diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..b25c15b81f --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +*~ diff --git a/Marlin/.gitignore b/Marlin/.gitignore new file mode 100644 index 0000000000..651c36bb9d --- /dev/null +++ b/Marlin/.gitignore @@ -0,0 +1,3 @@ +*.o +*.~ +applet/ diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 39480939d7..652b7f082e 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1,133 +1,326 @@ #ifndef CONFIGURATION_H #define CONFIGURATION_H -// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration +// Uncomment ONE of the next three lines - the one for your RepRap machine +#define REPRAPPRO_HUXLEY +//#define REPRAPPRO_MENDEL +//#define REPRAPPRO_WALLACE -//// The following define selects which electronics board you have. Please choose the one that matches your setup -// Gen6 = 5, -#define MOTHERBOARD 5 +#ifndef REPRAPPRO_HUXLEY +#ifndef REPRAPPRO_MENDEL +#ifndef REPRAPPRO_WALLACE +#error Uncomment one of #define REPRAPPRO_HUXLEY, REPRAPPRO_MENDEL or REPRAPPRO_WALLACE at the start of the file Configuration.h +#endif +#endif +#endif -//// Thermistor settings: -// 1 is 100k thermistor -// 2 is 200k thermistor -// 3 is mendel-parts thermistor -#define THERMISTORHEATER 3 +// 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 -//// Calibration variables -// X, Y, Z, E steps per unit - Metric Mendel / Orca with V9 extruder: -float axis_steps_per_unit[] = {40, 40, 3333.92, 67}; -// For E steps per unit = 67 for v9 with direct drive (needs finetuning) for other extruders this needs to be changed -// Metric Prusa Mendel with Makergear geared stepper extruder: -//float axis_steps_per_unit[] = {80,80,3200/1.25,1380}; - -//// 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 ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops. -// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false +//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 "2012-06-25-1" //Personal revision number for changes to THIS file. +#define STRING_CONFIG_H_AUTHOR "RepRapPro" //Who made the changes. // This determines the communication speed of the printer #define BAUDRATE 250000 +//#define BAUDRATE 115200 -// Comment out (using // at the start of the line) to disable SD support: -//#define SDSUPPORT +//// The following define selects which electronics board you have. Please choose the one that matches your setup +// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics" +// Gen7 v1.1, v1.2 = 11 +// Gen7 v1.3 = 12 +// Gen7 v1.4 = 13 +// MEGA/RAMPS up to 1.2 = 3 +// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan) +// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed) +// Gen6 = 5 +// Gen6 deluxe = 51 +// Sanguinololu 1.2 and above = 62 +// Melzi 63 +// Ultimaker = 7 +// Teensylu = 8 +// Gen3+ =9 +#define MOTHERBOARD 62 + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +// Set this if you want to define the constants in the thermistor circuit +// and work out temperatures algebraically - added by AB. +//#define COMPUTE_THERMISTORS + +#ifdef COMPUTE_THERMISTORS + +// 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 + +// RS 198-961 +#define E_BETA 3960.0 +#define E_RS 4700.0 +#define E_R_INF ( 100000.0*exp(-E_BETA/298.15) ) + +// RS 484-0149; EPCOS B57550G103J +#define BED_BETA 3480.0 +#define BED_RS 4700.0 +#define BED_R_INF ( 10000.0*exp(-BED_BETA/298.15) ) + +#define BED_USES_THERMISTOR +#define HEATER_0_USES_THERMISTOR +//#define HEATER_1_USES_THERMISTOR +//#define HEATER_2_USES_THERMISTOR + +#endif -//// ADVANCED SETTINGS - to tweak parameters -#include "thermistortables.h" +//// Temperature sensor settings: +// -2 is thermocouple with MAX6675 (only for sensor 0) +// -1 is thermocouple with AD595 +// 0 is not used +// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup) +// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) +// 3 is mendel-parts thermistor (4.7k pullup) +// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! +// 5 is ParCan supplied 104GT-2 100K +// 6 is EPCOS 100k +// 7 is 100k Honeywell thermistor 135-104LAG-J01 +// 100 is 100k GE Sensing AL03006-58.2K-97-G1 with r2=4k7 +// 101 is 100k 0603 SMD Vishay NTCS0603E3104FXT with r2=4k7 +// 102 is 100k EPCOS G57540 Nozzle with r2=4k7 +// 103 is 100k EPCOS G57540 Bed with r2=4k7 +// 104 is 10k G57540 Bed with r2=4k7 +// 105 is 10k G57540 Bed with r2=10k +// 110 is 100k RS thermistor 198-961 hot end with 10K resistor + +#define TEMP_SENSOR_0 102 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_BED 101 + +// Actual temperature must be close to target for this long before M109 returns success +#define TEMP_RESIDENCY_TIME 10 // (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 +//#define HEATER_1_MINTEMP 5 +//#define HEATER_2_MINTEMP 5 +#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 +//#define HEATER_1_MAXTEMP 275 +//#define HEATER_2_MAXTEMP 275 +#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_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in % + #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 + +// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it +// Ultimaker +// #define DEFAULT_Kp 22.2 +// #define DEFAULT_Ki (1.25*PID_dT) +// #define DEFAULT_Kd (99/PID_dT) + +// Makergear +// #define DEFAULT_Kp 7.0 +// #define DEFAULT_Ki 0.1 +// #define DEFAULT_Kd 12 + +// RepRapPro Huxley + Mendel + #define DEFAULT_Kp 12.0 + #define DEFAULT_Ki (2.2*PID_dT) + #define DEFAULT_Kd (80/PID_dT) + +// Mendel Parts V9 on 12V +// #define DEFAULT_Kp 63.0 +// #define DEFAULT_Ki (2.25*PID_dT) +// #define DEFAULT_Kd (440/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 (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. +#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 +#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 +#define DISABLE_E false // For all extruders -// Inverting axis direction #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 true // for Mendel set to false, for Orca set to true -#define INVERT_E_DIR true // for direct drive extruder v9 set to true, for geared extruder 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 -//// ENDSTOP SETTINGS: +// 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 false //If true, axis won't move to coordinates less than zero. +#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. -#define X_MAX_LENGTH 200 -#define Y_MAX_LENGTH 200 -#define Z_MAX_LENGTH 100 + +// 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 -float max_feedrate[] = {60000, 60000, 100, 500000}; // set the max speeds -float homing_feedrate[] = {2400, 2400, 80, 0}; // set the homing speeds -bool axis_relative_modes[] = {false, false, false, false}; -//// Acceleration settings -// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. -float acceleration = 2000; // Normal acceleration mm/s^2 -float retract_acceleration = 7000; // Normal acceleration mm/s^2 -float max_xy_jerk = 20.0*60; -float max_z_jerk = 0.4*60; -long max_acceleration_units_per_sq_second[] = {7000,7000,100,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts +#ifdef REPRAPPRO_MENDEL -// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature -// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 -//#define WATCHPERIOD 5000 //5 seconds +#define X_MAX_LENGTH 210 +#define Y_MAX_LENGTH 210 +#define Z_MAX_LENGTH 140 +#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 -//// The minimal temperature defines the temperature below which the heater will not be enabled -#define MINTEMP 5 +#else - -// 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 MAXTEMP 275 - - -/// PID settings: -// Uncomment the following line to enable PID support. -//#define PIDTEMP -#ifdef PIDTEMP -//#define PID_DEBUG 1 // Sends debug data to the serial port. -//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in % -#define PID_MAX 156 // limits current to nozzle -#define PID_INTEGRAL_DRIVE_MAX 156.0 -#define PID_dT 0.16 -double Kp = 20.0; -double Ki = 1.5*PID_dT; -double Kd = 80/PID_dT; -#endif // PIDTEMP - - -// 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 0.02 - -#define D_FILAMENT 1.7 -#define STEPS_MM_E 65 -#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 +#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 #endif + + +// default settings + +#define DEFAULT_AXIS_STEPS_PER_UNIT {91.4286, 91.4286,4000,875} // default steps per unit for ultimaker + + +#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" +#include "thermistortables.h" + +#endif //__CONFIGURATION_H diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h new file mode 100644 index 0000000000..10ee4eb3de --- /dev/null +++ b/Marlin/Configuration_adv.h @@ -0,0 +1,237 @@ +#ifndef CONFIGURATION_ADV_H +#define CONFIGURATION_ADV_H + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +// Select one of these only to define how the bed temp is read. +// +//#define BED_LIMIT_SWITCHING +#ifdef BED_LIMIT_SWITCHING + #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS +#endif +#define BED_CHECK_INTERVAL 5000 //ms + +//// Heating sanity check: +// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +// If the temperature has not increased at the end of that period, the target temperature is set to zero. +// It can be reset with another M104/M109 +//#define WATCHPERIOD 20000 //20 seconds + +// 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 + +#ifdef PIDTEMP + // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed. + // if Kc is choosen well, the additional required power due to increased melting should be compensated. + //#define PID_ADD_EXTRUSION_RATE + #ifdef PID_ADD_EXTRUSION_RATE + #define DEFAULT_Kc (1) //heatingpower=Kc*(e_speed) + #endif +#endif + + +//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode. +//The maximum buffered steps/sec of the extruder motor are called "se". +//You enter the autotemp mode by a M109 S T F +// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp +// you exit the value by any M109 without F* +// Also, if the temperature is set to a value 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 diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h new file mode 100644 index 0000000000..31cf8cd2f7 --- /dev/null +++ b/Marlin/EEPROMwrite.h @@ -0,0 +1,218 @@ +#ifndef EEPROM_H +#define EEPROM_H + +#include "Marlin.h" +#include "planner.h" +#include "temperature.h" +#include "FPUTransform.h" +//#include + + + +template 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 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 + 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)"); + 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); + 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(""); + #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 + #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 + + 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; + 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]; + } + 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; + SERIAL_ECHO_START; + SERIAL_ECHOLN("Using Default settings:"); + } + #ifdef EEPROM_CHITCHAT + EEPROM_printSettings(); + #endif +} + +#endif + + diff --git a/Marlin/FPUTransform.cpp b/Marlin/FPUTransform.cpp new file mode 100644 index 0000000000..17d7660306 --- /dev/null +++ b/Marlin/FPUTransform.cpp @@ -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 = X_MAX_LENGTH - 20; +float X2 = (X4 + X3) / 2; +int Y1 = 15; +float Y2 = Y_MAX_LENGTH - 5; +float Z1; +float Z2; +float Z3; +float Z4; + +//get Z for X15 Y15, X15 Y(Y_MAX_LENGTH - 15) and X(X_MAX_LENGTH - 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 diff --git a/Marlin/FPUTransform.h b/Marlin/FPUTransform.h new file mode 100644 index 0000000000..661ccca94a --- /dev/null +++ b/Marlin/FPUTransform.h @@ -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 diff --git a/Marlin/Makefile b/Marlin/Makefile index 06e643d4aa..955ccd5e33 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -1,4 +1,4 @@ -# Marlin Arduino Project Makefile +# Sprinter Arduino Project Makefile # # Makefile Based on: # Arduino 0011 Makefile @@ -23,7 +23,9 @@ # 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. +# 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. # @@ -32,30 +34,38 @@ # # $Id$ -TARGET = Marlin -INSTALL_DIR = ../../Desktop/arduino-0018/ -UPLOAD_RATE = 38400 -AVRDUDE_PROGRAMMER = stk500v1 -PORT = /dev/ttyUSB0 -#MCU = atmega2560 #For "old" Arduino Mega -#MCU = atmega1280 +MCU = atmega1280 +#For Arduino Mega2560 +#MCU = atmega2560 #For Sanguinololu -MCU = atmega644p +#MCU = atmega644p + +#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/Sanguino/cores/arduino -AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin -SRC = $(ARDUINO)/pins_arduino.c wiring.c wiring_serial.c \ -$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ -$(ARDUINO)/wiring_pulse.c \ -$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c -CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \ -$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp +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\ + $(ARDUINO)/Print.cpp applet/Marlin.cpp MarlinSerial.cpp Sd2Card.cpp SdBaseFile.cpp SdFatUtil.cpp SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp stepper.cpp temperature.cpp cardreader.cpp FORMAT = ihex @@ -84,12 +94,12 @@ CXXINCS = -I$(ARDUINO) # gnu99 - c99 plus GCC extensions #CSTANDARD = -std=gnu99 CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wunused-variable +CWARN = -Wall -Wstrict-prototypes CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst) CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING) -CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING) +CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING) #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs LDFLAGS = -lm @@ -98,18 +108,18 @@ LDFLAGS = -lm 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) + -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 = $(INSTALL_DIR)/hardware/tools/avrdude +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 = $(AVR_TOOLS_PATH)avr-nm +AVRDUDE = avrdude REMOVE = rm -f MV = mv -f @@ -127,22 +137,25 @@ ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) # Default target. -all: applet_files_ez build sizeafter +all: build sizeafter build: elf hex -applet_files_ez: $(TARGET).pde - # Here is the "preprocessing". - # It creates a .cpp file based with the same name as the .pde file. - # On top of the new .cpp file comes the WProgram.h header. - # At the end there is a generic main() function attached. - # Then the .cpp file will be compiled. Errors during compile will - # refer to this new, automatically generated, file. - # Not the original .pde file you actually edit... - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp +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/$(TARGET).hex @@ -152,7 +165,9 @@ sym: applet/$(TARGET).sym # Program the device. upload: applet/$(TARGET).hex + stty hup < $(PORT); true $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + stty -hup < $(PORT); true # Display size of file. @@ -162,15 +177,15 @@ sizebefore: @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi sizeafter: - @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi + @if [ -f applet/$(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 + --change-section-address .data-0x800000 \ + --change-section-address .bss-0x800000 \ + --change-section-address .noinit-0x800000 \ + --change-section-address .eeprom-0x810000 coff: applet/$(TARGET).elf @@ -182,13 +197,15 @@ extcoff: $(TARGET).elf .SUFFIXES: .elf .hex .eep .lss .sym +.PRECIOUS: .o .elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + @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) $< $@ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ # Create extended listing file from ELF output file. .elf.lss: @@ -199,39 +216,29 @@ extcoff: $(TARGET).elf $(NM) -n $< > $@ # Link: create ELF output file from library. -applet/$(TARGET).elf: $(TARGET).pde applet/core.a - $(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) +applet/$(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) - @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done - - - -# Compile: create object files from C++ source files. -.cpp.o: - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ +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: - $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \ - applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + @echo " RM applet/*" + @$(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; \ diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 56d716542d..70f9062428 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -1,107 +1,203 @@ // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL -#include + +#ifndef MARLIN_H +#define MARLIN_H + +#define HardwareSerial_h // trick to disable the standard HWserial + +#define FORCE_INLINE __attribute__((always_inline)) inline + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + + #include "fastio.h" -extern "C" void __cxa_pure_virtual(); -void __cxa_pure_virtual(){}; +#include "Configuration.h" +#include "pins.h" + +#if ARDUINO >= 100 + #if defined(__AVR_ATmega644P__) || defined (__AVR_ATmega1284P__) + #include "WProgram.h" + #else + #include "Arduino.h" + #endif +#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" + +#if MOTHERBOARD == 8 // Teensylu + #define MYSERIAL Serial +#else + #define MYSERIAL MSerial +#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); -void manage_heater(); -int temp2analogu(int celsius, const short table[][2], int numtemps); -float analog2tempu(int raw, const short table[][2], int numtemps); -#ifdef HEATER_USES_THERMISTOR - #define HEATERSOURCE 1 -#endif -#ifdef BED_USES_THERMISTOR - #define BEDSOURCE 1 -#endif - -#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS) -#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS) - #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) + #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 E_ENABLE_PIN > -1 -#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON) -#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON) -#else -#define enable_e() ; -#define disable_e() ; + #define enable_x() ; + #define disable_x() ; #endif -#define X_AXIS 0 -#define Y_AXIS 1 -#define Z_AXIS 2 -#define E_AXIS 3 +#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 linear_move(unsigned long steps_remaining[]); -void do_step(int axis); -void kill(byte debug); +void kill(); +void Stop(); -// 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 - long step_event_count; // The number of step events required to complete this block - volatile long accelerate_until; // The index of the step event on which to stop acceleration - volatile long decelerate_after; // The index of the step event on which to start decelerating - volatile 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) +bool IsStopped(); - long advance_rate; - volatile long initial_advance; - volatile long final_advance; - float advance; +void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer. +void prepare_arc_move(char isclockwise); - // Fields used by the motion planner to manage acceleration - float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis - float nominal_speed; // The nominal speed for this block in mm/min - float millimeters; // The total travel of this block in mm - float entry_speed; - float acceleration; // acceleration mm/sec^2 +#ifndef CRITICAL_SECTION_START + #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); + #define CRITICAL_SECTION_END SREG = _sreg; +#endif //CRITICAL_SECTION_START - // Settings for the trapezoid generator - long nominal_rate; // The nominal step rate for this block in step_events/sec - volatile long initial_rate; // The jerk-adjusted step rate at start of block - volatile long final_rate; // The minimal rate at exit - long acceleration_st; // acceleration steps/sec^2 - volatile char busy; -} block_t; +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 unsigned char FanSpeed; -void check_axes_activity(); -void plan_init(); -void st_init(); -void tp_init(); -void plan_buffer_line(float x, float y, float z, float e, float feed_rate); -void plan_set_position(float x, float y, float z, float e); -void st_wake_up(); -void st_synchronize(); +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 diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index c1ece44cbc..e99cba46a1 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -23,26 +23,25 @@ It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html - - This firmware is optimized for gen6 electronics. */ -#include "fastio.h" -#include "Configuration.h" -#include "pins.h" #include "Marlin.h" -#include "speed_lookuptable.h" -char version_string[] = "0.9.10"; +#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 "watchdog.h" +#include "EEPROMwrite.h" +#include "language.h" +#include "pins_arduino.h" -#ifdef SDSUPPORT -#include "SdFat.h" -#endif //SDSUPPORT - -#ifndef CRITICAL_SECTION_START -#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli() -#define CRITICAL_SECTION_END SREG = _sreg -#endif //CRITICAL_SECTION_START +#define VERSION_STRING "1.0.0 RC2" // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes @@ -51,8 +50,14 @@ char version_string[] = "0.9.10"; //------------------- // G0 -> G1 // G1 - Coordinated Movement X Y Z E +// G2 - CW ARC +// G3 - CCW ARC // G4 - Dwell S or P // 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 @@ -66,7 +71,8 @@ char version_string[] = "0.9.10"; // M114 - Display current position //Custom M Codes -// M80 - Turn on Power Supply +// 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 @@ -77,6 +83,12 @@ char version_string[] = "0.9.10"; // 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 +// M80 - Turn on Power Supply // M81 - Turn off Power Supply // M82 - Set E codes absolute (default) // M83 - Set E codes relative while in Absolute Coordinates (G90) mode @@ -84,318 +96,301 @@ char version_string[] = "0.9.10"; // or use S 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. 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) +// 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 +// M220 S- set speed factor override percentage +// M221 S- set extrude factor override percentage +// M240 - Trigger a camera to take a photograph // M301 - Set PID parameters P I and D +// M302 - Allow cold extrudes +// M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) +// 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 //Stepper Movement Variables -char axis_codes[NUM_AXIS] = { - 'X', 'Y', 'Z', 'E'}; -float destination[NUM_AXIS] = { - 0.0, 0.0, 0.0, 0.0}; -float current_position[NUM_AXIS] = { - 0.0, 0.0, 0.0, 0.0}; -bool home_all_axis = true; -long feedrate = 1500, next_feedrate, saved_feedrate; -long gcode_N, gcode_LastN; -bool relative_mode = false; //Determines Absolute or Relative Coordinates -bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode. -unsigned long axis_steps_per_sqr_second[NUM_AXIS]; +//=========================================================================== +//=============================imported variables============================ +//=========================================================================== -// comm variables -#define MAX_CMD_SIZE 96 -#define BUFSIZE 8 -char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; -bool fromsd[BUFSIZE]; -int bufindr = 0; -int bufindw = 0; -int buflen = 0; -int i = 0; -char serial_char; -int serial_count = 0; -boolean comment_mode = false; -char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc -// Manage heater 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}; +uint8_t active_extruder = 0; +unsigned char FanSpeed=0; -int target_raw = 0; -int current_raw = 0; -unsigned char temp_meas_ready = false; +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; -#ifdef PIDTEMP - double temp_iState = 0; - double temp_dState = 0; - double pTerm; - double iTerm; - double dTerm; - //int output; - double pid_error; - double temp_iState_min; - double temp_iState_max; - double pid_setpoint = 0.0; - double pid_input; - double pid_output; - bool pid_reset; -#endif //PIDTEMP +// used by FPU transform code +float modified_destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0}; -#ifdef WATCHPERIOD -int watch_raw = -1000; -unsigned long watchmillis = 0; -#endif //WATCHPERIOD -#ifdef MINTEMP -int minttemp = temp2analogh(MINTEMP); -#endif //MINTEMP -#ifdef MAXTEMP -int maxttemp = temp2analogh(MAXTEMP); -#endif //MAXTEMP +//=========================================================================== +//=============================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 -unsigned long previous_millis_cmd = 0; -unsigned long max_inactive_time = 0; -unsigned long stepper_inactive_time = 0; +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; -#ifdef SDSUPPORT -Sd2Card card; -SdVolume volume; -SdFile root; -SdFile file; -uint32_t filesize = 0; -uint32_t sdpos = 0; -bool sdmode = false; -bool sdactive = false; -bool savetosd = false; -int16_t n; +static unsigned long starttime=0; +static unsigned long stoptime=0; -void initsd(){ - sdactive = false; -#if SDSS >- 1 - if(root.isOpen()) - root.close(); - if (!card.init(SPI_FULL_SPEED,SDSS)){ - //if (!card.init(SPI_HALF_SPEED,SDSS)) - Serial.println("SD init fail"); - } - else if (!volume.init(&card)) - Serial.println("volume.init failed"); - else if (!root.openRoot(&volume)) - Serial.println("openRoot failed"); - else - sdactive = true; -#endif //SDSS -} +static uint8_t tmp_extruder; -inline void 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'; - //Serial.println(begin); - file.write(begin); - if (file.writeError){ - Serial.println("error writing to file"); +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; } } -#endif //SDSUPPORT +//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() { - Serial.begin(BAUDRATE); - Serial.print("Marlin "); - Serial.println(version_string); - Serial.println("start"); + setup_powerhold(); + MYSERIAL.begin(BAUDRATE); + SERIAL_PROTOCOLLNPGM("start"); + SERIAL_ECHO_START; - for(int i = 0; i < BUFSIZE; i++){ + // 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 - //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 E_DIR_PIN > -1 - SET_OUTPUT(E_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 (E_ENABLE_PIN > -1) - SET_OUTPUT(E_ENABLE_PIN); - if(!E_ENABLE_ON) WRITE(E_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 - -#if (HEATER_0_PIN > -1) - SET_OUTPUT(HEATER_0_PIN); -#endif -#if (HEATER_1_PIN > -1) - SET_OUTPUT(HEATER_1_PIN); -#endif - - //Initialize Step Pins -#if (X_STEP_PIN > -1) - SET_OUTPUT(X_STEP_PIN); -#endif -#if (Y_STEP_PIN > -1) - SET_OUTPUT(Y_STEP_PIN); -#endif -#if (Z_STEP_PIN > -1) - SET_OUTPUT(Z_STEP_PIN); -#endif -#if (E_STEP_PIN > -1) - SET_OUTPUT(E_STEP_PIN); -#endif - for(int i=0; i < NUM_AXIS; i++){ + 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]; } -#ifdef PIDTEMP - temp_iState_min = 0.0; - temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki; -#endif //PIDTEMP -#ifdef SDSUPPORT - //power to SD reader -#if SDPOWER > -1 - SET_OUTPUT(SDPOWER); - WRITE(SDPOWER,HIGH); -#endif //SDPOWER - initsd(); - -#endif //SDSUPPORT + tp_init(); // Initialize temperature loop plan_init(); // Initialize planner; st_init(); // Initialize stepper; - tp_init(); // Initialize temperature loop + wd_init(); + #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(); } void loop() { - if(buflen<3) + if(buflen < (BUFSIZE-1)) get_command(); - - if(buflen){ -#ifdef SDSUPPORT - if(savetosd){ - if(strstr(cmdbuffer[bufindr],"M29") == NULL){ - write_command(cmdbuffer[bufindr]); - Serial.println("ok"); + #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{ - file.sync(); - file.close(); - savetosd = false; - Serial.println("Done saving file."); + else + { + process_commands(); } - } - else{ + #else process_commands(); - } -#else - process_commands(); -#endif //SDSUPPORT + #endif //SDSUPPORT buflen = (buflen-1); bufindr = (bufindr + 1)%BUFSIZE; } //check heater every n milliseconds manage_heater(); manage_inactivity(1); + checkHitEndstops(); + LCD_STATUS; + LED_STATUS; } - -inline void get_command() +void get_command() { - while( Serial.available() > 0 && buflen < BUFSIZE) { - serial_char = Serial.read(); - if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) + 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) return; //if empty line + 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.print("Serial Error: Line Number is not Last Line Number+1, Last Line:"); - Serial.println(gcode_LastN); + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_LINE_NO); + SERIAL_ERRORLN(gcode_LastN); //Serial.println(gcode_N); FlushSerialRequestResend(); serial_count = 0; @@ -410,8 +405,9 @@ inline void get_command() strchr_pointer = strchr(cmdbuffer[bufindw], '*'); if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { - Serial.print("Error: checksum mismatch, Last Line:"); - Serial.println(gcode_LastN); + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH); + SERIAL_ERRORLN(gcode_LastN); FlushSerialRequestResend(); serial_count = 0; return; @@ -420,8 +416,9 @@ inline void get_command() } else { - Serial.print("Error: No Checksum with line number, Last Line:"); - Serial.println(gcode_LastN); + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM); + SERIAL_ERRORLN(gcode_LastN); FlushSerialRequestResend(); serial_count = 0; return; @@ -434,8 +431,9 @@ inline void get_command() { if((strstr(cmdbuffer[bufindw], "*") != NULL)) { - Serial.print("Error: No Line Number with checksum, Last Line:"); - Serial.println(gcode_LastN); + SERIAL_ERROR_START; + SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM); + SERIAL_ERRORLN(gcode_LastN); serial_count = 0; return; } @@ -445,11 +443,19 @@ inline void get_command() switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){ case 0: case 1: -#ifdef SDSUPPORT - if(savetosd) - break; -#endif //SDSUPPORT - Serial.println("ok"); + 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; @@ -458,9 +464,7 @@ inline void get_command() } bufindw = (bufindw + 1)%BUFSIZE; buflen += 1; - } - comment_mode = false; //for new command serial_count = 0; //clear buffer } else @@ -469,27 +473,45 @@ inline void get_command() if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } } -#ifdef SDSUPPORT - if(!sdmode || serial_count!=0){ + #ifdef SDSUPPORT + if(!card.sdprinting || serial_count!=0){ return; } - while( filesize > sdpos && buflen < BUFSIZE) { - n = file.read(); + while( !card.eof() && buflen < BUFSIZE) { + int16_t n=card.get(); serial_char = (char)n; - if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1) + if(serial_char == '\n' || + serial_char == '\r' || + (serial_char == ':' && comment_mode == false) || + serial_count >= (MAX_CMD_SIZE - 1)||n==-1) { - sdpos = file.curPosition(); - if(sdpos >= filesize){ - sdmode = false; - Serial.println("Done printing file"); + 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 } - if(!serial_count) return; //if empty line cmdbuffer[bufindw][serial_count] = 0; //terminate string - if(!comment_mode){ +// if(!comment_mode){ fromsd[bufindw] = true; buflen += 1; bufindw = (bufindw + 1)%BUFSIZE; - } +// } comment_mode = false; //for new command serial_count = 0; //clear buffer } @@ -499,28 +521,61 @@ inline void get_command() if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } } -#endif //SDSUPPORT + + #endif //SDSUPPORT } -inline float code_value() { +float code_value() +{ return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } -inline long code_value_long() { + +long code_value_long() +{ return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } -inline bool code_seen(char code_string[]) { - return (strstr(cmdbuffer[bufindr], code_string) != NULL); -} //Return True if the string was found -inline bool code_seen(char code) +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 } -inline void process_commands() +#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 * LETTER##_MAX_LENGTH * 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_DIR == -1) ? LETTER##_HOME_POS : LETTER##_MAX_LENGTH;\ + destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ + feedrate = 0.0;\ + endstops_hit_on_purpose();\ + } + +void process_commands() { unsigned long codenum; //throw away variable char *starpos = NULL; @@ -531,114 +586,134 @@ inline void process_commands() { case 0: // G0 -> G1 case 1: // G1 - get_coordinates(); // For X Y Z E F - prepare_move(); - previous_millis_cmd = millis(); - //ClearToSend(); - return; + 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 28: //G28 Home all Axis one at a time saved_feedrate = feedrate; - for(int i=0; i < NUM_AXIS; i++) { + 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; - + feedrate = 0.0; home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); + #ifdef QUICK_HOME + if( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS]) ) //first diagonal move + { + current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; - if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) { - if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){ - st_synchronize(); - current_position[X_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR; - feedrate = homing_feedrate[X_AXIS]; - prepare_move(); - - st_synchronize(); - current_position[X_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = -5 * X_HOME_DIR; - prepare_move(); - - st_synchronize(); - destination[X_AXIS] = 10 * X_HOME_DIR; - feedrate = homing_feedrate[X_AXIS]/2 ; - prepare_move(); - st_synchronize(); - - current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = current_position[X_AXIS]; - feedrate = 0; - } + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 1.1 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.1 * Y_MAX_LENGTH * Y_HOME_DIR; + feedrate = homing_feedrate[X_AXIS]; + if(homing_feedrate[Y_AXIS] -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){ - current_position[Y_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; - feedrate = homing_feedrate[Y_AXIS]; - prepare_move(); - st_synchronize(); - - current_position[Y_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = -5 * Y_HOME_DIR; - prepare_move(); - st_synchronize(); - - destination[Y_AXIS] = 10 * Y_HOME_DIR; - feedrate = homing_feedrate[Y_AXIS]/2; - prepare_move(); - st_synchronize(); - - current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = current_position[Y_AXIS]; - feedrate = 0; + 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[Z_AXIS]))) { - if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){ - current_position[Z_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR; - feedrate = homing_feedrate[Z_AXIS]; - prepare_move(); - st_synchronize(); - - current_position[Z_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = -2 * Z_HOME_DIR; - prepare_move(); - st_synchronize(); - - destination[Z_AXIS] = 3 * Z_HOME_DIR; - feedrate = homing_feedrate[Z_AXIS]/2; - prepare_move(); - st_synchronize(); - - current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = current_position[Z_AXIS]; - feedrate = 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; @@ -646,187 +721,381 @@ inline void process_commands() relative_mode = true; break; case 92: // G92 - if(!code_seen(axis_codes[E_AXIS])) + if(!code_seen(axis_codes[E_AXIS])) st_synchronize(); - for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) current_position[i] = code_value(); + 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]); + } + } } - 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() ) { -#ifdef SDSUPPORT + case 17: + LCD_MESSAGEPGM(MSG_NO_MOVE); + enable_x(); + enable_y(); + enable_z(); + enable_e0(); + enable_e1(); + enable_e2(); + break; +#ifdef SDSUPPORT case 20: // M20 - list SD card - Serial.println("Begin file list"); - root.ls(); - Serial.println("End file list"); + SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); + card.ls(); + SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); break; case 21: // M21 - init SD card - sdmode = false; - initsd(); + + card.initsd(); + break; case 22: //M22 - release SD card - sdmode = false; - sdactive = false; + card.release(); + break; case 23: //M23 - Select file - if(sdactive){ - sdmode = false; - file.close(); - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos!=NULL) - *(starpos-1)='\0'; - if (file.open(&root, strchr_pointer + 4, O_READ)) { - Serial.print("File opened:"); - Serial.print(strchr_pointer + 4); - Serial.print(" Size:"); - Serial.println(file.fileSize()); - sdpos = 0; - filesize = file.fileSize(); - Serial.println("File selected"); - } - else{ - Serial.println("file.open failed"); - } - } + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos!