_INLINE void clearIfNecessary() + { + if(lastlineoffset!=lineoffset ||force_lcd_update) + { + force_lcd_update=true; + lcd.clear(); + } + } + }; + + //conversion routines, could need some overworking + char *ftostr51(const float &x); + char *ftostr52(const float &x); + char *ftostr31(const float &x); + char *ftostr3(const float &x); + + + #define LCD_INIT lcd_init(); + #define LCD_MESSAGE(x) lcd_status(x); + #define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x)); + #define LCD_STATUS lcd_status() +#else //no lcd + #define LCD_INIT + #define LCD_STATUS + #define LCD_MESSAGE(x) + #define LCD_MESSAGEPGM(x) + FORCE_INLINE void lcd_status() {}; + + #define CLICKED false + #define BLOCK ; +#endif + +void lcd_statuspgm(const char* message); + +char *ftostr3(const float &x); +char *itostr2(const uint8_t &x); +char *ftostr31(const float &x); +char *ftostr32(const float &x); +char *itostr31(const int &xx); +char *itostr3(const int &xx); +char *itostr4(const int &xx); +char *ftostr51(const float &x); +#endif //ULTRALCD
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ultralcd.ino Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,2644 @@ +#include "language.h" +#include "temperature.h" +#include "ultralcd.h" +#ifdef ULTRA_LCD +#include "Marlin.h" +#include "language.h" +#include "temperature.h" +#include "EEPROMwrite.h" +#include <LiquidCrystal.h> +//=========================================================================== +//=============================imported variables============================ +//=========================================================================== + +extern volatile int feedmultiply; +extern volatile bool feedmultiplychanged; + +extern volatile int extrudemultiply; + +extern long position[4]; +#ifdef SDSUPPORT +#include "cardreader.h" +extern CardReader card; +#endif + +//=========================================================================== +//=============================public variables============================ +//=========================================================================== +volatile char buttons=0; //the last checked buttons in a bit array. +long encoderpos=0; +short lastenc=0; + + +//=========================================================================== +//=============================private variables============================ +//=========================================================================== +static char messagetext[LCD_WIDTH]=""; + +//return for string conversion routines +static char conv[8]; + +LiquidCrystal lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5,LCD_PINS_D6,LCD_PINS_D7); //RS,Enable,D4,D5,D6,D7 + +static unsigned long previous_millis_lcd=0; +//static long previous_millis_buttons=0; + + +#ifdef NEWPANEL + static long blocking=0; +#else + static long blocking[8]={0,0,0,0,0,0,0,0}; +#endif + +static MainMenu menu; + + +void lcdProgMemprint(const char *str) +{ + char ch=pgm_read_byte(str); + while(ch) + { + lcd.print(ch); + ch=pgm_read_byte(++str); + } +} +#define lcdprintPGM(x) lcdProgMemprint(MYPGM(x)) + + +//=========================================================================== +//=============================functions ============================ +//=========================================================================== + +int intround(const float &x){return int(0.5+x);} + +void lcd_status(const char* message) +{ + strncpy(messagetext,message,LCD_WIDTH); + messagetext[strlen(message)]=0; +} + +void lcd_statuspgm(const char* message) +{ + char ch=pgm_read_byte(message); + char *target=messagetext; + uint8_t cnt=0; + while(ch &&cnt<LCD_WIDTH) + { + *target=ch; + target++; + cnt++; + ch=pgm_read_byte(++message); + } + *target=0; +} + +FORCE_INLINE void clear() +{ + lcd.clear(); +} + + +void lcd_init() +{ + //beep(); + #ifdef ULTIPANEL + buttons_init(); + #endif + + byte Degree[8] = + { + B01100, + B10010, + B10010, + B01100, + B00000, + B00000, + B00000, + B00000 + }; + byte Thermometer[8] = + { + B00100, + B01010, + B01010, + B01010, + B01010, + B10001, + B10001, + B01110 + }; + byte uplevel[8]={0x04, 0x0e, 0x1f, 0x04, 0x1c, 0x00, 0x00, 0x00};//thanks joris + byte refresh[8]={0x00, 0x06, 0x19, 0x18, 0x03, 0x13, 0x0c, 0x00}; //thanks joris + byte folder [8]={0x00, 0x1c, 0x1f, 0x11, 0x11, 0x1f, 0x00, 0x00}; //thanks joris + lcd.begin(LCD_WIDTH, LCD_HEIGHT); + lcd.createChar(1,Degree); + lcd.createChar(2,Thermometer); + lcd.createChar(3,uplevel); + lcd.createChar(4,refresh); + lcd.createChar(5,folder); + LCD_MESSAGEPGM(WELCOME_MSG); +} + + +void beep() +{ + //return; + #ifdef ULTIPANEL + #if (BEEPER > -1) + { + pinMode(BEEPER,OUTPUT); + for(int8_t i=0;i<20;i++){ + WRITE(BEEPER,HIGH); + delay(5); + WRITE(BEEPER,LOW); + delay(5); + } + } + #endif + #endif +} + +void beepshort() +{ + //return; + #ifdef ULTIPANEL + #if (BEEPER > -1) + { + pinMode(BEEPER,OUTPUT); + for(int8_t i=0;i<10;i++){ + WRITE(BEEPER,HIGH); + delay(3); + WRITE(BEEPER,LOW); + delay(3); + } + } + #endif + #endif +} + +void lcd_status() +{ + #ifdef ULTIPANEL + static uint8_t oldbuttons=0; + //static long previous_millis_buttons=0; + //static long previous_lcdinit=0; + // buttons_check(); // Done in temperature interrupt + //previous_millis_buttons=millis(); + long ms=millis(); + for(int8_t i=0; i<8; i++) { + #ifndef NEWPANEL + if((blocking[i]>ms)) + buttons &= ~(1<<i); + #else + if((blocking>ms)) + buttons &= ~(1<<i); + #endif + } + if((buttons==oldbuttons) && ((millis() - previous_millis_lcd) < LCD_UPDATE_INTERVAL) ) + return; + oldbuttons=buttons; + #else + + if(((millis() - previous_millis_lcd) < LCD_UPDATE_INTERVAL) ) + return; + #endif + + previous_millis_lcd=millis(); + menu.update(); +} +#ifdef ULTIPANEL + + +void buttons_init() +{ + #ifdef NEWPANEL + pinMode(BTN_EN1,INPUT); + pinMode(BTN_EN2,INPUT); + pinMode(BTN_ENC,INPUT); + pinMode(SDCARDDETECT,INPUT); + WRITE(BTN_EN1,HIGH); + WRITE(BTN_EN2,HIGH); + WRITE(BTN_ENC,HIGH); + #if (SDCARDDETECT > -1) + { + WRITE(SDCARDDETECT,HIGH); + } + #endif + #else + pinMode(SHIFT_CLK,OUTPUT); + pinMode(SHIFT_LD,OUTPUT); + pinMode(SHIFT_EN,OUTPUT); + pinMode(SHIFT_OUT,INPUT); + WRITE(SHIFT_OUT,HIGH); + WRITE(SHIFT_LD,HIGH); + WRITE(SHIFT_EN,LOW); + #endif +} + + +void buttons_check() +{ + + #ifdef NEWPANEL + uint8_t newbutton=0; + if(READ(BTN_EN1)==0) newbutton|=EN_A; + if(READ(BTN_EN2)==0) newbutton|=EN_B; + if((blocking<millis()) &&(READ(BTN_ENC)==0)) + newbutton|=EN_C; + buttons=newbutton; + #else //read it from the shift register + uint8_t newbutton=0; + WRITE(SHIFT_LD,LOW); + WRITE(SHIFT_LD,HIGH); + unsigned char tmp_buttons=0; + for(int8_t i=0;i<8;i++) + { + newbutton = newbutton>>1; + if(READ(SHIFT_OUT)) + newbutton|=(1<<7); + WRITE(SHIFT_CLK,HIGH); + WRITE(SHIFT_CLK,LOW); + } + buttons=~newbutton; //invert it, because a pressed switch produces a logical 0 + #endif + + //manage encoder rotation + char enc=0; + if(buttons&EN_A) + enc|=(1<<0); + if(buttons&EN_B) + enc|=(1<<1); + if(enc!