commit
64360164ad
6 changed files with 859 additions and 308 deletions
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@ -2,7 +2,7 @@
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#define CONFIGURATION_H
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// This configurtion file contains the basic settings.
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// Advanced settings can be found in Configuration_adv.h
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// Advanced settings can be found in Configuration_adv.h
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// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
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//User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
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@ -78,7 +78,7 @@
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// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
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// 10 is 100k RS thermistor 198-961 (4.7k pullup)
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//
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// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
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// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
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// (but gives greater accuracy and more stable PID)
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// 51 is 100k thermistor - EPCOS (1k pullup)
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// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
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@ -95,7 +95,7 @@
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#define TEMP_WINDOW 1 // (degC) Window around target to start the recidency timer x degC early.
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// The minimal temperature defines the temperature below which the heater will not be enabled It is used
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// to check that the wiring to the thermistor is not broken.
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// to check that the wiring to the thermistor is not broken.
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// Otherwise this would lead to the heater being powered on all the time.
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#define HEATER_0_MINTEMP 5
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#define HEATER_1_MINTEMP 5
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@ -121,7 +121,7 @@
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#define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
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#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
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#ifdef PIDTEMP
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
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#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
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// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
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@ -132,15 +132,15 @@
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// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
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// Ultimaker
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#define DEFAULT_Kp 22.2
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#define DEFAULT_Ki 1.08
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#define DEFAULT_Kd 114
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#define DEFAULT_Ki 1.08
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#define DEFAULT_Kd 114
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// Makergear
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// #define DEFAULT_Kp 7.0
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// #define DEFAULT_Ki 0.1
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// #define DEFAULT_Kd 12
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// #define DEFAULT_Ki 0.1
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// #define DEFAULT_Kd 12
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// Mendel Parts V9 on 12V
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// Mendel Parts V9 on 12V
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// #define DEFAULT_Kp 63.0
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// #define DEFAULT_Ki 2.25
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// #define DEFAULT_Kd 440
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@ -149,11 +149,11 @@
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// Bed Temperature Control
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// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
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//
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// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
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// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
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// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
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// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
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// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
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// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
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// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
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// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
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// shouldn't use bed PID until someone else verifies your hardware works.
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// If this is enabled, find your own PID constants below.
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//#define PIDTEMPBED
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@ -223,9 +223,9 @@
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#endif
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// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
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const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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//#define DISABLE_MAX_ENDSTOPS
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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@ -280,13 +280,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
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#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
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// default settings
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// default settings
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#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for ultimaker
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#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
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#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // 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.
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
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// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
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@ -307,7 +307,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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// EEPROM
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// the microcontroller can store settings in the EEPROM, e.g. max velocity...
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// M500 - stores paramters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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//define this to enable eeprom support
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//#define EEPROM_SETTINGS
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@ -353,7 +353,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
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#define ULTIPANEL
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#define NEWPANEL
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#endif
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#endif
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#if defined(REPRAPWORLD_KEYPAD)
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#define NEWPANEL
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@ -361,7 +361,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#endif
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// Preheat Constants
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#define PLA_PREHEAT_HOTEND_TEMP 180
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#define PLA_PREHEAT_HOTEND_TEMP 180
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#define PLA_PREHEAT_HPB_TEMP 70
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#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
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@ -381,7 +381,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#define LCD_WIDTH 20
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#define LCD_HEIGHT 4
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#endif
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#else //no panel but just lcd
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#else //no panel but just lcd
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#ifdef ULTRA_LCD
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#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
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#define LCD_WIDTH 20
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@ -389,7 +389,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#else
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#define LCD_WIDTH 16
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#define LCD_HEIGHT 2
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#endif
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#endif
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#endif
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#endif
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@ -406,6 +406,23 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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// Support for the BariCUDA Paste Extruder.
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//#define BARICUDA
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/*********************************************************************\
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*
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* R/C SERVO support
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*
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* Sponsored by TrinityLabs, Reworked by codexmas
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*
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**********************************************************************/
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// Number of servos
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//
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// If you select a configuration below, this will receive a default value and does not need to be set manually
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// set it manually if you have more servos than extruders and wish to manually control some
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// leaving it undefined or defining as 0 will disable the servo subsystem
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// If unsure, leave commented / disabled
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//
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// #define NUM_SERVOS 3
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#include "Configuration_adv.h"
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#include "thermistortables.h"
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@ -1,12 +1,12 @@
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# Sprinter Arduino Project Makefile
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#
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#
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# Makefile Based on:
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# Arduino 0011 Makefile
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# Arduino adaptation by mellis, eighthave, oli.keller
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# Marlin adaption by Daid
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#
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# This has been tested with Arduino 0022.
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#
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#
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# This makefile allows you to build sketches from the command line
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# without the Arduino environment (or Java).
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#
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@ -21,7 +21,7 @@
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# (e.g. UPLOAD_PORT = /dev/tty.USB0). If the exact name of this file
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# changes, you can use * as a wildcard (e.g. UPLOAD_PORT = /dev/tty.usb*).
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#
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# 3. Set the line containing "MCU" to match your board's processor.
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# 3. Set the line containing "MCU" to match your board's processor.
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# Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
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# or Diecimila have the atmega168. If you're using a LilyPad Arduino,
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# change F_CPU to 8000000. If you are using Gen7 electronics, you
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@ -44,7 +44,7 @@ ARDUINO_INSTALL_DIR ?= ../../arduino-0022
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ARDUINO_VERSION ?= 22
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# You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin)
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AVR_TOOLS_PATH ?=
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AVR_TOOLS_PATH ?=
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#Programmer configuration
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UPLOAD_RATE ?= 115200
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@ -213,7 +213,7 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp \
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SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp \
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stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \
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watchdog.cpp
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CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp
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CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp
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#Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version
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ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true)
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@ -317,19 +317,19 @@ endif
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# Default target.
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all: sizeafter
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build: $(BUILD_DIR) elf hex
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build: $(BUILD_DIR) elf hex
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# Creates the object directory
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$(BUILD_DIR):
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$(BUILD_DIR):
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$P mkdir -p $(BUILD_DIR)
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elf: $(BUILD_DIR)/$(TARGET).elf
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hex: $(BUILD_DIR)/$(TARGET).hex
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eep: $(BUILD_DIR)/$(TARGET).eep
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lss: $(BUILD_DIR)/$(TARGET).lss
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lss: $(BUILD_DIR)/$(TARGET).lss
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sym: $(BUILD_DIR)/$(TARGET).sym
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# Program the device.
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# Program the device.
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# Do not try to reset an arduino if it's not one
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upload: $(BUILD_DIR)/$(TARGET).hex
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ifeq (${AVRDUDE_PROGRAMMER}, arduino)
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@ -356,7 +356,7 @@ COFFCONVERT=$(OBJCOPY) --debugging \
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--change-section-address .data-0x800000 \
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--change-section-address .bss-0x800000 \
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--change-section-address .noinit-0x800000 \
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--change-section-address .eeprom-0x810000
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--change-section-address .eeprom-0x810000
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coff: $(BUILD_DIR)/$(TARGET).elf
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@ -3,17 +3,17 @@
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/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
|
||||
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||||
|
||||
You should have received a copy of the GNU General Public License
|
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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@ -22,8 +22,8 @@
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This firmware is a mashup between Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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It has preliminary support for Matthew Roberts advance algorithm
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It has preliminary support for Matthew Roberts advance algorithm
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http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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*/
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@ -40,6 +40,10 @@
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#include "language.h"
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#include "pins_arduino.h"
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#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
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#include "Servo.h"
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#endif
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#if DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#endif
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@ -93,11 +97,11 @@
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M114 - Output current position to serial port
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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@ -121,6 +125,7 @@
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// M220 S<factor in percent>- set speed factor override percentage
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// M221 S<factor in percent>- set extrude factor override percentage
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// M240 - Trigger a camera to take a photograph
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// M280 - set servo position absolute. P: servo index, S: angle or microseconds
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// M300 - Play beepsound S<frequency Hz> P<duration ms>
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes
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@ -128,7 +133,7 @@
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// M304 - Set bed PID parameters P I and D
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// M400 - Finish all moves
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||||
// M500 - stores paramters in EEPROM
|
||||
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
|
||||
// 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.