=NULL) + *(starpos-1)='\0'; + card.openFile(strchr_pointer + 4,true); break; case 24: //M24 - Start SD print - if(sdactive){ - sdmode = true; - } + card.startFileprint(); + starttime=millis(); break; case 25: //M25 - Pause SD print - if(sdmode){ - sdmode = false; - } + card.pauseSDPrint(); break; case 26: //M26 - Set SD index - if(sdactive && code_seen('S')){ - sdpos = code_value_long(); - file.seekSet(sdpos); + if(card.cardOK && code_seen('S')) { + card.setIndex(code_value_long()); } break; case 27: //M27 - Get SD status - if(sdactive){ - Serial.print("SD printing byte "); - Serial.print(sdpos); - Serial.print("/"); - Serial.println(filesize); - } - else{ - Serial.println("Not SD printing"); - } + card.getStatus(); break; case 28: //M28 - Start SD write - if(sdactive){ - char* npos = 0; - file.close(); - sdmode = false; - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos != NULL){ - npos = strchr(cmdbuffer[bufindr], 'N'); - strchr_pointer = strchr(npos,' ') + 1; - *(starpos-1) = '\0'; - } - if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) - { - Serial.print("open failed, File: "); - Serial.print(strchr_pointer + 4); - Serial.print("."); - } - else{ - savetosd = true; - Serial.print("Writing to file: "); - Serial.println(strchr_pointer + 4); - } + 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 - //savetosd = false; + //card,saving = false; break; + case 30: //M30 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 104: // M104 -#ifdef PID_OPENLOOP - if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0); - if(pid_output > PID_MAX) pid_output = PID_MAX; - if(pid_output < 0) pid_output = 0; -#else //PID_OPENLOOP - if (code_seen('S')) { - target_raw = temp2analogh(code_value()); -#ifdef PIDTEMP - pid_setpoint = code_value(); -#endif //PIDTEMP + + 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); + autotempShutdown(); } -#ifdef WATCHPERIOD - if(target_raw > current_raw){ - watchmillis = max(1,millis()); - watch_raw = current_raw; - } - else{ - watchmillis = 0; - } -#endif //WATCHPERIOD -#endif //PID_OPENLOOP break; - case 105: // M105 - Serial.print("ok T:"); - Serial.println(analog2temp(current_raw)); - return; - //break; - case 109: // M109 - Wait for extruder heater to reach target. - if (code_seen('S')) { - target_raw = temp2analogh(code_value()); -#ifdef PIDTEMP - pid_setpoint = code_value(); -#endif //PIDTEMP - } -#ifdef WATCHPERIOD - if(target_raw>current_raw){ - watchmillis = max(1,millis()); - watch_raw = current_raw; - } - else{ - watchmillis = 0; - } -#endif //WATCHERPERIOD - codenum = millis(); - while(current_raw < target_raw) { - if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + 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) { - Serial.print("T:"); - Serial.println( analog2temp(current_raw)); - codenum = millis(); + 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); + } } - manage_heater(); + } + break; + case 104: // M104 + tmp_extruder = active_extruder; + if(code_seen('T')) { + 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')) setTargetHotend(code_value(), tmp_extruder); + setWatch(); + break; + case 140: // M140 set bed temp + if (code_seen('S')) setTargetBed(code_value()); + 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')) { + 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); + #ifdef AUTOTEMP + autotemp_enabled=false; + #endif + if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder); + #ifdef AUTOTEMP + if (code_seen('S')) autotemp_min=code_value(); + if (code_seen('B')) autotemp_max=code_value(); + if (code_seen('F')) + { + autotemp_factor=code_value(); + autotemp_enabled=true; + } + #endif + + setWatch(); + codenum = millis(); + + /* See if we are heating up or cooling down */ + bool target_direction = isHeatingHotend(tmp_extruder); // 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(tmp_extruder)) : (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(tmp_extruder),1); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL((int)tmp_extruder); + #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(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) || + (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) || + (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) + { + residencyStart = millis(); + } + #endif //TEMP_RESIDENCY_TIME + } + LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); + starttime=millis(); + previous_millis_cmd = millis(); } break; - case 190: - 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 + + #if (PS_ON_PIN > -1) + case 80: // M80 - ATX Power On + SET_OUTPUT(PS_ON_PIN); //GND + WRITE(PS_ON_PIN, LOW); + break; + #endif + + case 81: // M81 - ATX Power Off + + #if defined SUICIDE_PIN && SUICIDE_PIN > -1 + st_synchronize(); + suicide(); + #elif (PS_ON_PIN > -1) + SET_INPUT(PS_ON_PIN); //Floating + #endif + break; + case 82: axis_relative_modes[3] = false; break; case 83: axis_relative_modes[3] = true; break; - case 84: + case 18: //compatibility + case 84: // M84 if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; } - else{ - st_synchronize(); - disable_x(); - disable_y(); - disable_z(); - disable_e(); + 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(); + } + 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(); + } + #endif + LCD_MESSAGEPGM(MSG_PART_RELEASE); + } } break; case 85: // M85 @@ -834,81 +1103,276 @@ inline void process_commands() max_inactive_time = code_value() * 1000; break; case 92: // M92 - for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); + 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 - Serial.println("FIRMWARE_NAME:Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); + SerialprintPGM(MSG_M115_REPORT); + break; + case 117: // M117 display message + LCD_MESSAGE(cmdbuffer[bufindr]+5); break; case 114: // M114 - Serial.print("X:"); - Serial.print(current_position[X_AXIS]); - Serial.print("Y:"); - Serial.print(current_position[Y_AXIS]); - Serial.print("Z:"); - Serial.print(current_position[Z_AXIS]); - Serial.print("E:"); - Serial.println(current_position[E_AXIS]); + 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.print("x_min:"); - Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (X_MAX_PIN > -1) - Serial.print("x_max:"); - Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Y_MIN_PIN > -1) - Serial.print("y_min:"); - Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Y_MAX_PIN > -1) - Serial.print("y_max:"); - Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Z_MIN_PIN > -1) - Serial.print("z_min:"); - Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Z_MAX_PIN > -1) - Serial.print("z_max:"); - Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif - Serial.println(""); + #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; //TODO: update for all axis, use for loop case 201: // M201 - for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + 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 + #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 - for(int i=0; i < NUM_AXIS; i++) { + 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 -#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; - Serial.print("Kp ");Serial.println(Kp); - Serial.print("Ki ");Serial.println(Ki/PID_dT); - Serial.print("Kd ");Serial.println(Kd*PID_dT); - temp_iState_min = 0.0; - temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki; + #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; -#endif //PIDTEMP + 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() ; + } + 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 220: // M220 S- set speed factor override percentage + { + if(code_seen('S')) + { + feedmultiply = code_value() ; + feedmultiplychanged=true; + } + } + break; + case 221: // M221 S- 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); + #ifdef PID_ADD_EXTRUSION_RATE + if(code_seen('C')) Kc = code_value(); + #endif + 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); + #ifdef PID_ADD_EXTRUSION_RATE + SERIAL_PROTOCOL(" c:"); + SERIAL_PROTOCOL(Kc*PID_dT); + #endif + 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 + { + 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 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; + } } - else{ - Serial.println("Unknown command:"); - Serial.println(cmdbuffer[bufindr]); + + else if(code_seen('T')) + { + tmp_extruder = code_value(); + if(tmp_extruder >= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO("T"); + SERIAL_ECHO(tmp_extruder); + SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); + } + else { + active_extruder = tmp_extruder; + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); + SERIAL_PROTOCOLLN((int)active_extruder); + } + } + + else + { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); + SERIAL_ECHO(cmdbuffer[bufindr]); + SERIAL_ECHOLNPGM("\""); } ClearToSend(); @@ -917,27 +1381,27 @@ inline void process_commands() void FlushSerialRequestResend() { //char cmdbuffer[bufindr][100]="Resend:"; - Serial.flush(); - Serial.print("Resend:"); - Serial.println(gcode_LastN + 1); + MYSERIAL.flush(); + SERIAL_PROTOCOLPGM(MSG_RESEND); + SERIAL_PROTOCOLLN(gcode_LastN + 1); ClearToSend(); } void ClearToSend() { previous_millis_cmd = millis(); -#ifdef SDSUPPORT + #ifdef SDSUPPORT if(fromsd[bufindr]) return; -#endif //SDSUPPORT - Serial.println("ok"); + #endif //SDSUPPORT + SERIAL_PROTOCOLLNPGM(MSG_OK); } -inline void get_coordinates() +void get_coordinates() { - for(int i=0; i < NUM_AXIS; i++) { + 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? + else destination[i] = current_position[i]; //Are these else lines really needed? } if(code_seen('F')) { next_feedrate = code_value(); @@ -945,1111 +1409,245 @@ inline void get_coordinates() } } +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 (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0; - if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0; - if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0; + 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 (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH; - if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH; - if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; + if (modified_destination[X_AXIS] > X_MAX_LENGTH) modified_destination[X_AXIS] = X_MAX_LENGTH; + if (modified_destination[Y_AXIS] > Y_MAX_LENGTH) modified_destination[Y_AXIS] = Y_MAX_LENGTH; + if (modified_destination[Z_AXIS] > Z_MAX_LENGTH) modified_destination[Z_AXIS] = Z_MAX_LENGTH; } - - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60.0); - for(int i=0; i < NUM_AXIS; i++) { + 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 manage_heater() +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() { - float pid_input; - float pid_output; - if(temp_meas_ready != true) - return; - -CRITICAL_SECTION_START; - temp_meas_ready = false; -CRITICAL_SECTION_END; - -#ifdef PIDTEMP - pid_input = analog2temp(current_raw); - -#ifndef PID_OPENLOOP - pid_error = pid_setpoint - pid_input; - if(pid_error > 10){ - pid_output = PID_MAX; - pid_reset = true; - } - else if(pid_error < -10) { - pid_output = 0; - pid_reset = true; - } - else { - if(pid_reset == true) { - temp_iState = 0.0; - pid_reset = false; + 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 } - pTerm = Kp * pid_error; - temp_iState += pid_error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = Ki * temp_iState; - #define K1 0.8 - #define K2 (1.0-K1) - dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); - temp_dState = pid_input; - pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); - } -#endif //PID_OPENLOOP -#ifdef PID_DEBUG - Serial.print(" Input "); - Serial.print(pid_input); - Serial.print(" Output "); - Serial.print(pid_output); - Serial.print(" pTerm "); - Serial.print(pTerm); - Serial.print(" iTerm "); - Serial.print(iTerm); - Serial.print(" dTerm "); - Serial.print(dTerm); - Serial.println(); -#endif //PID_DEBUG - OCR2B = pid_output; -#endif //PIDTEMP -} - - -int temp2analogu(int celsius, const short table[][2], int numtemps) { - int raw = 0; - byte i; - - for (i=1; i= (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 } } - // Overflow: Set to last value in the table - if (i == numtemps) raw = table[i-1][0]; - - return 16383 - raw; } +#endif -float analog2tempu(int raw,const short table[][2], int numtemps) { - float celsius = 0.0; - byte i; - - raw = 16383 - raw; - for (i=1; i raw) { - celsius = (float)table[i-1][1] + - (float)(raw - table[i-1][0]) * - (float)(table[i][1] - table[i-1][1]) / - (float)(table[i][0] - table[i-1][0]); - - break; +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(); + } } } - // Overflow: Set to last value in the table - if (i == numtemps) celsius = table[i-1][1]; - - return celsius; + #ifdef CONTROLLERFAN_PIN + controllerFan(); //Check if fan should be turned on to cool stepper drivers down + #endif + #ifdef EXTRUDER_RUNOUT_PREVENT + if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 ) + if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP) + { + bool oldstatus=READ(E0_ENABLE_PIN); + enable_e0(); + float oldepos=current_position[E_AXIS]; + float oldedes=destination[E_AXIS]; + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], + current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], + EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder); + current_position[E_AXIS]=oldepos; + destination[E_AXIS]=oldedes; + plan_set_e_position(oldepos); + previous_millis_cmd=millis(); + st_synchronize(); + WRITE(E0_ENABLE_PIN,oldstatus); + } + #endif + check_axes_activity(); } - -inline void kill() +void kill() { - target_raw=0; -#ifdef PIDTEMP - pid_setpoint = 0.0; -#endif //PIDTEMP - OCR2B = 0; - WRITE(HEATER_0_PIN,LOW); + cli(); // Stop interrupts + disable_heater(); disable_x(); disable_y(); disable_z(); - disable_e(); - -} - -inline void manage_inactivity(byte debug) { - if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(); - if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { - disable_x(); - disable_y(); - disable_z(); - disable_e(); - } - check_axes_activity(); -} - -// Planner - -/* - 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) - */ - - -// The number of linear motions that can be in the plan at any give time -#define BLOCK_BUFFER_SIZE 16 -#define BLOCK_BUFFER_MASK 0x0f - -static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions -static volatile unsigned char block_buffer_head; // Index of the next block to be pushed -static volatile unsigned char block_buffer_tail; // Index of the block to process now - -// The current position of the tool in absolute steps -static long position[4]; - -#define ONE_MINUTE_OF_MICROSECONDS 60000000.0 - -// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the -// given acceleration: -inline long estimate_acceleration_distance(long initial_rate, long target_rate, long acceleration) { - return( - (target_rate*target_rate-initial_rate*initial_rate)/ - (2L*acceleration) - ); -} - -// 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) - -inline long intersection_distance(long initial_rate, long final_rate, long acceleration, long distance) { - return( - (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ - (4*acceleration) - ); -} - -// 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_speed, float exit_speed) { - if(block->busy == true) return; // If block is busy then bail out. - float entry_factor = entry_speed / block->nominal_speed; - float exit_factor = exit_speed / block->nominal_speed; - long initial_rate = ceil(block->nominal_rate*entry_factor); - long final_rate = ceil(block->nominal_rate*exit_factor); + disable_e0(); + disable_e1(); + disable_e2(); -#ifdef ADVANCE - long initial_advance = block->advance*entry_factor*entry_factor; - long final_advance = block->advance*exit_factor*exit_factor; -#endif // ADVANCE - - // Limit minimal step rate (Otherwise the timer will overflow.) - if(initial_rate <120) initial_rate=120; - if(final_rate < 120) final_rate=120; - - // Calculate the acceleration steps - long acceleration = block->acceleration_st; - long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration); - long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration); - // Calculate the size of Plateau of Nominal Rate. - long 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 = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count); - plateau_steps = 0; - } - - long decelerate_after = accelerate_steps+plateau_steps; - long acceleration_rate = (long)((float)acceleration * 8.388608); - - 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 = decelerate_after; - block->acceleration_rate = acceleration_rate; - 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. -inline float max_allowable_speed(float acceleration, float target_velocity, float distance) { - return( - sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) - ); + if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_KILLED); + LCD_MESSAGEPGM(MSG_KILLED); + suicide(); + while(1); // Wait for reset } -// "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))); -} - -// Return the safe speed which is max_jerk/2, e.g. the -// speed under which you cannot exceed max_jerk no matter what you do. -float safe_speed(block_t *block) { - float safe_speed; - safe_speed = max_xy_jerk/2; - if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2; - if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed; - return safe_speed; -} - -// 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; - } - - float entry_speed = current->nominal_speed; - float exit_factor; - float exit_speed; - if (next) { - exit_speed = next->entry_speed; - } - else { - exit_speed = safe_speed(current); - } - - // Calculate the entry_factor for the current block. - if (previous) { - // Reduce speed so that junction_jerk is within the maximum allowed - float jerk = junction_jerk(previous, current); - if((previous->steps_x == 0) && (previous->steps_y == 0)) { - entry_speed = safe_speed(current); - } - else if (jerk > max_xy_jerk) { - entry_speed = (max_xy_jerk/jerk) * entry_speed; - } - if(abs(previous->speed_z - current->speed_z) > max_z_jerk) { - entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed; - } - // If the required deceleration across the block is too rapid, reduce the entry_factor accordingly. - if (entry_speed > exit_speed) { - float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters); - if (max_entry_speed < entry_speed) { - entry_speed = max_entry_speed; - } - } - } - else { - entry_speed = safe_speed(current); - } - // Store result - current->entry_speed = entry_speed; -} - -// 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() { - char block_index = block_buffer_head; - block_index--; - block_t *block[3] = { NULL, NULL, NULL }; - while(block_index != block_buffer_tail) { - block_index--; - if(block_index < 0) block_index = BLOCK_BUFFER_SIZE-1; - block[2]= block[1]; - block[1]= block[0]; - block[0] = &block_buffer[block_index]; - planner_reverse_pass_kernel(block[0], block[1], block[2]); - } - planner_reverse_pass_kernel(NULL, block[0], block[1]); -} - -// 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(!current) { - return; - } - if(previous) { - // 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 out entry - // speed accordingly. Remember current->entry_factor equals the exit factor of - // the previous block. - if(previous->entry_speed < current->entry_speed) { - float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters); - if (max_entry_speed < current->entry_speed) { - current->entry_speed = max_entry_speed; - } - } - } -} - -// 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() { - char 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 = (block_index+1) & BLOCK_BUFFER_MASK; - } - 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() { - char 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) { - calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed); - } - block_index = (block_index+1) & BLOCK_BUFFER_MASK; - } - calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next)); -} - -// 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 -} - - -inline void plan_discard_current_block() { - if (block_buffer_head != block_buffer_tail) { - block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK; - } -} - -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); -} - -void check_axes_activity() { - unsigned char x_active = 0; - unsigned char y_active = 0; - unsigned char z_active = 0; - unsigned char e_active = 0; - block_t *block; - - if(block_buffer_tail != block_buffer_head) { - char block_index = block_buffer_tail; - 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++; - block_index = (block_index+1) & BLOCK_BUFFER_MASK; - } - } - 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_e(); -} - -// 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(float x, float y, float z, float e, float feed_rate) { - // The target position of the tool in absolute steps - // Calculate target position in absolute steps - 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]); - - // Calculate the buffer head after we push this byte - int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK; - - // 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); - } - - // 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->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 == 0) { - return; - }; - - //enable active axes - if(block->steps_x != 0) enable_x(); - if(block->steps_y != 0) enable_y(); - if(block->steps_z != 0) enable_z(); - if(block->steps_e != 0) enable_e(); - - float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; - float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; - float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; - float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; - block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm)); - - unsigned long microseconds; - microseconds = lround((block->millimeters/feed_rate)*1000000); - - // Calculate speed in mm/minute for each axis - float multiplier = 60.0*1000000.0/microseconds; - block->speed_z = delta_z_mm * multiplier; - block->speed_x = delta_x_mm * multiplier; - block->speed_y = delta_y_mm * multiplier; - block->speed_e = delta_e_mm * multiplier; - - // Limit speed per axis - float speed_factor = 1; - float tmp_speed_factor; - if(abs(block->speed_x) > max_feedrate[X_AXIS]) { - speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x); - } - if(abs(block->speed_y) > max_feedrate[Y_AXIS]){ - tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y); - if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; - } - if(abs(block->speed_z) > max_feedrate[Z_AXIS]){ - tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z); - if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; - } - if(abs(block->speed_e) > max_feedrate[E_AXIS]){ - tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e); - if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; - } - multiplier = multiplier * speed_factor; - block->speed_z = delta_z_mm * multiplier; - block->speed_x = delta_x_mm * multiplier; - block->speed_y = delta_y_mm * multiplier; - block->speed_e = delta_e_mm * multiplier; - block->nominal_speed = block->millimeters * multiplier; - block->nominal_rate = ceil(block->step_event_count * multiplier / 60); - - if(block->nominal_rate < 120) block->nominal_rate = 120; - block->entry_speed = safe_speed(block); - - // Compute the acceleration rate for the trapezoid generator. - float travel_per_step = block->millimeters/block->step_event_count; - if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { - block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 - } - else { - block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 - // Limit acceleration per axis - if((block->acceleration_st * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) - block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; - if((block->acceleration_st * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) - block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; - if((block->acceleration_st * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) - block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; - if(((block->acceleration_st / block->step_event_count) * block->steps_z ) > axis_steps_per_sqr_second[Z_AXIS]) - block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; - } - block->acceleration = block->acceleration_st * travel_per_step; - -#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 * EXTRUDER_ADVANCE_K) * - (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; - block->advance = advance; - if(acc_dist == 0) { - block->advance_rate = 0; - } - else { - block->advance_rate = advance / (float)acc_dist; - } - } - -#endif // ADVANCE - - // compute a preliminary conservative acceleration trapezoid - float safespeed = safe_speed(block); - calculate_trapezoid_for_block(block, safespeed, safespeed); - - // Compute direction bits for this block - block->direction_bits = 0; - if (target[X_AXIS] < position[X_AXIS]) { - block->direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<> 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< -// -// 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(); -} - -inline unsigned short calc_timer(unsigned short step_rate) { - unsigned short timer; - if(step_rate < 32) step_rate = 32; - step_rate -= 32; // 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; + disable_heater(); + if(Stopped == false) { + Stopped = true; + Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); } - 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; - return timer; } -// Initializes the trapezoid generator from the current block. Called whenever a new -// block begins. -inline void trapezoid_generator_reset() { - accelerate_until = current_block->accelerate_until; - decelerate_after = current_block->decelerate_after; - acceleration_rate = current_block->acceleration_rate; - initial_rate = current_block->initial_rate; - final_rate = current_block->final_rate; - nominal_rate = current_block->nominal_rate; - advance = current_block->initial_advance; - final_advance = current_block->final_advance; - deceleration_time = 0; - advance_rate = current_block->advance_rate; - - // step_rate to timer interval - acc_step_rate = initial_rate; - acceleration_time = calc_timer(acc_step_rate); - OCR1A = acceleration_time; -} +bool IsStopped() { return Stopped; }; -// "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(busy){ /*Serial.println("BUSY")*/; - return; - } // The busy-flag is used to avoid reentering this interrupt - - busy = true; - sei(); // Re enable interrupts (normally disabled while inside an interrupt handler) - - // 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) { - 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; - e_steps = 0; - } - else { - DISABLE_STEPPER_DRIVER_INTERRUPT(); - } - } - - 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; - -#ifdef ADVANCE - // Calculate E early. - counter_e += current_block->steps_e; - if (counter_e > 0) { - counter_e -= current_block->step_event_count; - if ((out_bits & (1<> 16) - old_advance); - CRITICAL_SECTION_END; - old_advance = advance >> 16; -#endif //ADVANCE - - // Set direction en check limit switches - if ((out_bits & (1<step_event_count; - } - } - else // +direction - WRITE(X_DIR_PIN,!INVERT_X_DIR); - - if ((out_bits & (1<step_event_count; - } - } - else // +direction - WRITE(Y_DIR_PIN,!INVERT_Y_DIR); - - if ((out_bits & (1<step_event_count; - } - } - else // +direction - WRITE(Z_DIR_PIN,!INVERT_Z_DIR); - -#ifndef ADVANCE - if ((out_bits & (1<steps_x; - if (counter_x > 0) { - WRITE(X_STEP_PIN, HIGH); - counter_x -= current_block->step_event_count; - WRITE(X_STEP_PIN, LOW); - } - - 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); - } - - 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); - } - -#ifndef ADVANCE - counter_e += current_block->steps_e; - if (counter_e > 0) { - WRITE(E_STEP_PIN, HIGH); - counter_e -= current_block->step_event_count; - WRITE(E_STEP_PIN, LOW); - } -#endif //!ADVANCE - - // Calculare new timer value - unsigned short timer; - unsigned short step_rate; - if (step_events_completed < accelerate_until) { - MultiU24X24toH16(acc_step_rate, acceleration_time, acceleration_rate); - acc_step_rate += initial_rate; - - // upper limit - if(acc_step_rate > nominal_rate) - acc_step_rate = nominal_rate; - - // step_rate to timer interval - timer = calc_timer(acc_step_rate); - advance += advance_rate; - acceleration_time += timer; - OCR1A = timer; - } - else if (step_events_completed >= decelerate_after) { - MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate); - - if(step_rate > acc_step_rate) { // Check step_rate stays positive - step_rate = final_rate; - } - else { - step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point. - } - - // lower limit - if(step_rate < final_rate) - step_rate = final_rate; - - // step_rate to timer interval - timer = calc_timer(step_rate); -#ifdef ADVANCE - advance -= advance_rate; - if(advance < final_advance) - advance = final_advance; -#endif //ADVANCE - deceleration_time += timer; - OCR1A = timer; - } - // If current block is finished, reset pointer - step_events_completed += 1; - if (step_events_completed >= current_block->step_event_count) { - current_block = NULL; - plan_discard_current_block(); - } - } - busy=false; -} - -#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) +#ifdef FAST_PWM_FAN +void setPwmFrequency(uint8_t pin, int val) { - // Critical section needed because Timer 1 interrupt has higher priority. - // The pin set functions are placed on trategic position to comply with the stepper driver timing. - WRITE(E_STEP_PIN, LOW); - // Set E direction (Depends on E direction + advance) - if (e_steps < 0) { - WRITE(E_DIR_PIN,INVERT_E_DIR); - e_steps++; - WRITE(E_STEP_PIN, HIGH); - } - if (e_steps > 0) { - WRITE(E_DIR_PIN,!INVERT_E_DIR); - e_steps--; - WRITE(E_STEP_PIN, HIGH); - } - old_OCR0A += 25; // 10kHz interrupt - OCR0A = old_OCR0A; -} -#endif // ADVANCE - -void st_init() -{ - // waveform generation = 0100 = CTC - TCCR1B &= ~(1<= 16) + val &= 0x07; + switch(digitalPinToTimer(pin)) { - current_raw = 16383 - raw_temp_value; - temp_meas_ready = true; - temp_count = 0; - raw_temp_value = 0; -#ifdef MAXTEMP - if(current_raw >= maxttemp) { - target_raw = 0; -#ifdef PIDTEMP - OCR2B = 0; -#else - WRITE(HEATER_0_PIN,LOW); -#endif //PIDTEMP - } -#endif //MAXTEMP -#ifdef MINTEMP - if(current_raw <= minttemp) { - target_raw = 0; -#ifdef PIDTEMP - OCR2B = 0; -#else - WRITE(HEATER_0_PIN,LOW); -#endif //PIDTEMP - } -#endif //MAXTEMP -#ifndef PIDTEMP - if(current_raw >= target_raw) - { - WRITE(HEATER_0_PIN,LOW); - } - else - { - WRITE(HEATER_0_PIN,HIGH); - } -#endif //PIDTEMP + + #if defined(TCCR0A) + case TIMER0A: + case TIMER0B: +// TCCR0B &= ~(CS00 | CS01 | CS02); +// TCCR0B |= val; + break; + #endif + + #if defined(TCCR1A) + case TIMER1A: + case TIMER1B: +// TCCR1B &= ~(CS10 | CS11 | CS12); +// TCCR1B |= val; + break; + #endif + + #if defined(TCCR2) + case TIMER2: + case TIMER2: + TCCR2 &= ~(CS10 | CS11 | CS12); + TCCR2 |= val; + break; + #endif + + #if defined(TCCR2A) + case TIMER2A: + case TIMER2B: + TCCR2B &= ~(CS20 | CS21 | CS22); + TCCR2B |= val; + break; + #endif + + #if defined(TCCR3A) + case TIMER3A: + case TIMER3B: + case TIMER3C: + TCCR3B &= ~(CS30 | CS31 | CS32); + TCCR3B |= val; + break; + #endif + + #if defined(TCCR4A) + case TIMER4A: + case TIMER4B: + case TIMER4C: + TCCR4B &= ~(CS40 | CS41 | CS42); + TCCR4B |= val; + break; + #endif + + #if defined(TCCR5A) + case TIMER5A: + case TIMER5B: + case TIMER5C: + TCCR5B &= ~(CS50 | CS51 | CS52); + TCCR5B |= val; + break; + #endif + } } +#endif diff --git a/Marlin/MarlinSerial.cpp b/Marlin/MarlinSerial.cpp new file mode 100644 index 0000000000..e369800b89 --- /dev/null +++ b/Marlin/MarlinSerial.cpp @@ -0,0 +1,329 @@ +/* + 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" +#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 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; + +#endif // whole file +#endif //teensylu + diff --git a/Marlin/MarlinSerial.h b/Marlin/MarlinSerial.h new file mode 100644 index 0000000000..8525cba288 --- /dev/null +++ b/Marlin/MarlinSerial.h @@ -0,0 +1,150 @@ +/* + 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" + + +#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<= 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 +#include +#include +#include +#include +#include + +#ifdef ADABOOT + #define NUM_LED_FLASHES 3 + #define ADABOOT_VER 1 +#endif + + +/* 20070707: hacked by David A. Mellis - after this many errors give up and launch application */ +#define MAX_ERROR_COUNT 5 + +/* set the UART baud rate */ +/* 20080711: hack by Zach Hoeken */ +#define BAUD_RATE 38400 + +/* SW_MAJOR and MINOR needs to be updated from time to time to avoid warning message from AVR Studio */ +/* never allow AVR Studio to do an update !!!! */ +#define HW_VER 0x02 +#define SW_MAJOR 0x01 +#define SW_MINOR 0x10 + +/* onboard LED is used to indicate, that the bootloader was entered (3x flashing) */ +/* if monitor functions are included, LED goes on after monitor was entered */ +#define LED_DDR DDRB +#define LED_PORT PORTB +#define LED_PIN PINB +#define LED PINB0 + +/* define various device id's */ +/* manufacturer byte is always the same */ +#define SIG1 0x1E // Yep, Atmel is the only manufacturer of AVR micros. Single source :( +#if defined(__AVR_ATmega644P__) +#define SIG2 0x96 +#define SIG3 0x0A +#elif defined(__AVR_ATmega644__) +#define SIG2 0x96 +#define SIG3 0x09 +#elif defined(__AVR_ATmega324P__) +#define SIG2 0x95 +#define SIG3 0x08 +#endif +#define PAGE_SIZE 0x080U //128 words +#define PAGE_SIZE_BYTES 0x100U //256 bytes + +/* function prototypes */ +void putch(char); +char getch(void); +void getNch(uint8_t); +void byte_response(uint8_t); +void nothing_response(void); +char gethex(void); +void puthex(char); +void flash_led(uint8_t); + +/* some variables */ +union address_union +{ + uint16_t word; + uint8_t byte[2]; +} address; + +union length_union +{ + uint16_t word; + uint8_t byte[2]; +} length; + +struct flags_struct +{ + unsigned eeprom : 1; + unsigned rampz : 1; +} flags; + +uint8_t buff[256]; + +uint8_t error_count = 0; +uint8_t sreg; + +void (*app_start)(void) = 0x0000; + +/* main program starts here */ +int main(void) +{ + uint8_t ch,ch2; + uint16_t w; + uint16_t i; + + asm volatile("nop\n\t"); + +#ifdef ADABOOT // BBR/LF 10/8/2007 & 9/13/2008 + ch = MCUSR; + MCUSR = 0; + + WDTCSR |= _BV(WDCE) | _BV(WDE); + WDTCSR = 0; + + // Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot. + if (! (ch & _BV(EXTRF))) // if its a not an external reset... + app_start(); // skip bootloader +#endif + + + //initialize our serial port. + UBRR0L = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); + UBRR0H = (F_CPU/(BAUD_RATE*16L)-1) >> 8; + UCSR0B = (1< 0x85) + getch(); + nothing_response(); + } + + + /* AVR ISP/STK500 board requests */ + else if(ch=='A') + { + ch2 = getch(); + if(ch2 == 0x80) + byte_response(HW_VER); // Hardware version + else if(ch2==0x81) + byte_response(SW_MAJOR); // Software major version + else if(ch2==0x82) + byte_response(SW_MINOR); // Software minor version + else if(ch2==0x98) + byte_response(0x03); // Unknown but seems to be required by avr studio 3.56 + else + byte_response(0x00); // Covers various unnecessary responses we don't care about + } + + + /* Device Parameters DON'T CARE, DEVICE IS FIXED */ + else if(ch=='B') + { + getNch(20); + nothing_response(); + } + + + /* Parallel programming stuff DON'T CARE */ + else if(ch=='E') + { + getNch(5); + nothing_response(); + } + + + /* Enter programming mode */ + else if(ch=='P') + { + nothing_response(); + } + + + /* Leave programming mode */ + else if(ch=='Q') + { + nothing_response(); +#ifdef ADABOOT + // autoreset via watchdog (sneaky!) BBR/LF 9/13/2008 + WDTCSR = _BV(WDE); + while (1); // 16 ms +#endif + } + + + /* Erase device, don't care as we will erase one page at a time anyway. */ + else if(ch=='R') + { + nothing_response(); + } + + + /* Set address, little endian. EEPROM in bytes, FLASH in words */ + /* Perhaps extra address bytes may be added in future to support > 128kB FLASH. */ + /* This might explain why little endian was used here, big endian used everywhere else. */ + else if(ch=='U') + { + address.byte[0] = getch(); + address.byte[1] = getch(); + nothing_response(); + } + + + /* Universal SPI programming command, disabled. Would be used for fuses and lock bits. */ + else if(ch=='V') + { + getNch(4); + byte_response(0x00); + } + + + /* Write memory, length is big endian and is in bytes */ + else if(ch=='d') + { + length.byte[1] = getch(); + length.byte[0] = getch(); + + flags.eeprom = 0; + if (getch() == 'E') + flags.eeprom = 1; + + for (i=0; i byte location + address.word = address.word << 1; + + //Even up an odd number of bytes + if ((length.byte[0] & 0x01)) + length.word++; + + // HACKME: EEPE used to be EEWE + //Wait for previous EEPROM writes to complete + //while(bit_is_set(EECR,EEPE)); + while(EECR & (1< byte location + } + + // Command terminator + if (getch() == ' ') + { + putch(0x14); + for (w=0; w= 'a') + ah = ah - 'a' + 0x0a; + else if(ah >= '0') + ah -= '0'; + if(al >= 'a') + al = al - 'a' + 0x0a; + else if(al >= '0') + al -= '0'; + + return (ah << 4) + al; +} + + +void puthex(char ch) +{ + char ah,al; + + ah = (ch & 0xf0) >> 4; + if(ah >= 0x0a) + ah = ah - 0x0a + 'a'; + else + ah += '0'; + + al = (ch & 0x0f); + if(al >= 0x0a) + al = al - 0x0a + 'a'; + else + al += '0'; + + putch(ah); + putch(al); +} + + +void putch(char ch) +{ + while (!(UCSR0A & _BV(UDRE0))); + UDR0 = ch; +} + + + + +char getch(void) +{ + uint32_t count = 0; + +#ifdef ADABOOT + LED_PORT &= ~_BV(LED); // toggle LED to show activity - BBR/LF 10/3/2007 & 9/13/2008 +#endif + + while(!(UCSR0A & _BV(RXC0))) + { + /* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/ + /* HACKME:: here is a good place to count times*/ + count++; + if (count > MAX_TIME_COUNT) + app_start(); + } + +#ifdef ADABOOT + LED_PORT |= _BV(LED); // toggle LED to show activity - BBR/LF 10/3/2007 & 9/13/2008 +#endif + + return UDR0; +} + + +void getNch(uint8_t count) +{ + uint8_t i; + for(i=0;i $@ + +%.srec: %.elf + $(OBJCOPY) -j .text -j .data -O srec $< $@ + +%.bin: %.elf + $(OBJCOPY) -j .text -j .data -O binary $< $@ + +clean: + rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex + \ No newline at end of file diff --git a/Marlin/Sanguino/bootloaders/atmega644p/README.txt b/Marlin/Sanguino/bootloaders/atmega644p/README.txt new file mode 100644 index 0000000000..8286007851 --- /dev/null +++ b/Marlin/Sanguino/bootloaders/atmega644p/README.txt @@ -0,0 +1,3 @@ +Note: This bootloader support ATmega644, ATmega644P and ATmega324P. +To build, set PROGRAM and MCU_TARGET in the Makefile according to your target device. + diff --git a/Marlin/Sanguino/cores/arduino/Copy of wiring.h b/Marlin/Sanguino/cores/arduino/Copy of wiring.h new file mode 100644 index 0000000000..e29959b865 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/Copy of wiring.h @@ -0,0 +1,135 @@ +/* + 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 +#include +#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))) +#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#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 diff --git a/Marlin/Sanguino/cores/arduino/HardwareSerial.cpp b/Marlin/Sanguino/cores/arduino/HardwareSerial.cpp new file mode 100644 index 0000000000..d4931b4a41 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/HardwareSerial.cpp @@ -0,0 +1,187 @@ +/* + 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 +#include +#include +#include +#include "wiring.h" +#include "wiring_private.h" + +// 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) + +#include "HardwareSerial.h" + +// 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; +}; + +ring_buffer rx_buffer = { { 0 }, 0, 0 }; + +inline void store_char(unsigned char c, ring_buffer *rx_buffer) +{ + int i = (unsigned int)(rx_buffer->head + 1) & (RX_BUFFER_SIZE -1); + + // 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; + } +} + +// fixed by Mark Sproul this is on the 644/644p +//SIGNAL(SIG_USART_RECV) +SIGNAL(USART0_RX_vect) +{ + unsigned char c = UDR0; + store_char(c, &rx_buffer); +} + + +// Constructors //////////////////////////////////////////////////////////////// + +HardwareSerial::HardwareSerial(ring_buffer *rx_buffer, + volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, + volatile uint8_t *ucsra, volatile uint8_t *ucsrb, + volatile uint8_t *udr, + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x) +{ + _rx_buffer = rx_buffer; + _ubrrh = ubrrh; + _ubrrl = ubrrl; + _ucsra = ucsra; + _ucsrb = ucsrb; + _udr = udr; + _rxen = rxen; + _txen = txen; + _rxcie = rxcie; + _udre = udre; + _u2x = u2x; +} + +// Public Methods ////////////////////////////////////////////////////////////// + +void HardwareSerial::begin(long baud) +{ + uint16_t baud_setting; + bool use_u2x = 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) { + use_u2x = false; + } +#endif + + if (use_u2x) { + *_ucsra = 1 << _u2x; + baud_setting = (F_CPU / 4 / baud - 1) / 2; + } else { + *_ucsra = 0; + baud_setting = (F_CPU / 8 / baud - 1) / 2; + } + + // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register) + *_ubrrh = baud_setting >> 8; + *_ubrrl = baud_setting; + + sbi(*_ucsrb, _rxen); + sbi(*_ucsrb, _txen); + sbi(*_ucsrb, _rxcie); +} + +void HardwareSerial::end() +{ + cbi(*_ucsrb, _rxen); + cbi(*_ucsrb, _txen); + cbi(*_ucsrb, _rxcie); +} + +int HardwareSerial::available(void) +{ + return (unsigned int)(RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) & (RX_BUFFER_SIZE-1); +} + +int HardwareSerial::peek(void) +{ + if (_rx_buffer->head == _rx_buffer->tail) { + return -1; + } else { + return _rx_buffer->buffer[_rx_buffer->tail]; + } +} + +int HardwareSerial::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-1); + return c; + } +} + +void HardwareSerial::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; +} + +void HardwareSerial::write(uint8_t c) +{ + while (!((*_ucsra) & (1 << _udre))) + ; + + *_udr = c; +} + +// Preinstantiate Objects ////////////////////////////////////////////////////// +HardwareSerial Serial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0); + +#endif // whole file + diff --git a/Marlin/Sanguino/cores/arduino/HardwareSerial.h b/Marlin/Sanguino/cores/arduino/HardwareSerial.h new file mode 100644 index 0000000000..3efa775f84 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/HardwareSerial.h @@ -0,0 +1,76 @@ +/* + 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 HardwareSerial_h +#define HardwareSerial_h + +#include + +#include "Stream.h" + +struct ring_buffer; + +class HardwareSerial : public Stream +{ + private: + ring_buffer *_rx_buffer; + volatile uint8_t *_ubrrh; + volatile uint8_t *_ubrrl; + volatile uint8_t *_ucsra; + volatile uint8_t *_ucsrb; + volatile uint8_t *_udr; + uint8_t _rxen; + uint8_t _txen; + uint8_t _rxcie; + uint8_t _udre; + uint8_t _u2x; + public: + HardwareSerial(ring_buffer *rx_buffer, + volatile uint8_t *ubrrh, volatile uint8_t *ubrrl, + volatile uint8_t *ucsra, volatile uint8_t *ucsrb, + volatile uint8_t *udr, + uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x); + void begin(long); + void end(); + virtual int available(void); + virtual int peek(void); + virtual int read(void); + virtual void flush(void); + virtual void write(uint8_t); + using Print::write; // pull in write(str) and write(buf, size) from Print +}; + +#if defined(UBRRH) || defined(UBRR0H) + extern HardwareSerial Serial; +#elif defined(USBCON) + #include "usb_api.h" +#endif +#if defined(UBRR1H) + extern HardwareSerial Serial1; +#endif +#if defined(UBRR2H) + extern HardwareSerial Serial2; +#endif +#if defined(UBRR3H) + extern HardwareSerial Serial3; +#endif + +#endif diff --git a/Marlin/Sanguino/cores/arduino/Print.cpp b/Marlin/Sanguino/cores/arduino/Print.cpp new file mode 100644 index 0000000000..4ee556dd82 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/Print.cpp @@ -0,0 +1,220 @@ +/* + Print.cpp - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. 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 + */ + +#include +#include +#include +#include +#include "wiring.h" + +#include "Print.h" + +// Public Methods ////////////////////////////////////////////////////////////// + +/* default implementation: may be overridden */ +void Print::write(const char *str) +{ + while (*str) + write(*str++); +} + +/* default implementation: may be overridden */ +void Print::write(const uint8_t *buffer, size_t size) +{ + while (size--) + write(*buffer++); +} + +void Print::print(const String &s) +{ + for (int i = 0; i < s.length(); i++) { + write(s[i]); + } +} + +void Print::print(const char str[]) +{ + write(str); +} + +void Print::print(char c, int base) +{ + print((long) c, base); +} + +void Print::print(unsigned char b, int base) +{ + print((unsigned long) b, base); +} + +void Print::print(int n, int base) +{ + print((long) n, base); +} + +void Print::print(unsigned int n, int base) +{ + print((unsigned long) n, base); +} + +void Print::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 Print::print(unsigned long n, int base) +{ + if (base == 0) write(n); + else printNumber(n, base); +} + +void Print::print(double n, int digits) +{ + printFloat(n, digits); +} + +void Print::println(void) +{ + print('\r'); + print('\n'); +} + +void Print::println(const String &s) +{ + print(s); + println(); +} + +void Print::println(const char c[]) +{ + print(c); + println(); +} + +void Print::println(char c, int base) +{ + print(c, base); + println(); +} + +void Print::println(unsigned char b, int base) +{ + print(b, base); + println(); +} + +void Print::println(int n, int base) +{ + print(n, base); + println(); +} + +void Print::println(unsigned int n, int base) +{ + print(n, base); + println(); +} + +void Print::println(long n, int base) +{ + print(n, base); + println(); +} + +void Print::println(unsigned long n, int base) +{ + print(n, base); + println(); +} + +void Print::println(double n, int digits) +{ + print(n, digits); + println(); +} + +// Private Methods ///////////////////////////////////////////////////////////// + +void Print::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 Print::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 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; + } +} diff --git a/Marlin/Sanguino/cores/arduino/Print.h b/Marlin/Sanguino/cores/arduino/Print.h new file mode 100644 index 0000000000..b092ae51d1 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/Print.h @@ -0,0 +1,66 @@ +/* + Print.h - Base class that provides print() and println() + Copyright (c) 2008 David A. Mellis. 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 +*/ + +#ifndef Print_h +#define Print_h + +#include +#include // for size_t + +#include "WString.h" + +#define DEC 10 +#define HEX 16 +#define OCT 8 +#define BIN 2 +#define BYTE 0 + +class Print +{ + private: + void printNumber(unsigned long, uint8_t); + void printFloat(double, uint8_t); + public: + virtual void write(uint8_t) = 0; + virtual void write(const char *str); + virtual void write(const uint8_t *buffer, size_t size); + + void print(const String &); + void print(const char[]); + 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 = 2); + + 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); +}; + +#endif diff --git a/Marlin/Sanguino/cores/arduino/Stream.h b/Marlin/Sanguino/cores/arduino/Stream.h new file mode 100644 index 0000000000..93d8275dc2 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/Stream.h @@ -0,0 +1,35 @@ +/* + Stream.h - base class for character-based streams. + Copyright (c) 2010 David A. Mellis. 