=lastenc) + { + switch(enc) + { + case encrot0: + if(lastenc==encrot3) + encoderpos++; + else if(lastenc==encrot1) + encoderpos--; + break; + case encrot1: + if(lastenc==encrot0) + encoderpos++; + else if(lastenc==encrot2) + encoderpos--; + break; + case encrot2: + if(lastenc==encrot1) + encoderpos++; + else if(lastenc==encrot3) + encoderpos--; + break; + case encrot3: + if(lastenc==encrot2) + encoderpos++; + else if(lastenc==encrot0) + encoderpos--; + break; + default: + ; + } + } + lastenc=enc; +} + +#endif + +MainMenu::MainMenu() +{ + status=Main_Status; + displayStartingRow=0; + activeline=0; + force_lcd_update=true; + linechanging=false; + tune=false; +} + +void MainMenu::showStatus() +{ +#if LCD_HEIGHT==4 + static int olddegHotEnd0=-1; + static int oldtargetHotEnd0=-1; + //force_lcd_update=true; + if(force_lcd_update) //initial display of content + { + encoderpos=feedmultiply; + clear(); + lcd.setCursor(0,0);lcdprintPGM("\002---/---\001 "); + #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 + lcd.setCursor(10,0);lcdprintPGM("B---/---\001 "); + #elif EXTRUDERS > 1 + lcd.setCursor(10,0);lcdprintPGM("\002---/---\001 "); + #endif + } + + int tHotEnd0=intround(degHotend0()); + if((tHotEnd0!=olddegHotEnd0)||force_lcd_update) + { + lcd.setCursor(1,0); + lcd.print(ftostr3(tHotEnd0)); + olddegHotEnd0=tHotEnd0; + } + int ttHotEnd0=intround(degTargetHotend0()); + if((ttHotEnd0!=oldtargetHotEnd0)||force_lcd_update) + { + lcd.setCursor(5,0); + lcd.print(ftostr3(ttHotEnd0)); + oldtargetHotEnd0=ttHotEnd0; + } + #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 + static int oldtBed=-1; + static int oldtargetBed=-1; + int tBed=intround(degBed()); + if((tBed!=oldtBed)||force_lcd_update) + { + lcd.setCursor(11,0); + lcd.print(ftostr3(tBed)); + oldtBed=tBed; + } + int targetBed=intround(degTargetBed()); + if((targetBed!=oldtargetBed)||force_lcd_update) + { + lcd.setCursor(15,0); + lcd.print(ftostr3(targetBed)); + oldtargetBed=targetBed; + } + #elif EXTRUDERS > 1 + static int olddegHotEnd1=-1; + static int oldtargetHotEnd1=-1; + int tHotEnd1=intround(degHotend1()); + if((tHotEnd1!=olddegHotEnd1)||force_lcd_update) + { + lcd.setCursor(11,0); + lcd.print(ftostr3(tHotEnd1)); + olddegHotEnd1=tHotEnd1; + } + int ttHotEnd1=intround(degTargetHotend1()); + if((ttHotEnd1!=oldtargetHotEnd1)||force_lcd_update) + { + lcd.setCursor(15,0); + lcd.print(ftostr3(ttHotEnd1)); + oldtargetHotEnd1=ttHotEnd1; + } + #endif + //starttime=2; + static uint16_t oldtime=0; + if(starttime!=0) + { + lcd.setCursor(0,1); + uint16_t time=millis()/60000-starttime/60000; + + if(starttime!=oldtime) + { + lcd.print(itostr2(time/60));lcdprintPGM("h ");lcd.print(itostr2(time%60));lcdprintPGM("m"); + oldtime=time; + } + } + static int oldzpos=0; + int currentz=current_position[2]*100; + if((currentz!=oldzpos)||force_lcd_update) + { + lcd.setCursor(10,1); + lcdprintPGM("Z:");lcd.print(ftostr52(current_position[2])); + oldzpos=currentz; + } + + static int oldfeedmultiply=0; + int curfeedmultiply=feedmultiply; + + if(feedmultiplychanged == true) { + feedmultiplychanged = false; + encoderpos = curfeedmultiply; + } + + if(encoderpos!=curfeedmultiply||force_lcd_update) + { + curfeedmultiply=encoderpos; + if(curfeedmultiply<10) + curfeedmultiply=10; + if(curfeedmultiply>999) + curfeedmultiply=999; + feedmultiply=curfeedmultiply; + encoderpos=curfeedmultiply; + } + + if((curfeedmultiply!=oldfeedmultiply)||force_lcd_update) + { + oldfeedmultiply=curfeedmultiply; + lcd.setCursor(0,2); + lcd.print(itostr3(curfeedmultiply));lcdprintPGM("% "); + } + + if(messagetext[0]!='\0') + { + lcd.setCursor(0,LCD_HEIGHT-1); + lcd.print(messagetext); + uint8_t n=strlen(messagetext); + for(int8_t i=0;i<LCD_WIDTH-n;i++) + lcd.print(" "); + messagetext[0]='\0'; + } +#ifdef SDSUPPORT + static uint8_t oldpercent=101; + uint8_t percent=card.percentDone(); + if(oldpercent!=percent ||force_lcd_update) + { + lcd.setCursor(10,2); + lcd.print(itostr3((int)percent)); + lcdprintPGM("%SD"); + } +#endif +#else //smaller LCDS---------------------------------- + static int olddegHotEnd0=-1; + static int oldtargetHotEnd0=-1; + if(force_lcd_update) //initial display of content + { + encoderpos=feedmultiply; + lcd.setCursor(0,0);lcdprintPGM("\002---/---\001 "); + } + + int tHotEnd0=intround(degHotend0()); + int ttHotEnd0=intround(degTargetHotend0()); + + + if((abs(tHotEnd0-olddegHotEnd0)>1)||force_lcd_update) + { + lcd.setCursor(1,0); + lcd.print(ftostr3(tHotEnd0)); + olddegHotEnd0=tHotEnd0; + } + if((ttHotEnd0!=oldtargetHotEnd0)||force_lcd_update) + { + lcd.setCursor(5,0); + lcd.print(ftostr3(ttHotEnd0)); + oldtargetHotEnd0=ttHotEnd0; + } + + if(messagetext[0]!='\0') + { + lcd.setCursor(0,LCD_HEIGHT-1); + lcd.print(messagetext); + uint8_t n=strlen(messagetext); + for(int8_t i=0;i<LCD_WIDTH-n;i++) + lcd.print(" "); + messagetext[0]='\0'; + } + +#endif + force_lcd_update=false; +} + +enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat_pla, ItemP_preheat_abs, ItemP_cooldown,/*ItemP_extrude,*/ItemP_move}; + +//any action must not contain a ',' character anywhere, or this breaks: +#define MENUITEM(repaint_action, click_action) \ + {\ + if(force_lcd_update) { lcd.setCursor(0,line); repaint_action; } \ + if((activeline==line) && CLICKED) {click_action} \ + } + +void MainMenu::showPrepare() +{ +#ifdef ULTIPANEL + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + //Serial.println((int)(line-lineoffset)); + switch(i) + { + case ItemP_exit: + MENUITEM( lcdprintPGM(MSG_MAIN) , BLOCK;status=Main_Menu;beepshort(); ) ; + break; + case ItemP_autostart: + MENUITEM( lcdprintPGM(MSG_AUTOSTART) , BLOCK; +#ifdef SDSUPPORT + card.lastnr=0;card.setroot();card.checkautostart(true); +#endif + beepshort(); ) ; + break; + case ItemP_disstep: + MENUITEM( lcdprintPGM(MSG_DISABLE_STEPPERS) , BLOCK;enquecommand("M84");beepshort(); ) ; + break; + case ItemP_home: + MENUITEM( lcdprintPGM(MSG_AUTO_HOME) , BLOCK;enquecommand("G28");beepshort(); ) ; + break; + case ItemP_origin: + MENUITEM( lcdprintPGM(MSG_SET_ORIGIN) , BLOCK;enquecommand("G92 X0 Y0 Z0");beepshort(); ) ; + break; + case ItemP_preheat_pla: + MENUITEM( lcdprintPGM(MSG_PREHEAT_PLA) , BLOCK;setTargetHotend0(PLA_PREHEAT_HOTEND_TEMP);setTargetBed(PLA_PREHEAT_HPB_TEMP); + #if FAN_PIN > -1 + analogWrite(FAN_PIN, PLA_PREHEAT_FAN_SPEED); + #endif + beepshort(); ); + break; + case ItemP_preheat_abs: + MENUITEM( lcdprintPGM(MSG_PREHEAT_ABS) , BLOCK;setTargetHotend0(ABS_PREHEAT_HOTEND_TEMP);setTargetBed(ABS_PREHEAT_HPB_TEMP); + #if FAN_PIN > -1 + analogWrite(FAN_PIN, ABS_PREHEAT_FAN_SPEED); + #endif + beepshort(); ); + break; + case ItemP_cooldown: + MENUITEM( lcdprintPGM(MSG_COOLDOWN) , BLOCK;setTargetHotend0(0);setTargetHotend1(0);setTargetHotend2(0);setTargetBed(0);beepshort(); ) ; + break; +// case ItemP_extrude: + // MENUITEM( lcdprintPGM(" Extrude") , BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ; + // break; + case ItemP_move: + MENUITEM( lcdprintPGM(MSG_MOVE_AXIS) , BLOCK;status=Sub_PrepareMove;beepshort(); ); + break; + default: + break; + } + line++; + } + updateActiveLines(ItemP_move,encoderpos); +#endif +} + +enum { + ItemAM_exit, + ItemAM_X, ItemAM_Y, ItemAM_Z, ItemAM_E +}; + +void MainMenu::showAxisMove() +{ + uint8_t line=0; + int oldencoderpos=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemAM_exit: + MENUITEM( lcdprintPGM(MSG_PREPARE_ALT) , BLOCK;status=Main_Menu;beepshort(); ) ; + break; + case ItemAM_X: + { + //oldencoderpos=0; + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(" X:"); + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[X_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + enquecommand("G91"); + } + else + { + enquecommand("G90"); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if (encoderpos >0) + { + enquecommand("G1 F700 X0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + + else if (encoderpos < 0) + { + enquecommand("G1 F700 X-0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[X_AXIS])); + } + } + break; + case ItemAM_Y: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(" Y:"); + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Y_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + enquecommand("G91"); + } + else + { + enquecommand("G90"); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if (encoderpos >0) + { + enquecommand("G1 F700 Y0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + + else if (encoderpos < 0) + { + enquecommand("G1 F700 Y-0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Y_AXIS])); + } + } + break; + case ItemAM_Z: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(" Z:"); + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Z_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + enquecommand("G91"); + } + else + { + enquecommand("G90"); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if (encoderpos >0) + { + enquecommand("G1 F70 Z0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + + else if (encoderpos < 0) + { + enquecommand("G1 F70 Z-0.1"); + oldencoderpos=encoderpos; + encoderpos=0; + } + lcd.setCursor(11,line);lcd.print(ftostr52(current_position[Z_AXIS])); + } + } + break; + case ItemAM_E: + // ErikDB: TODO: this length should be changed for volumetric. + MENUITEM( lcdprintPGM(MSG_EXTRUDE) , BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E5");beepshort(); ) ; + break; + default: + break; + } + line++; + } + updateActiveLines(ItemAM_E,encoderpos); +} + +enum {ItemT_exit,ItemT_speed,ItemT_flow,ItemT_nozzle, +#if (HEATER_BED_PIN > -1) +ItemT_bed, +#endif +ItemT_fan}; + +void MainMenu::showTune() +{ + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + //Serial.println((int)(line-lineoffset)); + switch(i) + { + case ItemT_exit: + MENUITEM( lcdprintPGM(MSG_MAIN) , BLOCK;status=Main_Menu;beepshort(); ) ; + break; + case ItemT_speed: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_SPEED); + lcd.setCursor(13,line);lcd.print(ftostr3(feedmultiply)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) //AnalogWrite(FAN_PIN, fanpwm); + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=feedmultiply; + } + else + { + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>400) encoderpos=400; + feedmultiply = encoderpos; + feedmultiplychanged=true; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + case ItemT_nozzle: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetHotend0()); + } + else + { + setTargetHotend0(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + }break; + #if (HEATER_BED_PIN > -1) + case ItemT_bed: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_BED); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetBed()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetBed()); + } + else + { + setTargetBed(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + }break; + #endif + + + case ItemT_fan: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_FAN_SPEED); + lcd.setCursor(13,line);lcd.print(ftostr3(FanSpeed)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) //nalogWrite(FAN_PIN, fanpwm); + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=FanSpeed; + } + else + { + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>255) encoderpos=255; + FanSpeed=encoderpos; + analogWrite(FAN_PIN, FanSpeed); + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + case ItemT_flow://axis_steps_per_unit[i] = code_value(); + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_FLOW); + lcd.setCursor(13,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0); + } + else + { + float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]); + position[E_AXIS]=lround(position[E_AXIS]*factor); + //current_position[E_AXIS]*=factor; + axis_steps_per_unit[E_AXIS]= encoderpos/100.0; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>999999) encoderpos=999999; + lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.0)); + } + + }break; + default: + break; + } + line++; + } + updateActiveLines(ItemT_fan,encoderpos); +} + +//does not work +// #define MENUCHANGEITEM(repaint_action, enter_action, accept_action, change_action) \ +// {\ +// if(force_lcd_update) { lcd.setCursor(0,line); repaint_action; } \ +// if(activeline==line) \ +// { \ +// if(CLICKED) \ +// { \ +// linechanging=!linechanging; \ +// if(linechanging) {enter_action;} \ +// else {accept_action;} \ +// } \ +// else \ +// if(linechanging) {change_action};}\ +// } +// + +enum { + ItemCT_exit,ItemCT_nozzle0, +#ifdef AUTOTEMP + ItemCT_autotempactive, + ItemCT_autotempmin,ItemCT_autotempmax,ItemCT_autotempfact, +#endif +#if EXTRUDERS > 1 + ItemCT_nozzle1, +#endif +#if EXTRUDERS > 2 + ItemCT_nozzle2, +#endif +#if defined BED_USES_THERMISTOR || BED_USES_AD595 +ItemCT_bed, +#endif + ItemCT_fan, + ItemCT_PID_P,ItemCT_PID_I,ItemCT_PID_D,ItemCT_PID_C +}; + +void MainMenu::showControlTemp() +{ + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemCT_exit: + MENUITEM( lcdprintPGM(MSG_CONTROL) , BLOCK;status=Main_Control;beepshort(); ) ; + break; + case ItemCT_nozzle0: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend0()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetHotend0()); + } + else + { + setTargetHotend0(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + #if EXTRUDERS > 1 + case ItemCT_nozzle1: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE1); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend1()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetHotend1()); + } + else + { + setTargetHotend1(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + #endif + #if EXTRUDERS > 2 + case ItemCT_nozzle2: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_NOZZLE2); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetHotend2()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetHotend2()); + } + else + { + setTargetHotend1(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + #endif + #ifdef AUTOTEMP + case ItemCT_autotempmin: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_MIN); + lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_min)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(autotemp_min); + } + else + { + autotemp_min=encoderpos; + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + case ItemCT_autotempmax: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_MAX); + lcd.setCursor(13,line);lcd.print(ftostr3(autotemp_max)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(autotemp_max); + } + else + { + autotemp_max=encoderpos; + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + case ItemCT_autotempfact: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_FACTOR); + lcd.setCursor(13,line);lcd.print(ftostr32(autotemp_factor)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(autotemp_factor*100); + } + else + { + autotemp_max=encoderpos; + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>99) encoderpos=99; + lcd.setCursor(13,line);lcd.print(ftostr32(encoderpos/100.)); + } + + }break; + case ItemCT_autotempactive: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_AUTOTEMP); + lcd.setCursor(13,line); + if(autotemp_enabled) + lcdprintPGM(MSG_ON); + else + lcdprintPGM(MSG_OFF); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + autotemp_enabled=!autotemp_enabled; + lcd.setCursor(13,line); + if(autotemp_enabled) + lcdprintPGM(MSG_ON); + else + lcdprintPGM(MSG_OFF); + BLOCK; + } + + }break; + #endif //autotemp + #if defined BED_USES_THERMISTOR || BED_USES_AD595 + case ItemCT_bed: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_BED); + lcd.setCursor(13,line);lcd.print(ftostr3(intround(degTargetBed()))); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=intround(degTargetBed()); + } + else + { + setTargetBed(encoderpos); + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>260) encoderpos=260; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + }break; + #endif + case ItemCT_fan: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_FAN_SPEED); + lcd.setCursor(13,line);lcd.print(ftostr3(FanSpeed)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) //nalogWrite(FAN_PIN, fanpwm); + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=FanSpeed; + } + else + { + encoderpos=activeline*lcdslow; + beepshort(); + } + BLOCK; + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>255) encoderpos=255; + FanSpeed=encoderpos; + analogWrite(FAN_PIN, FanSpeed); + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + #ifdef PIDTEMP + case ItemCT_PID_P: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(" PID-P: "); + lcd.setCursor(13,line);lcd.print(itostr4(Kp)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)Kp; + } + else + { + Kp= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>9990) encoderpos=9990; + lcd.setCursor(13,line);lcd.print(itostr4(encoderpos)); + } + + }break; + case ItemCT_PID_I: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_PID_I); + lcd.setCursor(13,line);lcd.print(ftostr51(Ki/PID_dT)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(Ki*10/PID_dT); + } + else + { + Ki= encoderpos/10.*PID_dT; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>9990) encoderpos=9990; + lcd.setCursor(13,line);lcd.print(ftostr51(encoderpos/10.)); + } + + }break; + case ItemCT_PID_D: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_PID_D); + lcd.setCursor(13,line);lcd.print(itostr4(Kd*PID_dT)); + } + + if((activeline!=line) ) + break; + + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(Kd/5./PID_dT); + } + else + { + Kd= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>9990) encoderpos=9990; + lcd.setCursor(13,line);lcd.print(itostr4(encoderpos)); + } + + }break; + case ItemCT_PID_C: + #ifdef PID_ADD_EXTRUSION_RATE + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_PID_C); + lcd.setCursor(13,line);lcd.print(itostr3(Kc)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)Kc; + } + else + { + Kc= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + } + #endif + #endif + break; + default: + break; + } + line++; + } + #ifdef PID_ADD_EXTRUSION_RATE + updateActiveLines(ItemCT_PID_C,encoderpos); + #else + updateActiveLines(ItemCT_PID_D,encoderpos); + #endif +} + + +enum { + ItemCM_exit, + ItemCM_acc, ItemCM_xyjerk, + ItemCM_vmaxx, ItemCM_vmaxy, ItemCM_vmaxz, ItemCM_vmaxe, + ItemCM_vtravmin,ItemCM_vmin, + ItemCM_amaxx, ItemCM_amaxy, ItemCM_amaxz, ItemCM_amaxe, + ItemCM_aret, ItemCM_xsteps,ItemCM_ysteps, ItemCM_zsteps, ItemCM_esteps +}; + + + +void MainMenu::showControlMotion() +{ + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemCM_exit: + MENUITEM( lcdprintPGM(MSG_CONTROL) , BLOCK;status=Main_Control;beepshort(); ) ; + break; + case ItemCM_acc: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_ACC); + lcd.setCursor(13,line);lcd.print(itostr3(acceleration/100));lcdprintPGM("00"); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)acceleration/100; + } + else + { + acceleration= encoderpos*100; + encoderpos=activeline*lcdslow; + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00"); + } + + }break; + case ItemCM_xyjerk: //max_xy_jerk + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_VXY_JERK); + lcd.setCursor(13,line);lcd.print(itostr3(max_xy_jerk)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)max_xy_jerk; + } + else + { + max_xy_jerk= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + + case ItemCM_vmaxx: + case ItemCM_vmaxy: + case ItemCM_vmaxz: + case ItemCM_vmaxe: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_VMAX); + if(i==ItemCM_vmaxx)lcdprintPGM(MSG_X); + if(i==ItemCM_vmaxy)lcdprintPGM(MSG_Y); + if(i==ItemCM_vmaxz)lcdprintPGM(MSG_Z); + if(i==ItemCM_vmaxe)lcdprintPGM(MSG_E); + lcd.setCursor(13,line);lcd.print(itostr3(max_feedrate[i-ItemCM_vmaxx])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)max_feedrate[i-ItemCM_vmaxx]; + } + else + { + max_feedrate[i-ItemCM_vmaxx]= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + + case ItemCM_vmin: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_VMIN); + lcd.setCursor(13,line);lcd.print(itostr3(minimumfeedrate)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(minimumfeedrate); + } + else + { + minimumfeedrate= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + case ItemCM_vtravmin: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_VTRAV_MIN); + lcd.setCursor(13,line);lcd.print(itostr3(mintravelfeedrate)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)mintravelfeedrate; + } + else + { + mintravelfeedrate= encoderpos; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos)); + } + + }break; + + case ItemCM_amaxx: + case ItemCM_amaxy: + case ItemCM_amaxz: + case ItemCM_amaxe: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(" Amax "); + if(i==ItemCM_amaxx)lcdprintPGM(MSG_X); + if(i==ItemCM_amaxy)lcdprintPGM(MSG_Y); + if(i==ItemCM_amaxz)lcdprintPGM(MSG_Z); + if(i==ItemCM_amaxe)lcdprintPGM(MSG_E); + lcd.setCursor(13,line);lcd.print(itostr3(max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100));lcdprintPGM("00"); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100; + } + else + { + max_acceleration_units_per_sq_second[i-ItemCM_amaxx]= encoderpos*100; + encoderpos=activeline*lcdslow; + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00"); + } + + }break; + + + case ItemCM_aret://float retract_acceleration = 7000; + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_A_RETRACT); + lcd.setCursor(13,line);lcd.print(ftostr3(retract_acceleration/100));lcdprintPGM("00"); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)retract_acceleration/100; + } + else + { + retract_acceleration= encoderpos*100; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<10) encoderpos=10; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr3(encoderpos));lcdprintPGM("00"); + } + + }break; + case ItemCM_xsteps://axis_steps_per_unit[i] = code_value(); + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_XSTEPS); + lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[X_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(axis_steps_per_unit[X_AXIS]*100.0); + } + else + { + float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[X_AXIS]); + position[X_AXIS]=lround(position[X_AXIS]*factor); + //current_position[X_AXIS]*=factor; + axis_steps_per_unit[X_AXIS]= encoderpos/100.0; + encoderpos=activeline*lcdslow; + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>999999) encoderpos=999999; + lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0)); + } + + }break; + case ItemCM_ysteps://axis_steps_per_unit[i] = code_value(); + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_YSTEPS); + lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Y_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(axis_steps_per_unit[Y_AXIS]*100.0); + } + else + { + float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Y_AXIS]); + position[Y_AXIS]=lround(position[Y_AXIS]*factor); + //current_position[Y_AXIS]*=factor; + axis_steps_per_unit[Y_AXIS]= encoderpos/100.0; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>999999) encoderpos=999999; + lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0)); + } + + }break; + case ItemCM_zsteps://axis_steps_per_unit[i] = code_value(); + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_ZSTEPS); + lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Z_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(axis_steps_per_unit[Z_AXIS]*100.0); + } + else + { + float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Z_AXIS]); + position[Z_AXIS]=lround(position[Z_AXIS]*factor); + //current_position[Z_AXIS]*=factor; + axis_steps_per_unit[Z_AXIS]= encoderpos/100.0; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>999999) encoderpos=999999; + lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0)); + } + + }break; + + case ItemCM_esteps://axis_steps_per_unit[i] = code_value(); + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_ESTEPS); + lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS])); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0); + } + else + { + float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]); + position[E_AXIS]=lround(position[E_AXIS]*factor); + //current_position[E_AXIS]*=factor; + axis_steps_per_unit[E_AXIS]= encoderpos/100.0; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<5) encoderpos=5; + if(encoderpos>999999) encoderpos=999999; + lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0)); + } + + }break; + default: + break; + } + line++; + } + updateActiveLines(ItemCM_esteps,encoderpos); +} + + +enum { + ItemR_exit, + ItemR_autoretract, + ItemR_retract_length,ItemR_retract_feedrate,ItemR_retract_zlift, + ItemR_unretract_length,ItemR_unretract_feedrate, + +}; + + + +void MainMenu::showControlRetract() +{ +#ifdef FWRETRACT + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemR_exit: + MENUITEM( lcdprintPGM(MSG_CONTROL) , BLOCK;status=Main_Control;beepshort(); ) ; + break; + + //float retract_length=2, retract_feedrate=1200, retract_zlift=0.4; + //float retract_recover_length=0, retract_recover_feedrate=500; + case ItemR_autoretract: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_AUTORETRACT); + lcd.setCursor(13,line); + if(autoretract_enabled) + lcdprintPGM(MSG_ON); + else + lcdprintPGM(MSG_OFF); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + autoretract_enabled=!autoretract_enabled; + lcd.setCursor(13,line); + if(autoretract_enabled) + lcdprintPGM(MSG_ON); + else + lcdprintPGM(MSG_OFF); + BLOCK; + } + + }break; + + case ItemR_retract_length: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT); + lcd.setCursor(13,line);lcd.print(ftostr52(retract_length)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(retract_length*100); + } + else + { + retract_length= encoderpos/100.; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.)); + } + + }break; + case ItemR_retract_feedrate: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACTF); + lcd.setCursor(13,line);lcd.print(itostr4(retract_feedrate)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(retract_feedrate/5); + } + else + { + retract_feedrate= encoderpos*5.; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5)); + } + + }break; + case ItemR_retract_zlift://float retract_acceleration = 7000; + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_ZLIFT); + lcd.setCursor(13,line);lcd.print(ftostr52(retract_zlift));; + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(retract_zlift*10); + } + else + { + retract_zlift= encoderpos/10.; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/10.)); + } + + }break; + case ItemR_unretract_length: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVER); + lcd.setCursor(13,line);lcd.print(ftostr52(retract_recover_length));; + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)(retract_recover_length*100); + } + else + { + retract_recover_length= encoderpos/100.; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<0) encoderpos=0; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.)); + } + + }break; + + case ItemR_unretract_feedrate: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_CONTROL_RETRACT_RECOVERF); + lcd.setCursor(13,line);lcd.print(itostr4(retract_recover_feedrate)); + } + + if((activeline!