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||||
// M503 - print the current settings (from memory not from eeprom)
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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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@ -164,11 +169,11 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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// Extruder offset, only in XY plane
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#if EXTRUDERS > 1
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float extruder_offset[2][EXTRUDERS] = {
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float extruder_offset[2][EXTRUDERS] = {
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#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
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EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
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EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
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#endif
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};
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};
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#endif
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uint8_t active_extruder = 0;
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int fanSpeed=0;
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@ -225,6 +230,10 @@ static uint8_t tmp_extruder;
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|||
|
||||
bool Stopped=false;
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||||
|
||||
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
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||||
Servo servos[NUM_SERVOS];
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||||
#endif
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||||
|
||||
//===========================================================================
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||||
//=============================ROUTINES=============================
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||||
//===========================================================================
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||||
|
@ -296,7 +305,7 @@ void setup_killpin()
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WRITE(KILL_PIN,HIGH);
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||||
#endif
|
||||
}
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||||
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||||
|
||||
void setup_photpin()
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{
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#ifdef PHOTOGRAPH_PIN
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||||
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@ -304,7 +313,7 @@ void setup_photpin()
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SET_OUTPUT(PHOTOGRAPH_PIN);
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WRITE(PHOTOGRAPH_PIN, LOW);
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#endif
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#endif
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||||
#endif
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||||
}
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||||
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void setup_powerhold()
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|
@ -324,16 +333,35 @@ void setup_powerhold()
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void suicide()
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{
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#ifdef SUICIDE_PIN
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||||
#if (SUICIDE_PIN> -1)
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||||
#if (SUICIDE_PIN> -1)
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SET_OUTPUT(SUICIDE_PIN);
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WRITE(SUICIDE_PIN, LOW);
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||||
#endif
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||||
#endif
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||||
}
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||||
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||||
void servo_init()
|
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{
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||||
#if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
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servos[0].attach(SERVO0_PIN);
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#endif
|
||||
#if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
|
||||
servos[1].attach(SERVO1_PIN);
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#endif
|
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#if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
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||||
servos[2].attach(SERVO2_PIN);
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#endif
|
||||
#if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
|
||||
servos[3].attach(SERVO3_PIN);
|
||||
#endif
|
||||
#if (NUM_SERVOS >= 5)
|
||||
#error "TODO: enter initalisation code for more servos"
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||||
#endif
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
setup_killpin();
|
||||
setup_killpin();
|
||||
setup_powerhold();
|
||||
MYSERIAL.begin(BAUDRATE);
|
||||
SERIAL_PROTOCOLLNPGM("start");
|
||||
|
@ -370,22 +398,23 @@ void setup()
|
|||
{
|
||||
fromsd[i] = false;
|
||||
}
|
||||
|
||||
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
|
||||
Config_RetrieveSettings();
|
||||
|
||||
tp_init(); // Initialize temperature loop
|
||||
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
|
||||
Config_RetrieveSettings();
|
||||
|
||||
tp_init(); // Initialize temperature loop
|
||||
plan_init(); // Initialize planner;
|
||||
watchdog_init();
|
||||
st_init(); // Initialize stepper, this enables interrupts!
|
||||
setup_photpin();
|
||||
|
||||
servo_init();
|
||||
|
||||
lcd_init();
|
||||
|
||||
|
||||
#ifdef CONTROLLERFAN_PIN
|
||||
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef EXTRUDERFAN_PIN
|
||||
SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan
|
||||
#endif
|
||||
|
@ -439,14 +468,14 @@ void loop()
|
|||
lcd_update();
|
||||
}
|
||||
|
||||
void get_command()
|
||||
{
|
||||
void get_command()
|
||||
{
|
||||
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
|
||||
serial_char = MYSERIAL.read();
|
||||
if(serial_char == '\n' ||
|
||||
serial_char == '\r' ||
|
||||
(serial_char == ':' && comment_mode == false) ||
|
||||
serial_count >= (MAX_CMD_SIZE - 1) )
|
||||
if(serial_char == '\n' ||
|
||||
serial_char == '\r' ||
|
||||
(serial_char == ':' && comment_mode == false) ||
|
||||
serial_count >= (MAX_CMD_SIZE - 1) )
|
||||
{
|
||||
if(!serial_count) { //if empty line
|
||||
comment_mode = false; //for new command
|
||||
|
@ -487,7 +516,7 @@ void get_command()
|
|||
}
|
||||
//if no errors, continue parsing
|
||||
}
|
||||
else
|
||||
else
|
||||
{
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
|
||||
|
@ -523,7 +552,7 @@ void get_command()
|
|||
if(card.saving)
|
||||
break;
|
||||
#endif //SDSUPPORT
|
||||
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
||||
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
||||
}
|
||||
else {
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
||||
|
@ -553,10 +582,10 @@ void get_command()
|
|||
while( !card.eof() && buflen < BUFSIZE) {
|
||||
int16_t n=card.get();
|
||||
serial_char = (char)n;
|
||||
if(serial_char == '\n' ||
|
||||
serial_char == '\r' ||
|
||||
(serial_char == ':' && comment_mode == false) ||
|
||||
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
|
||||
if(serial_char == '\n' ||
|
||||
serial_char == '\r' ||
|
||||
(serial_char == ':' && comment_mode == false) ||
|
||||
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
|
||||
{
|
||||
if(card.eof()){
|
||||
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