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 +*/ + +#ifndef Stream_h +#define Stream_h + +#include +#include "Print.h" + +class Stream : public Print +{ + public: + virtual int available() = 0; + virtual int read() = 0; + virtual int peek() = 0; + virtual void flush() = 0; +}; + +#endif diff --git a/Marlin/Sanguino/cores/arduino/Tone.cpp b/Marlin/Sanguino/cores/arduino/Tone.cpp new file mode 100644 index 0000000000..c3910e7a61 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/Tone.cpp @@ -0,0 +1,601 @@ +/* Tone.cpp + + A Tone Generator Library + + Written by Brett Hagman + + 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 + +Version Modified By Date Comments +------- ----------- -------- -------- +0001 B Hagman 09/08/02 Initial coding +0002 B Hagman 09/08/18 Multiple pins +0003 B Hagman 09/08/18 Moved initialization from constructor to begin() +0004 B Hagman 09/09/26 Fixed problems with ATmega8 +0005 B Hagman 09/11/23 Scanned prescalars for best fit on 8 bit timers + 09/11/25 Changed pin toggle method to XOR + 09/11/25 Fixed timer0 from being excluded +0006 D Mellis 09/12/29 Replaced objects with functions +0007 M Sproul 10/08/29 Changed #ifdefs from cpu to register +*************************************************/ + +#include +#include +#include "wiring.h" +#include "pins_arduino.h" + +#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) +#define TCCR2A TCCR2 +#define TCCR2B TCCR2 +#define COM2A1 COM21 +#define COM2A0 COM20 +#define OCR2A OCR2 +#define TIMSK2 TIMSK +#define OCIE2A OCIE2 +#define TIMER2_COMPA_vect TIMER2_COMP_vect +#define TIMSK1 TIMSK +#endif + +// timerx_toggle_count: +// > 0 - duration specified +// = 0 - stopped +// < 0 - infinitely (until stop() method called, or new play() called) + +#if !defined(__AVR_ATmega8__) +volatile long timer0_toggle_count; +volatile uint8_t *timer0_pin_port; +volatile uint8_t timer0_pin_mask; +#endif + +volatile long timer1_toggle_count; +volatile uint8_t *timer1_pin_port; +volatile uint8_t timer1_pin_mask; +volatile long timer2_toggle_count; +volatile uint8_t *timer2_pin_port; +volatile uint8_t timer2_pin_mask; + +#if defined(TIMSK3) +volatile long timer3_toggle_count; +volatile uint8_t *timer3_pin_port; +volatile uint8_t timer3_pin_mask; +#endif + +#if defined(TIMSK4) +volatile long timer4_toggle_count; +volatile uint8_t *timer4_pin_port; +volatile uint8_t timer4_pin_mask; +#endif + +#if defined(TIMSK5) +volatile long timer5_toggle_count; +volatile uint8_t *timer5_pin_port; +volatile uint8_t timer5_pin_mask; +#endif + + +// MLS: This does not make sense, the 3 options are the same +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + +#define AVAILABLE_TONE_PINS 1 + +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 3, 4, 5, 1, 0 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255, 255, 255, 255 */ }; + +#elif defined(__AVR_ATmega8__) + +#define AVAILABLE_TONE_PINS 1 + +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255 */ }; + +#else + +#define AVAILABLE_TONE_PINS 1 + +// Leave timer 0 to last. +const uint8_t PROGMEM tone_pin_to_timer_PGM[] = { 2 /*, 1, 0 */ }; +static uint8_t tone_pins[AVAILABLE_TONE_PINS] = { 255 /*, 255, 255 */ }; + +#endif + + + +static int8_t toneBegin(uint8_t _pin) +{ + int8_t _timer = -1; + + // if we're already using the pin, the timer should be configured. + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == _pin) { + return pgm_read_byte(tone_pin_to_timer_PGM + i); + } + } + + // search for an unused timer. + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == 255) { + tone_pins[i] = _pin; + _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); + break; + } + } + + if (_timer != -1) + { + // Set timer specific stuff + // All timers in CTC mode + // 8 bit timers will require changing prescalar values, + // whereas 16 bit timers are set to either ck/1 or ck/64 prescalar + switch (_timer) + { + #if defined(TCCR0A) && defined(TCCR0B) + case 0: + // 8 bit timer + TCCR0A = 0; + TCCR0B = 0; + bitWrite(TCCR0A, WGM01, 1); + bitWrite(TCCR0B, CS00, 1); + timer0_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer0_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR1A) && defined(TCCR1B) && defined(WGM12) + case 1: + // 16 bit timer + TCCR1A = 0; + TCCR1B = 0; + bitWrite(TCCR1B, WGM12, 1); + bitWrite(TCCR1B, CS10, 1); + timer1_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer1_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR2A) && defined(TCCR2B) + case 2: + // 8 bit timer + TCCR2A = 0; + TCCR2B = 0; + bitWrite(TCCR2A, WGM21, 1); + bitWrite(TCCR2B, CS20, 1); + timer2_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer2_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR3A) && defined(TCCR3B) && defined(TIMSK3) + case 3: + // 16 bit timer + TCCR3A = 0; + TCCR3B = 0; + bitWrite(TCCR3B, WGM32, 1); + bitWrite(TCCR3B, CS30, 1); + timer3_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer3_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR4A) && defined(TCCR4B) && defined(TIMSK4) + case 4: + // 16 bit timer + TCCR4A = 0; + TCCR4B = 0; + #if defined(WGM42) + bitWrite(TCCR4B, WGM42, 1); + #elif defined(CS43) + #warning this may not be correct + // atmega32u4 + bitWrite(TCCR4B, CS43, 1); + #endif + bitWrite(TCCR4B, CS40, 1); + timer4_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer4_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + + #if defined(TCCR5A) && defined(TCCR5B) && defined(TIMSK5) + case 5: + // 16 bit timer + TCCR5A = 0; + TCCR5B = 0; + bitWrite(TCCR5B, WGM52, 1); + bitWrite(TCCR5B, CS50, 1); + timer5_pin_port = portOutputRegister(digitalPinToPort(_pin)); + timer5_pin_mask = digitalPinToBitMask(_pin); + break; + #endif + } + } + + return _timer; +} + + + +// frequency (in hertz) and duration (in milliseconds). + +void tone(uint8_t _pin, unsigned int frequency, unsigned long duration) +{ + uint8_t prescalarbits = 0b001; + long toggle_count = 0; + uint32_t ocr = 0; + int8_t _timer; + + _timer = toneBegin(_pin); + + if (_timer >= 0) + { + // Set the pinMode as OUTPUT + pinMode(_pin, OUTPUT); + + // if we are using an 8 bit timer, scan through prescalars to find the best fit + if (_timer == 0 || _timer == 2) + { + ocr = F_CPU / frequency / 2 - 1; + prescalarbits = 0b001; // ck/1: same for both timers + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 8 - 1; + prescalarbits = 0b010; // ck/8: same for both timers + + if (_timer == 2 && ocr > 255) + { + ocr = F_CPU / frequency / 2 / 32 - 1; + prescalarbits = 0b011; + } + + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 64 - 1; + prescalarbits = _timer == 0 ? 0b011 : 0b100; + + if (_timer == 2 && ocr > 255) + { + ocr = F_CPU / frequency / 2 / 128 - 1; + prescalarbits = 0b101; + } + + if (ocr > 255) + { + ocr = F_CPU / frequency / 2 / 256 - 1; + prescalarbits = _timer == 0 ? 0b100 : 0b110; + if (ocr > 255) + { + // can't do any better than /1024 + ocr = F_CPU / frequency / 2 / 1024 - 1; + prescalarbits = _timer == 0 ? 0b101 : 0b111; + } + } + } + } + +#if defined(TCCR0B) + if (_timer == 0) + { + TCCR0B = prescalarbits; + } + else +#endif +#if defined(TCCR2B) + { + TCCR2B = prescalarbits; + } +#else + { + // dummy place holder to make the above ifdefs work + } +#endif + } + else + { + // two choices for the 16 bit timers: ck/1 or ck/64 + ocr = F_CPU / frequency / 2 - 1; + + prescalarbits = 0b001; + if (ocr > 0xffff) + { + ocr = F_CPU / frequency / 2 / 64 - 1; + prescalarbits = 0b011; + } + + if (_timer == 1) + { +#if defined(TCCR1B) + TCCR1B = (TCCR1B & 0b11111000) | prescalarbits; +#endif + } +#if defined(TCCR3B) + else if (_timer == 3) + TCCR3B = (TCCR3B & 0b11111000) | prescalarbits; +#endif +#if defined(TCCR4B) + else if (_timer == 4) + TCCR4B = (TCCR4B & 0b11111000) | prescalarbits; +#endif +#if defined(TCCR5B) + else if (_timer == 5) + TCCR5B = (TCCR5B & 0b11111000) | prescalarbits; +#endif + + } + + + // Calculate the toggle count + if (duration > 0) + { + toggle_count = 2 * frequency * duration / 1000; + } + else + { + toggle_count = -1; + } + + // Set the OCR for the given timer, + // set the toggle count, + // then turn on the interrupts + switch (_timer) + { + +#if defined(OCR0A) && defined(TIMSK0) && defined(OCIE0A) + case 0: + OCR0A = ocr; + timer0_toggle_count = toggle_count; + bitWrite(TIMSK0, OCIE0A, 1); + break; +#endif + + case 1: +#if defined(OCR1A) && defined(TIMSK1) && defined(OCIE1A) + OCR1A = ocr; + timer1_toggle_count = toggle_count; + bitWrite(TIMSK1, OCIE1A, 1); +#elif defined(OCR1A) && defined(TIMSK) && defined(OCIE1A) + // this combination is for at least the ATmega32 + OCR1A = ocr; + timer1_toggle_count = toggle_count; + bitWrite(TIMSK, OCIE1A, 1); +#endif + break; + +#if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A) + case 2: + OCR2A = ocr; + timer2_toggle_count = toggle_count; + bitWrite(TIMSK2, OCIE2A, 1); + break; +#endif + +#if defined(TIMSK3) + case 3: + OCR3A = ocr; + timer3_toggle_count = toggle_count; + bitWrite(TIMSK3, OCIE3A, 1); + break; +#endif + +#if defined(TIMSK4) + case 4: + OCR4A = ocr; + timer4_toggle_count = toggle_count; + bitWrite(TIMSK4, OCIE4A, 1); + break; +#endif + +#if defined(OCR5A) && defined(TIMSK5) && defined(OCIE5A) + case 5: + OCR5A = ocr; + timer5_toggle_count = toggle_count; + bitWrite(TIMSK5, OCIE5A, 1); + break; +#endif + + } + } +} + + +// XXX: this function only works properly for timer 2 (the only one we use +// currently). for the others, it should end the tone, but won't restore +// proper PWM functionality for the timer. +void disableTimer(uint8_t _timer) +{ + switch (_timer) + { + case 0: + #if defined(TIMSK0) + TIMSK0 = 0; + #elif defined(TIMSK) + TIMSK = 0; // atmega32 + #endif + break; + +#if defined(TIMSK1) && defined(OCIE1A) + case 1: + bitWrite(TIMSK1, OCIE1A, 0); + break; +#endif + + case 2: + #if defined(TIMSK2) && defined(OCIE2A) + bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt + #endif + #if defined(TCCR2A) && defined(WGM20) + TCCR2A = (1 << WGM20); + #endif + #if defined(TCCR2B) && defined(CS22) + TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22); + #endif + #if defined(OCR2A) + OCR2A = 0; + #endif + break; + +#if defined(TIMSK3) + case 3: + TIMSK3 = 0; + break; +#endif + +#if defined(TIMSK4) + case 4: + TIMSK4 = 0; + break; +#endif + +#if defined(TIMSK5) + case 5: + TIMSK5 = 0; + break; +#endif + } +} + + +void noTone(uint8_t _pin) +{ + int8_t _timer = -1; + + for (int i = 0; i < AVAILABLE_TONE_PINS; i++) { + if (tone_pins[i] == _pin) { + _timer = pgm_read_byte(tone_pin_to_timer_PGM + i); + tone_pins[i] = 255; + } + } + + disableTimer(_timer); + + digitalWrite(_pin, 0); +} + +#if 0 +#if !defined(__AVR_ATmega8__) +ISR(TIMER0_COMPA_vect) +{ + if (timer0_toggle_count != 0) + { + // toggle the pin + *timer0_pin_port ^= timer0_pin_mask; + + if (timer0_toggle_count > 0) + timer0_toggle_count--; + } + else + { + disableTimer(0); + *timer0_pin_port &= ~(timer0_pin_mask); // keep pin low after stop + } +} +#endif + + +ISR(TIMER1_COMPA_vect) +{ + if (timer1_toggle_count != 0) + { + // toggle the pin + *timer1_pin_port ^= timer1_pin_mask; + + if (timer1_toggle_count > 0) + timer1_toggle_count--; + } + else + { + disableTimer(1); + *timer1_pin_port &= ~(timer1_pin_mask); // keep pin low after stop + } +} +#endif + + +ISR(TIMER2_COMPA_vect) +{ + + if (timer2_toggle_count != 0) + { + // toggle the pin + *timer2_pin_port ^= timer2_pin_mask; + + if (timer2_toggle_count > 0) + timer2_toggle_count--; + } + else + { + // need to call noTone() so that the tone_pins[] entry is reset, so the + // timer gets initialized next time we call tone(). + // XXX: this assumes timer 2 is always the first one used. + noTone(tone_pins[0]); +// disableTimer(2); +// *timer2_pin_port &= ~(timer2_pin_mask); // keep pin low after stop + } +} + + + +//#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#if 0 + +ISR(TIMER3_COMPA_vect) +{ + if (timer3_toggle_count != 0) + { + // toggle the pin + *timer3_pin_port ^= timer3_pin_mask; + + if (timer3_toggle_count > 0) + timer3_toggle_count--; + } + else + { + disableTimer(3); + *timer3_pin_port &= ~(timer3_pin_mask); // keep pin low after stop + } +} + +ISR(TIMER4_COMPA_vect) +{ + if (timer4_toggle_count != 0) + { + // toggle the pin + *timer4_pin_port ^= timer4_pin_mask; + + if (timer4_toggle_count > 0) + timer4_toggle_count--; + } + else + { + disableTimer(4); + *timer4_pin_port &= ~(timer4_pin_mask); // keep pin low after stop + } +} + +ISR(TIMER5_COMPA_vect) +{ + if (timer5_toggle_count != 0) + { + // toggle the pin + *timer5_pin_port ^= timer5_pin_mask; + + if (timer5_toggle_count > 0) + timer5_toggle_count--; + } + else + { + disableTimer(5); + *timer5_pin_port &= ~(timer5_pin_mask); // keep pin low after stop + } +} + +#endif diff --git a/Marlin/Sanguino/cores/arduino/WCharacter.h b/Marlin/Sanguino/cores/arduino/WCharacter.h new file mode 100644 index 0000000000..79733b50a5 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WCharacter.h @@ -0,0 +1,168 @@ +/* + WCharacter.h - Character utility functions for Wiring & Arduino + Copyright (c) 2010 Hernando Barragan. 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 + */ + +#ifndef Character_h +#define Character_h + +#include + +// WCharacter.h prototypes +inline boolean isAlphaNumeric(int c) __attribute__((always_inline)); +inline boolean isAlpha(int c) __attribute__((always_inline)); +inline boolean isAscii(int c) __attribute__((always_inline)); +inline boolean isWhitespace(int c) __attribute__((always_inline)); +inline boolean isControl(int c) __attribute__((always_inline)); +inline boolean isDigit(int c) __attribute__((always_inline)); +inline boolean isGraph(int c) __attribute__((always_inline)); +inline boolean isLowerCase(int c) __attribute__((always_inline)); +inline boolean isPrintable(int c) __attribute__((always_inline)); +inline boolean isPunct(int c) __attribute__((always_inline)); +inline boolean isSpace(int c) __attribute__((always_inline)); +inline boolean isUpperCase(int c) __attribute__((always_inline)); +inline boolean isHexadecimalDigit(int c) __attribute__((always_inline)); +inline int toAscii(int c) __attribute__((always_inline)); +inline int toLowerCase(int c) __attribute__((always_inline)); +inline int toUpperCase(int c)__attribute__((always_inline)); + + +// Checks for an alphanumeric character. +// It is equivalent to (isalpha(c) || isdigit(c)). +inline boolean isAlphaNumeric(int c) +{ + return ( isalnum(c) == 0 ? false : true); +} + + +// Checks for an alphabetic character. +// It is equivalent to (isupper(c) || islower(c)). +inline boolean isAlpha(int c) +{ + return ( isalpha(c) == 0 ? false : true); +} + + +// Checks whether c is a 7-bit unsigned char value +// that fits into the ASCII character set. +inline boolean isAscii(int c) +{ + return ( isascii (c) == 0 ? false : true); +} + + +// Checks for a blank character, that is, a space or a tab. +inline boolean isWhitespace(int c) +{ + return ( isblank (c) == 0 ? false : true); +} + + +// Checks for a control character. +inline boolean isControl(int c) +{ + return ( iscntrl (c) == 0 ? false : true); +} + + +// Checks for a digit (0 through 9). +inline boolean isDigit(int c) +{ + return ( isdigit (c) == 0 ? false : true); +} + + +// Checks for any printable character except space. +inline boolean isGraph(int c) +{ + return ( isgraph (c) == 0 ? false : true); +} + + +// Checks for a lower-case character. +inline boolean isLowerCase(int c) +{ + return (islower (c) == 0 ? false : true); +} + + +// Checks for any printable character including space. +inline boolean isPrintable(int c) +{ + return ( isprint (c) == 0 ? false : true); +} + + +// Checks for any printable character which is not a space +// or an alphanumeric character. +inline boolean isPunct(int c) +{ + return ( ispunct (c) == 0 ? false : true); +} + + +// Checks for white-space characters. For the avr-libc library, +// these are: space, formfeed ('\f'), newline ('\n'), carriage +// return ('\r'), horizontal tab ('\t'), and vertical tab ('\v'). +inline boolean isSpace(int c) +{ + return ( isspace (c) == 0 ? false : true); +} + + +// Checks for an uppercase letter. +inline boolean isUpperCase(int c) +{ + return ( isupper (c) == 0 ? false : true); +} + + +// Checks for a hexadecimal digits, i.e. one of 0 1 2 3 4 5 6 7 +// 8 9 a b c d e f A B C D E F. +inline boolean isHexadecimalDigit(int c) +{ + return ( isxdigit (c) == 0 ? false : true); +} + + +// Converts c to a 7-bit unsigned char value that fits into the +// ASCII character set, by clearing the high-order bits. +inline int toAscii(int c) +{ + return toascii (c); +} + + +// Warning: +// Many people will be unhappy if you use this function. +// This function will convert accented letters into random +// characters. + +// Converts the letter c to lower case, if possible. +inline int toLowerCase(int c) +{ + return tolower (c); +} + + +// Converts the letter c to upper case, if possible. +inline int toUpperCase(int c) +{ + return toupper (c); +} + +#endif \ No newline at end of file diff --git a/Marlin/Sanguino/cores/arduino/WConstants.h b/Marlin/Sanguino/cores/arduino/WConstants.h new file mode 100644 index 0000000000..3e19ac44aa --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WConstants.h @@ -0,0 +1 @@ +#include "wiring.h" diff --git a/Marlin/Sanguino/cores/arduino/WInterrupts.c b/Marlin/Sanguino/cores/arduino/WInterrupts.c new file mode 100644 index 0000000000..3b3e0c9ec4 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WInterrupts.c @@ -0,0 +1,249 @@ +/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ + +/* + Part of the Wiring project - http://wiring.uniandes.edu.co + + Copyright (c) 2004-05 Hernando Barragan + + 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 + + Modified 24 November 2006 by David A. Mellis + Modified 1 August 2010 by Mark Sproul +*/ + +#include +#include +#include +#include +#include + +#include "WConstants.h" +#include "wiring_private.h" + +volatile static voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS]; +// volatile static voidFuncPtr twiIntFunc; + +void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) { + if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { + intFunc[interruptNum] = userFunc; + + // Configure the interrupt mode (trigger on low input, any change, rising + // edge, or falling edge). The mode constants were chosen to correspond + // to the configuration bits in the hardware register, so we simply shift + // the mode into place. + + // Enable the interrupt. + + switch (interruptNum) { +#if defined(EICRA) && defined(EICRB) && defined(EIMSK) + case 2: + EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + EIMSK |= (1 << INT0); + break; + case 3: + EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + EIMSK |= (1 << INT1); + break; + case 4: + EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20); + EIMSK |= (1 << INT2); + break; + case 5: + EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30); + EIMSK |= (1 << INT3); + break; + case 0: + EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40); + EIMSK |= (1 << INT4); + break; + case 1: + EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50); + EIMSK |= (1 << INT5); + break; + case 6: + EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60); + EIMSK |= (1 << INT6); + break; + case 7: + EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70); + EIMSK |= (1 << INT7); + break; +#else + case 0: + #if defined(EICRA) && defined(ISC00) && defined(EIMSK) + EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + EIMSK |= (1 << INT0); + #elif defined(MCUCR) && defined(ISC00) && defined(GICR) + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GICR |= (1 << INT0); + #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK) + MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00); + GIMSK |= (1 << INT0); + #else + #error attachInterrupt not finished for this CPU (case 0) + #endif + break; + + case 1: + #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK) + EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + EIMSK |= (1 << INT1); + #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR) + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GICR |= (1 << INT1); + #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK) + MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10); + GIMSK |= (1 << INT1); + #else + #warning attachInterrupt may need some more work for this cpu (case 1) + #endif + break; +#endif + } + } +} + +void detachInterrupt(uint8_t interruptNum) { + if(interruptNum < EXTERNAL_NUM_INTERRUPTS) { + // Disable the interrupt. (We can't assume that interruptNum is equal + // to the number of the EIMSK bit to clear, as this isn't true on the + // ATmega8. There, INT0 is 6 and INT1 is 7.) + switch (interruptNum) { +#if defined(EICRA) && defined(EICRB) && defined(EIMSK) + case 2: + EIMSK &= ~(1 << INT0); + break; + case 3: + EIMSK &= ~(1 << INT1); + break; + case 4: + EIMSK &= ~(1 << INT2); + break; + case 5: + EIMSK &= ~(1 << INT3); + break; + case 0: + EIMSK &= ~(1 << INT4); + break; + case 1: + EIMSK &= ~(1 << INT5); + break; + case 6: + EIMSK &= ~(1 << INT6); + break; + case 7: + EIMSK &= ~(1 << INT7); + break; +#else + case 0: + #if defined(EIMSK) && defined(INT0) + EIMSK &= ~(1 << INT0); + #elif defined(GICR) && defined(ISC00) + GICR &= ~(1 << INT0); // atmega32 + #elif defined(GIMSK) && defined(INT0) + GIMSK &= ~(1 << INT0); + #else + #error detachInterrupt not finished for this cpu + #endif + break; + + case 1: + #if defined(EIMSK) && defined(INT1) + EIMSK &= ~(1 << INT1); + #elif defined(GICR) && defined(INT1) + GICR &= ~(1 << INT1); // atmega32 + #elif defined(GIMSK) && defined(INT1) + GIMSK &= ~(1 << INT1); + #else + #warning detachInterrupt may need some more work for this cpu (case 1) + #endif + break; +#endif + } + + intFunc[interruptNum] = 0; + } +} + +/* +void attachInterruptTwi(void (*userFunc)(void) ) { + twiIntFunc = userFunc; +} +*/ + +#if defined(EICRA) && defined(EICRB) + +SIGNAL(INT0_vect) { + if(intFunc[EXTERNAL_INT_2]) + intFunc[EXTERNAL_INT_2](); +} + +SIGNAL(INT1_vect) { + if(intFunc[EXTERNAL_INT_3]) + intFunc[EXTERNAL_INT_3](); +} + +SIGNAL(INT2_vect) { + if(intFunc[EXTERNAL_INT_4]) + intFunc[EXTERNAL_INT_4](); +} + +SIGNAL(INT3_vect) { + if(intFunc[EXTERNAL_INT_5]) + intFunc[EXTERNAL_INT_5](); +} + +SIGNAL(INT4_vect) { + if(intFunc[EXTERNAL_INT_0]) + intFunc[EXTERNAL_INT_0](); +} + +SIGNAL(INT5_vect) { + if(intFunc[EXTERNAL_INT_1]) + intFunc[EXTERNAL_INT_1](); +} + +SIGNAL(INT6_vect) { + if(intFunc[EXTERNAL_INT_6]) + intFunc[EXTERNAL_INT_6](); +} + +SIGNAL(INT7_vect) { + if(intFunc[EXTERNAL_INT_7]) + intFunc[EXTERNAL_INT_7](); +} + +#else + +SIGNAL(INT0_vect) { + if(intFunc[EXTERNAL_INT_0]) + intFunc[EXTERNAL_INT_0](); +} + +SIGNAL(INT1_vect) { + if(intFunc[EXTERNAL_INT_1]) + intFunc[EXTERNAL_INT_1](); +} + +#endif + +/* +SIGNAL(SIG_2WIRE_SERIAL) { + if(twiIntFunc) + twiIntFunc(); +} +*/ + diff --git a/Marlin/Sanguino/cores/arduino/WMath.cpp b/Marlin/Sanguino/cores/arduino/WMath.cpp new file mode 100644 index 0000000000..2120c4cc10 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WMath.cpp @@ -0,0 +1,60 @@ +/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */ + +/* + Part of the Wiring project - http://wiring.org.co + Copyright (c) 2004-06 Hernando Barragan + Modified 13 August 2006, David A. Mellis for Arduino - http://www.arduino.cc/ + + 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 + + $Id$ +*/ + +extern "C" { + #include "stdlib.h" +} + +void randomSeed(unsigned int seed) +{ + if (seed != 0) { + srandom(seed); + } +} + +long random(long howbig) +{ + if (howbig == 0) { + return 0; + } + return random() % howbig; +} + +long random(long howsmall, long howbig) +{ + if (howsmall >= howbig) { + return howsmall; + } + long diff = howbig - howsmall; + return random(diff) + howsmall; +} + +long map(long x, long in_min, long in_max, long out_min, long out_max) +{ + return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; +} + +unsigned int makeWord(unsigned int w) { return w; } +unsigned int makeWord(unsigned char h, unsigned char l) { return (h << 8) | l; } \ No newline at end of file diff --git a/Marlin/Sanguino/cores/arduino/WProgram.h b/Marlin/Sanguino/cores/arduino/WProgram.h new file mode 100644 index 0000000000..f73e760bbe --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WProgram.h @@ -0,0 +1,63 @@ +#ifndef WProgram_h +#define WProgram_h + +#include +#include +#include + +#include + +#include "wiring.h" + +#ifdef __cplusplus +#include "WCharacter.h" +#include "WString.h" +#include "HardwareSerial.h" + +uint16_t makeWord(uint16_t w); +uint16_t makeWord(byte h, byte l); + +#define word(...) makeWord(__VA_ARGS__) + +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L); + +void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0); +void noTone(uint8_t _pin); + +// WMath prototypes +long random(long); +long random(long, long); +void randomSeed(unsigned int); +long map(long, long, long, long, long); + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +const static uint8_t A0 = 54; +const static uint8_t A1 = 55; +const static uint8_t A2 = 56; +const static uint8_t A3 = 57; +const static uint8_t A4 = 58; +const static uint8_t A5 = 59; +const static uint8_t A6 = 60; +const static uint8_t A7 = 61; +const static uint8_t A8 = 62; +const static uint8_t A9 = 63; +const static uint8_t A10 = 64; +const static uint8_t A11 = 65; +const static uint8_t A12 = 66; +const static uint8_t A13 = 67; +const static uint8_t A14 = 68; +const static uint8_t A15 = 69; +#else +const static uint8_t A0 = 14; +const static uint8_t A1 = 15; +const static uint8_t A2 = 16; +const static uint8_t A3 = 17; +const static uint8_t A4 = 18; +const static uint8_t A5 = 19; +const static uint8_t A6 = 20; +const static uint8_t A7 = 21; +#endif + +#endif + +#endif \ No newline at end of file diff --git a/Marlin/Sanguino/cores/arduino/WString.cpp b/Marlin/Sanguino/cores/arduino/WString.cpp new file mode 100644 index 0000000000..db5a441dc2 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WString.cpp @@ -0,0 +1,443 @@ +/* + WString.cpp - String library for Wiring & Arduino + Copyright (c) 2009-10 Hernando Barragan. All rights 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 +*/ + +#include +#include "WProgram.h" +#include "WString.h" + + +String::String( const char *value ) +{ + if ( value == NULL ) + value = ""; + getBuffer( _length = strlen( value ) ); + if ( _buffer != NULL ) + strcpy( _buffer, value ); +} + +String::String( const String &value ) +{ + getBuffer( _length = value._length ); + if ( _buffer != NULL ) + strcpy( _buffer, value._buffer ); +} + +String::String( const char value ) +{ + _length = 1; + getBuffer(1); + if ( _buffer != NULL ) { + _buffer[0] = value; + _buffer[1] = 0; + } +} + +String::String( const unsigned char value ) +{ + _length = 1; + getBuffer(1); + if ( _buffer != NULL) { + _buffer[0] = value; + _buffer[1] = 0; + } +} + +String::String( const int value, const int base ) +{ + char buf[33]; + itoa((signed long)value, buf, base); + getBuffer( _length = strlen(buf) ); + if ( _buffer != NULL ) + strcpy( _buffer, buf ); +} + +String::String( const unsigned int value, const int base ) +{ + char buf[33]; + ultoa((unsigned long)value, buf, base); + getBuffer( _length = strlen(buf) ); + if ( _buffer != NULL ) + strcpy( _buffer, buf ); +} + +String::String( const long value, const int base ) +{ + char buf[33]; + ltoa(value, buf, base); + getBuffer( _length = strlen(buf) ); + if ( _buffer != NULL ) + strcpy( _buffer, buf ); +} + +String::String( const unsigned long value, const int base ) +{ + char buf[33]; + ultoa(value, buf, 10); + getBuffer( _length = strlen(buf) ); + if ( _buffer != NULL ) + strcpy( _buffer, buf ); +} + +char String::charAt( unsigned int loc ) const +{ + return operator[]( loc ); +} + +void String::setCharAt( unsigned int loc, const char aChar ) +{ + if(_buffer == NULL) return; + if(_length > loc) { + _buffer[loc] = aChar; + } +} + +int String::compareTo( const String &s2 ) const +{ + return strcmp( _buffer, s2._buffer ); +} + +const String & String::concat( const String &s2 ) +{ + return (*this) += s2; +} + +const String & String::operator=( const String &rhs ) +{ + if ( this == &rhs ) + return *this; + + if ( rhs._length > _length ) + { + free(_buffer); + getBuffer( rhs._length ); + } + + if ( _buffer != NULL ) { + _length = rhs._length; + strcpy( _buffer, rhs._buffer ); + } + return *this; +} + +//const String & String::operator+=( const char aChar ) +//{ +// if ( _length == _capacity ) +// doubleBuffer(); +// +// _buffer[ _length++ ] = aChar; +// _buffer[ _length ] = '\0'; +// return *this; +//} + +const String & String::operator+=( const String &other ) +{ + _length += other._length; + if ( _length > _capacity ) + { + char *temp = (char *)realloc(_buffer, _length + 1); + if ( temp != NULL ) { + _buffer = temp; + _capacity = _length; + } else { + _length -= other._length; + return *this; + } + } + strcat( _buffer, other._buffer ); + return *this; +} + + +int String::operator==( const String &rhs ) const +{ + return ( _length == rhs._length && strcmp( _buffer, rhs._buffer ) == 0 ); +} + +int String::operator!=( const String &rhs ) const +{ + return ( _length != rhs.length() || strcmp( _buffer, rhs._buffer ) != 0 ); +} + +int String::operator<( const String &rhs ) const +{ + return strcmp( _buffer, rhs._buffer ) < 0; +} + +int String::operator>( const String &rhs ) const +{ + return strcmp( _buffer, rhs._buffer ) > 0; +} + +int String::operator<=( const String &rhs ) const +{ + return strcmp( _buffer, rhs._buffer ) <= 0; +} + +int String::operator>=( const String & rhs ) const +{ + return strcmp( _buffer, rhs._buffer ) >= 0; +} + +char & String::operator[]( unsigned int index ) +{ + static char dummy_writable_char; + if (index >= _length || !_buffer) { + dummy_writable_char = 0; + return dummy_writable_char; + } + return _buffer[ index ]; +} + +char String::operator[]( unsigned int index ) const +{ + // need to check for valid index, to do later + return _buffer[ index ]; +} + +boolean String::endsWith( const String &s2 ) const +{ + if ( _length < s2._length ) + return 0; + + return strcmp( &_buffer[ _length - s2._length], s2._buffer ) == 0; +} + +boolean String::equals( const String &s2 ) const +{ + return ( _length == s2._length && strcmp( _buffer,s2._buffer ) == 0 ); +} + +boolean String::equalsIgnoreCase( const String &s2 ) const +{ + if ( this == &s2 ) + return true; //1; + else if ( _length != s2._length ) + return false; //0; + + return strcmp(toLowerCase()._buffer, s2.toLowerCase()._buffer) == 0; +} + +String String::replace( char findChar, char replaceChar ) +{ + if ( _buffer == NULL ) return *this; + String theReturn = _buffer; + char* temp = theReturn._buffer; + while( (temp = strchr( temp, findChar )) != 0 ) + *temp = replaceChar; + + return theReturn; +} + +String String::replace( const String& match, const String& replace ) +{ + if ( _buffer == NULL ) return *this; + String temp = _buffer, newString; + + int loc; + while ( (loc = temp.indexOf( match )) != -1 ) + { + newString += temp.substring( 0, loc ); + newString += replace; + temp = temp.substring( loc + match._length ); + } + newString += temp; + return newString; +} + +int String::indexOf( char temp ) const +{ + return indexOf( temp, 0 ); +} + +int String::indexOf( char ch, unsigned int fromIndex ) const +{ + if ( fromIndex >= _length ) + return -1; + + const char* temp = strchr( &_buffer[fromIndex], ch ); + if ( temp == NULL ) + return -1; + + return temp - _buffer; +} + +int String::indexOf( const String &s2 ) const +{ + return indexOf( s2, 0 ); +} + +int String::indexOf( const String &s2, unsigned int fromIndex ) const +{ + if ( fromIndex >= _length ) + return -1; + + const char *theFind = strstr( &_buffer[ fromIndex ], s2._buffer ); + + if ( theFind == NULL ) + return -1; + + return theFind - _buffer; // pointer subtraction +} + +int String::lastIndexOf( char theChar ) const +{ + return lastIndexOf( theChar, _length - 1 ); +} + +int String::lastIndexOf( char ch, unsigned int fromIndex ) const +{ + if ( fromIndex >= _length ) + return -1; + + char tempchar = _buffer[fromIndex + 1]; + _buffer[fromIndex + 1] = '\0'; + char* temp = strrchr( _buffer, ch ); + _buffer[fromIndex + 1] = tempchar; + + if ( temp == NULL ) + return -1; + + return temp - _buffer; +} + +int String::lastIndexOf( const String &s2 ) const +{ + return lastIndexOf( s2, _length - s2._length ); +} + +int String::lastIndexOf( const String &s2, unsigned int fromIndex ) const +{ + // check for empty strings + if ( s2._length == 0 || s2._length - 1 > fromIndex || fromIndex >= _length ) + return -1; + + // matching first character + char temp = s2[ 0 ]; + + for ( int i = fromIndex; i >= 0; i-- ) + { + if ( _buffer[ i ] == temp && (*this).substring( i, i + s2._length ).equals( s2 ) ) + return i; + } + return -1; +} + +boolean String::startsWith( const String &s2 ) const +{ + if ( _length < s2._length ) + return 0; + + return startsWith( s2, 0 ); +} + +boolean String::startsWith( const String &s2, unsigned int offset ) const +{ + if ( offset > _length - s2._length ) + return 0; + + return strncmp( &_buffer[offset], s2._buffer, s2._length ) == 0; +} + +String String::substring( unsigned int left ) const +{ + return substring( left, _length ); +} + +String String::substring( unsigned int left, unsigned int right ) const +{ + if ( left > right ) + { + int temp = right; + right = left; + left = temp; + } + + if ( right > _length ) + { + right = _length; + } + + char temp = _buffer[ right ]; // save the replaced character + _buffer[ right ] = '\0'; + String outPut = ( _buffer + left ); // pointer arithmetic + _buffer[ right ] = temp; //restore character + return outPut; +} + +String String::toLowerCase() const +{ + String temp = _buffer; + + for ( unsigned int i = 0; i < _length; i++ ) + temp._buffer[ i ] = (char)tolower( temp._buffer[ i ] ); + return temp; +} + +String String::toUpperCase() const +{ + String temp = _buffer; + + for ( unsigned int i = 0; i < _length; i++ ) + temp._buffer[ i ] = (char)toupper( temp._buffer[ i ] ); + return temp; +} + +String String::trim() const +{ + if ( _buffer == NULL ) return *this; + String temp = _buffer; + unsigned int i,j; + + for ( i = 0; i < _length; i++ ) + { + if ( !isspace(_buffer[i]) ) + break; + } + + for ( j = temp._length - 1; j > i; j-- ) + { + if ( !isspace(_buffer[j]) ) + break; + } + + return temp.substring( i, j + 1); +} + +void String::getBytes(unsigned char *buf, unsigned int bufsize) +{ + if (!bufsize || !buf) return; + unsigned int len = bufsize - 1; + if (len > _length) len = _length; + strncpy((char *)buf, _buffer, len); + buf[len] = 0; +} + +void String::toCharArray(char *buf, unsigned int bufsize) +{ + if (!bufsize || !buf) return; + unsigned int len = bufsize - 1; + if (len > _length) len = _length; + strncpy(buf, _buffer, len); + buf[len] = 0; +} + + +long String::toInt() { + return atol(_buffer); +} diff --git a/Marlin/Sanguino/cores/arduino/WString.h b/Marlin/Sanguino/cores/arduino/WString.h new file mode 100644 index 0000000000..cadddb9476 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/WString.h @@ -0,0 +1,112 @@ +/* + WString.h - String library for Wiring & Arduino + Copyright (c) 2009-10 Hernando Barragan. 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 +*/ + +#ifndef String_h +#define String_h + +//#include "WProgram.h" +#include +#include +#include + +class String +{ + public: + // constructors + String( const char *value = "" ); + String( const String &value ); + String( const char ); + String( const unsigned char ); + String( const int, const int base=10); + String( const unsigned int, const int base=10 ); + String( const long, const int base=10 ); + String( const unsigned long, const int base=10 ); + ~String() { free(_buffer); _length = _capacity = 0;} //added _length = _capacity = 0; + + // operators + const String & operator = ( const String &rhs ); + const String & operator +=( const String &rhs ); + //const String & operator +=( const char ); + int operator ==( const String &rhs ) const; + int operator !=( const String &rhs ) const; + int operator < ( const String &rhs ) const; + int operator > ( const String &rhs ) const; + int operator <=( const String &rhs ) const; + int operator >=( const String &rhs ) const; + char operator []( unsigned int index ) const; + char& operator []( unsigned int index ); + //operator const char *() const { return _buffer; } + + // general methods + char charAt( unsigned int index ) const; + int compareTo( const String &anotherString ) const; + unsigned char endsWith( const String &suffix ) const; + unsigned char equals( const String &anObject ) const; + unsigned char equalsIgnoreCase( const String &anotherString ) const; + int indexOf( char ch ) const; + int indexOf( char ch, unsigned int fromIndex ) const; + int indexOf( const String &str ) const; + int indexOf( const String &str, unsigned int fromIndex ) const; + int lastIndexOf( char ch ) const; + int lastIndexOf( char ch, unsigned int fromIndex ) const; + int lastIndexOf( const String &str ) const; + int lastIndexOf( const String &str, unsigned int fromIndex ) const; + const unsigned int length( ) const { return _length; } + void setCharAt(unsigned int index, const char ch); + unsigned char startsWith( const String &prefix ) const; + unsigned char startsWith( const String &prefix, unsigned int toffset ) const; + String substring( unsigned int beginIndex ) const; + String substring( unsigned int beginIndex, unsigned int endIndex ) const; + String toLowerCase( ) const; + String toUpperCase( ) const; + String trim( ) const; + void getBytes(unsigned char *buf, unsigned int bufsize); + void toCharArray(char *buf, unsigned int bufsize); + long toInt( ); + const String& concat( const String &str ); + String replace( char oldChar, char newChar ); + String replace( const String& match, const String& replace ); + friend String operator + ( String lhs, const String &rhs ); + + protected: + char *_buffer; // the actual char array + unsigned int _capacity; // the array length minus one (for the '\0') + unsigned int _length; // the String length (not counting the '\0') + + void getBuffer(unsigned int maxStrLen); + + private: + +}; + +// allocate buffer space +inline void String::getBuffer(unsigned int maxStrLen) +{ + _capacity = maxStrLen; + _buffer = (char *) malloc(_capacity + 1); + if (_buffer == NULL) _length = _capacity = 0; +} + +inline String operator+( String lhs, const String &rhs ) +{ + return lhs += rhs; +} + + +#endif diff --git a/Marlin/Sanguino/cores/arduino/binary.h b/Marlin/Sanguino/cores/arduino/binary.h new file mode 100644 index 0000000000..af1498033a --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/binary.h @@ -0,0 +1,515 @@ +#ifndef Binary_h +#define Binary_h + +#define B0 0 +#define B00 0 +#define B000 0 +#define B0000 0 +#define B00000 0 +#define B000000 0 +#define B0000000 0 +#define B00000000 0 +#define B1 1 +#define B01 1 +#define B001 1 +#define B0001 1 +#define B00001 1 +#define B000001 1 +#define B0000001 1 +#define B00000001 1 +#define B10 2 +#define B010 2 +#define B0010 2 +#define B00010 2 +#define B000010 2 +#define B0000010 2 +#define B00000010 2 +#define B11 3 +#define B011 3 +#define B0011 3 +#define B00011 3 +#define B000011 3 +#define B0000011 3 +#define B00000011 3 +#define B100 4 +#define B0100 4 +#define B00100 4 +#define B000100 4 +#define B0000100 4 +#define B00000100 4 +#define B101 5 +#define B0101 5 +#define B00101 5 +#define B000101 5 +#define B0000101 5 +#define B00000101 5 +#define B110 6 +#define B0110 6 +#define B00110 6 +#define B000110 6 +#define B0000110 6 +#define B00000110 6 +#define B111 7 +#define B0111 7 +#define B00111 7 +#define B000111 7 +#define B0000111 7 +#define B00000111 7 +#define B1000 8 +#define B01000 8 +#define B001000 8 +#define B0001000 8 +#define B00001000 8 +#define B1001 9 +#define B01001 9 +#define B001001 9 +#define B0001001 9 +#define B00001001 9 +#define B1010 10 +#define B01010 10 +#define B001010 10 +#define B0001010 10 +#define B00001010 10 +#define B1011 11 +#define B01011 11 +#define B001011 11 +#define B0001011 11 +#define B00001011 11 +#define B1100 12 +#define B01100 12 +#define B001100 12 +#define B0001100 12 +#define B00001100 12 +#define B1101 13 +#define B01101 13 +#define B001101 13 +#define B0001101 13 +#define B00001101 13 +#define B1110 14 +#define B01110 14 +#define B001110 14 +#define B0001110 14 +#define B00001110 14 +#define B1111 15 +#define B01111 15 +#define B001111 15 +#define B0001111 15 +#define B00001111 15 +#define B10000 16 +#define B010000 16 +#define B0010000 16 +#define B00010000 16 +#define B10001 17 +#define B010001 17 +#define B0010001 17 +#define B00010001 17 +#define B10010 18 +#define B010010 18 +#define B0010010 18 +#define B00010010 18 +#define B10011 19 +#define B010011 19 +#define B0010011 19 +#define B00010011 19 +#define B10100 20 +#define B010100 20 +#define B0010100 20 +#define B00010100 20 +#define B10101 21 +#define B010101 21 +#define B0010101 21 +#define B00010101 21 +#define B10110 22 +#define B010110 22 +#define B0010110 22 +#define B00010110 22 +#define B10111 23 +#define B010111 23 +#define B0010111 23 +#define B00010111 23 +#define B11000 24 +#define B011000 24 +#define B0011000 24 +#define B00011000 24 +#define B11001 25 +#define B011001 25 +#define B0011001 25 +#define B00011001 25 +#define B11010 26 +#define B011010 26 +#define B0011010 26 +#define B00011010 26 +#define B11011 27 +#define B011011 27 +#define B0011011 27 +#define B00011011 27 +#define B11100 28 +#define B011100 28 +#define B0011100 28 +#define B00011100 28 +#define B11101 29 +#define B011101 29 +#define B0011101 29 +#define B00011101 29 +#define B11110 30 +#define B011110 30 +#define B0011110 30 +#define B00011110 30 +#define B11111 31 +#define B011111 31 +#define B0011111 31 +#define B00011111 31 +#define B100000 32 +#define B0100000 32 +#define B00100000 32 +#define B100001 33 +#define B0100001 33 +#define B00100001 33 +#define B100010 34 +#define B0100010 34 +#define B00100010 34 +#define B100011 35 +#define B0100011 35 +#define B00100011 35 +#define B100100 36 +#define B0100100 36 +#define B00100100 36 +#define B100101 37 +#define B0100101 37 +#define B00100101 37 +#define B100110 38 +#define B0100110 38 +#define B00100110 38 +#define B100111 39 +#define B0100111 39 +#define B00100111 39 +#define B101000 40 +#define B0101000 40 +#define B00101000 40 +#define B101001 41 +#define B0101001 41 +#define B00101001 41 +#define B101010 42 +#define B0101010 42 +#define B00101010 42 +#define B101011 43 +#define B0101011 43 +#define B00101011 43 +#define B101100 44 +#define B0101100 44 +#define B00101100 44 +#define B101101 45 +#define B0101101 45 +#define B00101101 45 +#define B101110 46 +#define B0101110 46 +#define B00101110 46 +#define B101111 47 +#define B0101111 47 +#define B00101111 47 +#define B110000 48 +#define B0110000 48 +#define B00110000 48 +#define B110001 49 +#define B0110001 49 +#define B00110001 49 +#define B110010 50 +#define B0110010 50 +#define B00110010 50 +#define B110011 51 +#define B0110011 51 +#define B00110011 51 +#define B110100 52 +#define B0110100 52 +#define B00110100 52 +#define B110101 53 +#define B0110101 53 +#define B00110101 53 +#define B110110 54 +#define B0110110 54 +#define B00110110 54 +#define B110111 55 +#define B0110111 55 +#define B00110111 55 +#define B111000 56 +#define B0111000 56 +#define B00111000 56 +#define B111001 57 +#define B0111001 57 +#define B00111001 57 +#define B111010 58 +#define B0111010 58 +#define B00111010 58 +#define B111011 59 +#define B0111011 59 +#define B00111011 59 +#define B111100 60 +#define B0111100 60 +#define B00111100 60 +#define B111101 61 +#define B0111101 61 +#define B00111101 61 +#define B111110 62 +#define B0111110 62 +#define B00111110 62 +#define B111111 63 +#define B0111111 63 +#define B00111111 63 +#define B1000000 64 +#define B01000000 64 +#define B1000001 65 +#define B01000001 65 +#define B1000010 66 +#define B01000010 66 +#define B1000011 67 +#define B01000011 67 +#define B1000100 68 +#define B01000100 68 +#define B1000101 69 +#define B01000101 69 +#define B1000110 70 +#define B01000110 70 +#define B1000111 71 +#define B01000111 71 +#define B1001000 72 +#define B01001000 72 +#define B1001001 73 +#define B01001001 73 +#define B1001010 74 +#define B01001010 74 +#define B1001011 75 +#define B01001011 75 +#define B1001100 76 +#define B01001100 76 +#define B1001101 77 +#define B01001101 77 +#define B1001110 78 +#define B01001110 78 +#define B1001111 79 +#define B01001111 79 +#define B1010000 80 +#define B01010000 80 +#define B1010001 81 +#define B01010001 81 +#define B1010010 82 +#define B01010010 82 +#define B1010011 83 +#define B01010011 83 +#define B1010100 84 +#define B01010100 84 +#define B1010101 85 +#define B01010101 85 +#define B1010110 86 +#define B01010110 86 +#define B1010111 87 +#define B01010111 87 +#define B1011000 88 +#define B01011000 88 +#define B1011001 89 +#define B01011001 89 +#define B1011010 90 +#define B01011010 90 +#define B1011011 91 +#define B01011011 91 +#define B1011100 92 +#define B01011100 92 +#define B1011101 93 +#define B01011101 93 +#define B1011110 94 +#define B01011110 94 +#define B1011111 95 +#define B01011111 95 +#define B1100000 96 +#define B01100000 96 +#define B1100001 97 +#define B01100001 97 +#define B1100010 98 +#define B01100010 98 +#define B1100011 99 +#define B01100011 99 +#define B1100100 100 +#define B01100100 100 +#define B1100101 101 +#define B01100101 101 +#define B1100110 102 +#define B01100110 102 +#define B1100111 103 +#define B01100111 103 +#define B1101000 104 +#define B01101000 104 +#define B1101001 105 +#define B01101001 105 +#define B1101010 106 +#define B01101010 106 +#define B1101011 107 +#define B01101011 107 +#define B1101100 108 +#define B01101100 108 +#define B1101101 109 +#define B01101101 109 +#define B1101110 110 +#define B01101110 110 +#define B1101111 111 +#define B01101111 111 +#define B1110000 112 +#define B01110000 112 +#define B1110001 113 +#define B01110001 113 +#define B1110010 114 +#define B01110010 114 +#define B1110011 115 +#define B01110011 115 +#define B1110100 116 +#define B01110100 116 +#define B1110101 117 +#define B01110101 117 +#define B1110110 118 +#define B01110110 118 +#define B1110111 119 +#define B01110111 119 +#define B1111000 120 +#define B01111000 120 +#define B1111001 121 +#define B01111001 121 +#define B1111010 122 +#define B01111010 122 +#define B1111011 123 +#define B01111011 123 +#define B1111100 124 +#define B01111100 124 +#define B1111101 125 +#define B01111101 125 +#define B1111110 126 +#define B01111110 126 +#define B1111111 127 +#define B01111111 127 +#define B10000000 128 +#define B10000001 129 +#define B10000010 130 +#define B10000011 131 +#define B10000100 132 +#define B10000101 133 +#define B10000110 134 +#define B10000111 135 +#define B10001000 136 +#define B10001001 137 +#define B10001010 138 +#define B10001011 139 +#define B10001100 140 +#define B10001101 141 +#define B10001110 142 +#define B10001111 143 +#define B10010000 144 +#define B10010001 145 +#define B10010010 146 +#define B10010011 147 +#define B10010100 148 +#define B10010101 149 +#define B10010110 150 +#define B10010111 151 +#define B10011000 152 +#define B10011001 153 +#define B10011010 154 +#define B10011011 155 +#define B10011100 156 +#define B10011101 157 +#define B10011110 158 +#define B10011111 159 +#define B10100000 160 +#define B10100001 161 +#define B10100010 162 +#define B10100011 163 +#define B10100100 164 +#define B10100101 165 +#define B10100110 166 +#define B10100111 167 +#define B10101000 168 +#define B10101001 169 +#define B10101010 170 +#define B10101011 171 +#define B10101100 172 +#define B10101101 173 +#define B10101110 174 +#define B10101111 175 +#define B10110000 176 +#define B10110001 177 +#define B10110010 178 +#define B10110011 179 +#define B10110100 180 +#define B10110101 181 +#define B10110110 182 +#define B10110111 183 +#define B10111000 184 +#define B10111001 185 +#define B10111010 186 +#define B10111011 187 +#define B10111100 188 +#define B10111101 189 +#define B10111110 190 +#define B10111111 191 +#define B11000000 192 +#define B11000001 193 +#define B11000010 194 +#define B11000011 195 +#define B11000100 196 +#define B11000101 197 +#define B11000110 198 +#define B11000111 199 +#define B11001000 200 +#define B11001001 201 +#define B11001010 202 +#define B11001011 203 +#define B11001100 204 +#define B11001101 205 +#define B11001110 206 +#define B11001111 207 +#define B11010000 208 +#define B11010001 209 +#define B11010010 210 +#define B11010011 211 +#define B11010100 212 +#define B11010101 213 +#define B11010110 214 +#define B11010111 215 +#define B11011000 216 +#define B11011001 217 +#define B11011010 218 +#define B11011011 219 +#define B11011100 220 +#define B11011101 221 +#define B11011110 222 +#define B11011111 223 +#define B11100000 224 +#define B11100001 225 +#define B11100010 226 +#define B11100011 227 +#define B11100100 228 +#define B11100101 229 +#define B11100110 230 +#define B11100111 231 +#define B11101000 232 +#define B11101001 233 +#define B11101010 234 +#define B11101011 235 +#define B11101100 236 +#define B11101101 237 +#define B11101110 238 +#define B11101111 239 +#define B11110000 240 +#define B11110001 241 +#define B11110010 242 +#define B11110011 243 +#define B11110100 244 +#define B11110101 245 +#define B11110110 246 +#define B11110111 247 +#define B11111000 248 +#define B11111001 249 +#define B11111010 250 +#define B11111011 251 +#define B11111100 252 +#define B11111101 253 +#define B11111110 254 +#define B11111111 255 + +#endif diff --git a/Marlin/Sanguino/cores/arduino/main.cpp b/Marlin/Sanguino/cores/arduino/main.cpp new file mode 100644 index 0000000000..cc6e81d906 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/main.cpp @@ -0,0 +1,14 @@ +#include + +int main(void) +{ + init(); + + setup(); + + for (;;) + loop(); + + return 0; +} + diff --git a/Marlin/Sanguino/cores/arduino/pins_arduino.c b/Marlin/Sanguino/cores/arduino/pins_arduino.c new file mode 100644 index 0000000000..ccb88fe989 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/pins_arduino.c @@ -0,0 +1,200 @@ +/* + pins_arduino.c - pin definitions for the Arduino board + Part of Arduino / Wiring Lite + + Copyright (c) 2005 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: pins_arduino.c 254 2007-04-20 23:17:38Z mellis $ +*/ + +#include +#include "wiring_private.h" +#include "pins_arduino.h" + +// On the Sanguino board, digital pins are also used +// for the analog output (software PWM). Analog input +// pins are a separate set. + +// ATMEL ATMEGA644P / SANGUINO +// +// +---\/---+ +// INT0 (D 0) PB0 1| |40 PA0 (AI 0 / D31) +// INT1 (D 1) PB1 2| |39 PA1 (AI 1 / D30) +// INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29) +// PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28) +// PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27) +// MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26) +// MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25) +// SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24) +// RST 9| |32 AREF +// VCC 10| |31 GND +// GND 11| |30 AVCC +// XTAL2 12| |29 PC7 (D 23) +// XTAL1 13| |28 PC6 (D 22) +// RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI +// TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO +// RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS +// TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK +// PWM (D 12) PD4 18| |23 PC1 (D 17) SDA +// PWM (D 13) PD5 19| |22 PC0 (D 16) SCL +// PWM (D 14) PD6 20| |21 PD7 (D 15) PWM +// +--------+ +// + +#define PA 1 +#define PB 2 +#define PC 3 +#define PD 4 + +// these arrays map port names (e.g. port B) to the +// appropriate addresses for various functions (e.g. reading +// and writing) +const uint8_t PROGMEM port_to_mode_PGM[] = +{ + NOT_A_PORT, + &DDRA, + &DDRB, + &DDRC, + &DDRD, +}; + +const uint8_t PROGMEM port_to_output_PGM[] = +{ + NOT_A_PORT, + &PORTA, + &PORTB, + &PORTC, + &PORTD, +}; + +const uint8_t PROGMEM port_to_input_PGM[] = +{ + NOT_A_PORT, + &PINA, + &PINB, + &PINC, + &PIND, +}; + +const uint8_t PROGMEM digital_pin_to_port_PGM[] = +{ + PB, /* 0 */ + PB, + PB, + PB, + PB, + PB, + PB, + PB, + PD, /* 8 */ + PD, + PD, + PD, + PD, + PD, + PD, + PD, + PC, /* 16 */ + PC, + PC, + PC, + PC, + PC, + PC, + PC, + PA, /* 24 */ + PA, + PA, + PA, + PA, + PA, + PA, + PA /* 31 */ +}; + +const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[] = +{ + _BV(0), /* 0, port B */ + _BV(1), + _BV(2), + _BV(3), + _BV(4), + _BV(5), + _BV(6), + _BV(7), + _BV(0), /* 8, port D */ + _BV(1), + _BV(2), + _BV(3), + _BV(4), + _BV(5), + _BV(6), + _BV(7), + _BV(0), /* 16, port C */ + _BV(1), + _BV(2), + _BV(3), + _BV(4), + _BV(5), + _BV(6), + _BV(7), + _BV(7), /* 24, port A */ + _BV(6), + _BV(5), + _BV(4), + _BV(3), + _BV(2), + _BV(1), + _BV(0) +}; + +const uint8_t PROGMEM digital_pin_to_timer_PGM[] = +{ + NOT_ON_TIMER, /* 0 - PB0 */ + NOT_ON_TIMER, /* 1 - PB1 */ + NOT_ON_TIMER, /* 2 - PB2 */ + TIMER0A, /* 3 - PB3 */ + TIMER0B, /* 4 - PB4 */ + NOT_ON_TIMER, /* 5 - PB5 */ + NOT_ON_TIMER, /* 6 - PB6 */ + NOT_ON_TIMER, /* 7 - PB7 */ + NOT_ON_TIMER, /* 8 - PD0 */ + NOT_ON_TIMER, /* 9 - PD1 */ + NOT_ON_TIMER, /* 10 - PD2 */ + NOT_ON_TIMER, /* 11 - PD3 */ + TIMER1B, /* 12 - PD4 */ + TIMER1A, /* 13 - PD5 */ + TIMER2B, /* 14 - PD6 */ + TIMER2A, /* 15 - PD7 */ + NOT_ON_TIMER, /* 16 - PC0 */ + NOT_ON_TIMER, /* 17 - PC1 */ + NOT_ON_TIMER, /* 18 - PC2 */ + NOT_ON_TIMER, /* 19 - PC3 */ + NOT_ON_TIMER, /* 20 - PC4 */ + NOT_ON_TIMER, /* 21 - PC5 */ + NOT_ON_TIMER, /* 22 - PC6 */ + NOT_ON_TIMER, /* 23 - PC7 */ + NOT_ON_TIMER, /* 24 - PA0 */ + NOT_ON_TIMER, /* 25 - PA1 */ + NOT_ON_TIMER, /* 26 - PA2 */ + NOT_ON_TIMER, /* 27 - PA3 */ + NOT_ON_TIMER, /* 28 - PA4 */ + NOT_ON_TIMER, /* 29 - PA5 */ + NOT_ON_TIMER, /* 30 - PA6 */ + NOT_ON_TIMER /* 31 - PA7 */ +}; diff --git a/Marlin/Sanguino/cores/arduino/pins_arduino.h b/Marlin/Sanguino/cores/arduino/pins_arduino.h new file mode 100644 index 0000000000..e0b7add867 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/pins_arduino.h @@ -0,0 +1,65 @@ +/* + pins_arduino.h - Pin definition functions for Arduino + Part of Arduino - http://www.arduino.cc/ + + Copyright (c) 2007 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: wiring.h 249 2007-02-03 16:52:51Z mellis $ +*/ + +#ifndef Pins_Arduino_h +#define Pins_Arduino_h + +#include + +#define NOT_A_PIN 0 +#define NOT_A_PORT 0 + +#define NOT_ON_TIMER 0 +#define TIMER0A 1 +#define TIMER0B 2 +#define TIMER1A 3 +#define TIMER1B 4 +#define TIMER2 5 +#define TIMER2A 6 +#define TIMER2B 7 + +extern const uint8_t PROGMEM port_to_mode_PGM[]; +extern const uint8_t PROGMEM port_to_input_PGM[]; +extern const uint8_t PROGMEM port_to_output_PGM[]; + +extern const uint8_t PROGMEM digital_pin_to_port_PGM[]; +extern const uint8_t PROGMEM digital_pin_to_bit_PGM[]; +extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[]; + +extern const uint8_t PROGMEM digital_pin_to_timer_PGM[]; + +// Get the bit location within the hardware port of the given virtual pin. +// This comes from the pins_*.c file for the active board configuration. +// +// These perform slightly better as macros compared to inline functions +// +#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) ) +#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) ) +#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) ) +#define analogInPinToBit(P) (P) +#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_output_PGM + (P))) ) +#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_input_PGM + (P))) ) +#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_byte( port_to_mode_PGM + (P))) ) + +#endif diff --git a/Marlin/wiring.c b/Marlin/Sanguino/cores/arduino/wiring.c similarity index 52% rename from Marlin/wiring.c rename to Marlin/Sanguino/cores/arduino/wiring.c index adee6cbe44..b90d07e592 100644 --- a/Marlin/wiring.c +++ b/Marlin/Sanguino/cores/arduino/wiring.c @@ -19,48 +19,104 @@ Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - $Id: wiring.c 388 2008-03-08 22:05:23Z mellis $ + $Id$ */ #include "wiring_private.h" +// the prescaler is set so that timer0 ticks every 64 clock cycles, and the +// the overflow handler is called every 256 ticks. +#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256)) + +// the whole number of milliseconds per timer0 overflow +#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000) + +// the fractional number of milliseconds per timer0 overflow. we shift right +// by three to fit these numbers into a byte. (for the clock speeds we care +// about - 8 and 16 MHz - this doesn't lose precision.) +#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3) +#define FRACT_MAX (1000 >> 3) + +volatile unsigned long timer0_overflow_count = 0; volatile unsigned long timer0_millis = 0; +static unsigned char timer0_fract = 0; SIGNAL(TIMER0_OVF_vect) { - // timer 0 prescale factor is 64 and the timer overflows at 256 - timer0_millis++; + // copy these to local variables so they can be stored in registers + // (volatile variables must be read from memory on every access) + unsigned long m = timer0_millis; + unsigned char f = timer0_fract; + + m += MILLIS_INC; + f += FRACT_INC; + if (f >= FRACT_MAX) { + f -= FRACT_MAX; + m += 1; + } + + timer0_fract = f; + timer0_millis = m; + timer0_overflow_count++; } unsigned long millis() { unsigned long m; uint8_t oldSREG = SREG; - + // disable interrupts while we read timer0_millis or we might get an - // inconsistent value (e.g. in the middle of the timer0_millis++) + // inconsistent value (e.g. in the middle of a write to timer0_millis) cli(); m = timer0_millis; SREG = oldSREG; - + return m; } +unsigned long micros() { + unsigned long m; + uint8_t oldSREG = SREG, t; + + cli(); + m = timer0_overflow_count; +#if defined(TCNT0) + t = TCNT0; +#elif defined(TCNT0L) + t = TCNT0L; +#else + #error TIMER 0 not defined +#endif + + +#ifdef TIFR0 + if ((TIFR0 & _BV(TOV0)) && (t < 255)) + m++; +#else + if ((TIFR & _BV(TOV0)) && (t < 255)) + m++; +#endif + + SREG = oldSREG; + + return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond()); +} + void delay(unsigned long ms) { - unsigned long start = millis(); - - while (millis() - start <= ms) - ; + uint16_t start = (uint16_t)micros(); + + while (ms > 0) { + if (((uint16_t)micros() - start) >= 1000) { + ms--; + start += 1000; + } + } } -/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. - * Disables interrupts, which will disrupt the millis() function if used - * too frequently. */ +/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */ void delayMicroseconds(unsigned int us) { - uint8_t oldSREG; - // calling avrlib's delay_us() function with low values (e.g. 1 or // 2 microseconds) gives delays longer than desired. //delay_us(us); @@ -95,25 +151,17 @@ void delayMicroseconds(unsigned int us) // per iteration, so execute it twice for each microsecond of // delay requested. us <<= 1; - + // partially compensate for the time taken by the preceeding commands. // we can't subtract any more than this or we'd overflow w/ small delays. us--; #endif - // disable interrupts, otherwise the timer 0 overflow interrupt that - // tracks milliseconds will make us delay longer than we want. - oldSREG = SREG; - cli(); - // busy wait __asm__ __volatile__ ( "1: sbiw %0,1" "\n\t" // 2 cycles "brne 1b" : "=w" (us) : "0" (us) // 2 cycles ); - - // reenable interrupts. - SREG = oldSREG; } void init() @@ -125,34 +173,99 @@ void init() // on the ATmega168, timer 0 is also used for fast hardware pwm // (using phase-correct PWM would mean that timer 0 overflowed half as often // resulting in different millis() behavior on the ATmega8 and ATmega168) +#if defined(TCCR0A) && defined(WGM01) sbi(TCCR0A, WGM01); sbi(TCCR0A, WGM00); +#endif // set timer 0 prescale factor to 64 +#if defined(__AVR_ATmega128__) + // CPU specific: different values for the ATmega128 + sbi(TCCR0, CS02); +#elif defined(TCCR0) && defined(CS01) && defined(CS00) + // this combination is for the standard atmega8 + sbi(TCCR0, CS01); + sbi(TCCR0, CS00); +#elif defined(TCCR0B) && defined(CS01) && defined(CS00) + // this combination is for the standard 168/328/1280/2560 sbi(TCCR0B, CS01); sbi(TCCR0B, CS00); +#elif defined(TCCR0A) && defined(CS01) && defined(CS00) + // this combination is for the __AVR_ATmega645__ series + sbi(TCCR0A, CS01); + sbi(TCCR0A, CS00); +#else + #error Timer 0 prescale factor 64 not set correctly +#endif // enable timer 0 overflow interrupt +#if defined(TIMSK) && defined(TOIE0) + sbi(TIMSK, TOIE0); +#elif defined(TIMSK0) && defined(TOIE0) sbi(TIMSK0, TOIE0); +#else + #error Timer 0 overflow interrupt not set correctly +#endif // timers 1 and 2 are used for phase-correct hardware pwm // this is better for motors as it ensures an even waveform // note, however, that fast pwm mode can achieve a frequency of up // 8 MHz (with a 16 MHz clock) at 50% duty cycle -#if 0 + + TCCR1B = 0; + // set timer 1 prescale factor to 64 +#if defined(TCCR1B) && defined(CS11) && defined(CS10) sbi(TCCR1B, CS11); sbi(TCCR1B, CS10); - +#elif defined(TCCR1) && defined(CS11) && defined(CS10) + sbi(TCCR1, CS11); + sbi(TCCR1, CS10); +#endif // put timer 1 in 8-bit phase correct pwm mode +#if defined(TCCR1A) && defined(WGM10) sbi(TCCR1A, WGM10); +#elif defined(TCCR1) + #warning this needs to be finished +#endif // set timer 2 prescale factor to 64 +#if defined(TCCR2) && defined(CS22) + sbi(TCCR2, CS22); +#elif defined(TCCR2B) && defined(CS22) sbi(TCCR2B, CS22); +#else + #warning Timer 2 not finished (may not be present on this CPU) +#endif // configure timer 2 for phase correct pwm (8-bit) +#if defined(TCCR2) && defined(WGM20) + sbi(TCCR2, WGM20); +#elif defined(TCCR2A) && defined(WGM20) sbi(TCCR2A, WGM20); +#else + #warning Timer 2 not finished (may not be present on this CPU) +#endif +#if defined(TCCR3B) && defined(CS31) && defined(WGM30) + sbi(TCCR3B, CS31); // set timer 3 prescale factor to 64 + sbi(TCCR3B, CS30); + sbi(TCCR3A, WGM30); // put timer 3 in 8-bit phase correct pwm mode +#endif + +#if defined(TCCR4B) && defined(CS41) && defined(WGM40) + sbi(TCCR4B, CS41); // set timer 4 prescale factor to 64 + sbi(TCCR4B, CS40); + sbi(TCCR4A, WGM40); // put timer 4 in 8-bit phase correct pwm mode +#endif + +#if defined(TCCR5B) && defined(CS51) && defined(WGM50) + sbi(TCCR5B, CS51); // set timer 5 prescale factor to 64 + sbi(TCCR5B, CS50); + sbi(TCCR5A, WGM50); // put timer 5 in 8-bit phase correct pwm mode +#endif + +#if defined(ADCSRA) // set a2d prescale factor to 128 // 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range. // XXX: this will not work properly for other clock speeds, and @@ -163,14 +276,14 @@ void init() // enable a2d conversions sbi(ADCSRA, ADEN); +#endif // the bootloader connects pins 0 and 1 to the USART; disconnect them // here so they can be used as normal digital i/o; they will be // reconnected in Serial.begin() +#if defined(UCSRB) + UCSRB = 0; +#elif defined(UCSR0B) UCSR0B = 0; - #if defined(__AVR_ATmega644P__) - //TODO: test to see if disabling this helps? - //UCSR1B = 0; - #endif #endif } diff --git a/Marlin/Sanguino/cores/arduino/wiring.h b/Marlin/Sanguino/cores/arduino/wiring.h new file mode 100644 index 0000000000..0a93678053 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring.h @@ -0,0 +1,136 @@ +/* + 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 +#include +#include +#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))) +#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) +#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 diff --git a/Marlin/Sanguino/cores/arduino/wiring_analog.c b/Marlin/Sanguino/cores/arduino/wiring_analog.c new file mode 100644 index 0000000000..d248f4ce82 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring_analog.c @@ -0,0 +1,259 @@ +/* + wiring_analog.c - analog input and output + 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 + + Modified 28 September 2010 by Mark Sproul + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" +#include "pins_arduino.h" + +uint8_t analog_reference = DEFAULT; + +void analogReference(uint8_t mode) +{ + // can't actually set the register here because the default setting + // will connect AVCC and the AREF pin, which would cause a short if + // there's something connected to AREF. + analog_reference = mode; +} + +int analogRead(uint8_t pin) +{ + uint8_t low, high; + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + if (pin >= 54) pin -= 54; // allow for channel or pin numbers +#else + if (pin >= 14) pin -= 14; // allow for channel or pin numbers +#endif + +#if defined(ADCSRB) && defined(MUX5) + // the MUX5 bit of ADCSRB selects whether we're reading from channels + // 0 to 7 (MUX5 low) or 8 to 15 (MUX5 high). + ADCSRB = (ADCSRB & ~(1 << MUX5)) | (((pin >> 3) & 0x01) << MUX5); +#endif + + // set the analog reference (high two bits of ADMUX) and select the + // channel (low 4 bits). this also sets ADLAR (left-adjust result) + // to 0 (the default). +#if defined(ADMUX) + ADMUX = (analog_reference << 6) | (pin & 0x07); +#endif + + // without a delay, we seem to read from the wrong channel + //delay(1); + +#if defined(ADCSRA) && defined(ADCL) + // start the conversion + sbi(ADCSRA, ADSC); + + // ADSC is cleared when the conversion finishes + while (bit_is_set(ADCSRA, ADSC)); + + // we have to read ADCL first; doing so locks both ADCL + // and ADCH until ADCH is read. reading ADCL second would + // cause the results of each conversion to be discarded, + // as ADCL and ADCH would be locked when it completed. + low = ADCL; + high = ADCH; +#else + // we dont have an ADC, return 0 + low = 0; + high = 0; +#endif + + // combine the two bytes + return (high << 8) | low; +} + +// Right now, PWM output only works on the pins with +// hardware support. These are defined in the appropriate +// pins_*.c file. For the rest of the pins, we default +// to digital output. +void analogWrite(uint8_t pin, int val) +{ + // We need to make sure the PWM output is enabled for those pins + // that support it, as we turn it off when digitally reading or + // writing with them. Also, make sure the pin is in output mode + // for consistenty with Wiring, which doesn't require a pinMode + // call for the analog output pins. + pinMode(pin, OUTPUT); + if (val == 0) + { + digitalWrite(pin, LOW); + } + else if (val == 255) + { + digitalWrite(pin, HIGH); + } + else + { + switch(digitalPinToTimer(pin)) + { + // XXX fix needed for atmega8 + #if defined(TCCR0) && defined(COM00) && !defined(__AVR_ATmega8__) + case TIMER0A: + // connect pwm to pin on timer 0 + sbi(TCCR0, COM00); + OCR0 = val; // set pwm duty + break; + #endif + + #if defined(TCCR0A) && defined(COM0A1) + case TIMER0A: + // connect pwm to pin on timer 0, channel A + sbi(TCCR0A, COM0A1); + OCR0A = val; // set pwm duty + break; + #endif + + #if defined(TCCR0A) && defined(COM0B1) + case TIMER0B: + // connect pwm to pin on timer 0, channel B + sbi(TCCR0A, COM0B1); + OCR0B = val; // set pwm duty + break; + #endif + + #if defined(TCCR1A) && defined(COM1A1) + case TIMER1A: + // connect pwm to pin on timer 1, channel A + sbi(TCCR1A, COM1A1); + OCR1A = val; // set pwm duty + break; + #endif + + #if defined(TCCR1A) && defined(COM1B1) + case TIMER1B: + // connect pwm to pin on timer 1, channel B + sbi(TCCR1A, COM1B1); + OCR1B = val; // set pwm duty + break; + #endif + + #if defined(TCCR2) && defined(COM21) + case TIMER2: + // connect pwm to pin on timer 2 + sbi(TCCR2, COM21); + OCR2 = val; // set pwm duty + break; + #endif + + #if defined(TCCR2A) && defined(COM2A1) + case TIMER2A: + // connect pwm to pin on timer 2, channel A + sbi(TCCR2A, COM2A1); + OCR2A = val; // set pwm duty + break; + #endif + + #if defined(TCCR2A) && defined(COM2B1) + case TIMER2B: + // connect pwm to pin on timer 2, channel B + sbi(TCCR2A, COM2B1); + OCR2B = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3A1) + case TIMER3A: + // connect pwm to pin on timer 3, channel A + sbi(TCCR3A, COM3A1); + OCR3A = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3B1) + case TIMER3B: + // connect pwm to pin on timer 3, channel B + sbi(TCCR3A, COM3B1); + OCR3B = val; // set pwm duty + break; + #endif + + #if defined(TCCR3A) && defined(COM3C1) + case TIMER3C: + // connect pwm to pin on timer 3, channel C + sbi(TCCR3A, COM3C1); + OCR3C = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) && defined(COM4A1) + case TIMER4A: + // connect pwm to pin on timer 4, channel A + sbi(TCCR4A, COM4A1); + OCR4A = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) && defined(COM4B1) + case TIMER4B: + // connect pwm to pin on timer 4, channel B + sbi(TCCR4A, COM4B1); + OCR4B = val; // set pwm duty + break; + #endif + + #if defined(TCCR4A) && defined(COM4C1) + case TIMER4C: + // connect pwm to pin on timer 4, channel C + sbi(TCCR4A, COM4C1); + OCR4C = val; // set pwm duty + break; + #endif + + #if defined(TCCR5A) && defined(COM5A1) + case TIMER5A: + // connect pwm to pin on timer 5, channel A + sbi(TCCR5A, COM5A1); + OCR5A = val; // set pwm duty + break; + #endif + + #if defined(TCCR5A) && defined(COM5B1) + case TIMER5B: + // connect pwm to pin on timer 5, channel B + sbi(TCCR5A, COM5B1); + OCR5B = val; // set pwm duty + break; + #endif + + #if defined(TCCR5A) && defined(COM5C1) + case TIMER5C: + // connect pwm to pin on timer 5, channel C + sbi(TCCR5A, COM5C1); + OCR5C = val; // set pwm duty + break; + #endif + + case NOT_ON_TIMER: + default: + if (val < 128) { + digitalWrite(pin, LOW); + } else { + digitalWrite(pin, HIGH); + } + } + } +} diff --git a/Marlin/Sanguino/cores/arduino/wiring_digital.c b/Marlin/Sanguino/cores/arduino/wiring_digital.c new file mode 100644 index 0000000000..0949da42d7 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring_digital.c @@ -0,0 +1,166 @@ +/* + wiring_digital.c - digital input and output functions + 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 + + Modified 28 September 2010 by Mark Sproul + + $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" +#include "pins_arduino.h" + +void pinMode(uint8_t pin, uint8_t mode) +{ + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + volatile uint8_t *reg; + + if (port == NOT_A_PIN) return; + + // JWS: can I let the optimizer do this? + reg = portModeRegister(port); + + if (mode == INPUT) { + uint8_t oldSREG = SREG; + cli(); + *reg &= ~bit; + SREG = oldSREG; + } else { + uint8_t oldSREG = SREG; + cli(); + *reg |= bit; + SREG = oldSREG; + } +} + +// Forcing this inline keeps the callers from having to push their own stuff +// on the stack. It is a good performance win and only takes 1 more byte per +// user than calling. (It will take more bytes on the 168.) +// +// But shouldn't this be moved into pinMode? Seems silly to check and do on +// each digitalread or write. +// +// Mark Sproul: +// - Removed inline. Save 170 bytes on atmega1280 +// - changed to a switch statment; added 32 bytes but much easier to read and maintain. +// - Added more #ifdefs, now compiles for atmega645 +// +//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline)); +//static inline void turnOffPWM(uint8_t timer) +static void turnOffPWM(uint8_t timer) +{ + switch (timer) + { + #if defined(TCCR1A) && defined(COM1A1) + case TIMER1A: cbi(TCCR1A, COM1A1); break; + #endif + #if defined(TCCR1A) && defined(COM1B1) + case TIMER1B: cbi(TCCR1A, COM1B1); break; + #endif + + #if defined(TCCR2) && defined(COM21) + case TIMER2: cbi(TCCR2, COM21); break; + #endif + + #if defined(TCCR0A) && defined(COM0A1) + case TIMER0A: cbi(TCCR0A, COM0A1); break; + #endif + + #if defined(TIMER0B) && defined(COM0B1) + case TIMER0B: cbi(TCCR0A, COM0B1); break; + #endif + #if defined(TCCR2A) && defined(COM2A1) + case TIMER2A: cbi(TCCR2A, COM2A1); break; + #endif + #if defined(TCCR2A) && defined(COM2B1) + case TIMER2B: cbi(TCCR2A, COM2B1); break; + #endif + + #if defined(TCCR3A) && defined(COM3A1) + case TIMER3A: cbi(TCCR3A, COM3A1); break; + #endif + #if defined(TCCR3A) && defined(COM3B1) + case TIMER3B: cbi(TCCR3A, COM3B1); break; + #endif + #if defined(TCCR3A) && defined(COM3C1) + case TIMER3C: cbi(TCCR3A, COM3C1); break; + #endif + + #if defined(TCCR4A) && defined(COM4A1) + case TIMER4A: cbi(TCCR4A, COM4A1); break; + #endif + #if defined(TCCR4A) && defined(COM4B1) + case TIMER4B: cbi(TCCR4A, COM4B1); break; + #endif + #if defined(TCCR4A) && defined(COM4C1) + case TIMER4C: cbi(TCCR4A, COM4C1); break; + #endif + #if defined(TCCR5A) + case TIMER5A: cbi(TCCR5A, COM5A1); break; + case TIMER5B: cbi(TCCR5A, COM5B1); break; + case TIMER5C: cbi(TCCR5A, COM5C1); break; + #endif + } +} + +void digitalWrite(uint8_t pin, uint8_t val) +{ + uint8_t timer = digitalPinToTimer(pin); + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + volatile uint8_t *out; + + if (port == NOT_A_PIN) return; + + // If the pin that support PWM output, we need to turn it off + // before doing a digital write. + if (timer != NOT_ON_TIMER) turnOffPWM(timer); + + out = portOutputRegister(port); + + if (val == LOW) { + uint8_t oldSREG = SREG; + cli(); + *out &= ~bit; + SREG = oldSREG; + } else { + uint8_t oldSREG = SREG; + cli(); + *out |= bit; + SREG = oldSREG; + } +} + +int digitalRead(uint8_t pin) +{ + uint8_t timer = digitalPinToTimer(pin); + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + + if (port == NOT_A_PIN) return LOW; + + // If the pin that support PWM output, we need to turn it off + // before getting a digital reading. + if (timer != NOT_ON_TIMER) turnOffPWM(timer); + + if (*portInputRegister(port) & bit) return HIGH; + return LOW; +} diff --git a/Marlin/Sanguino/cores/arduino/wiring_private.h b/Marlin/Sanguino/cores/arduino/wiring_private.h new file mode 100644 index 0000000000..56c471353d --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring_private.h @@ -0,0 +1,68 @@ +/* + wiring_private.h - Internal header file. + 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: wiring.h 239 2007-01-12 17:58:39Z mellis $ +*/ + +#ifndef WiringPrivate_h +#define WiringPrivate_h +#include +#include +#include +#include +#include +#include + +#include "wiring.h" + +#ifdef __cplusplus +extern "C"{ +#endif + +#ifndef cbi +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#endif +#ifndef sbi +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#endif + +#define EXTERNAL_INT_0 0 +#define EXTERNAL_INT_1 1 +#define EXTERNAL_INT_2 2 +#define EXTERNAL_INT_3 3 +#define EXTERNAL_INT_4 4 +#define EXTERNAL_INT_5 5 +#define EXTERNAL_INT_6 6 +#define EXTERNAL_INT_7 7 + +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define EXTERNAL_NUM_INTERRUPTS 8 +#else +#define EXTERNAL_NUM_INTERRUPTS 2 +#endif + +typedef void (*voidFuncPtr)(void); + +#ifdef __cplusplus +} // extern "C" +#endif + +#endif diff --git a/Marlin/Sanguino/cores/arduino/wiring_pulse.c b/Marlin/Sanguino/cores/arduino/wiring_pulse.c new file mode 100644 index 0000000000..0d968865d2 --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring_pulse.c @@ -0,0 +1,69 @@ +/* + wiring_pulse.c - pulseIn() function + 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: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" +#include "pins_arduino.h" + +/* Measures the length (in microseconds) of a pulse on the pin; state is HIGH + * or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds + * to 3 minutes in length, but must be called at least a few dozen microseconds + * before the start of the pulse. */ +unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout) +{ + // cache the port and bit of the pin in order to speed up the + // pulse width measuring loop and achieve finer resolution. calling + // digitalRead() instead yields much coarser resolution. + uint8_t bit = digitalPinToBitMask(pin); + uint8_t port = digitalPinToPort(pin); + uint8_t stateMask = (state ? bit : 0); + unsigned long width = 0; // keep initialization out of time critical area + + // convert the timeout from microseconds to a number of times through + // the initial loop; it takes 16 clock cycles per iteration. + unsigned long numloops = 0; + unsigned long maxloops = microsecondsToClockCycles(timeout) / 16; + + // wait for any previous pulse to end + while ((*portInputRegister(port) & bit) == stateMask) + if (numloops++ == maxloops) + return 0; + + // wait for the pulse to start + while ((*portInputRegister(port) & bit) != stateMask) + if (numloops++ == maxloops) + return 0; + + // wait for the pulse to stop + while ((*portInputRegister(port) & bit) == stateMask) { + if (numloops++ == maxloops) + return 0; + width++; + } + + // convert the reading to microseconds. The loop has been determined + // to be 20 clock cycles long and have about 16 clocks between the edge + // and the start of the loop. There will be some error introduced by + // the interrupt handlers. + return clockCyclesToMicroseconds(width * 21 + 16); +} diff --git a/Marlin/Sanguino/cores/arduino/wiring_shift.c b/Marlin/Sanguino/cores/arduino/wiring_shift.c new file mode 100644 index 0000000000..cfe786758c --- /dev/null +++ b/Marlin/Sanguino/cores/arduino/wiring_shift.c @@ -0,0 +1,55 @@ +/* + wiring_shift.c - shiftOut() function + 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: wiring.c 248 2007-02-03 15:36:30Z mellis $ +*/ + +#include "wiring_private.h" + +uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder) { + uint8_t value = 0; + uint8_t i; + + for (i = 0; i < 8; ++i) { + digitalWrite(clockPin, HIGH); + if (bitOrder == LSBFIRST) + value |= digitalRead(dataPin) << i; + else + value |= digitalRead(dataPin) << (7 - i); + digitalWrite(clockPin, LOW); + } + return value; +} + +void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val) +{ + uint8_t i; + + for (i = 0; i < 8; i++) { + if (bitOrder == LSBFIRST) + digitalWrite(dataPin, !!(val & (1 << i))); + else + digitalWrite(dataPin, !!(val & (1 << (7 - i)))); + + digitalWrite(clockPin, HIGH); + digitalWrite(clockPin, LOW); + } +} diff --git a/Marlin/Sanguino/programmers.txt b/Marlin/Sanguino/programmers.txt new file mode 100644 index 0000000000..466f602a3c --- /dev/null +++ b/Marlin/Sanguino/programmers.txt @@ -0,0 +1,20 @@ +avrisp.name=AVR ISP +avrisp.communication=serial +avrisp.protocol=stk500v1 + +avrispmkii.name=AVRISP mkII +avrispmkii.communication=usb +avrispmkii.protocol=stk500v2 + +usbtinyisp.name=USBtinyISP +usbtinyisp.protocol=usbtiny + +parallel.name=Parallel Programmer +parallel.protocol=dapa +parallel.force=true +# parallel.delay=200 + +arduinoisp.name=Arduino as ISP +arduinoisp.communication=serial +arduinoisp.protocol=stk500v1 +arduinoisp.speed=19200 diff --git a/Marlin/Sd2Card.cpp b/Marlin/Sd2Card.cpp index 62c1159174..884fa45533 100644 --- a/Marlin/Sd2Card.cpp +++ b/Marlin/Sd2Card.cpp @@ -1,643 +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 - * . - */ -#include -#include "Sd2Card.h" -//------------------------------------------------------------------------------ -#ifndef SOFTWARE_SPI -// functions for hardware SPI -/** Send a byte to the card */ -static void spiSend(uint8_t b) { - SPDR = b; - while (!(SPSR & (1 << SPIF))); -} -/** Receive a byte from the card */ -static uint8_t spiRec(void) { - spiSend(0XFF); - return SPDR; -} -#else // SOFTWARE_SPI -//------------------------------------------------------------------------------ -/** nop to tune soft SPI timing */ -#define nop asm volatile ("nop\n\t") -//------------------------------------------------------------------------------ -/** Soft SPI receive */ -uint8_t spiRec(void) { - 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 send */ -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(); -} -#endif // SOFTWARE_SPI -//------------------------------------------------------------------------------ -// send command and return error code. Return zero for OK -uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) { - // end read if in partialBlockRead mode - readEnd(); - - // 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); - - // 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(void) { - 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(void) { - digitalWrite(chipSelectPin_, HIGH); -} -//------------------------------------------------------------------------------ -void Sd2Card::chipSelectLow(void) { - 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. - */ -uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) { - if (!eraseSingleBlockEnable()) { - 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. - */ -uint8_t Sd2Card::eraseSingleBlockEnable(void) { - csd_t csd; - return readCSD(&csd) ? csd.v1.erase_blk_en : 0; -} -//------------------------------------------------------------------------------ -/** - * 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(). - */ -uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) { - errorCode_ = inBlock_ = partialBlockRead_ = 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); - // Enable SPI, Master, clock rate f_osc/128 - SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0); - // clear double speed - SPSR &= ~(1 << SPI2X); -#endif // SOFTWARE_SPI - - // must supply min of 74 clock cycles with CS high. - for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); - - chipSelectLow(); - - // 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; -} -//------------------------------------------------------------------------------ -/** - * Enable or disable partial block reads. - * - * Enabling partial block reads improves performance by allowing a block - * to be read over the SPI bus as several sub-blocks. Errors may occur - * if the time between reads is too long since the SD card may timeout. - * The SPI SS line will be held low until the entire block is read or - * readEnd() is called. - * - * Use this for applications like the Adafruit Wave Shield. - * - * \param[in] value The value TRUE (non-zero) or FALSE (zero).) - */ -void Sd2Card::partialBlockRead(uint8_t value) { - readEnd(); - partialBlockRead_ = value; -} -//------------------------------------------------------------------------------ -/** - * Read a 512 byte block from an SD card device. - * - * \param[in] block 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. - */ -uint8_t Sd2Card::readBlock(uint32_t block, uint8_t* dst) { - return readData(block, 0, 512, dst); -} -//------------------------------------------------------------------------------ -/** - * Read part of a 512 byte block from an SD card. - * - * \param[in] block Logical block to be read. - * \param[in] offset Number of bytes to skip at start of block - * \param[out] dst Pointer to the location that will receive the data. - * \param[in] count Number of bytes to read - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t Sd2Card::readData(uint32_t block, - uint16_t offset, uint16_t count, uint8_t* dst) { - uint16_t n; - if (count == 0) return true; - if ((count + offset) > 512) { - goto fail; - } - if (!inBlock_ || block != block_ || offset < offset_) { - block_ = block; - // use address if not SDHC card - if (type()!= SD_CARD_TYPE_SDHC) block <<= 9; - if (cardCommand(CMD17, block)) { - error(SD_CARD_ERROR_CMD17); - goto fail; - } - if (!waitStartBlock()) { - goto fail; - } - offset_ = 0; - inBlock_ = 1; - } - -#ifdef OPTIMIZE_HARDWARE_SPI - // start first spi transfer - SPDR = 0XFF; - - // skip data before offset - for (;offset_ < offset; offset_++) { - while (!(SPSR & (1 << SPIF))); - SPDR = 0XFF; - } - // transfer data - n = count - 1; - for (uint16_t i = 0; i < n; i++) { - while (!(SPSR & (1 << SPIF))); - dst[i] = SPDR; - SPDR = 0XFF; - } - // wait for last byte - while (!(SPSR & (1 << SPIF))); - dst[n] = SPDR; - -#else // OPTIMIZE_HARDWARE_SPI - - // skip data before offset - for (;offset_ < offset; offset_++) { - spiRec(); - } - // transfer data - for (uint16_t i = 0; i < count; i++) { - dst[i] = spiRec(); - } -#endif // OPTIMIZE_HARDWARE_SPI - - offset_ += count; - if (!partialBlockRead_ || offset_ >= 512) { - // read rest of data, checksum and set chip select high - readEnd(); - } - return true; - - fail: - chipSelectHigh(); - return false; -} -//------------------------------------------------------------------------------ -/** Skip remaining data in a block when in partial block read mode. */ -void Sd2Card::readEnd(void) { - if (inBlock_) { - // skip data and crc -#ifdef OPTIMIZE_HARDWARE_SPI - // optimize skip for hardware - SPDR = 0XFF; - while (offset_++ < 513) { - while (!(SPSR & (1 << SPIF))); - SPDR = 0XFF; - } - // wait for last crc byte - while (!(SPSR & (1 << SPIF))); -#else // OPTIMIZE_HARDWARE_SPI - while (offset_++ < 514) spiRec(); -#endif // OPTIMIZE_HARDWARE_SPI - chipSelectHigh(); - inBlock_ = 0; - } -} -//------------------------------------------------------------------------------ -/** read CID or CSR register */ -uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) { - uint8_t* dst = reinterpret_cast(buf); - if (cardCommand(cmd, 0)) { - error(SD_CARD_ERROR_READ_REG); - goto fail; - } - if (!waitStartBlock()) goto fail; - // transfer data - for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec(); - spiRec(); // get first crc byte - spiRec(); // get second crc byte - 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. - */ -uint8_t Sd2Card::setSckRate(uint8_t sckRateID) { - if (sckRateID > 6) { - error(SD_CARD_ERROR_SCK_RATE); - return false; - } - // see avr processor datasheet for SPI register bit definitions - if ((sckRateID & 1) || sckRateID == 6) { - SPSR &= ~(1 << SPI2X); - } else { - SPSR |= (1 << SPI2X); - } - SPCR &= ~((1 < SD_READ_TIMEOUT) { - error(SD_CARD_ERROR_READ_TIMEOUT); - goto fail; - } - } - if (status_ != DATA_START_BLOCK) { - error(SD_CARD_ERROR_READ); - goto fail; - } - return true; - - fail: - chipSelectHigh(); - 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. - */ -uint8_t Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) { -#if SD_PROTECT_BLOCK_ZERO - // don't allow write to first block - if (blockNumber == 0) { - error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); - goto fail; - } -#endif // SD_PROTECT_BLOCK_ZERO - - // 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 */ -uint8_t Sd2Card::writeData(const uint8_t* src) { - // wait for previous write to finish - if (!waitNotBusy(SD_WRITE_TIMEOUT)) { - error(SD_CARD_ERROR_WRITE_MULTIPLE); - chipSelectHigh(); - return false; - } - return writeData(WRITE_MULTIPLE_TOKEN, src); -} -//------------------------------------------------------------------------------ -// send one block of data for write block or write multiple blocks -uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) { -#ifdef OPTIMIZE_HARDWARE_SPI - - // send data - optimized loop - SPDR = token; - - // send two byte per iteration - for (uint16_t i = 0; i < 512; i += 2) { - while (!