=line) ) + break; + + if(CLICKED) + { + linechanging=!linechanging; + if(linechanging) + { + encoderpos=(long)retract_recover_feedrate/5; + } + else + { + retract_recover_feedrate= encoderpos*5.; + encoderpos=activeline*lcdslow; + + } + BLOCK; + beepshort(); + } + if(linechanging) + { + if(encoderpos<1) encoderpos=1; + if(encoderpos>990) encoderpos=990; + lcd.setCursor(13,line);lcd.print(itostr4(encoderpos*5)); + } + + }break; + + default: + break; + } + line++; + } + updateActiveLines(ItemR_unretract_feedrate,encoderpos); +#endif +} + + + +enum { + ItemC_exit,ItemC_temp,ItemC_move, +#ifdef FWRETRACT + ItemC_rectract, +#endif + ItemC_store, ItemC_load,ItemC_failsafe +}; + +void MainMenu::showControl() +{ + uint8_t line=0; + clearIfNecessary(); + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemC_exit: + MENUITEM( lcdprintPGM(MSG_MAIN_WIDE) , BLOCK;status=Main_Menu;beepshort(); ) ; + break; + case ItemC_temp: + MENUITEM( lcdprintPGM(MSG_TEMPERATURE_WIDE) , BLOCK;status=Sub_TempControl;beepshort(); ) ; + break; + case ItemC_move: + MENUITEM( lcdprintPGM(MSG_MOTION_WIDE) , BLOCK;status=Sub_MotionControl;beepshort(); ) ; + break; +#ifdef FWRETRACT + case ItemC_rectract: + MENUITEM( lcdprintPGM(MSG_RECTRACT_WIDE) , BLOCK;status=Sub_RetractControl;beepshort(); ) ; + break; +#endif + case ItemC_store: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_STORE_EPROM); + } + if((activeline==line) && CLICKED) + { + //enquecommand("M84"); + beepshort(); + BLOCK; + EEPROM_StoreSettings(); + } + }break; + case ItemC_load: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_LOAD_EPROM); + } + if((activeline==line) && CLICKED) + { + //enquecommand("M84"); + beepshort(); + BLOCK; + EEPROM_RetrieveSettings(); + } + }break; + case ItemC_failsafe: + { + if(force_lcd_update) + { + lcd.setCursor(0,line);lcdprintPGM(MSG_RESTORE_FAILSAFE); + } + if((activeline==line) && CLICKED) + { + //enquecommand("M84"); + beepshort(); + BLOCK; + EEPROM_RetrieveSettings(true); + } + }break; + default: + break; + } + line++; + } + updateActiveLines(ItemC_failsafe,encoderpos); +} + + + + + +void MainMenu::showSD() +{ +#ifdef SDSUPPORT + uint8_t line=0; + + clearIfNecessary(); + static uint8_t nrfiles=0; + if(force_lcd_update) + { + if(card.cardOK) + { + nrfiles=card.getnrfilenames(); + } + else + { + nrfiles=0; + lineoffset=0; + } + } + bool enforceupdate=false; + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case 0: + MENUITEM( lcdprintPGM(MSG_MAIN) , BLOCK;status=Main_Menu;beepshort(); ) ; + break; +// case 1: +// { +// if(force_lcd_update) +// { +// lcd.setCursor(0,line); +// #ifdef CARDINSERTED +// if(CARDINSERTED) +// #else +// if(true) +// #endif +// { +// lcdprintPGM(" \004Refresh"); +// } +// else +// { +// lcdprintPGM(" \004Insert Card"); +// } +// +// } +// if((activeline==line) && CLICKED) +// { +// BLOCK; +// beepshort(); +// card.initsd(); +// force_lcd_update=true; +// nrfiles=card.getnrfilenames(); +// } +// }break; + case 1: + MENUITEM( lcd.print(" ");card.getWorkDirName(); + if(card.filename[0]=='/') lcdprintPGM(MSG_REFRESH); + else { + lcd.print("\005"); + lcd.print(card.filename); + lcd.print("/.."); + } , + BLOCK; + if(SDCARDDETECT == -1) card.initsd(); + card.updir(); + enforceupdate=true; + lineoffset=0; + beepshort(); ) ; + + break; + default: + { + #define FIRSTITEM 2 + if(i-FIRSTITEM<nrfiles) + { + if(force_lcd_update) + { + card.getfilename(i-FIRSTITEM); + //Serial.print("Filenr:");Serial.println(i-2); + lcd.setCursor(0,line);lcdprintPGM(" "); + if(card.filenameIsDir) lcd.print("\005"); + lcd.print(card.filename); + } + if((activeline==line) && CLICKED) + { + BLOCK + card.getfilename(i-FIRSTITEM); + if(card.filenameIsDir) + { + for(int8_t i=0;i<strlen(card.filename);i++) + card.filename[i]=tolower(card.filename[i]); + card.chdir(card.filename); + lineoffset=0; + enforceupdate=true; + } + else + { + char cmd[30]; + for(int8_t i=0;i<strlen(card.filename);i++) + card.filename[i]=tolower(card.filename[i]); + sprintf(cmd,"M23 %s",card.filename); + //sprintf(cmd,"M115"); + enquecommand(cmd); + enquecommand("M24"); + beep(); + status=Main_Status; + lcd_status(card.filename); + } + } + } + + } + break; + } + line++; + } + updateActiveLines(FIRSTITEM+nrfiles-1,encoderpos); + if(enforceupdate) + { + force_lcd_update=true; + enforceupdate=false; + } +#endif +} + + +enum {ItemM_watch, ItemM_prepare, ItemM_control, ItemM_file }; +void MainMenu::showMainMenu() +{ + + #ifndef ULTIPANEL + force_lcd_update=false; + #endif + if(tune) + { + if(!(movesplanned() || IS_SD_PRINTING)) + { + force_lcd_update=true; + tune=false; + } + } + else + { + if(movesplanned() || IS_SD_PRINTING) + { + force_lcd_update=true; + tune=true; + } + } + clearIfNecessary(); + uint8_t line=0; + for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++) + { + switch(i) + { + case ItemM_watch: + MENUITEM( lcdprintPGM(MSG_WATCH) , BLOCK;status=Main_Status;beepshort(); ) ; + break; + case ItemM_prepare: + MENUITEM( if(!tune) lcdprintPGM(MSG_PREPARE);else lcdprintPGM(MSG_TUNE); , BLOCK;status=Main_Prepare;beepshort(); ) ; + break; + + case ItemM_control: + MENUITEM( lcdprintPGM(MSG_CONTROL_ARROW) , BLOCK;status=Main_Control;beepshort(); ) ; + break; + #ifdef SDSUPPORT + case ItemM_file: + { + if(force_lcd_update) + { + lcd.setCursor(0,line); + #ifdef CARDINSERTED + if(CARDINSERTED) + #else + if(true) + #endif + { + if(card.sdprinting) + lcdprintPGM(MSG_STOP_PRINT); + else + lcdprintPGM(MSG_CARD_MENU); + } + else + { + lcdprintPGM(MSG_NO_CARD); + } + } + #ifdef CARDINSERTED + if(CARDINSERTED) + #endif + if((activeline==line)&&CLICKED) + { + card.printingHasFinished(); + BLOCK; + status=Main_SD; + beepshort(); + } + }break; + #else + case ItemM_file: + break; + #endif + default: + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_SERIAL_ERROR_MENU_STRUCTURE); + break; + } + line++; + } + updateActiveLines(3,encoderpos); +} + +void MainMenu::update() +{ + static MainStatus oldstatus=Main_Menu; //init automatically causes foce_lcd_update=true + static long timeoutToStatus=0; + static bool oldcardstatus=false; + #ifdef CARDINSERTED + if((CARDINSERTED != oldcardstatus)) + { + force_lcd_update=true; + oldcardstatus=CARDINSERTED; + lcd_init(); // to maybe revive the lcd if static electricty killed it. + //Serial.println("echo: SD CHANGE"); + if(CARDINSERTED) + { + card.initsd(); + LCD_MESSAGEPGM(MSG_SD_INSERTED); + } + else + { + card.release(); + LCD_MESSAGEPGM(MSG_SD_REMOVED); + } + } + #endif + + if(status!