|
||||
|
@ -572,7 +601,7 @@ void get_command()
|
|||
lcd_setstatus(time);
|
||||
card.printingHasFinished();
|
||||
card.checkautostart(true);
|
||||
|
||||
|
||||
}
|
||||
if(!serial_count)
|
||||
{
|
||||
|
@ -584,7 +613,7 @@ void get_command()
|
|||
fromsd[bufindw] = true;
|
||||
buflen += 1;
|
||||
bufindw = (bufindw + 1)%BUFSIZE;
|
||||
// }
|
||||
// }
|
||||
comment_mode = false; //for new command
|
||||
serial_count = 0; //clear buffer
|
||||
}
|
||||
|
@ -594,20 +623,20 @@ void get_command()
|
|||
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif //SDSUPPORT
|
||||
|
||||
}
|
||||
|
||||
|
||||
float code_value()
|
||||
{
|
||||
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
|
||||
float code_value()
|
||||
{
|
||||
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
|
||||
}
|
||||
|
||||
long code_value_long()
|
||||
{
|
||||
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
|
||||
long code_value_long()
|
||||
{
|
||||
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
|
||||
}
|
||||
|
||||
bool code_seen(char code)
|
||||
|
@ -656,19 +685,19 @@ static void homeaxis(int axis) {
|
|||
feedrate = homing_feedrate[axis];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
st_synchronize();
|
||||
|
||||
|
||||
current_position[axis] = 0;
|
||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
||||
destination[axis] = -home_retract_mm(axis) * home_dir(axis);
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
st_synchronize();
|
||||
|
||||
|
||||
destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
|
||||
feedrate = homing_feedrate[axis]/2 ;
|
||||
feedrate = homing_feedrate[axis]/2 ;
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
st_synchronize();
|
||||
|
||||
axis_is_at_home(axis);
|
||||
|
||||
axis_is_at_home(axis);
|
||||
destination[axis] = current_position[axis];
|
||||
feedrate = 0.0;
|
||||
endstops_hit_on_purpose();
|
||||
|
@ -711,7 +740,7 @@ void process_commands()
|
|||
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();
|
||||
|
@ -721,30 +750,30 @@ void process_commands()
|
|||
lcd_update();
|
||||
}
|
||||
break;
|
||||
#ifdef FWRETRACT
|
||||
#ifdef FWRETRACT
|
||||
case 10: // G10 retract
|
||||
if(!retracted)
|
||||
if(!retracted)
|
||||
{
|
||||
destination[X_AXIS]=current_position[X_AXIS];
|
||||
destination[Y_AXIS]=current_position[Y_AXIS];
|
||||
destination[Z_AXIS]=current_position[Z_AXIS];
|
||||
destination[Z_AXIS]=current_position[Z_AXIS];
|
||||
current_position[Z_AXIS]+=-retract_zlift;
|
||||
destination[E_AXIS]=current_position[E_AXIS]-retract_length;
|
||||
destination[E_AXIS]=current_position[E_AXIS]-retract_length;
|
||||
feedrate=retract_feedrate;
|
||||
retracted=true;
|
||||
prepare_move();
|
||||
}
|
||||
|
||||
|
||||
break;
|
||||
case 11: // G10 retract_recover
|
||||
if(!retracted)
|
||||
if(!retracted)
|
||||
{
|
||||
destination[X_AXIS]=current_position[X_AXIS];
|
||||
destination[Y_AXIS]=current_position[Y_AXIS];
|
||||
destination[Z_AXIS]=current_position[Z_AXIS];
|
||||
|
||||
destination[Z_AXIS]=current_position[Z_AXIS];
|
||||
|
||||
current_position[Z_AXIS]+=retract_zlift;
|
||||
current_position[E_AXIS]+=-retract_recover_length;
|
||||
current_position[E_AXIS]+=-retract_recover_length;
|
||||
feedrate=retract_recover_feedrate;
|
||||
retracted=false;
|
||||
prepare_move();
|
||||
|
@ -756,34 +785,34 @@ void process_commands()
|
|||
saved_feedmultiply = feedmultiply;
|
||||
feedmultiply = 100;
|
||||
previous_millis_cmd = millis();
|
||||
|
||||
|
||||
enable_endstops(true);
|
||||
|
||||
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
destination[i] = current_position[i];
|
||||
}
|
||||
feedrate = 0.0;
|
||||
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
|
||||
|
||||
|
||||
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
|
||||
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
||||
HOMEAXIS(Z);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef QUICK_HOME
|
||||
if((home_all_axis)||( 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;
|
||||
current_position[X_AXIS] = 0;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[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
|
||||
feedrate = homing_feedrate[X_AXIS];
|
||||
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;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
|
||||
feedrate = homing_feedrate[X_AXIS];
|
||||
if(homing_feedrate[Y_AXIS]<feedrate)
|
||||
feedrate =homing_feedrate[Y_AXIS];
|
||||
feedrate =homing_feedrate[Y_AXIS];
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
st_synchronize();
|
||||
|
||||
|
||||
axis_is_at_home(X_AXIS);
|
||||
axis_is_at_home(Y_AXIS);
|
||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
||||
|
@ -795,8 +824,8 @@ void process_commands()
|
|||
endstops_hit_on_purpose();
|
||||
}
|
||||
#endif
|
||||
|
||||
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
|
||||
|
||||
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
|
||||
{
|
||||
HOMEAXIS(X);
|
||||
}
|
||||
|
@ -804,14 +833,14 @@ void process_commands()
|
|||
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
|
||||
HOMEAXIS(Y);
|
||||
}
|
||||
|
||||
|
||||
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
|
||||
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
||||
HOMEAXIS(Z);
|
||||
}
|
||||
#endif
|
||||
|
||||
if(code_seen(axis_codes[X_AXIS]))
|
||||
|
||||
if(code_seen(axis_codes[X_AXIS]))
|
||||
{
|
||||
if(code_value_long() != 0) {
|
||||
current_position[X_AXIS]=code_value()+add_homeing[0];
|
||||
|
@ -830,11 +859,11 @@ void process_commands()
|
|||
}
|
||||
}
|
||||
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();
|
||||
|
@ -850,13 +879,13 @@ void process_commands()
|
|||
if(!code_seen(axis_codes[E_AXIS]))
|
||||
st_synchronize();
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
if(code_seen(axis_codes[i])) {
|
||||
if(code_seen(axis_codes[i])) {
|
||||
if(i == E_AXIS) {
|
||||
current_position[i] = code_value();
|
||||
current_position[i] = code_value();
|
||||
plan_set_e_position(current_position[E_AXIS]);
|
||||
}
|
||||
else {
|
||||
current_position[i] = code_value()+add_homeing[i];
|
||||
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]);
|
||||
}
|
||||
}
|
||||
|
@ -867,7 +896,7 @@ void process_commands()
|
|||
|
||||
else if(code_seen('M'))
|
||||
{
|
||||
switch( (int)code_value() )
|
||||
switch( (int)code_value() )
|
||||
{
|
||||
#ifdef ULTIPANEL
|
||||
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
|
||||
|
@ -877,7 +906,7 @@ void process_commands()
|
|||
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();
|
||||
previous_millis_cmd = millis();
|
||||
if (codenum > 0){
|
||||
|
@ -900,12 +929,12 @@ void process_commands()
|
|||
#endif
|
||||
case 17:
|
||||
LCD_MESSAGEPGM(MSG_NO_MOVE);
|
||||
enable_x();
|
||||
enable_y();
|
||||
enable_z();
|
||||
enable_e0();
|
||||
enable_e1();
|
||||
enable_e2();
|
||||
enable_x();
|
||||
enable_y();
|
||||
enable_z();
|
||||
enable_e0();
|
||||
enable_e1();
|
||||
enable_e2();
|
||||
break;
|
||||
|
||||
#ifdef SDSUPPORT
|
||||
|
@ -915,9 +944,9 @@ void process_commands()
|
|||
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
|
||||
break;
|
||||
case 21: // M21 - init SD card
|
||||
|
||||
|
||||
card.initsd();
|
||||
|
||||
|
||||
break;
|
||||
case 22: //M22 - release SD card
|
||||
card.release();
|
||||
|
@ -957,7 +986,7 @@ void process_commands()
|
|||
//processed in write to file routine above
|
||||
//card,saving = false;
|
||||
break;
|
||||
case 30: //M30 <filename> Delete File
|
||||
case 30: //M30 <filename> Delete File
|
||||
if (card.cardOK){
|
||||
card.closefile();
|
||||
starpos = (strchr(strchr_pointer + 4,'*'));
|
||||
|
@ -978,7 +1007,7 @@ void process_commands()
|
|||
}
|
||||
card.openLogFile(strchr_pointer+5);
|
||||
break;
|
||||
|
||||
|
||||
#endif //SDSUPPORT
|
||||
|
||||
case 31: //M31 take time since the start of the SD print or an M109 command
|
||||
|
@ -1035,11 +1064,11 @@ void process_commands()
|
|||
}
|
||||
#if (TEMP_0_PIN > -1)
|
||||
SERIAL_PROTOCOLPGM("ok T:");
|
||||
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
||||
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