(SPSR & (1 << SPIF))); - SPDR = src[i]; - while (!(SPSR & (1 << SPIF))); - SPDR = src[i+1]; - } - - // wait for last data byte - while (!(SPSR & (1 << SPIF))); - -#else // OPTIMIZE_HARDWARE_SPI - spiSend(token); - for (uint16_t i = 0; i < 512; i++) { - spiSend(src[i]); - } -#endif // OPTIMIZE_HARDWARE_SPI - spiSend(0xff); // dummy crc - spiSend(0xff); // dummy crc - - status_ = spiRec(); - if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) { - error(SD_CARD_ERROR_WRITE); - chipSelectHigh(); - return false; - } - return true; -} -//------------------------------------------------------------------------------ -/** 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. - */ -uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) { -#if SD_PROTECT_BLOCK_ZERO - // don't allow write to first block - if (blockNumber == 0) { - error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); - goto fail; - } -#endif // SD_PROTECT_BLOCK_ZERO - // 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; - } - 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. - */ -uint8_t Sd2Card::writeStop(void) { - 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; -} +/* 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 + * . + */ +#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(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 diff --git a/Marlin/Sd2Card.h b/Marlin/Sd2Card.h index 9160c3d7ad..7de5f11bcc 100644 --- a/Marlin/Sd2Card.h +++ b/Marlin/Sd2Card.h @@ -1,233 +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 - * . - */ -#ifndef Sd2Card_h -#define Sd2Card_h -/** - * \file - * Sd2Card class - */ -#include "Sd2PinMap.h" -#include "SdInfo.h" -/** 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. Sd2Card::setSckRate(). */ -uint8_t const SPI_QUARTER_SPEED = 2; -/** - * Define MEGA_SOFT_SPI non-zero 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 -//------------------------------------------------------------------------------ -#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__)) -#define SOFTWARE_SPI -#endif // MEGA_SOFT_SPI -//------------------------------------------------------------------------------ -// SPI pin definitions -// -#ifndef SOFTWARE_SPI -// hardware pin defs -/** - * SD Chip Select pin - * - * Warning if this pin is redefined the hardware SS will pin will be enabled - * as an output by init(). An avr processor will not function as an SPI - * master unless SS is set to output mode. - */ -/** 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; -/** optimize loops for hardware SPI */ -#define OPTIMIZE_HARDWARE_SPI - -#else // SOFTWARE_SPI -// define software SPI pins so Mega can use unmodified GPS Shield -/** SPI chip select pin */ -uint8_t const SD_CHIP_SELECT_PIN = 10; -/** SPI Master Out Slave In pin */ -uint8_t const SPI_MOSI_PIN = 11; -/** SPI Master In Slave Out pin */ -uint8_t const SPI_MISO_PIN = 12; -/** SPI Clock pin */ -uint8_t const SPI_SCK_PIN = 13; -#endif // SOFTWARE_SPI -//------------------------------------------------------------------------------ -/** Protect block zero from write if nonzero */ -#define SD_PROTECT_BLOCK_ZERO 1 -/** 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 */ -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 CMD17 (read block) */ -uint8_t const SD_CARD_ERROR_CMD17 = 0X3; -/** card returned an error response for CMD24 (write block) */ -uint8_t const SD_CARD_ERROR_CMD24 = 0X4; -/** WRITE_MULTIPLE_BLOCKS command failed */ -uint8_t const SD_CARD_ERROR_CMD25 = 0X05; -/** card returned an error response for CMD58 (read OCR) */ -uint8_t const SD_CARD_ERROR_CMD58 = 0X06; -/** SET_WR_BLK_ERASE_COUNT failed */ -uint8_t const SD_CARD_ERROR_ACMD23 = 0X07; -/** card's ACMD41 initialization process timeout */ -uint8_t const SD_CARD_ERROR_ACMD41 = 0X08; -/** card returned a bad CSR version field */ -uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09; -/** erase block group command failed */ -uint8_t const SD_CARD_ERROR_ERASE = 0X0A; -/** card not capable of single block erase */ -uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B; -/** Erase sequence timed out */ -uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C; -/** card returned an error token instead of read data */ -uint8_t const SD_CARD_ERROR_READ = 0X0D; -/** read CID or CSD failed */ -uint8_t const SD_CARD_ERROR_READ_REG = 0X0E; -/** timeout while waiting for start of read data */ -uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F; -/** card did not accept STOP_TRAN_TOKEN */ -uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10; -/** card returned an error token as a response to a write operation */ -uint8_t const SD_CARD_ERROR_WRITE = 0X11; -/** attempt to write protected block zero */ -uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12; -/** card did not go ready for a multiple block write */ -uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13; -/** card returned an error to a CMD13 status check after a write */ -uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14; -/** timeout occurred during write programming */ -uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15; -/** incorrect rate selected */ -uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16; -//------------------------------------------------------------------------------ -// 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; -//------------------------------------------------------------------------------ -/** - * \class Sd2Card - * \brief Raw access to SD and SDHC flash memory cards. - */ -class Sd2Card { - public: - /** Construct an instance of Sd2Card. */ - Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {} - uint32_t cardSize(void); - uint8_t erase(uint32_t firstBlock, uint32_t lastBlock); - uint8_t eraseSingleBlockEnable(void); - /** - * \return error code for last error. See Sd2Card.h for a list of error codes. - */ - uint8_t errorCode(void) const {return errorCode_;} - /** \return error data for last error. */ - uint8_t errorData(void) 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). - */ - uint8_t init(void) { - return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN); - } - /** - * Initialize an SD flash memory card with the selected SPI clock rate - * and the default SD chip select pin. - * See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). - */ - uint8_t init(uint8_t sckRateID) { - return init(sckRateID, SD_CHIP_SELECT_PIN); - } - uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin); - void partialBlockRead(uint8_t value); - /** Returns the current value, true or false, for partial block read. */ - uint8_t partialBlockRead(void) const {return partialBlockRead_;} - uint8_t readBlock(uint32_t block, uint8_t* dst); - uint8_t readData(uint32_t block, - uint16_t offset, uint16_t count, uint8_t* dst); - /** - * Read a cards CID register. The CID contains card identification - * information such as Manufacturer ID, Product name, Product serial - * number and Manufacturing date. */ - uint8_t readCID(cid_t* cid) { - return readRegister(CMD10, cid); - } - /** - * Read a cards CSD register. The CSD contains Card-Specific Data that - * provides information regarding access to the card's contents. */ - uint8_t readCSD(csd_t* csd) { - return readRegister(CMD9, csd); - } - void readEnd(void); - uint8_t setSckRate(uint8_t sckRateID); - /** Return the card type: SD V1, SD V2 or SDHC */ - uint8_t type(void) const {return type_;} - uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src); - uint8_t writeData(const uint8_t* src); - uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount); - uint8_t writeStop(void); - private: - uint32_t block_; - uint8_t chipSelectPin_; - uint8_t errorCode_; - uint8_t inBlock_; - uint16_t offset_; - uint8_t partialBlockRead_; - 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); - void error(uint8_t code) {errorCode_ = code;} - uint8_t readRegister(uint8_t cmd, void* buf); - uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount); - void chipSelectHigh(void); - void chipSelectLow(void); - void type(uint8_t value) {type_ = value;} - uint8_t waitNotBusy(uint16_t timeoutMillis); - uint8_t writeData(uint8_t token, const uint8_t* src); - uint8_t waitStartBlock(void); -}; -#endif // Sd2Card_h +/* 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 + * . + */ + +#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 diff --git a/Marlin/Sd2PinMap.h b/Marlin/Sd2PinMap.h index bba0dd0278..a40729df2d 100644 --- a/Marlin/Sd2PinMap.h +++ b/Marlin/Sd2PinMap.h @@ -1,353 +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 - * . - */ -// Warning this file was generated by a program. -#ifndef Sd2PinMap_h -#define Sd2PinMap_h -#include - -//------------------------------------------------------------------------------ -/** 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; -uint8_t const SCL_PIN = 21; - -// SPI port -uint8_t const SS_PIN = 53; -uint8_t const MOSI_PIN = 51; -uint8_t const MISO_PIN = 50; -uint8_t const SCK_PIN = 52; - -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__) -// Sanguino - -// Two Wire (aka I2C) ports -uint8_t const SDA_PIN = 17; -uint8_t const SCL_PIN = 18; - -// SPI port -uint8_t const SS_PIN = 4; -uint8_t const MOSI_PIN = 5; -uint8_t const MISO_PIN = 6; -uint8_t const SCK_PIN = 7; - -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; -uint8_t const SCL_PIN = 5; - -// SPI port -uint8_t const SS_PIN = 0; -uint8_t const MOSI_PIN = 2; -uint8_t const MISO_PIN = 3; -uint8_t const SCK_PIN = 1; - -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; -uint8_t const SCL_PIN = 0; - -// SPI port -uint8_t const SS_PIN = 20; -uint8_t const MOSI_PIN = 22; -uint8_t const MISO_PIN = 23; -uint8_t const SCK_PIN = 21; - -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 -}; -//------------------------------------------------------------------------------ -#else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -// 168 and 328 Arduinos - -// Two Wire (aka I2C) ports -uint8_t const SDA_PIN = 18; -uint8_t const SCL_PIN = 19; - -// SPI port -uint8_t const SS_PIN = 10; -uint8_t const MOSI_PIN = 11; -uint8_t const MISO_PIN = 12; -uint8_t const SCK_PIN = 13; - -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 -}; -#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -//------------------------------------------------------------------------------ -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)) - uint8_t 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)) - uint8_t 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 +/* 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 + * . + */ +// Warning this file was generated by a program. +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef Sd2PinMap_h +#define Sd2PinMap_h +#include +//------------------------------------------------------------------------------ +/** 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 diff --git a/Marlin/SdBaseFile.cpp b/Marlin/SdBaseFile.cpp new file mode 100644 index 0000000000..b84efc8eaa --- /dev/null +++ b/Marlin/SdBaseFile.cpp @@ -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 + * . + */ + +#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(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(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 diff --git a/Marlin/SdBaseFile.h b/Marlin/SdBaseFile.h new file mode 100644 index 0000000000..1bf75f6f24 --- /dev/null +++ b/Marlin/SdBaseFile.h @@ -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 + * . + */ +#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 diff --git a/Marlin/SdFat.h b/Marlin/SdFat.h deleted file mode 100644 index aa018dd13e..0000000000 --- a/Marlin/SdFat.h +++ /dev/null @@ -1,547 +0,0 @@ -/* 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 - * . - */ -#ifndef SdFat_h -#define SdFat_h -/** - * \file - * SdFile and SdVolume classes - */ -#include -#include "Sd2Card.h" -#include "FatStructs.h" -#include "Print.h" -//------------------------------------------------------------------------------ -/** - * Allow use of deprecated functions if non-zero - */ -#define ALLOW_DEPRECATED_FUNCTIONS 1 -//------------------------------------------------------------------------------ -// forward declaration since SdVolume is used in SdFile -class SdVolume; -//============================================================================== -// SdFile class - -// 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; - -// use the gnu style oflag in open() -/** open() oflag for reading */ -uint8_t const O_READ = 0X01; -/** open() oflag - same as O_READ */ -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; -/** create the file if nonexistent */ -uint8_t const O_CREAT = 0X10; -/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ -uint8_t const O_EXCL = 0X20; -/** truncate the file to zero length */ -uint8_t const O_TRUNC = 0X40; - -// 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 SdFile has not been opened. */ -uint8_t const FAT_FILE_TYPE_CLOSED = 0; -/** SdFile for a file */ -uint8_t const FAT_FILE_TYPE_NORMAL = 1; -/** SdFile for a FAT16 root directory */ -uint8_t const FAT_FILE_TYPE_ROOT16 = 2; -/** SdFile for a FAT32 root directory */ -uint8_t const FAT_FILE_TYPE_ROOT32 = 3; -/** SdFile for a subdirectory */ -uint8_t const FAT_FILE_TYPE_SUBDIR = 4; -/** Test value for directory type */ -uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT16; - -/** date field for FAT directory 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 */ -static inline uint16_t FAT_YEAR(uint16_t fatDate) { - return 1980 + (fatDate >> 9); -} -/** month part of FAT directory date field */ -static inline uint8_t FAT_MONTH(uint16_t fatDate) { - return (fatDate >> 5) & 0XF; -} -/** day part of FAT directory date field */ -static inline uint8_t FAT_DAY(uint16_t fatDate) { - return fatDate & 0X1F; -} -/** time field for FAT directory 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 */ -static inline uint8_t FAT_HOUR(uint16_t fatTime) { - return fatTime >> 11; -} -/** minute part of FAT directory time field */ -static inline uint8_t FAT_MINUTE(uint16_t fatTime) { - return(fatTime >> 5) & 0X3F; -} -/** second part of FAT directory time field */ -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 SdFile - * \brief Access FAT16 and FAT32 files on SD and SDHC cards. - */ -class SdFile : public Print { - public: - /** Create an instance of SdFile. */ - SdFile(void) : type_(FAT_FILE_TYPE_CLOSED) {} - /** - * 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; - /** - * Cancel unbuffered reads for this file. - * See setUnbufferedRead() - */ - void clearUnbufferedRead(void) { - flags_ &= ~F_FILE_UNBUFFERED_READ; - } - uint8_t close(void); - uint8_t contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); - uint8_t createContiguous(SdFile* dirFile, - const char* fileName, uint32_t size); - /** \return The current cluster number for a file or directory. */ - uint32_t curCluster(void) const {return curCluster_;} - /** \return The current position for a file or directory. */ - uint32_t curPosition(void) const {return curPosition_;} - /** - * 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(void) { - // use explicit zero since NULL is not defined for Sanguino - dateTime_ = 0; - } - /** \return Address of the block that contains this file's directory. */ - uint32_t dirBlock(void) const {return dirBlock_;} - uint8_t dirEntry(dir_t* dir); - /** \return Index of this file's directory in the block dirBlock. */ - uint8_t dirIndex(void) const {return dirIndex_;} - static void dirName(const dir_t& dir, char* name); - /** \return The total number of bytes in a file or directory. */ - uint32_t fileSize(void) const {return fileSize_;} - /** \return The first cluster number for a file or directory. */ - uint32_t firstCluster(void) const {return firstCluster_;} - /** \return True if this is a SdFile for a directory else false. */ - uint8_t isDir(void) const {return type_ >= FAT_FILE_TYPE_MIN_DIR;} - /** \return True if this is a SdFile for a file else false. */ - uint8_t isFile(void) const {return type_ == FAT_FILE_TYPE_NORMAL;} - /** \return True if this is a SdFile for an open file/directory else false. */ - uint8_t isOpen(void) const {return type_ != FAT_FILE_TYPE_CLOSED;} - /** \return True if this is a SdFile for a subdirectory else false. */ - uint8_t isSubDir(void) const {return type_ == FAT_FILE_TYPE_SUBDIR;} - /** \return True if this is a SdFile for the root directory. */ - uint8_t isRoot(void) const { - return type_ == FAT_FILE_TYPE_ROOT16 || type_ == FAT_FILE_TYPE_ROOT32; - } - void ls(uint8_t flags = 0, uint8_t indent = 0); - uint8_t makeDir(SdFile* dir, const char* dirName); - uint8_t open(SdFile* dirFile, uint16_t index, uint8_t oflag); - uint8_t open(SdFile* dirFile, const char* fileName, uint8_t oflag); - - uint8_t openRoot(SdVolume* vol); - static void printDirName(const dir_t& dir, uint8_t width); - static void printFatDate(uint16_t fatDate); - static void printFatTime(uint16_t fatTime); - static void printTwoDigits(uint8_t v); - /** - * 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 read(void) { - uint8_t b; - return read(&b, 1) == 1 ? b : -1; - } - int16_t read(void* buf, uint16_t nbyte); - int8_t readDir(dir_t* dir); - static uint8_t remove(SdFile* dirFile, const char* fileName); - uint8_t remove(void); - /** Set the file's current position to zero. */ - void rewind(void) { - curPosition_ = curCluster_ = 0; - } - uint8_t rmDir(void); - uint8_t rmRfStar(void); - /** Set the files position to current position + \a pos. See seekSet(). */ - uint8_t seekCur(uint32_t pos) { - return seekSet(curPosition_ + pos); - } - /** - * Set the files current position to end of file. Useful to position - * a file for append. See seekSet(). - */ - uint8_t seekEnd(void) {return seekSet(fileSize_);} - uint8_t seekSet(uint32_t pos); - /** - * Use unbuffered reads to access this file. Used with Wave - * Shield ISR. Used with Sd2Card::partialBlockRead() in WaveRP. - * - * Not recommended for normal applications. - */ - void setUnbufferedRead(void) { - if (isFile()) flags_ |= F_FILE_UNBUFFERED_READ; - } - uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day, - uint8_t hour, uint8_t minute, uint8_t second); - uint8_t sync(void); - /** Type of this SdFile. You should use isFile() or isDir() instead of type() - * if possible. - * - * \return The file or directory type. - */ - uint8_t type(void) const {return type_;} - uint8_t truncate(uint32_t size); - /** \return Unbuffered read flag. */ - uint8_t unbufferedRead(void) const { - return flags_ & F_FILE_UNBUFFERED_READ; - } - /** \return SdVolume that contains this file. */ - SdVolume* volume(void) const {return vol_;} - void write(uint8_t b); - 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); -//------------------------------------------------------------------------------ -#if ALLOW_DEPRECATED_FUNCTIONS -// Deprecated functions - suppress cpplint warnings with NOLINT comment - /** \deprecated Use: - * uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); - */ - uint8_t contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT - return contiguousRange(&bgnBlock, &endBlock); - } - /** \deprecated Use: - * uint8_t SdFile::createContiguous(SdFile* dirFile, - * const char* fileName, uint32_t size) - */ - uint8_t createContiguous(SdFile& dirFile, // NOLINT - const char* fileName, uint32_t size) { - return createContiguous(&dirFile, fileName, size); - } - - /** - * \deprecated Use: - * static void SdFile::dateTimeCallback( - * void (*dateTime)(uint16_t* date, uint16_t* time)); - */ - static void dateTimeCallback( - void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT - oldDateTime_ = dateTime; - dateTime_ = dateTime ? oldToNew : 0; - } - /** \deprecated Use: uint8_t SdFile::dirEntry(dir_t* dir); */ - uint8_t dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT - /** \deprecated Use: - * uint8_t SdFile::makeDir(SdFile* dir, const char* dirName); - */ - uint8_t makeDir(SdFile& dir, const char* dirName) { // NOLINT - return makeDir(&dir, dirName); - } - /** \deprecated Use: - * uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag); - */ - uint8_t open(SdFile& dirFile, // NOLINT - const char* fileName, uint8_t oflag) { - return open(&dirFile, fileName, oflag); - } - /** \deprecated Do not use in new apps */ - uint8_t open(SdFile& dirFile, const char* fileName) { // NOLINT - return open(dirFile, fileName, O_RDWR); - } - /** \deprecated Use: - * uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag); - */ - uint8_t open(SdFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT - return open(&dirFile, index, oflag); - } - /** \deprecated Use: uint8_t SdFile::openRoot(SdVolume* vol); */ - uint8_t openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT - - /** \deprecated Use: int8_t SdFile::readDir(dir_t* dir); */ - int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT - /** \deprecated Use: - * static uint8_t SdFile::remove(SdFile* dirFile, const char* fileName); - */ - static uint8_t remove(SdFile& dirFile, const char* fileName) { // NOLINT - return remove(&dirFile, fileName); - } -//------------------------------------------------------------------------------ -// 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 - private: - // bits defined in flags_ - // should be 0XF - static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC); - // available bits - static uint8_t const F_UNUSED = 0X30; - // use unbuffered SD read - static uint8_t const F_FILE_UNBUFFERED_READ = 0X40; - // sync of directory entry required - static uint8_t const F_FILE_DIR_DIRTY = 0X80; - -// make sure F_OFLAG is ok -#if ((F_UNUSED | F_FILE_UNBUFFERED_READ | F_FILE_DIR_DIRTY) & F_OFLAG) -#error flags_ bits conflict -#endif // flags_ bits - - // private data - uint8_t flags_; // See above for definition of flags_ bits - 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_; // SD block that contains directory entry for file - uint8_t dirIndex_; // index of entry in dirBlock 0 <= dirIndex_ <= 0XF - uint32_t fileSize_; // file size in bytes - uint32_t firstCluster_; // first cluster of file - SdVolume* vol_; // volume where file is located - - // private functions - uint8_t addCluster(void); - uint8_t addDirCluster(void); - dir_t* cacheDirEntry(uint8_t action); - static void (*dateTime_)(uint16_t* date, uint16_t* time); - static uint8_t make83Name(const char* str, uint8_t* name); - uint8_t openCachedEntry(uint8_t cacheIndex, uint8_t oflags); - dir_t* readDirCache(void); -}; -//============================================================================== -// 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 MasterBoot Record. */ - mbr_t mbr; - /** Used to access to a cached FAT boot sector. */ - fbs_t fbs; -}; -//------------------------------------------------------------------------------ -/** - * \class SdVolume - * \brief Access FAT16 and FAT32 volumes on SD and SDHC cards. - */ -class SdVolume { - public: - /** Create an instance of SdVolume */ - SdVolume(void) :allocSearchStart_(2), 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. - */ - static uint8_t* cacheClear(void) { - cacheFlush(); - cacheBlockNumber_ = 0XFFFFFFFF; - return cacheBuffer_.data; - } - /** - * 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. - */ - uint8_t init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);} - uint8_t init(Sd2Card* dev, uint8_t part); - - // inline functions that return volume info - /** \return The volume's cluster size in blocks. */ - uint8_t blocksPerCluster(void) const {return blocksPerCluster_;} - /** \return The number of blocks in one FAT. */ - uint32_t blocksPerFat(void) const {return blocksPerFat_;} - /** \return The total number of clusters in the volume. */ - uint32_t clusterCount(void) const {return clusterCount_;} - /** \return The shift count required to multiply by blocksPerCluster. */ - uint8_t clusterSizeShift(void) const {return clusterSizeShift_;} - /** \return The logical block number for the start of file data. */ - uint32_t dataStartBlock(void) const {return dataStartBlock_;} - /** \return The number of FAT structures on the volume. */ - uint8_t fatCount(void) const {return fatCount_;} - /** \return The logical block number for the start of the first FAT. */ - uint32_t fatStartBlock(void) const {return fatStartBlock_;} - /** \return The FAT type of the volume. Values are 12, 16 or 32. */ - uint8_t fatType(void) const {return fatType_;} - /** \return The number of entries in the root directory for FAT16 volumes. */ - uint32_t rootDirEntryCount(void) 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(void) const {return rootDirStart_;} - /** return a pointer to the Sd2Card object for this volume */ - static Sd2Card* sdCard(void) {return sdCard_;} -//------------------------------------------------------------------------------ -#if ALLOW_DEPRECATED_FUNCTIONS - // Deprecated functions - suppress cpplint warnings with NOLINT comment - /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev); */ - uint8_t init(Sd2Card& dev) {return init(&dev);} // NOLINT - - /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev, uint8_t vol); */ - uint8_t init(Sd2Card& dev, uint8_t part) { // NOLINT - return init(&dev, part); - } -#endif // ALLOW_DEPRECATED_FUNCTIONS -//------------------------------------------------------------------------------ - private: - // Allow SdFile access to SdVolume private data. - friend class SdFile; - - // value for action argument in cacheRawBlock to indicate read from cache - static uint8_t const CACHE_FOR_READ = 0; - // value for action argument in cacheRawBlock to indicate cache dirty - static uint8_t const CACHE_FOR_WRITE = 1; - - 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 uint8_t cacheDirty_; // cacheFlush() will write block if true - static uint32_t cacheMirrorBlock_; // block number for mirror FAT -// - 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 - //---------------------------------------------------------------------------- - uint8_t 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);} - static uint8_t cacheFlush(void); - static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action); - static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;} - static uint8_t cacheZeroBlock(uint32_t blockNumber); - uint8_t chainSize(uint32_t beginCluster, uint32_t* size) const; - uint8_t fatGet(uint32_t cluster, uint32_t* value) const; - uint8_t fatPut(uint32_t cluster, uint32_t value); - uint8_t fatPutEOC(uint32_t cluster) { - return fatPut(cluster, 0x0FFFFFFF); - } - uint8_t freeChain(uint32_t cluster); - uint8_t isEOC(uint32_t cluster) const { - return cluster >= (fatType_ == 16 ? FAT16EOC_MIN : FAT32EOC_MIN); - } - uint8_t readBlock(uint32_t block, uint8_t* dst) { - return sdCard_->readBlock(block, dst);} - uint8_t readData(uint32_t block, uint16_t offset, - uint16_t count, uint8_t* dst) { - return sdCard_->readData(block, offset, count, dst); - } - uint8_t writeBlock(uint32_t block, const uint8_t* dst) { - return sdCard_->writeBlock(block, dst); - } -}; -#endif // SdFat_h diff --git a/Marlin/SdFatConfig.h b/Marlin/SdFatConfig.h new file mode 100644 index 0000000000..2a78c2a857 --- /dev/null +++ b/Marlin/SdFatConfig.h @@ -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 + * . + */ +/** + * \file + * \brief configuration definitions + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdFatConfig_h +#define SdFatConfig_h +#include +//------------------------------------------------------------------------------ +/** + * 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 diff --git a/Marlin/FatStructs.h b/Marlin/SdFatStructs.h similarity index 58% rename from Marlin/FatStructs.h rename to Marlin/SdFatStructs.h index 5713467cec..7ad88d67fc 100644 --- a/Marlin/FatStructs.h +++ b/Marlin/SdFatStructs.h @@ -17,11 +17,14 @@ * along with the Arduino SdFat Library. If not, see * . */ -#ifndef FatStructs_h -#define FatStructs_h +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdFatStructs_h +#define SdFatStructs_h /** * \file - * FAT file structures + * \brief FAT file structures */ /* * mostly from Microsoft document fatgen103.doc @@ -32,6 +35,8 @@ 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 @@ -104,7 +109,7 @@ typedef struct partitionTable part_t; struct masterBootRecord { /** Code Area for master boot program. */ uint8_t codeArea[440]; - /** Optional WindowsNT disk signature. May contain more boot code. */ + /** Optional Windows NT disk signature. May contain boot code. */ uint32_t diskSignature; /** Usually zero but may be more boot code. */ uint16_t usuallyZero; @@ -118,48 +123,60 @@ struct masterBootRecord { /** Type name for masterBootRecord */ typedef struct masterBootRecord mbr_t; //------------------------------------------------------------------------------ -/** - * \struct biosParmBlock +/** + * \struct fat_boot + * + * \brief Boot sector for a FAT12/FAT16 volume. * - * \brief BIOS parameter block - * - * The BIOS parameter block describes the physical layout of a FAT volume. */ -struct biosParmBlock { +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]; /** - * Count of bytes per sector. This value may take on only the - * following values: 512, 1024, 2048 or 4096 + * 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. + * 1, 2, 4, 8, 16, 32, 64, and 128. 128 should be avoided. */ uint8_t sectorsPerCluster; /** - * Number of sectors before the first FAT. - * This value must not be zero. + * 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 count of FAT data structures on the volume. This field should - * always contain the value 2 for any FAT volume of any type. + /** + * 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. - */ + * 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 non-zero. For FAT32 volumes, this field must be 0. For + * 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). @@ -168,7 +185,7 @@ struct biosParmBlock { /** * 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 (non-removable) media. For removable media, 0xF0 is + * for fixed (nonremovable) media. For removable media, 0xF0 is * frequently used. Legal values are 0xF0 or 0xF8-0xFF. */ uint8_t mediaType; @@ -179,23 +196,136 @@ struct biosParmBlock { */ uint16_t sectorsPerFat16; /** Sectors per track for interrupt 0x13. Not used otherwise. */ - uint16_t sectorsPerTrtack; + 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. + * 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 non-zero. + * 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; @@ -206,7 +336,8 @@ struct biosParmBlock { * 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. + * -- 1 means only one FAT is active; it is the one referenced + * in bits 0-3. * Bits 8-15 -- Reserved. */ uint16_t fat32Flags; @@ -226,7 +357,7 @@ struct biosParmBlock { */ uint16_t fat32FSInfo; /** - * If non-zero, indicates the sector number in the reserved area + * 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. */ @@ -236,34 +367,33 @@ struct biosParmBlock { * should always set all of the bytes of this field to 0. */ uint8_t fat32Reserved[12]; -}; -/** Type name for biosParmBlock */ -typedef struct biosParmBlock bpb_t; -//------------------------------------------------------------------------------ -/** - * \struct fat32BootSector - * - * \brief Boot sector for a FAT16 or FAT32 volume. - * - */ -struct fat32BootSector { - /** X86 jmp to boot program */ - uint8_t jmpToBootCode[3]; - /** informational only - don't depend on it */ - char oemName[8]; - /** BIOS Parameter Block */ - bpb_t bpb; - /** for int0x13 use value 0X80 for hard drive */ + /** + * 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; - /** usually generated by combining date and time */ + /** + * 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; - /** should match volume label in root dir */ + /** + * 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]; - /** informational only - don't depend on it */ + /** + * A text field with a value of FAT32. + */ char fileSystemType[8]; /** X86 boot code */ uint8_t bootCode[420]; @@ -272,8 +402,54 @@ struct fat32BootSector { /** 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. */ @@ -284,9 +460,6 @@ uint32_t const FAT32EOC = 0X0FFFFFFF; uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; /** Mask a for FAT32 entry. Entries are 28 bits. */ uint32_t const FAT32MASK = 0X0FFFFFFF; - -/** Type name for fat32BootSector */ -typedef struct fat32BootSector fbs_t; //------------------------------------------------------------------------------ /** * \struct directoryEntry @@ -319,8 +492,8 @@ typedef struct fat32BootSector fbs_t; * The valid time range is from Midnight 00:00:00 to 23:59:58. */ struct directoryEntry { - /** - * Short 8.3 name. + /** 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. */ @@ -397,22 +570,41 @@ uint8_t const DIR_ATT_LONG_NAME = 0X0F; 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 */ +/** 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 */ +/** 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 */ +/** 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 */ +/** 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 // FatStructs_h +#endif // SdFatStructs_h + + +#endif \ No newline at end of file diff --git a/Marlin/SdFatUtil.cpp b/Marlin/SdFatUtil.cpp new file mode 100644 index 0000000000..1187ec5393 --- /dev/null +++ b/Marlin/SdFatUtil.cpp @@ -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 + * . + */ +#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(__brkval) == 0) { + // if no heap use from end of bss section + free_memory = reinterpret_cast(&free_memory) + - reinterpret_cast(&__bss_end); + } else { + // use from top of stack to heap + free_memory = reinterpret_cast(&free_memory) + - reinterpret_cast(__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 diff --git a/Marlin/SdFatUtil.h b/Marlin/SdFatUtil.h index 7992031f71..7f1809422b 100644 --- a/Marlin/SdFatUtil.h +++ b/Marlin/SdFatUtil.h @@ -1,70 +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 - * . - */ -#ifndef SdFatUtil_h -#define SdFatUtil_h -/** - * \file - * Useful utility functions. - */ -#include -#include -/** 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)) -/** Defined so doxygen works for function definitions. */ -#define NOINLINE __attribute__((noinline)) -//------------------------------------------------------------------------------ -/** Return the number of bytes currently free in RAM. */ -static int FreeRam(void) { - extern int __bss_end; - extern int* __brkval; - int free_memory; - if (reinterpret_cast(__brkval) == 0) { - // if no heap use from end of bss section - free_memory = reinterpret_cast(&free_memory) - - reinterpret_cast(&__bss_end); - } else { - // use from top of stack to heap - free_memory = reinterpret_cast(&free_memory) - - reinterpret_cast(__brkval); - } - return free_memory; -} -//------------------------------------------------------------------------------ -/** - * %Print a string in flash memory to the serial port. - * - * \param[in] str Pointer to string stored in flash memory. - */ -static NOINLINE void SerialPrint_P(PGM_P str) { - for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.print(c); -} -//------------------------------------------------------------------------------ -/** - * %Print a string in flash memory followed by a CR/LF. - * - * \param[in] str Pointer to string stored in flash memory. - */ -static NOINLINE void SerialPrintln_P(PGM_P str) { - SerialPrint_P(str); - Serial.println(); -} -#endif // #define SdFatUtil_h +/* 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 + * . + */ +#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 diff --git a/Marlin/SdFatmainpage.h b/Marlin/SdFatmainpage.h deleted file mode 100644 index d26cb854c6..0000000000 --- a/Marlin/SdFatmainpage.h +++ /dev/null @@ -1,202 +0,0 @@ -/* 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 - * . - */ - -/** -\mainpage Arduino SdFat Library -
Copyright © 2009 by William Greiman -