=oldstatus) + { + force_lcd_update=true; + encoderpos=0; + lineoffset=0; + + oldstatus=status; + } + if( (encoderpos!=lastencoderpos) || CLICKED) + timeoutToStatus=millis()+STATUSTIMEOUT; + + switch(status) + { + case Main_Status: + { + showStatus(); + if(CLICKED) + { + linechanging=false; + BLOCK + status=Main_Menu; + timeoutToStatus=millis()+STATUSTIMEOUT; + } + }break; + case Main_Menu: + { + showMainMenu(); + linechanging=false; + }break; + case Main_Prepare: + { + if(tune) + { + showTune(); + } + else + { + showPrepare(); + } + }break; + case Sub_PrepareMove: + { + showAxisMove(); + }break; + case Main_Control: + { + showControl(); + }break; + case Sub_MotionControl: + { + showControlMotion(); + }break; + case Sub_RetractControl: + { + showControlRetract(); + }break; + case Sub_TempControl: + { + showControlTemp(); + }break; + case Main_SD: + { + showSD(); + }break; + } + + if(timeoutToStatus<millis()) + status=Main_Status; + //force_lcd_update=false; + lastencoderpos=encoderpos; +} + + + + + + +// convert float to string with +123.4 format +char *ftostr3(const float &x) +{ + //sprintf(conv,"%5.1f",x); + int xx=x; + conv[0]=(xx/100)%10+'0'; + conv[1]=(xx/10)%10+'0'; + conv[2]=(xx)%10+'0'; + conv[3]=0; + return conv; +} + +char *itostr2(const uint8_t &x) +{ + //sprintf(conv,"%5.1f",x); + int xx=x; + conv[0]=(xx/10)%10+'0'; + conv[1]=(xx)%10+'0'; + conv[2]=0; + return conv; +} + +// convert float to string with +123.4 format +char *ftostr31(const float &x) +{ + int xx=x*10; + conv[0]=(xx>=0)?'+':'-'; + xx=abs(xx); + conv[1]=(xx/1000)%10+'0'; + conv[2]=(xx/100)%10+'0'; + conv[3]=(xx/10)%10+'0'; + conv[4]='.'; + conv[5]=(xx)%10+'0'; + conv[6]=0; + return conv; +} + +char *ftostr32(const float &x) +{ + int xx=x*100; + conv[0]=(xx>=0)?'+':'-'; + xx=abs(xx); + conv[1]=(xx/100)%10+'0'; + conv[2]='.'; + conv[3]=(xx/10)%10+'0'; + conv[4]=(xx)%10+'0'; + conv[6]=0; + return conv; +} + +char *itostr31(const int &xx) +{ + conv[0]=(xx>=0)?'+':'-'; + conv[1]=(xx/1000)%10+'0'; + conv[2]=(xx/100)%10+'0'; + conv[3]=(xx/10)%10+'0'; + conv[4]='.'; + conv[5]=(xx)%10+'0'; + conv[6]=0; + return conv; +} + +char *itostr3(const int &xx) +{ + conv[0]=(xx/100)%10+'0'; + conv[1]=(xx/10)%10+'0'; + conv[2]=(xx)%10+'0'; + conv[3]=0; + return conv; +} + +char *itostr4(const int &xx) +{ + conv[0]=(xx/1000)%10+'0'; + conv[1]=(xx/100)%10+'0'; + conv[2]=(xx/10)%10+'0'; + conv[3]=(xx)%10+'0'; + conv[4]=0; + return conv; +} + +// convert float to string with +1234.5 format +char *ftostr51(const float &x) +{ + int xx=x*10; + conv[0]=(xx>=0)?'+':'-'; + xx=abs(xx); + conv[1]=(xx/10000)%10+'0'; + conv[2]=(xx/1000)%10+'0'; + conv[3]=(xx/100)%10+'0'; + conv[4]=(xx/10)%10+'0'; + conv[5]='.'; + conv[6]=(xx)%10+'0'; + conv[7]=0; + return conv; +} + +// convert float to string with +123.45 format +char *ftostr52(const float &x) +{ + int xx=x*100; + conv[0]=(xx>=0)?'+':'-'; + xx=abs(xx); + conv[1]=(xx/10000)%10+'0'; + conv[2]=(xx/1000)%10+'0'; + conv[3]=(xx/100)%10+'0'; + conv[4]='.'; + conv[5]=(xx/10)%10+'0'; + conv[6]=(xx)%10+'0'; + conv[7]=0; + return conv; +} + +#endif //ULTRA_LCD + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/wiring.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,141 @@ +/* + * fixed by this patch: + * http://code.google.com/p/arduino/issues/detail?id=604 + * */ +/* + wiring.h - Partial implementation of the Wiring API for the ATmega8. + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2005-2006 David A. Mellis + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library 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 + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General + Public License along with this library; if not, write to the + Free Software Foundation, Inc., 59 Temple Place, Suite 330, + Boston, MA 02111-1307 USA + + $Id$ +*/ + +#ifndef Wiring_h +#define Wiring_h + +#include <avr/io.h> +#include <stdlib.h> +#include "binary.h" + +#ifdef __cplusplus +extern "C"{ +#endif + +#define HIGH 0x1 +#define LOW 0x0 + +#define INPUT 0x0 +#define OUTPUT 0x1 + +#define true 0x1 +#define false 0x0 + +#define PI 3.1415926535897932384626433832795 +#define HALF_PI 1.5707963267948966192313216916398 +#define TWO_PI 6.283185307179586476925286766559 +#define DEG_TO_RAD 0.017453292519943295769236907684886 +#define RAD_TO_DEG 57.295779513082320876798154814105 + +#define SERIAL 0x0 +#define DISPLAY 0x1 + +#define LSBFIRST 0 +#define MSBFIRST 1 + +#define CHANGE 1 +#define FALLING 2 +#define RISING 3 + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define INTERNAL1V1 2 +#define INTERNAL2V56 3 +#else +#define INTERNAL 3 +#endif +#define DEFAULT 1 +#define EXTERNAL 0 + +// undefine stdlib's abs if encountered +#ifdef abs +#undef abs +#endif + +#define min(a,b) ((a)<(b)?(a):(b)) +#define max(a,b) ((a)>(b)?(a):(b)) +#define abs(x) ((x)>0?(x):-(x)) +#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt))) +#if __AVR_LIBC_VERSION__ < 10701UL +#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#endif +#define radians(deg) ((deg)*DEG_TO_RAD) +#define degrees(rad) ((rad)*RAD_TO_DEG) +#define sq(x) ((x)*(x)) + +#define interrupts() sei() +#define noInterrupts() cli() + +#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L ) +#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) ) +#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L ) + +#define lowByte(w) ((uint8_t) ((w) & 0xff)) +#define highByte(w) ((uint8_t) ((w) >> 8)) + +#define bitRead(value, bit) (((value) >> (bit)) & 0x01) +#define bitSet(value, bit) ((value) |= (1UL << (bit))) +#define bitClear(value, bit) ((value) &= ~(1UL << (bit))) +#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit)) + + +typedef unsigned int word; + +#define bit(b) (1UL << (b)) + +typedef uint8_t boolean; +typedef uint8_t byte; + +void init(void); + +void pinMode(uint8_t, uint8_t); +void digitalWrite(uint8_t, uint8_t); +int digitalRead(uint8_t); +int analogRead(uint8_t); +void analogReference(uint8_t mode); +void analogWrite(uint8_t, int); + +unsigned long millis(void); +unsigned long micros(void); +void delay(unsigned long); +void delayMicroseconds(unsigned int us); +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout); + +void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val); +uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder); + +void