||||
SERIAL_PROTOCOLPGM(" /");
|
||||
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
|
||||
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
|
||||
#if TEMP_BED_PIN > -1
|
||||
SERIAL_PROTOCOLPGM(" B:");
|
||||
SERIAL_PROTOCOLPGM(" B:");
|
||||
SERIAL_PROTOCOL_F(degBed(),1);
|
||||
SERIAL_PROTOCOLPGM(" /");
|
||||
SERIAL_PROTOCOL_F(degTargetBed(),1);
|
||||
|
@ -1050,20 +1079,20 @@ void process_commands()
|
|||
#endif
|
||||
|
||||
SERIAL_PROTOCOLPGM(" @:");
|
||||
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
||||
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
||||
|
||||
SERIAL_PROTOCOLPGM(" B@:");
|
||||
SERIAL_PROTOCOL(getHeaterPower(-1));
|
||||
SERIAL_PROTOCOL(getHeaterPower(-1));
|
||||
|
||||
SERIAL_PROTOCOLLN("");
|
||||
return;
|
||||
break;
|
||||
case 109:
|
||||
case 109:
|
||||
{// M109 - Wait for extruder heater to reach target.
|
||||
if(setTargetedHotend(109)){
|
||||
break;
|
||||
}
|
||||
LCD_MESSAGEPGM(MSG_HEATING);
|
||||
LCD_MESSAGEPGM(MSG_HEATING);
|
||||
#ifdef AUTOTEMP
|
||||
autotemp_enabled=false;
|
||||
#endif
|
||||
|
@ -1071,15 +1100,15 @@ void process_commands()
|
|||
#ifdef AUTOTEMP
|
||||
if (code_seen('S')) autotemp_min=code_value();
|
||||
if (code_seen('B')) autotemp_max=code_value();
|
||||
if (code_seen('F'))
|
||||
if (code_seen('F'))
|
||||
{
|
||||
autotemp_factor=code_value();
|
||||
autotemp_enabled=true;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
setWatch();
|
||||
codenum = millis();
|
||||
codenum = millis();
|
||||
|
||||
/* See if we are heating up or cooling down */
|
||||
bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
|
||||
|
@ -1087,7 +1116,7 @@ void process_commands()
|
|||
#ifdef TEMP_RESIDENCY_TIME
|
||||
long residencyStart;
|
||||
residencyStart = -1;
|
||||
/* continue to loop until we have reached the target temp
|
||||
/* 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))) ) {
|
||||
|
@ -1097,9 +1126,9 @@ void process_commands()
|
|||
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_PROTOCOL_F(degHotend(tmp_extruder),1);
|
||||
SERIAL_PROTOCOLPGM(" E:");
|
||||
SERIAL_PROTOCOL((int)tmp_extruder);
|
||||
SERIAL_PROTOCOL((int)tmp_extruder);
|
||||
#ifdef TEMP_RESIDENCY_TIME
|
||||
SERIAL_PROTOCOLPGM(" W:");
|
||||
if(residencyStart > -1)
|
||||
|
@ -1107,7 +1136,7 @@ void process_commands()
|
|||
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
|
||||
SERIAL_PROTOCOLLN( codenum );
|
||||
}
|
||||
else
|
||||
else
|
||||
{
|
||||
SERIAL_PROTOCOLLN( "?" );
|
||||
}
|
||||
|
@ -1124,7 +1153,7 @@ void process_commands()
|
|||
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 > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
|
||||
{
|
||||
residencyStart = millis();
|
||||
}
|
||||
|
@ -1139,8 +1168,8 @@ void process_commands()
|
|||
#if TEMP_BED_PIN > -1
|
||||
LCD_MESSAGEPGM(MSG_BED_HEATING);
|
||||
if (code_seen('S')) setTargetBed(code_value());
|
||||
codenum = millis();
|
||||
while(isHeatingBed())
|
||||
codenum = millis();
|
||||
while(isHeatingBed())
|
||||
{
|
||||
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
||||
{
|
||||
|
@ -1148,11 +1177,11 @@ void process_commands()
|
|||
SERIAL_PROTOCOLPGM("T:");
|
||||
SERIAL_PROTOCOL(tt);
|
||||
SERIAL_PROTOCOLPGM(" E:");
|
||||
SERIAL_PROTOCOL((int)active_extruder);
|
||||
SERIAL_PROTOCOL((int)active_extruder);
|
||||
SERIAL_PROTOCOLPGM(" B:");
|
||||
SERIAL_PROTOCOL_F(degBed(),1);
|
||||
SERIAL_PROTOCOLLN("");
|
||||
codenum = millis();
|
||||
SERIAL_PROTOCOL_F(degBed(),1);
|
||||
SERIAL_PROTOCOLLN("");
|
||||
codenum = millis();
|
||||
}
|
||||
manage_heater();
|
||||
manage_inactivity();
|
||||
|
@ -1169,7 +1198,7 @@ void process_commands()
|
|||
fanSpeed=constrain(code_value(),0,255);
|
||||
}
|
||||
else {
|
||||
fanSpeed=255;
|
||||
fanSpeed=255;
|
||||
}
|
||||
break;
|
||||
case 107: //M107 Fan Off
|
||||
|
@ -1184,7 +1213,7 @@ void process_commands()
|
|||
ValvePressure=constrain(code_value(),0,255);
|
||||
}
|
||||
else {
|
||||
ValvePressure=255;
|
||||
ValvePressure=255;
|
||||
}
|
||||
break;
|
||||
case 127: //M127 valve closed
|
||||
|
@ -1199,7 +1228,7 @@ void process_commands()
|
|||
EtoPPressure=constrain(code_value(),0,255);
|
||||
}
|
||||
else {
|
||||
EtoPPressure=255;
|
||||
EtoPPressure=255;
|
||||
}
|
||||
break;
|
||||
case 129: //M129 valve closed
|
||||
|
@ -1214,18 +1243,18 @@ void process_commands()
|
|||
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
||||
break;
|
||||
#endif
|
||||
|
||||
|
||||
case 81: // M81 - ATX Power Off
|
||||
|
||||
|
||||
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
|
||||
st_synchronize();
|
||||
suicide();
|
||||
#elif (PS_ON_PIN > -1)
|
||||
SET_OUTPUT(PS_ON_PIN);
|
||||
SET_OUTPUT(PS_ON_PIN);
|
||||
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
||||
#endif
|
||||
break;
|
||||
|
||||
|
||||
case 82:
|
||||
axis_relative_modes[3] = false;
|
||||
break;
|
||||
|
@ -1234,11 +1263,11 @@ void process_commands()
|
|||
break;
|
||||
case 18: //compatibility
|
||||
case 84: // M84
|
||||
if(code_seen('S')){
|
||||
stepper_inactive_time = code_value() * 1000;
|
||||
if(code_seen('S')){
|
||||
stepper_inactive_time = code_value() * 1000;
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
|
||||
if(all_axis)
|
||||
{
|
||||
|
@ -1260,18 +1289,18 @@ void process_commands()
|
|||
disable_e1();
|
||||
disable_e2();
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 85: // M85
|
||||
code_seen('S');
|
||||
max_inactive_time = code_value() * 1000;
|
||||
max_inactive_time = code_value() * 1000;
|
||||
break;
|
||||
case 92: // M92
|
||||
for(int8_t i=0; i < NUM_AXIS; i++)
|
||||
for(int8_t i=0; i < NUM_AXIS; i++)
|
||||
{
|
||||
if(code_seen(axis_codes[i]))
|
||||
if(code_seen(axis_codes[i]))
|
||||
{
|
||||
if(i == 3) { // E
|
||||
float value = code_value();
|
||||
|
@ -1305,16 +1334,16 @@ void process_commands()
|
|||
SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
||||
SERIAL_PROTOCOLPGM("Z:");
|
||||
SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
||||
SERIAL_PROTOCOLPGM("E:");
|
||||
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
|
||||
|
@ -1352,7 +1381,7 @@ void process_commands()
|
|||
break;
|
||||
//TODO: update for all axis, use for loop
|
||||
case 201: // M201
|
||||
for(int8_t i=0; i < NUM_AXIS; i++)
|
||||
for(int8_t i=0; i < NUM_AXIS; i++)
|
||||
{
|
||||
if(code_seen(axis_codes[i]))
|
||||
{
|
||||
|
@ -1391,7 +1420,7 @@ void process_commands()
|
|||
}
|
||||
break;
|
||||
case 206: // M206 additional homeing offset
|
||||
for(int8_t i=0; i < 3; i++)
|
||||
for(int8_t i=0; i < 3; i++)
|
||||
{
|
||||
if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
|
||||
}
|
||||
|
@ -1399,47 +1428,47 @@ void process_commands()
|
|||
#ifdef FWRETRACT
|
||||
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
|
||||
{
|
||||
if(code_seen('S'))
|
||||
if(code_seen('S'))
|
||||
{
|
||||
retract_length = code_value() ;
|
||||
}
|
||||
if(code_seen('F'))
|
||||
if(code_seen('F'))
|
||||
{
|
||||
retract_feedrate = code_value() ;
|
||||
}
|
||||
if(code_seen('Z'))
|
||||
if(code_seen('Z'))
|
||||
{
|
||||
retract_zlift = code_value() ;
|
||||
}
|
||||
}break;
|
||||
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
|
||||
{
|
||||
if(code_seen('S'))
|
||||
if(code_seen('S'))
|
||||
{
|
||||
retract_recover_length = code_value() ;
|
||||
}
|
||||
if(code_seen('F'))
|
||||
if(code_seen('F'))
|
||||
{
|
||||
retract_recover_feedrate = code_value() ;
|
||||
}
|
||||
}break;
|
||||
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
|
||||
{
|
||||
if(code_seen('S'))
|
||||
if(code_seen('S'))
|
||||
{
|
||||
int t= code_value() ;
|
||||
switch(t)
|
||||
{
|
||||
case 0: autoretract_enabled=false;retracted=false;break;
|
||||
case 1: autoretract_enabled=true;retracted=false;break;
|
||||
default:
|
||||
default:
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
|
||||
SERIAL_ECHO(cmdbuffer[bufindr]);
|
||||
SERIAL_ECHOLNPGM("\"");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}break;
|
||||
#endif // FWRETRACT
|
||||
#if EXTRUDERS > 1
|
||||
|
@ -1448,7 +1477,7 @@ void process_commands()
|
|||
if(setTargetedHotend(218)){