- -\section Intro Introduction -The Arduino SdFat Library is a minimal implementation of FAT16 and FAT32 -file systems on SD flash memory cards. Standard SD and high capacity -SDHC cards are supported. - -The SdFat only supports short 8.3 names. - -The main classes in SdFat are Sd2Card, SdVolume, and SdFile. - -The Sd2Card class supports access to standard SD cards and SDHC cards. Most -applications will only need to call the Sd2Card::init() member function. - -The SdVolume class supports FAT16 and FAT32 partitions. Most applications -will only need to call the SdVolume::init() member function. - -The SdFile class provides file access functions such as open(), read(), -remove(), write(), close() and sync(). This class supports access to the root -directory and subdirectories. - -A number of example are provided in the SdFat/examples folder. These were -developed to test SdFat and illustrate its use. - -SdFat was developed for high speed data recording. SdFat was used to implement -an audio record/play class, WaveRP, for the Adafruit Wave Shield. This -application uses special Sd2Card calls to write to contiguous files in raw mode. -These functions reduce write latency so that audio can be recorded with the -small amount of RAM in the Arduino. - -\section SDcard SD\SDHC Cards - -Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and -most consumer devices use the 4-bit parallel SD protocol. A card that -functions well on A PC or Mac may not work well on the Arduino. - -Most cards have good SPI read performance but cards vary widely in SPI -write performance. Write performance is limited by how efficiently the -card manages internal erase/remapping operations. The Arduino cannot -optimize writes to reduce erase operations because of its limit RAM. - -SanDisk cards generally have good write performance. They seem to have -more internal RAM buffering than other cards and therefore can limit -the number of flash erase operations that the Arduino forces due to its -limited RAM. - -\section Hardware Hardware Configuration - -SdFat was developed using an - Adafruit Industries - Wave Shield. - -The hardware interface to the SD card should not use a resistor based level -shifter. SdFat sets the SPI bus frequency to 8 MHz which results in signal -rise times that are too slow for the edge detectors in many newer SD card -controllers when resistor voltage dividers are used. - -The 5 to 3.3 V level shifter for 5 V Arduinos should be IC based like the -74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield -uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the -74LCX245. - -If you are using a resistor based level shifter and are having problems try -setting the SPI bus frequency to 4 MHz. This can be done by using -card.init(SPI_HALF_SPEED) to initialize the SD card. - -\section comment Bugs and Comments - -If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net. - -\section SdFatClass SdFat Usage - -SdFat uses a slightly restricted form of short names. -Only printable ASCII characters are supported. No characters with code point -values greater than 127 are allowed. Space is not allowed even though space -was allowed in the API of early versions of DOS. - -Short names are limited to 8 characters followed by an optional period (.) -and extension of up to 3 characters. The characters may be any combination -of letters and digits. The following special characters are also allowed: - -$ % ' - _ @ ~ ` ! ( ) { } ^ # & - -Short names are always converted to upper case and their original case -value is lost. - -\note - The Arduino Print class uses character -at a time writes so it was necessary to use a \link SdFile::sync() sync() \endlink -function to control when data is written to the SD card. - -\par -An application which writes to a file using \link Print::print() print()\endlink, -\link Print::println() println() \endlink -or \link SdFile::write write() \endlink must call \link SdFile::sync() sync() \endlink -at the appropriate time to force data and directory information to be written -to the SD Card. Data and directory information are also written to the SD card -when \link SdFile::close() close() \endlink is called. - -\par -Applications must use care calling \link SdFile::sync() sync() \endlink -since 2048 bytes of I/O is required to update file and -directory information. This includes writing the current data block, reading -the block that contains the directory entry for update, writing the directory -block back and reading back the current data block. - -It is possible to open a file with two or more instances of SdFile. A file may -be corrupted if data is written to the file by more than one instance of SdFile. - -\section HowTo How to format SD Cards as FAT Volumes - -You should use a freshly formatted SD card for best performance. FAT -file systems become slower if many files have been created and deleted. -This is because the directory entry for a deleted file is marked as deleted, -but is not deleted. When a new file is created, these entries must be scanned -before creating the file, a flaw in the FAT design. Also files can become -fragmented which causes reads and writes to be slower. - -Microsoft operating systems support removable media formatted with a -Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector -in block zero. - -Microsoft operating systems expect MBR formatted removable media -to have only one partition. The first partition should be used. - -Microsoft operating systems do not support partitioning SD flash cards. -If you erase an SD card with a program like KillDisk, Most versions of -Windows will format the card as a super floppy. - -The best way to restore an SD card's format is to use SDFormatter -which can be downloaded from: - -http://www.sdcard.org/consumers/formatter/ - -SDFormatter aligns flash erase boundaries with file -system structures which reduces write latency and file system overhead. - -SDFormatter does not have an option for FAT type so it may format -small cards as FAT12. - -After the MBR is restored by SDFormatter you may need to reformat small -cards that have been formatted FAT12 to force the volume type to be FAT16. - -If you reformat the SD card with an OS utility, choose a cluster size that -will result in: - -4084 < CountOfClusters && CountOfClusters < 65525 - -The volume will then be FAT16. - -If you are formatting an SD card on OS X or Linux, be sure to use the first -partition. Format this partition with a cluster count in above range. - -\section References References - -Adafruit Industries: - -http://www.adafruit.com/ - -http://www.ladyada.net/make/waveshield/ - -The Arduino site: - -http://www.arduino.cc/ - -For more information about FAT file systems see: - -http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx - -For information about using SD cards as SPI devices see: - -http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf - -The ATmega328 datasheet: - -http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf - - - */ diff --git a/Marlin/SdFile.cpp b/Marlin/SdFile.cpp index 0a27159f43..e9439e3b50 100644 --- a/Marlin/SdFile.cpp +++ b/Marlin/SdFile.cpp @@ -1,1252 +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 - * . - */ -#include "SdFat.h" -#include -#include -//------------------------------------------------------------------------------ -// callback function for date/time -void (*SdFile::dateTime_)(uint16_t* date, uint16_t* time) = NULL; - -#if ALLOW_DEPRECATED_FUNCTIONS -// suppress cpplint warnings with NOLINT comment -void (*SdFile::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL; // NOLINT -#endif // ALLOW_DEPRECATED_FUNCTIONS -//------------------------------------------------------------------------------ -// add a cluster to a file -uint8_t SdFile::addCluster() { - if (!vol_->allocContiguous(1, &curCluster_)) return false; - - // if first cluster of file link to directory entry - if (firstCluster_ == 0) { - firstCluster_ = curCluster_; - flags_ |= F_FILE_DIR_DIRTY; - } - return true; -} -//------------------------------------------------------------------------------ -// Add a cluster to a directory file and zero the cluster. -// return with first block of cluster in the cache -uint8_t SdFile::addDirCluster(void) { - if (!addCluster()) return false; - - // zero data in cluster insure first cluster is in cache - uint32_t block = vol_->clusterStartBlock(curCluster_); - for (uint8_t i = vol_->blocksPerCluster_; i != 0; i--) { - if (!SdVolume::cacheZeroBlock(block + i - 1)) return false; - } - // Increase directory file size by cluster size - fileSize_ += 512UL << vol_->clusterSizeShift_; - return true; -} -//------------------------------------------------------------------------------ -// cache a file's directory entry -// return pointer to cached entry or null for failure -dir_t* SdFile::cacheDirEntry(uint8_t action) { - if (!SdVolume::cacheRawBlock(dirBlock_, action)) return NULL; - return SdVolume::cacheBuffer_.dir + dirIndex_; -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::close(void) { - if (!sync())return false; - type_ = FAT_FILE_TYPE_CLOSED; - return true; -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock) { - // error if no blocks - if (firstCluster_ == 0) return false; - - for (uint32_t c = firstCluster_; ; c++) { - uint32_t next; - if (!vol_->fatGet(c, &next)) return false; - - // check for contiguous - if (next != (c + 1)) { - // error if not end of chain - if (!vol_->isEOC(next)) return false; - *bgnBlock = vol_->clusterStartBlock(firstCluster_); - *endBlock = vol_->clusterStartBlock(c) - + vol_->blocksPerCluster_ - 1; - return true; - } - } -} -//------------------------------------------------------------------------------ -/** - * 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] fileName 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 fileName 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. - * - */ -uint8_t SdFile::createContiguous(SdFile* dirFile, - const char* fileName, uint32_t size) { - // don't allow zero length file - if (size == 0) return false; - if (!open(dirFile, fileName, O_CREAT | O_EXCL | O_RDWR)) return false; - - // calculate number of clusters needed - uint32_t count = ((size - 1) >> (vol_->clusterSizeShift_ + 9)) + 1; - - // allocate clusters - if (!vol_->allocContiguous(count, &firstCluster_)) { - remove(); - return false; - } - fileSize_ = size; - - // insure sync() will update dir entry - flags_ |= F_FILE_DIR_DIRTY; - return sync(); -} -//------------------------------------------------------------------------------ -/** - * Return a files directory entry - * - * \param[out] dir Location for return of the files directory entry. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - */ -uint8_t SdFile::dirEntry(dir_t* dir) { - // make sure fields on SD are correct - if (!sync()) return false; - - // read entry - dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_READ); - if (!p) return false; - - // copy to caller's struct - memcpy(dir, p, sizeof(dir_t)); - return true; -} -//------------------------------------------------------------------------------ -/** - * 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 SdFile::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; -} -//------------------------------------------------------------------------------ -/** List directory contents to Serial. - * - * \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 SdFile::ls(uint8_t flags, uint8_t indent) { - dir_t* p; - - rewind(); - while ((p = readDirCache())) { - // done if past last used entry - if (p->name[0] == DIR_NAME_FREE) break; - - // skip deleted entry and entries for . and .. - if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; - - // only list subdirectories and files - if (!DIR_IS_FILE_OR_SUBDIR(p)) continue; - - // print any indent spaces - for (int8_t i = 0; i < indent; i++) Serial.print(' '); - - // print file name with possible blank fill - printDirName(*p, flags & (LS_DATE | LS_SIZE) ? 14 : 0); - - // print modify date/time if requested - if (flags & LS_DATE) { - printFatDate(p->lastWriteDate); - Serial.print(' '); - printFatTime(p->lastWriteTime); - } - // print size if requested - if (!DIR_IS_SUBDIR(p) && (flags & LS_SIZE)) { - Serial.print(' '); - Serial.print(p->fileSize); - } - Serial.println(); - - // list subdirectory content if requested - if ((flags & LS_R) && DIR_IS_SUBDIR(p)) { - uint16_t index = curPosition()/32 - 1; - SdFile s; - if (s.open(this, index, O_READ)) s.ls(flags, indent + 2); - seekSet(32 * (index + 1)); - } - } -} -//------------------------------------------------------------------------------ -// format directory name field from a 8.3 name string -uint8_t SdFile::make83Name(const char* str, uint8_t* name) { - 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 ((c = *str++) != '\0') { - if (c == '.') { - if (n == 10) return false; // 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) return false; - // check size and only allow ASCII printable characters - if (i > n || c < 0X21 || c > 0X7E)return false; - // only upper case allowed in 8.3 names - convert lower to upper - name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a'); - } - } - // must have a file name, extension is optional - return name[0] != ' '; -} -//------------------------------------------------------------------------------ -/** Make a new directory. - * - * \param[in] dir An open SdFat instance for the directory that will containing - * the new directory. - * - * \param[in] dirName A valid 8.3 DOS name for the new directory. - * - * \return The value one, true, is returned for success and - * the value zero, false, is returned for failure. - * Reasons for failure include this SdFile is already open, \a dir is not a - * directory, \a dirName is invalid or already exists in \a dir. - */ -uint8_t SdFile::makeDir(SdFile* dir, const char* dirName) { - dir_t d; - - // create a normal file - if (!open(dir, dirName, O_CREAT | O_EXCL | O_RDWR)) return false; - - // convert SdFile to directory - flags_ = O_READ; - type_ = FAT_FILE_TYPE_SUBDIR; - - // allocate and zero first cluster - if (!addDirCluster())return false; - - // force entry to SD - if (!sync()) return false; - - // cache entry - should already be in cache due to sync() call - dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); - if (!p) return false; - - // change directory entry attribute - p->attributes = DIR_ATT_DIRECTORY; - - // make entry for '.' - memcpy(&d, p, sizeof(d)); - for (uint8_t i = 1; i < 11; i++) d.name[i] = ' '; - d.name[0] = '.'; - - // cache block for '.' and '..' - uint32_t block = vol_->clusterStartBlock(firstCluster_); - if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) return false; - - // copy '.' to block - memcpy(&SdVolume::cacheBuffer_.dir[0], &d, sizeof(d)); - - // make entry for '..' - d.name[1] = '.'; - if (dir->isRoot()) { - d.firstClusterLow = 0; - d.firstClusterHigh = 0; - } else { - d.firstClusterLow = dir->firstCluster_ & 0XFFFF; - d.firstClusterHigh = dir->firstCluster_ >> 16; - } - // copy '..' to block - memcpy(&SdVolume::cacheBuffer_.dir[1], &d, sizeof(d)); - - // set position after '..' - curPosition_ = 2 * sizeof(d); - - // write first block - return SdVolume::cacheFlush(); -} -//------------------------------------------------------------------------------ -/** - * 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] fileName 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_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. - * - * \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 SdFile is already open, \a difFile is not - * a directory, \a fileName is invalid, the file does not exist - * or can't be opened in the access mode specified by oflag. - */ -uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag) { - uint8_t dname[11]; - dir_t* p; - - // error if already open - if (isOpen())return false; - - if (!make83Name(fileName, dname)) return false; - vol_ = dirFile->vol_; - dirFile->rewind(); - - // bool for empty entry found - uint8_t emptyFound = false; - - // search for file - while (dirFile->curPosition_ < dirFile->fileSize_) { - uint8_t index = 0XF & (dirFile->curPosition_ >> 5); - p = dirFile->readDirCache(); - if (p == NULL) return false; - - if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) { - // remember first empty slot - if (!emptyFound) { - emptyFound = true; - dirIndex_ = index; - dirBlock_ = SdVolume::cacheBlockNumber_; - } - // done if no entries follow - if (p->name[0] == DIR_NAME_FREE) break; - } else if (!memcmp(dname, p->name, 11)) { - // don't open existing file if O_CREAT and O_EXCL - if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; - - // open found file - return openCachedEntry(0XF & index, oflag); - } - } - // only create file if O_CREAT and O_WRITE - if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false; - - // cache found slot or add cluster if end of file - if (emptyFound) { - p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); - if (!p) return false; - } else { - if (dirFile->type_ == FAT_FILE_TYPE_ROOT16) return false; - - // add and zero cluster for dirFile - first cluster is in cache for write - if (!dirFile->addDirCluster()) return false; - - // use first entry in cluster - dirIndex_ = 0; - p = SdVolume::cacheBuffer_.dir; - } - // initialize as empty file - memset(p, 0, sizeof(dir_t)); - memcpy(p->name, dname, 11); - - // set timestamps - if (dateTime_) { - // call user 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; - - // force write of entry to SD - if (!SdVolume::cacheFlush()) return false; - - // open entry in cache - return openCachedEntry(dirIndex_, oflag); -} -//------------------------------------------------------------------------------ -/** - * 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 fileName for definition of flags and return values. - * - */ -uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag) { - // error if already open - if (isOpen())return false; - - // don't open existing file if O_CREAT and O_EXCL - user call error - if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; - - vol_ = dirFile->vol_; - - // seek to location of entry - if (!dirFile->seekSet(32 * index)) return false; - - // read entry into cache - dir_t* p = dirFile->readDirCache(); - if (p == NULL) return false; - - // error if empty slot or '.' or '..' - if (p->name[0] == DIR_NAME_FREE || - p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') { - return false; - } - // open cached entry - return openCachedEntry(index & 0XF, oflag); -} -//------------------------------------------------------------------------------ -// open a cached directory entry. Assumes vol_ is initializes -uint8_t SdFile::openCachedEntry(uint8_t dirIndex, uint8_t oflag) { - // location of entry in cache - dir_t* p = SdVolume::cacheBuffer_.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)) return false; - } - // remember location of directory entry on SD - dirIndex_ = dirIndex; - dirBlock_ = SdVolume::cacheBlockNumber_; - - // 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_)) return false; - type_ = FAT_FILE_TYPE_SUBDIR; - } else { - return false; - } - // save open flags for read/write - flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND); - - // set to start of file - curCluster_ = 0; - curPosition_ = 0; - - // truncate file to zero length if requested - if (oflag & O_TRUNC) return truncate(0); - return true; -} -//------------------------------------------------------------------------------ -/** - * 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 FAT volume has not been initialized - * or it a FAT12 volume. - */ -uint8_t SdFile::openRoot(SdVolume* vol) { - // error if file is already open - if (isOpen()) return false; - - if (vol->fatType() == 16) { - type_ = FAT_FILE_TYPE_ROOT16; - firstCluster_ = 0; - fileSize_ = 32 * vol->rootDirEntryCount(); - } else if (vol->fatType() == 32) { - type_ = FAT_FILE_TYPE_ROOT32; - firstCluster_ = vol->rootDirStart(); - if (!vol->chainSize(firstCluster_, &fileSize_)) return false; - } else { - // volume is not initialized or FAT12 - 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; -} -//------------------------------------------------------------------------------ -/** %Print the name field of a directory entry in 8.3 format to Serial. - * - * \param[in] dir The directory structure containing the name. - * \param[in] width Blank fill name if length is less than \a width. - */ -void SdFile::printDirName(const dir_t& dir, uint8_t width) { - uint8_t w = 0; - for (uint8_t i = 0; i < 11; i++) { - if (dir.name[i] == ' ')continue; - if (i == 8) { - Serial.print('.'); - w++; - } - Serial.print(dir.name[i]); - w++; - } - if (DIR_IS_SUBDIR(&dir)) { - Serial.print('/'); - w++; - } - while (w < width) { - Serial.print(' '); - w++; - } -} -//------------------------------------------------------------------------------ -/** %Print a directory date field to Serial. - * - * Format is yyyy-mm-dd. - * - * \param[in] fatDate The date field from a directory entry. - */ -void SdFile::printFatDate(uint16_t fatDate) { - Serial.print(FAT_YEAR(fatDate)); - Serial.print('-'); - printTwoDigits(FAT_MONTH(fatDate)); - Serial.print('-'); - printTwoDigits(FAT_DAY(fatDate)); -} -//------------------------------------------------------------------------------ -/** %Print a directory time field to Serial. - * - * Format is hh:mm:ss. - * - * \param[in] fatTime The time field from a directory entry. - */ -void SdFile::printFatTime(uint16_t fatTime) { - printTwoDigits(FAT_HOUR(fatTime)); - Serial.print(':'); - printTwoDigits(FAT_MINUTE(fatTime)); - Serial.print(':'); - printTwoDigits(FAT_SECOND(fatTime)); -} -//------------------------------------------------------------------------------ -/** %Print a value as two digits to Serial. - * - * \param[in] v Value to be printed, 0 <= \a v <= 99 - */ -void SdFile::printTwoDigits(uint8_t v) { - char str[3]; - str[0] = '0' + v/10; - str[1] = '0' + v % 10; - str[2] = 0; - Serial.print(str); -} -//------------------------------------------------------------------------------ -/** - * 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 SdFile::read(void* buf, uint16_t nbyte) { - uint8_t* dst = reinterpret_cast(buf); - - // error if not open or write only - if (!isOpen() || !(flags_ & O_READ)) return -1; - - // max bytes left in file - if (nbyte > (fileSize_ - curPosition_)) nbyte = fileSize_ - curPosition_; - - // amount left to read - uint16_t toRead = nbyte; - while (toRead > 0) { - uint32_t block; // raw device block number - uint16_t offset = curPosition_ & 0X1FF; // offset in block - if (type_ == FAT_FILE_TYPE_ROOT16) { - 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_)) return -1; - } - } - 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 or user requests no buffering - if ((unbufferedRead() || n == 512) && - block != SdVolume::cacheBlockNumber_) { - if (!vol_->readData(block, offset, n, dst)) return -1; - dst += n; - } else { - // read block to cache and copy data to caller - if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_READ)) return -1; - uint8_t* src = SdVolume::cacheBuffer_.data + offset; - uint8_t* end = src + n; - while (src != end) *dst++ = *src++; - } - curPosition_ += n; - toRead -= n; - } - return nbyte; -} -//------------------------------------------------------------------------------ -/** - * 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 SdFile::readDir(dir_t* dir) { - int8_t n; - // if not a directory file or miss-positioned return an error - if (!isDir() || (0X1F & curPosition_)) return -1; - - while ((n = read(dir, sizeof(dir_t))) == sizeof(dir_t)) { - // last entry if DIR_NAME_FREE - if (dir->name[0] == DIR_NAME_FREE) break; - // 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; - } - // error, end of file, or past last entry - return n < 0 ? -1 : 0; -} -//------------------------------------------------------------------------------ -// Read next directory entry into the cache -// Assumes file is correctly positioned -dir_t* SdFile::readDirCache(void) { - // error if not directory - if (!isDir()) return NULL; - - // index of entry in cache - uint8_t i = (curPosition_ >> 5) & 0XF; - - // use read to locate and cache block - if (read() < 0) return NULL; - - // advance to next entry - curPosition_ += 31; - - // return pointer to entry - return (SdVolume::cacheBuffer_.dir + i); -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::remove(void) { - // free any clusters - will fail if read-only or directory - if (!truncate(0)) return false; - - // cache directory entry - dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); - if (!d) return false; - - // mark entry deleted - d->name[0] = DIR_NAME_DELETED; - - // set this SdFile closed - type_ = FAT_FILE_TYPE_CLOSED; - - // write entry to SD - return SdVolume::cacheFlush(); -} -//------------------------------------------------------------------------------ -/** - * 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] fileName The name of 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 fileName is not found - * or an I/O error occurred. - */ -uint8_t SdFile::remove(SdFile* dirFile, const char* fileName) { - SdFile file; - if (!file.open(dirFile, fileName, O_WRITE)) return false; - return file.remove(); -} -//------------------------------------------------------------------------------ -/** 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. - */ -uint8_t SdFile::rmDir(void) { - // must be open subdirectory - if (!isSubDir()) return false; - - rewind(); - - // make sure directory is empty - while (curPosition_ < fileSize_) { - dir_t* p = readDirCache(); - if (p == NULL) return false; - // done if past last used 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; - // error not empty - if (DIR_IS_FILE_OR_SUBDIR(p)) return false; - } - // convert empty directory to normal file for remove - type_ = FAT_FILE_TYPE_NORMAL; - flags_ |= O_WRITE; - return remove(); -} -//------------------------------------------------------------------------------ -/** 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. - */ -uint8_t SdFile::rmRfStar(void) { - rewind(); - while (curPosition_ < fileSize_) { - SdFile f; - - // remember position - uint16_t index = curPosition_/32; - - dir_t* p = readDirCache(); - if (!p) return false; - - // 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)) return false; - if (f.isSubDir()) { - // recursively delete - if (!f.rmRfStar()) return false; - } else { - // ignore read-only - f.flags_ |= O_WRITE; - if (!f.remove()) return false; - } - // position to next entry if required - if (curPosition_ != (32*(index + 1))) { - if (!seekSet(32*(index + 1))) return false; - } - } - // don't try to delete root - if (isRoot()) return true; - return rmDir(); -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::seekSet(uint32_t pos) { - // error if file not open or seek past end of file - if (!isOpen() || pos > fileSize_) return false; - - if (type_ == FAT_FILE_TYPE_ROOT16) { - curPosition_ = pos; - return true; - } - if (pos == 0) { - // set position to start of file - curCluster_ = 0; - curPosition_ = 0; - return true; - } - // calculate cluster index for cur and new position - uint32_t nCur = (curPosition_ - 1) >> (vol_->clusterSizeShift_ + 9); - uint32_t 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_)) return false; - } - curPosition_ = pos; - return true; -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::sync(void) { - // only allow open files and directories - if (!isOpen()) return false; - - if (flags_ & F_FILE_DIR_DIRTY) { - dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); - if (!d) return false; - - // 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 SdVolume::cacheFlush(); -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::timestamp(uint8_t flags, uint16_t year, uint8_t month, - uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) { - if (!isOpen() - || year < 1980 - || year > 2107 - || month < 1 - || month > 12 - || day < 1 - || day > 31 - || hour > 23 - || minute > 59 - || second > 59) { - return false; - } - dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); - if (!d) return false; - - uint16_t dirDate = FAT_DATE(year, month, day); - uint16_t 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; - } - SdVolume::cacheSetDirty(); - return sync(); -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdFile::truncate(uint32_t length) { -// error if not a normal file or read-only - if (!isFile() || !(flags_ & O_WRITE)) return false; - - // error if length is greater than current size - if (length > fileSize_) return false; - - // fileSize and length are zero - nothing to do - if (fileSize_ == 0) return true; - - // remember position for seek after truncation - uint32_t newPos = curPosition_ > length ? length : curPosition_; - - // position to last cluster in truncated file - if (!seekSet(length)) return false; - - if (length == 0) { - // free all clusters - if (!vol_->freeChain(firstCluster_)) return false; - firstCluster_ = 0; - } else { - uint32_t toFree; - if (!vol_->fatGet(curCluster_, &toFree)) return false; - - if (!vol_->isEOC(toFree)) { - // free extra clusters - if (!vol_->freeChain(toFree)) return false; - - // current cluster is end of chain - if (!vol_->fatPutEOC(curCluster_)) return false; - } - } - fileSize_ = length; - - // need to update directory entry - flags_ |= F_FILE_DIR_DIRTY; - - if (!sync()) return false; - - // set file to correct position - return seekSet(newPos); -} -//------------------------------------------------------------------------------ -/** - * 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) { - // convert void* to uint8_t* - must be before goto statements - const uint8_t* src = reinterpret_cast(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 writeErrorReturn; - - // seek to end of file if append flag - if ((flags_ & O_APPEND) && curPosition_ != fileSize_) { - if (!seekEnd()) goto writeErrorReturn; - } - - 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 writeErrorReturn; - } else { - curCluster_ = firstCluster_; - } - } else { - uint32_t next; - if (!vol_->fatGet(curCluster_, &next)) return false; - if (vol_->isEOC(next)) { - // add cluster if at end of chain - if (!addCluster()) goto writeErrorReturn; - } 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 - // invalidate cache if block is in cache - if (SdVolume::cacheBlockNumber_ == block) { - SdVolume::cacheBlockNumber_ = 0XFFFFFFFF; - } - if (!vol_->writeBlock(block, src)) goto writeErrorReturn; - src += 512; - } else { - if (blockOffset == 0 && curPosition_ >= fileSize_) { - // start of new block don't need to read into cache - if (!SdVolume::cacheFlush()) goto writeErrorReturn; - SdVolume::cacheBlockNumber_ = block; - SdVolume::cacheSetDirty(); - } else { - // rewrite part of block - if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) { - goto writeErrorReturn; - } - } - uint8_t* dst = SdVolume::cacheBuffer_.data + blockOffset; - uint8_t* end = dst + n; - while (dst != end) *dst++ = *src++; - } - nToWrite -= n; - curPosition_ += 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 writeErrorReturn; - } - return nbyte; - - writeErrorReturn: - // return for write error - writeError = true; - return -1; -} -//------------------------------------------------------------------------------ -/** - * Write a byte to a file. Required by the Arduino Print class. - * - * Use SdFile::writeError to check for errors. - */ -void SdFile::write(uint8_t b) { - write(&b, 1); -} -//------------------------------------------------------------------------------ -/** - * Write a string to a file. Used by the Arduino Print class. - * - * Use SdFile::writeError to check for errors. - */ -void SdFile::write(const char* str) { - write(str, strlen(str)); -} -//------------------------------------------------------------------------------ -/** - * Write a PROGMEM string to a file. - * - * Use SdFile::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. - * - * Use SdFile::writeError to check for errors. - */ -void SdFile::writeln_P(PGM_P str) { - write_P(str); - println(); -} +/* 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 + * . + */ +#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 diff --git a/Marlin/SdFile.h b/Marlin/SdFile.h new file mode 100644 index 0000000000..cbf1bbdbd9 --- /dev/null +++ b/Marlin/SdFile.h @@ -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 + * . + */ +/** + * \file + * \brief SdFile class + */ +#include "Marlin.h" + +#ifdef SDSUPPORT +#include "SdBaseFile.h" +#include +#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 diff --git a/Marlin/SdInfo.h b/Marlin/SdInfo.h index bc4c6137f5..03ece10224 100644 --- a/Marlin/SdInfo.h +++ b/Marlin/SdInfo.h @@ -1,232 +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 - * . - */ -#ifndef SdInfo_h -#define SdInfo_h -#include -// Based on the document: -// -// SD Specifications -// Part 1 -// Physical Layer -// Simplified Specification -// Version 2.00 -// September 25, 2006 -// -// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf -//------------------------------------------------------------------------------ -// 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; -/** SEND_STATUS - read the card status register */ -uint8_t const CMD13 = 0X0D; -/** READ_BLOCK - read a single data block from the card */ -uint8_t const CMD17 = 0X11; -/** 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; -//------------------------------------------------------------------------------ -typedef struct CID { - // byte 0 - uint8_t mid; // Manufacturer ID - // byte 1-2 - char oid[2]; // OEM/Application ID - // byte 3-7 - char pnm[5]; // Product name - // byte 8 - unsigned prv_m : 4; // Product revision n.m - unsigned prv_n : 4; - // byte 9-12 - uint32_t psn; // Product serial number - // byte 13 - unsigned mdt_year_high : 4; // Manufacturing date - unsigned reserved : 4; - // byte 14 - unsigned mdt_month : 4; - unsigned mdt_year_low :4; - // byte 15 - unsigned always1 : 1; - unsigned crc : 7; -}cid_t; -//------------------------------------------------------------------------------ -// CSD for version 1.00 cards -typedef struct CSDV1 { - // byte 0 - unsigned reserved1 : 6; - unsigned csd_ver : 2; - // byte 1 - uint8_t taac; - // byte 2 - uint8_t nsac; - // byte 3 - uint8_t tran_speed; - // byte 4 - uint8_t ccc_high; - // byte 5 - unsigned read_bl_len : 4; - unsigned ccc_low : 4; - // byte 6 - unsigned c_size_high : 2; - unsigned reserved2 : 2; - unsigned dsr_imp : 1; - unsigned read_blk_misalign :1; - unsigned write_blk_misalign : 1; - unsigned read_bl_partial : 1; - // byte 7 - uint8_t c_size_mid; - // byte 8 - unsigned vdd_r_curr_max : 3; - unsigned vdd_r_curr_min : 3; - unsigned c_size_low :2; - // byte 9 - unsigned c_size_mult_high : 2; - unsigned vdd_w_cur_max : 3; - unsigned vdd_w_curr_min : 3; - // byte 10 - unsigned sector_size_high : 6; - unsigned erase_blk_en : 1; - unsigned c_size_mult_low : 1; - // byte 11 - unsigned wp_grp_size : 7; - unsigned sector_size_low : 1; - // byte 12 - unsigned write_bl_len_high : 2; - unsigned r2w_factor : 3; - unsigned reserved3 : 2; - unsigned wp_grp_enable : 1; - // byte 13 - unsigned reserved4 : 5; - unsigned write_partial : 1; - unsigned write_bl_len_low : 2; - // byte 14 - unsigned reserved5: 2; - unsigned file_format : 2; - unsigned tmp_write_protect : 1; - unsigned perm_write_protect : 1; - unsigned copy : 1; - unsigned file_format_grp : 1; - // byte 15 - unsigned always1 : 1; - unsigned crc : 7; -}csd1_t; -//------------------------------------------------------------------------------ -// CSD for version 2.00 cards -typedef struct CSDV2 { - // byte 0 - unsigned reserved1 : 6; - unsigned csd_ver : 2; - // byte 1 - uint8_t taac; - // byte 2 - uint8_t nsac; - // byte 3 - uint8_t tran_speed; - // byte 4 - uint8_t ccc_high; - // byte 5 - unsigned read_bl_len : 4; - unsigned ccc_low : 4; - // byte 6 - unsigned reserved2 : 4; - unsigned dsr_imp : 1; - unsigned read_blk_misalign :1; - unsigned write_blk_misalign : 1; - unsigned read_bl_partial : 1; - // byte 7 - unsigned reserved3 : 2; - unsigned c_size_high : 6; - // byte 8 - uint8_t c_size_mid; - // byte 9 - uint8_t c_size_low; - // byte 10 - unsigned sector_size_high : 6; - unsigned erase_blk_en : 1; - unsigned reserved4 : 1; - // byte 11 - unsigned wp_grp_size : 7; - unsigned sector_size_low : 1; - // byte 12 - unsigned write_bl_len_high : 2; - unsigned r2w_factor : 3; - unsigned reserved5 : 2; - unsigned wp_grp_enable : 1; - // byte 13 - unsigned reserved6 : 5; - unsigned write_partial : 1; - unsigned write_bl_len_low : 2; - // byte 14 - unsigned reserved7: 2; - unsigned file_format : 2; - unsigned tmp_write_protect : 1; - unsigned perm_write_protect : 1; - unsigned copy : 1; - unsigned file_format_grp : 1; - // byte 15 - unsigned always1 : 1; - unsigned crc : 7; -}csd2_t; -//------------------------------------------------------------------------------ -// union of old and new style CSD register -union csd_t { - csd1_t v1; - csd2_t v2; -}; -#endif // SdInfo_h +/* 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 + * . + */ +#include "Marlin.h" +#ifdef SDSUPPORT + +#ifndef SdInfo_h +#define SdInfo_h +#include +// 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 diff --git a/Marlin/SdVolume.cpp b/Marlin/SdVolume.cpp index 3c1e641c7b..f14d7bc70b 100644 --- a/Marlin/SdVolume.cpp +++ b/Marlin/SdVolume.cpp @@ -1,295 +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 - * . - */ -#include "SdFat.h" -//------------------------------------------------------------------------------ -// raw block cache -// init cacheBlockNumber_to invalid SD block number -uint32_t SdVolume::cacheBlockNumber_ = 0XFFFFFFFF; -cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card -Sd2Card* SdVolume::sdCard_; // pointer to SD card object -uint8_t SdVolume::cacheDirty_ = 0; // cacheFlush() will write block if true -uint32_t SdVolume::cacheMirrorBlock_ = 0; // mirror block for second FAT -//------------------------------------------------------------------------------ -// find a contiguous group of clusters -uint8_t SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) { - // start of group - uint32_t bgnCluster; - - // flag to save place to start next search - uint8_t 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 = 1 == count; - } - // end of group - uint32_t endCluster = bgnCluster; - - // last cluster of FAT - uint32_t fatEnd = clusterCount_ + 1; - - // search the FAT for free clusters - for (uint32_t n = 0;; n++, endCluster++) { - // can't find space checked all clusters - if (n >= clusterCount_) return false; - - // past end - start from beginning of FAT - if (endCluster > fatEnd) { - bgnCluster = endCluster = 2; - } - uint32_t f; - if (!fatGet(endCluster, &f)) return false; - - 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)) return false; - - // link clusters - while (endCluster > bgnCluster) { - if (!fatPut(endCluster - 1, endCluster)) return false; - endCluster--; - } - if (*curCluster != 0) { - // connect chains - if (!fatPut(*curCluster, bgnCluster)) return false; - } - // return first cluster number to caller - *curCluster = bgnCluster; - - // remember possible next free cluster - if (setStart) allocSearchStart_ = bgnCluster + 1; - - return true; -} -//------------------------------------------------------------------------------ -uint8_t SdVolume::cacheFlush(void) { - if (cacheDirty_) { - if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { - return false; - } - // mirror FAT tables - if (cacheMirrorBlock_) { - if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { - return false; - } - cacheMirrorBlock_ = 0; - } - cacheDirty_ = 0; - } - return true; -} -//------------------------------------------------------------------------------ -uint8_t SdVolume::cacheRawBlock(uint32_t blockNumber, uint8_t action) { - if (cacheBlockNumber_ != blockNumber) { - if (!cacheFlush()) return false; - if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false; - cacheBlockNumber_ = blockNumber; - } - cacheDirty_ |= action; - return true; -} -//------------------------------------------------------------------------------ -// cache a zero block for blockNumber -uint8_t SdVolume::cacheZeroBlock(uint32_t blockNumber) { - if (!cacheFlush()) return false; - - // loop take less flash than memset(cacheBuffer_.data, 0, 512); - for (uint16_t i = 0; i < 512; i++) { - cacheBuffer_.data[i] = 0; - } - cacheBlockNumber_ = blockNumber; - cacheSetDirty(); - return true; -} -//------------------------------------------------------------------------------ -// return the size in bytes of a cluster chain -uint8_t SdVolume::chainSize(uint32_t cluster, uint32_t* size) const { - uint32_t s = 0; - do { - if (!fatGet(cluster, &cluster)) return false; - s += 512UL << clusterSizeShift_; - } while (!isEOC(cluster)); - *size = s; - return true; -} -//------------------------------------------------------------------------------ -// Fetch a FAT entry -uint8_t SdVolume::fatGet(uint32_t cluster, uint32_t* value) const { - if (cluster > (clusterCount_ + 1)) return false; - uint32_t lba = fatStartBlock_; - lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; - if (lba != cacheBlockNumber_) { - if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; - } - if (fatType_ == 16) { - *value = cacheBuffer_.fat16[cluster & 0XFF]; - } else { - *value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK; - } - return true; -} -//------------------------------------------------------------------------------ -// Store a FAT entry -uint8_t SdVolume::fatPut(uint32_t cluster, uint32_t value) { - // error if reserved cluster - if (cluster < 2) return false; - - // error if not in FAT - if (cluster > (clusterCount_ + 1)) return false; - - // calculate block address for entry - uint32_t lba = fatStartBlock_; - lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; - - if (lba != cacheBlockNumber_) { - if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; - } - // store entry - if (fatType_ == 16) { - cacheBuffer_.fat16[cluster & 0XFF] = value; - } else { - cacheBuffer_.fat32[cluster & 0X7F] = value; - } - cacheSetDirty(); - - // mirror second FAT - if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; - return true; -} -//------------------------------------------------------------------------------ -// free a cluster chain -uint8_t SdVolume::freeChain(uint32_t cluster) { - // clear free cluster location - allocSearchStart_ = 2; - - do { - uint32_t next; - if (!fatGet(cluster, &next)) return false; - - // free cluster - if (!fatPut(cluster, 0)) return false; - - cluster = next; - } while (!isEOC(cluster)); - - return true; -} -//------------------------------------------------------------------------------ -/** - * 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. - */ -uint8_t SdVolume::init(Sd2Card* dev, uint8_t part) { - uint32_t volumeStartBlock = 0; - sdCard_ = dev; - // 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)return false; - if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; - part_t* p = &cacheBuffer_.mbr.part[part-1]; - if ((p->boot & 0X7F) !=0 || - p->totalSectors < 100 || - p->firstSector == 0) { - // not a valid partition - return false; - } - volumeStartBlock = p->firstSector; - } - if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; - bpb_t* bpb = &cacheBuffer_.fbs.bpb; - if (bpb->bytesPerSector != 512 || - bpb->fatCount == 0 || - bpb->reservedSectorCount == 0 || - bpb->sectorsPerCluster == 0) { - // not valid FAT volume - return false; - } - fatCount_ = bpb->fatCount; - blocksPerCluster_ = bpb->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) return false; - } - blocksPerFat_ = bpb->sectorsPerFat16 ? - bpb->sectorsPerFat16 : bpb->sectorsPerFat32; - - fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount; - - // count for FAT16 zero for FAT32 - rootDirEntryCount_ = bpb->rootDirEntryCount; - - // directory start for FAT16 dataStart for FAT32 - rootDirStart_ = fatStartBlock_ + bpb->fatCount * blocksPerFat_; - - // data start for FAT16 and FAT32 - dataStartBlock_ = rootDirStart_ + ((32 * bpb->rootDirEntryCount + 511)/512); - - // total blocks for FAT16 or FAT32 - uint32_t totalBlocks = bpb->totalSectors16 ? - bpb->totalSectors16 : bpb->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; - } else if (clusterCount_ < 65525) { - fatType_ = 16; - } else { - rootDirStart_ = bpb->fat32RootCluster; - fatType_ = 32; - } - return true; -} +/* 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 + * . + */ +#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 diff --git a/Marlin/SdVolume.h b/Marlin/SdVolume.h new file mode 100644 index 0000000000..2ff2b6eb96 --- /dev/null +++ b/Marlin/SdVolume.h @@ -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 + * . + */ +#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 diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp new file mode 100644 index 0000000000..627f14442e --- /dev/null +++ b/Marlin/cardreader.cpp @@ -0,0 +1,634 @@ +#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 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); + } + autotempShutdown(); +} +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=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 diff --git a/Marlin/create_speed_lookuptable.py b/Marlin/create_speed_lookuptable.py new file mode 100644 index 0000000000..13ed92d520 --- /dev/null +++ b/Marlin/create_speed_lookuptable.