attachInterrupt(uint8_t, void (*)(void), int mode); +void detachInterrupt(uint8_t); + +void setup(void); +void loop(void); + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/z_probe.cpp Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,173 @@ +#include "z_probe.h" +#if defined(PROBE_PIN) && (PROBE_PIN > -1) +#include "Marlin.h" +#include "stepper.h" +#include "temperature.h" + +float Probe_Bed(float x_pos, float y_pos, int n) +{ + //returns Probed Z average height + float ProbeDepth[n]; + float ProbeDepthAvg=0; + + //force bed heater off for probing + int save_bed_targ = target_raw_bed; + target_raw_bed = 0; + WRITE(HEATER_BED_PIN,LOW); + + if (Z_HOME_DIR==-1) + { + //int probe_flag =1; + float meas = 0; + int fails = 0; + saved_feedrate = feedrate; + saved_feedmultiply = feedmultiply; + feedmultiply = 100; + //previous_millis_cmd = millis(); + + //Move to probe position + if (x_pos >= 0) destination[X_AXIS]=x_pos; + if (y_pos >= 0) destination[Y_AXIS]=y_pos; + //destination[Z_AXIS]=current_position[Z_AXIS]; + destination[Z_AXIS]=Z_HOME_RETRACT_MM; + feedrate = 9000; + prepare_move(); + + enable_endstops(true); + SERIAL_ECHO("PRE-PROBE current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]); + + SERIAL_ECHOLN("Ready to probe..."); + + //Probe bed n times + //*******************************************************************************************Bed Loop************************************* + for(int8_t i=0; i < n ; i++) + { + //int z = 0; + + //fast probe + //plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = 1.1 * max_length[Z_AXIS] * Z_HOME_DIR; + feedrate = homing_feedrate[Z_AXIS]; + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); + st_synchronize(); + + //feedrate = 0.0; + + SERIAL_ECHO("current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]); + if(endstop_z_hit == true) + { + SERIAL_ECHO("endstops_trigsteps[Z_AXIS]=");SERIAL_ECHOLN(endstops_trigsteps[Z_AXIS]); + ProbeDepth[i]= endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]; + meas = ProbeDepth[i]; + SERIAL_ECHO("ProbeDepth[");SERIAL_ECHO(i);SERIAL_ECHO("]=");SERIAL_ECHOLN(ProbeDepth[i]); + //************************************************************************************************************* + if (i > 0 ) //Second probe has happened so compare results + { + if (abs(ProbeDepth[i] - ProbeDepth[i - 1]) > .05) + { //keep going until readings match to avoid sticky bed + SERIAL_ECHO("Probing again: "); + SERIAL_ECHO(ProbeDepth[i]); SERIAL_ECHO(" - "); SERIAL_ECHO(ProbeDepth[i - 1]);SERIAL_ECHO(" = "); SERIAL_ECHOLN(abs(ProbeDepth[i] - ProbeDepth[i - 1])); + meas = ProbeDepth[i]; + i--; i--; //Throw out both that don't match because we don't know which one is accurate + if(fails++ > 4) break; + } + } + }else{ + SERIAL_ECHOLN("Probe not triggered."); + i=n-1; + } + //************************************************************************************************************************************************** + //fast move clear + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], meas, current_position[E_AXIS]); + destination[Z_AXIS] = Z_HOME_RETRACT_MM; + feedrate = fast_home_feedrate[Z_AXIS]; + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); + st_synchronize(); + + //check z stop isn't still triggered + if ( READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING ) + { + SERIAL_ECHOLN("Poking Stuck Bed:"); + destination[Z_AXIS] = -1; prepare_move(); + destination[Z_AXIS] = Z_HOME_RETRACT_MM; prepare_move(); + st_synchronize(); + i--; //Throw out this meaningless measurement + } + feedrate = 0; + } //end probe loop + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #endif + + feedrate = saved_feedrate; + feedmultiply = saved_feedmultiply; + //previous_millis_cmd = millis(); + endstops_hit_on_purpose(); + } + for(int8_t i=0;i<n;i++) + { + ProbeDepthAvg += ProbeDepth[i]; + } + ProbeDepthAvg /= n; + SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(ProbeDepthAvg); + SERIAL_ECHO("RAW current_position[Z_AXIS]=");SERIAL_ECHOLN(current_position[Z_AXIS]); + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], Z_HOME_RETRACT_MM, current_position[E_AXIS]); + current_position[Z_AXIS] = Z_HOME_RETRACT_MM; + + target_raw_bed = save_bed_targ; + return ProbeDepthAvg; + } + +void probe_init() +{ + SET_INPUT(PROBE_PIN); + WRITE(PROBE_PIN,HIGH); +} + +/*Crash1 - G29 to Probe and stop on Bed +G29 will probe bed at least twice at 3 points and take an average. G30 will probe bed at it's current location. +Z stop should be set slightly below bed height. Solder stub wire to each hole in huxley bed and attach a ring terminal under spring. +Wire bed probe to A2 on Melzi and duplicate cap/resistor circuit in schematic. + +Use something like this in the start.gcode file: +G29 ;Probe bed for Z height +G92 Z0 ;Set Z to Probed Depth +G1 Z5 F200 ;Lift Z out of way +*/ +void probe_3points() +{ + float Probe_Avg, Point1, Point2, Point3; + Point1 = Probe_Bed(max_length[X_AXIS] - 15,15,PROBE_N); + Point2 = Probe_Bed(max_length[X_AXIS] - 15,max_length[Y_AXIS] - 15,PROBE_N) ; + Point3 = Probe_Bed(15,max_length[Y_AXIS] / 2,PROBE_N); + Probe_Avg = (Point1 + Point2 + Point3) / 3; + //destination[2] = Probe_Avg; + //feedrate = homing_feedrate[Z_AXIS]; + //prepare_move(); + SERIAL_ECHOLN("**************************************"); + SERIAL_ECHO("Point1 ="); SERIAL_ECHOLN(Point1); + SERIAL_ECHO("Point2 ="); SERIAL_ECHOLN(Point2); + SERIAL_ECHO("Point3 ="); SERIAL_ECHOLN(Point3); + SERIAL_ECHO("Probed Average="); SERIAL_ECHOLN(Probe_Avg); + SERIAL_ECHOLN("**************************************"); +} + +void probe_1point() +{ + float Point; + Point = Probe_Bed(-1,-1,PROBE_N); + //destination[2] = Point +1; + //feedrate = homing_feedrate[Z_AXIS]; + //prepare_move(); + SERIAL_ECHOLN("**************************************"); + SERIAL_ECHO("Probed Z="); SERIAL_ECHOLN(Point); +} + +void probe_status() +{ + SERIAL_ECHO("Probe Status = "); SERIAL_ECHOLN(READ(PROBE_PIN)); +} + +#endif //defined(PROBE_PIN) > -1 + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/z_probe.h Sat Nov 07 13:23:07 2015 +0100 @@ -0,0 +1,21 @@ +#ifndef __Z_PROBEH + +#define __Z_PROBEH +#include "Marlin.h" + +#if defined(PROBE_PIN) && (PROBE_PIN > -1) + void probe_init(); + void probe_3points(); + void probe_1point(); + void probe_status(); + float Probe_Bed(float x_pos, float y_pos,int n); + +#else //no probe pin + FORCE_INLINE void probe_init() {}; + FORCE_INLINE void probe_3points() {}; + FORCE_INLINE void probe_1point() {}; + FORCE_INLINE void probe_status() {}; + FORCE_INLINE float Probe_Bed(float x_pos, float y_pos,int n) {return 0;} +#endif //PROBE_PIN + +#endif