|
||||
break;
|
||||
}
|
||||
if(code_seen('X'))
|
||||
if(code_seen('X'))
|
||||
{
|
||||
extruder_offset[X_AXIS][tmp_extruder] = code_value();
|
||||
}
|
||||
|
@ -1458,7 +1487,7 @@ void process_commands()
|
|||
}
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
|
||||
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
|
||||
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
|
||||
{
|
||||
SERIAL_ECHO(" ");
|
||||
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
|
||||
|
@ -1470,7 +1499,7 @@ void process_commands()
|
|||
#endif
|
||||
case 220: // M220 S<factor in percent>- set speed factor override percentage
|
||||
{
|
||||
if(code_seen('S'))
|
||||
if(code_seen('S'))
|
||||
{
|
||||
feedmultiply = code_value() ;
|
||||
}
|
||||
|
@ -1478,13 +1507,44 @@ void process_commands()
|
|||
break;
|
||||
case 221: // M221 S<factor in percent>- set extrude factor override percentage
|
||||
{
|
||||
if(code_seen('S'))
|
||||
if(code_seen('S'))
|
||||
{
|
||||
extrudemultiply = code_value() ;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
|
||||
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
||||
{
|
||||
int servo_index = -1;
|
||||
int servo_position = 0;
|
||||
if (code_seen('P'))
|
||||
servo_index = code_value();
|
||||
if (code_seen('S')) {
|
||||
servo_position = code_value();
|
||||
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
|
||||
servos[servo_index].write(servo_position);
|
||||
}
|
||||
else {
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHO("Servo ");
|
||||
SERIAL_ECHO(servo_index);
|
||||
SERIAL_ECHOLN(" out of range");
|
||||
}
|
||||
}
|
||||
else if (servo_index >= 0) {
|
||||
SERIAL_PROTOCOL(MSG_OK);
|
||||
SERIAL_PROTOCOL(" Servo ");
|
||||
SERIAL_PROTOCOL(servo_index);
|
||||
SERIAL_PROTOCOL(": ");
|
||||
SERIAL_PROTOCOL(servos[servo_index].read());
|
||||
SERIAL_PROTOCOLLN("");
|
||||
}
|
||||
}
|
||||
break;
|
||||
#endif // NUM_SERVOS > 0
|
||||
|
||||
#if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
|
||||
case 300: // M300
|
||||
{
|
||||
|
@ -1509,7 +1569,7 @@ void process_commands()
|
|||
#ifdef PID_ADD_EXTRUSION_RATE
|
||||
if(code_seen('C')) Kc = code_value();
|
||||
#endif
|
||||
|
||||
|
||||
updatePID();
|
||||
SERIAL_PROTOCOL(MSG_OK);
|
||||
SERIAL_PROTOCOL(" p:");
|
||||
|
@ -1569,7 +1629,7 @@ void process_commands()
|
|||
#endif
|
||||
}
|
||||
break;
|
||||
|
||||
|
||||
case 302: // allow cold extrudes
|
||||
{
|
||||
allow_cold_extrudes(true);
|
||||
|
@ -1634,7 +1694,7 @@ void process_commands()
|
|||
lastpos[Z_AXIS]=current_position[Z_AXIS];
|
||||
lastpos[E_AXIS]=current_position[E_AXIS];
|
||||
//retract by E
|
||||
if(code_seen('E'))
|
||||
if(code_seen('E'))
|
||||
{
|
||||
target[E_AXIS]+= code_value();
|
||||
}
|
||||
|
@ -1645,9 +1705,9 @@ void process_commands()
|
|||
#endif
|
||||
}
|
||||
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
||||
|
||||
|
||||
//lift Z
|
||||
if(code_seen('Z'))
|
||||
if(code_seen('Z'))
|
||||
{
|
||||
target[Z_AXIS]+= code_value();
|
||||
}
|
||||
|
@ -1658,9 +1718,9 @@ void process_commands()
|
|||
#endif
|
||||
}
|
||||
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
||||
|
||||
|
||||
//move xy
|
||||
if(code_seen('X'))
|
||||
if(code_seen('X'))
|
||||
{
|
||||
target[X_AXIS]+= code_value();
|
||||
}
|
||||
|
@ -1670,7 +1730,7 @@ void process_commands()
|
|||
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
||||
#endif
|
||||
}
|
||||
if(code_seen('Y'))
|
||||
if(code_seen('Y'))
|
||||
{
|
||||
target[Y_AXIS]= code_value();
|
||||
}
|
||||
|
@ -1680,9 +1740,9 @@ void process_commands()
|
|||
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
||||
|
||||
|
||||
if(code_seen('L'))
|
||||
{
|
||||
target[E_AXIS]+= code_value();
|
||||
|
@ -1693,9 +1753,9 @@ void process_commands()
|
|||
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
||||
|
||||
|
||||
//finish moves
|
||||
st_synchronize();
|
||||
//disable extruder steppers so filament can be removed
|
||||
|
@ -1710,12 +1770,12 @@ void process_commands()
|
|||
manage_heater();
|
||||
manage_inactivity();
|
||||
lcd_update();
|
||||
|
||||
|
||||
#if BEEPER > -1
|
||||
if(cnt==0)
|
||||
{
|
||||
SET_OUTPUT(BEEPER);
|
||||
|
||||
|
||||
WRITE(BEEPER,HIGH);
|
||||
delay(3);
|
||||
WRITE(BEEPER,LOW);
|
||||
|
@ -1723,9 +1783,9 @@ void process_commands()
|
|||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
//return to normal
|
||||
if(code_seen('L'))
|
||||
if(code_seen('L'))
|
||||
{
|
||||
target[E_AXIS]+= -code_value();
|
||||
}
|
||||
|
@ -1743,7 +1803,7 @@ void process_commands()
|
|||
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
|
||||
}
|
||||
break;
|
||||
#endif //FILAMENTCHANGEENABLE
|
||||
#endif //FILAMENTCHANGEENABLE
|
||||
case 907: // M907 Set digital trimpot motor current using axis codes.
|
||||
{
|
||||
#if DIGIPOTSS_PIN > -1
|
||||
|
@ -1766,7 +1826,7 @@ void process_commands()
|
|||
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
||||
{
|
||||
#if X_MS1_PIN > -1
|
||||
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
|
||||
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
|
||||
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
|
||||
if(code_seen('B')) microstep_mode(4,code_value());
|
||||
microstep_readings();
|
||||
|
@ -1800,7 +1860,7 @@ void process_commands()
|
|||
}
|
||||
}
|
||||
|
||||
else if(code_seen('T'))
|
||||
else if(code_seen('T'))
|
||||
{
|
||||
tmp_extruder = code_value();
|
||||
if(tmp_extruder >= EXTRUDERS) {
|
||||
|
@ -1825,7 +1885,7 @@ void process_commands()
|
|||
// Offset extruder (only by XY)
|
||||
int i;
|
||||
for(i = 0; i < 2; i++) {
|
||||
current_position[i] = current_position[i] -
|
||||
current_position[i] = current_position[i] -
|
||||
extruder_offset[i][active_extruder] +
|
||||
extruder_offset[i][tmp_extruder];
|
||||
}
|
||||
|
@ -1871,14 +1931,14 @@ void ClearToSend()
|
|||
if(fromsd[bufindr])
|
||||
return;
|
||||
#endif //SDSUPPORT
|
||||
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
||||
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
||||
}
|
||||
|
||||
void get_coordinates()
|
||||
{
|
||||
bool seen[4]={false,false,false,false};
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
if(code_seen(axis_codes[i]))
|
||||
if(code_seen(axis_codes[i]))
|
||||
{
|
||||
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
|
||||
seen[i]=true;
|
||||
|
@ -1896,23 +1956,23 @@ void get_coordinates()
|
|||
float echange=destination[E_AXIS]-current_position[E_AXIS];
|
||||
if(echange<-MIN_RETRACT) //retract
|
||||
{
|
||||
if(!retracted)
|
||||
if(!retracted)
|
||||
{
|
||||
|
||||
|
||||
destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
|
||||
//if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
|
||||
float correctede=-echange-retract_length;
|
||||
//to generate the additional steps, not the destination is changed, but inversely the current position
|
||||
current_position[E_AXIS]+=-correctede;
|
||||
current_position[E_AXIS]+=-correctede;
|
||||
feedrate=retract_feedrate;
|
||||
retracted=true;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
else
|
||||
else
|
||||
if(echange>MIN_RETRACT) //retract_recover
|
||||
{
|
||||
if(retracted)
|
||||
if(retracted)
|
||||
{
|
||||
//current_position[Z_AXIS]+=-retract_zlift;
|
||||
//if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
|
||||
|
@ -1922,7 +1982,7 @@ void get_coordinates()
|
|||
retracted=false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
#endif //FWRETRACT
|
||||
}
|
||||
|
@ -1940,7 +2000,7 @@ void get_arc_coordinates()
|
|||
|
||||
if(code_seen('I')) {
|
||||
offset[0] = code_value();
|
||||
}
|
||||
}
|
||||
else {
|
||||
offset[0] = 0.0;
|
||||
}
|
||||
|
@ -1971,7 +2031,7 @@ void prepare_move()
|
|||
{
|
||||
clamp_to_software_endstops(destination);
|
||||
|
||||
previous_millis_cmd = millis();
|
||||
previous_millis_cmd = millis();
|
||||
// Do not use feedmultiply for E or Z only moves
|
||||
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
||||
|
@ -1989,7 +2049,7 @@ void prepare_arc_move(char isclockwise) {
|
|||
|
||||
// Trace the arc
|
||||
mc_arc(current_position, 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.