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +""" Generate the stepper delay lookup table for Marlin firmware. """ + +import argparse + +__author__ = "Ben Gamari " +__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" + diff --git a/Marlin/fastio.h b/Marlin/fastio.h index 1d28d0582f..769c1c88f6 100644 --- a/Marlin/fastio.h +++ b/Marlin/fastio.h @@ -1,63 +1,87 @@ /* - 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 + 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 +#include /* - utility functions + utility functions */ -#ifndef MASK +#ifndef MASK /// MASKING- returns \f$2^PIN\f$ - #define MASK(PIN) (1 << PIN) +#define MASK(PIN) (1 << PIN) #endif /* - magic I/O routines - - now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0); + 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))) +#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN))) /// write to a pin -#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0) +// 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) +#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) +#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) +#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) +#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) +#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0) -// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html +/// 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) +#define READ(IO) _READ(IO) /// Write to a pin wrapper -#define WRITE(IO, v) _WRITE(IO, v) +#define WRITE(IO, v) _WRITE(IO, v) + /// toggle a pin wrapper -#define TOGGLE(IO) _TOGGLE(IO) +#define TOGGLE(IO) _TOGGLE(IO) /// set pin as input wrapper -#define SET_INPUT(IO) _SET_INPUT(IO) +#define SET_INPUT(IO) _SET_INPUT(IO) /// set pin as output wrapper -#define SET_OUTPUT(IO) _SET_OUTPUT(IO) +#define SET_OUTPUT(IO) _SET_OUTPUT(IO) /// check if pin is an input wrapper -#define GET_INPUT(IO) _GET_INPUT(IO) +#define GET_INPUT(IO) _GET_INPUT(IO) /// check if pin is an output wrapper -#define GET_OUTPUT(IO) _GET_OUTPUT(IO) +#define GET_OUTPUT(IO) _GET_OUTPUT(IO) + +/// check if pin is an timer wrapper +#define GET_TIMER(IO) _GET_TIMER(IO) /* ports and functions @@ -400,7 +424,7 @@ pins #define PD7_PWM NULL #endif /* _AVR_ATmega{168,328,328P}__ */ -#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) +#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) || defined (__AVR_ATmega1284__) || defined (__AVR_ATmega1284P__) // UART #define RXD DIO8 #define TXD DIO9 @@ -455,13 +479,13 @@ pins #define DIO3_RPORT PINB #define DIO3_WPORT PORTB #define DIO3_DDR DDRB -#define DIO3_PWM &OCR0A +#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 DIO4_PWM OCR0B #define DIO5_PIN PINB5 #define DIO5_RPORT PINB @@ -509,25 +533,25 @@ pins #define DIO12_RPORT PIND #define DIO12_WPORT PORTD #define DIO12_DDR DDRD -#define DIO12_PWM NULL +#define DIO12_PWM OCR1B #define DIO13_PIN PIND5 #define DIO13_RPORT PIND #define DIO13_WPORT PORTD #define DIO13_DDR DDRD -#define DIO13_PWM NULL +#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 DIO14_PWM OCR2B #define DIO15_PIN PIND7 #define DIO15_RPORT PIND #define DIO15_WPORT PORTD #define DIO15_DDR DDRD -#define DIO15_PWM &OCR2A +#define DIO15_PWM OCR2A #define DIO16_PIN PINC0 #define DIO16_RPORT PINC @@ -758,14 +782,14 @@ pins #define PB3_RPORT PINB #define PB3_WPORT PORTB #define PB3_DDR DDRB -#define PB3_PWM &OCR0A +#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 +#define PB4_PWM OCR0B #undef PB5 #define PB5_PIN PINB5 @@ -893,14 +917,14 @@ pins #define PD6_RPORT PIND #define PD6_WPORT PORTD #define PD6_DDR DDRD -#define PD6_PWM &OCR2B +#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 +#define PD7_PWM OCR2A #endif /* _AVR_ATmega{644,644P,644PA}__ */ #if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__) @@ -1904,7 +1928,7 @@ pins #endif -#if defined (__AVR_AT90USB1287__) +#if defined (__AVR_AT90USB1287__) || defined (__AVR_AT90USB1286__) // SPI #define SCK DIO9 #define MISO DIO11 @@ -2555,4 +2579,4 @@ pins #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 */ +#endif /* _ARDUINO_H */ diff --git a/Marlin/language.h b/Marlin/language.h new file mode 100644 index 0000000000..7db579750b --- /dev/null +++ b/Marlin/language.h @@ -0,0 +1,299 @@ +#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_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 diff --git a/Marlin/led.cpp b/Marlin/led.cpp new file mode 100644 index 0000000000..0776b953c8 --- /dev/null +++ b/Marlin/led.cpp @@ -0,0 +1,35 @@ +#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(); + if (degTargetHotend(active_extruder) > HEATER_0_MINTEMP) + { + if (((millis() - previous_millis_toggle) < LED_HOTEND_ACTIVE_FLASH)) + return; + previous_millis_toggle=millis(); + TOGGLE(LED_PIN); + } + else + { + WRITE(LED_PIN, HIGH); + } +} + + +#endif //LED_PIN > -1 + + diff --git a/Marlin/led.h b/Marlin/led.h new file mode 100644 index 0000000000..66da0ab3a3 --- /dev/null +++ b/Marlin/led.h @@ -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 diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp new file mode 100644 index 0000000000..f11d8c8b8e --- /dev/null +++ b/Marlin/motion_control.cpp @@ -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 . +*/ + +#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 X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH; + if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH; + if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH; + } + 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); +} + diff --git a/Marlin/motion_control.h b/Marlin/motion_control.h new file mode 100644 index 0000000000..ca50f8098f --- /dev/null +++ b/Marlin/motion_control.h @@ -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 . +*/ + +#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 diff --git a/Marlin/pins.h b/Marlin/pins.h index 1bd670266c..935a007f19 100644 --- a/Marlin/pins.h +++ b/Marlin/pins.h @@ -1,214 +1,239 @@ #ifndef PINS_H #define PINS_H -/**************************************************************************************** -* Arduino pin assignment -* -* ATMega168 -* +-\/-+ -* PC6 1| |28 PC5 (AI 5 / D19) -* (D 0) PD0 2| |27 PC4 (AI 4 / D18) -* (D 1) PD1 3| |26 PC3 (AI 3 / D17) -* (D 2) PD2 4| |25 PC2 (AI 2 / D16) -* PWM+ (D 3) PD3 5| |24 PC1 (AI 1 / D15) -* (D 4) PD4 6| |23 PC0 (AI 0 / D14) -* VCC 7| |22 GND -* GND 8| |21 AREF -* PB6 9| |20 AVCC -* PB7 10| |19 PB5 (D 13) -* PWM+ (D 5) PD5 11| |18 PB4 (D 12) -* PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM -* (D 7) PD7 13| |16 PB2 (D 10) PWM -* (D 8) PB0 14| |15 PB1 (D 9) PWM -* +----+ -****************************************************************************************/ -#if MOTHERBOARD == 0 -#define KNOWN_BOARD 1 - -#ifndef __AVR_ATmega168__ -#error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu. -#endif +#if MOTHERBOARD == 99 +#define KNOWN_BOARD 1 #define X_STEP_PIN 2 #define X_DIR_PIN 3 -#define X_ENABLE_PIN -1 -#define X_MIN_PIN 4 -#define X_MAX_PIN 9 +#define X_ENABLE_PIN -1 +#define X_MIN_PIN -1 +#define X_MAX_PIN 16 -#define Y_STEP_PIN 10 -#define Y_DIR_PIN 7 +#define Y_STEP_PIN 5 +#define Y_DIR_PIN 6 #define Y_ENABLE_PIN -1 -#define Y_MIN_PIN 8 -#define Y_MAX_PIN 13 +#define Y_MIN_PIN 67 +#define Y_MAX_PIN -1 -#define Z_STEP_PIN 19 -#define Z_DIR_PIN 18 -#define Z_ENABLE_PIN 5 -#define Z_MIN_PIN 17 -#define Z_MAX_PIN 16 +#define Z_STEP_PIN 62 +#define Z_DIR_PIN 63 +#define Z_ENABLE_PIN -1 +#define Z_MIN_PIN 59 +#define Z_MAX_PIN -1 -#define E_STEP_PIN 11 -#define E_DIR_PIN 12 -#define E_ENABLE_PIN -1 +#define E0_STEP_PIN 65 +#define E0_DIR_PIN 66 +#define E0_ENABLE_PIN -1 -#define SDPOWER -1 -#define SDSS -1 +#define SDPOWER -1 +#define SDSS 53 #define LED_PIN -1 #define FAN_PIN -1 -#define PS_ON_PIN 15 +#define PS_ON_PIN 9 #define KILL_PIN -1 -#define HEATER_0_PIN 6 -#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! - - -#endif - +#define HEATER_0_PIN 13 +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 +#define TEMP_0_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! +#define TEMP_1_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! +#define TEMP_2_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! +#define HEATER_BED_PIN 4 +#define TEMP_BED_PIN 10 +#endif /* 99 */ /**************************************************************************************** -* Sanguino/RepRap Motherboard with direct-drive extruders -* -* ATMega644P -* -* +---\/---+ -* (D 0) PB0 1| |40 PA0 (AI 0 / D31) -* (D 1) PB1 2| |39 PA1 (AI 1 / D30) -* INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29) -* PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28) -* PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27) -* MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26) -* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25) -* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24) -* RST 9| |32 AREF -* VCC 10| |31 GND -* GND 11| |30 AVCC -* XTAL2 12| |29 PC7 (D 23) -* XTAL1 13| |28 PC6 (D 22) -* RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI -* TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO -* INT0 RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS -* INT1 TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK -* PWM (D 12) PD4 18| |23 PC1 (D 17) SDA -* PWM (D 13) PD5 19| |22 PC0 (D 16) SCL -* PWM (D 14) PD6 20| |21 PD7 (D 15) PWM -* +--------+ +* Gen7 v1.1, v1.2, v1.3, v1.4 pin assignment * ****************************************************************************************/ -#if MOTHERBOARD == 1 -#define KNOWN_BOARD 1 -#ifndef __AVR_ATmega644P__ -#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. + +#if MOTHERBOARD == 13 +#define MOTHERBOARD 11 +#define GEN7_VERSION 14 // v1.4 #endif -#define X_STEP_PIN 15 -#define X_DIR_PIN 18 -#define X_ENABLE_PIN 19 -#define X_MIN_PIN 20 -#define X_MAX_PIN 21 - -#define Y_STEP_PIN 23 -#define Y_DIR_PIN 22 -#define Y_ENABLE_PIN 19 -#define Y_MIN_PIN 25 -#define Y_MAX_PIN 26 - -#define Z_STEP_PIN 29 -#define Z_DIR_PIN 30 -#define Z_ENABLE_PIN 31 -#define Z_MIN_PIN 2 -#define Z_MAX_PIN 1 - -#define E_STEP_PIN 12 -#define E_DIR_PIN 16 -#define E_ENABLE_PIN 3 - -#define SDPOWER -1 -#define SDSS -1 -#define LED_PIN 0 -#define FAN_PIN -1 -#define PS_ON_PIN -1 -#define KILL_PIN -1 - -#define HEATER_0_PIN 14 -#define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! - -/* Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31) */ +#if MOTHERBOARD == 12 +#define MOTHERBOARD 11 +#define GEN7_VERSION 13 // v1.3 +#endif +#if MOTHERBOARD == 11 +#define KNOWN_BOARD +#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__) +#error Oops! Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu. #endif - -/**************************************************************************************** -* RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---******* -* -****************************************************************************************/ -#if MOTHERBOARD == 2 -#define KNOWN_BOARD 1 - -#ifndef __AVR_ATmega644P__ -#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#ifndef GEN7_VERSION +#define GEN7_VERSION 12 // v1.x #endif -#define X_STEP_PIN 15 -#define X_DIR_PIN 18 -#define X_ENABLE_PIN 19 -#define X_MIN_PIN 20 -#define X_MAX_PIN 21 +//x axis pins +#define X_STEP_PIN 19 +#define X_DIR_PIN 18 +#define X_ENABLE_PIN 24 +#define X_MIN_PIN 7 +#define X_MAX_PIN -1 -#define Y_STEP_PIN 23 -#define Y_DIR_PIN 22 -#define Y_ENABLE_PIN 24 -#define Y_MIN_PIN 25 -#define Y_MAX_PIN 26 +//y axis pins +#define Y_STEP_PIN 23 +#define Y_DIR_PIN 22 +#define Y_ENABLE_PIN 24 +#define Y_MIN_PIN 5 +#define Y_MAX_PIN -1 -#define Z_STEP_PINN 27 -#define Z_DIR_PINN 28 -#define Z_ENABLE_PIN 29 -#define Z_MIN_PIN 30 -#define Z_MAX_PIN 31 +//z axis pins +#define Z_STEP_PIN 26 +#define Z_DIR_PIN 25 +#define Z_ENABLE_PIN 24 +#define Z_MIN_PIN 1 +#define Z_MAX_PIN 0 -#define E_STEP_PIN 17 -#define E_DIR_PIN 16 -#define E_ENABLE_PIN -1 +//extruder pins +#define E0_STEP_PIN 28 +#define E0_DIR_PIN 27 +#define E0_ENABLE_PIN 24 -#define SDPOWER -1 -#define SDSS 4 -#define LED_PIN 0 +#define TEMP_0_PIN 1 +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define TEMP_BED_PIN 2 -#define SD_CARD_WRITE 2 -#define SD_CARD_DETECT 3 -#define SD_CARD_SELECT 4 +#define HEATER_0_PIN 4 +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 +#define HEATER_BED_PIN 3 + + +#define SDPOWER -1 +#define SDSS -1 // SCL pin of I2C header +#define LED_PIN -1 + +#if (GEN7_VERSION >= 13) +// Gen7 v1.3 removed the fan pin +#define FAN_PIN -1 +#else +#define FAN_PIN 31 +#endif +#define PS_ON_PIN 15 + +#if (GEN7_VERSION < 14) +// Gen 1.3 and earlier supplied thermistor power via PS_ON +// Need to ignore the bad thermistor readings on those units +#define BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE +#endif + +//our pin for debugging. +#define DEBUG_PIN 0 //our RS485 pins -#define TX_ENABLE_PIN 12 -#define RX_ENABLE_PIN 13 +#define TX_ENABLE_PIN 12 +#define RX_ENABLE_PIN 13 -//pin for controlling the PSU. -#define PS_ON_PIN 14 +#endif -#define FAN_PIN -1 -#define KILL_PIN -1 +/******************************************************************************* +********* +* Gen7 Alfons3 pin assignment +* +******************************************************************************** +********/ +/* These Pins are assigned for the modified GEN7 Board from Alfons3 Please review the pins and adjust it for your needs*/ -#define HEATER_0_PIN -1 -#define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! +#if MOTHERBOARD == 10 +#define KNOWN_BOARD +#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega644__) && !defined(__AVR_ATmega1284P__) + #error Oops! Make sure you have 'Gen7' selected from the 'Tools -> Boards' menu. +#endif +//x axis pins + #define X_STEP_PIN 21 //different from stanard GEN7 + #define X_DIR_PIN 20 //different from stanard GEN7 + #define X_ENABLE_PIN 24 + #define X_MIN_PIN 0 + #define X_MAX_PIN -1 + //y axis pins + #define Y_STEP_PIN 23 + #define Y_DIR_PIN 22 + #define Y_ENABLE_PIN 24 + #define Y_MIN_PIN 1 + #define Y_MAX_PIN -1 + + //z axis pins + #define Z_STEP_PIN 26 + #define Z_DIR_PIN 25 + #define Z_ENABLE_PIN 24 + #define Z_MIN_PIN 2 + #define Z_MAX_PIN -1 + + //extruder pins + #define E0_STEP_PIN 28 + #define E0_DIR_PIN 27 + #define E0_ENABLE_PIN 24 + + #define TEMP_0_PIN 2 + #define TEMP_1_PIN -1 + #define TEMP_2_PIN -1 + #define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) + + #define HEATER_0_PIN 4 + #define HEATER_1_PIN -1 + #define HEATER_2_PIN -1 + #define HEATER_BED_PIN 3 // (bed) + + #define SDPOWER -1 + #define SDSS 31 // SCL pin of I2C header || CS Pin for SD Card support + #define LED_PIN -1 + + #define FAN_PIN -1 + #define PS_ON_PIN 19 + //our pin for debugging. + + #define DEBUG_PIN -1 + + //our RS485 pins + //#define TX_ENABLE_PIN 12 + //#define RX_ENABLE_PIN 13 + + #define BEEPER -1 + #define SDCARDDETECT -1 + #define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work + + //Pins for 4bit LCD Support + #define LCD_PINS_RS 18 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 16 + #define LCD_PINS_D5 15 + #define LCD_PINS_D6 13 + #define LCD_PINS_D7 14 + + //buttons are directly attached + #define BTN_EN1 11 + #define BTN_EN2 10 + #define BTN_ENC 12 //the click + + #define BLEN_C 2 + #define BLEN_B 1 + #define BLEN_A 0 + + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 #endif /**************************************************************************************** * Arduino Mega pin assignment * ****************************************************************************************/ -#if MOTHERBOARD == 33 -#define MOTHERBOARD 3 -#define RAMPS_V_1_3 -#endif -#if MOTHERBOARD == 3 +#if MOTHERBOARD == 3 || MOTHERBOARD == 33 || MOTHERBOARD == 34 #define KNOWN_BOARD 1 //////////////////FIX THIS////////////// @@ -222,42 +247,127 @@ // #define RAMPS_V_1_3 // #define RAMPS_V_1_0 -#ifdef RAMPS_V_1_3 +#if MOTHERBOARD == 33 || MOTHERBOARD == 34 #define X_STEP_PIN 54 #define X_DIR_PIN 55 #define X_ENABLE_PIN 38 #define X_MIN_PIN 3 -#define X_MAX_PIN -1 //2 //Max endstops default to disabled "-1", set to commented value to enable. +#define X_MAX_PIN 2 //2 //Max endstops default to disabled "-1", set to commented value to enable. #define Y_STEP_PIN 60 #define Y_DIR_PIN 61 #define Y_ENABLE_PIN 56 #define Y_MIN_PIN 14 -#define Y_MAX_PIN -1 //15 +#define Y_MAX_PIN 15 //15 #define Z_STEP_PIN 46 #define Z_DIR_PIN 48 #define Z_ENABLE_PIN 62 #define Z_MIN_PIN 18 -#define Z_MAX_PIN -1 //19 +#define Z_MAX_PIN 19 -#define E_STEP_PIN 26 -#define E_DIR_PIN 28 -#define E_ENABLE_PIN 24 +#define E0_STEP_PIN 26 +#define E0_DIR_PIN 28 +#define E0_ENABLE_PIN 24 + +#define E1_STEP_PIN 36 +#define E1_DIR_PIN 34 +#define E1_ENABLE_PIN 30 #define SDPOWER -1 #define SDSS 53 #define LED_PIN 13 -#define FAN_PIN 9 + +#if MOTHERBOARD == 33 +#define FAN_PIN 9 // (Sprinter config) +#else +#define FAN_PIN 4 // IO pin. Buffer needed +#endif #define PS_ON_PIN 12 #define KILL_PIN -1 -#define HEATER_0_PIN 10 -#define HEATER_1_PIN 8 +#define HEATER_0_PIN 10 // EXTRUDER 1 +#if MOTHERBOARD == 33 +#define HEATER_1_PIN -1 +#else +#define HEATER_1_PIN 9 // EXTRUDER 2 (FAN On Sprinter) +#endif +#define HEATER_2_PIN -1 #define TEMP_0_PIN 13 // ANALOG NUMBERING -#define TEMP_1_PIN 14 // ANALOG NUMBERING +#define TEMP_1_PIN 15 // ANALOG NUMBERING +#define TEMP_2_PIN -1 // ANALOG NUMBERING +#define HEATER_BED_PIN 8 // BED +#define TEMP_BED_PIN 14 // ANALOG NUMBERING +#ifdef ULTRA_LCD + + #ifdef NEWPANEL + //arduino pin which triggers an piezzo beeper + #define BEEPER 33 // Beeper on AUX-4 + + #define LCD_PINS_RS 16 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 23 + #define LCD_PINS_D5 25 + #define LCD_PINS_D6 27 + #define LCD_PINS_D7 29 + + //buttons are directly attached using AUX-2 + #define BTN_EN1 37 + #define BTN_EN2 35 + #define BTN_ENC 31 //the click + + #define BLEN_C 2 + #define BLEN_B 1 + #define BLEN_A 0 + + #define SDCARDDETECT -1 // Ramps does not use this port + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + + #else //old style panel with shift register + //arduino pin witch triggers an piezzo beeper + #define BEEPER 33 No Beeper added + + //buttons are attached to a shift register + // Not wired this yet + //#define SHIFT_CLK 38 + //#define SHIFT_LD 42 + //#define SHIFT_OUT 40 + //#define SHIFT_EN 17 + + #define LCD_PINS_RS 16 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 23 + #define LCD_PINS_D5 25 + #define LCD_PINS_D6 27 + #define LCD_PINS_D7 29 + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + + + //bits in the shift register that carry the buttons for: + // left up center down right red + #define BL_LE 7 + #define BL_UP 6 + #define BL_MI 5 + #define BL_DW 4 + #define BL_RI 3 + #define BL_ST 2 + + #define BLEN_B 1 + #define BLEN_A 0 + #endif +#endif //ULTRA_LCD #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default @@ -279,9 +389,9 @@ #define Z_MIN_PIN 18 #define Z_MAX_PIN -1 //19 -#define E_STEP_PIN 32 -#define E_DIR_PIN 34 -#define E_ENABLE_PIN 30 +#define E0_STEP_PIN 32 +#define E0_DIR_PIN 34 +#define E0_ENABLE_PIN 30 #define SDPOWER 48 #define SDSS 53 @@ -289,36 +399,37 @@ #define PS_ON_PIN -1 #define KILL_PIN -1 - - #ifdef RAMPS_V_1_0 // RAMPS_V_1_0 #define HEATER_0_PIN 12 // RAMPS 1.0 - #define HEATER_1_PIN -1 // RAMPS 1.0 + #define HEATER_BED_PIN -1 // RAMPS 1.0 #define FAN_PIN 11 // RAMPS 1.0 - #else // RAMPS_V_1_1 or RAMPS_V_1_2 #define HEATER_0_PIN 10 // RAMPS 1.1 - #define HEATER_1_PIN 8 // RAMPS 1.1 + #define HEATER_BED_PIN 8 // RAMPS 1.1 #define FAN_PIN 9 // RAMPS 1.1 #endif - +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 #define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! -#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #endif // SPI for Max6675 Thermocouple #ifndef SDSUPPORT -// these pins are defined in the SD library if building with SD support #define SCK_PIN 52 - #define MISO_PIN 50 - #define MOSI_PIN 51 +// these pins are defined in the SD library if building with SD support + #define MAX_SCK_PIN 52 + #define MAX_MISO_PIN 50 + #define MAX_MOSI_PIN 51 #define MAX6675_SS 53 #else #define MAX6675_SS 49 #endif - #endif + /**************************************************************************************** * Duemilanove w/ ATMega328P pin assignment * @@ -348,9 +459,9 @@ #define Z_MIN_PIN 4 #define Z_MAX_PIN -1 -#define E_STEP_PIN 11 -#define E_DIR_PIN 12 -#define E_ENABLE_PIN -1 +#define E0_STEP_PIN 11 +#define E0_DIR_PIN 12 +#define E0_ENABLE_PIN -1 #define SDPOWER -1 #define SDSS -1 @@ -360,8 +471,13 @@ #define KILL_PIN -1 #define HEATER_0_PIN 6 +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! - +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define HEATER_BED_PIN -1 +#define TEMP_BED_PIN -1 #endif @@ -369,11 +485,13 @@ * Gen6 pin assignment * ****************************************************************************************/ -#if MOTHERBOARD == 5 +#if MOTHERBOARD == 5 || MOTHERBOARD == 51 #define KNOWN_BOARD 1 #ifndef __AVR_ATmega644P__ - #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#ifndef __AVR_ATmega1284P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif #endif //x axis pins @@ -398,18 +516,27 @@ #define Z_MAX_PIN -1 //extruder pins - #define E_STEP_PIN 4 //Edited @ EJE Electronics 20100715 - #define E_DIR_PIN 2 //Edited @ EJE Electronics 20100715 - #define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715 + #define E0_STEP_PIN 4 //Edited @ EJE Electronics 20100715 + #define E0_DIR_PIN 2 //Edited @ EJE Electronics 20100715 + #define E0_ENABLE_PIN 3 //Added @ EJE Electronics 20100715 #define TEMP_0_PIN 5 //changed @ rkoeppl 20110410 + #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410 + + + #define TEMP_2_PIN -1 //changed @ rkoeppl 20110410 #define HEATER_0_PIN 14 //changed @ rkoeppl 20110410 - #define HEATER_1_PIN -1 //changed @ rkoeppl 20110410 - - + #define HEATER_1_PIN -1 + #define HEATER_2_PIN -1 + #if MOTHERBOARD == 5 + #define HEATER_BED_PIN -1 //changed @ rkoeppl 20110410 + #define TEMP_BED_PIN -1 //changed @ rkoeppl 20110410 + #else + #define HEATER_BED_PIN 1 //changed @ rkoeppl 20110410 + #define TEMP_BED_PIN 0 //changed @ rkoeppl 20110410 + #endif #define SDPOWER -1 #define SDSS 17 #define LED_PIN -1 //changed @ rkoeppl 20110410 - #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410 #define FAN_PIN -1 //changed @ rkoeppl 20110410 #define PS_ON_PIN -1 //changed @ rkoeppl 20110410 //our pin for debugging. @@ -420,20 +547,94 @@ #define TX_ENABLE_PIN 12 #define RX_ENABLE_PIN 13 + #endif + /**************************************************************************************** * Sanguinololu pin assignment * ****************************************************************************************/ #if MOTHERBOARD == 62 +#undef MOTHERBOARD #define MOTHERBOARD 6 #define SANGUINOLOLU_V_1_2 #endif #if MOTHERBOARD == 6 #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 -1 + +#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 SANGUINOLOLU_V_1_2 + +#define HEATER_BED_PIN 10 // (bed) - 10 for spare DIO pin and bed MOSFET, 12 for SL MOSFET +#define X_ENABLE_PIN 14 +#define Y_ENABLE_PIN 14 +#define Z_ENABLE_PIN 26 +#define E0_ENABLE_PIN 14 + +#else + +#define HEATER_BED_PIN 14 // (bed) +#define X_ENABLE_PIN -1 +#define Y_ENABLE_PIN -1 +#define Z_ENABLE_PIN -1 +#define E0_ENABLE_PIN -1 + +#endif + +#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 @@ -450,45 +651,375 @@ #define Z_MIN_PIN 20 #define Z_MAX_PIN -1 -#define E_STEP_PIN 1 -#define E_DIR_PIN 0 +#define E0_STEP_PIN 1 +#define E0_DIR_PIN 0 -#define LED_PIN -1 +#define PROBE_PIN -1 //29 on Melzi1284p A2 -#define FAN_PIN -1 +#define LED_PIN 27 + +#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 SANGUINOLOLU_V_1_2 - -#define HEATER_1_PIN 12 // (bed) +#define HEATER_BED_PIN 12 // bed (change to 10 for gate pin of MOSFET on heated bed) #define X_ENABLE_PIN 14 #define Y_ENABLE_PIN 14 #define Z_ENABLE_PIN 26 -#define E_ENABLE_PIN 14 +#define E0_ENABLE_PIN 14 -#else - -#define HEATER_1_PIN 14 // (bed) -#define X_ENABLE_PIN -1 -#define Y_ENABLE_PIN -1 -#define Z_ENABLE_PIN -1 -#define E_ENABLE_PIN -1 +#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 -#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder) -#define TEMP_1_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) -#define SDPOWER -1 -#define SDSS 31 + + +#if MOTHERBOARD == 7 +#define KNOWN_BOARD +/***************************************************************** +* Ultimaker pin assignment +******************************************************************/ + +#ifndef __AVR_ATmega1280__ + #ifndef __AVR_ATmega2560__ + #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. + #endif +#endif + +#define X_STEP_PIN 25 +#define X_DIR_PIN 23 +#define X_MIN_PIN 22 +#define X_MAX_PIN 24 +#define X_ENABLE_PIN 27 + +#define Y_STEP_PIN 31 +#define Y_DIR_PIN 33 +#define Y_MIN_PIN 26 +#define Y_MAX_PIN 28 +#define Y_ENABLE_PIN 29 + +#define Z_STEP_PIN 37 +#define Z_DIR_PIN 39 +#define Z_MIN_PIN 30 +#define Z_MAX_PIN 32 +#define Z_ENABLE_PIN 35 + +#define HEATER_BED_PIN 4 +#define TEMP_BED_PIN 10 + +#define HEATER_0_PIN 2 +#define TEMP_0_PIN 8 + +#define HEATER_1_PIN 3 +#define TEMP_1_PIN 9 + +#define HEATER_2_PIN -1 +#define TEMP_2_PIN -1 + +#define E0_STEP_PIN 43 +#define E0_DIR_PIN 45 +#define E0_ENABLE_PIN 41 + +#define E1_STEP_PIN 49 +#define E1_DIR_PIN 47 +#define E1_ENABLE_PIN 48 + +#define SDPOWER -1 +#define SDSS 53 +#define LED_PIN 13 +#define FAN_PIN 7 +#define PS_ON_PIN 12 +#define KILL_PIN -1 +#define SUICIDE_PIN 54 //PIN that has to be turned on right after start, to keep power flowing. + +#ifdef ULTRA_LCD + + #ifdef NEWPANEL + //arduino pin witch triggers an piezzo beeper + #define BEEPER 18 + + #define LCD_PINS_RS 20 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 16 + #define LCD_PINS_D5 21 + #define LCD_PINS_D6 5 + #define LCD_PINS_D7 6 + + //buttons are directly attached + #define BTN_EN1 40 + #define BTN_EN2 42 + #define BTN_ENC 19 //the click + + #define BLEN_C 2 + #define BLEN_B 1 + #define BLEN_A 0 + + #define SDCARDDETECT 38 + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + #else //old style panel with shift register + //arduino pin witch triggers an piezzo beeper + #define BEEPER 18 + + //buttons are attached to a shift register + #define SHIFT_CLK 38 + #define SHIFT_LD 42 + #define SHIFT_OUT 40 + #define SHIFT_EN 17 + + #define LCD_PINS_RS 16 + #define LCD_PINS_ENABLE 5 + #define LCD_PINS_D4 6 + #define LCD_PINS_D5 21 + #define LCD_PINS_D6 20 + #define LCD_PINS_D7 19 + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + + #define SDCARDDETECT -1 + //bits in the shift register that carry the buttons for: + // left up center down right red + #define BL_LE 7 + #define BL_UP 6 + #define BL_MI 5 + #define BL_DW 4 + #define BL_RI 3 + #define BL_ST 2 + + #define BLEN_B 1 + #define BLEN_A 0 + #endif +#endif //ULTRA_LCD + +#endif + +#if MOTHERBOARD == 71 +#define KNOWN_BOARD +/***************************************************************** +* Ultimaker pin assignment (Old electronics) +******************************************************************/ + +#ifndef __AVR_ATmega1280__ + #ifndef __AVR_ATmega2560__ + #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. + #endif +#endif + +#define X_STEP_PIN 25 +#define X_DIR_PIN 23 +#define X_MIN_PIN 15 +#define X_MAX_PIN 14 +#define X_ENABLE_PIN 27 + +#define Y_STEP_PIN 31 +#define Y_DIR_PIN 33 +#define Y_MIN_PIN 17 +#define Y_MAX_PIN 16 +#define Y_ENABLE_PIN 29 + +#define Z_STEP_PIN 37 +#define Z_DIR_PIN 39 +#define Z_MIN_PIN 19 +#define Z_MAX_PIN 18 +#define Z_ENABLE_PIN 35 + +#define HEATER_BED_PIN -1 +#define TEMP_BED_PIN -1 + +#define HEATER_0_PIN 2 +#define TEMP_0_PIN 8 + +#define HEATER_1_PIN 1 +#define TEMP_1_PIN 1 + +#define HEATER_2_PIN -1 +#define TEMP_2_PIN -1 + +#define E0_STEP_PIN 43 +#define E0_DIR_PIN 45 +#define E0_ENABLE_PIN 41 + +#define E1_STEP_PIN -1 +#define E1_DIR_PIN -1 +#define E1_ENABLE_PIN -1 + +#define SDPOWER -1 +#define SDSS -1 +#define LED_PIN -1 +#define FAN_PIN -1 +#define PS_ON_PIN -1 +#define KILL_PIN -1 +#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing. + +#define LCD_PINS_RS 24 +#define LCD_PINS_ENABLE 22 +#define LCD_PINS_D4 36 +#define LCD_PINS_D5 34 +#define LCD_PINS_D6 32 +#define LCD_PINS_D7 30 + +#endif + +/**************************************************************************************** +* Teensylu 0.7 pin assingments (ATMEGA90USB) +* Requires the Teensyduino software with Teensy2.0++ selected in arduino IDE! +****************************************************************************************/ +#if MOTHERBOARD == 8 +#define MOTHERBOARD 8 +#define KNOWN_BOARD 1 + + +#define X_STEP_PIN 0 +#define X_DIR_PIN 1 +#define X_ENABLE_PIN 39 +#define X_MIN_PIN 13 +#define X_MAX_PIN -1 + +#define Y_STEP_PIN 2 +#define Y_DIR_PIN 3 +#define Y_ENABLE_PIN 38 +#define Y_MIN_PIN 14 +#define Y_MAX_PIN -1 + +#define Z_STEP_PIN 4 +#define Z_DIR_PIN 5 +#define Z_ENABLE_PIN 23 +#define Z_MIN_PIN 15 +#define Z_MAX_PIN -1 + +#define E0_STEP_PIN 6 +#define E0_DIR_PIN 7 +#define E0_ENABLE_PIN 19 + + + +#define HEATER_0_PIN 21 // Extruder +#define HEATER_1_PIN -1 +#define HEATER_2_PIN -1 +#define HEATER_BED_PIN 20 // Bed +#define FAN_PIN 22 // Fan + +#define TEMP_0_PIN 7 // Extruder +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 +#define TEMP_BED_PIN 6 // Bed + +#define SDPOWER -1 +#define SDSS 8 +#define LED_PIN -1 +#define PS_ON_PIN -1 +#define KILL_PIN -1 +#define ALARM_PIN -1 + +#ifndef SDSUPPORT +// these pins are defined in the SD library if building with SD support + #define SCK_PIN 9 + #define MISO_PIN 11 + #define MOSI_PIN 10 +#endif +#endif + +/**************************************************************************************** +* Gen3+ pin assignment +* +****************************************************************************************/ +#if MOTHERBOARD == 9 +#define MOTHERBOARD 6 +#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 18 +#define X_MIN_PIN 20 +#define X_MAX_PIN -1 + +#define Y_STEP_PIN 23 +#define Y_DIR_PIN 22 +#define Y_MIN_PIN 25 +#define Y_MAX_PIN -1 + +#define Z_STEP_PIN 27 +#define Z_DIR_PIN 28 +#define Z_MIN_PIN 30 +#define Z_MAX_PIN -1 + +#define E_STEP_PIN 17 +#define E_DIR_PIN 21 + +#define LED_PIN -1 + +#define FAN_PIN -1 + +#define PS_ON_PIN 14 +#define KILL_PIN -1 + +#define HEATER_0_PIN 12 // (extruder) + +#define HEATER_1_PIN 16 // (bed) +#define X_ENABLE_PIN 19 +#define Y_ENABLE_PIN 24 +#define Z_ENABLE_PIN 29 +#define E_ENABLE_PIN 13 + +#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder) +#define TEMP_1_PIN 5 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) +#define TEMP_2_PIN -1 +#define SDPOWER -1 +#define SDSS 4 +#define HEATER_2_PIN -1 + +#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, +#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 +#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 diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp new file mode 100644 index 0000000000..91b5b46381 --- /dev/null +++ b/Marlin/planner.cpp @@ -0,0 +1,812 @@ +/* + 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 . +*/ + +/* 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()+2high) + { + high=se; + } + } + block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); + } + + float g=autotemp_min+high*autotemp_factor; + float t=g; + if(tautotemp_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)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<direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<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 + if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); } + + if (block->steps_e == 0) { + if(feed_ratesteps_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<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 * EXTRUDER_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 +} diff --git a/Marlin/planner.h b/Marlin/planner.h new file mode 100644 index 0000000000..fc0d83c2b8 --- /dev/null +++ b/Marlin/planner.h @@ -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 . +*/ + +// 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 diff --git a/Marlin/speed_lookuptable.h b/Marlin/speed_lookuptable.h index 5c54a08d1c..670e744c73 100644 --- a/Marlin/speed_lookuptable.h +++ b/Marlin/speed_lookuptable.h @@ -1,9 +1,11 @@ #ifndef SPEED_LOOKUPTABLE_H #define SPEED_LOOKUPTABLE_H -#include +#include "Marlin.h" -uint16_t speed_lookuptable_fast[256][2] PROGMEM = { +#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}, @@ -35,9 +37,10 @@ uint16_t speed_lookuptable_fast[256][2] PROGMEM = { { 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}, +{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0} }; -uint16_t speed_lookuptable_slow[256][2] PROGMEM = { + +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}, @@ -69,7 +72,81 @@ uint16_t speed_lookuptable_slow[256][2] PROGMEM = { { 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}, +{ 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 diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp new file mode 100644 index 0000000000..597d320011 --- /dev/null +++ b/Marlin/stepper.cpp @@ -0,0 +1,850 @@ +/* + 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 . +*/ + +/* 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< +// +// 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< -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< -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< -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<steps_e; + if (counter_e > 0) { + counter_e -= current_block->step_event_count; + if ((out_bits & (1<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) { + WRITE_E_STEP(HIGH); + counter_e -= current_block->step_event_count; + WRITE_E_STEP(LOW); + count_position[E_AXIS]+=count_direction[E_AXIS]; + } + #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 + + // waveform generation = 0100 = CTC + TCCR1B &= ~(1<. +*/ + +#ifndef stepper_h +#define stepper_h + +#include "planner.h" + +#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 + + +// 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 diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp new file mode 100644 index 0000000000..17446a7bf6 --- /dev/null +++ b/Marlin/temperature.cpp @@ -0,0 +1,1018 @@ +/* + 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 . + */ + +/* + 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" +#include "watchdog.h" + +//=========================================================================== +//=============================public variables============================ +//=========================================================================== +int target_raw[EXTRUDERS] = { 0 }; +int target_raw_bed = 0; +#ifdef BED_LIMIT_SWITCHING +int target_bed_low_temp =0; +int target_bed_high_temp =0; +#endif +int current_raw[EXTRUDERS] = { 0 }; +int current_raw_bed = 0; + +#ifdef PIDTEMP + // used external + float pid_setpoint[EXTRUDERS] = { 0.0 }; + + float Kp=DEFAULT_Kp; + float Ki=DEFAULT_Ki; + int Ki_Max=PID_INTEGRAL_DRIVE_MAX; + float Kd=DEFAULT_Kd; + #ifdef PID_ADD_EXTRUSION_RATE + float Kc=DEFAULT_Kc; + #endif +#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] = { 0 }; + static float temp_dState[EXTRUDERS] = { 0 }; + static float pTerm[EXTRUDERS]; + static float iTerm[EXTRUDERS]; + static float dTerm[EXTRUDERS]; + //int output; + static float pid_error[EXTRUDERS]; + static float temp_iState_min[EXTRUDERS]; + static float temp_iState_max[EXTRUDERS]; + // static float pid_input[EXTRUDERS]; + // static float pid_output[EXTRUDERS]; + static bool pid_reset[EXTRUDERS]; +#endif //PIDTEMP + static unsigned char soft_pwm[EXTRUDERS]; + +#ifdef WATCHPERIOD + int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all + int watch_oldtemp[3] = {0,0,0}; + unsigned long watchmillis = 0; +#endif //WATCHPERIOD + +// Init min and max temp with extreme values to prevent false errors during startup + static int minttemp[EXTRUDERS] = { 0 }; + static int maxttemp[EXTRUDERS] = { 16383 }; // the first value used for all + static int bed_minttemp = 0; + static int bed_maxttemp = 16383; + static void *heater_ttbl_map[EXTRUDERS] = { (void *)heater_0_temptable +#if EXTRUDERS > 1 + , (void *)heater_1_temptable +#endif +#if EXTRUDERS > 2 + , (void *)heater_2_temptable +#endif +#if EXTRUDERS > 3 + #error Unsupported number of extruders +#endif + }; + static int heater_ttbllen_map[EXTRUDERS] = { heater_0_temptable_len +#if EXTRUDERS > 1 + , heater_1_temptable_len +#endif +#if EXTRUDERS > 2 + , heater_2_temptable_len +#endif +#if EXTRUDERS > 3 + #error Unsupported number of extruders +#endif + }; + +//=========================================================================== +//============================= 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); + /* + Kp = 0.33*Ku; + Ki = Kp/Tu; + Kd = Kp*Tu/3; + SERIAL_PROTOCOLLNPGM(" Some overshoot ") + SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp); + SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki); + SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd); + Kp = 0.2*Ku; + Ki = 2*Kp/Tu; + Kd = Kp*Tu/3; + SERIAL_PROTOCOLLNPGM(" No overshoot ") + 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; e++) { + temp_iState_max[e] = Ki_Max / Ki; + } +#endif +} + +int getHeaterPower(int heater) { + return soft_pwm[heater]; +} + +void manage_heater() +{ + #ifdef USE_WATCHDOG + wd_reset(); + #endif + + 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; e++) + { + + #ifdef PIDTEMP + pid_input = analog2temp(current_raw[e], e); + + #ifndef PID_OPENLOOP + 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); + } + #endif //PID_OPENLOOP + #ifdef PID_DEBUG + SERIAL_ECHOLN(" PIDDEBUG "< minttemp[e]) && (current_raw[e] < maxttemp[e])) + { + soft_pwm[e] = (int)pid_output >> 1; + } + else { + soft_pwm[e] = 0; + } + } // End extruder for loop + + #ifdef WATCHPERIOD + if(watchmillis && millis() - watchmillis > WATCHPERIOD){ + if(watch_oldtemp[0] >= degHotend(active_extruder)){ + setTargetHotend(0,active_extruder); + LCD_MESSAGEPGM("Heating failed"); + SERIAL_ECHO_START; + SERIAL_ECHOLN("Heating failed"); + }else{ + watchmillis = 0; + } + } + #endif + + if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) + return; + previous_millis_bed_heater = millis(); + + #if TEMP_BED_PIN > -1 + + #ifndef BED_LIMIT_SWITCHING + // 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); + } + #else //#ifdef BED_LIMIT_SWITCHING + // Check if temperature is within the correct band + if((current_raw_bed > bed_minttemp) && (current_raw_bed < bed_maxttemp)) { + if(current_raw_bed > target_bed_high_temp) + { + WRITE(HEATER_BED_PIN,LOW); + } + else + if(current_raw_bed <= target_bed_low_temp) + { + WRITE(HEATER_BED_PIN,HIGH); + } + } + else { + WRITE(HEATER_BED_PIN,LOW); + } + #endif + #endif +} + +#define PGM_RD_W(x) (short)pgm_read_word(&x) + +#ifdef COMPUTE_THERMISTORS +// 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 ); +} + +int temp2analog(int celsius, uint8_t e) { return temp2analogi(celsius, E_BETA, E_RS, E_R_INF); } +int temp2analogBed(int celsius) { return temp2analogi(celsius, BED_BETA, BED_RS, BED_R_INF); } +float analog2temp(int raw, uint8_t e) { return analog2tempi(raw, E_BETA, E_RS, E_R_INF); } +float analog2tempBed(int raw) { return analog2tempi(raw, BED_BETA, BED_RS, BED_R_INF); } + +#else + + +// Takes hot end temperature value as input and returns corresponding raw value. +// For a thermistor, it uses the RepRap thermistor temp table. +// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. +// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. +int temp2analog(int celsius, uint8_t e) { + if(e >= EXTRUDERS) + { + SERIAL_ERROR_START; + SERIAL_ERROR((int)e); + SERIAL_ERRORLNPGM(" - Invalid extruder number!"); + kill(); + } + #ifdef HEATER_0_USES_MAX6675 + if (e == 0) + { + return celsius * 4; + } + #endif + if(heater_ttbl_map[e] != 0) + { + int raw = 0; + byte i; + short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); + + for (i=1; i= EXTRUDERS) + { + SERIAL_ERROR_START; + SERIAL_ERROR((int)e); + SERIAL_ERRORLNPGM(" - Invalid extruder number !"); + kill(); + } + #ifdef HEATER_0_USES_MAX6675 + if (e == 0) + { + return 0.25 * raw; + } + #endif + + if(heater_ttbl_map[e] != 0) + { + float celsius = 0; + byte i; + short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]); + + raw = (1023 * OVERSAMPLENR) - raw; + for (i=1; i raw) + { + celsius = PGM_RD_W((*tt)[i-1][1]) + + (raw - PGM_RD_W((*tt)[i-1][0])) * + (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i-1][1])) / + (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i-1][0])); + break; + } + } + + // Overflow: Set to last value in the table + if (i == heater_ttbllen_map[e]) celsius = PGM_RD_W((*tt)[i-1][1]); + + return celsius; + } + return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET; +} + +// Derived from RepRap FiveD extruder::getTemperature() +// For bed temperature measurement. +float analog2tempBed(int raw) { + #ifdef BED_USES_THERMISTOR + float celsius = 0; + byte i; + + raw = (1023 * OVERSAMPLENR) - raw; + + for (i=1; i raw) + { + celsius = PGM_RD_W(bedtemptable[i-1][1]) + + (raw - PGM_RD_W(bedtemptable[i-1][0])) * + (float)(PGM_RD_W(bedtemptable[i][1]) - PGM_RD_W(bedtemptable[i-1][1])) / + (float)(PGM_RD_W(bedtemptable[i][0]) - PGM_RD_W(bedtemptable[i-1][0])); + break; + } + } + + // Overflow: Set to last value in the table + if (i == bedtemptable_len) celsius = PGM_RD_W(bedtemptable[i-1][1]); + + return celsius; + #elif defined BED_USES_AD595 + return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET; + #else + #warning No heater-type defined for the bed. + return 0; + #endif +} + +#endif + +void tp_init() +{ + // Finish init of mult extruder arrays + for(int e = 0; e < EXTRUDERS; e++) { + // populate with the first value +#ifdef WATCHPERIOD + watch_raw[e] = watch_raw[0]; +#endif + 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 + + #ifdef HEATER_0_USES_MAX6675 + #ifndef SDSUPPORT + SET_OUTPUT(MAX_SCK_PIN); + WRITE(MAX_SCK_PIN,0); + + SET_OUTPUT(MAX_MOSI_PIN); + WRITE(MAX_MOSI_PIN,1); + + SET_INPUT(MAX_MISO_PIN); + WRITE(MAX_MISO_PIN,1); + #endif + + SET_OUTPUT(MAX6675_SS); + WRITE(MAX6675_SS,1); + #endif + + // Set analog inputs + ADCSRA = 1< -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< -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< 1) && defined(HEATER_1_MINTEMP) + minttemp[1] = temp2analog(HEATER_1_MINTEMP, 1); +#endif // MINTEMP 1 +#if (EXTRUDERS > 1) && defined(HEATER_1_MAXTEMP) + maxttemp[1] = temp2analog(HEATER_1_MAXTEMP, 1); +#endif //MAXTEMP 1 + +#if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP) + minttemp[2] = temp2analog(HEATER_2_MINTEMP, 2); +#endif //MINTEMP 2 +#if (EXTRUDERS > 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 setWatch() +{ +#ifdef WATCHPERIOD + int t = 0; + for (int e = 0; e < EXTRUDERS; e++) + { + if(isHeatingHotend(e)) + watch_oldtemp[0] = degHotend(0); + { + t = max(t,millis()); + watch_raw[e] = current_raw[e]; + } + } + watchmillis = t; +#endif +} + + +void disable_heater() +{ + for(int i=0;i -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 !!"); + } +} + +#define HEAT_INTERVAL 250 +#ifdef HEATER_0_USES_MAX6675 +long max6675_previous_millis = -HEAT_INTERVAL; +int max6675_temp = 2000; + +int read_max6675() +{ + if (millis() - max6675_previous_millis < HEAT_INTERVAL) + return max6675_temp; + + max6675_previous_millis = millis(); + max6675_temp = 0; + + #ifdef PRR + PRR &= ~(1<> 3; + } + + return max6675_temp; +} +#endif + + +// 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); + #if EXTRUDERS > 1 + soft_pwm_1 = soft_pwm[1]; + if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); + #endif + #if EXTRUDERS > 2 + soft_pwm_2 = soft_pwm[2]; + if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1); + #endif + } + if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0); + #if EXTRUDERS > 1 + if(soft_pwm_1 <= pwm_count) WRITE(HEATER_1_PIN,0); + #endif + #if EXTRUDERS > 2 + if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0); + #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< -1) + raw_temp_0_value += ADC; + #endif + #ifdef HEATER_0_USES_MAX6675 // TODO remove the blocking + raw_temp_0_value = read_max6675(); + #endif + temp_state = 2; + break; + case 2: // Prepare TEMP_BED + #if (TEMP_BED_PIN > -1) + #if TEMP_BED_PIN > 7 + ADCSRB = 1< -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< -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< -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 > 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 > 2 + #ifdef HEATER_2_USES_AD595 + current_raw[2] = raw_temp_2_value; + #else + current_raw[2] = 16383 - raw_temp_2_value; + #endif +#endif + + #ifdef BED_USES_AD595 + current_raw_bed = raw_temp_bed_value; + #else + current_raw_bed = 16383 - raw_temp_bed_value; + #endif + + 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; 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 + } +} + diff --git a/Marlin/temperature.h b/Marlin/temperature.h new file mode 100644 index 0000000000..1e6c1be3ae --- /dev/null +++ b/Marlin/temperature.h @@ -0,0 +1,170 @@ +/* + 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 . +*/ + +#ifndef temperature_h +#define temperature_h + +#include "Marlin.h" +#include "planner.h" +#ifdef PID_ADD_EXTRUSION_RATE + #include "stepper.h" +#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]; +extern int heatingtarget_raw[EXTRUDERS]; +extern int current_raw[EXTRUDERS]; +extern int target_raw_bed; +extern int current_raw_bed; +#ifdef