|
||||
|
@ -2008,7 +2068,7 @@ void controllerFan()
|
|||
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
||||
{
|
||||
lastMotorCheck = millis();
|
||||
|
||||
|
||||
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
|
||||
#if EXTRUDERS > 2
|
||||
|| !READ(E2_ENABLE_PIN)
|
||||
|
@ -2016,12 +2076,12 @@ void controllerFan()
|
|||
#if EXTRUDER > 1
|
||||
|| !READ(E1_ENABLE_PIN)
|
||||
#endif
|
||||
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|
||||
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|
||||
{
|
||||
lastMotor = millis(); //... set time to NOW so the fan will turn on
|
||||
}
|
||||
|
||||
if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
||||
|
||||
if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
||||
{
|
||||
WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
|
||||
}
|
||||
|
@ -2041,7 +2101,7 @@ void extruderFan()
|
|||
if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
||||
{
|
||||
lastExtruderCheck = millis();
|
||||
|
||||
|
||||
if (degHotend(active_extruder) < EXTRUDERFAN_DEC)
|
||||
{
|
||||
WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
|
||||
|
@ -2054,13 +2114,13 @@ void extruderFan()
|
|||
}
|
||||
#endif
|
||||
|
||||
void manage_inactivity()
|
||||
{
|
||||
if( (millis() - previous_millis_cmd) > max_inactive_time )
|
||||
if(max_inactive_time)
|
||||
kill();
|
||||
void manage_inactivity()
|
||||
{
|
||||
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( (millis() - previous_millis_cmd) > stepper_inactive_time )
|
||||
{
|
||||
if(blocks_queued() == false) {
|
||||
disable_x();
|
||||
|
@ -2080,15 +2140,15 @@ void manage_inactivity()
|
|||
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( (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],
|
||||
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;
|
||||
|
@ -2112,7 +2172,7 @@ void kill()
|
|||
disable_e0();
|
||||
disable_e1();
|
||||
disable_e2();
|
||||
|
||||
|
||||
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
||||
|
@ -2141,7 +2201,7 @@ void setPwmFrequency(uint8_t pin, int val)
|
|||
val &= 0x07;
|
||||
switch(digitalPinToTimer(pin))
|
||||
{
|
||||
|
||||
|
||||
#if defined(TCCR0A)
|
||||
case TIMER0A:
|
||||
case TIMER0B:
|
||||
|
@ -2183,7 +2243,7 @@ void setPwmFrequency(uint8_t pin, int val)
|
|||
break;
|
||||
#endif
|
||||
|
||||
#if defined(TCCR4A)
|
||||
#if defined(TCCR4A)
|
||||
case TIMER4A:
|
||||
case TIMER4B:
|
||||
case TIMER4C:
|
||||
|
@ -2192,7 +2252,7 @@ void setPwmFrequency(uint8_t pin, int val)
|
|||
break;
|
||||
#endif
|
||||
|
||||
#if defined(TCCR5A)
|
||||
#if defined(TCCR5A)
|
||||
case TIMER5A:
|
||||
case TIMER5B:
|
||||
case TIMER5C:
|
||||
|
|
337
Marlin/Servo.cpp
Normal file
337
Marlin/Servo.cpp
Normal file
|
@ -0,0 +1,337 @@
|
|||
/*
|
||||
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||
Copyright (c) 2009 Michael Margolis. 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
|
||||
*/
|
||||
|
||||
/*
|
||||
|
||||
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||
The servos are pulsed in the background using the value most recently written using the write() method
|
||||
|
||||
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||
|
||||
The methods are:
|
||||
|
||||
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||
|
||||
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||
default min is 544, max is 2400
|
||||
|
||||
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||
attached() - Returns true if there is a servo attached.
|
||||
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||
|
||||
*/
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include <Arduino.h>
|
||||
|
||||
#include "Servo.h"
|
||||
|
||||
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
|
||||
#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
|
||||
|
||||
|
||||
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
|
||||
|
||||
//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
|
||||
|
||||
static servo_t servos[MAX_SERVOS]; // static array of servo structures
|
||||
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
|
||||
|
||||
uint8_t ServoCount = 0; // the total number of attached servos
|
||||
|
||||
|
||||
// convenience macros
|
||||
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
|
||||
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
|
||||
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
|
||||
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
|
||||
|
||||
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
|
||||
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
|
||||
|
||||
/************ static functions common to all instances ***********************/
|
||||
|
||||
static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
|
||||
{
|
||||
if( Channel[timer] < 0 )
|
||||
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
|
||||
else{
|
||||
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
|
||||
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
|
||||
}
|
||||
|
||||
Channel[timer]++; // increment to the next channel
|
||||
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
|
||||
*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
|
||||
if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
|
||||
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
|
||||
}
|
||||
else {
|
||||
// finished all channels so wait for the refresh period to expire before starting over
|
||||
if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
|
||||
*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
|
||||
else
|
||||
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
|
||||
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
|
||||
// Interrupt handlers for Arduino
|
||||
#if defined(_useTimer1)
|
||||
SIGNAL (TIMER1_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer1, &TCNT1, &OCR1A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer3)
|
||||
SIGNAL (TIMER3_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer3, &TCNT3, &OCR3A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer4)
|
||||
SIGNAL (TIMER4_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer4, &TCNT4, &OCR4A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer5)
|
||||
SIGNAL (TIMER5_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer5, &TCNT5, &OCR5A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#elif defined WIRING
|
||||
// Interrupt handlers for Wiring
|
||||
#if defined(_useTimer1)
|
||||
void Timer1Service()
|
||||
{
|
||||
handle_interrupts(_timer1, &TCNT1, &OCR1A);
|
||||
}
|
||||
#endif
|
||||
#if defined(_useTimer3)
|
||||
void Timer3Service()
|
||||
{
|
||||
handle_interrupts(_timer3, &TCNT3, &OCR3A);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
static void initISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
if(timer == _timer1) {
|
||||
TCCR1A = 0; // normal counting mode
|
||||
TCCR1B = _BV(CS11); // set prescaler of 8
|
||||
TCNT1 = 0; // clear the timer count
|
||||
#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
|
||||
TIFR |= _BV(OCF1A); // clear any pending interrupts;
|
||||
TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
|
||||
#else
|
||||
// here if not ATmega8 or ATmega128
|
||||
TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
|
||||
TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
|
||||
#endif
|
||||
#if defined(WIRING)
|
||||
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer3)
|
||||
if(timer == _timer3) {
|
||||
TCCR3A = 0; // normal counting mode
|
||||
TCCR3B = _BV(CS31); // set prescaler of 8
|
||||
TCNT3 = 0; // clear the timer count
|
||||
#if defined(__AVR_ATmega128__)
|
||||
TIFR |= _BV(OCF3A); // clear any pending interrupts;
|
||||
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
|
||||
#else
|
||||
TIFR3 = _BV(OCF3A); // clear any pending interrupts;
|
||||
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
|
||||
#endif
|
||||
#if defined(WIRING)
|
||||
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer4)
|
||||
if(timer == _timer4) {
|
||||
TCCR4A = 0; // normal counting mode
|
||||
TCCR4B = _BV(CS41); // set prescaler of 8
|
||||
TCNT4 = 0; // clear the timer count
|
||||
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
|
||||
TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer5)
|
||||
if(timer == _timer5) {
|
||||
TCCR5A = 0; // normal counting mode
|
||||
TCCR5B = _BV(CS51); // set prescaler of 8
|
||||
TCNT5 = 0; // clear the timer count
|
||||
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
|
||||
TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
static void finISR(timer16_Sequence_t timer)
|
||||
{
|
||||
//disable use of the given timer
|
||||
#if defined WIRING // Wiring
|
||||
if(timer == _timer1) {
|
||||
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
|
||||
#else
|
||||
TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
|
||||
#endif
|
||||
timerDetach(TIMER1OUTCOMPAREA_INT);
|
||||
}
|
||||
else if(timer == _timer3) {
|
||||
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
|
||||
#else
|
||||
ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
|
||||
#endif
|
||||
timerDetach(TIMER3OUTCOMPAREA_INT);
|
||||
}
|
||||
#else
|
||||
//For arduino - in future: call here to a currently undefined function to reset the timer
|
||||
#endif
|
||||
}
|
||||
|
||||
static boolean isTimerActive(timer16_Sequence_t timer)
|
||||
{
|
||||
// returns true if any servo is active on this timer
|
||||
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
|
||||
if(SERVO(timer,channel).Pin.isActive == true)
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/****************** end of static functions ******************************/
|
||||
|
||||
Servo::Servo()
|
||||
{
|
||||
if( ServoCount < MAX_SERVOS) {
|
||||
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
||||
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
|
||||
}
|
||||
else
|
||||
this->servoIndex = INVALID_SERVO ; // too many servos
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin)
|
||||
{
|
||||
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin, int min, int max)
|
||||
{
|
||||
if(this->servoIndex < MAX_SERVOS ) {
|
||||
pinMode( pin, OUTPUT) ; // set servo pin to output
|
||||
servos[this->servoIndex].Pin.nbr = pin;
|
||||
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
||||
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
|
||||
this->max = (MAX_PULSE_WIDTH - max)/4;
|
||||
// initialize the timer if it has not already been initialized
|
||||
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false)
|
||||
initISR(timer);
|
||||
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
||||
}
|
||||
return this->servoIndex ;
|
||||
}
|
||||
|
||||
void Servo::detach()
|
||||
{
|
||||
servos[this->servoIndex].Pin.isActive = false;
|
||||
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false) {
|
||||
finISR(timer);
|
||||
}
|
||||
}
|
||||
|
||||
void Servo::write(int value)
|
||||
{
|
||||
if(value < MIN_PULSE_WIDTH)
|
||||
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
||||
if(value < 0) value = 0;
|
||||
if(value > 180) value = 180;
|
||||
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||
}
|
||||
this->writeMicroseconds(value);
|
||||
}
|
||||
|
||||
void Servo::writeMicroseconds(int value)
|
||||
{
|
||||
// calculate and store the values for the given channel
|
||||
byte channel = this->servoIndex;
|
||||
if( (channel < MAX_SERVOS) ) // ensure channel is valid
|
||||
{
|
||||
if( value < SERVO_MIN() ) // ensure pulse width is valid
|
||||
value = SERVO_MIN();
|
||||
else if( value > SERVO_MAX() )
|
||||
value = SERVO_MAX();
|
||||
|
||||
value = value - TRIM_DURATION;
|
||||
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
|
||||
|
||||
uint8_t oldSREG = SREG;
|
||||
cli();
|
||||
servos[channel].ticks = value;
|
||||
SREG = oldSREG;
|
||||
}
|
||||
}
|
||||
|
||||
int Servo::read() // return the value as degrees
|
||||
{
|
||||
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
|
||||
}
|
||||
|
||||
int Servo::readMicroseconds()
|
||||
{
|
||||
unsigned int pulsewidth;
|
||||
if( this->servoIndex != INVALID_SERVO )
|
||||
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
|
||||
else
|
||||
pulsewidth = 0;
|
||||
|
||||
return pulsewidth;
|
||||
}
|
||||
|
||||
bool Servo::attached()
|
||||
{
|
||||
return servos[this->servoIndex].Pin.isActive ;
|
||||
}
|
132
Marlin/Servo.h
Normal file
132
Marlin/Servo.h
Normal file
|
@ -0,0 +1,132 @@
|
|||
/*
|
||||
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||
Copyright (c) 2009 Michael Margolis. 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
|
||||
*/
|
||||
|
||||
/*
|
||||
|
||||
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
|
||||
The servos are pulsed in the background using the value most recently written using the write() method
|
||||
|
||||
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
||||
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
||||
The sequence used to sieze timers is defined in timers.h
|
||||
|
||||
The methods are:
|
||||
|
||||
Servo - Class for manipulating servo motors connected to Arduino pins.
|
||||
|
||||
attach(pin ) - Attaches a servo motor to an i/o pin.
|
||||
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||||
default min is 544, max is 2400
|
||||
|
||||
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||||
writeMicroseconds() - Sets the servo pulse width in microseconds
|
||||
read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||||
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||||
attached() - Returns true if there is a servo attached.
|
||||
detach() - Stops an attached servos from pulsing its i/o pin.
|
||||
*/
|
||||
|
||||
#ifndef Servo_h
|
||||
#define Servo_h
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
*
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
|
||||
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||||
*
|
||||
*/
|
||||
|
||||
// Say which 16 bit timers can be used and in what order
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define _useTimer5
|
||||
//#define _useTimer1
|
||||
#define _useTimer3
|
||||
#define _useTimer4
|
||||
//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
//#define _useTimer1
|
||||
#define _useTimer3
|
||||
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||
#define _useTimer3
|
||||
//#define _useTimer1
|
||||
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
#define _useTimer3
|
||||
//#define _useTimer1
|
||||
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
|
||||
|
||||
#else // everything else
|
||||
//#define _useTimer1
|
||||
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _Nbr_16timers } timer16_Sequence_t ;
|
||||
#endif
|
||||
|
||||
#define Servo_VERSION 2 // software version of this library
|
||||
|
||||
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
|
||||
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||||
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
|
||||
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
|
||||
|
||||
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
|
||||
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
|
||||
|
||||
#define INVALID_SERVO 255 // flag indicating an invalid servo index
|
||||
|
||||
typedef struct {
|
||||
uint8_t nbr :6 ; // a pin number from 0 to 63
|
||||
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
|
||||
} ServoPin_t ;
|
||||
|
||||
typedef struct {
|
||||
ServoPin_t Pin;
|
||||
unsigned int ticks;
|
||||
} servo_t;
|
||||
|
||||
class Servo
|
||||
{
|
||||
public:
|
||||
Servo();
|
||||
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
|
||||
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
|
||||
void detach();
|
||||
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
|
||||
void writeMicroseconds(int value); // Write pulse width in microseconds
|
||||
int read(); // returns current pulse width as an angle between 0 and 180 degrees
|
||||
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
|
||||
bool attached(); // return true if this servo is attached, otherwise false
|
||||
private:
|
||||
uint8_t servoIndex; // index into the channel data for this servo
|
||||
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
|
||||
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
|
||||
};
|
||||
|
||||
#endif
|
171
Marlin/pins.h
171
Marlin/pins.h
|
@ -248,14 +248,14 @@
|
|||
#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_1_PIN -1
|
||||
#define HEATER_2_PIN -1
|
||||
#define HEATER_BED_PIN 3 // (bed)
|
||||
|
||||
|
@ -272,25 +272,25 @@
|
|||
//our RS485 pins
|
||||
//#define TX_ENABLE_PIN 12
|
||||
//#define RX_ENABLE_PIN 13
|
||||
|
||||
#define BEEPER -1
|
||||
#define SDCARDDETECT -1
|
||||
|
||||
#define BEEPER -1
|
||||
#define SDCARDDETECT -1
|
||||
#define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work
|
||||
|
||||
|
||||
#define KILL_PIN -1
|
||||
//Pins for 4bit LCD Support
|
||||
#define LCD_PINS_RS 18
|
||||
//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_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
|
||||
|
@ -376,13 +376,18 @@
|
|||
#else
|
||||
#define HEATER_1_PIN 9 // EXTRUDER 2 (FAN On Sprinter)
|
||||
#endif
|
||||
#define HEATER_2_PIN -1
|
||||
#define HEATER_2_PIN -1
|
||||
#define TEMP_0_PIN 13 // 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
|
||||
|
||||
#define SERVO0_PIN 11
|
||||
#define SERVO1_PIN 6
|
||||
#define SERVO2_PIN 5
|
||||
#define SERVO3_PIN 4
|
||||
|
||||
#ifdef ULTRA_LCD
|
||||
|
||||
#ifdef NEWPANEL
|
||||
|
@ -396,13 +401,13 @@
|
|||
#define BLEN_B 1
|
||||
#define BLEN_C 2
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
#define LCD_PINS_RS 16
|
||||
#define LCD_PINS_ENABLE 17
|
||||
#define LCD_PINS_D4 23
|
||||
#define LCD_PINS_D5 25
|
||||
#define LCD_PINS_D5 25
|
||||
#define LCD_PINS_D6 27
|
||||
#define LCD_PINS_D7 29
|
||||
|
||||
|
||||
#ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
|
||||
#define BEEPER 37
|
||||
|
||||
|
@ -455,21 +460,21 @@
|
|||
//#define SHIFT_LD 42
|
||||
//#define SHIFT_OUT 40
|
||||
//#define SHIFT_EN 17
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
#define LCD_PINS_ENABLE 17
|
||||
#define LCD_PINS_D4 23
|
||||
#define LCD_PINS_D5 25
|
||||
#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
|
||||
|
@ -481,7 +486,7 @@
|
|||
|
||||
#define BLEN_B 1
|
||||
#define BLEN_A 0
|
||||
#endif
|
||||
#endif
|
||||
#endif //ULTRA_LCD
|
||||
|
||||
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default (MOTHERBOARD == 3)
|
||||
|
@ -526,15 +531,15 @@
|
|||
#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
|
||||
#define TEMP_2_PIN -1
|
||||
#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// MOTHERBOARD == 33 || MOTHERBOARD == 34
|
||||
|
||||
// SPI for Max6675 Thermocouple
|
||||
// SPI for Max6675 Thermocouple
|
||||
|
||||
#ifndef SDSUPPORT
|
||||
// these pins are defined in the SD library if building with SD support
|
||||
// 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
|
||||
|
@ -586,8 +591,8 @@
|
|||
#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 TEMP_1_PIN -1
|
||||
#define TEMP_2_PIN -1
|
||||
#define HEATER_BED_PIN -1
|
||||
#define TEMP_BED_PIN -1
|
||||
|
||||
|
@ -650,14 +655,14 @@
|
|||
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
|
||||
#define KILL_PIN -1 //changed @ drakelive 20120830
|
||||
//our pin for debugging.