BED_LIMIT_SWITCHING + extern int target_bed_low_temp ; + extern int target_bed_high_temp ; +#endif +extern float Kp,Ki,Kd,Kc; +extern int Ki_Max; + +#ifdef PIDTEMP + extern float pid_setpoint[EXTRUDERS]; +#endif + +// #ifdef WATCHPERIOD + extern int watch_raw[EXTRUDERS] ; +// extern unsigned long watchmillis; +// #endif + + +//high level conversion routines, for use outside of temperature.cpp +//inline so that there is no performance decrease. +//deg=degreeCelsius + +FORCE_INLINE float degHotend(uint8_t extruder) { + return analog2temp(current_raw[extruder], extruder); +}; + +FORCE_INLINE float degBed() { + return analog2tempBed(current_raw_bed); +}; + +FORCE_INLINE float degTargetHotend(uint8_t extruder) { + return analog2temp(target_raw[extruder], extruder); +}; + +FORCE_INLINE float degTargetBed() { + return analog2tempBed(target_raw_bed); +}; + +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 void setTargetBed(const float &celsius) { + + target_raw_bed = temp2analogBed(celsius); + #ifdef BED_LIMIT_SWITCHING + if(celsius>BED_HYSTERESIS) + { + target_bed_low_temp= temp2analogBed(celsius-BED_HYSTERESIS); + target_bed_high_temp= temp2analogBed(celsius+BED_HYSTERESIS); + } + else + { + target_bed_low_temp=0; + target_bed_high_temp=0; + } + #endif +}; + +FORCE_INLINE bool isHeatingHotend(uint8_t extruder){ + return target_raw[extruder] > current_raw[extruder]; +}; + +FORCE_INLINE bool isHeatingBed() { + return target_raw_bed > current_raw_bed; +}; + +FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { + return target_raw[extruder] < current_raw[extruder]; +}; + +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 > 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 > 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 > 3 +#error Invalid number of extruders +#endif + + + +int getHeaterPower(int heater); +void disable_heater(); +void setWatch(); +void updatePID(); + +FORCE_INLINE void autotempShutdown(){ + #ifdef AUTOTEMP + if(autotemp_enabled) + { + autotemp_enabled=false; + if(degTargetHotend(active_extruder)>autotemp_min) + setTargetHotend(0,active_extruder); + } + #endif +} + +void PID_autotune(float temp); + +#endif + diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h index 1c780020b0..8d2e710ad6 100644 --- a/Marlin/thermistortables.h +++ b/Marlin/thermistortables.h @@ -1,148 +1,626 @@ #ifndef THERMISTORTABLES_H_ #define THERMISTORTABLES_H_ -#if (THERMISTORHEATER == 1) || (THERMISTORBED == 1) //100k bed thermistor +#include "Marlin.h" +#define OVERSAMPLENR 16 -#define NUMTEMPS_1 61 -const short temptable_1[NUMTEMPS_1][2] = { -{ (23*16) , 300 }, -{ (25*16) , 295 }, -{ (27*16) , 290 }, -{ (28*16) , 285 }, -{ (31*16) , 280 }, -{ (33*16) , 275 }, -{ (35*16) , 270 }, -{ (38*16) , 265 }, -{ (41*16) , 260 }, -{ (44*16) , 255 }, -{ (48*16) , 250 }, -{ (52*16) , 245 }, -{ (56*16) , 240 }, -{ (61*16) , 235 }, -{ (66*16) , 230 }, -{ (71*16) , 225 }, -{ (78*16) , 220 }, -{ (84*16) , 215 }, -{ (92*16) , 210 }, -{ (100*16), 205 }, -{ (109*16), 200 }, -{ (120*16), 195 }, -{ (131*16), 190 }, -{ (143*16), 185 }, -{ (156*16), 180 }, -{ (171*16), 175 }, -{ (187*16), 170 }, -{ (205*16), 165 }, -{ (224*16), 160 }, -{ (245*16), 155 }, -{ (268*16), 150 }, -{ (293*16), 145 }, -{ (320*16), 140 }, -{ (348*16), 135 }, -{ (379*16), 130 }, -{ (411*16), 125 }, -{ (445*16), 120 }, -{ (480*16), 115 }, -{ (516*16), 110 }, -{ (553*16), 105 }, -{ (591*16), 100 }, -{ (628*16), 95 }, -{ (665*16), 90 }, -{ (702*16), 85 }, -{ (737*16), 80 }, -{ (770*16), 75 }, -{ (801*16), 70 }, -{ (830*16), 65 }, -{ (857*16), 60 }, -{ (881*16), 55 }, -{ (903*16), 50 }, -{ (922*16), 45 }, -{ (939*16), 40 }, -{ (954*16), 35 }, -{ (966*16), 30 }, -{ (977*16), 25 }, -{ (985*16), 20 }, -{ (993*16), 15 }, -{ (999*16), 10 }, -{ (1004*16), 5 }, -{ (1008*16), 0 } //safety +#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORHEATER_2 == 1) || (THERMISTORBED == 1) //100k bed thermistor + +const short temptable_1[][2] PROGMEM = { +{ 23*OVERSAMPLENR , 300 }, +{ 25*OVERSAMPLENR , 295 }, +{ 27*OVERSAMPLENR , 290 }, +{ 28*OVERSAMPLENR , 285 }, +{ 31*OVERSAMPLENR , 280 }, +{ 33*OVERSAMPLENR , 275 }, +{ 35*OVERSAMPLENR , 270 }, +{ 38*OVERSAMPLENR , 265 }, +{ 41*OVERSAMPLENR , 260 }, +{ 44*OVERSAMPLENR , 255 }, +{ 48*OVERSAMPLENR , 250 }, +{ 52*OVERSAMPLENR , 245 }, +{ 56*OVERSAMPLENR , 240 }, +{ 61*OVERSAMPLENR , 235 }, +{ 66*OVERSAMPLENR , 230 }, +{ 71*OVERSAMPLENR , 225 }, +{ 78*OVERSAMPLENR , 220 }, +{ 84*OVERSAMPLENR , 215 }, +{ 92*OVERSAMPLENR , 210 }, +{ 100*OVERSAMPLENR , 205 }, +{ 109*OVERSAMPLENR , 200 }, +{ 120*OVERSAMPLENR , 195 }, +{ 131*OVERSAMPLENR , 190 }, +{ 143*OVERSAMPLENR , 185 }, +{ 156*OVERSAMPLENR , 180 }, +{ 171*OVERSAMPLENR , 175 }, +{ 187*OVERSAMPLENR , 170 }, +{ 205*OVERSAMPLENR , 165 }, +{ 224*OVERSAMPLENR , 160 }, +{ 245*OVERSAMPLENR , 155 }, +{ 268*OVERSAMPLENR , 150 }, +{ 293*OVERSAMPLENR , 145 }, +{ 320*OVERSAMPLENR , 140 }, +{ 348*OVERSAMPLENR , 135 }, +{ 379*OVERSAMPLENR , 130 }, +{ 411*OVERSAMPLENR , 125 }, +{ 445*OVERSAMPLENR , 120 }, +{ 480*OVERSAMPLENR , 115 }, +{ 516*OVERSAMPLENR , 110 }, +{ 553*OVERSAMPLENR , 105 }, +{ 591*OVERSAMPLENR , 100 }, +{ 628*OVERSAMPLENR , 95 }, +{ 665*OVERSAMPLENR , 90 }, +{ 702*OVERSAMPLENR , 85 }, +{ 737*OVERSAMPLENR , 80 }, +{ 770*OVERSAMPLENR , 75 }, +{ 801*OVERSAMPLENR , 70 }, +{ 830*OVERSAMPLENR , 65 }, +{ 857*OVERSAMPLENR , 60 }, +{ 881*OVERSAMPLENR , 55 }, +{ 903*OVERSAMPLENR , 50 }, +{ 922*OVERSAMPLENR , 45 }, +{ 939*OVERSAMPLENR , 40 }, +{ 954*OVERSAMPLENR , 35 }, +{ 966*OVERSAMPLENR , 30 }, +{ 977*OVERSAMPLENR , 25 }, +{ 985*OVERSAMPLENR , 20 }, +{ 993*OVERSAMPLENR , 15 }, +{ 999*OVERSAMPLENR , 10 }, +{ 1004*OVERSAMPLENR , 5 }, +{ 1008*OVERSAMPLENR , 0 } //safety }; #endif -#if (THERMISTORHEATER == 2) || (THERMISTORBED == 2) //200k bed thermistor -#define NUMTEMPS_2 21 -const short temptable_2[NUMTEMPS_2][2] = { - {(1*16), 848}, - {(54*16), 275}, - {(107*16), 228}, - {(160*16), 202}, - {(213*16), 185}, - {(266*16), 171}, - {(319*16), 160}, - {(372*16), 150}, - {(425*16), 141}, - {(478*16), 133}, - {(531*16), 125}, - {(584*16), 118}, - {(637*16), 110}, - {(690*16), 103}, - {(743*16), 95}, - {(796*16), 86}, - {(849*16), 77}, - {(902*16), 65}, - {(955*16), 49}, - {(1008*16), 17}, - {(1020*16), 0} //safety +#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor +const short temptable_2[][2] PROGMEM = { +//200k ATC Semitec 204GT-2 +//Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf +// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance + {1*OVERSAMPLENR, 848}, + {30*OVERSAMPLENR, 300}, //top rating 300C + {34*OVERSAMPLENR, 290}, + {39*OVERSAMPLENR, 280}, + {46*OVERSAMPLENR, 270}, + {53*OVERSAMPLENR, 260}, + {63*OVERSAMPLENR, 250}, + {74*OVERSAMPLENR, 240}, + {87*OVERSAMPLENR, 230}, + {104*OVERSAMPLENR, 220}, + {124*OVERSAMPLENR, 210}, + {148*OVERSAMPLENR, 200}, + {176*OVERSAMPLENR, 190}, + {211*OVERSAMPLENR, 180}, + {252*OVERSAMPLENR, 170}, + {301*OVERSAMPLENR, 160}, + {357*OVERSAMPLENR, 150}, + {420*OVERSAMPLENR, 140}, + {489*OVERSAMPLENR, 130}, + {562*OVERSAMPLENR, 120}, + {636*OVERSAMPLENR, 110}, + {708*OVERSAMPLENR, 100}, + {775*OVERSAMPLENR, 90}, + {835*OVERSAMPLENR, 80}, + {884*OVERSAMPLENR, 70}, + {924*OVERSAMPLENR, 60}, + {955*OVERSAMPLENR, 50}, + {977*OVERSAMPLENR, 40}, + {993*OVERSAMPLENR, 30}, + {1004*OVERSAMPLENR, 20}, + {1012*OVERSAMPLENR, 10}, + {1016*OVERSAMPLENR, 0}, }; #endif -#if (THERMISTORHEATER == 3) || (THERMISTORBED == 3) //mendel-parts -#define NUMTEMPS_3 28 -const short temptable_3[NUMTEMPS_3][2] = { - {(1*16),864}, - {(21*16),300}, - {(25*16),290}, - {(29*16),280}, - {(33*16),270}, - {(39*16),260}, - {(46*16),250}, - {(54*16),240}, - {(64*16),230}, - {(75*16),220}, - {(90*16),210}, - {(107*16),200}, - {(128*16),190}, - {(154*16),180}, - {(184*16),170}, - {(221*16),160}, - {(265*16),150}, - {(316*16),140}, - {(375*16),130}, - {(441*16),120}, - {(513*16),110}, - {(588*16),100}, - {(734*16),80}, - {(856*16),60}, - {(938*16),40}, - {(986*16),20}, - {(1008*16),0}, - {(1018*16),-20} - }; +#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORHEATER_2 == 3) || (THERMISTORBED == 3) //mendel-parts +const short temptable_3[][2] PROGMEM = { + {1*OVERSAMPLENR,864}, + {21*OVERSAMPLENR,300}, + {25*OVERSAMPLENR,290}, + {29*OVERSAMPLENR,280}, + {33*OVERSAMPLENR,270}, + {39*OVERSAMPLENR,260}, + {46*OVERSAMPLENR,250}, + {54*OVERSAMPLENR,240}, + {64*OVERSAMPLENR,230}, + {75*OVERSAMPLENR,220}, + {90*OVERSAMPLENR,210}, + {107*OVERSAMPLENR,200}, + {128*OVERSAMPLENR,190}, + {154*OVERSAMPLENR,180}, + {184*OVERSAMPLENR,170}, + {221*OVERSAMPLENR,160}, + {265*OVERSAMPLENR,150}, + {316*OVERSAMPLENR,140}, + {375*OVERSAMPLENR,130}, + {441*OVERSAMPLENR,120}, + {513*OVERSAMPLENR,110}, + {588*OVERSAMPLENR,100}, + {734*OVERSAMPLENR,80}, + {856*OVERSAMPLENR,60}, + {938*OVERSAMPLENR,40}, + {986*OVERSAMPLENR,20}, + {1008*OVERSAMPLENR,0}, + {1018*OVERSAMPLENR,-20} + }; #endif +#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORHEATER_2 == 4) || (THERMISTORBED == 4) //10k thermistor +const short temptable_4[][2] PROGMEM = { + {1*OVERSAMPLENR, 430}, + {54*OVERSAMPLENR, 137}, + {107*OVERSAMPLENR, 107}, + {160*OVERSAMPLENR, 91}, + {213*OVERSAMPLENR, 80}, + {266*OVERSAMPLENR, 71}, + {319*OVERSAMPLENR, 64}, + {372*OVERSAMPLENR, 57}, + {425*OVERSAMPLENR, 51}, + {478*OVERSAMPLENR, 46}, + {531*OVERSAMPLENR, 41}, + {584*OVERSAMPLENR, 35}, + {637*OVERSAMPLENR, 30}, + {690*OVERSAMPLENR, 25}, + {743*OVERSAMPLENR, 20}, + {796*OVERSAMPLENR, 14}, + {849*OVERSAMPLENR, 7}, + {902*OVERSAMPLENR, 0}, + {955*OVERSAMPLENR, -11}, + {1008*OVERSAMPLENR, -35} +}; +#endif -#if THERMISTORHEATER == 1 -#define NUMTEMPS NUMTEMPS_1 -#define temptable temptable_1 -#elif THERMISTORHEATER == 2 -#define NUMTEMPS NUMTEMPS_2 -#define temptable temptable_2 -#elif THERMISTORHEATER == 3 -#define NUMTEMPS NUMTEMPS_3 -#define temptable temptable_3 +#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORHEATER_2 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2) +const short temptable_5[][2] PROGMEM = { +// ATC Semitec 104GT-2 (Used in ParCan) +// Verified by linagee. Source: http://shop.arcol.hu/static/datasheets/thermistors.pdf +// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance + {1*OVERSAMPLENR, 713}, + {17*OVERSAMPLENR, 300}, //top rating 300C + {20*OVERSAMPLENR, 290}, + {23*OVERSAMPLENR, 280}, + {27*OVERSAMPLENR, 270}, + {31*OVERSAMPLENR, 260}, + {37*OVERSAMPLENR, 250}, + {43*OVERSAMPLENR, 240}, + {51*OVERSAMPLENR, 230}, + {61*OVERSAMPLENR, 220}, + {73*OVERSAMPLENR, 210}, + {87*OVERSAMPLENR, 200}, + {106*OVERSAMPLENR, 190}, + {128*OVERSAMPLENR, 180}, + {155*OVERSAMPLENR, 170}, + {189*OVERSAMPLENR, 160}, + {230*OVERSAMPLENR, 150}, + {278*OVERSAMPLENR, 140}, + {336*OVERSAMPLENR, 130}, + {402*OVERSAMPLENR, 120}, + {476*OVERSAMPLENR, 110}, + {554*OVERSAMPLENR, 100}, + {635*OVERSAMPLENR, 90}, + {713*OVERSAMPLENR, 80}, + {784*OVERSAMPLENR, 70}, + {846*OVERSAMPLENR, 60}, + {897*OVERSAMPLENR, 50}, + {937*OVERSAMPLENR, 40}, + {966*OVERSAMPLENR, 30}, + {986*OVERSAMPLENR, 20}, + {1000*OVERSAMPLENR, 10}, + {1010*OVERSAMPLENR, 0} +}; +#endif + +#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORHEATER_2 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor +const short temptable_6[][2] PROGMEM = { + {1*OVERSAMPLENR, 350}, + {28*OVERSAMPLENR, 250}, //top rating 250C + {31*OVERSAMPLENR, 245}, + {35*OVERSAMPLENR, 240}, + {39*OVERSAMPLENR, 235}, + {42*OVERSAMPLENR, 230}, + {44*OVERSAMPLENR, 225}, + {49*OVERSAMPLENR, 220}, + {53*OVERSAMPLENR, 215}, + {62*OVERSAMPLENR, 210}, + {71*OVERSAMPLENR, 205}, //fitted graphically + {78*OVERSAMPLENR, 200}, //fitted graphically + {94*OVERSAMPLENR, 190}, + {102*OVERSAMPLENR, 185}, + {116*OVERSAMPLENR, 170}, + {143*OVERSAMPLENR, 160}, + {183*OVERSAMPLENR, 150}, + {223*OVERSAMPLENR, 140}, + {270*OVERSAMPLENR, 130}, + {318*OVERSAMPLENR, 120}, + {383*OVERSAMPLENR, 110}, + {413*OVERSAMPLENR, 105}, + {439*OVERSAMPLENR, 100}, + {484*OVERSAMPLENR, 95}, + {513*OVERSAMPLENR, 90}, + {607*OVERSAMPLENR, 80}, + {664*OVERSAMPLENR, 70}, + {781*OVERSAMPLENR, 60}, + {810*OVERSAMPLENR, 55}, + {849*OVERSAMPLENR, 50}, + {914*OVERSAMPLENR, 45}, + {914*OVERSAMPLENR, 40}, + {935*OVERSAMPLENR, 35}, + {954*OVERSAMPLENR, 30}, + {970*OVERSAMPLENR, 25}, + {978*OVERSAMPLENR, 22}, + {1008*OVERSAMPLENR, 3} +}; +#endif + +#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01 +const short temptable_7[][2] PROGMEM = { + {1*OVERSAMPLENR, 500}, + {46*OVERSAMPLENR, 270}, //top rating 300C + {50*OVERSAMPLENR, 265}, + {54*OVERSAMPLENR, 260}, + {58*OVERSAMPLENR, 255}, + {62*OVERSAMPLENR, 250}, + {67*OVERSAMPLENR, 245}, + {72*OVERSAMPLENR, 240}, + {79*OVERSAMPLENR, 235}, + {85*OVERSAMPLENR, 230}, + {91*OVERSAMPLENR, 225}, + {99*OVERSAMPLENR, 220}, + {107*OVERSAMPLENR, 215}, + {116*OVERSAMPLENR, 210}, + {126*OVERSAMPLENR, 205}, + {136*OVERSAMPLENR, 200}, + {149*OVERSAMPLENR, 195}, + {160*OVERSAMPLENR, 190}, + {175*OVERSAMPLENR, 185}, + {191*OVERSAMPLENR, 180}, + {209*OVERSAMPLENR, 175}, + {224*OVERSAMPLENR, 170}, + {246*OVERSAMPLENR, 165}, + {267*OVERSAMPLENR, 160}, + {293*OVERSAMPLENR, 155}, + {316*OVERSAMPLENR, 150}, + {340*OVERSAMPLENR, 145}, + {364*OVERSAMPLENR, 140}, + {396*OVERSAMPLENR, 135}, + {425*OVERSAMPLENR, 130}, + {460*OVERSAMPLENR, 125}, + {489*OVERSAMPLENR, 120}, + {526*OVERSAMPLENR, 115}, + {558*OVERSAMPLENR, 110}, + {591*OVERSAMPLENR, 105}, + {628*OVERSAMPLENR, 100}, + {660*OVERSAMPLENR, 95}, + {696*OVERSAMPLENR, 90}, + {733*OVERSAMPLENR, 85}, + {761*OVERSAMPLENR, 80}, + {794*OVERSAMPLENR, 75}, + {819*OVERSAMPLENR, 70}, + {847*OVERSAMPLENR, 65}, + {870*OVERSAMPLENR, 60}, + {892*OVERSAMPLENR, 55}, + {911*OVERSAMPLENR, 50}, + {929*OVERSAMPLENR, 45}, + {944*OVERSAMPLENR, 40}, + {959*OVERSAMPLENR, 35}, + {971*OVERSAMPLENR, 30}, + {981*OVERSAMPLENR, 25}, + {989*OVERSAMPLENR, 20}, + {994*OVERSAMPLENR, 15}, + {1001*OVERSAMPLENR, 10}, + {1005*OVERSAMPLENR, 5} +}; +#endif +// +#if (THERMISTORHEATER_0 == 100) || (THERMISTORHEATER_1 == 100) || (THERMISTORHEATER_2 == 100) || (THERMISTORBED == 100) // 100k DO-35 NTC +const short temptable_100[][2] PROGMEM = { + {1*OVERSAMPLENR, 929}, + {36*OVERSAMPLENR, 299}, + {71*OVERSAMPLENR, 246}, + {106*OVERSAMPLENR, 217}, + {141*OVERSAMPLENR, 198}, + {176*OVERSAMPLENR, 184}, + {211*OVERSAMPLENR, 173}, + {246*OVERSAMPLENR, 163}, + {281*OVERSAMPLENR, 154}, + {316*OVERSAMPLENR, 147}, + {351*OVERSAMPLENR, 140}, + {386*OVERSAMPLENR, 134}, + {421*OVERSAMPLENR, 128}, + {456*OVERSAMPLENR, 122}, + {491*OVERSAMPLENR, 117}, + {526*OVERSAMPLENR, 112}, + {561*OVERSAMPLENR, 107}, + {596*OVERSAMPLENR, 102}, + {631*OVERSAMPLENR, 97}, + {666*OVERSAMPLENR, 91}, + {701*OVERSAMPLENR, 86}, + {736*OVERSAMPLENR, 81}, + {771*OVERSAMPLENR, 76}, + {806*OVERSAMPLENR, 70}, + {841*OVERSAMPLENR, 63}, + {876*OVERSAMPLENR, 56}, + {911*OVERSAMPLENR, 48}, + {946*OVERSAMPLENR, 38}, + {981*OVERSAMPLENR, 23}, + {1005*OVERSAMPLENR, 5}, + {1016*OVERSAMPLENR, 0} +}; +#endif +#if (THERMISTORHEATER_0 == 101) || (THERMISTORHEATER_1 == 101) || (THERMISTORHEATER_2 == 101) || (THERMISTORBED == 101) // 100k Honeywell 135-104LAG-J01 +const short temptable_101[][2] PROGMEM = { + {1*OVERSAMPLENR, 704}, + {54*OVERSAMPLENR, 216}, + {107*OVERSAMPLENR, 175}, + {160*OVERSAMPLENR, 152}, + {213*OVERSAMPLENR, 137}, + {266*OVERSAMPLENR, 125}, + {319*OVERSAMPLENR, 115}, + {372*OVERSAMPLENR, 106}, + {425*OVERSAMPLENR, 99}, + {478*OVERSAMPLENR, 91}, + {531*OVERSAMPLENR, 85}, + {584*OVERSAMPLENR, 78}, + {637*OVERSAMPLENR, 71}, + {690*OVERSAMPLENR, 65}, + {743*OVERSAMPLENR, 58}, + {796*OVERSAMPLENR, 50}, + {849*OVERSAMPLENR, 42}, + {902*OVERSAMPLENR, 31}, + {955*OVERSAMPLENR, 17}, + {1008*OVERSAMPLENR, 0} +}; +#endif +#if (THERMISTORHEATER_0 == 102) || (THERMISTORHEATER_1 == 102) || (THERMISTORHEATER_2 == 102) || (THERMISTORBED == 102) // EPCOS G57540 +const short temptable_102[][2] PROGMEM = { +{15*OVERSAMPLENR,286}, +{16*OVERSAMPLENR,282}, +{17*OVERSAMPLENR,278}, +{18*OVERSAMPLENR,274}, +{19*OVERSAMPLENR,270}, +{20*OVERSAMPLENR,266}, +{21*OVERSAMPLENR,262}, +{22*OVERSAMPLENR,258}, +{23*OVERSAMPLENR,254}, +{25*OVERSAMPLENR,250}, +{27*OVERSAMPLENR,246}, +{28*OVERSAMPLENR,242}, +{31*OVERSAMPLENR,238}, +{33*OVERSAMPLENR,234}, +{35*OVERSAMPLENR,230}, +{38*OVERSAMPLENR,226}, +{41*OVERSAMPLENR,222}, +{44*OVERSAMPLENR,218}, +{48*OVERSAMPLENR,214}, +{52*OVERSAMPLENR,210}, +{56*OVERSAMPLENR,206}, +{61*OVERSAMPLENR,202}, +{66*OVERSAMPLENR,198}, +{71*OVERSAMPLENR,194}, +{78*OVERSAMPLENR,190}, +{84*OVERSAMPLENR,186}, +{92*OVERSAMPLENR,182}, +{100*OVERSAMPLENR,178}, +{109*OVERSAMPLENR,174}, +{120*OVERSAMPLENR,170}, +{131*OVERSAMPLENR,166}, +{143*OVERSAMPLENR,162}, +{156*OVERSAMPLENR,158}, +{171*OVERSAMPLENR,154}, +{187*OVERSAMPLENR,150}, +{205*OVERSAMPLENR,146}, +{224*OVERSAMPLENR,142}, +{224*OVERSAMPLENR,160}, +{245*OVERSAMPLENR,155}, +{268*OVERSAMPLENR,150}, +{293*OVERSAMPLENR,145}, +{320*OVERSAMPLENR,140}, +{348*OVERSAMPLENR,135}, +{379*OVERSAMPLENR,130}, +{411*OVERSAMPLENR,125}, +{480*OVERSAMPLENR,115}, +{553*OVERSAMPLENR,105}, +{628*OVERSAMPLENR,95}, +{702*OVERSAMPLENR,85}, +{770*OVERSAMPLENR,75}, +{830*OVERSAMPLENR,65}, +{881*OVERSAMPLENR,55}, +{922*OVERSAMPLENR,45}, +{954*OVERSAMPLENR,35}, +{977*OVERSAMPLENR,25}, +{993*OVERSAMPLENR,15}, +{999*OVERSAMPLENR,10}, +{1008*OVERSAMPLENR,0}, +}; +#endif +#if (THERMISTORHEATER_0 == 103) || (THERMISTORHEATER_1 == 103) || (THERMISTORHEATER_2 == 103) || (THERMISTORBED == 103) // EPCOS G57540 +const short temptable_103[][2] PROGMEM = { + {1*OVERSAMPLENR, 628}, + {187*OVERSAMPLENR, 156}, + {218*OVERSAMPLENR, 148}, + {249*OVERSAMPLENR, 141}, + {280*OVERSAMPLENR, 135}, + {311*OVERSAMPLENR, 129}, + {342*OVERSAMPLENR, 124}, + {373*OVERSAMPLENR, 120}, + {404*OVERSAMPLENR, 115}, + {435*OVERSAMPLENR, 111}, + {466*OVERSAMPLENR, 107}, + {497*OVERSAMPLENR, 103}, + {528*OVERSAMPLENR, 99}, + {559*OVERSAMPLENR, 96}, + {590*OVERSAMPLENR, 92}, + {621*OVERSAMPLENR, 88}, + {652*OVERSAMPLENR, 84}, + {683*OVERSAMPLENR, 81}, + {714*OVERSAMPLENR, 77}, + {745*OVERSAMPLENR, 73}, + {776*OVERSAMPLENR, 68}, + {807*OVERSAMPLENR, 64}, + {838*OVERSAMPLENR, 59}, + {869*OVERSAMPLENR, 54}, + {900*OVERSAMPLENR, 48}, + {931*OVERSAMPLENR, 40}, + {962*OVERSAMPLENR, 31}, + {993*OVERSAMPLENR, 17}, + {1008*OVERSAMPLENR,0} +}; +#endif +#if (THERMISTORHEATER_0 == 104) || (THERMISTORHEATER_1 == 104) || (THERMISTORHEATER_2 == 104) || (THERMISTORBED == 104) // EPCOS G57540G103F - r2=4k7 +const short temptable_104[][2] PROGMEM = { + {1*OVERSAMPLENR, 599}, + {54*OVERSAMPLENR, 160}, + {107*OVERSAMPLENR, 123}, + {160*OVERSAMPLENR, 103}, + {213*OVERSAMPLENR, 90}, + {266*OVERSAMPLENR, 79}, + {319*OVERSAMPLENR, 70}, + {372*OVERSAMPLENR, 62}, + {425*OVERSAMPLENR, 55}, + {478*OVERSAMPLENR, 49}, + {531*OVERSAMPLENR, 43}, + {584*OVERSAMPLENR, 37}, + {637*OVERSAMPLENR, 31}, + {690*OVERSAMPLENR, 25}, + {743*OVERSAMPLENR, 19}, + {796*OVERSAMPLENR, 12}, + {849*OVERSAMPLENR, 5}, + {902*OVERSAMPLENR, -3}, + {955*OVERSAMPLENR, -16}, + {1008*OVERSAMPLENR, -42} +}; +#endif +#if (THERMISTORHEATER_0 == 105) || (THERMISTORHEATER_1 == 105) || (THERMISTORHEATER_2 == 105) || (THERMISTORBED == 105) // EPCOS G57540G103F - r2=10k +const short temptable_105[][2] PROGMEM = { + {1*OVERSAMPLENR, 460}, + {54*OVERSAMPLENR, 123}, + {107*OVERSAMPLENR, 92}, + {160*OVERSAMPLENR, 75}, + {213*OVERSAMPLENR, 63}, + {266*OVERSAMPLENR, 54}, + {319*OVERSAMPLENR, 46}, + {372*OVERSAMPLENR, 40}, + {425*OVERSAMPLENR, 34}, + {478*OVERSAMPLENR, 28}, + {531*OVERSAMPLENR, 23}, + {584*OVERSAMPLENR, 17}, + {637*OVERSAMPLENR, 12}, + {690*OVERSAMPLENR, 7}, + {743*OVERSAMPLENR, 2}, + {796*OVERSAMPLENR, -3}, + {849*OVERSAMPLENR, -10}, + {902*OVERSAMPLENR, -18}, + {955*OVERSAMPLENR, -29}, + {1008*OVERSAMPLENR, -53} +}; +#endif + +#if (THERMISTORHEATER_0 == 110) || (THERMISTORHEATER_1 == 110) || (THERMISTORHEATER_2 == 110) || (THERMISTORBED == 110) // RS thermistor 198-961 +const short temptable_110[][2] PROGMEM = { + {1*OVERSAMPLENR, 704}, + {15*OVERSAMPLENR, 280}, + {21*OVERSAMPLENR, 266}, + {41*OVERSAMPLENR, 234}, + {61*OVERSAMPLENR, 208}, + {81*OVERSAMPLENR, 191}, + {101*OVERSAMPLENR, 178}, + {121*OVERSAMPLENR, 168}, + {141*OVERSAMPLENR, 159}, + {161*OVERSAMPLENR, 152}, + {181*OVERSAMPLENR, 146}, + {221*OVERSAMPLENR, 135}, + {261*OVERSAMPLENR, 126}, + {301*OVERSAMPLENR, 118}, + {341*OVERSAMPLENR, 111}, + {381*OVERSAMPLENR, 105}, + {421*OVERSAMPLENR, 99}, + {461*OVERSAMPLENR, 94}, + {501*OVERSAMPLENR, 88}, + {541*OVERSAMPLENR, 83}, + {581*OVERSAMPLENR, 78}, + {621*OVERSAMPLENR, 73}, + {661*OVERSAMPLENR, 68}, + {741*OVERSAMPLENR, 58}, + {781*OVERSAMPLENR, 52}, + {821*OVERSAMPLENR, 46}, + {861*OVERSAMPLENR, 40}, + {901*OVERSAMPLENR, 32}, + {981*OVERSAMPLENR, 7}, + {1008*OVERSAMPLENR, 0} +}; +#endif + +#if (THERMISTORHEATER_0 == 111) || (THERMISTORHEATER_1 == 111) || (THERMISTORHEATER_2 == 111) || (THERMISTORBED == 111) //100k EPCOS +const short temptable_111[][2] PROGMEM = { + {1*OVERSAMPLENR, 704}, + {54*OVERSAMPLENR, 216}, + {107*OVERSAMPLENR, 175}, + {160*OVERSAMPLENR, 152}, + {213*OVERSAMPLENR, 137}, + {266*OVERSAMPLENR, 125}, + {319*OVERSAMPLENR, 115}, + {372*OVERSAMPLENR, 106}, + {425*OVERSAMPLENR, 99}, + {478*OVERSAMPLENR, 91}, + {531*OVERSAMPLENR, 85}, + {584*OVERSAMPLENR, 78}, + {637*OVERSAMPLENR, 71}, + {690*OVERSAMPLENR, 65}, + {743*OVERSAMPLENR, 58}, + {796*OVERSAMPLENR, 50}, + {849*OVERSAMPLENR, 42}, + {902*OVERSAMPLENR, 31}, + {955*OVERSAMPLENR, 17}, + {1008*OVERSAMPLENR, 0} +}; +#endif + +#define _TT_NAME(_N) temptable_ ## _N +#define TT_NAME(_N) _TT_NAME(_N) + +#ifdef THERMISTORHEATER_0 + #define heater_0_temptable TT_NAME(THERMISTORHEATER_0) + #define heater_0_temptable_len (sizeof(heater_0_temptable)/sizeof(*heater_0_temptable)) #else -#error No heater thermistor table specified +#ifdef HEATER_0_USES_THERMISTOR + #error No heater 0 thermistor table specified +#else // HEATER_0_USES_THERMISTOR + #define heater_0_temptable 0 + #define heater_0_temptable_len 0 +#endif // HEATER_0_USES_THERMISTOR #endif +#ifdef THERMISTORHEATER_1 + #define heater_1_temptable TT_NAME(THERMISTORHEATER_1) + #define heater_1_temptable_len (sizeof(heater_1_temptable)/sizeof(*heater_1_temptable)) +#else +#ifdef HEATER_1_USES_THERMISTOR + #error No heater 1 thermistor table specified +#else // HEATER_1_USES_THERMISTOR + #define heater_1_temptable 0 + #define heater_1_temptable_len 0 +#endif // HEATER_1_USES_THERMISTOR +#endif + +#ifdef THERMISTORHEATER_2 + #define heater_2_temptable TT_NAME(THERMISTORHEATER_2) + #define heater_2_temptable_len (sizeof(heater_2_temptable)/sizeof(*heater_2_temptable)) +#else +#ifdef HEATER_2_USES_THERMISTOR + #error No heater 2 thermistor table specified +#else // HEATER_2_USES_THERMISTOR + #define heater_2_temptable 0 + #define heater_2_temptable_len 0 +#endif // HEATER_2_USES_THERMISTOR +#endif + +#ifdef THERMISTORBED + #define bedtemptable TT_NAME(THERMISTORBED) + #define bedtemptable_len (sizeof(bedtemptable)/sizeof(*bedtemptable)) +#else +#ifdef BED_USES_THERMISTOR + #error No bed thermistor table specified +#endif // BED_USES_THERMISTOR +#endif #endif //THERMISTORTABLES_H_ + diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h new file mode 100644 index 0000000000..dc44d1cda9 --- /dev/null +++ b/Marlin/ultralcd.h @@ -0,0 +1,165 @@ +#ifndef ULTRALCD_H +#define ULTRALCD_H +#include "Marlin.h" +#ifdef ULTRA_LCD + #include + 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< -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<(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 diff --git a/Marlin/ultralcd.pde b/Marlin/ultralcd.pde new file mode 100644 index 0000000000..1b9390298f --- /dev/null +++ b/Marlin/ultralcd.pde @@ -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 +//=========================================================================== +//=============================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 -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<ms)) + buttons &= ~(1< -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>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;i1)||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 -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;i0) + { + 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;i400) 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;i260) 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;i990) 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;i990) 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=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 + + diff --git a/Marlin/watchdog.h b/Marlin/watchdog.h new file mode 100644 index 0000000000..937379b696 --- /dev/null +++ b/Marlin/watchdog.h @@ -0,0 +1,16 @@ +#ifndef WATCHDOG_H +#define WATCHDOG_H +#include "Marlin.h" +#ifdef USE_WATCHDOG + + // intialise watch dog with a 1 sec interrupt time + void wd_init(); + // pad the dog/reset watchdog. MUST be called at least every second after the first wd_init or avr will go into emergency procedures.. + void wd_reset(); + +#else + FORCE_INLINE void wd_init() {}; + FORCE_INLINE void wd_reset() {}; +#endif + +#endif diff --git a/Marlin/watchdog.pde b/Marlin/watchdog.pde new file mode 100644 index 0000000000..356e374738 --- /dev/null +++ b/Marlin/watchdog.pde @@ -0,0 +1,63 @@ +#ifdef USE_WATCHDOG +#include "Marlin.h" +#include "watchdog.h" + +//=========================================================================== +//=============================private variables ============================ +//=========================================================================== + +static volatile uint8_t timeout_seconds=0; + +void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560 + +//=========================================================================== +//=============================functinos ============================ +//=========================================================================== + + +/// intialise watch dog with a 1 sec interrupt time +void wd_init() +{ + WDTCSR |= (1<1sec +ISR(WDT_vect) +{ + if(timeout_seconds++ >= WATCHDOG_TIMEOUT) + { + + #ifdef RESET_MANUAL + LCD_MESSAGEPGM("Please Reset!"); + LCD_STATUS; + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Something is wrong, please turn off the printer."); + #else + LCD_MESSAGEPGM("Timeout, resetting!"); + LCD_STATUS; + #endif + //disable watchdog, it will survife reboot. + WDTCSR |= (1< +#include +#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 diff --git a/Marlin/wiring_serial.c b/Marlin/wiring_serial.c deleted file mode 100644 index c027944c90..0000000000 --- a/Marlin/wiring_serial.c +++ /dev/null @@ -1,139 +0,0 @@ -/* - wiring_serial.c - serial functions. - Part of Arduino - http://www.arduino.cc/ - - Copyright (c) 2005-2006 David A. Mellis - Modified 29 January 2009, Marius Kintel for Sanguino - http://www.sanguino.cc/ - - 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: wiring.c 248 2007-02-03 15:36:30Z mellis $ -*/ - - -#include "wiring_private.h" - -// 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 -#define RX_BUFFER_MASK 0x7f - -#if defined(__AVR_ATmega644P__) -unsigned char rx_buffer[2][RX_BUFFER_SIZE]; -int rx_buffer_head[2] = {0, 0}; -int rx_buffer_tail[2] = {0, 0}; -#else -unsigned char rx_buffer[1][RX_BUFFER_SIZE]; -int rx_buffer_head[1] = {0}; -int rx_buffer_tail[1] = {0}; -#endif - - -#define BEGIN_SERIAL(uart_, baud_) \ -{ \ - UBRR##uart_##H = ((F_CPU / 16 + baud / 2) / baud - 1) >> 8; \ - UBRR##uart_##L = ((F_CPU / 16 + baud / 2) / baud - 1); \ - \ - /* reset config for UART */ \ - UCSR##uart_##A = 0; \ - UCSR##uart_##B = 0; \ - UCSR##uart_##C = 0; \ - \ - /* enable rx and tx */ \ - sbi(UCSR##uart_##B, RXEN##uart_);\ - sbi(UCSR##uart_##B, TXEN##uart_);\ - \ - /* enable interrupt on complete reception of a byte */ \ - sbi(UCSR##uart_##B, RXCIE##uart_); \ - UCSR##uart_##C = _BV(UCSZ##uart_##1)|_BV(UCSZ##uart_##0); \ - /* defaults to 8-bit, no parity, 1 stop bit */ \ -} - -void beginSerial(uint8_t uart, long baud) -{ - if (uart == 0) BEGIN_SERIAL(0, baud) -#if defined(__AVR_ATmega644P__) - else BEGIN_SERIAL(1, baud) -#endif -} - -#define SERIAL_WRITE(uart_, c_) \ - while (!(UCSR##uart_##A & (1 << UDRE##uart_))) \ - ; \ - UDR##uart_ = c - -void serialWrite(uint8_t uart, unsigned char c) -{ - if (uart == 0) { - SERIAL_WRITE(0, c); - } -#if defined(__AVR_ATmega644P__) - else { - SERIAL_WRITE(1, c); - } -#endif -} - -int serialAvailable(uint8_t uart) -{ - return (RX_BUFFER_SIZE + rx_buffer_head[uart] - rx_buffer_tail[uart]) & RX_BUFFER_MASK; -} - -int serialRead(uint8_t uart) -{ - // if the head isn't ahead of the tail, we don't have any characters - if (rx_buffer_head[uart] == rx_buffer_tail[uart]) { - return -1; - } else { - unsigned char c = rx_buffer[uart][rx_buffer_tail[uart]]; - rx_buffer_tail[uart] = (rx_buffer_tail[uart] + 1) & RX_BUFFER_MASK; - return c; - } -} - -void serialFlush(uint8_t uart) -{ - // 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[uart] = rx_buffer_tail[uart]; -} - -#define UART_ISR(uart_) \ -ISR(USART##uart_##_RX_vect) \ -{ \ - unsigned char c = UDR##uart_; \ - \ - int i = (rx_buffer_head[uart_] + 1) & RX_BUFFER_MASK; \ - \ - /* 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[uart_]) { \ - rx_buffer[uart_][rx_buffer_head[uart_]] = c; \ - rx_buffer_head[uart_] = i; \ - } \ -} - -UART_ISR(0) -#if defined(__AVR_ATmega644P__) -UART_ISR(1) -#endif diff --git a/Marlin/z_probe.cpp b/Marlin/z_probe.cpp new file mode 100644 index 0000000000..7c696cf0e1 --- /dev/null +++ b/Marlin/z_probe.cpp @@ -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 * Z_MAX_LENGTH * 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 -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 diff --git a/README b/README index f939001334..46040eb118 100644 --- a/README +++ b/README @@ -1,3 +1,4 @@ +<<<<<<< HEAD A new beta version is avaiable. Look under the Marlin_v1 branch. We also made a tag that you can download. @@ -85,3 +86,69 @@ The best workaround is to move these files to sanguino directory. +======= +This RepRap firmware is a mashup between Sprinter, grbl and many original parts. + (https://github.com/kliment/Sprinter) + (https://github.com/simen/grbl/tree) + +Derived from Sprinter and Grbl by Erik van der Zalm. +Sprinters lead developers are Kliment and caru. +Grbls lead developer is Simen Svale Skogsrud. +It has been adapted to the Ultimaker Printer by: +Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others... + + +Features: + - Interrupt based movement with real linear acceleration + - High steprate + - Look ahead (Keep the speed high when possible. High cornering speed) + - Interrupt based temperature protection + - preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html + - Full endstop support + - Simple LCD support (16x2) + - SD Card support + - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd + +This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560). + +The default baudrate is 115200. + + +======================================================================================== + +Configuring and compilation + + +Install the latest arduino software IDE/toolset (currently 0022) + http://www.arduino.cc/en/Main/Software + +Install Ultimaker's RepG 25 build + http://software.ultimaker.com +(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_) + +Copy the Ultimaker Marlin firmware + https:/github.com/bkubicek/Marlin + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Arduino Mega 2560 +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Click the Verify/Compile button + +Click the Upload button +If all goes well the firmware is uploading + +Start Ultimaker's Custom RepG 25 +Make sure Show Experimental Profiles is enabled in Preferences +Select Sprinter as the Driver + +Press the Connect button. + +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z + +That's ok. Enjoy Silky Smooth Printing. + +>>>>>>> Mendel diff --git a/README.md b/README.md new file mode 100644 index 0000000000..6f04764c94 --- /dev/null +++ b/README.md @@ -0,0 +1,200 @@ +WARNING: +-------- +THIS IS RELEASE CANDIDATE 1 FOR MARLIN 1.0.0 + +The configuration is now split in two files +Configuration.h for the normal settings +Configuration_adv.h for the advanced settings + +Quick Information +=================== +This RepRap firmware is a mashup between Sprinter, grbl and many original parts. + +Derived from Sprinter and Grbl by Erik van der Zalm. +Sprinters lead developers are Kliment and caru. +Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl +A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. +Some features have been added by: +Lampmaker, Bradley Feldman, and others... + + +Features: + +* Interrupt based movement with real linear acceleration +* High steprate +* Look ahead (Keep the speed high when possible. High cornering speed) +* Interrupt based temperature protection +* preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html +* Full endstop support +* SD Card support +* SD Card folders (works in pronterface) +* LCD support (ideally 20x4) +* LCD menu system for autonomous SD card printing, controlled by an click-encoder. +* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables +* many small but handy things originating from bkubicek's fork. +* Arc support +* Temperature oversampling +* Dynamic Temperature setpointing aka "AutoTemp" +* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin +* Endstop trigger reporting to the host software. +* Updated sdcardlib +* Heater power reporting. Useful for PID monitoring. + +The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. + + +Differences and additions to the already good Sprinter firmware: +================================================================ + +*Look-ahead:* + +Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, +lookahead will only decelerate and accelerate to a velocity, +so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. +This is only possible, if some future moves are already processed, hence the name. +It leads to less over-deposition at corners, especially at flat angles. + +*Arc support:* + +Slic3r can find curves that, although broken into segments, were ment to describe an arc. +Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, +and can perform the arc with nearly constant velocity, resulting in a nice finish. +Also, less serial communication is needed. + +*Temperature Oversampling:* + +To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. + +*AutoTemp:* + +If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. +Usually, higher speed requires higher temperature. +This can now be performed by the AutoTemp function +By calling M109 S T F you enter the autotemp mode. + +You can leave it by calling M109 without any F. +If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. +The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. +If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. +Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. + +*EEPROM:* + +If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. +After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. + +*LCD Menu:* + +If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, +accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. +One working hardware is documented here: http://www.thingiverse.com/thing:12663 +Also, with just a 20x4 or 16x2 display, useful data is shown. + +*SD card folders:* + +If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". +You can write to file in a subfolder by specifying a similar text using small letters in the path. +Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". + +*Endstop trigger reporting:* + +If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. +This is useful, because the user gets a warning message. +However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. + +*Coding paradigm:* + +Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. +This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. +We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. +A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. +In the serial communication, a #define based level of abstraction was enforced, so that it is clear that +some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, +necessary for backwards compatibility. + +*Interrupt based temperature measurements:* + +An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. +This leads to less blocking in the heater management routine. + + +Non-standard M-Codes, different to an old version of sprinter: +============================================================== +Movement: + +* G2 - CW ARC +* G3 - CCW ARC + +General: + +* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. +* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. +* M30 - Print time since last M109 or SD card start to serial +* M42 - Change pin status via gcode +* M80 - Turn on Power Supply +* M81 - Turn off Power Supply +* M114 - Output current position to serial port +* M119 - Output Endstop status to serial port + +Movement variables: + +* 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 +* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. +* M301 - Set PID parameters P I and D +* M400 - Finish all buffered moves. + +Advance: + +* M200 - Set filament diameter for advance +* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + +EEPROM: + +* 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. + + +Configuring and compilation: +============================ + +Install the arduino software IDE/toolset v22 + http://www.arduino.cc/en/Main/Software + +For gen6 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. + copy Marlin\sanguino \hardware\Sanguino + +Install Ultimaker's RepG 25 build + http://software.ultimaker.com +For SD handling and as better substitute (apart from stl manipulation) download +the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun + +Copy the Ultimaker Marlin firmware + https://github.com/ErikZalm/Marlin/tree/Marlin_v1 + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Arduino Mega 2560 or your microcontroller +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Click the Verify/Compile button + +Click the Upload button +If all goes well the firmware is uploading + +Start Ultimaker's Custom RepG 25 +Make sure Show Experimental Profiles is enabled in Preferences +Select Sprinter as the Driver + +Press the Connect button. + +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z + +That's ok. Enjoy Silky Smooth Printing. + + + diff --git a/README.orig b/README.orig new file mode 100644 index 0000000000..46040eb118 --- /dev/null +++ b/README.orig @@ -0,0 +1,154 @@ +<<<<<<< HEAD +A new beta version is avaiable. +Look under the Marlin_v1 branch. We also made a tag that you can download. + + + + + + + + + + + + + + + +This firmware is a mashup between Sprinter, grbl and many original parts. + (https://github.com/kliment/Sprinter) + (https://github.com/simen/grbl/tree) + +Features: + - Interrupt based movement with real linear acceleration + - High steprate + - Look ahead (Keep the speed high when possible. High cornering speed) + - Interrupt based temperature protection + - preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html + +This firmware is optimized for gen6 electronics. + +The default baudrate is 250000. +This gives less communication errors then regular baudrates. + +======================================================================================== + +Configuring and compilation + + +Install the arduino software version 0018 + http://www.arduino.cc/en/Main/Software + +Install the sanguino software, version 0018 + http://sanguino.cc/useit + +Install pronterface + https://github.com/kliment/Printrun + +Copy the Marlin firmware + https:/github.com/ErikZalm/Marlin + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Sanguino +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Change the printer specific setting in Configuration.h to the correct values. + +The following values are the most important: + - float axis_steps_per_unit[].... // Set the correct steps / mm in the corresponding field + - const bool ENDSTOPS_INVERTING = false; // Change if only positive moves are executed + - #define INVERT_x_DIR true // Change if the motor direction is wrong + +Click the Upload button +If all goes well the firmware is uploading + +Start pronterface + +Select the correct Serial Port. Type 250000 in the baudrate field. +Press the Connect button + +=============================================================================================== +Known issues + +On some systems we get compilation errors. + +This is caused by the "wiring_serial.c" and "wiring.c". +The simple fix is to delete these files but this may have a performance impact. + +The best workaround is to move these files to sanguino directory. +(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems) + + + + + +======= +This RepRap firmware is a mashup between Sprinter, grbl and many original parts. + (https://github.com/kliment/Sprinter) + (https://github.com/simen/grbl/tree) + +Derived from Sprinter and Grbl by Erik van der Zalm. +Sprinters lead developers are Kliment and caru. +Grbls lead developer is Simen Svale Skogsrud. +It has been adapted to the Ultimaker Printer by: +Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others... + + +Features: + - Interrupt based movement with real linear acceleration + - High steprate + - Look ahead (Keep the speed high when possible. High cornering speed) + - Interrupt based temperature protection + - preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html + - Full endstop support + - Simple LCD support (16x2) + - SD Card support + - Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd + +This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560). + +The default baudrate is 115200. + + +======================================================================================== + +Configuring and compilation + + +Install the latest arduino software IDE/toolset (currently 0022) + http://www.arduino.cc/en/Main/Software + +Install Ultimaker's RepG 25 build + http://software.ultimaker.com +(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_) + +Copy the Ultimaker Marlin firmware + https:/github.com/bkubicek/Marlin + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Arduino Mega 2560 +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Click the Verify/Compile button + +Click the Upload button +If all goes well the firmware is uploading + +Start Ultimaker's Custom RepG 25 +Make sure Show Experimental Profiles is enabled in Preferences +Select Sprinter as the Driver + +Press the Connect button. + +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z + +That's ok. Enjoy Silky Smooth Printing. + +>>>>>>> Mendel