|
||||
|
||||
|
||||
#define DEBUG_PIN 0
|
||||
|
||||
|
||||
//our RS485 pins
|
||||
#define TX_ENABLE_PIN 12
|
||||
#define RX_ENABLE_PIN 13
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
/****************************************************************************************
|
||||
|
@ -673,7 +678,7 @@
|
|||
#if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
|
||||
#undef MOTHERBOARD
|
||||
#define MOTHERBOARD 6
|
||||
#define SANGUINOLOLU_V_1_2
|
||||
#define SANGUINOLOLU_V_1_2
|
||||
#endif
|
||||
#if MOTHERBOARD == 6
|
||||
#define KNOWN_BOARD 1
|
||||
|
@ -700,7 +705,7 @@
|
|||
|
||||
#define LED_PIN -1
|
||||
|
||||
#define FAN_PIN -1
|
||||
#define FAN_PIN -1
|
||||
#if FAN_PIN == 12 || FAN_PIN ==13
|
||||
#define FAN_SOFT_PWM
|
||||
#endif
|
||||
|
@ -779,21 +784,21 @@
|
|||
#define BTN_ENC 16 //the switch
|
||||
//not connected to a pin
|
||||
#define SDCARDDETECT -1
|
||||
|
||||
|
||||
//from the same bit in the RAMPS Newpanel define
|
||||
//encoder rotation values
|
||||
#define encrot0 0
|
||||
#define encrot1 2
|
||||
#define encrot2 3
|
||||
#define encrot3 1
|
||||
|
||||
|
||||
#define BLEN_C 2
|
||||
#define BLEN_B 1
|
||||
#define BLEN_A 0
|
||||
|
||||
|
||||
#endif //Newpanel
|
||||
#endif //Ultipanel
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
@ -823,17 +828,17 @@
|
|||
#define Y_MAX_PIN 28
|
||||
#define Y_ENABLE_PIN 29
|
||||
|
||||
#define Z_STEP_PIN 37
|
||||
#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_BED_PIN 4
|
||||
#define TEMP_BED_PIN 10
|
||||
|
||||
#define HEATER_0_PIN 2
|
||||
#define TEMP_0_PIN 8
|
||||
#define TEMP_0_PIN 8
|
||||
|
||||
#define HEATER_1_PIN 3
|
||||
#define TEMP_1_PIN 9
|
||||
|
@ -863,24 +868,24 @@
|
|||
//arduino pin witch triggers an piezzo beeper
|
||||
#define BEEPER 18
|
||||
|
||||
#define LCD_PINS_RS 20
|
||||
#define LCD_PINS_RS 20
|
||||
#define LCD_PINS_ENABLE 17
|
||||
#define LCD_PINS_D4 16
|
||||
#define LCD_PINS_D5 21
|
||||
#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
|
||||
|
@ -895,14 +900,14 @@
|
|||
#define SHIFT_LD 42
|
||||
#define SHIFT_OUT 40
|
||||
#define SHIFT_EN 17
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
#define LCD_PINS_ENABLE 5
|
||||
#define LCD_PINS_D4 6
|
||||
#define LCD_PINS_D5 21
|
||||
#define LCD_PINS_D5 21
|
||||
#define LCD_PINS_D6 20
|
||||
#define LCD_PINS_D7 19
|
||||
|
||||
|
||||
//encoder rotation values
|
||||
#ifndef ULTIMAKERCONTROLLER
|
||||
#define encrot0 0
|
||||
|
@ -929,7 +934,7 @@
|
|||
|
||||
#define BLEN_B 1
|
||||
#define BLEN_A 0
|
||||
#endif
|
||||
#endif
|
||||
#endif //ULTRA_LCD
|
||||
|
||||
#endif
|
||||
|
@ -960,17 +965,17 @@
|
|||
#define Y_MAX_PIN 16
|
||||
#define Y_ENABLE_PIN 29
|
||||
|
||||
#define Z_STEP_PIN 37
|
||||
#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_BED_PIN -1
|
||||
#define TEMP_BED_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 2
|
||||
#define TEMP_0_PIN 8
|
||||
#define TEMP_0_PIN 8
|
||||
|
||||
#define HEATER_1_PIN 1
|
||||
#define TEMP_1_PIN 1
|
||||
|
@ -994,10 +999,10 @@
|
|||
#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_RS 24
|
||||
#define LCD_PINS_ENABLE 22
|
||||
#define LCD_PINS_D4 36
|
||||
#define LCD_PINS_D5 34
|
||||
#define LCD_PINS_D5 34
|
||||
#define LCD_PINS_D6 32
|
||||
#define LCD_PINS_D7 30
|
||||
|
||||
|
@ -1019,17 +1024,17 @@
|
|||
#define X_DIR_PIN 16
|
||||
#define X_ENABLE_PIN 48
|
||||
#define X_MIN_PIN 37
|
||||
#define X_MAX_PIN 36
|
||||
#define X_MAX_PIN 36
|
||||
|
||||
#define Y_STEP_PIN 54
|
||||
#define Y_DIR_PIN 47
|
||||
#define Y_DIR_PIN 47
|
||||
#define Y_ENABLE_PIN 55
|
||||
#define Y_MIN_PIN 35
|
||||
#define Y_MAX_PIN 34
|
||||
#define Y_MAX_PIN 34
|
||||
|
||||
#define Z_STEP_PIN 57
|
||||
#define Z_STEP_PIN 57
|
||||
#define Z_DIR_PIN 56
|
||||
#define Z_ENABLE_PIN 62
|
||||
#define Z_ENABLE_PIN 62
|
||||
#define Z_MIN_PIN 33
|
||||
#define Z_MAX_PIN 32
|
||||
|
||||
|
@ -1047,7 +1052,7 @@
|
|||
|
||||
#define LED_PIN 13
|
||||
|
||||
#define FAN_PIN 7
|
||||
#define FAN_PIN 7
|
||||
//additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8
|
||||
|
||||
#define PS_ON_PIN 45
|
||||
|
@ -1108,10 +1113,10 @@
|
|||
#define SDSS 53
|
||||
#define SDCARDDETECT 49
|
||||
#define BEEPER 44
|
||||
#define LCD_PINS_RS 19
|
||||
#define LCD_PINS_RS 19
|
||||
#define LCD_PINS_ENABLE 42
|
||||
#define LCD_PINS_D4 18
|
||||
#define LCD_PINS_D5 38
|
||||
#define LCD_PINS_D5 38
|
||||
#define LCD_PINS_D6 41
|
||||
#define LCD_PINS_D7 40
|
||||
#define BTN_EN1 11
|
||||
|
@ -1295,7 +1300,7 @@
|
|||
|
||||
#define LED_PIN -1
|
||||
|
||||
#define FAN_PIN -1
|
||||
#define FAN_PIN -1
|
||||
|
||||
#define PS_ON_PIN 14
|
||||
#define KILL_PIN -1
|
||||
|
@ -1334,7 +1339,7 @@
|
|||
* 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
|
||||
* VCC 10| |31 GND
|
||||
* GND 11| |30 AVCC
|
||||
* XTAL2 12| |29 PC7 (D 23)
|
||||
* XTAL1 13| |28 PC6 (D 22)
|
||||
|
@ -1391,7 +1396,7 @@
|
|||
#define KILL_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 4
|
||||
#define HEATER_1_PIN -1 // 12
|
||||
#define HEATER_1_PIN -1 // 12
|
||||
#define HEATER_2_PIN -1 // 13
|
||||
#define TEMP_0_PIN 0 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
|
||||
#define TEMP_1_PIN -1 // 1
|
||||
|
@ -1453,11 +1458,11 @@
|
|||
#define KILL_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 3 /*DONE PWM on RIGHT connector */
|
||||
#define HEATER_1_PIN -1
|
||||
#define HEATER_1_PIN -1
|
||||
#define HEATER_2_PIN -1
|
||||
#define HEATER_1_PIN -1
|
||||
#define HEATER_1_PIN -1
|
||||
#define HEATER_2_PIN -1
|
||||
#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
|
||||
#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
|
||||
#define TEMP_1_PIN 1 // ANALOG
|
||||
#define TEMP_2_PIN -1 // 2
|
||||
#define HEATER_BED_PIN 4
|
||||
|
@ -1505,7 +1510,7 @@
|
|||
#define Z_MS2_PIN 67
|
||||
|
||||
#define HEATER_BED_PIN 3
|
||||
#define TEMP_BED_PIN 2
|
||||
#define TEMP_BED_PIN 2
|
||||
|
||||
#define HEATER_0_PIN 9
|
||||
#define TEMP_0_PIN 0
|
||||
|
@ -1598,9 +1603,9 @@
|
|||
|
||||
#define HEATER_0_PIN 9 // EXTRUDER 1
|
||||
#define HEATER_1_PIN 8 // EXTRUDER 2 (FAN On Sprinter)
|
||||
#define HEATER_2_PIN -1
|
||||
#define HEATER_2_PIN -1
|
||||
|
||||
#if TEMP_SENSOR_0 == -1
|
||||
#if TEMP_SENSOR_0 == -1
|
||||
#define TEMP_0_PIN 8 // ANALOG NUMBERING
|
||||
#else
|
||||
#define TEMP_0_PIN 13 // ANALOG NUMBERING
|
||||
|
@ -1619,25 +1624,25 @@
|
|||
|
||||
#ifdef NEWPANEL
|
||||
//arduino pin which triggers an piezzo beeper
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
|
||||
#define LCD_PINS_RS 16
|
||||
#define LCD_PINS_ENABLE 17
|
||||
#define LCD_PINS_D4 23
|
||||
#define LCD_PINS_D5 25
|
||||
#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 59
|
||||
#define BTN_EN2 64
|
||||
#define BTN_ENC 43 //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
|
||||
|
@ -1653,7 +1658,7 @@
|
|||
#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,
|
||||
#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
|
||||
|
|
Reference in a new issue